Dynamic Synthesis of Substructures∗

ABSTRACT

A new approach is presented to synthesize dynamic properties of a system that is composed of multiple degree of freedom subsystems attached to a multiple degree of freedom primary system at several points. Natural frequencies and mode shapes of the combined system are obtained in terms of modal properties of the primary system, subsystems, and their interaction parameters. The present solution is compared to the exact solution as well as approximate solutions obtained by earlier investigators. Derived properties can be used in conjunction with any response spectrum or random vibration formulation, to obtain the deterministic or probabilistic dynamic response of subsystems to any arbitrary excitation.     

Direct specturm analysis of the state space for random vibration of MDOF linear damped system

This paper proceeds from the general case of the unsymmetric linearized multi-degrees of freedom (MDOF) systems. By adopting the general complex modal theory of the state space, the response analysis for a system subjected to random excitation of the same source is carried out using as a kind of direct spectrum analysis method in frequency domain. With the input of power spectral density function given, the explicit expression of the power spectral density function matrix of the output response can be obtained. By taking Fourier inverse transform, the integrated expressions of the correlation function matrix and of the spectrum moment matrix are obtained. Comparing with the time domain method, this method enjoys the merit of visualization and avoids the procedure of transformation from the obtained response correlation function to be solved for the output spectrum utilizing Fourier transform. This paper has extended the application range of the traditional frequency domain analysis method. The mean square values and variety of statistical values can be obtained conveniently. This method and the time domain method are different in approach but equally satisfactory in their results. The project is supported by National Natural Science Foundation of China and National Education Commission Science Foundation of China     

非比例阻尼线性体系平稳随机地震响应计算的虚拟激励法

应用复振型分解方法,将非比例阻尼线性体系在地震作用下的动力方程求解问题转化为若干个广义复振子的求解与叠加问题。通过假定地震地面运动为一零均值的平稳随机激励,应用虚拟激励法原理,推导得到了广义复振子动力坐标的解析计算公式,进而得到了以复振型为基础的非比例阻尼线性体系随机地震响应计算的一般实数解析解答。算例证实了这种方法的可靠性及高效率。     

用虚拟激励法求解非比例阻尼线性体系的非平稳随机地震响应

应用复振型分解方法,将非比例阻尼线性体系在地震作用下的动力方程求解问题转化为若干个广义复振子的求解与叠加问题。通过假定地震地面运动为一零均值的非平稳随机激励,应用虚拟激励法原理,推导得到了广义复振子动力坐标计算的一般公式,进而得到了非比例阻尼线性体系非平稳随机地震响应计算的一般解答。由于可以选择少量共轭复振型的影响进行计算,对于大型复杂非比例阻尼结构,其随机地震响应计算工作量可以大幅度减小。算例证实了这种方法的可靠性及可行性。     

多自由度柔性结构非线性随机振动响应分析方法

随机等效线性化方法是多自由度结构非线性随机振动分析的有效方法,然而柔性结构隐式的系统方程限制了该方法的应用.本文首先提出了把多自由度柔性结构隐式系统方程显式化的等效非线性系统建立方法,该方法结合模态分析,将系统几何非线性作用等效为模态坐标的高次多项式组合,把多自由度物理系统转化为容易求解的模态系统;在此基础上运用随机等效线性化技术建立柔性结构非线性随机振动响应分析方法.该方法通过引入虚拟激励原理,大幅提高了计算效率,使对多自由柔性结构的非线性随机振动响应分析成为可能.通过算例分析,本文分析结果和精确解与数值模拟解的比较结果表明,本文方法具有较好的计算精度和较高的计算效率,能够应用于实际柔性工程结构的随机振动响应分析.     

Non-linear normal modes,invariance, and modal dynamics approximations of non-linear systems

Non-linear systems are here tackled in a manner directly inherited from linear ones, that is, by using proper normal modes of motion. These are defined in terms of invariant manifolds in the system's phase space, on which the uncoupled system dynamics can be studied. Two different methodologies which were previously developed to derive the non-linear normal modes of continuous systems — one based on a purely continuous approach, and one based on a discretized approach to which the theory developed for discrete systems can be applied-are simultaneously applied to the same study case-an Euler-Bernoulli beam constrained by a non-linear spring-and compared as regards accuracy and reliability. Numerical simulations of pure non-linear modal motions are performed using these approaches, and compared to simulations of equations obtained by a classical projection onto the linear modes. The invariance properties of the non-linear normal modes are demonstrated, and it is also found that, for a pure non-linear modal motion, the invariant manifold approach achieves the same accuracy as that obtained using several linear normal modes, but with significantly reduced computational cost. This is mainly due to the possibility of obtaining high-order accuracy in the dynamics by solving only one non-linear ordinary differential equation.     

