Flow control over an undulating membrane

The flow along a flexible membrane forced to undulate in the form of a streamwise travelling wave pattern is studied experimentally in detail. Flow field and force measurements confirm that the form drag of the wavy wall is significantly reduced when starting the undulatory motion. A mechanical model of an undulating membrane was built, based on previous investigations described in literature, and placed in an open water channel. The motion pattern of the membrane was prescribed in such a way to achieve a downstream travelling wave with increasing amplitude. The exploratory focus laid on the identification of hydrodynamic mechanisms of drag reduction due to undulatory motion. The wave-speed c of the travelling wave was set proportional to the incoming flow velocity U, according to an optimum ratio identified by previous numerical and experimental investigations. Poisson’s equation for the pressure was used to calculate the 2D pressure field from the experimental data of the unsteady flow field. In addition, the integral drag force of the membrane, as a function of c/U, was measured with a force balance to compare with previous published numerical findings. Furthermore, the velocities close to the surface of the membrane were measured, and the boundary layer profiles were determined. The resulting normalised velocity profiles affirm an oscillation between laminar and turbulent flow over one period of the motion. The results are in good agreement with previous experimental and numerical findings. Additionally, the characteristics of the flow along a travelling wave with increasing amplitude are discussed in more detail.     

流固偶合运动的边界元法

本文给出了流固偶合运动(包括物体散射辐射及偶合运动)的边界元法理论和应用.对于散射问题,求出了物体引起的散射势及入射波作用于物体的载荷.对于辐射问题,求出了辐射势及物体在流体中运动的附加质量和附加阻尼.偶合问题包括求其中包含的散射势和辐射势以及作用于物体之上的散射力、物体的附加质量、附加阻尼、物体在入射波作用下的运动.在偶合运动问题中,本文采取了边界积分方程与物体在流体中的运动方程联立求解的方法,并将其运用到边界元法的数值过程中.所编制的程序有较高的精度.最后给出了数值计算结果与理论解的比较.     

A moving grid method applied to one-dimensional non-stationary flame propagation

The paper presents applications of a moving grid method to the combined problem of ignition and premixed flame propagation in a closed vessel. This method belongs to the general class of adaptive grid techniques for the numerical integration of evolutionary partial differential equations and is based on the method of lines with variable node position. In the present case the motion of the grid and the solution of the partial differential equations are strongly coupled by an implicit formulation. The problem is reduced to an initial value problem for a stiff differential-algebraic system. The continuously moving grid is determined by the equidistribution of a positive function which depends on the solution of the partial differential equations. A differential-algebraic system solver is used for the time integration of the initial value problem. The numerical results of the test problems demonstrate the computational efficiency and the capability of the method to resolve the main features of the solution.     

Solution of some problems of particle motion in a gas stream

The problem of designing the contour of an optimum nozzle for particle acceleration is considered in the one-dimensional formulation. In [1] a similar problem was solved in the general formulation using a numerical method. Here, in contrast to [1], the solution is obtained in analytic form for the particular case of low particle concentration. The problem of the motion of a particle in a uniform stream is solved in the same form. Moscow. Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 5, pp. 86–90, September–October, 1988.     

Oblique impact of an elongated three-dimensional body on a thin liquid layer

The problem of the impact of an elongated solid body with a blant bottom on a thin layer of an ideal incompressible liquid is considered in the case where the horizontal component of the body velocity is much greater than its vertical component. The initial stage of the impact, during which the contact area between the body and the liquid is rapidly expanding, is studied. The loads on the body are determined by strip theory. The method of matched asymptotic expansions is used to determine the position and size of the contact area in each section. The considered problem is coupled: the liquid flow due to the motion of the body and the body motion itself are determined simultaneously. A system of integrodifferential equations was derived and used for both numerical investigation of the body motion under the action of hydrodynamic loads and for determination of the hydrodynamic pressure distribution over the contact area.     

