Automatic extraction method of force chain information and its application in the flow photoelastic experiment of granular matter

The force chain is the core of the multi-scale analysis of granular matter. Accurately extracting the force chain information among particles is of great significance to the study of particle mechanics and geological hazards caused by particle flow. However, in the photoelastic experiment, the precise identification of the branching points of force chains has not been effectively realized. Therefore, this study proposes an automatic extraction method of force chain key information. First, based on the Hough transform and the Euclidean distance, a particle geometric information identification model is established and geometric information such as particle circle center coordinates, radius, contact point location, and contact angle is extracted. Then, a particle contact force information identification model is established following the color gradient mean square method. The model realizes the rapid calibration and extraction of a large number of particle media contact force information. Next, combined with the force chain composition criterion and its quasilinear feature, an automatic extraction method of force chain information is established, which solves the problem of the accurate identification of the force chain branch points. Finally, in the photoelastic experiment of ore drawing from a single drawpoint, the automatic extraction method of force chain information is verified. The results show that the macroscopic distribution of force chains during ore drawing from a single drawpoint is left–right symmetrical. Strong force chains are mostly located on the two sides of the model but in small numbers and they mainly develop vertically. Additionally, the ends are mostly in a combination of Y and inverted Y shapes, while the middle is mostly quasilinear. Weak force chains are abundant and mostly distributed in the middle of the model, and develop in different directions. The proposed extraction method accurately extracts the force chain network from the photoelastic experiment images and dynamically characterizes the force chains of granular matter, which has significant advantages in particle geometry information extraction, force chain branch point discrimination, force chain retrieval, and force chain distribution and its azimuthal characterization. The results provide a scientific basis for studying the macroscopic and microscopic mechanical parameters of granular matter.     

多体系统碰撞动力学中接触力模型的研究进展

接触碰撞行为作为大自然与多体系统中的常见现象,其接触力模型对于多体系统的碰撞行为机理研究与性能预测至关重要.静态弹塑性接触模型与考虑能量耗散的连续接触力模型是研究接触碰撞行为的两类不同方法,在多体系统碰撞动力学中存在诸多共性与差异.本文分别从上述两类接触模型的发展历程入手,详细介绍了两类模型的区别与联系.首先,根据阻尼项分母中是否含有初始碰撞速度将连续接触力模型分为黏性接触力模型与迟滞接触力模型,讨论了能量指数与Hertz接触刚度之间的关系,阐述了现有连续接触力模型在计算弹塑性材料接触碰撞行为时存在的问题.其次,着重介绍了分段连续的准静态弹塑性接触力模型(可连续从完全弹性转换到完全塑性接触阶段),分析了利用此类弹塑性接触力模型计算碰撞行为的技术特点.同时,以恢复系数为桥梁和借助线性化的弹塑性接触刚度,避免了Hertz刚度对弹塑性接触刚度的计算误差,根据碰撞前后多体系统的能量与动能守恒推导了弹塑性接触模型等效的迟滞阻尼因子.探索了连续接触力模型与准静态弹塑性接触力模型之间的内在联系,数值计算结果定量说明了人为阻尼项代表的能量耗散与弹塑性接触力模型中加卸载路径代表的能量耗散具有等效性.另外...     

Galilean炮在刚性壁上的回弹1)

研究了Galilean炮——即若干个直径递增的弹性球组成的球链---撞击刚性壁回弹的问题。采用三种力学模型：分离刚体的多次"弹性"碰撞、多刚体的接触碰撞、以及有限元模拟,对球链撞击问题进行了分析,旨在给出碰撞结束后末端小球的飞离速度与入射速度的比值。研究表明：球链碰撞反弹后将会散开,末端小球的飞离速度明显大于球链入射速度;当入射球链间存在间隙时,末端小球的速度增幅更加明显。通过实验展现了这种末端小球回弹速度增加的现象。     

