Performances of some reduced bases for the stability analysis of a disc/pads system in sliding contact

The complex eigenvalue analysis is a widely used technique to investigate the stability of a dynamical system with frictional contact. In the case of brake systems, it is the most frequently employed method to study the propensity of the brake to generate squeal noise. When finite element models are considered, iterative solvers are needed to calculate the complex modes and eigenvalues with good precision. In practice, reduced real bases are often used in order to reduce the computational times. However, great attention should be focused on the errors introduced by the reduction, which is rarely done. In this paper, the performances of some reduced bases are investigated in the case of a simple disc/pads system. Bases composed of real coupled modes and bases provided by Component Mode Synthesis (CMS) techniques are tested. An enrichment of these bases is proposed in order to improve the precision of the results. In particular, new rubbing attachment modes are proposed to adapt free-interface CMS techniques to frictional contact. When real coupled modes are used, it is suggested to complete the basis by the static response to a first-order approximation of the friction forces. Applied to the disc/pads model, the different enrichment options allow a reduction of the errors on frequencies, divergence rates and mode shapes by a factor comprised between 10 and 100 without significantly increasing the computational times.     

A new treatment for predicting the self-excited vibrations of nonlinear systems with frictional interfaces: The Constrained Harmonic Balance Method,with application to disc brake squeal

Brake squeal noise is still an issue since it generates high warranty costs for the automotive industry and irritation for customers. Key parameters must be known in order to reduce it. Stability analysis is a common method of studying nonlinear phenomena and has been widely used by the scientific and the engineering communities for solving disc brake squeal problems. This type of analysis provides areas of stability versus instability for driven parameters, thereby making it possible to define design criteria. Nevertheless, this technique does not permit obtaining the vibrating state of the brake system and nonlinear methods have to be employed. Temporal integration is a well-known method for computing the dynamic solution but as it is time consuming, nonlinear methods such as the Harmonic Balance Method (HBM) are preferred. This paper presents a novel nonlinear method called the Constrained Harmonic Balance Method (CHBM) that works for nonlinear systems subject to flutter instability. An additional constraint-based condition is proposed that omits the static equilibrium point (i.e. the trivial static solution of the nonlinear problem that would be obtained by applying the classical HBM) and therefore focuses on predicting both the Fourier coefficients and the fundamental frequency of the stationary nonlinear system.The effectiveness of the proposed nonlinear approach is illustrated by an analysis of disc brake squeal. The brake system under consideration is a reduced finite element model of a pad and a disc. Both stability and nonlinear analyses are performed and the results are compared with a classical variable order solver integration algorithm.Therefore, the objectives of the following paper are to present not only an extension of the HBM (CHBM) but also to demonstrate an application to the specific problem of disc brake squeal with extensively parametric studies that investigate the effects of the friction coefficient, piston pressure, nonlinear stiffness and structural damping.     

Suppression of brake squeal noise applying finite element brake and pad model enhanced by spectral-based assurance criteria

An enhanced dynamic finite element (FE) model with friction coupling is applied to analyze the design of disc brake pad structure for squeal noise reduction. The FE model is built-up from the individual brake component representations. Its interfacial structural connections and boundary conditions are determined by correlating to a set of measured frequency response functions using a spectral-based assurance criterion. The proposed friction coupling formulation produces an asymmetric system stiffness matrix that yields a set of complex conjugate eigenvalues. The analysis shows that eigenvalues possessing positive real parts tend to produce unstable modes with the propensity towards the generation of squeal noise. Using a proposed lumped parameter model and eigenvalue sensitivity study, beneficial pad design changes can be identified and implemented in the detailed FE model to determine the potential improvements in the dynamic stability of the system. Also, a selected set of parametric studies is performed to evaluate numerous design concepts using the proposed dynamic FE model. The best pad design attained, which produces the least amount of squeal response, is finally validated by comparison to a set of actual vehicle test results.     

Finite element modelling for the investigation of in-plane modes and damping shims in disc brake squeal

Squeal propensity of the in-plane modes and the constrained-layer type damping shims for disc brake system is investigated by using the finite element method. Theoretical formulation is derived for a rotating disc in contact with two stationary vibrating pads attached to the damping shim components. By the conversion from the theoretical to FE brake model, the full equations of motion for the actual disc brake system describes the disc rotation, the in-plane friction characteristics and damping shims in association with squeal vibration. It is concluded from the results that the in-plane torsion modes can be generated by the negative friction slope, but they cannot be controlled by the damping shims. The in-plane radial mode is also investigated and found to be very insensitive in squeal generation.     

