Control of the rotational motion of the rigid body with the help of internal rotors using Rodrigues-Caley parameters

The purpose of this paper is to study the control of the rotational motion of the rigid body with the help of three rotors attached to the principal axes of the body. In such study the asymptotic stability of this motion is proved by using the Lyapunov technique. As a particular case of our problem, the equilibrium position of the rigid body, which occurs when the principal axes of inertia of the body coincide with the inertial axes, is proved to be asymptotically stable. The control moments that impose the stabilization of the rotational motion and equilibrium position are obtained.     

On the stability of an equilibrium position and rotational motion of a gyrostat

This article is devoted to study the compulsory stability of equilibrium position and rotational motion of a rigid body containing fluid with the help of three rotors carried on the body. The control moments on the rotors using that condition which impose the stabilization of equilibrium position of the rigid body and rotational motion are obtained.     

Steady-state rotational motions of a rigid body with a strong magnet in an alternating magnetic field in the presence of dissipation

We consider steady-state rotational motions of a satellite, i.e., a rigid body with a passive magnetic attitude control system consisting of a strong constant magnet and a set of magnetic hysteresis rods. We use asymptotic methods to show that in the absence of dissipation there exists a one-parameter family of steady-state rotations of the rigid body with the strong magnet and that this one-parameter family passes into an isolated solution if a model dissipation is introduced. The motion thus obtained was discovered when processing the telemetry data from the first Russian nano-satellite TNS-0 launched in 2005.     

On the evolution of rigid-body rotations

The perturbed rotational motion of a rigid body with a nearly Lagrangian mass distribution is studied. It is assumed that the angular velocity of the body is sufficiently high, its direction is close to the axis of dynamic symmetry of the body, and the perturbing moments are small in comparison with the gravity moment. A small parameter is introduced in a special manner and the acceleration method is used. Averaged systems of motion equations are obtained in first and second approximations. The evolution of the precession angle is determined in the second approximation. Odessa Academy of Cold, Ukraine. Translated from Priknadnaya Mekhanika, Vol. 35, No. 1, pp. 98–103, January, 1999.     

Numerical simulation of the hydrodynamic interaction between a sedimenting particle and a neutrally buoyant particle

A new method for the simulation of the translational and rotational motions of a system containing a sedimenting particle interacting with a neutrally buoyant particle has been developed. The method is based on coupling the quasi-static Stokes equations for the fluid with the rigid body equations of motion for the particles. The Stokes equations are solved at each time step with the boundary element method. The stresses are then integrated over the surface of each particle to determine the resultant forces and moments. These forces and moments are inserted into the rigid body equations of motion to determine the translational and rotational motions of the particles. Unlike many other simulation techniques, no restrictions are placed on the shape of the particles. Superparametric boundary elements are employed to achieve accurate geometric representations of the particles. The simulation method is able to predict the local fluid velocity, resolve the forces and moments exerted on the particles, and track the particle trajectories and orientations.     

Quasi-optimal deceleration of rotational motion of a dynamically symmetric rigid body in a resisting medium

We study the problem of quasi-optimal (with respect to the response time) deceleration of rotational motion of a free rigid body which experiences a small retarding torque generated by a linearly resisting medium. We assume that the undeformed body is dynamically symmetric and its mass is concentrated on the symmetry axis. A system of nonlinear differential equations describing the evolution of rotation of the rigid body is obtained and studied.     

Stability of a planar resonance satellite motion under spatial perturbations

The satellite motion relative to the center of mass in a central Newtonian gravitational field on an elliptic orbit is considered. The satellite is a rigid body whose linear dimensions are small compared with the orbit dimensions. We study a special case of planar motion in which the satellite rotates in the orbit plane and performs three revolutions in absolute space per two revolutions of the center of mass in the orbit. Perturbations are assumed to be arbitrary (they can be planar as well as spatial). In the parameter space of the problem, we obtain Lyapunov instability domains and domains of stability in the first approximation. In the latter, we construct third- and fourth-order resonance curves and perform nonlinear stability analysis of the motion on these curves. Stability was studied analytically for small eccentricity values and numerically for arbitrary eccentricity values.     

Whirling of a forced cantilevered beam with static deflection. I: Primary resonance

The response of a slender, clastic, cantilevered beam to a transverse, vertical, harmonic excitation is investigated. The effects of nonlinear curvature, nonlinear inertia, viscous damping and static load are included. Previous work often has neglected the static deflection caused by the weight of the beam, which adds quadratic terms in the governing equations of motion. Galerkin's method is used with three modes and approximate solutions of the temporal equations are obtained by the method of multiple scales. Primary resonance is treated here, and out-of-plane motion is possible in the first and second modes when the principal moments of inertia of the beam cross-section are approximately equal. In Parts II and III, secondary resonances and nonstationary passages through various resonances are considered.     

