Hysteresis-induced bifurcation and chaos in a magneto-rheological suspension system under external excitation

The magneto-rheological damper(MRD) is a promising device used in vehicle semi-active suspension systems, for its continuous adjustable damping output. However, the innate nonlinear hysteresis characteristic of MRD may cause the nonlinear behaviors. In this work, a two-degree-of-freedom(2-DOF) MR suspension system was established first, by employing the modified Bouc–Wen force–velocity(F –v) hysteretic model. The nonlinear dynamic response of the system was investigated under the external excitation of single-frequency harmonic and bandwidth-limited stochastic road surface.The largest Lyapunov exponent(LLE) was used to detect the chaotic area of the frequency and amplitude of harmonic excitation, and the bifurcation diagrams, time histories, phase portraits, and power spectrum density(PSD) diagrams were used to reveal the dynamic evolution process in detail. Moreover, the LLE and Kolmogorov entropy(K entropy) were used to identify whether the system response was random or chaotic under stochastic road surface. The results demonstrated that the complex dynamical behaviors occur under different external excitation conditions. The oscillating mechanism of alternating periodic oscillations, quasi-periodic oscillations, and chaotic oscillations was observed in detail. The chaotic regions revealed that chaotic motions may appear in conditions of mid-low frequency and large amplitude, as well as small amplitude and all frequency. The obtained parameter regions where the chaotic motions may appear are useful for design of structural parameters of the vibration isolation, and the optimization of control strategy for MR suspension system.     

有界噪声与谐和激励联合作用下Duffing-Rayleigh振子的Melnikov混沌

研究了有界噪声与谐和激励作用下的Duffing-Rayleigh振子的动力学行为.首先运用随机Melnikov过程方法得到系统出现混沌的条件,结果表明随着非线性阻尼参数的增加系统会从混沌运动到周期运动,随着Wiener过程强度参数的增加,系统由混沌进入周期的临界幅值会先递增后不变.最后,用两类数值方法即最大Lyapunov指数与Poincare截面验证了上述结果. 关键词： 有界噪声 随机Melnikov过程 混沌运动 周期运动     

Nonlinear vibrations of clamped-free circular cylindrical shells

Only experimental studies are available on large-amplitude vibrations of clamped-free shells. In the present study, large-amplitude nonlinear vibrations of clamped-free circular cylindrical shell are numerically investigated for the first time. Shells with perfect and imperfect shape are studied. The Sanders-Koiter nonlinear shell theory is used to calculate the elastic strain energy. Shell displacement fields (longitudinal, circumferential and radial) are expanded by means of a double mixed series, i.e. harmonic functions for the circumferential variable and Chebyshev polynomials for the longitudinal variable. All boundary conditions are satisfied. The system is discretized by using natural modes of the shell and Lagrange equations by an energy approach, retaining damping through Rayleigh's dissipation function. Different expansions involving from 18 to 52 generalized coordinates are used to study the convergence of the solution. The nonlinear equations of motion are numerically studied by using arclength continuation method and bifurcation analysis. Numerical responses to harmonic radial excitation in the spectral neighborhood of the lowest natural frequency are compared with experimental results available in literature. The effect of geometric imperfections and excitation amplitude are numerically investigated and fully explained.     

Structural and acoustic responses of a fluid-loaded cylindrical hull with structural discontinuities

This paper studies the low frequency vibrational behaviour and radiated sound of a submarine hull under axial excitation. The submarine is modelled as a fluid-loaded cylindrical shell with internal bulkheads and ring-stiffeners and closed at each end by circular plates. A smeared approach is used to model the ring stiffeners. The external pressure acting on the hull due to the fluid loading is calculated using an infinite model and is shown to be a good approximation at low frequencies. The radiated sound pressure is obtained by considering the finite cylindrical hull to be extended by two semi-infinite rigid baffles. The sound pressure is then only due to the radial displacement of the cylindrical shell, without taking into account the scattering at the finite ends. The main aim of this paper is to observe the influence of the various complicating effects such as the bulkheads, ring-stiffeners and fluid loading on the structural and acoustic responses of the finite cylindrical shell. Results from the analytical models presented in this paper are compared to the computational results from finite element and boundary element models.     

Duffing系统随机相位抑制混沌与随机共振并存现象的机理研究

针对随机相位作用的Duffing混沌系统, 研究了随机相位强度变化时系统混沌动力学的演化行为及伴随的随机共振现象. 结合Lyapunov指数、庞加莱截面、相图、时间历程图、功率谱等工具, 发现当噪声强度增大时, 系统存在从混沌状态转化为有序状态的过程, 即存在噪声抑制混沌的现象, 且在这一过程中, 系统亦存在随机共振现象, 而且随机共振曲线上最优的噪声强度恰为噪声抑制混沌的参数临界点. 通过含随机相位周期力的平均效应分析并结合系统的分岔图, 探讨了噪声对混沌运动演化的作用机理, 解释了在此过程中随机共振的形成机理, 论证了噪声抑制混沌与随机共振的相互关系.     

