Active Longitudinal Control of Wind-Induced Oscillations of a Suspended Cable

Abstract. Active control of oscillations of a suspended cable under transversal wind, described by a constant term and a fluctuating turbulent component, is dealt with. Control of transversal in-plane and out-of-plane oscillations is performed by imposing a longitudinal motion to one support; the control law depends, linearly or quadratically, on measures of displacement and velocity of a selected point. First, the steady-state oscillations around the planar static configuration, determined by the wind constant component, under sinusoidal in-plane and out-of-plane loading are studied, showing the nonlinear behaviour in the regions of primary and parametric resonance and the effects of the control action. Afterwards, attention is focused on the response of the cable to transversal wind turbulence, whose fluctuating component is described by a random process with an assigned spectral density. The effectiveness of longitudinal control is analysed by means of numerical investigations.Sommario. Si analizza il controllo attivo delle oscillazioni di un cavo sospeso, sottoposto all'azione di un vento agente in direzione ortogonale al piano del cavo e descritto mediante un termine di carico costante ed una componente variabile di turbolenza. Il controllo delle oscillazioni piane e spaziali viene realizzato mediante spostamento longitudinale di uno degli appoggi; la legge di controllo dipende linearmente o quadraticamente da misure di spostamento e velocità di un punto prescelto. In una prima fase, vengono studiate le oscillazioni stazionarie sotto carichi sinusoidali agenti rispettivamente nel piano e fuori del piano del cavo, intorno alla configurazione di equilibrio statico determinata dalla presenza della componente costante del vento, mostrando il comportamento nonlineare nelle regioni di risonanza primaria e parametrica e gli effetti dell'azione di controllo. Successivamente, si focalizza l'attenzione sulla risposta del cavo alla componente trasversale di turbolenza del vento, la quale è descritta da un processo stocastico a media nulla con densità spettrale assegnata. L'efficacia del controllo viene analizzata attraverso un'indagine numerica.     

一类非线性系统在随机激励下的分叉

本文研究一类阻尼为线性，弹性恢复力为非线性的振动系统在随机外部激励作用下的随机分叉。文中采用广义稳态势和方法，求解系统响应的稳态联合概率密度函数。在此基础上根据由不变测度定义的随机分叉，讨论了具有权式分叉的确定性非线性系统在随机扰动下分叉行为。     

Control of Wind-Induced Nonlinear Oscillations in Suspended Cables

In this paper, the along-wind and across-wind responses of suspended cables are studied. The mean wind direction is assumed to be perpendicular to the plane of the suspended cable. It is shown that the cable gallops in the across-wind direction, when the mean wind speed exceeds a critical wind speed. To control the galloping response, a vertical viscous damper, in the vertical plane of the cable, is introduced at a certain location on the cable to a near fixed platform such as a bridge deck. The efficiency of the vertical viscous damper and its location in controlling the galloping of the suspended cable is investigated.     

端部激励相位差下斜拉索的非线性振动

斜拉桥中拉索承受着多种端部激励,可激发大幅空间振动．以斜拉索为对象,探究不同端部激励间相位差对其非线性振动的影响．首先,推导斜拉索无量纲离散控制方程,引入考虑相位的三向端部激励得到一般化模型;然后,针对拉索下端存在的纵桥向、竖向和横桥向激励的两两组合,受大幅或小幅激励,及其在主共振区或主参数共振区几组因素,共计12种工况,采用数值分析法分别研究了各工况下不同激励相位差时的斜拉索稳态响应．研究发现：激励相位差能加剧与激励频率相近的面内、外模态振动;在任意端部激励组合下,激励相位差不仅可使斜拉索非线性振动出现定量变化,还可改变内共振的表现形式．面内、外激励组合下,相位差对拉索响应幅值的影响以π为周期变化,且当相位差趋于π/2 + kπ (k = 0, 1, 2…)时影响最为突出;而面内激励组合下,以2π为变化周期,当相位差为π + 2kπ (k = 0, 1, 2, …)时其对稳态幅值的影响最显著．其原因是：面外激励关于拉索所在的竖直面对称,故其本质上以π为周期;而面内激励无此对称性,仍以2π为周期．因此,有无面外激励参与决定了激励间相位差对斜拉索响应的影响规律．     

Nonlinear Capillary Oscillations of a Volumetrically Charged Dielectric Drop

For the axisymmetric capillary oscillations of a charged dielectric fluid drop an expression describing the shape of the generating surface of the drop as a function of time is obtained in the quadratic approximation in the amplitude of an arbitrary initial deformation of its spherical equilibrium shape. It is shown that in contrast to a perfectly conducting charged drop there is no displacement of the drop charge center during oscillation and, hence, such a drop cannot be a source of dipole electromagnetic radiation like a conducting drop in the quadratic approximation.     

