空间可展机构非光滑力学模型和动力学研究

空间可展机构广泛应用于展开和支撑柔性太阳能帆板和航天工程领域中的有效载荷, 包括抛物面天线、平面相控阵雷达和合成孔径雷达等. 非光滑特性及其相应的动力学现象在空间可展机构的设计中有着非常重要的作用. 该文系统地综述了空间可展机构非光滑力学建模与非线性动力学的研究进展. 首先详细描述了含间隙铰链的接触碰撞力和摩擦力等非光滑特点;然后系统地介绍了含间隙机构的动力学建模方法、分析方法和参数设计;进一步简单介绍了含间隙铰链空间可展机构的非线性动力学特性, 如谐波共振、周期运动的稳定性和各类分岔等;最后提出了空间可展机构非光滑动力系统动力学、稳定性与控制中亟待解决的若干问题.     

The analysis of the spectrum of Lyapunov exponents in a two-degree-of-freedom vibro-impact system

In the study of dynamical systems, the spectrum of Lyapunov exponents has been shown to be an efficient tool for analyzing periodic motions and chaos. So far, different calculating methods of Lyapunov exponents have been proposed. Recently, a new method using local mappings was given to compute the Lyapunov exponents in non-smooth dynamical systems. By the help of this method and the coordinates transformation proposed in this paper, we investigate a two-degree-of-freedom vibro-impact system with two components. For this concrete model, we construct the local mappings and the Poincaré mapping which are used to describe the algorithm for calculating the spectrum of Lyapunov exponents. The spectra of Lyapunov exponents for periodic motions and chaos are computed by the presented method. Moreover, the largest Lyapunov exponents are calculated in a large parameter range for the studied system. Numerical simulations show the success of the improved method in a kind of two-degree-of-freedom vibro-impact systems.     

Analytical period-3 motions to chaos in a hardening Duffing oscillator

In this paper, bifurcation trees of period-3 motions to chaos in the periodically forced, hardening Duffing oscillator are investigated analytically. Analytical solutions for period-3 and period-6 motions are used for the bifurcation trees of period-3 motions to chaos. Such bifurcation trees are based on the Hopf bifurcations of asymmetric period-3 motions. In addition, an independent symmetric period-3 motion without imbedding in chaos is discovered, and such a symmetric period-3 motion possesses saddle-node bifurcations only. The switching of symmetric to asymmetric period-3 motions is completed through saddle-node bifurcations, and the onset of asymmetric period-6 motions occurs at the Hopf bifurcations of asymmetric period-3 motions. Continuously, the onset of period-12 motions is at the Hopf bifurcation of asymmetric period-6 motions. With such bifurcation trees, the chaotic motions relative to asymmetric period-3 motions can be determined analytically. This investigation provides a systematic way to study analytical dynamics of chaos relative to period-m motions in nonlinear dynamical systems.     

A switching fractional calculus-based controller for normal non-linear dynamical systems

In this paper, a fractional calculus-based terminal sliding mode controller is introduced for finite-time control of non-autonomous non-linear dynamical systems in the canonical form. A fractional terminal switching manifold which is appropriate for canonical integer-order systems is firstly designed. Then some conditions are provided to avoid the inherent singularities of the conventional terminal sliding manifolds. A non-smooth Lyapunov function is adopted to prove the finite time stability and convergence of the sliding mode dynamics. Afterward, based on the sliding mode control theory, an equivalent control and a discontinuous control law are designed to guarantee the occurrence of the sliding motion in finite time. The proposed control scheme uses only one control input to stabilize the system. The proposed controller is also robust against system uncertainties and external disturbances. Two illustrative examples show the effectiveness and applicability of the proposed fractional finite-time control strategy. It is worth noting that the proposed sliding mode controller can be applied for control and stabilization of a large class of non-autonomous non-linear uncertain canonical systems.     

Modeling and analysis of rigid multibody systems with driving constraints and frictional translation joints

An approach is proposed for modeling and anal- yses of rigid multibody systems with frictional translation joints and driving constraints. The geometric constraints of translational joints with small clearance are treated as bilat- eral constraints by neglecting the impact between sliders and guides. Firstly, the normal forces acting on sliders, the driv- ing constraint forces （or moments） and the constraint forces of smooth revolute joints are all described by complementary conditions. The frictional contacts are characterized by a set- valued force law of Coulomb＇s dry friction. Combined with the theory of the horizontal linear complementarity problem （HLCP）, an event-driven scheme is used to detect the transi- tions of the contact situation between sliders and guides, and the stick-slip transitions of sliders, respectively. And then, all constraint forces in the system can be computed easily. Secondly, the dynamic equations of multibody systems are written at the acceleration-force level by the Lagrange multiplier technique, and the Baumgarte stabilization method is used to reduce the constraint drift. Finally, a numerical example is given to show some non-smooth dynamical behaviors of the studied system. The obtained results validate the feasibility of algorithm and the effect of constraint stabilization.     