Lyapunov function construction for nonlinear stochastic dynamical systems

Though the Lyapunov function method is more efficient than the largest Lyapunov exponent method in evaluating the stochastic stability of multi-degree-of-freedom (MDOF) systems, the construction of Lyapunov function is a challenging task. In this paper, a specific linear combination of subsystems’ energies is proposed as Lyapunov function for MDOF nonlinear stochastic dynamical systems, and the corresponding sufficient condition for the asymptotic Lyapunov stability with probability one is then determined. The proposed procedure to construct Lyapunov function is illustrated and validated with several representative examples, where the influence of coupled/uncoupled dampings and excitation intensities on stochastic stability is also investigated.     

A new matrix perturbation method for analytical solution of the complex modal eigenvalue problem of viscously damped linear vibration systems

A new matrix perturbation analysis method is presented for efficient approximatesolution of the complex modal quadratic generalized eigenvalue problem of viscouslydamped linear vibration systems.First,the damping matrix is decomposed into the sum of aproportional-and a nonproportional-damping parts,and the solutions of the real modaleigenproblem with the proportional dampings are determined,which are a set of initialapproximate solutions of the complex modal eigenproblem.Second,by taking thenonproportional-damping part as a small modification to the proportional one and using thematrix perturbation analysis method,a set of approximate solutions of the complex modaleigenvalue problem can be obtained analytically.The result is quite simple.The new methodis applicable to the systems with viscous dampings-which do not deviate far away from theproportional-damping case.It is particularly important that the solution technique be alsoeffective to the systems with heavy,but not over,dampings.The solution formul     

MODAL SYNTHESIS METHOD FOR NORM COMPUTATION OF H∞ DECENTRALIZED CONTROL SYSTEMS （II）

When using H∞ techniques to design decentralized controllers for large systems, the whole system is divided into subsystems, which are analysed using H∞ control theorybefore being recombined. An analogy was established with substructural analysis instructural mechanics, in which H∞ decentralized control theory corresponds to substructuralmodal synthesis theory so that the optimal H∞ norm of the whole system corresponds to thefundamental vibration frequency of the whole structure. Hence, modal synthesismethodology and the extended Wittrick-Williams algorithm were transplanted from structuralmechanics to compute the optimal H∞ norm of the control system. The orthogonality and theexpansion theorem of eigenfunctions of the subsystems H~ control are presented in part (I)of the paper. The modal synthesis method for computation of the optimal H∞ norm ofdecentralized control systems and numerical examples are presented in part (Ⅱ).     

Random dynamics of structures with gaps: Simulation and spectral linearization

This paper deals with the prediction of the response of strutures with gaps excited by a white noise. This model is frequently introduced for practical analysis of dynamic systems such as pipings having a clearance into the supporting device, mechanical equipments subjected to impact disturbance with the basements, and so on. It is impliccitly assumed throughout that the systems have been discretized, so that its motion can be represented in terms of a finlte number of coordinates. Some DOF will be subjected to limitations represented by a hard spring without damping.The first section deals with the numerical aspects of the problem. Two classical algorithms for MDOF systems are considered: the pseudo-static formulation, and the modal decomposition, Comparison of the results leads to the selection of the more effective method.In the second section some limitations of the statistical linearization method are established and a new linearization method based upon an ARMA representation of the response is proposed. The main point is in the relation between the coefficients of the ARMA model and the parameters of the system which is studied in this paper.The third section is the core of the paper. It presents a method for identifying a linear structure whose displacement response is close to the response of the lumped structure with gaps in terms of power spectra. Results are illustrated by some examples on MDOF oscillators. Only cases with a single excitation (corresponding to scismic analysis) are considered.     

