Potential benefits of a non-linear stiffness in an energy harvesting device

The benefits of using a non-linear stiffness in an energy harvesting device comprising a mass–spring–damper system are investigated. Analysis based on the principle of conservation of energy reveals a fundamental limit of the effectiveness of any non-linear device over a tuned linear device for such an application. Two types of non-linear stiffness are considered. The first system has a non-linear bi-stable snap-through mechanism. This mechanism has the effect of steepening the displacement response of the mass as a function of time, resulting in a higher velocity for a given input excitation. Numerical results show that more power is harvested by the mechanism if the excitation frequency is much less than the natural frequency. The other non-linear system studied has a hardening spring, which has the effect of shifting the resonance frequency. Numerical and analytical studies show that the device with a hardening spring has a larger bandwidth over which the power can be harvested due to the shift in the resonance frequency.     

Capturing the experimental behaviour of a point-absorber WEC by simplified numerical models

The paper presents a wave basin experiment of a direct-driven point-absorber wave energy converter moving in six degrees of freedom. The goal of the work is to study the dynamics and energy absorption of the wave energy converter, and to verify under which conditions numerical models restricted to heave can capture the behaviour of a point-absorber moving in six degrees of freedom. Several regular and irregular long-crested waves and different damping values of the power take-off system have been tested. We collected data in terms of power output, device motion in six degrees of freedom and wave elevation at different points of the wave basin. A single-body numerical model in the frequency domain and a two-body model in the time domain are used in the study. Motion instabilities due to parametric resonance observed during the experiments are discussed and analysis of the buoy motion in terms of the Mathieu instability is also presented. Our results show that the simplified models can reproduce the body dynamics of the studied converter as long as the transverse non-linear instabilities are not excited, which typically is the case in irregular waves. The performance of the more complex time domain model is able to reproduce both the buoy and PTO dynamics, while the simpler frequency domain model can only reproduce the PTO dynamics for specific cases. Finally, we show that the two-body dynamics of the studied wave energy converter affects the power absorption significantly, and that common assumptions in the numerical models, such as stiff mooring line or that the float moves only in heave, may lead to incorrect predictions for certain sea states.     

Codimension-two bifurcation analysis in two-dimensional Hindmarsh–Rose model

In this paper, we analyze the codimension-2 bifurcations of equilibria of a two-dimensional Hindmarsh–Rose model. By using the bifurcation methods and techniques, we give a rigorous mathematical analysis of Bautin bifurcation. The main result is that no more than two limit cycles can be bifurcated from the equilibrium via Hopf bifurcation; sufficient conditions for the existence of one or two limit cycles are obtained. This paper also shows that the model undergoes a Bogdanov–Takens bifurcation which includes a saddle-node bifurcation, an Andronov–Hopf bifurcation, and a homoclinic bifurcation. In some case, the globally asymptotical stability is discussed.     

Heteroclinic Networks in Coupled Cell Systems

. We give an intrinsic definition of a heteroclinic network as a flow-invariant set that is indecomposable but not recurrent. Our definition covers many previously discussed examples of heteroclinic behavior. In addition, it provides a natural framework for discussing cycles between invariant sets more complicated than equilibria or limit cycles. We allow for cycles that connect chaotic sets (cycling chaos) or heteroclinic cycles (cycling cycles). Both phenomena can occur robustly in systems with symmetry. We analyze the structure of a heteroclinic network as well as dynamics on and near the network. In particular, we introduce a notion of ‘depth’ for a heteroclinic network (simple cycles between equilibria have depth 1), characterize the connections and discuss issues of attraction, robustness and asymptotic behavior near a network. We consider in detail a system of nine coupled cells where one can find a variety of complicated, yet robust, dynamics in simple polynomial vector fields that possess symmetries. For this model system, we find and prove the existence of depth‐2 networks involving connections between heteroclinic cycles and equilibria, and study bifurcations of such structures. (Accepted July 6, 1998)     

Nonlinear Normal Modes and Their Bifurcations for an Inertially Coupled Nonlinear Conservative System