Control of Combustion Oscillations Close to Stoichiometry

The oscillations that occur in ducted plane and round sudden-expansions with combustion of premixed air and methane have been examined for flow conditions which gave rise to large amplitudes corresponding to half-waves. They were present above a minimum flow rate and in a range of equivalence ratios that increased slightly with flow rate and centred around stoichiometry. The periodic roll-up, growth and collapse of combusting vortices downstream of the plane expansion was examined in terms of chemiluminescence images and velocity and temperature measurements synchronised with the pressure oscillation. The periodic heat release and pressure fluctuations were shown to be in phase close to the geometric axis, with the oscillations driven in this region, so that local perturbations were likely to have greatest effect when introduced there. The pressure signals in both ducts were similar so that the flow in the round duct was expected to behave in the same way and, a stream of pulsed methane was thus best able to modify the oscillations when introduced on the axis and close to the expansion plane. Low-frequency oscillations tended to modulate the half-wave with effects that increased with flow rate and, therefore, heat release rate, and stemmed from a combination of the bulk-mode resonance of the upstream cavity and high strain rate in the vicinity of the expansion. The amplitudes of the oscillations in the round duct were controlled by imposing oscillations on the pressure field and heat release at a phase or frequency different from that of the combustion oscillations. Both approaches led to substantial reduction in the amplitude of oscillations at low flow rates, when the modulations were small, but the effectiveness of control deteriorated sharply at the higher flow rates. This revised version was published online in July 2006 with corrections to the Cover Date.     

Local Bifurcation Control of a Forced Single-Degree-of-Freedom Nonlinear System: Saddle-Node Bifurcation

It is well known that saddle-node bifurcations can occur in the steady-state response of a forced single-degree-of-freedom (SDOF) nonlinear system in the cases of primary and superharmonic resonances. This discontinuous or catastrophic bifurcation can lead to jump and hysteresis phenomena, where at a certain interval of the control parameter, two stable attractors exist with an unstable one in between. A feedback control law is designed to control the saddle-node bifurcations taking place in the resonance response, thus removing or delaying the occurrence of jump and hysteresis phenomena. The structure of candidate feedback control law is determined by analyzing the eigenvalues of the modulation equations. It is shown that three types of feedback – linear, nonlinear, and a combination of linear and nonlinear – are adequate for the bifurcation control. Finally, numerical simulations are performed to verify the effectiveness of the proposed feedback control.     

参外联合激励下的簇发振荡及其机理

当周期激励频率远小于系统固有频率时,会存在快慢耦合效应,与单项激励不同,参外联合激励不仅会导致快子系统平衡曲线和分岔行为的复杂化,也会产生一些特殊的非线性现象,为此,本文以两耦合Hodgkin-Huxley细胞模型为例,引入周期参外联合激励,探讨在频域不同尺度耦合时该系统的簇发振荡的特点及其分岔机制．通过建立相应的快慢子系统,得到慢变参数变化下的快子系统的各种分岔模式以及相应的分岔行为,结合转换相图,揭示耦合系统随激励幅值变化时的动力学行为及其机理．研究表明,在激励幅值较小时,系统表现为概周期振荡,两频率分别近似于快子系统平衡曲线由Hopf分岔引起的两稳定极限环的振荡频率．概周期解随激励幅值的增加进入簇发振荡,导致这些簇发振荡的主要原因是在慢变参数变化的部分区间内,存在唯一稳定的平衡曲线,使得系统的轨迹逐渐趋向该平衡曲线,产生沉寂态,并随着慢变参数的变化,由分岔进入激发态．同时,快子系统中参与簇发振荡的稳定吸引子随激励幅值的变化也会不同,导致不同形式的簇发振荡．另外,与单项激励下的情形不同,联合激励时快子系统的部分稳定吸引子掩埋在其它稳定吸引子内,从而失去对簇发振荡的影响．     

Stability and Oscillations in a Time-Delayed Vehicle System with Driver Control

In this paper, linear stability and chaotic motion of a time-delayednonlinear vehicle system are studied. The stability is determined bycomputing the spectrum associated with a system of linear retardedfunctional differential equations, which reveals that a loss ofstability occurs following a Hopf bifurcation. Beyond the critical valuefor linear stability, the system exhibits limit cycle motions.Subharmonic, quasi-periodic and chaotic motions are observed for asystem excited by a periodic disturbance.     

