Nonlinearly coupled in-plane and transverse vibrations of a spinning disk

Previous nonlinear spinning disk models neglected the in-plane inertia of the disk since this permits the use of a stress function. This paper aims to consider the effect of including the in-plane inertia of the disk on the resulting nonlinear dynamics and to construct approximate solutions that capture the new dynamics. The inclusion of the in-plane inertia results in a nonlinear coupling between the in-plane and transverse vibrations of the spinning disk. The full nonlinear partial differential equations are simplified to a simpler nonlinear two degrees of freedom model via the method of Galerkin. A canonical perturbation approach is used to derive an approximate solution to this simpler nonlinear problem. Numerical simulations are used to evaluate the effectiveness of the approximate solution. Through the use of these analytical and numerical tools, it becomes apparent that the inclusion of in-plane inertia gives rise to new phenomena such as internal resonance and the possibility of instability in the system that are not predicted if the in-plane inertia is ignored. It is also demonstrated that the canonical perturbation approach can be used to produce an effective approximate solution.     

An approach to analytical construction of the equations of motion of robot manipulators

Lagrange equations of the second kind are used to develop a method for constructing the elements of the equations of motion of robot manipulators in explicit (analytical) form with minimum computational complexity. The equations of motion can be represented by multilevel decomposition. Algorithms are given for constructing the inertia matrix of the manipulator segments in a number of steps equal to the number of degrees of freedom of the robot manipulator.Translated from Vychislitel'naya i Prikladnaya Matematika, No. 72, pp. 82–88, 1990.     

Nonlinear characteristics of vortex-induced vibration at low Reynolds number

Numerical simulations of vortex-induced vibration of a two-dimensional elastic circular cylinder under the uniform flow are calculated when Reynolds number is 200. In order to achieve the vortex-induced vibration, two-dimensional incompressible Navier–Stokes equations are solved with the space–time finite element method, the equations of the cylinder motion are solved with the new explicit integral method and the emeshing is achieved by the spring analogy technology. Considering vortex-induced vibration with the low reduced damping parameters, the variety trends of the lift coefficient, the drag coefficient, the displacement of cylinder are analyzed under different oscillating frequencies of cylinder. The nonlinear phenomena of locked-in, beat and phaseswith are captured successfully. The limit cycle and bifurcation of lift coefficient and displacement are analyzed. Besides, the Poincare sections of the lift coefficient are used for discussing the bifurcation of periodic solution. There are some differences in nonlinear characteristics between the results of the one degree of freedom cylinder model and those of the two degrees of freedom cylinder model. The streamwise vibration has a certain effect on the lateral vibration.     

非线性系统动力分析的模态综合技术

各种模态综合方法已广泛应用于线性结构的动力分析,但是,一般都不适用于非线性系统. 本文基于[20][21]提出的方法,将一种模态综合技术推广到非线性系统的动力分析.该法应用于具有连接件耦合的复杂结构系统,以往把连接件简化为线性弹簧和阻尼器.事实上,这些连接件通常具有非线性弹性和非线性阻尼特性.例如,分段线性弹簧、软特性或硬特性弹簧、库伦阻尼、弹塑性滞后阻尼等.但就各部件而言,仍属线性系统.可以通过计算或试验或兼由两者得到一组各部件的独立的自由界面主模态信息,且只保留低阶主模态.通过连接件的非线性耦合力,集合各部件运动方程而建立成总体的非线性振动方程.这样问题就成为缩减了自由度的非线性求解方程,可以达到节省计算机的存贮和运行时间的目的.对于阶次很高的非线性系统,若能缩减足够的自由度,那么问题就可在普通的计算机上得以解决. 由于一般多自由度非线性振动系统的复杂性,一般而言,这种非线性方程很难找到精确解.因此,对于任意激励下系统的瞬态响应,可以采用数值计算方法求解缩减的非线性方程.     