This work concerns the nonlinear normal modes (NNMs) of a 2 degree-of-freedom autonomous conservative spring–mass–pendulum system, a system that exhibits inertial coupling between the two generalized coordinates and quadratic (even) nonlinearities. Several general methods introduced in the literature to calculate the NNMs of conservative systems are reviewed, and then applied to the spring–mass–pendulum system. These include the invariant manifold method, the multiple scales method, the asymptotic perturbation method and the method of harmonic balance. Then, an efficient numerical methodology is developed to calculate the exact NNMs, and this method is further used to analyze and follow the bifurcations of the NNMs as a function of linear frequency ratio p and total energy h. The bifurcations in NNMs, when near 1:2 and 1:1 resonances arise in the two linear modes, is investigated by perturbation techniques and the results are compared with those predicted by the exact numerical solutions. By using the method of multiple time scales (MTS), not only the bifurcation diagrams but also the low energy global dynamics of the system is obtained. The numerical method gives reliable results for the high-energy case. These bifurcation analyses provide a significant glimpse into the complex dynamics of the system. It is shown that when the total energy is sufficiently high, varying p, the ratio of the spring and the pendulum linear frequencies, results in the system undergoing an order–chaos–order sequence. This phenomenon is also presented and discussed.     

Numerical investigation of parametric resonance due to hydrodynamic coupling in a realistic wave energy converter

Representative models of the nonlinear behavior of floating platforms are essential for their successful design, especially in the emerging field of wave energy conversion where nonlinear dynamics can have substantially detrimental effects on the converter efficiency. The spar buoy, commonly used for deep-water drilling, oil and natural gas extraction and storage, as well as offshore wind and wave energy generation, is known to be prone to experience parametric resonance. In the vast majority of cases, parametric resonance is studied by means of simplified analytical models, considering only two degrees of freedom (DoFs) of archetypical geometries, while neglecting collateral complexity of ancillary systems. On the contrary, this paper implements a representative 7-DoF nonlinear hydrodynamic model of the full complexity of a realistic spar buoy wave energy converter, which is used to verify the likelihood of parametric instability, quantify the severity of the parametrically excited response and evaluate its consequences on power conversion efficiency. It is found that the numerical model agrees with expected conditions for parametric instability from simplified analytical models. The model is then used as a design tool to determine the best ballast configuration, limiting detrimental effects of parametric resonance while maximizing power conversion efficiency.

     

An investigation on lateral and torsional coupled vibrations of high power density PMSM rotor caused by electromagnetic excitation

Electromagnetic excitation in high power density permanent magnet synchronous motors (PMSMs) due to eccentricity is a significant concern in industry; however, the treatment of lateral and torsional coupled vibrations caused by electromagnetic excitation is rarely addressed, yet it is very important for evaluating the stability of dynamic rotor vibrations. This study focuses on an analytical method for analyzing the stability of coupled lateral/torsional vibrations in rotor systems caused by electromagnetic excitation in a PMSM. An electromechanically coupled lateral/torsional dynamic model of a PMSM Jeffcott rotor is derived using a Lagrange–Maxwell approach. Equilibrium stability was analyzed using a linearized matrix of the equation describing the system. The stability criteria of coupled torsional–lateral motions are provided, and the influences of the electromagnetic and mechanical parameters on mechanical vibration stability and nonlinear behavior were investigated. These results provide better understanding of the nonlinear response of an eccentric PMSM rotor system and are beneficial for controlling and diagnosing eccentricity.     

Low-frequency dilatational wave propagation through unsaturated porous media containing two immiscible fluids

An analytical theory is presented for the low-frequency behavior of dilatational waves propagating through a homogeneous elastic porous medium containing two immiscible fluids. The theory is based on the Berryman–Thigpen–Chin (BTC) model, in which capillary pressure effects are neglected. We show that the BTC model equations in the frequency domain can be transformed, at sufficiently low frequencies, into a dissipative wave equation (telegraph equation) and a propagating wave equation in the time domain. These partial differential equations describe two independent modes of dilatational wave motion that are analogous to the Biot fast and slow compressional waves in a single-fluid system. The equations can be solved analytically under a variety of initial and boundary conditions. The stipulation of “low frequency” underlying the derivation of our equations in the time domain is shown to require that the excitation frequency of wave motions be much smaller than a critical frequency. This frequency is shown to be the inverse of an intrinsic time scale that depends on an effective kinematic shear viscosity of the interstitial fluids and the intrinsic permeability of the porous medium. Numerical calculations indicate that the critical frequency in both unconsolidated and consolidated materials containing water and a nonaqueous phase liquid ranges typically from kHz to MHz. Thus engineering problems involving the dynamic response of an unsaturated porous medium to low excitation frequencies (e.g., seismic wave stimulation) should be accurately modeled by our equations after suitable initial and boundary conditions are imposed.     

