Analytical solutions for dynamics of dual-spin spacecraft and gyrostat-satellites under magnetic attitude control in omega-regimes

The attitude dynamics of a dual-spin spacecraft (a gyrostat with one rotor) with magnetic actuators attitude control is considered in the constant external magnetic field at the presence of the spacecraft’s own magnetic dipole moment, which is created proportionally to the angular velocity components (this motion regime can be called as “the omega-regime” or “the omega-maneuver”). The research of the dual-spin spacecraft angular motion under the action of the magnetic restoring torque is fulfilled in the generalized formulation close to the classical mechanics’ task of the heavy body/gyrostat motion in the Lagrange top. Analytical exact solutions of differential equations of the motion are obtained for all parameters in terms of elliptic integrals and the Jacobi functions. New obtained analytical solutions can be classified as results developing the classical fundamental problem of the rigid body and gyrostat motion around the fixed point. The technical application of the omega-regime to the angular reorientation of the spacecraft longitudinal axis along the angular momentum vector is considered.     

Complete list of first integrals for dynamic equations of motion of a solid body in a resisting medium with consideration of linear damping

A new case of integrability in the spatial problem of motion for a solid body with consideration of the nonconservative moment of forces is discussed. A nonconservative force field of action of the medium on the body is constructed. Contrary to some previous author??s works, a linear dependence of this field on the angular velocity is taken into account, although the introducing of this dependence into the components of such a field is not obvious in advance.     

Dynamic properties of a body with discontinual mass variation

In this paper the procedure for the dynamic analysis of body separation is introduced. Based on the general laws of classical dynamics, the method for obtaining the velocity and the angular velocity of the remainder body during separation is developed. Due to the discontinual mass variation, the jump-like change of the velocity and the angular velocity of the body is evident. Various types of motion of the separated body are considered. Depending on the type of motion of the separated body the dynamic properties of the remainder body are obtained. As a special case the in-plane motion of the body before and after separation is considered. The theoretical considerations are applied for the separation analysis of a rotor (a shaft-disc system). The transient motion of the body after separation is investigated. To prove the correctness of the procedure suggested in the paper, the case when the mass and the moment of inertia of the separated body are infinitesimal is analyzed. The obtained differential equations are the same as those previously obtained.     

On the stability of a flexibly mounted rotating cylinder partially filled with liquid

Summary An investigation is made into the unstable behaviour of a rotor which is flexibly mounted with some damping and which is forced to rotate around its axis of symmetry with a constant angular velocity. The rotor is assumed to be partially filled with an ideal liquid. Assuming relative liquid motion in two dimensions a perturbation theory leads to an algebraic equation of the fourth degree from which information can be derived about unstable regions and the effect of the combined action of dissipative and gyroscopic forces.     

Dynamics of a Rigid Unbalanced Rotor with Nonlinear Elastic Restoring Forces. Part I: Theoretical Analysis

In a previous paper, the dynamic behaviour of a Jeffcott rotor was studied in the presence of pure static unbalance and nonlinear elastic restoring forces. The present paper extends the analysis to a rigid rotor with an axial length such as to make the transverse moment of inertia greater than the axial one. As in the previous investigation, the elastic restoring forces are assumed to be nonlinear and the effects of couple unbalance are also included but, unlike the Jeffcott rotor, the system exhibits six degrees-of-freedom. The Lagrangian coordinates were fixed so as to coincide with the three coordinates of the centre of mass of the rotor and the three angular coordinates needed in order to express the rotor's rotations with respect to a reference frame having its origin in the centre of mass. The precession motions of such a rotor turn out to be cylindrical at low angular speeds and exhibit a conical aspect when operating at higher speeds. The motion equations of the rotor were written with reference to a system that was subsequently adopted for the experimental analysis. The particular feature of this system was the use of a steel wire (piano wire) for the rotor shaft, suitably constrained and with the possibility of regulating the tension of the wire itself, in order to increase or reduce the nonlinear character of the system. The numerical analysis performed with integration of the motion equations made it possible to point out that chaotic solutions were manifested only when the tension in the wire was given the lowest values – i.e. when the system was strongly nonlinear – in the presence of considerable damping and rotor unbalance values that were so high as to lose any practical significance. Under conditions commonly shared by analogous real systems characterised by poor damping, where the contribution to nonlinearity is almost entirely due to elastic restoring forces, the analysis pointed out that precession motions may be manifested with a periodic character, whether synchronous or not, or a quasi-periodic character, but in no case is the solution chaotic.     