Non-linear output frequency response functions of MDOF systems with multiple non-linear components

In engineering practice, most mechanical and structural systems are modelled as multi-degree-of-freedom (MDOF) systems such as, e.g., the periodic structures. When some components within the systems have non-linear characteristics, the whole system will behave non-linearly. The concept of non-linear output frequency response functions (NOFRFs) was proposed by the authors recently and provides a simple way to investigate non-linear systems in the frequency domain. The present study is concerned with investigating the inherent relationships between the NOFRFs for any two masses of non-linear MDOF systems with multiple non-linear components. The results reveal very important properties of the non-linear systems. These properties clearly indicate how the system linear characteristic parameters govern the propagation of the non-linear effect induced by non-linear components in the system. One potential application of the results is to detect and locate faults in engineering structures which make the structures behave non-linearly.     

MODAL SYNTHESIS METHOD FOR NORM COMPUTATION OF H∞ DECENTRALIZED CONTROL SYSTEMS （ I ）

When using H∞ techniques to design decentralized controllers for large systems,the whole system is divided into subsystems, which are analysed using H∞ control theorybefore being recombined. An analogy was established with substructural analysis instructural mechanics, in which H∞ decentralized control theory corresponds to substructuralmodal synthesis theory so that the optimal H∞ norm of the whole system corresponds to thefundamental vibration frequency of the whole structure. Hence, modal synthesismethodology and the extended Wittrick-Williams algorithm were transplanted from structuralmechanics to compute the optimal H∞ norm of the control system. The orthogonality and theexpansion theorem of eigenfunctions of the subsystems H∞ control are presented in part(I) of the paper. The modal synthesis method for computation of the optimal H∞ norm ofdecentralized control systems and numerical examples are presented in part (Ⅱ).     

A numerical method for determining nonlinear normal modes

This paper examines a new approach for determining the nonlinear normal modes of undamped non-gyroscopic multiple degree-of-freedom systems. Unlike algebraic solutions that generally assume a solution in the form of a polynomial expansion, this method makes only the assumption of repetitive motion in numerically determining the mode shapes. The advantage of this approach is that the accuracy obtained in the mode shape identification is a function only of the accuracy of the numerical integration used and not of the number of terms in the power series expansion. The drawbacks are that invariance of the modal manifolds cannot be proven and mode bifurcations can be easily overlooked.     

受控振动系统时滞依赖稳定性判据的LMI方法

针对带有不确定性时滞的振动控制系统,引入改进的二向量内积的上确界,对Lyapunov导数进行合理放大,提出了一种新的时滞依赖鲁棒性稳定准则。根据这种新的判别方法,受控振动系统的最大时滞量可以通过Matlab控制工具箱LMI(线性矩阵不等式)得到。讨论了单自由度系统中最大时滞随系统参数的变化情况及多自由度系统中控制器最优权值R的确定。算例结果表明,在允许时滞范围内,经典的LQR控制器可以收到令人满意的效果。     

剪切型非线性滞迟系统随机地震响应的虚拟激励分析

运用虚拟激励法结合等效线性化法分析了剪切型多自由度滞迟系统的平稳随机地震响应.对于滞迟等效线性系统,对每一步迭代不需要求解高阶李亚谱诺夫方程,而只须求解一个低阶复系数代数方程即可;可以只计算所需要的方差向量,因而计算效率较高.特别是对于较多自由度的滞迟系统.     

Attractivity of Equilibrium Sets of Systems with Dry Friction

The dynamics of mechanical systems with dry friction elements, modelledby set-valued force laws, can be described by differential inclusions.An equilibrium set of such a differential inclusion corresponds to astationary mode for which the friction elements are sticking. Theattractivity properties of the equilibrium set are of major importancefor the overall dynamic behaviour of this type of systems. Conditionsfor the attractivity of the equilibrium set of MDOF mechanical systemswith multiple friction elements are presented. These results areobtained by application of a generalisation of LaSalle's principle fordifferential inclusions of Filippov-type. Besides passive systems, alsosystems with negative viscous damping are considered. For such systems,only local attractivity of the equilibrium set can be assured undercertain conditions. Moreover, an estimate for the region of attractionis given for these cases. The effectiveness of the results isillustrated by means of both 1DOF and MDOF examples.     

