Influence of soil deformation on off-road heavy vehicle suspension vibration

Analyses of the dynamic behaviour of a heavy vehicle during off-road operation are conducted under steady state condition. Three different numerical quarter-vehicle models (single point contact model, rigid wheel contact model and deformable wheel contact model) are introduced, and the simulation results are compared in order to find the most appropriate vehicle model. During the longitudinal travel of the vehicle, arbitrary ground profile is an input of vertical excitation to the vehicle. When ground deformation is included in the numerical model, the deformation filters the vertical excitation to the vehicle while the level of excitation varies depending on the soil deformability. Bekker's non-linear pressure/sinkage relationship is applied in modelling the ground behaviour. The simulations are conducted in the time domain and various surface roughness and ground deformability are applied in the ground/vehicle interaction during a parameter study. The ground deformation under the wheel acts like a non-linear spring during the vehicle movement and influences the vehicle vibration. If a vehicle mainly operates on off-road condition with high ground deformability lower value of damping is required in order to minimise the vertical body acceleration.     

航天器与运载火箭耦合分析相关技术研究进展

本文以载荷分析为主要内容, 概述航天飞行器结构动力学研究的一些进展. 首先介绍航箭(航天器/运载火箭简称为航箭) 耦合系统载荷分析基本思想. 然后介绍以下3 个方面的载荷分析方法: (1) 采用基础激励理论初始载荷分析的近似方法; (2) 考虑航箭耦合影响的航天器/运载耦合系统分支模态综合法. 导出采用约束模态质量界面加速度的航天器载荷计算方法; 当仅考虑静定约束特殊情况时, 退化的方程与Chen 采用有限元法导出的方程相同. 给出新航天器载荷瞬态分析技术, 即一个以前的航天器/运载耦合系统载荷结果可以用来获得相同运载火箭发射一个新航天器结构的必要的载荷信息. (3) 考虑航箭耦合影响的航天器/运载耦合系统模态综合法. 包括: 固定界面模态综合法, 以及航天器/运载耦合的界面综合动态响应计算新方法. 最后, 介绍验证载荷分析技术. 简要讨论验证技术的重要性, 提出了采用试验与理论相结合的结构动态试验仿真技术,该方法包括了一套修正数学模型的新技术, 称之为子结构试验建模综合技术. 该方法已应用于复杂的结构建模. 在进行CZ-2E 运载火箭实尺模态试验之前, 用建议的模态试验仿真技术给出CZ-2E 模态参数的预示结果, 并与随后获得的实际模态试验结果相比, 两个结果彼此之间高度一致. 这个结果证明了模态试验仿真技术已成功地预示了CZ-2E 运载火箭的模态参数, 验证了建议的模态试验仿真技术的可靠性. 讨论了振动台振动试验仿真技术. 介绍了振动台振动试验仿真的几个关键技术. 包括: 有限元模型修正技术, 40 t 振动台系统台面控制仿真方法和D 卫星振动台振动试验仿真.      

金属连接导管振动疲劳极限测试方法研究

为确定滚压和焊接钛合金导管的振动疲劳极限寿命,采用HB5277-84规定的振动疲劳试验方法和失效准则。分别利用激光位移传感器和电阻应变片测定了试件的第一阶频率和规定加速度载荷激励下的试件悬臂端位移及试件根部的应变。试验发现：对于具有连接特性的试件在进行定频振动疲劳试验初期,试件第一阶响应频率快速下降,此时试件并未发生裸眼可见破坏和裂纹。为满足产品定寿要求,采用逐级增加试验载荷进行扫频振动试验,直至试件频率稳定以及根部应变和端部位移达到试验要求后,再进行正式定频振动疲劳试验,仍采用依据频率下降1%作为失效准则完成了所用规定试验。     

A Simple Closed-Loop Active Control of Electrodynamic Shakers by Acceleration Power Spectral Density for Environmental Vibration Tests

This work presents the main results of a simple closed-loop active control for an electrodynamic shaker in order to generate acceleration Power Spectral Densities (PSD) according to prescribed Standards used in environmental vibration tests. The main idea is to start generating acceleration pseudo-signals obeying the prescribed Power Spectral Density and then to acquire acceleration data from the electrodynamic shaker’s table behaviour. So the Power Spectral Density of the acquired acceleration is computed and compared with the required PSD and then the time-varying pseudo-acceleration is updated to reflect this corrected PSD. It was noticed that for piecewise narrow bands frequencies, the electrodynamic shaker acceleration behaves near linearly, both in frequency and voltage, for the input signals. A code in AgilentVee 7.5 software to acquire, send and process signals for the active control in a closed-loop scheme was developed. The used A/D D/A hardware was a single PC sound card with specific characteristics. The control could be accomplished sending and acquiring at the same time with a range of input/output of ±1.5 V with 16 bits of resolution, at 48 kHz and assistance of an external sound amplifier.     