Levitation of Magnets and Paramagnetic Bodies in Vessels Filled with Magnetic Fluid

Formulas are obtained for the forces and moments acting on a spherical body made of a paramagnetic material in an uniform applied magnetic field and a magnet in a spherical vessel filled with magnetic fluid. An approximate formula is found for the force acting on bodies in ellipsoidal and cylindrical vessels or in a plane channel with a magnetic fluid in an uniform magnetic field. An analogy between the forces acting on a magnet and a paramagnetic body is demonstrated. The possibility of levitation of magnets and paramagnetic bodies in a vessel with a magnetic fluid is investigated.     

Rotordynamic model for electromagnetic excitation caused by an eccentric and angular rotor core in an induction motor

The paper shows a rotordynamic model for electromagnetic excitation caused by an eccentric and angular rotor core in an induction motor. It is shown that an eccentric rotor core leads to an electromagnetic force and an angular rotor core to an electromagnetic moment, which both force the rotor to vibrate. For these two kinds of magnetic unbalance, a rotordynamic model was developed considering the influence of the oil film stiffness and damping of the sleeve bearings, the stiffness of the end-shields and bearing housings, the stiffness of the rotor, the electromagnetic stiffness—radial and angular electromagnetic stiffness—the mass moment of inertia and the gyroscopic effect of the rotor. With this model, the absolute orbits of the shaft centre, the shaft journals and the bearing housings can be calculated, as well as the relative orbits between the shaft journals and the bearing housings. Additionally, the bearing housing velocities can also be computed. In addition to the mathematical derivation of the model, also a numerical example is shown for clarification. The aim of the paper is, on the one hand, to show the mathematical coherences—based on an analytical model—between rotordynamics and the electromagnetics for an induction motor with an eccentric and angular rotor core and, on the other hand, to derive a calculation method for evaluating the vibration sensitivity regarding these two different kinds of magnetic unbalance.     

Motion of a cylinder in a viscous electroconductive medium with a magnetic field

The method of force sources is used to consider the planar problem of the motion of a circular cylinder in a viscous electroconductive medium with a magnetic field. The conventional and magnetic Reynolds numbers are assumed to be small. Expressions are obtained for the hydrodynamic reaction forces of the medium, acting on the moving cylinder. It is shown that as a result of the flow anisotropy in the medium, caused by the magnetic field, in addition to the resistance forces on bodies moving at an angle to the field, there are deflecting forces perpendicular to the velocity vector. The velocity field disturbances at great distances from the moving cylinder are determined.The problems of viscous electroconductive flow about solid bodies in the presence of a magnetic field constitute one of the divisions of magnetohydrodynamics. Motion of an electroconductive medium in a magnetic field gives rise to inductive electromagnetic fields and currents which interact with the velocity and pressure hydrodynamic fields in the medium [1, 2]. Under conditions of sufficiently strong interaction, the number of independent flow similarity parameters in MHD is considerably greater than in conventional hydrodynamics. This circumstance complicates the theoretical analysis of MHD flow about bodies, and therefore we must limit ourselves to consideration of individual particular flow cases.Here we consider the linear problem of the motion of an infinite circular cylinder in a viscous incompressible medium with finite electroconductivity located in a uniform magnetic field.There are many studies devoted to the flow of a viscous electroconductive medium with a magnetic field about solid bodies (see, for example, [3–5]). Because of this, some of the results obtained here include previously known results, which will be indicated below. In contrast to the cited studies, the examination is made by the method of force sources, suggested in [6]. This method permits obtaining integral equations for the distribution of the forces acting on the surface of the moving body. Their solution is obtained for small Reynolds and Hartmann numbers. Then the nature of the velocity disturbances at great distances from the body are determined. These results are compared with conventional viscous flow about a cylinder in the Oseen approximation.     