Vibration and stability analysis of a simply-supported Rayleigh beam with spinning and axial motions

The vibration and stability of a simply supported beam are analyzed when the beam has an axially moving motion as well as a spinning motion. When a beam has spinning and axial motions, rotary inertia plays an important role on the lateral vibration. Compared to previous studies, the present study adopts the Rayleigh beam theory and derives more exact kinetic energy and equations of motion. The rotary inertia terms derived by the present study are compared to those of the previous studies. We investigate the natural frequencies between the present and previous studies. In addition, the critical speed and stability boundary for the spinning and moving speeds are also analyzed. It can be observed from the computed natural frequencies and dynamic responses that the present equations of motion are more reliable than the previous equations because the present equations fully consider the rotary inertia terms.     

Utilizing CFD-Simulations to Assess Flow-Induced Vibrations of Slender Beams in Cross-Flow

Flow-induced vibrations of a slender U-beam in cross-flow are assessed, using the proprietary CFD-solver ANSYS-CFX. The U-beam has two degrees of freedom: heaving motion and rotation. The flow- and motion-governing equations are solved together, using an iterative coupling method. We find, that using this iterative coupling does not ensure a valid long-time behaviour of the solution. The results of free vibration simulations would allow investigation of the excitation mechanisms. But for determining possibility of large amplitude vibrations, methods relying on forced motion are deemed more promising. (© 2013 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Stability of the periodic motions of the vibro-impact systems

In many other papers a new direct method is developed for the study of vibro-impact system stability, a case in which the stability conditions are directly and rapidly obtained. This new method is stated and applied for systems with one or several degrees of freedom whose motion is analysed by Lagrange's equations. Thus, the equations in variations determined from the differential equations are considered, which by applying the boundary conditions lead by integration to the linearized equation in perturbations necessary to write the stability conditions. As example, is analysed in detail a particular case with one degree of freedom realised by the rod-crank mechanism. Also, a general system with two degrees of freedom is completely studied.     

Integrable cases of the problem of the free motion of a gyrostat

The free spatial motion of a gyrostat in the form of a carrier body with a triaxial ellipsoid of inertia and an axisymmetric rotor is considered. The bodies have a common axis of rotation, which coincides with one of the principal axes of inertia of the carrier. In the Andoyer–Deprit variables the equations of motion reduce to a system with one degree of freedom. Stationary solutions of this system are found, and their stability is analysed. Cases in which the longitudinal moment of inertia of the carrier is greater than the largest of the transverse moments of inertia of the system of bodies, is smaller than the smallest or belongs to a range composed of the moments of inertia indicated, are investigated. General analytical solutions that describe the motion on separatrices and in regions corresponding to oscillations and rotation on the phase portrait are obtained for each case. The results can be interpreted as a development of the Euler case of the motion of a rigid body about a fixed point when one degree of freedom, namely, relative rotation of the bodies, is added.     

The rolling of a wheel with a reinforced tyre along a plane without slip

A model of a wheel with a reinforced tyre, whose surface is simulated by a flexible strip (tread) attached to parts of two tori (the sidewalls of the tyre) is considered. The disk of the wheel (a rigid body) has six degrees of freedom and is in contact with the plane along part of the tread. Based on several assumptions, the potential energy functional of the deformed wheel is found as a function of the deformations of the centre line of the tread. On the assumption that the wheel is rolling without slip in the region of contact of the tread with the plane along a previously unknown section of the tread, the complete system of equations of motion is obtained. The equilibrium of the wheel and the steady state of rolling in a straight line with given swivel and tilt are investigated, and all characteristics of the motion are found (the contact region, the tyre deformation, and the forces and torques applied to the wheel disk).     

An algorithm for normalizing Hamiltonian systems in the problem of the orbital stability of periodic motions

A constructive procedure is proposed for constructing equations of perturbed motion convenient for investigating the orbital stability of periodic motion in an autonomous Hamiltonian system with two degrees of freedom. An algorithm for normalizing these equations is described, and formulae for evaluating the coefficients of the normal form are presented. The results are used to investigate the stability of motion in certain special cases of the regular Grioli precession of a heavy rigid body with one fixed point.     