基于水平集-离散元方法的球谐函数颗粒材料缓冲性能分析

在自然环境与工业领域中,颗粒材料是一种常见的缓冲材料,其中大量形态各异的非球形颗粒表现出复杂的力学特性并应用于不同工程领域。本文采用球谐函数构造不同球面度和表面凹凸特性的非规则颗粒,通过水平集方法计算球谐函数颗粒间的接触点和碰撞力,并对冲击过程中球形和凹形颗粒的缓冲性能进行离散元分析。数值结果表明,颗粒床厚度、冲击速度和颗粒形状显著影响球谐函数颗粒材料的缓冲性能。颗粒床底部的冲击力峰值随着颗粒床厚度和表面凹凸性的增加而降低,同时冲击力峰值随着冲击速度和颗粒球面度的增加而增加。与球形颗粒相比,球谐函数颗粒具有凹凸表面和多接触点特性,这有利于冲击荷载向四周扩展并提高凹形颗粒的缓冲效果。     

含摩擦与碰撞平面多刚体系统动力学线性互补算法

基于接触力学理论和线性互补问题的算法, 给出了一种含接触、碰撞以及库伦干摩擦, 同时具有理想定常约束(铰链约束) 和非定常约束(驱动约束) 的平面多刚体系统动力学的建模与数值计算方法. 将系统中的每个物体视为刚体, 但考虑物体接触点的局部变形, 将物体间的法向接触力表示成嵌入量与嵌入速度的非线性函数,其切向摩擦力采用库伦干摩擦模型. 利用摩擦余量和接触点的切向加速度等概念, 给出了摩擦定律的互补关系式; 并利用事件驱动法, 将接触点的黏滞-滑移状态切换的判断及黏滞状态下摩擦力的计算问题转化成线性互补问题的求解. 利用第一类拉格朗日方程和鲍姆加藤约束稳定化方法建立了系统的动力学方程, 由此可降低约束的漂移, 并可求解该系统的运动、法向接触力和切向摩擦力, 还可以求解理想铰链约束力和驱动约束力. 最后以一个类似夯机的平面多刚体系统为例, 分析了其动力学特性, 并说明了相关算法的有效性.      

颗粒材料接触特性之接触点的确定

颗粒物质在自然界中普遍存在,如砂砾、谷物、堆石体和碎屑流等,许多自然现象和工业过程都与颗粒物质的运动状态有关。弄清颗粒之间的接触特征是理解颗粒变形与运动规律的关键,与之相关联的接触点确定是获取全场接触力(包括力链)信息的难点。近年来,光弹法逐渐成为这类问题研究的有效手段之一,原因在于该方法具有原理简单、操作方便、图像直观等优点。然而,已有的接触点判定方法主要依赖于圆盘圆心距离的计算,对于小变形圆盘接触特征难以有效识别。为此,本文发展了一种基于去除零级条纹区域及图像矩阵转换的算法,可以有效地确定接触点的位置。主要步骤如下:首先运用主成分分析方法对图像进行分析,提取主成分,并重构原图像;然后利用模板匹配方法提取各个光弹圆盘,接着对提取出来的各个圆盘进行图像矩阵变换;最后对变换后的图像局部进行垂直方向灰度梯度平方计算,描绘梯度变化曲线并提取曲线峰值,从而识别出接触点(位置)。     

Continuous contact force models for impact analysis in multibody systems

One method for predicting the impact response of a multibody system is based on the assumption that the impacting bodies undergo local deformations and the contact forces are continuous. In a continuous analysis, the integration of the system equations of motion is carried out during the period of contact; therefore, a model for evaluating the contact forces is required. In this paper, two such contact force models are presented, both Hertzian in nature and based upon the direct-central impact of two solid particles.At low impact velocities, the energy dissipation during impact can be represented by material damping. A model is constructed based on the general trend of the Hertz contact law in conjuction with a hysteresis damping function. The unknown parameters are determined in terms of a given coefficient of restitution and the impact velocity. When local plasticity effects are the dominant factor accounting for the dissipation of energy at high impact velocities, a Hertzian contact force model with permanent indentation is constructed. Utilizing energy and momentum considerations, the unknown parameters in the model are again evaluated. The two particle models are generalized to an impact analysis between two bodies of a multibody system.     

