On the correctness of the approximate investigation of synchronous machine rotor swinging : PMM vol. 37, n6, 1973, pp. 1007–1014

We consider the complete system of equations for the dynamics of a synchronous machine with two windings on the rotor. We indicate the conditions under which the original system of equations can be reduced to the equation of motion of the rotor. The conditions for rotor selfoscillations to arise are determined as a result of investigating this equation. The complete system of equations for the dynamics of a synchronous machine containing equations describing the electrical responses and equations for the rotor's mechanical motion are obtained in [1]. Transient responses in electric circuits were investigated next, as was the expression for the electromechanical moment under a constant rotation velocity of a rotor with one circuit, e. g., field winding. However, in many of the later works the electrical equations were used only for finding the electromechanical moment under a constant spin rate of the rotor, and the problem was then reduced to the study of the equation for the rotor's mechanical motion [2, 3]. Here the conditions for which such an analysis is admissible were not mentioned. It was established that the swinging of a synchronous machine's rotor can be revealed in the form of selfoscillations. Vlasov [4] has investigated the equation of motion of a rotor and, under the assumption of a small parameter in the first derivative term, has found the conditions for the excitation of selfoscillations. Investigation in this same direction was carried out in [5]. However, in the investigation of the selfoscillations Vlasov did not examine the responses in the electrical circuits, while the expression for the electromechanical moment was obtained from power considerations. Other works have used particular expressions for the electromechanical moment, which can not explain the selfoscillation phenomenon.     

Numerical analysis of a rigid rotor supported by aerodynamic four-lobe journal bearing system with mass unbalance

This paper presents the effect of rotor mass on the nonlinear dynamic behavior of a rigid rotor-bearing system excited by mass unbalance. Aerodynamic four-lobe journal bearing is used to support a rigid rotor. A finite element method is employed to solve the Reynolds equation in static and dynamical states and the dynamical equations are solved using Runge-Kutta method. To analyze the behavior of the rotor center in the horizontal and vertical directions under different operating conditions, the dynamic trajectory, the power spectra, the Poincare maps and the bifurcation diagrams are used. From this study, results show how the complex dynamic behavior of this type of system comprising periodic, KT-periodic and quasi-periodic responses of the rotor center varies with changes in rotor mass values by considering two bearing aspect ratios. Results of this study contribute a better understanding of the nonlinear dynamics of an aerodynamic four-lobe journal bearing system.     

Auto-balancing of a rotor with an orthotropic elastic shaft

The self-balancing of a statically unbalanced orthotropic elastic rotor equipped with a ball auto-balancing device is investigated. Equations of motion in fixed and rotating systems of coordinates, as well as equations describing steady motions of the regular precession type, are derived using a simple model of a Jeffcott rotor. Formulae for calculating the amplitude-frequency and phase-frequency characteristics of the precessional motion of the rotor are obtained. It is established that the conditions for a steady balanced mode of motion for an orthotropic rotor to exist have the same form as for an isotropic rotor, but the stability region of such a mode for an orthotropic rotor is narrower than the stability region for an isotropic rotor. The unsteady modes of motion of the rotor in the case of rotation with constant angular velocity and in the case of passage through critical velocities with constant angular acceleration is investigated numerically. It is established that the mode of slow passage through the critical region for an orthotropic rotor is far more dangerous than the similar mode for an isotropic rotor.     

On the impulsive dynamics of M-blocks

This paper is concerned with the motion of a cubic rigid body (cube) with a rotor, caused by a sudden brake of the rotor, which imparts its angular momentum to the body. This produces an impulsive reaction of the support, leading to a jump or rolling from one face to another. Such dynamics was demonstrated by researchers from Massachusetts Institute of Technology at the IEEE/RSJ International Conference on Intelligent Robots and Systems in Tokio in November 2013. The robot, called by them M-block, is 4 cm in size and uses an internal flywheel mechanism rotating at 20 000 rev/min. Initially the cube rests on a horizontal plane. When the brake is set, the relative rotation slows down, and its energy is imparted to the case. The subsequent motion is illustrated in a clip [13]. Here the general approach to the analysis of dynamics of M-cube is proposed, including equations of impulsive motion and methods of their solution. Some particular cases are studied in details.     