Noise influenced elastic cantilever dynamics with nonlinear tip interaction forces

In this work, the authors study the influence of noise on the dynamics of base-excited elastic cantilever structures at the macroscale and microscale by using experimental, numerical, and analytical means. The macroscale system is a base excited cantilever structure whose tip experiences nonlinear interaction forces. These interaction forces are constructed to be similar in form to tip interaction forces in tapping mode atomic force microscopy (AFM). The macroscale system is used to study nonlinear phenomena and apply the associated findings to the chosen AFM application. In the macroscale experiments, the tip of the cantilever structure experiences long-range attractive and short-range repulsive forces. There is a small magnet attached to the tip, and this magnet is attracted by another one mounted to a high-resolution translatory stage. The magnet fixed to the stage is covered by a compliant material that is periodically impacted by the cantilever’s tip. Building on their earlier work, wherein the authors showed that period-doubling bifurcations associated with near-grazing impacts occur during off-resonance base excitations of macroscale and microscale cantilevers, in the present work, the authors focus on studying the influence of Gaussian white noise when it is included as an addition to a deterministic base excitation input. The repulsive forces are modeled as Derjaguin–Muller–Toporov (DMT) contact forces in both the macroscale and microscale systems, and the attractive forces are modeled as van der Waals attractive forces in the microscale system and magnetic attractive forces in the macroscale system. A reduced-order model, based on a single mode approximation is used to numerically study the response for a combined deterministic and random base excitation. It is experimentally and numerically found that the addition of white Gaussian noise to a harmonic base excitation facilitates contact between the tip and the sample, when there was previously no contact with only the harmonic input, and results in a response that is nominally close to a period-doubled orbit. The qualitative change observed with the addition of noise is associated with near-grazing impacts between the tip and the sample. The numerical and experimental results further motivate the formulation of a general analytical framework, in which the Fokker–Planck equation is derived for the cantilever-impactor system. After making a set of approximations, the moment evolution equations are derived from the Fokker–Planck equation and numerically solved. The resulting findings support the experimental results and demonstrate that noise can be added to the input to facilitate contact between the cantilever’s tip and the surface, when there was previously no contact with only a harmonic input. The effects of Gaussian white noise are numerically studied for a tapping mode AFM application, and it is shown that contact between the tip and the sample can be realized by adding noise of an appropriate level to a harmonic excitation.     

Numerical stability analysis and control of umbilical–ROV systems in one-degree-of-freedom taut–slack condition

In this paper, the stability of an umbilical–ROV system under nonlinear oscillations in heave motion is analyzed using numerical methods for the uncontrolled and controlled cases comparatively. Mainly the appearance of the so-called taut–slack phenomenon on the umbilical cable produced by interactions of monochromatic waves and an operated ROV is specially focused. Nonlinear elements were considered as nonlinear drag damping, bilinear restoring force and saturation of the actuators. Free-of-taut/slack stability regions are investigated in a space of physical bifurcation parameters involving a set of both operation and design parameters. They indicate a wide diversity in qualitative behaviors, both in the periodicity and possible routes to chaos from the stability regions to outside. For detection of periodicity of the nonlinear oscillations inside and outside the stability regions, a method based on Cauchy series is developed. The first part of the results is dedicated to the stability of the uncontrolled dynamics. These results suggest the design of a control system that is able to counteract hefty hauls of the cable during the sinking/lifting operation under perturbation. A combination of a force and cinematic controller based on nonlinear model–reference control is proposed. Through a comparative study of the stability regions for uncontrolled and controlled dynamics, it is shown that the control system can extend considerably these regions without appearance of the taut–slack phenomenon despite the presence of wave perturbations. The limits between the taut and taut–slack zones are defined by the wave steepness and the available energy of the actuators.     

Discrete structures equivalent to nonlinear Dirichlet and wave equations

The Amann–Conley–Zehnder (ACZ) reduction is a global Lyapunov–Schmidt reduction for PDEs based on spectral decomposition. ACZ has been applied in conjunction to diverse topological methods, to derive existence and multiplicity results for Hamiltonian systems, for elliptic boundary value problems, and for nonlinear wave equations. Recently, the ACZ reduction has been translated numerically for semilinear Dirichlet problems and for modeling molecular dynamics, showing competitive performances with standard techniques. In this paper, we apply ACZ to a class of nonlinear wave equations in , attaining to the definition of a finite lattice of harmonic oscillators weakly nonlinearly coupled exactly equivalent to the continuum model. This result can be thought as a thermodynamic limit arrested at a small but finite scale without residuals. Reduced dimensional models reveal the macroscopic scaled features of the continuum, which could be interpreted as collective variables.      