Optimal control of attitude for coupled-rigid-body spacecraft via Chebyshev-Gauss pseudospectral method

The attitude optimal control problem(OCP) of a two-rigid-body spacecraft with two rigid bodies coupled by a ball-in-socket joint is considered. Based on conservation of angular momentum of the system without the external torque, a dynamic equation of three-dimensional attitude motion of the system is formulated. The attitude motion planning problem of the coupled-rigid-body spacecraft can be converted to a discrete nonlinear programming(NLP) problem using the Chebyshev-Gauss pseudospectral method(CGPM). Solutions of the NLP problem can be obtained using the sequential quadratic programming(SQP) algorithm. Since the collocation points of the CGPM are Chebyshev-Gauss(CG) points, the integration of cost function can be approximated by the Clenshaw-Curtis quadrature, and the corresponding quadrature weights can be calculated efficiently using the fast Fourier transform(FFT). To improve computational efficiency and numerical stability, the barycentric Lagrange interpolation is presented to substitute for the classic Lagrange interpolation in the approximation of state and control variables. Furthermore, numerical float errors of the state differential matrix and barycentric weights can be alleviated using trigonometric identity especially when the number of CG points is large. A simple yet efficient method is used to avoid sensitivity to the initial values for the SQP algorithm using a layered optimization strategy from a feasible solution to an optimal solution. Effectiveness of the proposed algorithm is perfect for attitude motion planning of a two-rigid-body spacecraft coupled by a ball-in-socket joint through numerical simulation.     

Based on wavelet analysis to optimal control of motion planning of space manipulator

ＩｎｔｒｏｄｕｃｔｉｏｎＲｅｃｅｎｔｌｙ ,ｍｏｒｅａｎｄｍｏｒｅｐｅｏｐｌｅｐａｙａｔｔｅｎｔｉｏｎｔｏｔｈｅｎｏｎｈｏｌｏｎｏｍｉｃｍｏｔｉｏｎｐｌａｎｎｉｎｇｏｆｓｐａｃｅｍａｎｉｐｕｌａｔｏｒ[1～4].Ｓｐａｃｅｍａｎｉｐｕｌａｔｏｒｉｓａｔｙｐｉｃａｌｍｕｌｔｉｂｏｄｙｓｙｓｔｅｍｗｉｔｈｏｕｔｒｏｏｔ.Ｗｈｅｎｔｈｅｍａｎｉｐｕｌａｔｏｒｉｓｏｐｅｒａｔｅｄ ,ａｎｄａｔｔｉｔｕｄｅｃｏｎｔｒｏｌｓｙｓｔｅｍｏｆｔｈｅｓｐａｃｅｖｅｈｉｃｌｅｉｓｓｗｉｔｃｈｅｄｏｆｆ,ｒｅｌａｔｉｖｅｍｏｔ…     

Calculating the flows of a viscoplastic medium in tubes using the local variation method

This article considers the problem of the motion of a visco-plastic medium in tubes and channels. The results of [1, 2] are used, which present the variational formulation and the qualitative analysis of this problem. The method of local variations suggested in [3] is used for the numerical solution of the variational problem. A more detailed presentation of the algorithm of this method in application to boundary-value and variational problems is given in [4]. Results of calculations of certain concrete problems on an electronic computer are presented.The author wishes to express his sincere gratitude to F. L. Chernous'ko for the problem formulation and helpful counsel, and G. I. Barenblatt and S. S. Grigoryan for useful discussions.     

A viscous vortex particle method for deforming bodies with application to biolocomotion

