Control of friction oscillator by Lyapunov redesign based on delayed state feedback

Abstract The stability and boundedness of mechanical system have been one of important research topics. In this paper ultimate boundedness of a dry friction oscillator, belonging to nonsmooth mechanical system, is investigated by proposing a controller design method. Firstly a sufficient condition of the stability for the nominal system with delayed state feedback is derived by constructing a Lyapunov-Krasovskii function. The delayed feedback gain matrix is calculated by applying linear matrix inequality method. Secondly on the basis of the delayed state feedback, a continuous function is designed by Lyapunov redesign to ensure that the solutions of the friction oscillator system are ultimately bounded under the overall control. Moreover, the ultimate bound can be adjusted in practice by choosing appropriate parameter. Accordingly friction-induced vibration or instability can be controlled effectively. Numerical results show that the pro- posed method is valid.     

Dynamics and control of an active pendulum system

The work focuses on autoparametric vibrations of system composed of a non-linear oscillator with an attached pendulum. A combination of semi-active damper together with a non-linear spring mounted in the suspension of system is proposed. The spring is made from a shape memory alloy (SMA) while damping is realized through a magnetorheological (MR) damper. The MR damper is used for controlling damping of the system, SMA spring is used to change system׳s stiffness. The system is solved numerically and verified experimentally on a custom made experimental rig. Specifically, non-linear resonances are investigated, and their influence on the system dynamics and absorption effect.     

SMA纤维复合材料梁振动半主动控制

分析了一类形状记忆合金(SMA)纤维混杂层合粱用于振动控制的动力学模型和作用机理．采用多胞模型、形状记忆合金一维本构关系分析方法，同时考虑横向剪切的影响，建立了层合梁的数学模型．半主动控制是通过改变受控结构的参数来减小结构振动的响应．根据开关控制原理确定可变刚度系统的控制律，进行SMA纤维混杂层合粱的半主动控制的数值仿真．结果表明，将半主动控制应用于梁的振动控制是一种有效的方法．     

超弹性NiTi合金丝动力特性试验及本构模型研究

形状记忆合金(SMA)是一种兼具感知和驱动功能的功能材料,因其独特的形状记忆效应、超弹性和高阻尼等特性,成为土木工程结构振动控制的理想材料.论文研究了超弹性NiTi丝的动力特性和应变率相关的本构模型.试验测试了NiTi丝在不同应变率下的力学性能,建立了应力增量与应变率的关系方程.在试验的基础上,提出了改进的SMA本构模...     

SMA本构模型及其应用的研究进展

形状记忆合金(SMA)是一类应用前景广阔的智能材料系统, 其最基本的宏观响应特性是在不同温度和应力条件下的相变超弹性和形状记忆特性.近年来, 形状记忆合金本构模型发展迅速, 其在工程结构振动控制领域中的研究和应用也得到了广泛地关注.与此同时, 许多学者将SMA用于当前迅速发展的智能材料结构,发展了一系列SMA复合材料本构模型, 成为目前SMA的应用研究的热点.本文针对形状记忆合金本构模型的发展状况, 首先回顾了近年来常用的和新发展的SMA本构模型, 并根据其包含的力学特点和基本理论将其进行了比较归类, 分析了各类模型特点和适用范围;其次从微/宏观角度介绍了有广阔应用前景的SMA智能复合材料的本构模型的发展状况;接着简要的综述了几类较为实用的SMA本构模型在实现结构的主/被控制、变形控制及结构裂纹诊断与控制等方面的应用现状.最后对目前本构模型的发展趋势、工程应用问题提出了一些看法和展望.      