Numerical study of friction-induced instability and acoustic radiation – Effect of ramp loading on the squeal propensity for a simplified brake model

This paper presents a numerical study of the influence of loading conditions on the vibrational and acoustic responses of a disc brake system subjected to squeal. A simplified model composed of a circular disc and a pad is proposed. Nonlinear effects of contact and friction over the frictional interface are modelled with a cubic law and a classical Coulomb?s law with a constant friction coefficient. The stability analysis of this system shows the presence of two instabilities with one and two unstable modes that lead to friction-induced nonlinear vibrations and squeal noise. Nonlinear time analysis by temporal integration is conducted for two cases of loadings and initial conditions: a static load near the associated sliding equilibrium and a slow and a fast ramp loading. The analysis of the time responses shows that a sufficiently fast ramp loading can destabilize a stable configuration and generate nonlinear vibrations. Moreover, the fast ramp loading applied for the two unstable cases generates higher amplitudes of velocity than for the static load cases. The frequency analysis shows that the fast ramp loading generates a more complex spectrum than for the static load with the appearance of new resonance peaks. The acoustic responses for these cases are estimated by applying the multi-frequency acoustic calculation method based on the Fourier series decomposition of the velocity and the Boundary Element Method. Squeal noise emissions for the fast ramp loading present lower or higher levels than for the static load due to the different amplitudes of velocities. Moreover, the directivity is more complex for the fast ramp loading due to the appearance of new harmonic components in the velocity spectrum. Finally, the sound pressure convergence study shows that only the first harmonic components are sufficient to well describe the acoustic response.     

Phase transitions driven by state-dependent poisson noise

Nonlinear systems driven by state-dependent Poisson noise are introduced to model the persistence of climatic anomalies in land-atmosphere interaction caused by the soil-moisture dependence of the frequency of rainfall events. It is found that these systems may give rise to bimodal probability distributions, while the state variable randomly persists around the preferential states because of transient dynamics that are opposite to the long-term behavior. Mean-field analysis and numerical simulations of the spatially distributed systems reveal a symmetry-breaking bifurcation for sufficiently strong spatial diffusive couplings and intermediate noise intensities. In such conditions, the initial development of spatial patterns is followed by a stable configuration, selected on the bases of the initial conditions in correspondence of the remnants of the modes of the uncoupled system.     

Constructing reduced model for complex physical systems via interpolation and neural networks

The work studies model reduction method for nonlinear systems based on proper orthogonal decomposition (POD)and discrete empirical interpolation method (DEIM). Instead of using the classical DEIM to directly approximate thenonlinear term of a system, our approach extracts the main part of the nonlinear term with a linear approximation beforeapproximating the residual with the DEIM. We construct the linear term by Taylor series expansion and dynamic modedecomposition (DMD), respectively, so as to obtain a more accurate reconstruction of the nonlinear term. In addition, anovel error prediction model is devised for the POD-DEIM reduced systems by employing neural networks with the aid oferror data. The error model is cheaply computable and can be adopted as a remedy model to enhance the reduction accuracy.Finally, numerical experiments are performed on two nonlinear problems to show the performance of the proposed method.     

Stable nonequilibrium probability densities and phase transitions for meanfield models in the thermodynamic limit

A nonlinear Fokker-Planck equation is derived to describe the cooperative behavior of general stochastic systems interacting via mean-field couplings, in the limit of an infinite number of such systems. Disordered systems are also considered. In the weak-noise limit; a general result yields the possibility of having bifurcations from stationary solutions of the nonlinear Fokker-Planck equation into stable time-dependent solutions. The latter are interpreted as non-equilibrium probability distributions (states), and the bifurcations to them as nonequilibrium phase transitions. In the thermodynamic limit, results for three models are given for illustrative purposes. A model of self-synchronization of nonlinear oscillators presents a Hopf bifurcation to a time-periodic probability density, which can be analyzed for any value of the noise. The effects of disorder are illustrated by a simplified version of the Sompolinsky-Zippelius model of spin-glasses. Finally, results for the Fukuyama-Lee-Fisher model of charge-density waves are given. A singular perturbation analysis shows that the depinning transition is a bifurcation problem modified by the disorder noise due to impurities. Far from the bifurcation point, the CDW is either pinned or free, obeying (to leading order) the Grüner-Zawadowki-Chaikin equation. Near the bifurcation, the disorder noise drastically modifies the pattern, giving a quenched average of the CDW current which is constant. Critical exponents are found to depend on the noise, and they are larger than Fisher's values for the two probability distributions considered.     

