Bifurcations in systems with friction: Basic models and methods

Examples of irregular behavior of dynamical systems with dry friction are discussed. A classification of frictional contacts with respect to their dimensionality, associativity, and the possibility of interruptions is proposed and basic models showing typical features are stated. In particular, bifurcation conditions for equilibrium families are obtained and formulas for the monodromy matrix for systems with friction are constructed. It is shown that systems with non-associated contacts possess singularities that lead to the nonexistence or nonuniqueness of phase trajectories; these results generalize the paradoxes of Painlevé and Jellett. Owing to such behavior, a number of earlier results, including the problem on the motion of a rigid body on a rough plane, require an improvement.     

On the motion of a heavy body with a circular base on a horizontal plane and riddles of curling

In this paper we discuss the dynamics of an axisymmetric rigid body whose circular area moves upon a horizontal rough surface. We investigate the interaction between the character of the law of friction and the curvature of the body’s trajectory. For the case of a curling stone it is shown that the observed effects can only be explained using the dependence of the friction coefficient on the Gümbel number. The procedure for constructing the law of friction based on experimental data is developed. It is shown that the available data can only be substantiated by means of anisotropic friction. The simplest model of such friction is constructed which provides quantitative coincidence with the experiment.     

A dynamically consistent model of the contact stresses in the plane motion of a rigid body

The problem of determining dry friction forces in the case of the motion of a rigid body with a plane base over a rough surface is discussed. In view of the dependence of the friction forces on the normal load, the solution of this problem involves constructing a model of the contact stresses. The contact conditions impose three independent constraints on the kinematic characteristics, and the model must therefore include three free parameters, which are determined from these conditions at each instant. When the body is supported at three points, these parameters (for which the normal stresses can be taken) completely determine the model, while indeterminacy arises in the case of a larger number of contact points and, in order to remove this, certain physical hypotheses have to be accepted. It is shown that contact models consistent with the dynamics possess certain new qualitative properties compared with the traditional quasi-static models in which the type of motion of the body is not taken into account. In particular, a dependence of the principal vector and principal moment of the friction forces on the direction of sliding or pivoting of the body, as well as on the magnitude of the angular velocity, is possible.     

The Ziegler effect in a non-conservative mechanical system

The destabilization of the stable equilibrium of a non-conservative system under the action of an infinitesimal linear viscous friction force is considered. In the case of low friction, the necessary and sufficient conditions for stability of a system with several degrees of freedom and, as a consequence, the conditions for the existence of the destabilization effect (Ziegler's effect) are obtained. Criteria for the stability of the equilibrium of a system with two degrees of freedom, in which the friction forces take arbitrary values, are constructed. The results of the investigation are applied to the problem of the stability of a two-link mechanism on a plane, and the stability regions and Ziegler's areas are constructed in the parameoter space of the problem.     

The motion of a body supported at three points on a rough plane

The problem of the motion of a heavy rigid body, supported on a rough horizontal plane at three of its points, is considered. The contacts at the support points are assumed to be unilateral and subject to the law of dry (Coulomb) friction. The dynamics of possible motions of such a body under the action of gravity forces and dry friction is investigated. In the case of a plane body, it is possible to obtain particular integrals of the equations of motion.     

The limit equilibrium of an anisotropic medium under the general plasticity condition

A theory of the limit equilibrium of an anisotropic medium under the general plasticity condition in the plane strain state is developed. The proposed yield criterion (the limit equilibrium condition) is obtained by combining the von Mises–Hill yield criterion of an ideally plastic anisotropic material and Prandtl's limit equilibrium condition for a medium under the general plasticity law. It is shown that the problem is statically determinate, i.e., if the boundary conditions are specified in stresses, the stress state in plastic region can only be obtained using equilibrium equations. It is established that the equations describing the stress state are hyperbolic and have two families of characteristic curves that intersect at variable angles. In deriving the equations describing the velocity field, the material is assumed to be rigid plastic, and the associated law of flow is applied. It is shown that the equations for the velocities are also hyperbolic, and their characteristic curves are identical with those of the equations for stresses. However, the directions of the principal values of the stress and strain rate tensors are different due to the anisotropy of the material. The characteristic directions differ from the isotropic case in that the normal and tangential components of the stress tensor do not satisfy the limit conditions. It is established that the equations obtained allow of partial solutions, and in this case, at least one family of characteristic curves consists of straight lines. The conditions along the lines of discontinuity of the velocity are investigated, and it is shown that, as in the isotropic case, these are characteristic curves of the system of governing equations. In the anisotropic formulation, the well-known Rankine problem of the limit state of a ponderable layer is solved. From an analysis of the velocity field it is shown that plastic flow of the entire layer is possible only for a slope angle equal to the angle of internal friction. For slope angles less than the angle of internal friction, the solutions obtained are solutions of problems of the pressure of the medium on the retaining walls. The change in this pressure as a function of the parameters of anisotropy is investigated, and turns out to be significant.     

