Simulation of friction and stiction in multibody dynamics model problems

A continuous model of Coulomb friction is used with a tangent space formulation of differential algebraic equations of motion for simulation of multibody dynamic model problems. Characteristics of the model problems studied are similar to those encountered in broad classes of multibody systems, without the associated geometric and analytical complexities. An implicit trapezoidal numerical solution algorithm is used to simulate dynamic response that includes the onset of stiction, its progression, and its termination, avoiding stiff behavior that is reported in the literature when index 3 formulations are used. Analytical criteria for stiction are derived for a three mass Coulomb friction model problem that defines the onset of and departure from stiction events with redundant equations of constraint. The tangent space formulation with implicit trapezoidal integration is applied to this analytical model to compute dynamic response, determine ranges of constraint forces that may occur during periods of stiction, and demonstrate that dynamic response is a discontinuous function of model parameters when stiction occurs. Accuracy of the continuous model of Coulomb friction is established, through comparison of results with those of the analytical model. Cartesian coordinate models of higher dimension are presented for three and four mass model problems that encounter a higher degree of redundancy in constraints during periods of stiction. Simulation of the Cartesian coordinate models, which have characteristics similar to more general multibody systems, yields accurate solutions, without any indication of stiffness in the tangent space equations of motion. Methods successfully demonstrated in model problems provide a foundation for simulation of spatial multibody dynamic systems with friction.     

Parametric instability of cylindrical thin shell with periodic rotating speeds

Parametric instability of a cylindrical thin shell with periodically time-varying rotating speeds is studied in the paper. Energy formulation based upon Love's thin shell theory and the assumed mode method is utilized to obtain the governing equations of a rotating cylindrical shell under simply supported condition. Considering the time-varying rotating speeds, the second order differential equations of the system have time-periodic gyroscopic and stiffness coefficients. The multiple scales method is utilized to obtain the boundaries of both primary and combination instabilities analytically. The primary instability occurs when the excitation frequency is near twice of the natural frequency. The excitation frequency close to the sum of two natural frequencies might lead to the occurrence of combination instability. Numerical simulations are conducted to verify the analytical results. It is shown that the primary instability regions for each mode always appear in the periodically rotating cylindrical shell. Their widths increase continually with excitation amplitude of the time-periodic rotating speed. For certain modes, the combination instability region might not exist. The conditions for its existence are obtained analytically and verified by numerical simulations. Increasing the constant rotating speed would greatly enhance the instability regions. Moreover, it might also cause the appearance of combination instability region.     

Heteroclinic bifurcations in completely liquid-filled spacecraft with flexible appendage

In this paper, the chaotic dynamics in an attitude transition maneuver of a rigid body with a completely liquid-filled cavity in going from minor axis to major axis spin under the influence of viscous damping and a small flexible appendage constrained to undergo only torsional vibration is investigated. The focus in this paper is on the way in which the dynamics of the liquid and flexible appendage vibration are coupled. The equations of motion are derived and then transformed into a form suitable for the application of Melnikov's method. Melnikov's integral is used to predict the transversal intersections of the stable and unstable manifolds for the perturbed system. An analytical criterion for chaotic motion is derived in terms of the system parameters. This criterion is evaluated for its significance to the design of spacecraft. The dependence of the onset of chaos on quantities such as body shape and magnitude of damping values, fuel fraction and frequency of flexible appendage vibration are investigated.     

A nonlinear finite-element approach for kineto-static analysis of multibody systems

Methods that treat rigid/flexible multibody systems undergoing large motion as well as deformations are often accompanied with inefficiencies and instabilities in the numerical solution due to the large number of state variables, differences in the magnitudes of the rigid and flexible body coordinates, and the time dependencies of the mass and stiffness matrices. The kineto-static methodology of this paper treats a multibody mechanical system to consist of two collections of bulky (rigid) bodies and relatively flexible ones. A mixed boundary condition nonlinear finite element problem is then formulated at each time step whose known quantities are the displacements of the nodes at the boundary of rigid and flexible bodies and its unknowns are the deformed shape of the entire structure and the loads (forces and moments) at the boundary. Partitioning techniques are used to solve the systems of equations for the unknowns, and the numerical solution of the rigid multibody system governing equations of motion is carried out. The methodology is very much suitable in modelling and predicting the impact responses of multibody system since both nonlinear and large gross motion as well as deformations are encountered. Therefore, it has been adopted for the studies of the dynamic responses of ground vehicle or aircraft occupants in different crash scenarios. The kineto-static methodology is used to determine the large motion of the rigid segments of the occupant such as the limbs and the small deformations of the flexible bodies such as the spinal column. One of the most dangerous modes of injury is the amount of compressive load that the spine experiences. Based on the developed method, a mathematical model of the occupant with a nonlinear finite element model of the lumbar spine is developed for a Hybrid II (Part 572) anthropomorphic test dummy. The lumbar spine model is then incorporated into a gross motion occupant model. The analytical results are correlated with the experimental results from the impact sled test of the dummy/seat/restraint system. With this extended occupant model containing the lumbar spine, the gross motion of occupant segments, including displacements, velocities and accelerations as well as spinal axial loads, bending moments, shear forces, internal forces, nodal forces, and deformation time histories are evaluated. This detailed information helps in assessing the level of spinal injury, determining mechanisms of spinal injury, and designing better occupant safety devices.     