Analytical study of the nonlinear behavior of a shape memory oscillator: Part II—resonance secondary

In this work, the response of a single-degree-of-freedom shape memory oscillator subjected to the excitation harmonic has been investigated. Equation of motion is formulated assuming a polynomial constitutive model to describe the restitution force of the oscillator. Here the method of multiple scales is used to obtain an approximate solution to the equations of the motion describing the modulation equations of amplitude and phase, and to investigate theoretically its stability. This work is presented in two parts. In Part I of this study we showed the modeling of the problem where the free vibration of the oscillator at low temperature is analyzed, where martensitic phase is stable. Part I also presents the investigation dynamics of the primary resonance of the pseudoelastic oscillator. Part II of the work is focused on the study in the secondary resonance of a pseudoelastic oscillator using the model developed in Part I. The analysis of the system in Part I as well as in Part II is accomplished numerically by means of phase portraits, Lyapunov exponents, power spectrum and Poincare maps. Frequency-response curves are constructed for shape memory oscillators for various excitation levels and detuning parameter. A rich class of solutions and bifurcations, including jump phenomena and saddle-node bifurcations, is found.     

Analytical study of the nonlinear behavior of a shape memory oscillator: Part I—primary resonance and free response at low temperatures

In this work, the response of a single-degree-of-freedom shape memory oscillator subjected to the excitation harmonic has been investigated. Equation of motion is formulated assuming a polynomial constitutive model to describe the restitution force of the oscillator. Here the method of multiple scales is used to obtain an approximate solution to the equations of the motion describing the modulation equations of amplitude and phase, and to investigate theoretically its stability. This work is presented in two parts. In Part I of this study we showed the modeling of the problem where the free vibration of the oscillator at low temperature is analyzed, where martensitic phase is stable. Part I also presents the investigation dynamics of the primary resonance of the pseudoelastic oscillator. Part II of the work is focused on the study in the secondary resonance of a pseudoelastic oscillator using the model developed in Part I. The analysis of the system in Part I as well as in Part II is accomplished numerically by means of phase portraits, Lyapunov exponents, power spectrum and Poincare maps. Frequency-response curves are constructed for shape memory oscillators for various excitation levels and detuning parameter. A rich class of solutions and bifurcations, including jump phenomena and saddle-node bifurcations, is found.     

单自由度超弹性SMA减振结构随机振动控制理论研究

利用形状记忆合金（Shape Memory Alloy,简称SMA）丝的超弹性,提出了一种具有复位功能的阻尼器。在SMA丝的Graesser本构模型基础上,建立了阻尼器恢复力的滑移双线性模型;假定滞回面积相等,提出了恢复力的滑移刚塑性模型以近似简化滑移双线性模型。采用等价线性化法建立了单自由度超弹性SMA减振结构在高斯白噪声激励下的平稳随机振动分析公式。通过一算例,考虑不同激励谱密度和结构阻尼比：比较了等价线性法和蒙特卡罗（Monte Carlo）模拟法计算的结构振动响应（位移标准差和速度标准差）,证明了SMA减振结构随机振动控制理论的有效性;比较了等价线性减振结构和无控结构的动力特性（刚度和阻尼比）和振动响应,说明了SMA阻尼器能提高结构的刚度和阻尼比,因而可有效抑制结构的振动。     

Large amplitude free vibration analysis of thermally post-buckled composite doubly curved panel embedded with SMA fibers

Thermal post-buckled vibration of laminated composite doubly curved panel embedded with shape memory alloy (SMA) fiber is investigated and presented in this article. The geometry matrix and the nonlinear stiffness matrices are derived using Green–Lagrange type nonlinear kinematics in the framework of higher order shear deformation theory. In addition to that, material nonlinearity in shape memory alloy due to thermal load is incorporated by the marching technique. The developed mathematical model is discretized using a nonlinear finite element model and the sets of nonlinear governing equations are obtained using Hamilton’s principle. The equations are solved using the direct iterative method. The effect of nonlinearity both in geometric and material have been studied using the developed model and compared with those published literature. Effect of various geometric parameters such as thickness ratio, amplitude ratio, lamination scheme, support condition, prestrains of SMA, and volume fractions of SMA on the nonlinear free vibration behavior of thermally post-buckled composite flat/curved panel been studied in detail and reported.     

