Spectral simulation and shock absorber identification

In vehicle dynamics shock absorbers are used for the optimization of driving comfort and driving safety. Therefore, it is necessary to identify characteristics of shock absorbers under real conditions. This paper introduces the use of hardware-in-the-loop simulations for the identification of shock absorbers involving stochastic models of the road roughness. For this purpose a dynamic hydraulic test stand is used replacing the classical mechanical test stands which allow only sinusoidal excitation. For the Monte Carlo simulation with a real shock absorber in the loop, the random excitation of ground roughness is generated using a modified spectral representation method based on the famous contributions of Shinozuka. Motion and force of the shock absorber are measured and fed back to the Monte Carlo simulation of a car model in real time. The characteristic of the shock absorber is identified using the classical least squares method and a correlation-based method. A piecewise linear model for the characteristic relating the damping force and the velocity of the piston is applied for the shock absorber identification.     

一种含放大机构的负刚度动力吸振器的参数优化

在大多数情况下机械振动是有害的,它不仅产生噪声还会降低设备的工作精度和使用寿命.采用正刚度特性的吸振、隔振系统往往难以达到满意效果,这种情况在低频振动控制系统中尤其明显.放大机构与负刚度元件在振动控制领域均表现出良好性能,但是较少有对同时含有放大机构与负刚度装置的动力吸振系统的研究.以Voigt型动力吸振器为基础提出了一种将放大机构应用于含负刚度弹簧元件的动力吸振器模型,对该模型的最优参数进行了研究.首先建立了系统的运动微分方程并得到了其解析解,发现该系统存在两个固定点,利用固定点理论得到了动力吸振器的最优频率比.根据负刚度的特性,在保证系统稳定的前提下得到了最优负刚度比,并推导了系统的近似最优阻尼比.通过数值仿真验证了解析解的正确性.与多种动力吸振器在简谐激励与随机激励下进行了对比,说明了本文模型相比于已有的动力吸振器,能够大幅降低共振振幅、拓宽减振频带并且降低系统的谐振频率,为设计新型动力吸振器模型提供了理论依据.      

Nonlinear dynamics and performance analysis of modified snap-through vibration energy harvester with time-varying potential function

Vibration energy harvesting has emerged as a promising method to harvest energy for small-scale applications. Enhancing the performance of a vibration energy harvester(VEH) incorporating nonlinear techniques, for example, the snap-through VEH with geometric non-linearity, has gained attention in recent years. A conventional snap-through VEH is a bi-stable system with a time-invariant potential function, which was investigated extensively in the past. In this work, a modified snap-through VEH wit...     

时变参数时滞减振控制研究

时滞动力吸振器对谐波激励有着良好的减振控制效果,但对随机激励的减振控制效果却并不明显,具体表现为时滞动力吸振器对随机激励的减振控制效果与被动吸振器几乎相同。针对上述问题,本文提出了一种新的时变参数时滞减振控制方法。在原有时滞减振控制方法的基础上,首先将时滞增益系数由定值形式变为时间函数形式,然后通过时变优化得到多组时滞控制参数并使其以一定时间周期循环作用于减振控制过程,通过这种方法进一步改善了时滞动力吸振器减振性能。本文最后以二自由度时滞动力吸振器减振模型为例,以主系统的振动响应为仿真对象,运用精细积分法求解了具有时变时滞参数的时滞动力学方程,以此得到了在谐波激励和随机激励作用下主系统振动的时域仿真结果。研究结果表明,在时变参数时滞动力吸振器的控制下,主系统无论是受谐波激励作用还是受随机激励作用,其振动位移、振动速度和振动加速度均比在定值参数时滞动力吸振器控制下时有大幅的减少,时滞动力吸振器的减振性能有了明显的改善。      

Robust optimization of the non-linear behaviour of a vibrating system

In this paper, one proposes to optimize the vibratory behaviour of an absorber of vibration related to a system subjected to a harmonic load, in the presence of uncertainties on the design parameters. The total system is modeled by two degrees of freedom (2 dof) with a shock absorber and a generalized non-linear stiffness. The resolution is carried out in the temporal field according to a traditional diagram.Two cases of non-linearity were considered. In the first case, one is interested in the study of the system comprising a combination of the two generalized non-linearities of quadratic and cubic type of stiffness and damping. The second case relates to a non-linearity of non-whole power (in this paper 1.5), combined with the cubic case. It is a question of seeking the optimal responses envelopes of the deterministic and stochastic case and this for the non-linear displacements, phases and forces.The multi-objective optimization step consists in seeking the first Pareto front of several linear and non-linear objective functions by using a genetic algorithm of type “NSGA” (Non-dominated Sorting Genetic Algorithm).The design parameters are: mass, linear and non-linear stiffness and damping of the absorber. To obtain solutions presenting a good compromise between optimality and the robustness, one introduces uncertainties on these design parameters. The robustness is then defined by the dispersion of the parameters (definite as the ratio: mean value/standard deviation) and it is introduced as additional objective function.The use of the clusters resulting from the Self-Organizing Maps of Kohonen (SOM) is also suggested for a rational management of the design space. A study of sensitivity a posteriori can be exploited in order to eliminate the non-significant design parameters.     