Addressing the Influence of a Heterogeneous Matrix on Well Performance in Fractured Rocks

We address the influences of heterogeneity and complex geology of the matrix of fractured rocks on transient flow. Fractional constitutive flux laws reflect the stochastic framework that we consider. We model transient diffusion in both the matrix and fracture systems in terms of a continuous time random walk. Our procedure is particularly suited to address a complex geology that may exist on a number of scales and which may include dead ends and discontinuities. The performance of a horizontal well produced through arbitrarily located, multiple hydraulic fractures with distinct properties (length, width, permeability) forms the basis for our thesis. The pressure distribution in a rectangular drainage region where the well may be placed arbitrarily is expressed in terms of the Laplace transformation. The required solutions are obtained numerically. The focus of our work is on long-term behaviors for production at a constant pressure. In addition to numerical solutions, asymptotic results that provide information on the structure of the solutions are presented. Agreement between the asymptotic and numerical solutions is excellent. We show that long-term responses are governed by two distinct, two-parameter Mittag–Leffler functions and are an outcome of the complexities we desire to model in both the matrix and fracture systems. As a consequence, power-law behaviors that reflect the heterogeneity inherent in the system define long-time expectations. We show that the new solutions we derive do reduce to those of classical diffusion; that is, results corresponding to classical diffusion are a subset of the new results obtained here. Our results are particularly suited to model transient flow in shale reservoirs.     

Performance measures for targeted energy transfer and resonance capture cascading in nonlinear energy sinks

In vibrating mechanical systems, the targeted energy transfer mechanism (TET) of nonlinear energy sinks (NES) is employed as an alternative to linear tuned mass dampers (TMD) as passive vibrations absorbers for transient vibrations. The major advantages a NES has over a linear TMD are (1) an increased robustness to detuning and (2) the ability to dissipate multiple frequencies with only a single NES through so-called resonance capture cascading (RCC). The performance, especially the speed, of TET and RCC has rarely been a topic of research. In this research, algebraic performance measures for the speed of both TET and RCC are derived, called the pumping time and the cascading time, respectively. It shows that cascading time can be seen as a sum of single-mode pumping times, by introducing a novel modal decomposition. The strength of both measures is that they do not require numerical simulations, allowing easy optimization of the NES. The influence of different nonlinearities on the TET and RCC performance is investigated. Actual numerical simulations presented in the study validate the merit of both the pumping time and cascading time.     

Acoustic radiation from a submerged hollow FGM sphere

An exact study based on the linear theory of elasticity is presented for the steady-state sound radiation characteristics of an arbitrarily thick radially inhomogeneous elastic isotropic hollow sphere, immersed in and filled with ideal compressible fluids, and subjected to an arbitrary axisymmetric time-harmonic driving force at its internal surface. A modal state equation with variable coefficients is set up in terms of appropriate displacement and stress functions and their spherical harmonics by means of the laminated approximation approach. Taylor’s expansion theorem is subsequently employed to solve the modal state equation, ultimately calculating a global transfer matrix. Numerical results are presented for a water-submerged/air-filled steel/zirconia FGM hollow sphere under an axisymmetric distributed internal pressure force. The effects of shell wall thickness, the material compositional gradient, frequency, and subtended polar angle of the internal pressure force on the far-field radiated pressure directivity patterns as well as the total radiated power are examined. It is demonstrated that the material gradient can significantly change the acoustical characteristics of hollow inhomogeneous sphere, especially for thick shells at high excitation frequencies. Limiting cases are considered and good agreements with available results as well as with the computations made by using a finite element package are obtained.     

Optimal bounded control of stochastically excited MDOF nonlinear viscoelastic systems

A new procedure for designing optimal bounded control of stochastically excited multi-degree-of-freedom (MDOF) nonlinear viscoelastic systems is proposed based on the stochastic averaging method and the stochastic maximum principle. First, the system is formulated as a quasi-integrable Hamiltonian system with viscoelastic terms and each viscoelastic term is replaced approximately by an elastically restoring force and a visco-damping force based on the randomly periodic behavior of the motion of quasi-integrable Hamiltonian system. Thus, a stochastically excited MDOF nonlinear viscoelastic system is converted to an equivalent quasi-integrable Hamiltonian system without viscoelastic terms. Then, by applying stochastic averaging, the system is further reduced to a partially averaged system of less dimension. The adjoint equation and maximum condition for the optimal control problem of the partially averaged system are derived by using the stochastic maximum principle, and the optimal bounded control force is determined from the maximum condition. Finally, the probability and statistics of the stationary response of optimally controlled system are obtained by solving the Fokker–Plank–Kolmogorov equation (FPK) associated with the fully averaged Itô equation of the controlled system. An example is worked out to illustrate the proposed procedure and its effectiveness.