Hydromagnetic Stokes flow in a rotating fluid with suspended small particles

An initial value investigation is made of the motion of an incompressible, viscous conducting fluid with embedded small spherical particles bounded by an infinite rigid non-conducting plate. Both the plate and the fluid are in a state of solid body rotation with constant angular velocity about an axis normal to the plate. The flow is generated in the fluid-particle system due to non-torsional oscillations of a given frequency superimposed on the plate in the presence of a transverse magnetic field. The operational method is used to derive exact solutions for the fluid and the particle velocities, and the wall shear stress. The small and the large time behaviour of the solutions is discussed in some detail. The ultimate steady-state solutions and the structure of the associated boundary layers are determined with physical implications. It is shown that rotation and magnetic field affect the motion of the fluid relatively earlier than that of the particles when the time is small. The motion for large times is set up through inertial oscillations of frequency equal to twice the angular velocity of rotation. The ultimate boundary layers are established through inertial oscillations. The shear stress at the plate is calculated for all values of the frequency parameter. The small and large-time behaviour of the shear stress is discussed. The exact solutions for the velocity of fluid and the wall shear stress are evaluated numerically for the case of an impulsively moved plate. It is found that the drag and the lateral stress on the plate fluctuate during the non-equilibrium process of relaxation if the rotation is large. The present analysis is very general in the sense that many known results in various configurations are found to follow as special cases.     

Magnetic field effects on the nonlinear vibration of a rotor

The nonlinear vibration of a rotor operated in a magnetic field with geometric and inertia nonlinearity is investigated. An asymmetric magnetic flux density is generated,resulting in the production of a load on the rotor since the air-gap distribution between the rotor and the stator is not uniform. This electromagnetic load is a nonlinear function of the distance between the geometric centers of the rotor and the stator. The nonlinear equation of motion is obtained by the inclusion of the nonlinearity in the inertia, the curvature, and the electromagnetic load. After discretization of the governing partial differential equations by the Galerkin method, the multiple-scale perturbation method is used to derive the approximate solutions to the equations. In the numerical results, the effects of the electromagnetic parameter load, the damping coefficient, the amplitude of the initial displacement, the mass moment of inertia, and the rotation speed on the linear and nonlinear backward and forward frequencies are investigated. The results show that the magnetic field has significant effects on the nonlinear frequency of oscillation.     

Dynamics of a spherical particle near a flat liquid boundary under acoustic radiation forces

The effect of radiation forces on a spherical particle near a flat liquid boundary is studied. The force is established to depend on the density ratio, the distance to the boundary, and the acoustic field parameters. The motion of a spherical particle under the action of radiation forces is described Translated from Prikladnaya Mekhanika, Vol. 44, No. 11, pp. 30–41, November 2008.     

A Magnetoelastic Field in a Ferromagnetic Medium with a Spherical Cavity

The problem on the stress–strain state of an infinite isotropic body made of a magnetically soft material and containing a spherical cavity is considered. It is assumed that the body is under an external magnetic field. The basic characteristics of the stress–strain state and the magnetic field induced are determined and their singularities near the cavity are studied. Graphs are presented for the total magnitoelastic and Maxwell stresses as functions of the magnetic induction, the angle of dip, and the mechanical and magnetic properties of the material     

External stability of resonances in the motion of an asymmetric rigid body with a strong magnet in the geomagnetic field

We consider a precession motion, close to the classical Lagrange case, of an asymmetric rigid body with a strong magnet in an orbit in the geomagnetic field. For the principal moment we take the restoring torque due to the interaction between the planet magnetic fields and the rigid body. The perturbing actions are due to small moments of the rigid body mass-inertial asymmetry and small constant moments. We show that these perturbations result in the realization of secondary resonance effects in the rotational motion of the rigid body caused by the influence of resonance denominators in higher-order approximations of the averaging method. These effects were discovered in the study of rotational motion of a satellite with a magnetic damper in the nearly Euler case. In the present paper, we analyze both the secondary resonance effects themselves and the external stability of resonances. We obtain conditions ensuring a decrease in the angular velocity of the rigid body rotation about its center of mass. We also discover several new laws of influence of resonances on the nonresonance evolution of slow variables, which is related to the appearance of stable resonances.     