Sufficient Global Stability Condition for a Model of the Synchronous Electric Motor under Nonlinear Load Moment

We study a model of the synchronous electric motor, which is described by a system of ordinary differential equations, including equations for electric currents in the windings of the rotor. The load moment is assumed to be a nonlinear function of the angular velocity of the rotor, allowing a linear estimate. The system of differential equations under consideration has a countable number of stationary solutions corresponding to the operating mode of uniform rotation of the rotor with the angular velocity equal to the angular velocity of rotation of the magnetic field in the stator. An effective sufficient condition is derived under which any motion of the rotor of the synchronous electric motor tends with time to uniform rotation.     

The stability of a non-potentially loaded discrete-continuous gyroscopic system with internal and external friction

The problem of the stability of the axial rotations of a symmetric rotor by means of an elastic shaft in the form of a thin straight rod, when there is a follower force and linear dissipation, is considered. Linearized equations for the displacement of the rotation of the rotor and the transverse plane oscillations of the rod are presented in a complex form as well as the boundary conditions. Using the standard procedure of a Laplace transformation with respect to time, relations for the images are obtained which are then solved by means of quasipolynomials of the complex transform parameter, and an asymptotic analysis of them is carried out. The effect of a follower force is investigated and its critical values are determined. The results of mathematical modelling for specific numerical values of the parameters are presented.     

Aeroelastic analysis of large horizontal wind turbine baldes?

A nonlinear aeroelastic analysis method for large horizontal wind turbines is described. A vortex wake method and a nonlinear ?nite element method (FEM) are coupled in the approach. The vortex wake method is used to predict wind turbine aero-dynamic loads of a wind turbine, and a three-dimensional (3D) shell model is built for the rotor. Average aerodynamic forces along the azimuth are applied to the structural model, and the nonlinear static aeroelastic behaviors are computed. The wind rotor modes are obtained at the static aeroelastic status by linearizing the coupled equations. The static aeroelastic performance and dynamic aeroelastic responses are calculated for the NH1500 wind turbine. The results show that structural geometrical nonlinearities signi?cantly reduce displacements and vibration amplitudes of the wind turbine blades. Therefore, structural geometrical nonlinearities cannot be neglected both in the static aeroelastic analysis and dynamic aeroelastic analysis.     

High-order accurate bicompact schemes for solving the multidimensional inhomogeneous transport equation and their efficient parallel implementation

The method of lines is used to obtain semidiscrete equations for a bicompact scheme in operator form for the inhomogeneous linear transport equation in two and three dimensions. In each spatial direction, the scheme has a two-point stencil, on which the spatial derivatives are approximated to fourth-order accuracy due to expanding the list of unknown grid functions. This order of accuracy is preserved on an arbitrary nonuniform grid. The equations of the method of lines are integrated in time using diagonally implicit multistage Runge–Kutta methods of the third up fifth orders of accuracy. Test computations on refined meshes are presented. It is shown that the high-order accurate bicompact schemes can be efficiently parallelized on multicore and multiprocessor computers.     

Stability analysis based on nonlinear inhomogeneous approximation

The asymptotic stability of zero solutions for essentially nonlinear systems of differential equations in triangular inhomogeneous approximation is studied. Conditions under which perturbations do not affect the asymptotic stability of the zero solution are determined by using the direct Lyapunov method. Stability criteria are stated in the form of inequalities between perturbation orders and the orders of homogeneity of functions involved in the nonlinear approximation system under consideration.     

Active vibration control of unbalanced flexible rotor–shaft systems parametrically excited due to base motion

Rotor vibrations caused by large time-varying base motion are of considerable importance as there are a good number of rotors, e.g., the ship and aircraft turbine rotors, which are often subject to excitations, as the rotor base, i.e. the vehicle, undergoes large time varying linear and angular displacements as a result of different maneuvers. Due to such motions of the base, the equations of vibratory motion of a flexible rotor–shaft relative to the base (which forms a non-inertial reference frame) contains terms due to Coriolis effect as well as inertial excitations (generally asynchronous to rotor spin) generated by different system parameters. Such equations of motion are linear but time-varying in nature, invoking the possibility of parametric instability under certain frequency–amplitude combinations of the base motion. An investigation of active vibration control of an unbalanced rotor–shaft system on moving bases is attempted in this work with electromagnetic control force provided by an actuator consisting of four electromagnetic exciters, placed on the stator in a suitable plane around the rotor–shaft. The actuator does not levitate the rotor or facilitate any bearing action, which is provided by the conventional suspension system. The equations of motion of the rotor–shaft continuum are first written with respect to the non-inertial reference frame (the moving base in this case) including the effect of rotor internal damping. A conventional model for the electromagnetic exciter is used. Numerical simulations performed on the flexible rotor–shaft modelled using beam finite elements shows that the control action is successful in avoiding the parametric instability, postponing the instability due to internal material damping and reducing the rotor response relative to the rigid base significantly, with sufficiently low demand of control current in comparison with the bias current in the actuator coils.     