CFRP索斜拉桥的结构动态测试研究与分析

为获知CFRP索斜拉桥的动力特性,推动CFRP索斜拉桥在我国的发展并积累经验,对国 内首座CFRP索斜拉桥分别进行了基于环境激励和锤击激励的结构动态特性测试研究,对不同 测试方案的试验结果进行了对比分析,结果表明脉动测试与锤击激励测试结果在对应的频率 值误差小、振型相似;环境激励测试法从测试的可行性、方便性及测试所得频率成分的组成 上较锤击激励测试法更为丰富.     

双稳态电磁式振动能量捕获器超谐波响应研究

超谐波响应是非线性振动系统在较大激励下表现的特性,在某种条件下双稳态振动能量捕获系统的超谐波响应可使系统产生优越的输出功率。本文将质量-非线性弹簧-阻尼系统与双稳态振动能量捕获器相结合,提出了附加非线性振子的双稳态电磁式振动能量捕获器,建立系统的力学模型及控制方程。采用两项式谐波平衡法,获得了双稳态系统在简谐激励下产生大幅运动的基谐波和超谐波响应的解析解,借助数值仿真分析了质量比和调频比对双稳态振动能量捕获器产生大幅运动的影响规律,获得了双稳态系统的结构参数的最佳配置范围,且当外部激励频率处于低频段时,系统发电主要表现为超谐波发电,随着激励频率的增大,振动发电系统主要呈现基谐波发电。上述研究,为双稳态能量捕获装置的理论研究提供了参考。     

Detection and description of non-linear phenomena in experimental modal analysis via linearity plots

Ground vibration tests (GVTs) on aircraft prototypes are mainly performed to experimentally identify the structural dynamic behaviour in terms of a modal model. This assumes a linear dynamic behaviour of the structure. However, in the practice of ground vibration testing it is often observed that structures do not behave in a perfectly linear manner. Non-linearities can be determined, for example, by free play in junctions, hydraulic systems in control surfaces, or friction. This paper compiles measured, typical, non-linear phenomena from various GVTs on large aircraft. The standard procedure in GVTs nowadays is the application of the Harmonic Balance method which linearizes the dynamic behaviour on the level of excitation. The procedure requires a harmonic excitation of the structure which is usually performed during phase resonance testing. The non-linear behaviour is investigated in terms of linearity plots in which the resonance frequency of a mode is plotted as a function of the excitation level. The experimental data is then compatible with all post-processing procedures for the measured results, e.g. updating of the finite element model or flutter calculations. This paper shows measured linearity plots for some typical non-linear phenomena. In the second part of the paper analytical linearity plots for different non-linear stiffness and damping models are considered in order to investigate whether the type of non-linearity can be identified from measured linearity plots. The analytical linearity plots are discussed with respect to their application limits. The analytical linearity plots are used to interpret the experimental linearity plots stemming from various GVTs on different aircraft prototypes. Finally, the observability of non-linear stiffness and non-linear damping characteristics via linearity plots is assessed.     

A parametrically excited pendulum with irrational nonlinearity

In this paper, we propose a parametrically excited pendulum with irrational nonlinearity which comprises a simple pendulum linked by a linear spring under base excitation. This parametric vibration system exhibits bistable state and discontinuous characteristics due to the geometry configuration. For small oscillations, this system can be described by Mathieu equation coupled with SD (Smooth and Discontinuous) oscillator whose dynamic response is examined analytically by using the averaging method in both smooth and discontinuous case. Numerical simulations are carried out to demonstrate the complicated dynamic behavior of multiple periodic motions and different types of chaotic motions.     

车轮多边形激励下高速列车制动界面摩擦学行为分析

高速列车车轮多边形磨耗是一种沿车轮周向的不均匀磨耗,是列车服役过程中常见的车轮失效现象,其产生的剧烈轮轨激励严重威胁车辆系统服役可靠性.制动系统作为保障高速列车服役安全的核心部件,其界面摩擦学行为直接受到轮轨激励的影响.为探究车轮多边形激励下的制动界面摩擦学行为,建立了刚柔耦合车辆动力学模型和制动系统热机耦合有限元模型,并分别通过线路试验和台架试验验证了模型的正确性.然后,提出一种考虑车轮多边形激励的制动界面摩擦学行为分析方法,能够真实地反映服役过程中制动界面摩擦学行为.基于此,研究了不同车辆运行速度下车轮多边形激励对制动系统动态接触、温度以及振动特性的影响规律.结果表明：车轮多边形磨耗导致系统接触面积、摩擦热、接触应力和振动等摩擦学行为更为复杂且剧烈.此外,系统接触面积标准差和振动加速度均方根值随速度的增加而增大.因此,车轮多边形磨耗对制动界面摩擦学行为具有不可忽略的影响.该研究成果可为制动系统界面摩擦学行为研究及结构优化设计提供有效方法与工程指导.     