Turbulent travel speeds in nonlinear vehicle dynamics

Quarter car models of vehicles rolling on wavy roads lead to limit cycles of travel speed and acceleration with period doublings and bifurcation effects for appropriate driving force parameters. In case of narrow-banded road excitations, speed jumps occur, additionally. This has the consequence that the driving speed becomes turbulent. Bifurcation and jump effects vanish with growing vehicle damping. The same happens for increasing bandwidth of road excitations when, e.g., on flat highways there are no big road waves but only small noisy slope processes generated by rough road surfaces. The paper derives a new stability condition in mean. Numerical time integrations are stabilized by means of polar coordinates. Equivalently, Fourier series expansions are introduced in the angle domain. Phase portraits of travel speed and acceleration show new period-doublings of limit cycles when speed gets stuck before resonance. The paper extends these investigations to the stochastic case that road surfaces are random generated by filtered white noise. By means of Gaussian closure, a nonlinear mean speed equation is derived which includes the extreme cases of wavy roads and road noise.

     

Safety and comfort analysis of a 3-D vehicle model with optimal non-linear active seat suspension

A generalized nonlinear model is formulated for the dynamic analysis of suspension seats with passive, semi-active and active dampers. The model incorporates coulomb friction due to suspension linkages and bushings, forces arising from interactions with the elastic limit stops, a linear suspension spring and nonlinear damping force for passive, semi-active and active dampers, while the contribution due to biodynamics of the human operator is considered to be negligible. The semi-active and active dampers are characterized by force generators in accordance with the control laws based upon suspension mass velocity. Two different suspension seats are experimentally assessed in the laboratory under sinusoidal and random excitations arising from an urban bus, and the measured data is used to demonstrate the validity of the proposed generalized model. The results showed reasonably good agreement between the model results and the measured data. Optimal model parameters are selected using the sequential unconstrained minimization technique with an objective to minimize the acceleration due to vibration transmitted to the occupant mass. The comfort and safety performance characteristics of the optimal suspension seat with semi-active and active dampers are evaluated under both the sinusoidal and random excitations based on the guidelines provided by ISO-2631. From these results, it is concluded that the comfort performance of a suspension seat with semi-active and active dampers can be considerably enhanced by 20–30%.     

Dynamics of vibration isolation system with a quasi-isochronous roller shock absorber

The low-frequency vibrations of a vibration isolation system of rigid bodies (roller shock absorber and carrying body) under external harmonic loading are considered. The working surface of the absorber has the form of a brachistochrone. The equations describing the slip-free motion of the absorber over the hinged roller and the motion of the carrying body are derived. A graphical method for optimizing the parameters of the roller absorber as a component of the vibration isolation system is proposed     

含有界随机参数的双势井Duffing-Van der pol系统的对称破裂分岔

讨论谐和激励作用下含有界随机参数的双势井Duffing-Van der pol系统的对称破裂分岔现象。首先用Chebyshev多项式逼近法将随机系统化成与其等价的确定性系统,然后通过等价确定性系统来探索随机Duffing-Van der pol系统的对称破裂分岔现象。数值模拟显示随机Duffing-Van der pol系统与确定性均值参数系统有着类似的对称破裂分岔行为,文中的主要数值结果表明Chebyshev多项式逼近法是研究非线性随机参数系统动力学问题的一种有效方法。     

Resonant response of a non-linear vibro-impact system to combined deterministic harmonic and random excitations

The resonant resonance response of a single-degree-of-freedom non-linear vibro-impact oscillator, with cubic non-linearity items, to combined deterministic harmonic and random excitations is investigated. The method of multiple scales is used to derive the equations of modulation of amplitude and phase. The effects of damping, detuning, and intensity of random excitations are analyzed by means of perturbation and stochastic averaging method. The theoretical analyses verified by numerical simulations show that when the intensity of the random excitation increases, the non-trivial steady-state solution may change from a limit cycle to a diffused limit cycle. Under certain conditions, impact system may have two steady-state responses. One is a non-impact response, and the other is either an impact one or a non-impact one.     