Optimal stabilization of an equilibrium position of a rigid body using rotors system with friction forces

The optimal stabilization of one class of equilibrium positions of a rigid body using rotors system with internal friction is studied. The performance index is an integral form of a quadratic function in the state and control variables. Both of the angular velocity and orientation variables are regulated. The optimal driving control moments which stabilize this position are obtained using the conditions of ensuring the optimal asymptotic stability of this position as non-linear functions of phase coordinates of the body. Some known results on the optimal control of equilibrium positions of a rigid body are improved and new results are obtained. Numerical simulation is presented.     

The motions of a spheroid on a horizontal plane with viscous friction

The stability conditions of the steady motions of a heavy spheroid on a plane with viscous friction are analysed. A geometrical interpretation of the results is given. The results are compared with the corresponding results in the case of an absolutely smooth and absolutely rough surface. The unsteady motions of the spheroid are investigated numerically.     

The stability of equilibrium in systems with friction

Mechanical systems with non-ideal geometrical constraints are considered. The possible lack of uniqueness of the solution of the problem of determining the generalized accelerations and reactions with respect to specified coordinates and velocities is taken into account in solving the problem of the stability of an equilibrium state. A number of necessary and sufficient conditions of stability are obtained. It is shown that the results are also applicable in the case of unilateral constraints subject to the condition that a specific hypothesis concerning the character of the impacts on the constraints is adopted. A problem on the stability of a rigid body on a rough plane in the two-dimensional case is solved as an example.     

The dynamics of a homogeneous disc on an inclined plane with friction

The problem of the motion of a homogeneous circular cylinder along a fixed rough inclined plane is discussed. It is assumed that the cylinder is supported on the plane by its base and executes continuous motion. The frictional forces and moment are calculated within the limits of the dynamically consistent model proposed by Ivanov, for which the pressure distribution over the contact area is non-uniform. A qualitative analysis of the dynamics of the cylinder is given in the case when the slope of the plane is less then the Coulomb coefficient of friction.     

On final motions of a Chaplygin ball on a rough plane

A heavy balanced nonhomogeneous ball moving on a rough horizontal plane is considered. The classical model of a “marble” body means a single point of contact, where sliding is impossible. We suggest that the contact forces be described by Coulomb’s law and show that in the final motion there is no sliding. Another, relatively new, contact model is the “rubber” ball: there is no sliding and no spinning. We treat this situation by applying a local Coulomb law within a small contact area. It is proved that the final motion of a ball with such friction is the motion of the “rubber” ball.     

Contact of ropes and orthotropic rough surfaces

Contact between arbitrary curved ropes and arbitrary curved rough orthotropic surfaces has been revised from the geometrical point of view. Variational equations for the equilibrium of ropes on orthotropic rough surfaces are derived, first, using the consistent variational inclusion of frictional contact constraints via Karush-Kuhn-Tucker conditions expressed in Darboux basis. Then, the systems of differential equations are derived for both statics and dynamics of ropes on a rough surface depending on the sticking-sliding condition for orthotropic Coulomb's friction. Three criteria are found to be fulfilled during the static equilibrium of a rope on a rough surface: “no separation”, condition for dragging coefficient of friction and inequality for tangential forces at the end of the rope. The limit tangential loads still preserve the famous “Euler view” T = T₀e^ωs for the curves and surfaces of constant curvature. It is shown that the curve of the maximum tension of a rough orthotropic surface is geodesic. Equations of motion are derived in the case if the sliding criteria is fulfilled and there is “no separation”. Various cases possessing analytical solutions of the derived system, including Euler case and a spiral rope on a cylinder are shown as examples of application of the derived theory. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A qualitative analysis of the subharmonic oscillations of a parametrically excited flexible rod

A non-autonomous non-linear dynamical system with a small parameter that describes the parametric oscillations of a flexible rod with three static equilibrium positions is obtained. The generating equation of this model is a dynamical system in a plane with a separatrix loop. The qualitative analysis presented includes an investigation of the stability and bifurcation of subharmonic motions at resonance energy levels.     