On the evolution of two-dimensional patterns in an inviscid liquid sheet

We perform an analysis of the pattern formation for a moving sheet of inviscid fluid. The sheet, which is assumed to have an infinite horizontal extent, moves at some prescribed velocity into a passive surrounding gas. The sheet’s thickness is assumed much smaller than the horizontal scale of the fluid motion. By considering a system that is symmetric with respect to the horizontal planes, long scale asymptotics are used to reduce the full governing equations in three dimensions to a set of three coupled nonlinear partial differential equations for the horizontal components of the velocity field and the height of the interface profile. The interfacial conditions consisting of the kinematic and normal stress balance are incorporated into these evolution equations. Investigations are carried out as function of the sole dimensionless parameter, namely the Weber number. A small amplitude stability analysis around the planar gas–liquid interface reveals that wave patterns in the form of traveling plane waves occur subcritically, and are therefore unstable. The reduced evolution equations are solved numerically for fixed values of the Weber number. Since the reduced system of equations is homogeneous, the wave motion is generated by initial conditions. Five initial conditions have been imposed: one-dimensional rolls, two-dimensional squares, two-dimensional hexagons, two-dimensional ridges, and smooth peaks. The ensuing evolution of the liquid sheet’s shape and corresponding flow fields are described by illustrations of the changes in the sheet’s morphology with time.     

Dynamics of a rotor partially filled with a viscous incompressible fluid

A rotor partially filled with a viscous incompressible fluid is modeled as planar system. Its structural part, i. e. the rotor, is assumed to be rigid, circular, elastically supported and running with a prescribed time-dependent angular velocity. Both parts, structure and fluid, interact via the no-slip condition and the pressure. The point of departure for the mathematical formulation of the fluid filling is the Navier-Stokes equation, which is complemented by an additional equation for the evolution of its free inner boundary. Further, rotor and fluid are subjected to volume forces, namely gravitation. Trial functions are chosen for the fluid velocity field, the pressure field and the moving boundary, which fulfill the incompressibility constraint as well as the boundary conditions. Inserting these trial functions into the partial differential equations of the fluid motion, and applying the method of weighted residuals yields equations with time derivatives only. Finally, in combination with the rotor equations, a nonlinear system of 12 differential-algebraic equations results, which sufficiently describes solutions near the circular symmetric state and which may indicate the loss of its stability. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

An integrated airloads-inflow model for use in rotor aeroelasticity and control analysis

This paper offers an integrated airloads-inflow model that is ideally suited for rotor aeroelasticity and control analysis, especially for cases in which eigenvalues are desired. The airloads model is derived from a rigorous application of thin-airfoil theory with an extension to allow for other airfoil effects, including ONERA type dynamic stall. The result is a hierarchical lift model that can be simplified down to any level including conventional 2-D strip theory. The inflow model is a complete 3-D representation of shed and trailing vorticity with a skewed cylindrical wake. The inflow is expanded in shape functions which can be truncated to any desired texture. Both models are written in closed-form state-variable equations with no hidden states and no integrals over the wake. The coupling between these models (and with any structural model) is effected through simple geometric relationships. The result is a unified rotor analysis in terms of ordinary differential equations for lift, inflow, and structure.     

Further development of the mathematical model of a snakeboard

This paper gives the further development for the mathematical model of a derivative of a skateboard known as the snakeboard. As against to the model, proposed by Lewis et al. [1] and investigated by various methods in [1–13], our model takes into account an opportunity that platforms of a snakeboard can rotate independently from each other. This assumption has been made earlier only by Golubev [13]. Equations of motion of the model are derived in the Gibbs-Appell form. Analytical and numerical investigations of these equations are fulfilled assuming harmonic excitations of the rotor and platforms angles. The basic snakeboard gaits are analyzed and shown to result from certain resonances in the rotor and platforms angle frequencies. All the obtained theoretical results are confirmed by numerical experiments.      