Interference of vortex-induced vibration and transverse galloping for a rectangular cylinder

The phenomenon of interference between vortex-induced vibration (VIV) and galloping in the transverse degree of freedom was studied in the wind tunnel in the case of a spring-mounted slender rectangular cylinder with a side ratio of 1.5 having the short side perpendicular to the flow. The tests were carried out in a wide Scruton number range, starting from low values and increasing it in small steps by using eddy-current viscous dampers. This study helped understanding the dynamics of the interaction between the two excitation mechanisms and clearly highlighted the transition through four regimes of VIV-galloping interference. It was found that a high value of the mass-damping parameter is required to decouple the ranges of excitation of vortex-induced vibration and galloping completely, and for the quasi-steady theory to predict the galloping critical wind speed correctly. This conclusion is also relevant from the engineering point of view, as it means that structures and structural elements with ordinary mass-damping properties can exhibit sustained vibrations in flow speed ranges where no excitation is predicted by classical theories of vortex-induced vibration and galloping. Although most of the experimental tests were conducted in smooth flow at zero angle of attack, the paper also discusses the sensitivity of the results to a small variation of the mean flow incidence and to the presence of a low-intensity free-stream turbulence.     

An electric-power-saving hydraulic fatigue-testing machine

An hydraulic fatigue-testing machine combining a mechanical hydraulic pulsator and a closed-loop control system has been constructed as a trial. The dynamic capacities for load and stroke ranges are 1 MN superposed by a mean load ranging from 0 to 1 MN and 5 mm, respectively, over a frequency range from 3.3 to 10 Hz. The consumption of electric power and cooling water for this machine is about one third of the servo-controlled electro-hydraulic machine. The stability of this control system is 0.5 percent of the range. Some experimental results are presented to demonstrate the excellent stability of load during fatigue testing.     

Vibration-test evaluation of an ULLAGE solid-propellant rocket motor

The mission of the ULLAGE motor is to maintain a positive acceleration of the Saturn rocket during the period between burnout of the first stage and ignitiion of the second stage. The eight ULLAGE motors attached to the Saturn second stage are fired during separation from the first stage. They must withstand intense sound levels and vibrations transferred through the first stage and the interstage structures. Vibration tests were performed on an inert ULLAGE motor to safely educe the approximate response of the design configuration. The results served as a basis for improved definitions of the control parameters in subsequent vibration tests performed during the development program. The motor was tested while subjected to harmonic (sinusoidal) displacing excitation, as well as to a Gaussian distribution of random vibration. The transmissibilities and power spectral densities were obtained for forcing functionals in the longitudinal, radial and tangenital directions. Summaries of all the vibration tests were prepared and the critical frequencies were enumerated and discussed.     

A unified approach to aerodynamic damping and drag/lift instabilities,and its application to dry inclined cable galloping

Inclined cables of cable-stayed bridges often experience large amplitude vibrations. One of the potential excitation mechanisms is dry inclined cable galloping, which has been observed in wind tunnel tests but which has not previously been fully explained theoretically. In this paper, a general expression is derived for the quasi-steady aerodynamic damping (positive or negative) of a cylinder of arbitrary cross-section yawed/inclined to the flow, for small amplitude vibrations in any plane. The expression covers the special cases of conventional quasi-steady aerodynamic damping, Den Hartog galloping and the drag crisis, as well as dry inclined cable galloping. A nondimensional aerodynamic damping parameter governing this behaviour is proposed, which is a function of only the Reynolds number, the angle between the wind velocity and the cable axis, and the orientation of the vibration plane. Measured static force coefficients from wind tunnel tests have been used with the theoretical expression to predict values of this parameter. Two main areas of instability (i.e. negative aerodynamic damping) have been identified, both in the critical Reynolds number region, one of which was previously observed in separate wind tunnel tests on a dynamic cable model. The minimum values of structural damping required to prevent dry inclined cable galloping are defined, and other factors in the behaviour in practice are discussed.     