A quasi-steady 3 degree-of-freedom model for the determination of the onset of bluff body galloping instability

In this paper, a quasi-steady three degree-of-freedom (3-dof) flow-induced galloping instability model for bluff-bodies is proposed. The proposed model can be applied generally for the prediction of onset of galloping instability due to negative aerodynamic damping of any prismatic compact bluff body in a fluidic medium. The three degrees of freedom refer to the bluff body's two orthogonal displacements perpendicular to its length axis and the rotation about its length axis. The model incorporates inertial coupling between the three degrees of freedom and is capable of estimating the onset of galloping instability due changes in drag, lift and moment, assuming that the bluff body is subject to uniform flow and motion. The changes may be a function of wind angle of attack (α) perpendicular to bluff body's length axis, Reynolds number and a skew wind angle (?) in relation to the length axis of the bluff body. An analytical solution of the instability criterion is obtained by applying the Routh-Hurwitz criterion.     

Control of Chaotic Motion in a Spinning Spacecraft with a Circumferential Nutational Damper

Control of chaotic vibrations in a simplified model of a spinning spacecraft with a circumferential nutational damper is achieved using two techniques. The control methods are implemented on a realistic spacecraft parameter configuration which has been found to exhibit chaotic instability when a sinusoidally varying torque is applied to the spacecraft for a range of forcing amplitude and frequency. Such a torque, in practice, may arise in the platform of a dual-spin spacecraft under malfunction of the control system or from an unbalanced rotor or from vibrations in appendages. Chaotic instabilities arising from these torques could introduce uncertainties and irregularities into a spacecraft's attitude and consequently could have disastrous affects on its operation. The two control methods, recursive proportional feedback (RPF) and continuous delayed feedback, are recently developed techniques for control of chaotic motion in dynamical systems. Each technique is outlined and the effectiveness of the two strategies in controlling chaotic motion exhibited by the present system is compared and contrasted. Numerical simulations are performed and the results are studied by means of time history, phase space, Poincaré map, Lyapunov characteristic exponents and bifurcation diagrams.     

Stability of dispersed-particle shape at small Reynolds numbers

The results of experimental studies of the conditions of loss of stability of the shape of a single dispersed-phase inclusion (droplet and bubble) during its motion in a viscous fluid at low Reynolds numbers are presented. It is shown that in the conditions considered the deformation of an initially spherical inclusion occurs due to the development of the Rayleigh-Taylor instability, as a critical value of the Bond number is attained. It is found that the onset of deformation of the phase interface and the instability mechanism depend strongly on the particle motion regime. A range of critical Reynolds numbers, corresponding to the boundaries of the regions of the Rayleigh-Taylor and Kelvin-Helmholtz instabilities, is determined.     

Nonlinear vibrations of blade with varying rotating speed

This paper investigates the nonlinear dynamic responses of the rotating blade with varying rotating speed under high-temperature supersonic gas flow. The varying rotating speed and centrifugal force are considered during the establishment of the analytical model of the rotating blade. The aerodynamic load is determined using first-order piston theory. The rotating blade is treated as a pretwist, presetting, thin-walled rotating cantilever beam. Using the isotropic constitutive law and Hamilton??s principle, the nonlinear partial differential governing equation of motion is derived for the pretwist, presetting, thin-walled rotating beam. Based on the obtained governing equation of motion, Galerkin??s approach is applied to obtain a two-degree-of-freedom nonlinear system. From the resulting ordinary equation, the method of multiple scales is exploited to derive the four-dimensional averaged equation for the case of 1:1 internal resonance and primary resonance. Numerical simulations are performed to study the nonlinear dynamic response of the rotating blade. In summary, numerical studies suggest that periodic motions and chaotic motions exist in the nonlinear vibrations of the rotating blade with varying speed.     