陀螺仪运动的混沌与KAM理论

本文建立了外环轴水平放置的重力对称陀螺仪的运动方程．将非自由陀螺仪转子的质心位置作为扰动，利用Ｍｅｌｎｉｋｏｖ方法和ＫＡＭ理论研究了陀螺仪的运动，研究结果表明：在 螺仪转子的质心与支架中心不重合且充分接近时，或 螺仪能量充分大时，陀螺仪运动的Ｐｏｉｎｃａｒｅ映射既出现Ｓｍａｌｅ马蹄意义下的混沌，又存在ＫＡＭ不变环面和不变闭曲线。     

Computing all power integral bases in orders of totally real cyclic sextic number fields

An algorithm is given for determining all power integral bases in orders of totally real cyclic sextic number fields. The orders considered are in most cases the maximal orders of the fields. The corresponding index form equation is reduced to a relative Thue equation of degree 3 over the quadratic subfield and to some inhomogeneous Thue equations of degree 3 over the rationals. At the end of the paper, numerical examples are given.

     

On the Number of Conserved Quantities for the Two-Layer Shallow-Water Equations

The shallow-water equations for two-layer inviscid flow with a free surface overlying a rigid horizontal bottom subject to gravitational forcing only are examined to determine the possible forms of conservation laws that the equations permit. In the case of a single layer with flow in only one horizontal direction, it is known that there are an infinite number of associated equations in conservation form, where the conserved quantity is a multinomial in the layer variables. The method used to determine this result is generalized to show that in the two-layer case, the result does not generalize, and it is discovered that only a finite number of conservation equations exist when the density difference between the layers is nonzero. The subsequent conservation equations are given explicitly, and a systematic method for deriving conservation laws from an arbitrary first-order system is described. For the case when the flow is in both horizontal dimensions, the method of analysis is straightforward in the one-layer case, and the finite number of conservation equations are derived. The two-layer case is similar, and the finite number of generalized conserved quantities are stated, although the question of whether or not there are only a finite number is posed as an open question.     

大型水平轴风力机叶片气动弹性计算

给出了一种考虑几何非线性的大型风力机静、 动气动弹性一体化计算方法．采用涡尾迹方法进行风力机气动载荷计算．建立风力机风轮的三维壳模型．沿周向平均风力机叶片载荷并加载到结构模型进行非线性静气动弹性分析．基于动力学小扰动假设, 在静平衡构型下进行动力学线性化, 计算风轮固有振动特性．继而结合非定常涡尾迹方法计算风力机动气动弹性响应．计算了NH 1500叶片考虑几何非线性的静气动弹性位移和动气动弹性响应．结果表明,大型风力机叶片几何非线性较为明显地减小静气动弹性位移,同时降低动气动弹性的响应幅值．大型风力机气动弹性响应计算需要考虑几何非线性     

Die möglichen Wachstumsordnungen der Lösungen von linearen Differentialgleichungen

The (fundamental) solutions of the differential equations (H) resp. (D) are of the form (1.2) resp. (1.3). The possible orders of growth and the possible types for the d_k(z) resp. c_j,(z) are given (theorems 1 and 5). One can decide however only in a few cases, which orders and types are realized (theorems 1,5,9 and 10). Theorems 3,4,8 give upper bounds for the dimensions of certain spaces of solutions of (H). A charakterization of regular singular integrals by means of order of growth is given in theorem 3.

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Herrn Prof.Dr.H.Wittich zum 60. Geburtstag gewidmet.     

Spline qualocation methods for variable-coefficient elliptic equations on curves

Summary. Here the stability and convergence results of oqualocation methods providing additional orders of convergence are extended from the special class of pseudodifferential equations with constant coefficient symbols to general classical pseudodifferential equations of strongly and of oddly elliptic type. The analysis exploits localization in the form of frozen coefficients, pseudohomogeneous asymptotic symbol representation of classical pseudodifferential operators, a decisive commutator property of the qualocation projection and requires qualocation rules which provide sufficiently many additional degrees of precision for the numerical integration of smooth remainders. Numerical examples show the predicted high orders of convergence. Received January 29, 1998 / Published online: June 29, 1999