Bio‐inspired mechanics of locomotion generally consist of the interaction of flexible structures with the surrounding fluid to generate propulsive forces. In this work, we extend, for the first time, the viscous vortex particle method (VVPM) to continuously deforming two‐dimensional bodies. The VVPM is a high‐fidelity Navier–Stokes computational method that captures the fluid motion through evolution of vorticity‐bearing computational particles. The kinematics of the deforming body surface are accounted for via a surface integral in the Biot–Savart velocity. The spurious slip velocity in each time step is removed by computing an equivalent vortex sheet and allowing it to flux to adjacent particles; hence, no‐slip boundary conditions are enforced. Particles of both uniform and variable size are utilized, and their relative merits are considered. The placement of this method in the larger class of immersed boundary methods is explored. Validation of the method is carried out on the problem of a periodically deforming circular cylinder immersed in a stagnant fluid, for which an analytical solution exists when the deformations are small. We show that the computed vorticity and velocity of this motion are both in excellent agreement with the analytical solution. Finally, we explore the fluid dynamics of a simple fish‐like shape undergoing undulatory motion when immersed in a uniform free stream, to demonstrate the application of the method to investigations of biomorphic locomotion. Copyright © 2008 John Wiley & Sons, Ltd.     

Numerical solution of the two-dimensional unsteady-state problem of the motion of a shell under the action of the products of an axial detonation

A numerical solution is obtained to the problem of the motion of an incompressible cylindrical shell with a charge of explosive, with excitation of the detonation simultaneously along the whole axis of the charge. The strength of the shell is not taken into consideration. A three-term equation of state is adopted for the products of the detonation. In [1] a numerical solution is obtained to the problem of the one-dimensional motion of a shell with the axial detonation of a charge of explosive.     

Viscous-fluid outflow from a vessel with account for jet formation

The results of a numerical simulation of slow free-boundary viscous-fluid outflow from a vessel are presented with account for jet formation. The problem is formulated in the creeping motion approximation. For solving the problem, a numerical algorithm for plane geometry, based on an indirect variant of the boundary-element method, is used. As a result of parametric studies, the evolution of the free surface inside the vessel and the jet shape is determined for different values of the governing parameters. Flow regimes with rapid funneling and film formation on the vessel walls are detected. The existence of an asymptotic flow regime is demonstrated using dimensional analysis and confirmed by calculation.     

鲹科模式鱼体自主前游的标度律研究

鲹科鱼类采用波状摆动可以实现非常高效的巡游游动,在受力动态平衡下以很高的速度向前游动,其性能远超传统的人造水下航行器,因此,探寻鱼体自主前游状态下流体力和前游速度的规律并建立相应的预测式具有重要的意义.在开源OpenFOAM平台和柔性体自主推进算法基础上,实现了波动鱼体自主游动的数值模拟,以NACA0012翼型为典型鱼体外形,对鲹科模式前向自主游动开展了系统的数值模拟.由已获得的栓结模型下推力标度律的启发,分别对自主巡游下的压差力系数和摩阻力系数进行标度研究.结果表明在雷诺数从500到50 000的范围内,压差力系数和摩阻力系数分别具有形式一致的标度规律,由此可根据数值结果给出定量的预测公式,进而根据两作用力的匹配关系可以导出鱼体自主前游速度的标度律,获得了根据已知的鱼体波动参数来预估巡游速度的方法.此外,探讨了雷诺数为500和50 000工况,不同摆尾幅度和频率组合下,鱼体厚弦比对于巡游的水动力标度律和前游速度的影响,并分析了不同鱼体外形对效能比的影响,发现雷诺数越高,获得最优效能比的鱼体越细长.     

Resonant Capture and Separatrix Crossing in Dual-Spin Spacecraft

We consider the rotational motion of a spacecraft composed of two bodies which are free to rotate relative to one another about a common shaft S. A motor on one of the bodies provides a small constant internal torque which influences the relative motion of the two bodies, and which may influence the orientation of their common shaft S. Resonant capture refers to the phenomenon that the spacecraft may end up in one of several possible orientations, including a nearly flat spin (transverse to S), in addition to the expected simple rotation about S.The method of averaging is used to treat the original equations of motion, and it is shown that the essential mathematical problem involves separatrix crossing in a problem with slowly moving separatrices. Energy changes represented by Melnikov integrals are used to supplement the averaged equations in the neighborhood of the heteroclinic motions. The method is used to predict which initial conditions lead to capture into each of three distinct capture regions. The asymptotic results are compared to those obtained by direct numerical integration of the equations of motion.     

