Quasiperiodic oscillations in robot dynamics

Delayed robot systems, even of low degree of freedom, can produce phenomena which are well understood in the theory of nonlinear dynamical systems, but hardly ever occur in simple mechanical models. To illustrate this, we analyze the delayed positioning of a single degree of freedom robot arm which leads to an infinite dimensional dynamical system. Restricting the dynamics to a four dimensional center manifold, we show that the system undergoes a codimension two Hopf bifurcation for an infinite set of parameter values. This provides a mechanism for the creation of two-tori in the phase space and gives a theoretical explantion for self-excited quasiperiodic oscillations of force controlled robots. We also compare our results with experimental data.     

含机械调频式动力吸振器的准零刚度隔振系统隔振性能分析

基于动力吸振器原理,在单自由度准零刚度隔振器基础上耦合可调频动力吸振器构成两自由度隔振系统。首先,对动力吸振器工作原理进行理论分析并提出其力学模型;其次,通过静力学分析,推导出系统满足零刚度条件时,各参数间的关系并分析其对系统刚度特性的影响;然后,建立两自由度隔振系统非线性动力学方程,利用谐波平衡法进行幅频响应解析分析,得到力传递率表达式;最后,数值分析动力吸振器阻尼、刚度、质量、激励力幅值和弹簧片有效长度对力传递率的影响规律,并与单自由度准零刚度隔振系统及两自由度线性隔振系统对比分析。结果表明：通过选择适当的动力吸振器参数不仅可以减小系统的起始隔振频率,增宽隔振频带,且还能加快系统力传递率在特定频段内的衰减速率,改善系统的低频隔振性能,实现激励频率的可适应性。     

Bifurcation analysis of a smoothed model of a forced impacting beam and comparison with an experiment

A piecewise-linear model with a single degree of freedom is derived from first principles for a driven vertical cantilever beam with a localized mass and symmetric stops. The aim is to show that this model constitutes a considerable step toward developing a vibro-impact model that is able to make qualitative and quantitative predictions of the observed dynamics. The resulting piecewise-linear dynamical system is smoothed by a switching function (nonlinear homotopy). For the chosen smoothing function, it is shown that the smoothing can induce bifurcations in certain parameter regimes. These induced bifurcations disappear when the transition of the switching is sufficiently and increasingly localized as the impact becomes harder. The bifurcation structure of the impact oscillator response is investigated via the one- and two-parameter continuation of periodic orbits in the driving frequency and/or forcing amplitude. The results are in good agreement with experimental measurements.     

广义概率密度演化方程的再生核质点加密算法

采用一般质点近似和再生核质点近似表示系统响应量,给出了动力系统响应量的一般表达式。在此基础上,发展了一类求解广义概率密度演化方程的再生核质点加密算法,给出了详细求解步骤。以单自由度系统为例,从响应概率密度的角度考察了再生核质点加密算法的精度。以多自由度框架结构为例,验证了再生核质点加密算法求取非线性随机动力系统响应概率密度的正确性。     

Non-linear oscillations in a passive magnetic suspension

The paper analyzes the dynamical behavior of a single degree of freedom (SDOF) passive magnetic suspension realized coupling traditional springs with rare-earth permanent magnets. The natural frequency of the device depends weakly on the mass due to the strongly non-linear magnetic repulsive force. The system exhibits features typical of non-linear oscillators, such as jump phenomena and multivalued frequency-response curves. In fact, for appropriate combinations of the parameters, multiple steady-state solutions appear. The periodic stationary solutions and the stability properties are investigated numerically and with a semi-analytical approach. Finally, comparisons with experimental results have been reported.     

多输入多输出非线性系统的一种函数级数模型

提出一种表示多输入多输出非线性多自由度系统的输入与输出关系的函数级数模型，并对模型作了讨论，证明了单输入单输出Ｖｏｌｔｅｒａ级数模型只是本文的一种特殊情况。用这个模型对多自由度多项式刚度非线性振动系统进行分析，得出这一类系统的高阶核和多维频率响应函数。文中模型为具有多输入多输出的非线性系统分析及响应预测与谱分析提供了一种基础工具。     

Internal motion of the complex oscillators near main resonance

An analytical study of the two degrees of freedom nonlinear dynamical system is presented. The internal motion of the system is separated and described by one fourth order differential equation. An approximate approach allows reducing the problem to the Duffing equation with adequate initial conditions. A novel idea for an effective study of nonlinear dynamical systems consisting in a concept of the socalled limiting phase trajectories is applied. Both qualitative and quantitative complex analyses have been performed. Important nonlinear dynamical transition type phenomena are detected and discussed. In particular, nonsteady forced system vibrations are investigated analytically.     