A limit cycle in a non-conservative sytem in 1:2 resonance

Systems with two degrees of freedom under the action of non-conservative forces and small linear viscous friction forces with complete dissipation are considered. A limit cycle that exists under specific conditions in the vicinity of an isolated equilibrium of the system is constructed using asymptotic methods in the case of 1:2 resonance. A criterion for asymptotic stability of this cycle is obtained to within equality-type relations. An estimate of the region of attraction of the limit cycle in a truncated system is given. Oscillations of a two-link rod system on a plane in 1:2 resonance are investigated. ©2011     

On magnetoelastic problems of a plane with an arbitrarily shaped hole under stress and displacement boundary conditions

An analytical method for the static plane problem of magnetoelasticityis developed for an infinite plane containing a hole of arbitraryshape under stress and displacement boundary conditions in aprimary uniform magnetic field. The magnetic field influencesthe elastic field by introducing a body force called the Lorentzponderomotive force in the equilibrium equations. The body forcecan be further described in a form relating with the electromagneticstress tensor. The complex variable method in conjunction withthe rational mapping function technique is used in the analysisfor both magnetic field and mechanical field. Governing equationsand boundary conditions are expressed in terms of complex functions.Complex magnetic potential and stress functions are obtainedusing Cauchy integrals for the paramagnetic and soft ferromagneticmaterials, respectively. The distributions of magnetic fieldand the stress components are shown for certain directions ofprimary magnetic fields in an infinite plane with a square hole,as an example. It is found that the stress distributions forthe two types of materials are identical despite the differenceof magnetic fields. The extreme cases of a free and a fixedhole reduced to a crack and a rigid fibre, respectively, arealso investigated. The stress intensity factors at the tipsof crack and rigid fibre are computed, and their variation forcertain directions of primary magnetic field is shown.     

The stability of the steady motion of a gyrostat with a liquid in a cavity

A symmetrical rigid body with a spherical base, carrying a rotor and having a cavity in the shape of an ellipsoid of revolution, completely filled with an ideal incompressible liquid in uniform vortex motion, is moving along an absolutely rough plane. It is shown that this system admits of an energy integral, Jellett's integral, the integral of constant vorticity and a geometric integral. The construction of a Lyapunov function as a linear combination of first integrals [1] yields the sufficient conditions for the rotation of the gyrostat about the vertically positioned axis of symmetry to be stable. The conditions for the gyrostat's rotation to be unstable are found. It is shown that the rotor may prove to have either a stabilizing or destabilizing effect on the system and that the gyrostat admits of motions of the type of regular precession. The sufficient conditions for the stability of these motions are obtained.     

Modelling of frictional forces in the dynamics of a sphere on a plane

A friction model is proposed that takes account of all forms of friction (sliding, spinning and rolling) and the permanent condition for the contact motion of the body on the plane. The model depends on three parameters and, in different special cases, transforms into the Contensou–Zhuravlev model and the author's model.     

The indentation of a punch in the form of an elliptic paraboloid into the plane boundary of an elastic body

The three-dimensional contact problem for an elastic body of arbitrary geometry with a single plane face, into which a punch in the shape of an elliptic paraboloid is indented, is considered. The curvilinear boundary of the body is partially clamped, and the remaining boundary (outside the contact region) is stress-free. It is assumed that the dimensions of the contact area are small compared with the characteristic dimension of the body. Using the method of matched asymptotic expansions a model problem of unilateral contact without friction is derived for the boundary layer, which is solved using the apparatus of Hertz's theory. Asymptotic models of the contact interaction of different degrees of accuracy are constructed, including corrections to the geometry and clamping conditions of the elastic body. The sensitivity of the parameters of the elliptic region of the contact to these factors is investigated.     

再论各向异性平面弹性中的一个周期接触问题——纪念李国平院士吴新谋教授诞辰100周年

该文对下面的一个弹性接触问题进行了再讨论.一列周期排列刚性压头压入一个各向异性弹性半平面的边界上,并有摩擦力存在, 求应力平衡.此问题在文献[1, 2]中曾讨论过并求出其解.但解法似不完全确切.该文将它进行修正从而获得精确解的封闭形式.