A unified approach to two types of evolutionary random response problems in engineering

Summary Response of structures to earthquake excitations and response of vehicles to road undulations are two typical evolutionary random problems in engineering. Both kinds of the evolutionary random excitations can be regarded as evolved from stationary random excitations, though through two utterly different ways. The former one may be obtained by filtering a stationary random process through a linear time-dependent system, while the latter one may result from nonlinear transformations of the argument of a stationary random process. However, the response problems due to both types of excitations have much in common. By introducing the concept of “evolutionary frequency response”, the expressions of the response evolutionary spectra for both problems can be obtained in a unified, concise way, similar to the input/output PSD relationship in a stationary random problem. For both the evolutionary random problems, the solution procedures are all the same, but the expressions for evolutionary frequency responses are different from each other. Moreover, the evolutionary frequency responses may be interpreted as transient responses of the system subject to certain deterministic evolutionary harmonic excitations. In this sense, an evolutionary random response problem can be reduced to a deterministic response problem. Based on the complex modal analysis, a unified approach to these two response problems is derived here. The method can be applied to any linear time-invariant systems, whether they are symmetrical or not, and whether they are classically damped or not. And the method might be hopefully applied to nonlinear systems, if the statistical linearization technique is accompanied. To the knowledge of the authors, this unified approach to two types of evolutionary random response problems is the first time reported in literature. Received 28 May 1996; accepted for publication 8 January 1997     

Vibration reduction evaluation of a linear system with a nonlinear energy sink under a harmonic and random excitation

The nonlinear behaviors and vibration reduction of a linear system with a nonlinear energy sink(NES)are investigated.The linear system is excited by a harmonic and random base excitation,consisting of a mass block,a linear spring,and a linear viscous damper.The NES is composed of a mass block,a linear viscous damper,and a spring with ideal cubic nonlinear stiffness.Based on the generalized harmonic function method,the steady-state Fokker-Planck-Kolmogorov equation is presented to reveal the response of the system.The path integral method based on the Gauss-Legendre polynomial is used to achieve the numerical solutions.The performance of vibration reduction is evaluated by the displacement and velocity transition probability densities,the transmissibility transition probability density,and the percentage of the energy absorption transition probability density of the linear oscillator.The sensitivity of the parameters is analyzed for varying the nonlinear stiffness coefficient and the damper ratio.The investigation illustrates that a linear system with NES can also realize great vibration reduction under harmonic and random base excitations and random bifurcation may appear under different parameters,which will affect the stability of the system.     

三维车桥耦合系统的非平稳随机振动分析

推导了线性时变系统非平稳随机响应的多维虚拟激励法,研究了三维车桥耦合系统受轨道激励而产生的非平稳随机振动。桥梁模型采用空间Euler梁单元,轨道激励假设为均匀调制多点异相位非平稳随机激励。采用多维虚拟激励法把轨道不平度转化为一系列简谐不平度的叠加,通过简单分解精细积分格式进行迭代计算,最终得到系统随机响应的时变功率谱及均方根。数值算例中,用时间历程法验证了本文方法的正确性,并且分析了方向、高低、水平三类轨道激励同时作用下三维车桥耦合系统的非平稳随机振动特性。     

Attractors of harmonically forced linear oscillator with attached nonlinear energy sink. II: Optimization of a nonlinear vibration absorber

This paper is the second one in the series of two papers devoted to detailed investigation of the response regimes of a linear oscillator with attached nonlinear energy sink (NES) under harmonic external forcing and assessment of possible application of the NES for vibration absorption and mitigation. In this paper, we study the performance of a strongly nonlinear, damped vibration absorber with relatively small mass attached to a periodically excited linear oscillator. We present a nonlinear absorber tuning procedure in the vicinity of (1:1) resonance which provides the best total system energy suppression, using analytical and numerical tools. A linear absorber is also tuned according to the same criterion of total system energy suppression as the nonlinear one. Both optimally tuned absorbers are compared under common parameters of damping, external forcing but different absorber stiffness characteristics; certain cases for which nonlinear absorber is preferable over the linear one are revealed and confirmed numerically.     

一种含惯容和接地刚度的动力吸振器参数优化

大多数机械振动属于有害振动, 不仅会产生噪声还会降低设备的使用寿命和工作性能. 接地刚度和惯容这两种器件均能改变系统的固有频率, 在振动控制领域中有着良好的效果. 但目前的大部分研究仅着眼于单一元件对系统产生的影响, 而此类吸振器逐渐难以满足设备对振动控制需求的增长. 在Voigt型动力吸振器模型的基础上, 提出了一种含有惯容和接地刚度的新型动力吸振器模型, 详细研究了该模型的最优设计参数, 推导出最优设计公式的解析解. 首先通过牛顿第二定律建立起二自由度系统的运动微分方程, 计算出系统解析解, 发现系统存在3个与阻尼比无关的固定点, 利用固定点理论得到了动力吸振器的最优频率比. 为保证系统稳定性, 筛选最优接地刚度比时, 发现不恰当的惯容系数会导致系统产生失稳现象, 进而推导出惯容最佳工作范围, 最终得到了最优接地刚度比和近似最优阻尼比. 分析了惯容系数取值在最佳范围以外时系统的工作情况, 并给出了实际应用中的建议. 通过数值仿真验证了推导得到解析解的正确性. 与多种已有的动力吸振器在简谐激励和随机激励的工况下进行对比, 说明了该模型能够大幅降低主系统振幅, 拓宽减振频带, 为设计新型吸振器提供了理论依据.      