一类含平方、立方非线性项1:2内共振两自由度系统的全局分岔

研究了一类含平方、立方非线性项的两自由度系统的全局分岔。首先应用多尺度法求解其平均方程 ,然后通过一系列变换得到一个近似可积的两自由度系统。应用能量 相位准则 ,确定了在哈密顿共振时Silnikov轨道存在的条件。通过数值计算验证了此条件。     

The effects of nonlinear damping on degenerate parametric amplification

Nonlinear Dynamics - This paper considers the dynamic response of a single degree of freedom system with nonlinear stiffness and nonlinear damping that is subjected to both resonant direct...     

双频内共振系统的Normal Form及其简化

讨论双频内共振系统的 Normal Form及其降维问题.利用发展的 Normal Form直接方法,导出了任意双频内共振系统 Normal Form的一般形式.指出 Poincare共振项分为内共振项和非内共振性两类,并定义了内共振项的阶.提出了一种普遍适用的降维变换,并证明了该变换可将任意双频内共振系统的 Normal Form方程降到3维.应用举例表明,该变换不仅适用于半单问题,也适于非半单问题（即强:1:1内共振系统）.     

Filtering a nonlinear stochastic volatility model

We introduce a class of stochastic volatility models whose parameters are modulated by a hidden nonlinear dynamical system. Our aim is to incorporate the impact of economic cycles, or business cycles, into the long-term behavior of volatility dynamics. We develop a discrete-time nonlinear filter for the estimation of the hidden volatility and the nonlinear dynamical system based on return observations. By exploiting the technique of a reference probability measure we derive filters for the hidden volatility and the nonlinear dynamical system.     

Limit Cycle Oscillations of a Wing Section with a Tip Mass

This paper presents an investigation into the limit cycleoscillation phenomenon for a nonlinear aeroelasticsystem under unsteady aerodynamics. The system consists of a sweptbackwing section carrying a tip mass with one degree of freedom. Thejunction stiffness considered between the wing and the tip mass istrilinear. The method of harmonic balance, which can be very practicalin the study of nonlinear flutter, is used for the theoretical analysisof limit cycle oscillations. Stable, unstable and semi-stable limitcycles are predicted in the system for both cases of hardening andsoftening springs. Results found by numerical simulation provide theamplitudes of limit cycles. The experimental results in wind tunneltests agree well with the predictions obtained both theoretically andnumerically.     

Nonlinear stability analysis of a disk brake model

It has become commonly accepted by scientists and engineers that brake squeal is generated by friction-induced self-excited vibrations of the brake system. The noise-free configuration of the brake system loses stability through a flutter-type instability and the system starts oscillating in a limit cycle. Usually, the stability analysis of disk brake models, both analytical as well as finite element based, investigates the linearized models, i.e. the eigenvalues of the linearized equations of motion. However, there are experimentally observed effects not covered by these analyses, even though the full nonlinear models include these effects in principle. The present paper describes the nonlinear stability analysis of a realistic disk brake model with 12 degrees of freedom. Using center manifold theory and artificially increasing the degree of degeneracy of the occurring bifurcation, an analytical expression for the turning points in the bifurcation diagram of the subcritical Hopf bifurcations is calculated. The parameter combination corresponding to the turning points is considered as the practical stability boundary of the system. Basic phenomena known from the operating experience of brake systems tending to squeal problems can be explained on the basis of the practical stability boundary.     

非线性模态的分类和新的求解方法

引入不可分偶数维不变流形的概念来定义非线性模态．在此基础上，揭示出了一种新的模态——耦合非线性模态，并对实际系统中各种可能的模态进行了分类．这种分类可能是新的构筑非线性模态理论的框架．用此方法构造非线性模态，得到的模态振子具有范式的形式，形式最简、却能反映原系统在平衡点附近的主要动力学行为，且易于得到非线性频率及非线性稳定性等方面的信息．不仅适用于分析一般的多自由度系统，还可用于分析奇数维系统；不仅可构造内共振系统的非耦合模态，还可用于构造内共振耦合模态．从掌握的资料看，以前的方法还不能解决上述所有问题     

Lyapunov exponents in discrete modelling of a cantilever beam impacting on a moving base

The dynamic behaviour of a cantilever beam of an unnegligible large mass and with a concentrated mass fixed at its end, which impacts on a movable base according to Hertz's damp law, is studied. A new finite element reference model of the system and its lower-dimensional substitutive models with one degree or two degrees of freedom are developed. The qualitative-type as well as quantitative-type applicability limits of these substitutive models are discussed - the latter ones are described in terms of the corresponding spectra of Lyapunov exponents.     

