Control structure interaction in the nonlinear analysis of flexible mechanical systems

The effect of the control structure interaction on the feedforward control law as well as the dynamics of flexible mechanical systems is examined in this investigation. An inverse dynamics procedure is developed for the analysis of the dynamic motion of interconnected rigid and flexible bodies. This method is used to examine the effect of the elastic deformation on the driving forces in flexible mechanical systems. The driving forces are expressed in terms of the specified motion trajectories and the deformations of the elastic members. The system equations of motion are formulated using Lagrange's equation. A finite element discretization of the flexible bodies is used to define the deformation degrees of freedom. The algebraic constraint equations that describe the motion trajectories and joint constraints between adjacent bodies are adjoined to the system differential equations of motion using the vector of Lagrange multipliers. A unique displacement field is then identified by imposing an appropriate set of reference conditions. The effect of the nonlinear centrifugal and Coriolis forces that depend on the body displacements and velocities are taken into consideration. A direct numerical integration method coupled with a Newton-Raphson algorithm is used to solve the resulting nonlinear differential and algebraic equations of motion. The formulation obtained for the flexible mechanical system is compared with the rigid body dynamic formulation. The effect of the sampling time, number of vibration modes, the viscous damping, and the selection of the constrained modes are examined. The results presented in this numerical study demonstrate that the use of the driving forees obtained using the rigid body analysis can lead to a significant error when these forces are used as the feedforward control law for the flexible mechanical system. The analysis presented in this investigation differs significantly from previously published work in many ways. It includes the effect of the structural flexibility on the centrifugal and Coriolis forces, it accounts for all inertia nonlinearities resulting from the coupling between the rigid body and elastic displacements, it uses a precise definition of the equipollent systems of forces in flexible body dynamics, it demonstrates the use of general purpose multibody computer codes in the feedforward control of flexible mechanical systems, and it demonstrates numerically the effect of the selected set of constrained modes on the feedforward control law.     

Homotopy solution of the inverse generalized eigenvalue problems in structural dynamics

The structural dynamics problems, such as structural design, parameter identification and model correction, are considered as a kind of the inverse generalized eigenvalue problems mathematically. The inverse eigenvalue problems are nonlinear. In general, they could be transformed into nonlinear equations to solve. The structural dynamics inverse problems were treated as quasi multiplicative inverse eigenalue problems which were solved by homotopy method for nonlinear equations. This method had no requirements for initial value essentially because of the homotopy path to solution. Numerical examples were presented to illustrate the homotopy method.     

对称结构动力学设计中的广义逆特征值问题

将对称结构动力学设计问题归结为一类含设计参数的广义逆特征值问题,以结构的动态特性指标作为设计准则来设计结构,通过建立等效的非互性方程组,利用ｎｅｗｔｏｎ法求解其设计参数,使得到的结构具有满足设计要求的动态特性。数值全题表明本文方法有很好的效能。     

A procedure to determine the viscosity function from experimental data of capillary flow

The accurate calculation of the viscosity η as function of the shear rate &γdot; from capillary viscometry is still a matter of debate in the literature. In fact, this problem involves the inversion of an integral equation, which leads to multiple solutions due to the unavoidable noise present in the experimental data. The purpose of this work is to develop an efficient procedure to determine the viscosity function from experimental data of capillary flow without presenting the difficulties inherent in other methods discussed previously in the literature. The system identification procedure is used here to estimate the parameters of a viscosity model, which is appropriately selected for the fluid under study through preliminary calculations involving the apparent shear rate – shear stress data. Once the model is chosen by satisfying criteria for the fit goodness and its parameters are evaluated, a smooth and continuous function η(γdot;) is obtained in the range of experimental shear rates. The procedure proposed is also applicable to fluids in shear flow that present two Newtonian plateaus, as it is typically found in macromolecular dilute solutions. The mean value theorem of continuous functions is used to reduce significantly the computational time. Received: 15 November 1999 Accepted: 7 November 2000     