Nonlinear dynamics of higher-dimensional system for an axially accelerating viscoelastic beam with in-plane and out-of-plane vibrations

In this paper, the bifurcations and chaotic motions of higher-dimensional nonlinear systems are investigated for the nonplanar nonlinear vibrations of an axially accelerating moving viscoelastic beam. The Kelvin viscoelastic model is chosen to describe the viscoelastic property of the beam material. Firstly, the nonlinear governing equations of nonplanar motion for an axially accelerating moving viscoelastic beam are established by using the generalized Hamilton’s principle for the first time. Then, based on the Galerkin’s discretization, the governing equations of nonplanar motion are simplified to a six-degree-of-freedom nonlinear system and a three-degree-of-freedom nonlinear system with parametric excitation, respectively. At last, numerical simulations, including the Poincare map, phase portrait and Lyapunov exponents are used to analyze the complex nonlinear dynamic behaviors of the axially accelerating moving viscoelastic beam. The bifurcation diagrams for the in-plane and out-of-plane displacements via the mean axial velocity, the amplitude of velocity fluctuation and the frequency of velocity fluctuation are respectively presented when other parameters are fixed. The Lyapunov exponents are calculated to identify the existence of the chaotic motions. From the numerical results, it is indicated that the periodic, quasi-periodic and chaotic motions occur for the nonplanar nonlinear vibrations of the axially accelerating moving viscoelastic beam. Observing the in-plane nonlinear vibrations of the axially accelerating moving viscoelastic beam from the numerical results, it is found that the nonlinear responses of the six-degree-of-freedom nonlinear system are much different from that of the three-degree-of-freedom nonlinear system when all parameters are same.     

A comparison of shell theories for large-amplitude vibrations of circular cylindrical shells: Lagrangian approach

Large-amplitude (geometrically non-linear) vibrations of circular cylindrical shells subjected to radial harmonic excitation in the spectral neighbourhood of the lowest resonances are investigated. The Lagrange equations of motion are obtained by an energy approach, retaining damping through Rayleigh's dissipation function. Four different non-linear thin shell theories, namely Donnell's, Sanders-Koiter, Flügge-Lur’e-Byrne and Novozhilov's theories, which neglect rotary inertia and shear deformation, are used to calculate the elastic strain energy. The formulation is also valid for orthotropic and symmetric cross-ply laminated composite shells. The large-amplitude response of perfect and imperfect, simply supported circular cylindrical shells to harmonic excitation in the spectral neighbourhood of the lowest natural frequency is computed for all these shell theories. Numerical responses obtained by using these four non-linear shell theories are also compared to results obtained by using the Donnell's non-linear shallow-shell equation of motion. A validation of calculations by comparison with experimental results is also performed. Both empty and fluid-filled shells are investigated by using a potential fluid model. The effects of radial pressure and axial load are also studied. Boundary conditions for simply supported shells are exactly satisfied. Different expansions involving from 14 to 48 generalized co-ordinates, associated with natural modes of simply supported shells, are used. The non-linear equations of motion are studied by using a code based on an arclength continuation method allowing bifurcation analysis.     

Nonlinear vibrations of functionally graded doubly curved shallow shells

Nonlinear forced vibrations of FGM doubly curved shallow shells with a rectangular base are investigated. Donnell’s nonlinear shallow-shell theory is used and the shell is assumed to be simply supported with movable edges. The equations of motion are reduced using the Galerkin method to a system of infinite nonlinear ordinary differential equations with quadratic and cubic nonlinearities. Using the multiple scales method, primary and subharmonic resonance responses of FGM shells are fully discussed and the effect of volume fraction exponent on the internal resonance conditions, softening/hardening behavior and bifurcations of the shallow shell when the excitation frequency is (i) near the fundamental frequency and (ii) near two times the fundamental frequency is shown. Moreover, using a code based on arclength continuation method, a bifurcation analysis is carried out for a special case with two-to-one internal resonance between the first and second doubly symmetric modes with respect to the panel’s center (ω₁₃≈2ω₁₁). Bifurcation diagrams and Poincaré maps are obtained through direct time integration of the equations of motion and chaotic regions are shown by calculating Lyapunov exponents and Lyapunov dimension.     