The Method of Averaging for Euler's Equations of Rigid Body Motion

We formulate the method of averaging for perturbations of Euler's equations of rotational motion. Euler's equations are three strongly nonlinear coupled differential equations that can be viewed as a three dimensional oscillator. The method of averaging is used to determine the long-term influence of perturbation terms on the motion by averaging about the nominal rigid body motion. The treatment is applicable to a large class of motions including precession with large nutation – it is not restricted to small motions about simple spins or nearly axi-symmetric bodies. Three examples are shown that demonstrate the accuracy of the method's predictions.     

A Generalized Formulation of Elastodynamics: Small on Rigid

The conventional theory of linearized elastodynamics addresses the case of motions that have small displacement gradients with respect to a reference configuration of the elastic body that is unstressed and at rest. Here, we develop a theory of much wider applicability in which the linearization is with respect to a reference configuration that is in rigid motion. More specifically, with an eye toward application of the theory to analysis of the motions of relatively inflexible machine parts, we view the motion as being composed of a rigid motion, which corresponds to the applied loads and initial conditions for the body under consideration, and an infinitesimal motion, in which the displacement from the rigid motion has a small gradient.     

Application of the integral manifold method to the analysis of the spatial motion of a rigid body fixed to a cable

We analyze the spatial motion of a rigid body fixed to a cable about its center of mass when the orbital cable system is unrolling. The analysis is based on the integral manifold method, which permits separating the rigid body motion into the slow and fast components. The motion of the rigid body is studied in the case of slow variations in the cable tension force and under the action of various disturbances.We estimate the influence of the static and dynamic asymmetry of the rigid body on its spatial motion about the cable fixation point. An example of the analysis of the rigid body motion when the orbital cable system is unrolling is given for a special program of variations in the cable tension force. The conditions of applicability of the integral manifold method are analyzed.     

Secondary flows in a rotating circular cylinder of incompressible conducting fluid as the result of the sudden turning-on of a transverse magnetic field

We study vortex flows in a rotating circular cylinder of incompressible fluid resulting from the sudden turning-on of a transverse magnetic field. The investigation is performed for the initial stage when secondary flow is determined mainly by Lorentz forces, and the effect of viscosity and the convective transport of vorticity by secondary flow is negligibly small. No restrictions are imposed on the magnetic Reynolds number R_m for the basic rotational motion; the number R_m' calculated from a typical secondary flow speed is assumed small.     

Critical states of thin-walled hyperbolic gyros elastically connected to a rotating platform

We analyze effects related to the origination of critical states of thin-walled rigid and elastic axisymmetric hyperbolic gyros (shells) elastically connected by the smaller base to a rotating carrier body. We consider the cases of simple and compound rotations of the body and show that, in the case of simple rotation, the specific features of origination of critical states of solid and elastic shells are determined by the ratio of their axial moments of inertia. In the case of compound rotation, the first frequency of precession resonance vibrations of elastic shells generated by the gyroscopic forces of inertia is independent of the elastic compliance of the body-shell joint.     

Estimate of strength of anisotropic bars of arbitrary cross-section in the general case of their combined stress

We consider bars of arbitrary shape made of a homogeneous anisotropic material. In the general case, all six internal force factors (three forces and three moments) are simultaneously nonzero in the transverse cross-sections of the bar. We consider the case of small displacements and strains of the bar. Using the rigid-plastic model of a strained rigid body, the associated strain law, and the traditional hypotheses of static and kinematic character for the bars, we derive parametric equations for the limit surface (the strength surface) in the space of internal forces and moments acting in the the transverse cross-section. We present several versions of the obtained equations in specific cases (for orthotropy, transversal isotropy, and isotropy) and some numerical examples.     

On the Self-Propelled Motion of a Rigid Body in a Viscous Liquid and on the Attainability of Steady Symmetric Self-Propelled Motions

In this paper we study the motion of a self-propelled rigid body through a Navier-Stokes fluid that fills all the three-dimensional space exterior to it. We formulate the problem and prove the existence of a weak solution that is defined globally in time, provided that the net flux across the boundary, of the prescribed boundary values for the velocity, is zero. It is these prescribed boundary values that propel the body, and the body is free to rotate during its motion. In the special case of a body which is symmetric about an axis, and propelled by symmetric boundary values, we obtain strong solutions representing translational motions in the direction of the axis. Further, we prove that for small Reynolds numbers every steady solution with such axial symmetry is attainable as the limit, as time tends to infinity, of a strong nonsteady solution which starts from rest.     