A revisit of spinning disk models. Part I: derivation of equations of motion

Previous models of spinning disks have focused on modelling the disk as a spinning membrane. The effect of bending stiffness was then incorporated by adding the appropriate term to the previously derived spinning membrane equation. A pure spinning plate model does not exist in the literature. Furthermore, in both existing linear and nonlinear models of spinning disks, the in-plane inertia and rotary inertia of the disk have been ignored. This paper revisits the derivation of the equations of motion of a spinning plate. The derivation focuses on the use of Hamilton's principle with linear Kirchhoff and nonlinear von Karman strain expressions. In-plane and rotary inertias of the plate are automatically taken into account. The use of Hamilton's principle guarantees the correct derivation of the corresponding boundary conditions. The resulting equations and boundary conditions are discussed.     

The use of splitting of the equations of motion in the numerical solution of problems of the dynamics of elastic systems

Linear elastic systems with a finite number of degrees of freedom, the initial equations of motion of which are constructed using the finite element method or other discretization methods, are considered. Since, in applied dynamics problems, the motions are usually investigated in a frequency range with an upper bound, the degrees of freedom of the initial system of equations are split into dynamic and quasi-dynamic degrees. Finally, the initial system of equations is split into a small number of differential equations for the dynamic degrees of freedom and into a system of algebraic equations for determining the quasi-static displacements, represented in the form of a matrix series. The number of terms of the series taken into account depends on the accuracy required.     

Resolución numérica de las ecuaciones del movimiento de edificios de varias plantas con no linealidades severas

This paper presents a new algorithm for solving the equations of motion of multi-storey buildings that incorporate frictional energy dissipators as seismic protection. The behavior of the dissipators is represented by Coulomb dry friction models; they introduce severe nonlinearities in the dynamic behavior of the structure every time that the contact conditions (stick or slip) change in the dissipators. These nonlinearities complicate the resolution of the equations of motion as it usually is described by lumped masses models whose degrees of freedom are the displacements of the floors and, as the stick or slip conditions change, the degrees of freedom must be modified: for blocking conditions they are only the displacements of the storeys while under sliding conditions the displacements of the dissipators have to be also considered. In previous articles the accuracy of the proposed algorithm has been verified by comparison with experimental results; as well, the computational efficiency of the algorithm has been confirmed by comparing the required resources (in terms of computation time and of memory allocation) with those of other algorithms. The objectives of this paper are to describe in detail the numerical solution of the equations of motion and present representative examples confirming the ability of the algorithm to reproduce the dynamic behavior of buildings with friction dissipators and reporting preliminarily about the usefulness of such devices to reduce the oscillations of the structure to be protected.     

Reduction Methods for FE Analysis in Nonlinear Structural Dynamics

The computation of the nonlinear motion of large structures with implicit time integration schemes is costly. In each time step a large system of linear equations needs to be solved several times. In finite element models often a fine discretization is necessary to represent the geometry and to yield accurate results for the stress field. But from experience it is known that only a small number of degrees of freedom is sufficient to account for the dominant parts of a dynamic motion. Similar to modal decomposition, methods were developed to reduce the number of degrees of freedoms in nonlinear problems. Even though it is not possible to decompose the motion into decoupled modes, a reduction of the number of degrees of freedom yields less computational effort in many cases. The choice of appropriate basis vectors is important. Often used are load-dependent ‘Ritz’ vectors, which should be updated during the computation to yield sufficient accuracy. Dominant modes, computed by a proper orthogonal decomposition of a previous calculation can be used for repeated analyses of the same system with different loads. Significant time savings can be achieved with reduction methods. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The numerical simulation of a typical fluid-structure interaction problem

To determine the dynamic response of a structure under the influence of the fluid flow one must solve a coupled computational fluid dynamics (CFD) and computational structural dynamics (CSD) mathematical problem. This paper presents the comparison of two methods for the calculation of the fluid-structure interaction. The first one is of explicit-implicit type and uses a staggered time advancement of the fluid and structure problems. The second uses a fully implicit discretization in the physical time of the fluid-structure equations and an explicit advancement in the dual-time. The physical fluid-structure problem is accompanied by the equations of the mesh motion, which are written as for a pseudo-structural system with its own dynamics. Representative numerical results are presented for the two degrees of freedom tipical section in unsteady transonic flow. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Conservative numerical methods for the Full von Kármán plate equations