平面柔性多体系统正碰撞动力学建模理论研究

针对目前柔性多体系统碰撞动力学建模方法存在的不足,对影响碰撞动力学仿真的主要因素如柔性体建模和碰撞初始条件进行分析,建立起基于变约束的柔性体碰撞动力学方程。首先,为了解决子结构法在处理碰撞界面搜索时面临的难题,引入多体系统柔性体有限元描述方法,推导出凸形柔性体接触点间法向位移约束的二阶导数形式。其次,从碰撞引起的接触界面速度不连续机理出发,结合连续介质力学间断面理论,给出碰撞瞬时由物体本身物理性质决定的接触位置处速度跳跃公式。最后对两弹性圆盘低速碰撞问题进行数值仿真。结果表明本文提出的改进方法符合力学基本原理,仿真结果满足收敛性要求。     

强共振情况下冲击成型机的亚谐与Hopf分岔

通过理论分析与数值仿真研究了双质体冲击振动成型机的周期运动在强共振条件下的亚谐分岔与Hopf分岔，证实了此系统的1／1周期运动在强共振(λ0^4=1)条件下可以分岔为稳定的4／4周期运动及概周期运动．讨论了冲击映射的奇异性，分析了冲击振动系统的“擦边”运动对强共振条件下周期运动及全局分岔的影响。     

Asymptotic modeling of the impact of a spherical indenter on an elastic half-space

The impact of a rigid sphere on a homogeneous, isotropic elastic half-space in the absence of friction and adhesion is considered. The influence of the superseismic stage immediately following the moment of first contact upon the impact process is investigated in the frame of the Hertzian impact theory. The first order asymptotic approximation for the contact force in a three-dimensional dynamic contact problem with the slowly moving contact zone boundary is obtained and the corresponding asymptotic model of impact is developed. The motion of the indenter as it indents and rebounds from the elastic medium is analytically described. Explicit formulas are derived for the peak indentation depth, contact time, and rebound velocity as functions of the initial impact velocity, indenter mass, and characteristics of the elastic half-space.     

A hybrid scheme for simulation of planar rigid bodies with impacts and friction using impact mappings

This paper introduces numerical techniques necessary for the implementation of impact maps derived from an energetic impact law for rigid-body impacts with friction at isolated contact points. In particular the work focuses on methodologies for long-term simulation with behaviours such as dynamic transitions and chatter. The methods are based on hybrid event-driven numerical solvers for ordinary differential equations together with system states to deal with the transitions. A slender rod impacting a periodically oscillating surface is used as an example to illustrate implementation and methods. The numerical scheme for the rod system is used to show how symmetry can play an important role in the presence of friction for long-term dynamics. This will show that surface oscillations with low frequencies tend to lead to periodic motions of the rod that are independent of friction. For higher frequencies however the periodic solutions are not that common and irregular motion ensues.     

Deformation of an elastic helix in contact with a rigid cylinder

Summary The deformation of a short helix in contact with a rigid cylinder is investigated. Deformations occur due to bending, torsion and longitudinal elasticity of the helix. Shear deformation is neglected. Some of the equations describing the problem have been given already in Love's Treatise on the Mathematical Theory of Elasticity, in terms of curvature changes. Nevertheless, the equations for small deformations have to be reformulated in terms of displacements and rotations, because contact constraints cannot be expressed in terms of curvature. Friction is neglected, thus the problem is symmetric, and it is sufficient to determine its solution for one half of the helix.Without friction between the cylinder and the helix, the contact problem arises only for a helix longer than one length of twist. For a shorter helix, the global equilibrium conditions cannot be satisfied for nonvanishing contact forces. For the minimum length, there are two noncontact zones, and the helix is in contact with the cylinder only at three points: at the ends and in the middle. For a slightly longer helix, four contact points and three noncontact regions are found. The dependence of the noncontact zones and the contact forces, which are of practical interest, can be calculated as a function of the length of the helix and its geometrical parameters. The case of a very long helix with more than four contact points remains unsolved.     

凹形多面体离散单元的水平集函数接触算法

多面体模型理论上可构造任意颗粒形态,然而受单元接触算法的限制,仅用于凸形颗粒材料的离散元模拟。对于具有凹形特征的多面体单元,单个接触点的搜索算法难以精确计算单元间的作用力。考虑多面体单元间存在单个或多个接触点的计算特性,本文发展了适用于凸形和凹形多面体颗粒材料的水平集函数接触算法。该方法通过点-三角形单元距离计算方法和奇-偶数判定方法建立多面体单元的零水平集函数和空间水平集函数,并对水平集函数进行三线性插值,可得到多面体单元间的单个或多个接触点。为检验水平集函数接触算法的可靠性,对球形和凹形多面体颗粒材料的堆积和倒塌过程进行离散元模拟,并分析颗粒形状对堆积密度和休止角的影响规律。     