Dynamical models and the onset of chaos in space debris

The increasing threat raised by space debris led to the development of different mathematical models and approaches to investigate the dynamics of small particles orbiting around the Earth. The choice of such models and methods strongly depend on the altitude of the objects above Earth's surface, since the strength of the different forces acting on an Earth orbiting object (geopotential, atmospheric drag, lunar and solar attractions, solar radiation pressure, etc.) varies with the altitude of the debris.In this review, our focus is on presenting different analytical and numerical approaches employed in modern studies of the space debris problem. We start by considering a model including the geopotential, solar and lunar gravitational forces and the solar radiation pressure. We summarize the equations of motion using different formalisms: Cartesian coordinates, Hamiltonian formulation using Delaunay and epicyclic variables, Milankovitch elements. Some of these methods lead in a straightforward way to the analysis of resonant motions. In particular, we review results found recently about the dynamics near tesseral, secular and semi-secular resonances.As an application of the above methods, we proceed to analyze a timely subject, namely the possible causes for the onset of chaos in space debris dynamics. Precisely, we discuss the phenomenon of overlapping of resonances, the effect of a large area-to-mass ratio, the influence of lunisolar secular resonances.We conclude with a short discussion about the effect of the dissipation due to the atmospheric drag and we provide a list of minor effects, which could influence the dynamics of space debris.     

Dynamic analysis on generalized linear elastic body subjected to large scale rigid rotations

The dynamic analysis of a generalized linear elastic body undergoing large rigid rotations is investigated. The generalized linear elastic body is described in kine- matics through translational and rotational deformations, and a modified constitutive relation for the rotational deformation is proposed between the couple stress and the curvature tensor. Thus, the balance equations of momentum and moment are used for the motion equations of the body. The floating frame of reference formulation is applied to the elastic body that conducts rotations about a fixed axis. The motion-deformation coupled model is developed in which three types of inertia forces along with their incre- ments are elucidated. The finite element governing equations for the dynamic analysis of the elastic body under large rotations are subsequently formulated with the aid of the constrained variational principle. A penalty parameter is introduced, and the rotational angles at element nodes are treated as independent variables to meet the requirement of C1 continuity. The elastic body is discretized through the isoparametric element with 8 nodes and 48 degrees-of-freedom. As an example with an application of the motion- deformation coupled model, the dynamic analysis on a rotating cantilever with two spatial layouts relative to the rotational axis is numerically implemented. Dynamic frequencies of the rotating cantilever are presented at prescribed constant spin velocities. The maximal rigid rotational velocity is extended for ensuring the applicability of the linear model. A complete set of dynamical response of the rotating cantilever in the case of spin-up maneuver is examined, it is shown that, under the ultimate rigid rotational velocities less than the maximal rigid rotational velocity, the stress strength may exceed the material strength tolerance even though the displacement and rotational angle responses are both convergent. The influence of the cantilever layouts on their responses and the multiple displacement trajectories observed in the floating frame is simultaneously investigated. The motion-deformation coupled model is surely expected to be applicable for a broad range of practical applications.     

To the problem of plane periodic rotations of a satellite in an elliptic orbit

We study the motion of a satellite (a rigid body) with respect to its center of mass in an elliptic orbit of small eccentricity. We analyze the nonlinear problem of the existence and stability of periodic (in the orbital coordinate system) rotations of the satellite with a period multiple of the period of revolution of its center of mass in the orbit. We study the direct and reverse rotations. In particular, we find and investigate the set of bifurcation values of the satellite dimensionless inertial parameter near which the branching of the periodic reverse rotations occurs. We consider three specific examples of application of the obtained general theoretical conclusions. In one of these examples, we prove the stability of the direct resonance rotations of Mercurial type. In the other two examples, we consider the branching problem for reverse rotations with a period whose ratio to the period of motion of the center of mass in the orbit is equal to 1 or 2.     

Combined effects of rotation and translation on a MHD flow due to compressible viscous fluid

Summary The modification of an axi-symmetric viscous flow due to a relative rotation of a disk or fluid by a translation of the boundary are studied. The fluid is taken to be compressible and electrically conducting. The equations governing the motion are solved iteratively through a central-difference scheme. The effect of an axial magnetic field and disk temperature on the flow and heat transfer are included in the present analysis. The translation of the disk or fluid generates a velocity field at each plane parallel to the disk (secondary flow). The cartesian components of the velocity due to the secondary flow are oscillatory in nature when a rigid body rotation of the free stream along with a translation of the disk is considered. The magnetic field damps out the velocity field, and reduces the thickness of the boundary layer. The cross component of wall shear due to secondary flow acts in a direction opposite to the rotation of the disk or fluid for all cases of the motion. The rise in disk temperature produces an increment in the magnitude of the wall shear associated with the secondary flow.