柔性长鳍波动推进动力学分析

以基于柔性长鳍波动推进的仿生水下机器人试验模型为背景,研究了“尼罗河魔鬼”柔性长鳍的波动推进动力学原理．首先基于鳍条正弦摆动的假设,建立了鳍面波动曲面模型,然后根据抗体理论的基本思想及修正后的流体假设分析了柔性长鳍波动的推力产生机理,并获得其动力学模型,最后通过仿真手段,得到了试验模型的仿生柔性长鳍鳍面波动引起的流体动力及力矩公式,为仿生水下机器人的动力学分析和控制系统设计提供了理论依据．     

The non-linear,dynamic response of an impulsively loaded circular plate with a central hole

A numerical method, called Direct Analysis, is described and applied to solve the problem of a plate undergoing a large impulsive load. For generality, an expanded, non-linear form of the equations of motion is used and shear correction and rotatory inertia are considered. The wave speeds are calculated from the non-linear equations and appropriate boundary conditions are applied so that reflected waves are included. The results for two types of step loading pulses are presented and compared with previously presented solutions. The response of the plate is discussed and conclusions as to the effects of the non-linearities are given.     

一类多体系统非完整运动最优规划的拟牛顿算法

研究带有非完整约束的一类多体系统运动规划问题。多体系统中的非完整约束通常是由不可积的速度约束或不可积的守恒律引起。在系统动量和动量矩守恒情况下,动力学方程降阶为非完整形式约束方程,系统的控制问题可转化为无漂移系统的非完整运动规划问题。文中首先导出具有多体开链系统的非完整运动模型。利用最优控制理论和最优化技术,采用输入参数化的方法将连续的最优控制问题转化为离散的最优控制问题,提出一种非完整多体系统运动规划的拟牛顿算法。最后将该方法用于自由漂浮的空间三连杆机构,仿真结果验证了该方法的有效性。     

Contribution to the determination of the global minimum time for the brachistochronic motion of a holonomic mechanical system

The problem of the brachistochronic motion of a holonomic scleronomic mechanical system is analyzed. The system moves in an arbitrary field of known potential forces. The problem is formulated as an optimal control task, where generalized speeds are taken as control variables. The problem considered is reduced to solving the corresponding two-point boundary-value problem (TPBVP). In order to determine the global minimal solution of the TPBVP, an appropriate numerical procedure based on the shooting method is presented. The global minimal solution represents the solution with the minimum time of motion. The procedure is illustrated by an example of determining the brachistochronic motion of a disk that performs plane motion in a vertical plane in a homogeneous field of gravity.     

A simplified method for time domain simulation of cross-flow vortex-induced vibrations

A new method for time domain simulation of cross-flow vortex-induced vibrations of slender circular cylindrical structures is developed. A model for the synchronization between the lift force and structure motion is derived from already established data for the cross-flow excitation coefficient. The proposed model is tested by numerical simulations, and the results are compared to experimental observations. When a sinusoidal cross-flow motion is given as input to the algorithm, the generated force time series are generally in good agreement with experimental measurements of cross-flow force in phase with cylinder velocity and acceleration. The model is also utilized in combination with time integration of the equation of motion to simulate the cross-flow vibration of a rigid cylinder. The resulting amplitude and frequency of motion as functions of reduced velocity are compared to published experimental results. In combination with the finite element method, the model is used to simulate cross-flow vibrations of a flexible cylinder in shear flow. Comparison with experiments shows that the model is capable of reproducing important quantities such as frequency, mode and amplitude, although some discrepancies are seen. This must be expected due to the complexity of the problem and the simple form of the present method.     

流固耦合数值方法在点爆发散爆轰驱动平板飞片中的应用

采用Eulerian/Lagrangian耦合方法对炸药与飞片直接接触的爆轰驱动问题进行了数值模拟.其中对炸药和环境气体应用Euler方法、对飞片应用Lagrange方法分别计算,流体与固体接触面采用Ghost Fluid方法和外插技术进行处理,全程模拟了炸药起爆、爆轰波传播、大板变形和运动等过程,着重分析了大板飞片后...