冲击载荷作用下颗粒材料动态力学响应的近场动力学模拟

颗粒材料在冲击载荷作用下的动态力学行为是学术界关注的热点问题. 新近问世的近场动力学(peridynamics)理论将材料视为由大量有限体积和有限质量的物质点组成,基于非连续性和非局部作用假定建模,建立空间积分形式的运动方程,自然适应于颗粒材料动态力学行为的描述与分析. 发展了描述颗粒间接触作用的物质点尺度的排斥力模型,考虑近场动力学方法中非局部长程力特征,改进了近场动力学中的初始微观弹脆性(prototype microelastic brittle, PMB) 模型的本构力函数,并消除了原PMB 模型中存在的“边界效应” 问题. 计算分析了冲击载荷作用下碳化钨陶瓷颗粒体系的动态力学响应,得到了不同冲击速度下颗粒体系的冲击波速,PD计算结果与试验结果高度一致;通过颗粒物质点尺度作用描述单颗粒尺度的接触作用,很好地再现了颗粒的转动与平动、颗粒挤压变形以及颗粒破碎等现象;刚性冲击板附近同时存在严重的颗粒破碎与轻微的颗粒损伤,远离冲击板的部分颗粒出现破损,且颗粒破碎主要是由颗粒间挤压、碰撞以及相对滑动剪切作用造成的. 研究结果表明,所发展的计算模型和分析方法能很好地反映颗粒材料动态力学行为,具有广泛的应用价值.      

Two kinds of contact problems in three-dimensional icosahedral quasicrystals

Two kinds of contact problems, i.e., the frictional contact problem and the adhesive contact problem, in three-dimensional(3D) icosahedral quasicrystals are discussed by a complex variable function method. For the frictional contact problem, the contact stress exhibits power singularities at the edge of the contact zone. For the adhesive contact problem, the contact stress exhibits oscillatory singularities at the edge of the contact zone. The numerical examples show that for the two kinds of contact problems, the contact stress exhibits singularities, and reaches the maximum value at the edge of the contact zone. The phonon-phason coupling constant has a significant effect on the contact stress intensity, while has little impact on the contact stress distribution regulation. The results are consistent with those of the classical elastic materials when the phonon-phason coupling constant is 0. For the adhesive contact problem, the indentation force has positive correlation with the contact displacement, but the phonon-phason coupling constant impact is barely perceptible. The validity of the conclusions is verified.     

Partition method and experimental validation for impact dynamics of flexible multibody system

The impact problem of a flexible multibody system is a non-smooth, high-transient, and strong-nonlinear dynamic process with variable boundary. How to model the contact/impact process accurately and efficiently is one of the main difficulties in many engineering applications. The numerical approaches being used widely in impact analysis are mainly from two fields: multibody system dynamics (MBS) and computational solid mechanics (CSM). Approaches based on MBS provide a more efficient yet less accurate analysis of the contact/impact problems, while approaches based on CSM are well suited for particularly high accuracy needs, yet require very high computational effort. To bridge the gap between accuracy and efficiency in the dynamic simulation of a flexible multibody system with contacts/impacts, a partition method is presented considering that the contact body is divided into two parts, an impact region and a non-impact region. The impact region is modeled using the finite element method to guarantee the local accuracy, while the non-impact region is modeled using the modal reduction approach to raise the global efficiency. A three-dimensional rod-plate impact experiment is designed and performed to validate the numerical results. The principle for how to partition the contact bodies is proposed: the maximum radius of the impact region can be estimated by an analytical method, and the modal truncation orders of the non-impact region can be estimated by the highest frequency of the signal measured. The simulation results using the presented method are in good agreement with the experimental results. It shows that this method is an effective formulation considering both accuracy and efficiency. Moreover, a more complicated multibody impact problem of a crank slider mechanism is investigated to strengthen this conclusion.     

Partition method for impact dynamics of flexible multibody systems based on contact constraint

The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are connected by specific boundary conditions, and the system after partition is equivalent to the original system. According to the rigid-flexible coupling dynamic theory of multibody system, system＇s rigid-flexible coupling dynamic equations without impact are derived. A local impulse method for establishing the initial impact conditions is proposed. It satisfies the compatibility con- ditions for contact constraints and the actual physical situation of the impact process of flexible bodies. Based on the contact constraint method, system＇s impact dynamic equa- tions are derived in a differential-algebraic form. The contact/separation criterion and the algorithm are given. An impact dynamic simulation is given. The results show that system＇s dynamic behaviors including the energy, the deformations, the displacements, and the impact force during the impact process change dramatically. The impact makes great effects on the global dynamics of the system during and after impact.     