岩土工程中的位移反分析法

从弹性力学的位移基本方程出发，讨论了平面应变情况下的各类反演问题，扩展了文［１］的结果，并研制出相应的软件，最后给出的算例表明了算法的可行性及计算精度。     

基于有限元分析的特征值反问题求解的逆摄动方法

本文研究特征值反问题的求解方法,根据广义特征值反问题理论和有限元法的特点,以转子系统平面梁单元有限元模型结构分析的特征值反问题求解为例,给出一种新的逆摄动方法,给出了本逆摄动法较完整的理论基础,给出了其逆摄动参数的显式计算公式及相应的取值方法,本逆摄动法也可推广到其他单元类型的有限元模型特征值反问题的求解。     

Effect of the deformation in the inertia forces on the inverse dynamics of planar flexible mechanical systems

The inverse dynamics problem for articulated structural systems such as robotic manipulators is the problem of the determination of the joint actuator forces and motor torques such that the system components follow specified motion trajectories. In many of the previous investigations, the open loop control law was established using an inverse dynamics procedure in which the centrifugal and Coriolis inertia forces are linearized such that these forces in the flexible model are the same as those in the rigid body model. In some other investigations, the effect of the nonlinear centrifugal and Coriolis forces is neglected in the analysis and control system design of articulated structural systems. It is the objective of this investigation to study the effect of the linearization of the centrifugal and Coriolis forces on the nonlinear dynamics of constrained flexible mechanical systems. The virtual work of the inertia forces is used to define the complete nonlinear centrifugal and Coriolis force model. This nonlinear model that depends on the rate of the finite rotation and the elastic deformation of the deformable bodies is used to obtain the solution of the inverse dynamics problem, thus defining the joint torques that produce the desired motion trajectories. The effect of the linearization of the mass matrix as well as the centrifugal and Coriolis forces on the obtained feedforward control law is examined numerically. The results presented in this investigation are obtained using a slider crank mechanism with a flexible connecting rod.     

Numerical-analytical method to determine the stress state of an elastic rectangular plate

A numerical-analytical method for solving the plane problem of elasticity is proposed. Systems of nonorthogonal functions are used. The method involves the minimization of a quadratic form that is equal to the integral of the sum of squared residuals of the solution and given forces. An explicit expression for stresses is derived. Bessel's inequality and the convergence of the solution are proved. The accuracy of the boundary conditions is estimated. The stress and strain distribution in the plate depending on the maximum magnitude of distributed forces and the size of their localization area is analyzed numerically. New quantitative and qualitative features of the stress distribution in the plate are established __________ Translated from Prikladnaya Mekhanika, Vol. 44, No. 1, pp. 90–98, January 2008.     

Experimental study of 3D turbulence by solving an inverse problem

The problem of the investigation of 3D turbulence from the projected data is studied here. It is shown that statistical information about turbulence can be recovered in such situations through a solution of an inverse problem. Unlike earlier papers, the adopted model of the turbulence envisages the turbulence characteristics to vary inside the 3D volume. Analytical solutions expressing turbulence characteristics (correlation functions, spectra) in terms of experimental data are found for this realistic model.     

An inverse problem formulation of the immersed-boundary method

We formulate the immersed-boundary method (IBM) as an inverse problem. A control variable is introduced on the boundary of a larger domain that encompasses the target domain. The optimal control is the one that minimizes the mismatch between the state and the desired boundary value along the immersed target-domain boundary. We begin by investigating a naïve problem formulation that we show is ill-posed: in the case of the Laplace equation, we prove that the solution is unique, but it fails to depend continuously on the data; for the linear advection equation, even solution uniqueness fails to hold. These issues are addressed by two complimentary strategies. The first strategy is to ensure that the enclosing domain tends to the true domain, as the mesh is refined. The second strategy is to include a specialized parameter-free regularization that is based on penalizing the difference between the control and the state on the boundary. The proposed inverse IBM is applied to the diffusion, advection, and advection-diffusion equations using a high-order discontinuous Galerkin discretization. The numerical experiments demonstrate that the regularized scheme achieves optimal rates of convergence and that the reduced Hessian of the optimization problem has a bounded condition number, as the mesh is refined.     