Computational and numerical analysis of a nonlinear mechanical system with bounded delay

Modern structures are increasingly resistant and complex. In many cases, such systems are modeled by numerical approximations methods, due to its complexities. In the study of vibration levels in the response of a system is important to consider issues like reliability and efficient design, since that such vibrations are undesirable phenomena that may cause damage, failure, and sometimes destruction of machines and structures. In this paper we investigated a modeling strategy of nonlinear system with damping, subject the time delayed. From models widely used in literature and with the help of numerical simulations a nonlinear damped system with two degree-of-freedom is analyzed. The system is constituted of a primary mass attached to the ground by a spring and damping with linear or nonlinear characteristics (primary system), and the secondary mass attached to the primary system by a spring and damping with linear or nonlinear characteristics (secondary system). It is well known that time delayed systems, due to its own nature, has singular behavior in its dynamics and that such singularities propagate over the time. Based on this, the main concerns of the present paper is to analyze the stability of a delayed system with two degree of freedom by means of the techniques development in [1] (Hu andWang, 2002). We also obtain the solution using the integration of equations of motions performing a Fourth Order Runge-Kutta Method. The behavior of a nonlinear main system with nonlinear secondary system will be investigated to many cases of resonances. In this case, various time delayed values are used to confirm its influence on the attenuation of vibrations, but, unfortunately, also the increase of nonlinearity (instable responses) of the system in question is observed.     

Reduced order modelling method via proper orthogonal decomposition (POD) for flow around an oscillating cylinder

This paper presents reduced order modelling (ROM) in fluid–structure interaction (FSI). The ROM via the proper orthogonal decomposition (POD) method has been chosen, due to its efficiency in the domain of fluid mechanics. POD-ROM is based on a low-order dynamical system obtained by projecting the nonlinear Navier–Stokes equations on a smaller number of POD modes. These POD modes are spatial and temporally independent. In FSI, the fluid and structure domains are moving, owing to which the POD method cannot be applied directly to reduce the equations of each domain. This article proposes to compute the POD modes for a global velocity field (fluid and solid), and then to construct a low-order dynamical system. The structure domain can be decomposed as a rigid domain, with a finite number of degrees of freedom. This low-order dynamical system is obtained by using a multiphase method similar to the fictitious domain method. This multiphase method extends the Navier–Stokes equations to the solid domain by using a penalisation method and a Lagrangian multiplier. By projecting these equations on the POD modes obtained for the global velocity field, a nonlinear low-order dynamical system is obtained and tested on a case of high Reynolds number.     

平面偏心结构的三维能力谱方法

基于单自由度模型的性态评估方法,无法考虑偏心结构平扭耦联效应且不便于考虑双向地震动输入,存在很大的局限性.本文在对水平偏心结构模态分析的基础上,利用OpenSees构建等效三自由度模型(ETDOF),将该模型用于双向地震动作用下偏心结构平扭耦联简化计算和性态评估.在对ETDOF模型进行振动特性分析的基础上,基于等位移原...     

Numerical study of flow-induced vibrations of cylinders under the action of nonlinear energy sinks (NESs)

An isolated two-dimensional circular cylinder with two linear degrees of freedom, parallel and perpendicular to the free-stream direction, and owning a nonlinear energy sink (NES) is investigated by fluid–structure interaction (FSI) simulations to assess vortex-induced vibrations (VIV) at moderate Reynolds numbers. Subsequently, the wake-induced vibration (WIV) of a pair of identical cylinders under the action of two NES in a tandem arrangement and in a proximity–wake interference regime is explored using the same approach. The NES parameters (mass, nonlinear stiffness and damping) are investigated to determine their effects on the dynamic response of a single degree of freedom (in transverse flow direction) coupled system by a reduced-order model based on an experimentally validated van der Pol oscillator. The CFD model coupled with FSI method is also validated against VIV experimental data for an isolated cylinder in a uniform flow. The study is aimed to investigate the effect of the passive suppression NES device on VIV and WIV. The amplitude response, trajectories of cylinder motion and temporal evolutions of vortex shedding are obtained by conducting a series of numerical simulations. It is found that placing a tuned NES in the cylinders can provide good suppression effect; however, the effectiveness is function of the reduced velocity.     

A new model reduction method for nonlinear dynamical systems

The present research work proposes a new systematic approach to the problem of model-reduction for nonlinear dynamical systems. The formulation of the problem is conveniently realized through a system of singular first-order quasi-linear invariance partial differential equations (PDEs), and a rather general explicit set of conditions for solvability is derived. In particular, within the class of analytic solutions, the aforementioned set of conditions guarantees the existence and uniqueness of a locally analytic solution. The solution to the above system of singular PDEs is then proven to represent the slow invariant manifold of the nonlinear dynamical system under consideration exponentially attracting all dynamic trajectories. As a result, an exact reduced-order model for the nonlinear system dynamics is obtained through the restriction of the original system dynamics on the aforementioned slow manifold. The local analyticity property of the solution’s graph that corresponds to the system’s slow manifold enables the development of a series solution method, which allows the polynomial approximation of the system dynamics on the slow manifold up to the desired degree of accuracy and can be easily implemented with the aid of a symbolic software package such as MAPLE. Finally, the proposed approach and method is evaluated through an illustrative biological reactor example.