C- METHOD AND ITS APPLICATION TO ENGINEERING NONLINEAR DYNAMICAL PROBLEMS

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On the Need for Control of Nonlinear Oscillations in Machine Systems

Oscillations in machines are invariably nonlinear. This is either because of inertial coupling effects between different motions of the moving components, material and constitutive phenomena giving rise to stiffness modifications, nonlinear dissipation mechanisms, large deflections, or, as is most likely, some sort of combination of all of these. The net effect of nonlinear vibrations is that at best the machine may well behave a little differently from the way the designer intended, or at worst, in a manner which renders it completely unsuitable for the job. The extent of such problems depends on the nature and the scale of the nonlinearities that are present but it is safe to say that nonlinear oscillations can rarely be completely overlooked in precision machinery analysis and design. The unifying theme in this paper is pendulum motion, firstly in the case of a mobile gantry crane for container stacking where we wish to minimise such motion and converge on a target, and then secondly in the case of a vibration absorber in which we choose to initiate pendulum motion within a special absorber, for the purposes of vibration minimisation. The third example involves the potential for pendulum motion at a very much larger scale and summarises the main control problem that is likely to be encountered in a fully deployed momentum exchange propulsion tether operating in space. The paper discusses the general mathematical issues that pertain to pendulum motion in each of the three cases. This motion is investigated initially in the context of the mobile gantry crane, in the form of a basic three dimensional dynamical model. A feedback linearised controller is shown to offer some advantages for the control of such a system and then a simulation based on data from a practical implementation of this within a real-time control system on a 1/10 laboratory scale model is discussed. It is recalled that the real-time effectiveness of the controller can be compromised by relatively slow sensing and data logging hardware but that despite this some useful performance gains can still be obtainable using this sort of control strategy. The second example comprises an autoparametric vibration absorber and here it is shown how even a simple hunting controller can exploit the mode-locking and wide detuning region effects inherent in autoparametric systems. Further experimental results are discussed in the case of a hunting controller for detuning a vertically oriented parametrically excited pendulum in order to exploit and enhance the powerful and persistent absorption available during autoparametric interaction. The paper concludes with a summary review of the third problem in which the theoretical attitude dynamics of a motorised momentum exchange space propulsion tether are summarised and it is shown that they need to be controlled for reliable and optimal payload velocity boost from both circular parking orbits and elliptical transfer orbits about the Earth.     

Bifurcation Control of Parametrically Excited Duffing System by a Combined Linear-Plus-Nonlinear Feedback Control

For a parametrically excited Duffing system we propose a bifurcation control method in order to stabilize the trivial steady state in the frequency response and in order to eliminate jump in the force response, by employing a combined linear-plus-nonlinear feedback control. Because the bifurcation of the system is characterized by its modulation equations, we first determine the order of the feedback gain so that the feedback modifies the modulation equations. By theoretically analyzing the modified modulation equations, we show that the unstable region of the trivial steady state can be shifted and the nonlinear character can be changed, by means of the bifurcation control with the above feedback. The shift of the unstable region permits the stabilization of the trivial steady state in the frequency response, and the suppression of the discontinuous bifurcation due to the change of the nonlinear character allows the elimination of the jump in the quasistationary force response. Furthermore, by performing numerical simulations, and by comparing the responses of the uncontrolled system and the controlled one, we clarify that the proposed bifurcation control is available for the stabilization of the trivial steady state in the frequency response and for the reduction of the jump in the nonstationary force response.     

一类平面自治非线性时滞控制系统的多稳态和混沌

众所周知,平面自治系统即使具有光滑非线性存在,系统也不会出现复杂的动力学行为。本文研究这样的系统存在时滞时,时滞量对系统的动力学行为的影响。通过对一个平面自治非线性系统引入时滞反馈,得到数学模型。利用泛函分析和平均法建立系统平衡态随时滞量变化的失稳机理,研究表明：时滞量平面自治系统动力学行为的影响是本质的．时滞量不但可以使系统出现Hopf分岔,产生周期振动。而且还可以使系统出现多稳态的周期运动或周期吸引子,这些共存的吸引子相碰是导致系统复杂的动力学行为,包括概周期和混沌运动。     

Multiple Scales via Galerkin Projections: Approximate Asymptotics for Strongly Nonlinear Oscillations

The method of multiple scales and the related method of averaging are commonly used tostudy slowly modulated oscillations. If the system of interest is a slightlyperturbed harmonic oscillator, then these techniques can be applied easily. If the unperturbed system is strongly nonlinear (though possiblyconservative), then these methods can run into difficulties due to the impossibilityof carrying out required analytical operations in closed form.In this paper, we abandon the requirement of closed form analyticaltreatment at all stages. Instead, Galerkin projections are used toobtain approximate realizations of the method of multiple scales. Thispaper adapts recent work using similar ideas for approximaterealizations of the method of averaging. A key contribution of thepresent work is in the systematic identification and removal of secularterms in the general nonlinear case, a procedure that is more difficultthan for the perturbed harmonic oscillator case, and that is unnecessaryfor averaging.A strength of the present work is that the heuristics (Galerkin)and asymptotics (multiple scales) are kept distinct,leaving room for systematic refinement of the formerwithout compromising the asymptotic features of the latter.     