Nonlinear dynamics and vibration reduction of a dry friction oscillator with SMA restraints

The dynamic behaviors of a dry friction oscillator with shape memory alloy (SMA) are investigated. Motion equations of the system are formulated by the restoring force of the oscillator in terms of a polynomial constitutive model dependent mainly on the temperature. The vibration response of the system and the influence of the temperature are investigated. It is shown that chaotic motions can be observed and dramatically changed by temperature characteristics. Moreover, some sliding bifurcations are also discovered and influenced by the temperature. Compared with conventional dry friction elastic oscillators, the dry friction SMA oscillator presents much richer dynamic behavior caused by pseudo-elasticity, and vibration reduction can be achieved through the shape memory property of SMA restraints.     

Empirical dry-friction modeling in a forced oscillator using chaos

The coefficient of friction is measured during relative oscillation between sliding surfaces. Measurements are made during regular oscillations in which the excitation has a modulated amplitude, and during chaotic oscillations in which the excitation amplitude is fixed. The friction force is measured for paper on paper, and titanium on titanium. A friction law is derived based on observations from the measurements. This friction law is applied to a simulation model of an experimental forced oscillator. The simulated and experimental oscillators have similar qualitative dynamical features in the phase space.     

Complex response analysis of a non-smooth oscillator under harmonic and random excitations

It is well-known that practical vibro-impact systems are often influenced by random perturbations and external excitation forces, making it challenging to carry out the research of this category of complex systems with non-smooth characteristics. To address this problem, by adequately utilizing the stochastic response analysis approach and performing the stochastic response for the considered non-smooth system with the external excitation force and white noise excitation, a modified conducting process has proposed. Taking the multiple nonlinear parameters, the non-smooth parameters, and the external excitation frequency into consideration, the steady-state stochastic P-bifurcation phenomena of an elastic impact oscillator are discussed. It can be found that the system parameters can make the system stability topology change. The effectiveness of the proposed method is verified and demonstrated by the Monte Carlo(MC) simulation.Consequently, the conclusions show that the process can be applied to stochastic non-autonomous and non-smooth systems.     

非光滑多体系统动力学数值算法的研究进展

非光滑多体系统动力学数值计算方法是多体系统动力学研究的重要内容之一. 本文介绍了近年来含摩擦与碰撞的非光滑多体系统动力学数值算法方面的研究进展. 首先, 讨论了库仑摩擦模型和修正的库仑摩擦模型, 以及具有单边和双边约束的多体系统中法向约束力的特点. 其次, 回顾了基于连续模型和非连续模型的多体系统动力学方程的数值计算方法, 详细介绍了基于互补概念的非光滑多体系统动力学的事件驱动法和时间步进法, 分析比较了相关的数值算法. 最后, 指出了一些需要进一步研究的问题.     

Nonlinear dynamic analysis of a structure with a friction-based seismic base isolation system

Many dynamical systems are subject to some form of non-smooth or discontinuous nonlinearity. One eminent example of such a nonlinearity is friction. This is caused by the fact that friction always opposes the direction of movement, thus changing sign when the sliding velocity changes sign. In this paper, a structure with friction-based seismic base isolation is regarded. Seismic base isolation can be employed to decouple a superstructure from the potentially hazardous surrounding ground motion. As a result, the seismic resistance of the superstructure can be improved. In this case study, the base isolation system is composed of linear laminated rubber bearings and viscous dampers and nonlinear friction elements. The nonlinear dynamic modelling of the base-isolated structure with the aid of constraint equations, is elaborated. Furthermore, the influence of the dynamic characteristics of the superstructure and the nonlinear modelling of the isolation system, on the total system’s dynamic response, is examined. Hereto, the effects of various modelling approaches are considered. Furthermore, the dynamic performance of the system is studied in both nonlinear transient and steady-state analyses. It is shown that, next to (and in correlation with) transient analyses, steady-state analyses can provide valuable insight in the discontinuous dynamic behaviour of the system. This case study illustrates the importance and development of nonlinear modelling and nonlinear analysis tools for non-smooth dynamical systems.     