Stationary-state solutions to the rotation of solid bodies with liquid-filled cavities and their stability

In this paper,we discuss all the possible equilibrium states of axi-symmetrical-solidbodies with liquid-filled cavities rotating around.fixed axes according to the extremumconditions on the potential energy, and conclude that there exists a unique stable final-statesolution, for which the system uniformly rotates around its vertical symmetrical axis,forboth the inverted and suspended ones. And then applying the Lyapunoy direct approach fora continuous system.we investigate the stability of the rotating systems subject to largedisturbances. In addition, we describe an interesting analogue between the rotation of asolid body with a liquid-filled cavity in the inverted case and the motion of a small ball in aspinning spherical bowl. The results obtained herein theoretically provide an evidence of thereality of the secular stability.     

动力模型修正中逆特征值问题的数值解法

本文提出了一种参数型动力模型修正的方法．因为这种方法与经典的逆特征值问题的提法是一致的，所以先建立起与逆问题等价的关于设计参数的非线性方程组，然后构造出可以用Ｎｅｗｔｏｗ法求解的格式．数值仿真结果表明本文方法具有较好的收敛性和较高的计算精度．     

高斯牛顿技术求解偶应力反问题

建立了便于敏度分析的偶应力反问题数值求解模型,给出了直接法和伴随法两种敏度计算格式.在反演计算中采用了高斯牛顿技术对未知本构参数进行识别,探讨了测点数目、初值选取和数据噪音对反演结果的影响,数值算例给出了令人满意的结果.     

A new approach to inverse problems of wave equations

We introduce a multi-cost-functional method for solving inverse problems of waveequations.This method has its simplicity,efficiency and good physical interpretation.It hasthe advantage of being programmed for two-or three-(space)dimensional problems as wellas for one-dimensional problems.     

空间机械臂逆动力学的Liapunov方法

讨论了空间机械臂的逆动力学问题，指出了系统的非完整约束性质．以铰转角为变量的Ｌｉａｐｕｎｏｖ方法由于理论缺陷导致实践中出现计算死点而难以实际应用．文中提出以臂端载荷位形为变量的Ｌｉａｐｕｎｏｖ方法并给出算例，可以保证载荷向预定位形转移的渐近稳定性     

面载荷识别的TSVD正则化方法

线性系统的响应可以表示为单位脉冲响应函数与动态载荷的卷积分,经离散后得到载荷识别反问题。引入TSVD正则化方法处理反问题的不适定性,对不同噪声的实测响应进行了面载荷的反演求解,并对识别精度做出了分析。算例表明,TSVD正则化方法对响应误差的适应性强,识别精度高。     

ON A GENERALIZATION OF BERTRAND’S THEOREM

Bertrand’s theorem for the determination of the applied forces to a holonomicsystem from one of its first integrals,is extended to nonholonomic systems.Someinteresting applications of this new result are also given.     

平面结构可靠性预测的随机边界元逆分析法

在结构可靠性计算的随机边界元理论和逆分析法基础上,用随机边界元方程结合改进的卡尔曼滤波算法来预测结构的可靠性,提出了用于平面机械结构可靠性预测的边界元逆分析法理论;并将方法应用于同时存在未知缺陷和随机边界载荷模型,进行了结构可靠性预测,在识别缺陷的同时预测出随机边界载荷的分布参数及结构体上各点的结构可靠度指标,给出了平面结构模型的数值示例。     

弹性力学非线性反演方法概述

考虑正演模型和观测数据确定性性质的不同, 对弹性力学反问题解的定义进行了归纳总结. 非线性和不适定性是反问题理论研究和工程应用的瓶颈问题, 对反问题非线性和不适定性的有效处理方法进行了总结.并在此基础上介绍了非线性反演问题求解方法的一些最新进展, 对弹性力学非线性反演方法进行了归纳分类.     

一维随机排列非均质颗粒材料结构刚度系数解析式

针对一维情况下随机排列非均质颗粒材料组成的结构,推导了该结构的刚度系数的解析表达式。颗粒材料由随机算法根据颗粒尺寸分布和结构尺寸生成。通过引入相对破碎参数,将颗粒破碎现象定量体现在颗粒尺寸分布函数的变化上,从而使本文提出的解析表达式能够计及颗粒破碎。数值结果说明本文提出表达式的有效性,并体现了颗粒破碎对颗粒结构刚度系数的影响。