基于时间有限元方法的旋转柔性叶片动力学响应分析

将时间有限元方法引入到柔性多体系统的数值计算中,研究了旋转柔性叶片系统的刚-柔耦合响应问题.首先,基于非线性梁理论,建立了旋转柔性叶片系统的中心刚体-柔性梁模型,构造柔性叶片系统考虑一次近似耦合的Lagrange函数;其次,采用假设模态方法对空间坐标进行离散,建立系统的时间有限元格式;最后,通过数值实验,分析了柔性叶片的动力学响应.该方法直接构造了系统的离散积分格式,并自动保证了该格式是保辛的,因而具有较高的数值精度和稳定性.数值结果表明:时间有限元可以有效地求解旋转柔性叶片系统内低频大范围运动与高频弹性振动之间的刚-柔耦合问题.     

刚柔耦合系统动力学建模及分析

准确预测经历大范围刚体运动和弹性变形的柔性体的行为,是当前柔性多体系统动力学领域关注的主要课题.基于线性理论的传统方法由于无法计及动力刚化效应,导致在许多实际应用中得到错误的结果.本文从离心力势场的概念出发,应用Hamilton原理建立了具有动力刚化效应的刚柔耦合系统的运动方程,证明了该方程解的周期性,并采用了Frobenius方法给出了其精确解的一般形式.通过算例分析了刚体运动对弹性运动的模态和频率的影响.     

一个刚柔耦合的火箭发射架动力学模型

对刚柔耦合火箭发射架进行了动力学建模．将火箭发射架分成两个子系统,一个是多刚体系统,另一个是空间大位移运动的柔性发射管．先对这两个子系统的动力学分别建模,然后再考虑这两个系统之间的动力学耦合,从而获得整个系统的动力学模型．这种方法把复杂系统离散成简单系统,再由现存的简单系统的动力学模型组合成整个系统的动力学模型,使得整个建模过程高效、方便．     

空间弹性变形梁动力学的旋量系统理论方法

所谓空间弹性梁,即同时考虑受弯曲、拉伸和扭转等力作用而发生空间变形的梁.借助于刚体运动的旋量理论,引入了"变形旋量"这一概念,进而提出了空间弹性梁的旋量理论.在基本的运动学假设和材料力学理论基础上,分析并给出了梁的空间柔度.接着研究了空间弹性梁的动力学,用旋量理论分析了其动能和势能,从而得到了Lagrange算子.通过对边界条件和变形函数的讨论,进一步运用Rayleigh-Ritz方法计算了系统的振动频率.将空间弹性梁与纯弯曲、扭转或者拉伸等简单变形情况下的特征频率做了对比研究.最后,运用所提出的空间弹性梁理论研究了一关节轴线互相垂直的两空间柔性杆机械臂的动力学,通过动力学仿真发现了关节的刚性运动和空间柔性杆的弹性变形运动之间的耦合影响.该文的研究工作阐明了运用旋量系统理论解决具有空间弹性变形杆件的机构动力学问题的有效性.     

基于非约束模态的中心刚体-Timoshenko梁动力学建模与分析北大核心CSCD

梁的横向变形会导致梁纵向缩短,建模过程中考虑梁横纵变形二次耦合项则存在动力刚化现象,这说明梁的纵向变形会对模型的广义刚度造成影响.对于做旋转运动的梁结构,旋转运动时还会受到离心力的作用而产生轴向拉力,轴向拉力同样也会引起梁的轴向变形,这种影响对粗短梁更加明显.以大范围运动中心刚体-Timoshenko梁模型为研究对象:首先,运用Timoshenko梁理论以及Hamilton原理建立含离心力的动力学模型;其次,引入非约束模态概念,采用Frobenius方法求解非约束模态振型函数以及固有频率;最后,通过数值仿真探究不同恒定转速时非约束模态与约束模态广义刚度的差异和非约束模态条件下离心力对模型的影响.     

中心刚体-外Timoshenko梁系统的建模与分岔特性研究

对于中心刚体固结悬臂梁系统,当不考虑梁剪应力(即Euler-Bernoulli梁)影响时,匀速转动梁的平凡解是稳定的。而对于深梁,有必要考虑剪应力(即Timoshenko梁)的影响,此时其匀速转动平凡解将出现拉伸屈曲。为此采用广义Hamilton变分原理建立了中心刚体固结Timoshenko梁这类刚-柔耦合系统的非线性动力学模型,应用数值方法研究了匀速转动Timoshenko梁非线性系统的分岔特性,以及失稳的临界转速。     

大位移Timoshenko转轴三维耦合动力学分析

对于高速柔性转轴,综合考虑滑移、弯曲、剪切变形、旋转惯性、陀螺效应和动不平衡等因素,运用Timoshenko旋转梁理论,给出弹性体空间运动的一般性描述,通过Hamilton原理建立弯曲-扭转-轴向三维耦合非线性动力学方程,应用参数摄动方法和假设振型方法进行化简,并用数值模拟分析了轴向刚性滑移、剪切变形、截面尺寸和转速等因素对转轴动力学响应的影响。     

无约束平面框架结构冲击响应分析(Ⅱ)——数值算例分析

利用第(Ⅰ)部分推得的公式,对一无约束平面框架结构受运动刚体冲击时的瞬态响应进行了数值计算分析．计算了结构与运动刚体之间的冲击力时程曲线、梁中的剪力及弯矩分布、轴力杆件中的轴力分布．分析了杆中的纵波、Timoshenko梁中弯曲波及剪切波的传播现象．数值分析表明:冲击力的延续时间主要是由挠曲波及纵波控制的;在结构的冲击响应分析中,梁的剪切效应不容忽略．     

一类流固耦合系统强解的存在性问题

本文主要讨论一类多刚体与粘性系数依赖于密度的不可压缩流体耦合系统的强解存在性问题.首先,利用变量替换建立本文研究对象对应的非线性微分方程,然后,利用Garlerkin逼近方法获得线性化问题的光滑解,从而可以构造出原问题的逼近解.通过估计逼近解的一致有界性,最后证明了一类描述多刚体在不可压缩流体中运动的耦合系统强解的存在...     