Bifurcation and Chaos Analysis of Stochastic Duffing System Under Harmonic Excitations

The Chebyshev polynomial approximation is applied to the dynamic response problem of a stochastic Duffing system with bounded random parameters, subject to harmonic excitations. The stochastic Duffing system is first reduced into an equivalent deterministic non-linear one for substitution. Then basic non-linear phenomena, such as stochastic saddle-node bifurcation, stochastic symmetry-breaking bifurcation, stochastic period-doubling bifurcation, coexistence of different kinds of steady-state stochastic responses, and stochastic chaos, are studied by numerical simulations. The main feature of stochastic chaos is explored. The suggested method provides a new approach to stochastic dynamic response problems of some dissipative stochastic systems with polynomial non-linearity.     

低阶谐波磨耗轮对引起的轮轨及等效人体动态响应分析

低阶谐波磨耗轮对不仅会引发高阶谐波磨耗,还会引起列车振动进而影响乘员的舒适性。在传统的10自由度列车模型的基础上,利用集中质量法,将满员时乘客的总质量等效在列车的前后转向架和车体中间三个质量点上,考虑三个等效质量体的沉浮运动,形成了13自由度的人-车模型。该模型既可以研究不同磨耗轮对激励对乘员振动特性的影响,又可以避免将单个乘员纳入系统计算时造成的累计误差。其中轨道结构为多层梁模型,且考虑轮轨接触损失。结果表明,行车速度和磨耗轮对的阶数和波深的增大均会诱发列车发生跳轨现象,影响行车安全。此外,在相同轮对工况下,前端等效人体的垂向加速度均大于车体,所以应该以等效人体而非列车的振动响应来评价乘员舒适性。     

Imposing nodes for linear structures during harmonic excitations using SMURF method

Vibration absorbers are usually designed using the finite element (FE) model of structures. It is generally believed that the modal models are more accurate than FE models, because in modal testing the model is built by direct measurement of the test structure. In this paper, a method is proposed to design a translational vibration absorber using the measured frequency response functions of a primary structure. The designed vibration absorber imposes a node on the structure when it is excited by a harmonic force. The method is based on the structural modification using experimental frequency response functions technique and determines the required receptance of the absorber at the excitation frequency. Moreover, a procedure is developed to suppress the vibration amplitude of two arbitrary points on a linear structure subjected to harmonic excitations by attaching two sprung mass absorbers. A cantilever beam is considered for the numerical case study, and the sprung masses are designed to suppress the vibration amplitude of the beam at the selected arbitrary points. A U-shape plate was considered for the experimental validation of the method for imposing a node using one absorber. Also, a beam was tested to demonstrate the effectiveness of method for imposing two nodes on the structures. The experimental results show that the designed absorbers can considerably suppress the vibration amplitude at the selected points on the structure.     

Vibration reduction of a nonlinear spring pendulum under multi external and parametric excitations via a longitudinal absorber

The vibration of a ship pitch-roll motion described by a non-linear spring pendulum system (two degrees of freedom) subjected to multi external and parametric excitations can be reduced using a longitudinal absorber. The method of multiple scale perturbation technique (MSPT) is applied to analyze the response of this system near the simultaneous primary, sub-harmonic and internal resonance. The steady state solution near this resonance case is determined and studied applying Lyapunov’s first method. The stability of the system is investigated using frequency response equations. Numerical simulations are extensive investigations to illustrate the effects of the absorber and some system parameters at selected values on the vibrating system. The simulation results are achieved using MATLAB 7.0 programs. Results are compared to previously published work.     

Noise-induced chaotic motions in Hamiltonian systems with slow-varying parameters

This paper studies chaotic motions in quasi-integrable Hamiltonian systems with slow-varying parameters under both harmonic and noise excitations. Based on the dynamic theory and some assumptions of excited noises, an extended form of the stochastic Melnikov method is presented. Using this extended method, the homoclinic bifurcations and chaotic behavior of a nonlinear Hamiltonian system with weak feed-back control under both harmonic and Gaussian white noise excitations are analyzed in detail. It is shown that the addition of stochastic excitations can make the parameter threshold value for the occurrence of chaotic motions vary in a wider region. Therefore, chaotic motions may arise easily in the system. By the Monte-Carlo method, the numerical results for the time-history and the maximum Lyapunov exponents of an example system are finally given to illustrate that the presented method is effective.