Dynamics of three-dimensional beams undergoing large overall motion

In the previous linear formulation of flexible multibody system, the neglect of stiffening terms may cause significant error in case of high rotating speed. In this paper, a geometric nonlinear formulation of three-dimensional beams is proposed based on virtual power principle. Frequency results of a rotating spatial beam using the present nonlinear model are compared with those using the linear model without stiffening. An influence ratio, which is related to non-dimensional axial base acceleration and lateral angular velocity, is put forward to clarify the limit of the linear formulation. It is shown that the relative frequency error is closely related to the influence ratio. Finally, simulation of a flexible spatial manipulator is carried out to verify the effectiveness of the criterion.     

Numerical Continuation of Solutions and Bifurcation Analysis in Multibody Systems Applied to Motorcycle Dynamics

It is shown how the equations of motion for a multibody system can be generated in a symbolic form and the resulting equations can be used in a program for the analysis of nonlinear dynamical systems. Stationary and periodic solutions are continued when a parameter is allowed to vary and bifurcations are found. The variational or linearized equations and derivatives with respect to parameters are also provided to the analysis program, which enhances the efficiency and accuracy of the calculations. The analysis procedure is firstly applied to a rotating orthogonal double pendulum, which serves as a test for the correctness of the implementation and the viability of the approach. Then, the procedure is used for the analysis of the dynamics of a motorcycle. For running straight ahead, the nominal solution undergoes Hopf bifurcations if the forward velocity is varied, which lead to periodic wobble and weave motions. For stationary cornering, wobble instabilities are found at much lower speeds, while the maximal speed is limited by the saturation of the tyre forces.     

Random vibrations of a rotating shaft with non-linear damping

Bending vibrations of a rotating shaft due to external random excitation are considered for the case of potential instability of the shaft's linear model due to the presence of internal or “rotating” damping. A two-degree-of-freedom model is studied which accounts for non-linearity in external or “non-rotating” damping. An explicit expression is obtained for a stationary joint probability density of displacements and velocities as an exact analytical solution to the corresponding Fokker-Planck-Kolmogorov equation. The results are used to develop criterion for on-line detection of instability for the operating shaft from its measured response.     

A physical mechanism of large-scale structure generation in turbulent convection

The generation of large-scale structures during turbulent convection in a rotating layer of incompressible fluid heated by internal heat sources is considered. The results of a theoretical and experimental investigation of a physical mechanism of large-scale structure formation which operates under conditions of high-intensity small-scale turbulent convection and low boundary heat transfer are discussed. The theoretical investigation is based on a system of evolutionary equations obtained for the transverse space moments of the physical fields, which describes the motion in thin layers of rotating fluid. The stability of the solution of the mathematical model is studied using the small perturbation method. As a result, a condition of existence of longwave instability of the system and a criterion determining the threshold of its onset are obtained. The theoretical conclusions are confirmed by a series of experiments carried out on a laboratory model. The design of the laboratory apparatus and the experimental technique are described.Moscow, Perm'. Translated from Izvestiya Rossiiskoi Akademii Nauk, Mekhanika Zhidkosti i Gaza, No. 5, pp. 20–29, September–October, 1996.     

亚音速气流作用下薄板结构混沌运动的时滞反馈控制

研究了亚音速气流下非线性二维薄板结构在横向周期载荷作用下的混沌运动及控制问题。基于von Karman大变形板理论和分离变量法,建立了亚音速下薄板结构的运动控制方程。对于未控系统,采用Melnikov方法判断其混沌运动阈值,并用Runge-Kutta法进行数值验证。对处于混沌运动状态的系统,采用时滞反馈控制方法对混沌运动进行控制。结果表明,Melnikov方法可以有效地预测系统的混沌运动行为,时滞反馈控制方法可以有效地将系统的混沌运动转化为周期运动。     

不平衡量对非线性多转子系统动力特性的影响

用近代非线性动力学理论分析了弹性支承有间隙和摩擦的非线性刚性多转子系统的复杂运动．建立了支座有间隙和有摩擦的弹性支承的力学模型．导出了这类多转子系统的运动微分方程组．用数值方法得到系统在某些参数区域内的轴心轨迹图，Poincare映射图和分岔图等．以转子不平衡量为控制参数讨论了进出混沌区的不同路径和系统各种形式的拟周期，倍周期和混沌运动．分析结果为定性地改善转子系统的稳定运行状态提供了理论依据．     

FLUTTER INSTABILITY OF SUPPORTED PIPES CONVEYING FLUID SUBJECTED TO DISTRIBUTED FOLLOWER FORCES

In the past decades,it has been reported that divergence is the expected form of instability for fluid-conveying pipes with both ends supported.In this paper,the form of instability of supported pipes ...     