Active control of sound radiated by a submarine in bending vibration

This paper theoretically investigates the use of inertial actuators to reduce the sound radiated by a submarine hull in bending vibration under harmonic excitation from the propeller. The radial forces from the propeller are tonal at the blade passing frequency and are transmitted to the hull through the stern end cone. The hull is modelled as a fluid loaded cylindrical shell with ring stiffeners and two equally spaced bulkheads. The cylinder is closed by end-plates and conical end caps. The actuators are arranged in circumferential arrays and attached to the prow end cone. Both Active Vibration Control and Active Structural Acoustic Control are analysed. The inertial actuators can provide control forces with a magnitude large enough to reduce the sound radiated by the vibrations of the hull in some frequency ranges.     

试样激励下轻敲模式原子力声显微镜的非线性动力学特性

利用Euler-Bernoulli梁理论和DMT针尖-样品作用力模型建立了试样激励下轻敲模式原子力声显微镜(AFAM)系统的动力学方程,并应用非线性动力学分析方法对AFAM微悬臂梁的振动特性进行研究。通过合理改变超声激励幅值、超声激励频率和针尖-样品初始间距等模型参数模拟得到微悬臂梁的超谐波、次谐波、准周期和混沌振动现象,采用时间序列、频谱、相空间、Poincare截面和Lyapunov指数等方法对不同非线性振动特性进行表征。通过分析不同模型参数条件下微悬臂梁针尖-样品作用力特性,探索了微悬臂梁不同非线性振动现象的产生机制。此外,研究了AFAM微悬臂梁运动的分岔特性,发现当超声激励幅值和针尖-样品初始间隙连续变化时,周期、准周期和混沌运动交替出现。研究结果对AFAM系统非线性动力学行为分析和混沌振动控制提供了理论参考。      

Flow-induced oscillations of a cantilevered pipe conveying fluid with base excitation

It is known that a plain cantilevered pipe conveying fluid loses its stability by a Hopf bifurcation, leading to either planar or non-planar flutter for flow velocities beyond the critical flow velocity for Hopf bifurcation. If an external mass is attached to the end of the pipe (an end-mass), the resulting dynamics become much richer, showing 2D and 3D quasiperiodic and chaotic oscillations at high flow velocities. In this paper, a cantilevered pipe, with and without an end-mass, subjected to a small-amplitude periodic base excitation is considered. A set of three-dimensional nonlinear equations is used to analyze the pipe?s response at various flow velocities and with different amplitudes and frequencies of base excitation. The nonlinear equations are discretized using the Galerkin technique and the resulting set of equations is solved using Houbolt?s finite difference method. It is shown that for a plain pipe (with no end-mass), non-planar post-instability oscillations can be reduced to planar periodic oscillations for a range of base excitation frequencies and amplitudes. For a pipe with an end-mass, similarly to a plain pipe, three-dimensional period oscillations can be reduced to planar ones. At flow velocities beyond the critical flow velocity for torus instability, the three-dimensional quasiperiodic oscillations can be reduced to two-dimensional quasiperiodic or periodic oscillations, depending on the frequency of base excitation. In all these cases, a low-amplitude base excitation results in reducing the three-dimensional oscillations of the pipe to purely two-dimensional oscillations, over a range of excitation frequencies. These numerical results are in agreement with the previous experimental work.     

High order harmonic balance formulation of free and encapsulated microbubbles

The radial responses of free and encapsulated microbubbles excited by an ultrasonic plane wave with a large wavelength in comparison with the bubble size are governed by NonLinear Ordinary Differential Equations (NL-ODEs). The nonlinear frequency response gives the harmonic content of the time response and constitutes the expected outcome of a high order harmonic analysis. In this paper, high order harmonic balance analysis of modified “RPNNP” (bubble), Hoff and Marmottant (contrast agents) models is performed with an open-source software program. For this purpose, the original NL-ODEs are recast into nonlinear systems in which the nonlinearities are at most quadratic. In the spectral domain, this recast provides close form and aliasing-free solutions of arbitrarily large numbers of harmonics. Relevant quantities such as primary and secondary resonances and the nonlinear amplitude threshold of the excitation wave are evaluated. The frequency curves drawn up characterize the bending and quantify the jump frequencies and amplitudes of each harmonic component. The results obtained with this predictive method confirm that it should provide a useful tool for nonlinear bubble detection and sizing and for contrast agent designing.     