Shape memory elastic foundation and supports for passive vibration control of composite plates

The paper presents an approach to passive vibration control of shear deformable and thin plates. The first of two methods of vibration control employs prestressed shape memory alloy (SMA) wires embedded in sleeves attached to the surface of the plate. The spacing between the wires can be arbitrary and variable enabling the development of a SMA support system for maximum control with minimum additional weight. The other method considered in the paper utilizes SMA wires supporting the plate at strategically selected points. The mechanism of passive control includes two components: (1) SMA wires prestressed as a result of constrained phase transformation act as an elastic foundation with a variable stiffness and (2) energy dissipation occurs as a result of hysteresis in superelastic wires vibrating together with the structure. As follows from examples, it is possible to achieve a significant reduction of the vibration amplitude over a broad spectrum of driving frequencies using any of two methods considered in the paper.     

Chaos control of a nonlinear oscillator with shape memory alloy using an optimal linear control: Part I: Ideal energy source

In this paper, an optimal linear control is applied to control a chaotic oscillator with shape memory alloy (SMA). Asymptotic stability of the closed-loop nonlinear system is guaranteed by means of a Lyapunov function, which can clearly be seen to be the solution of the Hamilton–Jacobi–Bellman equation, thus guaranteeing both stability and optimality. This work is presented in two parts. Part I considers the so-called ideal problem. In the ideal problem, the excitation source is assumed to be an ideal harmonic excitation.     

复合干摩擦的准零刚度隔振系统的亚谐共振

利用增量平均法研究了复合干摩擦阻尼器的准零刚度非线性隔振系统在外部简谐激励作用下的1/3次亚谐共振. 首先利用平均法得到了复合干摩擦的准零刚度隔振系统的主共振近似解析解, 然后在系统主共振近似解析解的基础上将系统的亚谐共振响应看作增量, 并利用平均法得到了准零刚度隔振系统的亚谐共振近似解析解. 利用李雅普诺夫方法得到了准零刚度隔振系统主共振和亚谐共振稳态解的稳定性条件, 并推导了系统1/3次亚谐共振的存在条件. 根据近似解析解分别得到了复合干摩擦的准零刚度隔振系统的主共振和亚谐共振力传递率. 利用数值解验证了准零刚度隔振系统主共振和亚谐共振近似解析解的准确性. 利用系统的近似解析解详细分析了准零刚度参数和干摩擦力对系统主共振和亚谐共振的幅频响应以及力传递特性的影响. 分析结果表明, 通过选取合适的干摩擦力参数, 可以消除准零刚度隔振系统在主共振区域的亚谐共振. 通过复合干摩擦阻尼器不但可以提高准零刚度隔振系统在低频区域的振幅抑制效果, 而且可以降低准零刚度隔振系统的起始隔振频率, 但是会增大系统在有效隔振频带内的力传递率.      

Force-displacement characteristics of simply supported beam laminated with shape memory alloys

As a preliminary step in the nonlinear design of shape memory alloy(SMA) composite structures,the force-displacement characteristics of the SMA layer are studied.The bilinear hysteretic model is adopted to describe the constitutive relationship of SMA material.Under the assumption that there is no point of SMA layer finishing martensitic phase transformation during the loading and unloading process,the generalized restoring force generated by SMA layer is deduced for the case that the simply supported beam vibrates in its first mode.The generalized force is expressed as piecewise-nonlinear hysteretic function of the beam transverse displacement.Furthermore the energy dissipated by SMA layer during one period is obtained by integration,then its dependencies are discussed on the vibration amplitude and the SMA’s strain(Ms-Strain) value at the beginning of martensitic phase transformation.It is shown that SMA’s energy dissipating capacity is proportional to the stiffness difference of bilinear model and nonlinearly dependent on Ms-Strain.The increasing rate of the dissipating capacity gradually reduces with the amplitude increasing.The condition corresponding to the maximum dissipating capacity is deduced for given value of the vibration amplitude.The obtained results are helpful for designing beams laminated with shape memory alloys.     