An extension of CVDV model to Zeldovich exchange reactions for hypersonic non-equilibrium air flows

A new preferential vibration-dissociation-exchange reactions coupling model – labelled CVDEV – resulting from an extension of the well-known Treanor and Marrone CVDV model, has been derived to take into account the coupling between the vibrational excitation of the and molecules and the two Zeldovich exchange reactions. Analytical expressions for the exchange reactions coupling factor and for the average vibrational energy lost – or gained – by a molecule through an exchange reaction have been developed. The influence of such a coupling has been shown by means of numerical simulations of hypersonic air flows through normal and bow shock waves. Code-to-code comparisons between our model and other recent approaches have been conducted. The infrared radiation of nitric oxide behind a normal shock wave resulting from computations with the CVDEV model has been compared with other coupling model results and to recent shock tube experimental data. These comparisons have shown a good agreement of our model results with the experimental data. In this context, the results show the prominent influence of vibration coupling on the first Zeldovich reaction, and the absence of vibration coupling effects on the second Zeldovich reaction. Received 30 June 1997 / Accepted 3 December 1997     

Second-order approximation of primary resonance of a disk-type piezoelectric stator for traveling wave vibration

Considering the quadratic nonlinear constitutive relations of piezoelectric materials, a traveling wave dynamic model for a lead zirconate titanate stator of a traveling wave ultrasonic motor is established using Hamilton’s principle and the Rayleigh–Ritz method. Applying the method of multiple scales, the second-order approximation of the primary resonance for traveling wave vibration of the stator is investigated. The second harmonic component is found in the primary response of the stator, which arises from the quadratic stiffness in the condition of weak excitation. In the region of the resonance, the two coupled modals are split and the lower-order peak bends to the left, hence a jump and delay exist in the response. In this way numerical results are given to verify the feasibility of the analytical approach. The results provide a theoretical foundation for further nonlinear dynamic analysis and design of the traveling wave ultrasonic motor.     

Turbocharger rotor dynamics with foundation excitation

To investigate the effect of foundation excitation on the dynamical behavior of a turbocharger, a dynamic model of a turbocharger rotor-bearing system is established which includes the engine’s foundation excitation and nonlinear lubricant force. The rotor vibration response of eccentricity is simulated by numerical calculation. The bifurcation and chaos behaviors of nonlinear rotor dynamics with various rotational speeds are studied. The results obtained by numerical simulation show that the differences of dynamic behavior between the turbocharger rotor systems with/without foundation excitation are obviously. With the foundation excitation, the dynamic behavior of rotor becomes more complicated, and develops into chaos state at a very low rotational speed.     

Nonlinear Oscillations and Multiscale Dynamics in a Closed Chemical Reaction System

We investigate the oscillatory chemical dynamics in a closed isothermal reaction system described by the reversible Lotka–Volterra model. This is a three-dimensional, dissipative, singular perturbation to the conservative Lotka–Volterra model, with the free energy serving as a global Lyapunov function. We will show that there is a natural distinction between oscillatory and non-oscillatory regions in the phase space, that is, while orbits ultimately reach the equilibrium in a non-oscillatory fashion, they exhibit damped, oscillatory behaviors as interesting transient dynamics.     

Control of bifurcation in the one-cycle controlled Cuk converter

One-cycle controlled Cuk converter is a piecewise smooth nonlinear system. In this paper, sampled-data model is applied to analyze the dynamics of this converter. The results show that the four eigenvalues of the converter can be two pairs of complex conjugates, and that one pair may move out of the unit circle as some parameters are varied. This causes occurrence of slow-scale oscillation as a result of the Neimark–Sacker bifurcation in the input stage of the converter. Bifurcation may jeopardize the performance of the converter by decreasing the efficiency. A washout filter is used to control the bifurcation so as to stabilize the converter, and the effects of parameters of the filter on the stability of the converter are analyzed. Experimental measurements are provided to verify the analytical results.     

Uniaxial Modeling of Multivariant Shape-Memory Materials with Internal Sublooping using Dissipation Functions

Models for the macroscopic behavior of Shape Memory Materials can be conveniently constructed within the Ziegler–Green–Naghdi framework where all the constitutive information is encoded in two ingredients: the free energy and the dissipation function. In a previous work, we have proposed various expressions for the basic functions suitable to model pseudoelasticity with complete transformations cycles. In this work we consider additional effects due to Martensite reorientation and to transformation reversal prior to transformation completion. The new constitutive model allows for the modeling of a variety of effects including: shape memory associated with thermally induced transformation, internal pseudoelastic subloops and the determination of limit cycles associated with repetitive stress cycling.     