Nonlinear Oscillations of Viscoelastic Rectangular Plates

Nonlinear oscillations of viscoelastic simply supported rectangular plates are studied by assuming the Voigt–Kelvin constitutive model. Using Hamilton's principle in conjunction with the kinematics associated with Kirchhoff's plate model, the governing equations of motion including the effect of damping are represented in terms of the transversal deflection and a stress function. Utilizing the Bubnov–Galerkin method, the nonlinear partial differential equations are reduced to an ordinary differential equation which is studied geometrically by approximate construction of the Poincaré maps. Explicit expressions are given for periodic solutions.     

Mode Localization Induced by a Nonlinear Control Loop

We present the analysis of a nonlinear controlsystem that is used to excite and maintain a specified amplitude ofoscillation in the Jet Propulsion Laboratory vibratory gyroscope.This experimental application shows that nonlinear localizationthrough active means can be implemented in a practical system when itis desirable to confine the response to a favorable mode. Theclosed-loop system response predicted by the model shows very closeagreement with the experimental results for a significant range ofcontroller parameters. We also experimentally demonstrate that theactively localized motion is eliminated through bifurcation, similarto what was observed in previous passive localization studies appliedto extended flexible oscillators.     

Global Bifurcations and Chaotic Dynamics in Nonlinear Nonplanar Oscillations of a Parametrically Excited Cantilever Beam

This paper presents the analysis of the global bifurcations and chaotic dynamics for the nonlinear nonplanar oscillations of a cantilever beam subjected to a harmonic axial excitation and transverse excitations at the free end. The governing nonlinear equations of nonplanar motion with parametric and external excitations are obtained. The Galerkin procedure is applied to the partial differential governing equation to obtain a two-degree-of-freedom nonlinear system with parametric and forcing excitations. The resonant case considered here is 2:1 internal resonance, principal parametric resonance-1/2 subharmonic resonance for the in-plane mode and fundamental parametric resonance–primary resonance for the out-of-plane mode. The parametrically and externally excited system is transformed to the averaged equations by using the method of multiple scales. From the averaged equation obtained here, the theory of normal form is applied to find the explicit formulas of normal forms associated with a double zero and a pair of pure imaginary eigenvalues. Based on the normal form obtained above, a global perturbation method is utilized to analyze the global bifurcations and chaotic dynamics in the nonlinear nonplanar oscillations of the cantilever beam. The global bifurcation analysis indicates that there exist the heteroclinic bifurcations and the Silnikov type single-pulse homoclinic orbit in the averaged equation for the nonlinear nonplanar oscillations of the cantilever beam. These results show that the chaotic motions can occur in the nonlinear nonplanar oscillations of the cantilever beam. Numerical simulations verify the analytical predictions.     

时滞对于参数激励系统周期运动的影响

本文以结构物承受周期激励地震波和具有时滞的弹性地基为背景，研究时滞对于结构物振动响应的影响规律。问胚的数学模型是一个非线性参数激励时滞系统，采用中心流形和平均法得到Hopf分岔方程，研究结果表明时滞量对结构物的地震响应有重要影响，它可使响应振幅增大，意味着结构物遭破坏的危险性增大，同时，结果也表明可以通过阻尼控制器克服时滞引起的危险性。最后，对于不同的时滞量，比较理论分析与数值模拟结果基本吻合，说明了本文结果的可靠性。     

Frictional Oscillations Under the Action of Almost Periodic Excitation

Frictional oscillations under the action of almost periodic force are studied. The modulation equations are derived by the multiple scales method to study bifurcations behavior. Heteroclinic Melnikov function is constructed to obtain the region of chaotic solutions of these equations. Bifurcations of almost periodic orbits are studied by Van der Pol transformation and averaging procedure.     

Studies of Store-Induced Limit-Cycle Oscillations Using a Model with Full System Nonlinearities

The authors investigate limit-cycle oscillations of a wing/store configuration. Unlike typical aeroelastic studies that are based upon a linearized form of the governing equations, herein full system nonlinearities are retained, and include transonic flow effects, coupled responses from the structure, and store-related kinematics and dynamics. Unsteady aerodynamic loads are modeled with the equations from transonic small disturbance theory. The structural dynamics for the cantilevered wing are modeled by the nonlinear equations of motion for a beam. The effects of general store-placement are modeled by the nonlinear equations of motion related to the position-induced nonlinear kinematics. Chordwise deformations of the wing surface, as well as pylon and store flexibility, are assumed negligible. Nonlinear responses are studied by examining bifurcation and related response characteristics using direct simulation. Particular attention is given to cases for which large-time, time-dependent behavior is dependent on initial conditions, as observed for some configurations in flight test. Comparisons of results in which selective nonlinearities are excluded indicate that the accurate prediction of nonlinear responses such as limit cycle oscillations (LCOs) may depend upon consideration of all nonlinearities related to the full system.