低速冲击激励下嵌入黏弹性阻尼芯层的纤维金属混杂层合板动态响应预测模型

本文首次从解析角度建立了低速冲击激励下嵌入黏弹性阻尼芯层的纤维金属混杂层合板动态响应预测模型. 首先,结合经典层合板理论和冯$\cdot$卡门假设,建立了嵌入黏弹性芯层的纤维金属混杂层合板弹性损伤本构关系. 然后,将层合板受冲击时的变形分成接触和拉伸两个区域,在接触区域内,对金属层采用 Von Mises 失效准则,纤维层采用 Tsai-Hill 失效准则和对黏弹性层采用指数 Drucker-Prager 失效准则判断层合板损伤情况. 考虑不同材料层对冲击动态响应的贡献来修正两个变形区域的位移公式,进而计算结构因弹性变形产生的应变能,以及接触区域因塑性变形消耗的能量,实现每次失效事件发生后各层材料的能量、位移和冲击接触力的理论求解,并给出了结构动态响应分析的具体流程图. 最后,以嵌入 Zn33 黏弹性芯层的 TA2 钛合金混杂 T300 碳纤维/树脂层合板为研究对象,开展落锤冲击实验. 验证结果表明,理论预测与测试获得的冲击接触力、位移响应以及冲击载荷-位移曲线吻合较好,且关注的峰值点计算误差最大不超过 9%,进而验证了所提出的理论模型的有效性.      

Effect of permanent indentation on the delamination threshold for small mass impact on plates

Small mass impacts on composite structures are common cases caused by hailstones and runway debris. Small mass impactors usually result in a wave controlled local response, which is independent of boundary conditions. This response occurs before the reflection of waves from the boundaries and cannot be modeled by large mass drop weight tests. An elasto-plastic contact law, which accounts for permanent indentation and damage effects, was used here to study small mass impact on laminated composite plates. By comparing with results from the Hertzian contact law, it was found that damage can change the dynamic response of the structure significantly with increasing impact velocity. Due to smaller contact force generated for the case of using elasto-plastic contact, the central displacement of the plate is also less than the one using Hertzian contact law. The linearized version of the contact law was then used to derive the closed-form approximations of the contact force, indentation and plate central displacement for the impact loading of composite laminates. The threshold velocity for delamination onset under small mass impact was predicted analytically based on the obtained peak contact forces by combining with an existing quasi-static delamination threshold load criterion. A good agreement was found between the predicted threshold values and published experimental results.     

A DYNAMIC RESPONSE PREDICTION MODEL OF FIBER-METAL HYBRID LAMINATED PLATES EMBEDDED WITH VISCOELASTIC DAMPING CORE UNDER LOW-VELOCITY IMPACT EXCITATION 1)

本文首次从解析角度建立了低速冲击激励下嵌入黏弹性阻尼芯层的纤维金属混杂层合板动态响应预测模型. 首先,结合经典层合板理论和冯$\cdot$卡门假设,建立了嵌入黏弹性芯层的纤维金属混杂层合板弹性损伤本构关系. 然后,将层合板受冲击时的变形分成接触和拉伸两个区域,在接触区域内,对金属层采用 Von Mises 失效准则,纤维层采用 Tsai-Hill 失效准则和对黏弹性层采用指数 Drucker-Prager 失效准则判断层合板损伤情况. 考虑不同材料层对冲击动态响应的贡献来修正两个变形区域的位移公式,进而计算结构因弹性变形产生的应变能,以及接触区域因塑性变形消耗的能量,实现每次失效事件发生后各层材料的能量、位移和冲击接触力的理论求解,并给出了结构动态响应分析的具体流程图. 最后,以嵌入 Zn33 黏弹性芯层的 TA2 钛合金混杂 T300 碳纤维/树脂层合板为研究对象,开展落锤冲击实验. 验证结果表明,理论预测与测试获得的冲击接触力、位移响应以及冲击载荷-位移曲线吻合较好,且关注的峰值点计算误差最大不超过 9%,进而验证了所提出的理论模型的有效性.