Non-linear dynamic response of a rotating radial Timoshenko beam with periodic pulse loading at the free-end

Consideration is given to the dynamic response of a Timoshenko beam under repeated pulse loading. Starting with the basic dynamical equations for a rotating radial cantilever Timoshenko beam clamped at the hub in a centrifugal force field, a system of equations are derived for coupled axial and lateral motions which includes the transverse shear and rotary inertia effects, as well. The hyperbolic wave equation governing the axial motion is coupled with the flexural wave equation governing the lateral motion of the beam through the velocity-dependent skew-symmetric Coriolis force terms. In the analytical formulation, Rayleigh-Ritz method with a set of sinusoidal displacement shape functions is used to determine stiffness, mass and gyroscopic matrices of the system. The tip of the rotating beam is subjected to a periodic pulse load due to local rubbing against the outer case introducing Coulomb friction in the system. Transient response of the beam with the tip deforming due to rub is discussed in terms of the frequency shift and non-linear dynamic response of the rotating beam. Numerical results are presented for this vibro-impact problem of hard rub with varying coefficients of friction and the contact-load time. The effects of beam tip rub forces transmitted through the system are considered to analyze the conditions for dynamic stability of a rotating blade with intermittent rub.     

重庆武隆鸡尾山危岩体形成与崩塌成因分析

鸡尾山事件是一次巨型滑移式岩体崩塌（体积大于100×10⁴m³）,也是一次特大型地质灾害（死亡/失踪人数超过30人）。鸡尾山层状石灰岩地质结构、近南北向和近东西向裂隙组合以及软弱夹层的存在是山体开裂滑移的物质结构基础。长期的降雨渗流和岩溶作用使软层强度弱化、裂隙带扩大是层状山体易于拉开的前提。类比分析认为,鸡尾山地形上高陡临空、山下铁矿大面积采空形成的“悬板张拉效应”是山体拉裂形成大规模危岩体的主要原因。视滑力分析计算得出,层状岩体向外的视滑力是逐渐克服危岩体底面摩擦力和前缘抗剪力,使危岩体蠕滑发展成崩塌的主要驱动力。鸡尾山崩塌灾害是铁矿采空和视滑力共同主导作用下的一个“山体拉裂～弱面蠕滑～剪出崩塌～碎屑流冲击～灾难形成”的链式反应过程。文章为应急管理决策解释了此次事件的动力来源问题,也为类似事件应急响应技术支撑提供了一种简便方法。     

Nonstandard Bifurcations in Oscillators with Multiple Discontinuity Boundaries

The model of a double-belt friction oscillator is proposed, which exhibitsmultiple discontinuity boundaries in the phase space. The system consists of a simpleoscillator dragged by two different rough supports moving with constant driving velocitiesand subjected to an elastic restoring force and viscous damping. Self-sustained oscillationshave been observed to occur, with nonstandard attracting properties. By consideringthe problem from a nonsmooth dynamical systems perspective, the evolution ofsteady state attractors as the velocities of the belts are varied is described. The nonsmoothnesssets of the system at hand and, in particular, the presence of multiple discontinuityboundaries, lead to nonstandard bifurcations which are studied here by meansof analytical and numerical tools.     

Analytical investigation of stick-slip motions in coupled brake-driveline systems

In this paper, we investigate the brake creep-groan problem by formulating the issues in terms of two dynamic sub-systems that are coupled at the friction interface, and thus, experience stick-slip motions. Thorough examination of the nature of discontinuous solutions using numerical methods is a useful prelude to analytical studies. We examine such dynamics through parametric studies for magnitude and rate of brake release, where the vehicle is initially at rest and under low constant drive torque. Dependency on the initial conditions and solution flow before reaching the orbit will thus be illustrated. Four types of motions (one steady sliding and three stick-slip) are found based on extensive studies. Our formulation and analysis should lead to a better understanding of the brake groan phenomenon and systems coupled by interfacial friction.     