Soluble models for dynamics driven by a super-diffusive noise

We explicitly discuss scalar Langevin type of equations where the deterministic part is linear, but where the integrated noise source is a non-linear diffusion process exhibiting superdiffusive behavior. We calculate transient and stationary probabilities and study the possibility of noise induced transitions from a unimodal to a bimodal probability shape. Illustrations from finance and dynamical systems are given.     

Active structural acoustic control of repetitive impact noise

This paper discusses the effectiveness of an Active Structural Acoustic Control (ASAC) system for the reduction of repetitive impact noise, radiated by structures with a high modal density in the controlled frequency range. Although there is a significant difference in nature between periodic and transient noise, up till now no specific research on ASAC of transient noise was reported. The development of the ASAC system is divided into two phases: the definition of the control configuration and the design of a suitable control algorithm. The optimal control configuration as well as the implemented control algorithm for the reduction of impact noise differ significantly from the common solutions in periodic noise control. In the first part of the paper, a practical methodology is presented to define a good control arrangement for transient noise control. The second part of the paper focuses on the design of control algorithms, adapted to the specific properties of impact noise. Since many industrial impact noise problems involve successive impacts with a repetitive behaviour, control algorithms with a learning behaviour are discussed. The efficiency of these Iterative Learning Control (ILC) algorithms is extensively demonstrated in this paper. The developed ASAC strategy has been verified on a thick steel plate, which is excited by successive impacts. The obtained results show that ASAC can be a very efficient transient noise control technique in certain industrial applications (e.g. presses, punching machines, etc.).     

ANALYSIS OF DISC BRAKE NOISE USING A TWO-DEGREE-OF-FREEDOM MODEL

Although a brake pad and disc have many modes of vibration, when it is unstable and hence noisy then frequently only a single mode of the complete system contributes to the vibration. In this condition, only a few modes are required to model the system. In this paper, a two-degree-of-freedom model is adopted where the disc and the pad are modelled as single modes connected by a sliding friction interface. Using this model, the interaction between the pad and the disc is investigated. Stability analysis is performed to show under what parametric conditions the system becomes unstable, assuming that the existence of a limit cycle represents the noisy state of the disc brake system. The results of this analysis show that the damping of the disc is as important as that of the pad. Non-linear analysis is also performed to demonstrate various limit cycles in the phase space. The results show that the addition of damping to either the disc or the pad alone may make the system more unstable, and hence noisy.     

Effect of noise and perturbations on limit cycle systems

This paper demonstrates that the influence of noise and of external perturbations on a nonlinear oscillator can vary strongly along the limit cycle and upon transition from limit cycle to stationary point behaviour. For this purpose we consider the role of noise on the Bonhoeffer-van der Pol model in a range of control parameters where the model exhibits a limit cycle, but the parameters are close to values corresponding to a stable stationary point. Our analysis is based on the van Kampen approximation for solutions of the Fokker-Planck equation in the limit of weak noise. We investigate first separately the effect of noise on motion tangential and normal to the limit cycle. The key result is that noise induces diffusion-like spread along the limit cycle, but quasistationary behaviour normal to the limit cycle. We then describe the coupled motion and show that noise acting in the normal direction can strongly enhance diffusion along the limit cycle. We finally argue that the variability of the system's response to noise can be exploited in populations of nonlinear oscillators in that weak coupling can induce synchronization as long as the single oscillators operate in a regime close to the transition between oscillatory and excitatory modes.     

活性布朗粒子运动的稳态解

拟可积Hamilton系统随机平均法可以用来研究活性布朗粒子运动.介绍了该随机平均法，利用它详细求解了布朗粒子运动的动力学方程，该方程描述了活性布朗粒子在平面上的运动，粒子受到的激励是Gaussian白噪声，受到的阻尼是Schienbein-Gruler速度依赖的磨擦模型.通过与数字模拟和与实验数据的比较，证明所得稳态解正确.对于Rayleigh和Erdamnn速度依赖的磨擦模型，也给出了稳态解. 关键词： 活性布朗粒子 拟可积Hamilton系统随机平均法 可积性 稳态解     

Coloured-noise-induced transitions: Exact results for external dichotomous Markovian noise

A general method to calculate explicitly the stationary probability of nonlinear systems subjected to a special case of coloured noise is presented. For a simple model system the “phase diagram” for the various noise-induced transitions is determined.     