考虑大变形的刚-柔耦合旋转智能结构动力学分析

基于Hamilton原理对带端部质量的刚柔耦合旋转智能结构建立了耦合的非线性动力学模型．根据一阶近似耦合（FOAC）模型理论,通过有限元方法,得到了系统的有限维模型．模型中考虑了轴向、横向位移和转动角度的非线性几何效应,以及压电材料和结构的大变形及离心刚化效应．在有限元模型的基础上,建立了3种实际系统模型方程,分别是无压电层的结构,有压电层开环状态和闭环状态．最后基于简化模型的仿真结果显示出有端部质量和没有端部质量的差异,智能结构梁在闭环和开环的差异,高速旋转梁的离心作用及结构外加电载荷的动力响应．     

Stability analysis of nonlinear vibrations of a deploying flexible beam

Consider a rigid-flexible coupled system which consists of a central rigid body deploying a flexible appendage. The appendage is modeled as a finite deflection beam having linear constitutive equations. By taking the energy integral as Lyapunov function, it is proved that nonlinear transverse vibrations of the beam undergoing uniform extension or retrieval are stable when there are not controlling moment in the central rigid body and driving force on the beam, according to the partial stability theorem.     

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.     

On modeling beam-rigid-body microgyroscopes

A comprehensive mathematical model for the bending–bending vibration of a rotating cantilever beam carrying an end rigid body at its free-end is derived using extended Hamilton’s principle. The beam rotates about its longitudinal axis, excited in two orthogonal directions along the end rigid body. The model is compared to the existing simplified model of the beam-mass gyroscope. The discretized model is obtained using the method of assumed mode. Through the stationary, the eigenvalue, and the dynamic analyses of the system response, the model is evaluated.     

Rigid–flexible interactive dynamics modelling approach

Dynamics modelling of multi-body systems composed of rigid and flexible elements is elaborated in this article. The control of such systems is highly complicated due to severe underactuated conditions caused by flexible elements and an inherent uneven non-linear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, simulation studies for design improvement and also practical implementations. In this article, the rigid–flexible interactive dynamics modelling (RFIM) approach is proposed as a combination of Lagrange and Newton–Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than a common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. The proposed RFIM approach is first detailed for multi-body systems with flexible joints, and then with flexible members. Then, to reveal the merits of this new approach, few case studies are presented. A flexible inverted pendulum is studied first as a simple template for lucid comparisons, and next a space free-flying robotic system that contains a rigid main body equipped with two manipulating arms and two flexible solar panels is considered. Modelling verification of this complicated system is vigorously performed using ANSYS and ADAMS programs. The obtained results reveal the outcome accuracy of the new proposed approach for explicit dynamics modelling of rigid–flexible multi-body systems such as mobile robotic systems, while its limited computations provide an efficient tool for controller design, simulation studies and also practical implementations of model-based algorithms.     

Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid–Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton–Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors and perturb the object manipulation task. So, it is shown that these effects can be significantly eliminated by the proposed Hybrid Suppression Control algorithm.     

A simple approach to dynamic stabilization of a rotating body-beam

In this paper, we use the frequency multiplier method to provide a simple proof of an exponential stabilization result, obtained in [B. Chentouf. Dynamic boundary controls of a rotating body-beam system with time-varying angular velocity, J. Appl. Math. 2 (2004) 107–126], for a rotating body-beam system with a control torque applied on the rigid body and either a dynamic boundary control moment or a dynamic boundary control force or both of them applied at the free end of the beam.     

Existence for a thermoviscoelastic beam model of brakes

The existence of a weak solution to a model for the dynamic thermomechanical behavior of a viscoelastic beam, which is in frictional contact with a rigid rotating wheel, is established. The model describes a simple braking system in which a rotating wheel comes to a stop as a result of the frictional traction generated by the beam. The classical model consists of a system of coupled equations for the beam temperature and displacement, the wear of the beam's contacting end, the wheel temperature and its angular velocity. The weak formulation is an abstract differential inclusion involving set-valued pseudomonotone operators, The existence is proved by using recent results for such operators. Uniqueness is shown to hold when the wheel's angular velocity and temperature are known.     

Chaotic vibration analysis of rotating,flexible, continuous shaft-disk system with a rub-impact between the disk and the stator

The chaotic vibration analysis of a rotating flexible continuous shaft-disk system with rub-impact is studied. The system is modeled as a continuous shaft with a rigid disk in its mid-section with Coriolis and centrifugal effects included. The governing partial differential equations of motion are extracted based on the Euler–Bernoulli beam theory. The assumed modes method is used to discretize partial differential equations and the resulting equations are solved via numerical methods. Time series, phase plane portrait, power spectra, Poincaré map, bifurcation diagrams, and Lyapunov exponents are used to analyze the vibration behavior of the system. Initially, the case is investigated in which no Coriolis or centrifugal effects are considered. Then, another case is studied in which these effects are considered. The results confirm the claim that the rub-impact occurs at lower speed ratios due to the Coriolis and centrifugal forcing effects, and that the dynamic behaviors of the system for the two cases are much different as a result of the rub-impact in the second case. Periodic, quasi-periodic, sub-harmonic, and chaotic states can be observed while the appearance or disappearance of the chaos is different. The centrifugal forcing effect plays a greater role than that of the Coriolis force on the incidence of the rub-impact. These results can be useful in identifying the undesirable behaviors in these types of rotating systems.