Global dynamics of a pipe conveying pulsating fluid in primary parametrical resonance: Analytical and numerical results from the nonlinear wave equation

The chaotic dynamics of nonlinear waves in the harmonic-forced fluid-conveying pipe in primary parametrical resonance, is explored analytically and numerically. The multiple scale method is applied to obtain an equivalent nonlinear wave equation from the complicated nonlinear governing equation describing the fluid conveyed in a pipe. With the Melnikov method, the persistence of a heteroclinic structure is shown to be satisfied and its condition is given in functional form. Similarly, for the heteroclinic orbit, using geometric analysis, a condition function of the stable manifold is derived for the orbit to return to the stable manifold from the saddle point. The persistent homoclinic structures and threshold of chaos in the Smale-horseshoe sense are obtained for the fluid-conveying pipe under both conditions, indicating how the external excitation amplitude can change substantially the global dynamics of the fluid conveyed in the pipe. A numerical approach was used to test the prediction from theory. The impact of the external excitation amplitude on the nonlinear wave in the fluid-conveying pipe was also studied from numerical simulations. Both theoretical predications and numerical simulations attest to the complex chaotic motion of fluid-conveying pipes.     

Determination of the optimal excitation frequency range in background flows

The chaotization of a vortical flow caused by a nonstationary incident flow is studied by the examples of several dynamically consistent models. It is shown that for relatively small values of excitation amplitude, the chaotization of such flows and, correspondingly, chaotic transport of passive scalars is determined by a small number of nonlinear resonances with frequencies close to the excitation frequency. Hence, the analysis of locations and overlaps of these resonances in the considered models makes it possible to derive fairly good estimates of excitation frequencies that are optimal for the chaotic transport.     

Experiments and analysis on chaotic vibrations of a shallow cylindrical shell-panel

Detailed experimental results and analytical results are presented on chaotic vibrations of a shallow cylindrical shell-panel subjected to gravity and periodic excitation. The shallow shell-panel with square boundary is simply supported for deflection. In-plane displacement at the boundary is elastically constrained by in-plain springs. In the experiment, the cylindrical shallow shell-panel with thickness 0.24 mm, square form of length 140 mm and mean radius 5150 mm is used for the test specimen. All edges around the shell boundary are simply supported by adhesive flexible films. First, to find fundamental properties of the shell-panel, linear natural frequencies and characteristics of restoring force of the shell-panel are measured. These results are compared with the relevant analytical results. Then, geometrical parameters of the shell-panel are identified. Exciting the shell-panel with lateral periodic acceleration, nonlinear frequency responses of the shell-panel are obtained by sweeping the frequency of periodic acceleration. In typical ranges of the exciting frequency, predominant chaotic responses are generated. Time histories of the responses are recorded for inspection of the chaos. In the analysis, the Donnell equation with lateral inertia force is introduced. Assuming mode functions, the governing equation is reduced to a set of nonlinear ordinary differential equations by the Galerkin procedure. Periodic responses are calculated by the harmonic balance method. Chaotic responses are integrated numerically by the Runge-Kutta-Gill method. The chaotic responses, which are obtained by the experiment and the analysis, are inspected with the Fourier spectra, the Poincaré projections, the maximum Lyapunov exponents and the Lyapunov dimension. It is found that the dominant chaotic responses of the shell-panel are generated from the responses of the sub-harmonic resonance of order and of the ultra-sub-harmonic resonance of order. By the convergence of the maximum Lyapunov exponent to the embedding dimension, the number of predominant vibration modes which contribute to the chaos is found to be three or four. Fairly good agreements are obtained between the experimental results and the analytical results.     

轴对称环状静电模的漂移波湍流参量激发理论研究

本文所论述的轴对称环状静电模是指环形磁约束等离子体(如托卡马克)中环向模数为零的近理想静电流体模,它包含有测地声模和基频率与之较低的声模;也含有所谓的‘近零频带状流’.本文根据冷离子流体模型在圆形磁面构成的准环坐标系中的表示,对涉及以上三种模式的漂移波湍流参量激发理论,在一级环形效应近似下,进行了系统讨论,并证明了带状流的四个新命题.利用对漂移波能谱的参数化描写,注意到由漂移波能谱径向有限宽度所引发的特性,如波能传播量的双Landau奇点,揭示了有限宽度对径向δ谱所得结果的重要修正:如,对近零频带状流和测地声模的参量激发条件带来的严格限制.此外,还讨论了密度带状流在高q条件下被激发的可能性.本文选用合理的物理参数.采用图示方法详细地讨论了有关的数值结果.分析表明,测地声模和近零频带状流的参量激发不可能发生在同一小半径处;如果测地声模被参量激发,也应能观察到密度带状流.     