Wave pattern motion and stick-slip limit cycle oscillation of a disc brake

This paper examines the dynamic response of a rotating squealing disc brake subject to distributed nonlinear contact stresses where two brake pads are assumed to be stationary and rigid. The friction stresses produce high-frequency vibrations that exhibit standing or traveling waves on the disc surface. The wave pattern resulting from the binary flutter mechanism of one transverse doublet mode pair is studied here. The results show that the wave pattern is associated with mode-coupling character. For a steady-squealing mode, the stick zone of the contact area is determined by a smooth friction-velocity curve having both negative and positive slopes.     

Dynamic characterization of hysteresis elements in mechanical systems. II. Experimental validation

The industrial demand for machine tools with ever increasing speed and accuracy calls for a closer look at the physical phenomena that are present at small movements of those machine's slides. One of these phenomena, and probably the most dominant one, is the dependence of the friction force on displacement that can be described by a rate-independent hysteresis function with nonlocal memory. The influence of this highly nonlinear effect on the dynamics of the system has been theoretically analyzed in Part I of this paper. This part (II) aims at verifying these theoretical results on three experimental setups. Two setups, consisting of linearly driven rolling element guideways, have been built to specifically study the hysteretic friction behavior. The experiments performed on these specially designed setups are then repeated on one axis of an industrial pick-and-place device, driven by a linear motor and guided by commercial guideways. The results of the experiments on all the setups agree qualitatively well with the theoretically predicted ones and point to the inherent difficulty of accurate quantitative identification of the hysteretic behavior. They further show that the hysteretic friction behavior has a direct bearing on the dynamics of machine tools and its presence should therefore be carefully considered in the dynamic identification process of these systems.     

一类耦合非线性振子同步混沌Hopf分岔及其电路仿真

对于一类同时存在扩散耦合和梯度耦合的非线性振子系统, 通过空间傅里叶变换，得到具有不同波矢的各运动模式的相互独立的运动方程. 计算各横截模的Lyapunov指数, 可在耦合参数平面上确定同步混沌的稳定区域. 在稳定区域边界, 一对共轭横截模式失稳，导致同步混沌的Hopf分岔. 对耦合Lorenz振子系统进行了数值模拟，并设计了耦合Lorenz振子系统的电路, 进行耦合振子系统同步混沌Hopf分岔的电路仿真实验. 计算和仿真的结果表明，Hopf分岔的特征频率等于失稳横截模式的振荡频率. 关键词： 耦合非线性振子 同步混沌 横截模式 电路仿真     

Numerical modelling of foam Couette flows

A numerical computation based on a tensorial visco-elasto-plastic model based on continuous mechanics is compared to experimental measurements on liquid foams for a bidimensional Couette flow between two glass plates, both in stationary and transient cases. The main features of the model are elasticity up to a plastic yield stress, and viscoelasticity above it. The effect of the friction of the plates is taken into account. The numerical modelling is based on a small set of standard material parameters that are fully characterised. Shear localisation as well as acute transient observations are reproduced and agree with experimental measurements. The plasticity appears to be the fundamental mechanism of the localisation of the flow. Finally, the present approach could be extended from liquid foams to similar materials such as emulsions, colloids or wet granular materials, that exhibit localisation.     

Verhulst model with Lévy white noise excitation

The transient dynamics of the Verhulst model perturbed by arbitrary non-Gaussian white noise is investigated. Based on the infinitely divisible distribution of the Lévy process we study the nonlinear relaxation of the population density for three cases of white non-Gaussian noise: (i) shot noise; (ii) noise with a probability density of increments expressed in terms of Gamma function; and (iii) Cauchy stable noise. We obtain exact results for the probability distribution of the population density in all cases, and for Cauchy stable noise the exact expression of the nonlinear relaxation time is derived. Moreover starting from an initial delta function distribution, we find a transition induced by the multiplicative Lévy noise, from a trimodal probability distribution to a bimodal probability distribution in asymptotics. Finally we find a nonmonotonic behavior of the nonlinear relaxation time as a function of the Cauchy stable noise intensity.