Accuracy of quasicontinuum approximations near instabilities

The formation and motion of lattice defects such as cracks, dislocations, or grain boundaries, occurs when the lattice configuration loses stability, that is, when an eigenvalue of the Hessian of the lattice energy functional becomes negative. When the atomistic energy is approximated by a hybrid energy that couples atomistic and continuum models, the accuracy of the approximation can only be guaranteed near deformations where both the atomistic energy as well as the hybrid energy are stable. We propose, therefore, that it is essential for the evaluation of the predictive capability of atomistic-to-continuum coupling methods near instabilities that a theoretical analysis be performed, at least for some representative model problems, that determines whether the hybrid energies remain stable up to the onset of instability of the atomistic energy.We formulate a one-dimensional model problem with nearest and next-nearest neighbour interactions and use rigorous analysis, asymptotic methods, and numerical experiments to obtain such sharp stability estimates for the basic conservative quasicontinuum (QC) approximations. Our results show that the consistent quasi-nonlocal QC approximation correctly reproduces the stability of the atomistic system, whereas the inconsistent energy-based QC approximation incorrectly predicts instability at a significantly reduced applied load that we describe by an analytic criterion in terms of the derivatives of the atomistic potential.     

A minimal model for studying properties of the mode-coupling type instability in friction induced oscillations

A minimal two degree of freedom model is used to clarify from an intuitive perspective the physical mechanisms underlying the mode-coupling instability of self-excited friction induced oscillations. It is shown that simultaneous out-of-phase oscillations of friction force and displacement tangential to the friction force may lead to energy transfer from the frictional system to vibrational energy. Also it is shown that the friction force acts like a cross-coupling force linking motion normal to the contact surface to motion parallel to it and that a necessary condition for the onset of instability is that these friction-induced cross-coupling forces balance the corresponding structural cross-coupling forces of the system. Finally the origin and the role of phase shifts between oscillations normal and parallel to the contact surface is clarified with respect to the mode-coupling instability. It may be expected that the intuitive picture gained will be of considerable help for practical design purposes.     

Steady-state analysis of multibody systems with reference to vehicle dynamics

This paper presents a systematic methodology and formulation for determining the steady-state response of multibody systems. The equations of motion for a general multibody system are described in terms of a set of relative joint accelerations. Then, the differential equations of motion are converted to a set of algebraic equations for the steady-state response. These equations are derived based upon a set of conditions that must exist for the steady state. The application of this formulation in determining the steady-state response of a vehicle moving in a circular path is shown. The multibody model of the vehicle for two- or four-wheel steering is presented. The results of the steady-state simulation are compared with those obtained from a transient dynamic analysis.     

完全笛卡尔坐标描述的多体系统动力学

用完全笛卡尔坐标描述多体系统的运动学和动力学在提高计算效率方面有突出优点．导出用完全笛卡尔坐标表示的刚体及多体系统的动量和动量矩的解析式，给出与之对应的广义惯量矩阵概念，建立无力矩状态下用完全笛卡尔坐标描述的多体系统动力学的一阶微分方程组，用于多体航天器的姿态运动分析     

Comparison of Various Techniques for Modelling Flexible Beams in Multibody Dynamics

The modelling of flexible elements in mechanical systems has been widely investigated through several methods issuing from both the area of structural mechanics and the field of multibody dynamics. As regards the latter discipline, beside the problem of the generation of the multibody equations of motion, the choice of a spatial discretization method for modelling flexible elements has always been considered as a critical phase of the modelling. Although this subject is abundantly tackled in the open-literature, the latter probably lacks an objective comparison between the most commonly used approaches.This contribution presents an extensive investigation of several discretization techniques of flexible beams, in a pure multibody context. In particular, it is shown that shape functions based on power series monomials are very suitable and versatile to model beams being part of a multibody system and thus constitutes an interesting alternative to finite element analysis. For this purpose, a symbolic multibody program, in which various discretization techniques were implemented, was generalized to compute the equations of motion of a general multibody system containing flexible beams.