压电材料双曲壳热弹耦合作用下的混沌运动

运用弹性力学有限变形基本理论推导出了压电材料双曲壳在外激力和温度场作用下的非线性振动方程和协调方程.通过Bubnov-Galerkin原理,得到该结构的非线性动力学方程.利用Melnikov方法,得到系统产生Smale马蹄变换意义下混沌的条件,用四阶Runge-Kutta法编写程序对系统进行数值求解,并绘制出相应的分岔图、Lyapunov指数图、相轨迹图以及Poincaré截面图,分析了温度场对压电材料双曲壳系统的非线性特性的影响.仿真结果表明,随着温度的升高,系统的混沌与周期区交替出现,温度场的改变可影响和控制系统的振动特性.     

轴向加速运动黏弹性梁受迫振动中的混沌动力学

研究了黏弹性轴向运动梁在外部激励和参数激励共同作用下横向振动的混沌非线性动力学行为. 引入有限支撑刚度, 并考虑黏弹性本构关系取物质导数, 同时计入由梁轴向加速度引起的沿径向变化的轴力, 建立轴向运动黏弹性梁横向非线性振动的偏微分-积分模型. 通过Galerkin截断方法研究了外部激励的频率和因速度简谐脉动引起的参数激励的频率在不可通约关系时轴向运动连续体的非线性动力学行为, 并对不同截断阶数的数值预测进行了对比. 基于对控制方程的Galerkin截断, 得到离散化的常微分方程组, 使用四阶Runge-Kutta方法求解. 基于此数值解, 运用非线性动力学时间序列分析方法, 通过Poincaré 映射, 观察到轴向运动梁随扰动速度幅值的倍周期分岔现象, 并比较了有无外部激励对倍周期分岔的影响. 分别在低速以及近临界高速运动状态下, 从相平面图、Poincaré 映射以及频谱分析的角度识别了系统中存在的准周期运动形态. 关键词： 轴向运动梁 非线性 混沌 分岔     

One-dimensional "turbulence" in a discrete lattice

We study a one-dimensional discrete analog of the von Karman flow, widely investigated in turbulence. A lattice of anharmonic oscillators is excited by both ends in order to create a large scale structure in a highly nonlinear medium, in the presence of a dissipative term proportional to the second order finite difference of the velocities, similar to the viscous term in a fluid. In a first part, the energy density is investigated in real and Fourier space in order to characterize the behavior of the system on a local scale. At low amplitude of excitation the large scale structure persists in the system but all modes are however excited and exchange energy, leading to a power law spectrum for the energy density, which is remarkably stable against changes in the model parameters, amplitude of excitation, or damping. In the spirit of shell models, this regime can be described in terms of interacting scales. At higher amplitude of excitation, the large scale structure is destroyed and the dynamics of the system can be viewed as resulting from the creation, interaction, and decay of localized excitations, the discrete breathers, the one-dimensional equivalents of vortices in a fluid. The spectrum of the energy density is well described by the spectrum of the breathers, and shows an exponential decay with the wave vector. Due to this exponential behavior, the spectrum is dominated by the most intense breathers. In this regime, the probability distribution of the increments of velocity between neighboring points is remarkably similar to the experimental results of turbulence and can be described by distributions deduced from nonextensive thermodynamics as in fluids. In a second part the power dissipated in the whole lattice is studied to characterize the global behavior of the system. Its probability distribution function shows non-Gaussian fluctuations similar to the one exhibited recently in a large class of "inertial systems," i.e., systems that cannot be divided into mesoscopic regions which are independent. The properties of the nonlinear excitations of the lattice provide a partial understanding of this behavior.     

一维非线性声波传播特性

针对一维非线性声波的传播问题进行了有限元仿真和实验研究. 首先推导了一维非线性声波方程的有限元形式, 含有高阶矩阵的非线性项导致声波具有波形畸变、谐波滋生、基频信号能量向高次谐波传递等非线性特性. 编制有限元程序对一维非线性声波进行了计算并对仿真得到的畸变非线性声波信号进行处理, 分析其传播性质和物理意义. 为验证有限元计算结果, 开展了水中的非线性声波传播的实验研究, 得到了不同输入信号幅度激励下和不同传播距离的畸变非线性声波信号. 然后对基波和二次谐波的传播性质进行详细讨论, 分析了二次谐波幅度与传播距离和输入信号幅度的变化关系及其意义, 拟合出二次谐波幅度随传播距离变化的方程并阐述了拟合方程的物理意义. 结果表明, 数值仿真信号及其频谱均与实验结果有较好的一致性, 证实计算方法和结果的正确性, 并提出了具有一定物理意义的二次谐波随传播距离变化的简单数学关系. 最后还对固体中的非线性声波传播性质进行了初步探讨. 本研究工作可为流体介质中的非线性声传播问题提供理论和实验依据.