形状记忆合金增强复合材料连接件模型的实验研究

本文对形状记忆合金（ＳＭＡ）增强复合材料连接件模型进行了初步的实验分析和计算,结果表明：ＮｉＴｉＳＭＡ丝产生的回复应力对连接件模型孔应变有明显的影响,埋入ＮｉＴｉ丝的复合材料连接件模型的拉伸破坏载荷有所提高,本研究为改善复合材料连接的强度问题作了有益的探索。     

Optimization of hysteretic characteristics of damping devices based on pseudoelastic shape memory alloys

In order to develop a fundamental understanding and the feasibility of SMA devices for passive vibration control, an undamped SDOF system with a pseudoelastic SMA restoring force is investigated to find the basic relationship between the shape of the hysteresis loop of SMA elements and their performance as a damping device. The dynamic characteristics of the device are evaluated by the steady-state response at the resonance point in order to focus on the damping effect. Dynamic analysis utilizing the equivalent linearization approach results in two major findings that, to the best of the authors’ knowledge, have not yet been reported in the literature. These results which characterize the unique behavior of the SMA hysteresis include: (a) for a given excitation amplitude, the “scale” of the hysteresis loop, which is a measure of displacement and restoring force, needs to be adjusted so that the response sweeps the maximum loop but does not exceed it; (b) the ratio of the area confined within the hysteresis loop to the area of a corresponding envelope of triangular shape should be as large as possible. The results of this study would be quite useful not only as a guideline for the design of actual SMA devices, but also as a basis for the development of new autoadaptive materials in future.     

STUDY ON THE RESPONSE TO LOW-VELOCITY IMPACT OF A COMPOSITE PLATE IMPROVED BY SHAPE MEMORY ALLOY

Improvement from the pseudo-elastic effect of shape memory alloy (SMA) on the low-velocity impact (LVI) resistance of a composite plate is investigated by the finite element method (FEM).The stiffness matrix of the dynamic finite element equation is established step by step and the martensite fraction is obtained at each time step.The direct Newmark integration method is employed in solving the dynamic finite element equation,while the impact contact force is determined using the modified Hertz's law.It is found that SMA can effectively improve the performance of a composite structure subjected to low-velocity impact.Numerical results show that the deflection of a SMA-hybrid composite plate has been reduced approximately by thirty percent when the volume fraction of the embedded SMA reaches 0.3.     

Pseudoelastic effect in autoparametric non-ideal vibrating system with SMA spring

In this paper a three degrees of freedom autoparametric system with limited power supply is investigated numerically. The system consists of the body, which is hung on a spring and a damper, and two pendulums connected by shape memory alloy (SMA) spring. Shape memory alloys have ability to change their material properties with temperature. A polynomial constitutive model is assumed to describe the behavior of the SMA spring. The non-ideal source of power adds one degree of freedom, so the system has four degrees of freedom. The equations of motion have been solved numerically and pseudoelastic effects associated with the martensitic phase transformation are studied. It is shown that in this type system one mode of vibrations might excite or damp another mode, and that except different kinds of periodic vibrations there may also appear chaotic vibrations. For the identification of the responses of the system's various techniques, including chaos techniques such as bifurcation diagrams and time histories, power spectral densities, Poincarè maps and exponents of Lyapunov may be used.     

Self-excited vibration caused by dry friction between two elastic structures

Based on our previous work^[1], self-excited vibration of a multi-degree-of-freedom system caused by dry friction between two elastic structures is investigated using the Chinese cultural relic dragon washbasin as an example. Some new characteristics of the self-excited vibration in this kind of system are found. The conditions under which self-excited vibration occurs at low-order or high-order modes are discussed. Effects of changes in parameters of the system on the self-excited vibration are analyzed. The vibration mechanism of the water droplets spurting phenomenon of the Chinese cultural relic dragon washbasin is further explained. This investigation presents a new idea for modeling the self-excited vibration caused by dry friction interaction between two elastic structures. The project supported by the National Natural Science Foundation of China     

形状记忆合金在结构主被动振动控制中的应用

开状记忆合金是一类应用前景广阔的智能材料系统,利用形状记忆合金材料控制结构振动是最能体现这种先进材料应用价值的重要研究方向之一．本文首先介绍形状记忆合金的主要力学行为,包括形状记忆效应和超弹性效应;其次概述描述其力学行为的本构关系模型;最后重点论述实现结构主被动控制的原理和方法及其国内外研究进展,指出存在的问题和改进方法．