This article is concerned with the numerical solution of the full dynamical von Kármán plate equations for geometrically nonlinear (large‐amplitude) vibration in the simple case of a rectangular plate under periodic boundary conditions. This system is composed of three equations describing the time evolution of the transverse displacement field, as well as the two longitudinal displacements. Particular emphasis is put on developing a family of numerical schemes which, when losses are absent, are exactly energy conserving. The methodology thus extends previous work on the simple von Kármán system, for which longitudinal inertia effects are neglected, resulting in a set of two equations for the transverse displacement and an Airy stress function. Both the semidiscrete (in time) and fully discrete schemes are developed. From the numerical energy conservation property, it is possible to arrive at sufficient conditions for numerical stability, under strongly nonlinear conditions. Simulation results are presented, illustrating various features of plate vibration at high amplitudes, as well as the numerical energy conservation property, using both simple finite difference as well as Fourier spectral discretizations. © 2015 Wiley Periodicals, Inc. Numer Methods Partial Differential Eq 31: 1948–1970, 2015     

The effects of lateral–torsional coupling on the nonlinear dynamic behavior of a rotating continuous flexible shaft–disk system with rub–impact

This study investigates the lateral–torsional coupling effects on the nonlinear dynamic behavior of a rotating flexible shaft–disk system. The system is modeled as a continuous shaft with a rigid disk in its mid span. Coriolis and centrifugal effects due to shaft flexibility are also included. The partial differential equations of motion are extracted under the Rayleigh beam theory. The assumed mode method is used to discretize partial differential equations and the resulting equations are solved via numerical methods. The analytical methods used in this work include time series, phase plane portrait, power spectrum, Poincaré map, bifurcation diagrams, and Lyapunov exponents. The main objective of the present study is to investigate the torsional coupling effects on the chaotic vibration behavior of a system. Periodic, sub-harmonic, quasi-periodic, and chaotic states can be observed for cases with and without torsional effects. As demonstrated, inclusion of the torsional–lateral coupling effects can primarily change the speed ratios at which rub–impact occurs. Also, substantial differences are shown to exist in the nonlinear dynamic behavior of the system in the two cases.     

A General Theory of Resonance Between Weakly Coupled Oscillatory Systems

Resonant oscillations are investigated between several fullynon-linear oscillatory systems which are subject to a weak coupling.The equations of motion are obtained from a Hamiltonian whichis first expressed in terms of angle action variables, and thenaveraged. It is shown that this results in a reduced set ofequations, the reduction depending on the number of resonancesbetween the various systems. For example a resonance in a systemwith two degrees of freedom results in equations which are mathematicallyequivalent to those for one degree of freedom. The theory isillustrated by application to the forced oscillations of a simplependulum and to the resonant interaction between the two modesof oscillation of a double pendulum.     

Active nonlinear saturation-based control for suppressing the free vibration of a self-excited plant

A nonlinear saturation-based control strategy for the suppression of the free vibration of a self-excited plant is presented. The self-excitation to have the classical form of that of the van der Pol oscillator is considered. The control technique is implemented by coupling the active absorber with the plant via a specific set of quadratic nonlinearities. The perturbation method of multiple scales is employed to find the first-order approximate solutions to the governing equations. Then a stability analysis is conducted for the response of the system and the performance of the control strategy is investigated. A parametric investigation is carried out to see the effects of changing the damping ratio of the absorber, and the value of the feedback gain on the responses of the plant and the absorber. Finally, the perturbation solutions are verified by numerical integration of the governing differential equations. It is demonstrated that the saturation-based control method is effective in reducing the vibration response of the self-excited plant when the absorber’s frequency is exactly tuned to one-half the natural frequency of the plant.