Experimental study of regular and chaotic transients in a non-smooth system

This paper focuses on thoroughly exploring the finite-time transient behaviors occurring in a periodically driven non-smooth dynamical system. Prior to settling down into a long-term behavior, such as a periodic forced oscillation, or a chaotic attractor, responses may exhibit a variety of transient behaviors involving regular dynamics, co-existing attractors, and super-persistent chaotic transients. A simple and fundamental impacting mechanical system is used to demonstrate generic transient behavior in an experimental setting for a single degree of freedom non-smooth mechanical oscillator. Specifically, we consider a horizontally driven rigid-arm pendulum system that impacts an inclined rigid barrier. The forcing frequency of the horizontal oscillations is used as a bifurcation parameter. An important feature of this study is the systematic generation of generic experimental initial conditions, allowing a more thorough investigation of basins of attraction when multiple attractors are present. This approach also yields a perspective on some sensitive features associated with grazing bifurcations. In particular, super-persistent chaotic transients lasting much longer than the conventional settling time (associated with linear viscous damping) are characterized and distinguished from regular dynamics for the first time in an experimental mechanical system.     

Wada basin boundaries in switched systems

The Wada basin boundaries of a switched Hénon map have been verified for period-2 switching signals [Zhang in Nonlinear Dyn. 73:2221–2229, 2013]. Based upon the auxiliary dynamical system method, the results are extended to the generally switched systems with time-dependent switching. Under some generic assumptions, some sufficient conditions guaranteeing Wada basin boundaries are presented for the periodic switching signals. The results show that switching signals can give rise to this type of basin structure. It suggests that the unpredictability associated to the Wada property can also occur in the switched system.     

Numerical and experimental analysis of the bi-stable state for frictional continuous system

Unstable friction-induced vibrations are considered an annoying problem in several fields of engineering. Although several theoretical analyses have suggested that friction-excited dynamical systems may experience sub-critical bifurcations, and show multiple coexisting stable solutions, these phenomena need to be proved experimentally and on continuous systems. The present work aims to partially fill this gap. The dynamical response of a continuous system subjected to frictional excitation is investigated. The frictional system is constituted of a 3D printed oscillator, obtained by additive manufacturing that slides against a disc rotating at a prescribed velocity. Both a finite element model and an experimental setup has been developed. It is shown both numerically and experimentally that in a certain range of the imposed sliding velocity the oscillator has two stable states, i.e. steady sliding and stick–slip oscillations. Furthermore, it is possible to jump from one state to the other by introducing an external perturbation. A parametric analysis is also presented, with respect to the main parameters influencing the nonlinear dynamic response, to determine the interval of sliding velocity where the oscillator presents the two stable solutions, i.e. steady sliding and stick–slip limit cycle.

     

三时间尺度下非光滑电路中的簇发振荡及机理

实际工程应用中存在着诸如冲击、干摩擦、切换等非光滑因素,以此建立的动力学模型是包含非光滑项的系统.目前针对非光滑动力系统的研究大多基于单一尺度或者两尺度,而含有更多尺度的非光滑动力系统可能会存在更复杂的动力学现象.本论文旨在探讨非光滑动力系统中的多尺度效应及其分岔机制.基于典型的非光滑蔡氏电路,引入一个与系统固有频率存...     

Nonlinear structural dynamics of a new sliding-mode triboelectric energy harvester with multistability

A new sliding-mode triboelectric energy harvester in the form of a cantilever beam with a tip mass that is acted upon by both magnetic and friction forces is modelled and simulated. A numerical scheme based on the trapezoidal rule with the second-order backward difference formula (TR-BDF2) method is introduced to solve the combined non-smooth mechanical and stiff electrical system. This is the first study of the structural dynamics of the sliding-mode triboelectric energy harvesting; additionally, a magnetic field that induces multistability is present. A comparison between the coupled and uncoupled electromechanical models suggests that the electrostatic force between the electrodes can be ignored, which makes the uncoupled model preferable in the dynamical analysis. The influence of the non-conservative force (the friction force) on the multistability of the system is investigated. It is found that the distribution of the multistability on the parametric plane changes even when a small amount of friction is involved, and the areas of bistability and tristability shrink while that of the monostability expands. A comparison among these three types of stability reveals the superiority of invoking bistability as it facilitates broadband energy harvesting. The excitation level plays an important role in inducing the snap-through motion (the interwell oscillation) by enabling the crossing of the energy barriers between wells. The increase in the friction shrinks the frequency band of interwell oscillations from high frequencies down to low frequencies on the discrete frequency sweep. An analysis of the basins of attraction finds that at low frequencies the bistable system can undergo only interwell oscillations, while the tristable system can merely experience intrawell oscillations. The basins can intermingle with each other in both bistable and tristable systems. Finally, an increase in the excitation level can break the basins into discrete pieces and/or points.