Bifurcation of limit cycles in piecewise-smooth systems with intersecting discontinuity surfaces

This paper deals with bifurcation of limit cycles for perturbed piecewise-smooth systems. Concentrating on the case in which the vector fields are defined in four domains and the discontinuity surfaces are codimension-2 manifolds in the phase space. We present a generalization of the Poincaré map and establish some novel criteria to create a new version of the Melnikov-like function. Naturally, this function is designed corresponding to a system trajectory that interacts with two different discontinuity surfaces. This provides an approach to prove the existence of special type of invariant manifolds enabling the reduction of dynamics of the full system to the two-dimensional surfaces of the invariant cones. It is shown that there exists a novel bifurcation concerning the existence of multiple invariant cones for such system. Further, our results are then used to control the persistence of limit cycles for two- and three-dimensional perturbed systems. The theoretical results of these examples are illustrated by numerical simulations.     

Nonlinear effects caused by pulsed periodic supply of energy in the vicinity of a symmetric airfoil in a transonic flow

Changes in the structure of a transonic flow around a symmetric airfoil and a decrease in the wave drag of the latter, depending on the energy-supply period and on localization and shape of the energy-supply zone, are considered by means of the numerical solution of two-dimensional unsteady equations of gas dynamics. Energy addition to the gas ahead of the closing shock wave in an immediate vicinity of the contour in zones extended along the contour is found to significantly reduce the wave drag of the airfoil. The nature of this decrease in drag is clarified. The existence of a limiting frequency of energy supply is found. __________ Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 47, No. 3, pp. 64–71, May–June, 2006.     

Modelling detonation waves in condensed energetic materials: multiphase CJ conditions and multidimensional computations

A hyperbolic multiphase flow model with a single pressure and a single velocity but several temperatures is proposed to deal with the detonation dynamics of condensed energetic materials. Temperature non-equilibrium effects are mandatory in order to deal with wave propagation (shocks, detonations) in heterogeneous mixtures. The model is obtained as the asymptotic limit of a total non-equilibrium multiphase flow model in the limit of stiff mechanical relaxation only (Kapila et al. in Phys Fluids 13:3002–3024, 2001). Special attention is given to mass transfer modelling, that is obtained on the basis of entropy production analysis in each phase and in the system (Saurel et al. in J Fluid Mech 607:313–350, 2008). With the help of the shock relations given in Saurel et al. (Shock Waves 16:209–232, 2007) the model is closed and provides a generalized ZND formulation for condensed energetic materials. In particular, generalized CJ conditions are obtained. They are based on a balance between the chemical reaction energy release and internal heat exchanges among phases. Moreover, the sound speed that appears at sonic surface corresponds to the one of Wood (A textbook of sound, G. Bell and Sons LTD, London, 1930) that presents a non-monotonic behaviour versus volume fraction. Therefore, non-conventional reaction zone structure is observed. When heat exchanges are absent, the conventional ZND model with conventional CJ conditions is recovered. When heat exchanges are involved interesting features are observed. The flow behaviour presents similarities with non ideal detonations (Wood and Kirkwood in J Chem Phys 22:1920–1924, 1950) and pathological detonations (Von Neuman in Theory of detonation waves, 1942; Guenoche et al. in AIAA Prog Astron Aeronaut 75: 387–407, 1981). It also present non-conventional behaviour with detonation velocity eventually greater than the CJ one. Multidimensional resolution of the corresponding model is then addressed. This poses serious difficulties related to the presence of material interfaces and shock propagation in multiphase mixtures. The first issue is solved by an extension of the method derived in Saurel et al. (J Comput Phys 228(5):1678–1712, 2009) in the presence of heat and mass transfers. The second issue poses the difficult mathematical question of numerical approximation of non-conservative systems in the presence of shocks associated to the physical question of energy partition among phases for a multiphase shock. A novel approach is used, based on extra evolution equations used to retain the information of the material initial state. This method insures convergence in the post-shock state. Thanks to these various theoretical and numerical ingredients, one-dimensional and multidimensional unsteady detonation waves computations are done, eventually in the presence of material interfaces. Convergence of the numerical hyperbolic solver against ZND multiphase solution is reached. Material interfaces, shocks, detonations are solved with a unified formulation where the same equations are solved everywhere with the same numerical scheme.