Control structure interaction in the nonlinear analysis of flexible mechanical systems

The effect of the control structure interaction on the feedforward control law as well as the dynamics of flexible mechanical systems is examined in this investigation. An inverse dynamics procedure is developed for the analysis of the dynamic motion of interconnected rigid and flexible bodies. This method is used to examine the effect of the elastic deformation on the driving forces in flexible mechanical systems. The driving forces are expressed in terms of the specified motion trajectories and the deformations of the elastic members. The system equations of motion are formulated using Lagrange's equation. A finite element discretization of the flexible bodies is used to define the deformation degrees of freedom. The algebraic constraint equations that describe the motion trajectories and joint constraints between adjacent bodies are adjoined to the system differential equations of motion using the vector of Lagrange multipliers. A unique displacement field is then identified by imposing an appropriate set of reference conditions. The effect of the nonlinear centrifugal and Coriolis forces that depend on the body displacements and velocities are taken into consideration. A direct numerical integration method coupled with a Newton-Raphson algorithm is used to solve the resulting nonlinear differential and algebraic equations of motion. The formulation obtained for the flexible mechanical system is compared with the rigid body dynamic formulation. The effect of the sampling time, number of vibration modes, the viscous damping, and the selection of the constrained modes are examined. The results presented in this numerical study demonstrate that the use of the driving forees obtained using the rigid body analysis can lead to a significant error when these forces are used as the feedforward control law for the flexible mechanical system. The analysis presented in this investigation differs significantly from previously published work in many ways. It includes the effect of the structural flexibility on the centrifugal and Coriolis forces, it accounts for all inertia nonlinearities resulting from the coupling between the rigid body and elastic displacements, it uses a precise definition of the equipollent systems of forces in flexible body dynamics, it demonstrates the use of general purpose multibody computer codes in the feedforward control of flexible mechanical systems, and it demonstrates numerically the effect of the selected set of constrained modes on the feedforward control law.     

可倾瓦径向滑动轴承支承的转子系统瞬态响应计算

研究了可倾瓦径向滑动轴承支承的转子系统瞬态响应的计算方法,提出了可倾瓦径向滑动轴承非线性滑膜力计算的数据库方法,将可倾瓦与轴颈的结构和运动参数归结到三个参数中,建立了起可倾瓦的非线性油膜力数据库,通过精确插值到每一运动参数组合下轴承提代的油力和轴瓦上所受的油膜力矩。     

A solar system model with dissipation

A problem of motion for an arbitrary number of planets is discussed with consideration of the forces of gravitational interaction according to the law of universal gravitation. The planets are assumed to be homogeneous viscoelastic spheres. In the process of motion, the planets are deformed and the dissipation of energy takes place due to internal viscous forces. On the basis of the motion separation method, an approximate system of equations is obtained to describe the motion of planet centers of mass and the variation of planet angular momenta with respect to the centers of mass. The equations of motion contain small conservative corrections to the law of universal gravitation and small dissipative forces whose influence causes a decrease of the total mechanical energy. The motion under consideration admits the following first integral: the law of angular momentum conservation for the system with respect to the centers of mass. When the system executes the steady motion corresponding to its rotation with a constant angular velocity as a rigid body, the dissipative forces do not perform work, since the deformed planets have no time-dependent deformations.     

Sliding a body on snow

Snow is considered as an ideal nonlinear elastoplastic medium. A body performs planeparallel motion on snow. The area of its contact with snow is a part of a rectangular plate. The contact zone changes during the motion of the body. Steady motions are found from the derived equations of motion in the case when the constant external forces and the moment exerted on the body are given. The inverse problem of determining the forces and moments is solved for a given steady motion of a vehicle.     

New control laws for stabilization of a rigid body motion using rotors system

This paper presents a new class of globally asymptotic stabilizing control laws for dynamics and kinematics attitude motion of a rotating rigid body. The rigid body motion is controlled with the help of a rotor system with internal friction. The Lyapunov technique is used to prove the global asymptotic properties of the stabilizing control laws. The obtained control laws are given as functions of the angular velocity, Cayley–Rodrigues and Modified-Rodrigues parameters. It is shown that linearity and nonlinearity of the control laws depend not only upon the Lyapunov function structure but also the rotors friction. Moreover, some of the results are compared with these obtained in the literature by other methods. Numerical simulation is introduced.     

Shading mechanism in the rotation of a plane rotor

The shading effect due to rotation in a free-molecular stream of rarefied gas is considered. The particle fluxes and the pressure and shear stresses acting on the rotor are found for arbitrary angular velocities. Estimates are obtained for the relative contribution of the shading effect to the drag and the damping moment of the rotor over the entire range of rotation velocities.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 1, pp. 186–189, January–February, 1989.