振动激发对高超声速气动力/热影响

随着飞行马赫数的不断提高,空气的高温气体效应越来越明显,对高超声速飞行器的气动力/热特性产生重要影响.高温气体效应对气动力/热的影响机理复杂,影响参数众多,迄今为止国内外尚未完全研究清楚.发生高温气体效应时,多个非线性物理过程耦合在一起,地面试验和数值模拟无法将这些过程解耦,无法给出关键物理机理.为了解决这一问题,文章提出一种理论分析与数值模拟相结合的两步渐进新方法:先通过牛顿迭代法得到发生振动激发过程的斜激波无黏解;再将该无黏解的结果作为边界条件,求解边界层的黏性解.利用该方法研究了振动激发过程对二维斜劈的气动力/热特性的影响规律.研究结果表明,振动激发过程对斜激波后的温度、密度、马赫数、雷诺数和斜激波角影响较大,而对压力和速度影响较小.斜激波波后的无黏流动与边界层流动是耦合在一起的.发生振动激发后,斜激波波后雷诺数的增大会导致边界层厚度减小,结合多个物理量的变化,如速度增大和温度减小,共同对边界层内的摩擦阻力和气动热产生影响.对比完全气体的结果发现,振动激发使壁面摩阻升高,而使壁面热流降低.分别通过影响激波层和边界层,振动激发对摩阻的影响是弱耦合的,而对热流的影响则是强耦合的.     

面内压电振动能量采集动力学设计与性能研究

压电振动能量采集将环境中普遍存在的机械能转换为电能,可以实现自供能传感、控制与驱动,具备灵活、节能环保、可持续的优势,具有广阔的应用前景。为了促进压电振动能量采集器件的集成与融合,提出面内压电振动能量采集,将压电振动能量采集器进行扁平化设计,使其在二维平面内采集振动能量,在保证较大功率输出下能够显著减小器件所需三维空间。为了提高输出功率与工作频宽,设计了具有双稳态与力放大机制的面内压电振动能量采集器。考虑弯张小变形,通过能量法建立了面内压电振动能量采集器的机电耦合动力学模型。分析了关键设计参数对面内压电振动能量采集器性能的影响。数值仿真了面内压电振动能量采集器在简谐激励下的俘能性能,结果表明,通过合理的设计,面内压电振动能量采集器可以低频、宽频弱激励下有效俘获能量。面内压电振动能量采集设计方法有利于推动便携式、可穿戴式自供能等方面的应用和产业化。     

Terrain classification using ToF sensors for the enhancement of agricultural machinery traversability

Ground properties influence various aspects of mobile machinery navigation including localization, mobility status or task execution. Excessive slipping, skidding or trapping situations can compromise the vehicle itself or other elements in the workspace. Thus, detecting the soil surface characteristics is an important issue for performing different activities in an efficient, safe and satisfactory manner. In agricultural applications, this point is specially important since activities such as seeding, fertilizing, or ploughing are carried on within off-road landscapes which contain a diversity of terrains that modify the navigation behaviour of the vehicle. Thus, the machinery requires a cognitive capability to understand the surrounding terrain type or its characteristics in order to take the proper guidance or control actions. This work is focused on the soil surface classification by implementing a visual system capable to distinguish between five usual types of off-road terrains. Computer vision and machine learning techniques are applied to characterize the texture and color of images acquired with a Microsoft Kinect V2 sensor. In a first stage, development tests showed that only infra-red and RGB streams are useful to obtain satisfactory accuracy rates (above 90%). The second stage included field trials with the sensor mounted on a mobile robot driving through various agricultural landscapes. These scenarios did not present illumination restrictions nor ideal driving roads; hence, conditions can resemble real agricultural operations. In such circumstances, the proposed approach showed robustness and reliability, obtaining an average of 85.20% of successful classifications when tested along 17 trials within agricultural landscapes.     

气相反应介质中添加铝粉后的微观机理研究

利用ＯＭＡ谱仪及三台单色谱仪研究了爆炸激波管中铝粉在氢氧爆轰激励下快速反应的发射谱及辐射特性。研究发现:铝粉氧化反应主要机理是铝粉和氧反应；铝粉和水的反应是次要的。铝粉颗粒变细可以明显增强ＡｌＯ辐射强度，加快铝反应速率。利用我们研制的分光技术测量ＡｌＯ的三条振动谱线强度，确定了ＡｌＯ激发温度。测量表明:随着铝粉颗粒变细，ＡｌＯ激发温度明显提高。利用连续辐射谱确定的辐射温度同样说明添加铝粉可以提高反应温度。     

Study of the Damping Mechanisms of Loose Spring Skirts on Vibrating Pipes

Damping of the loose spring skirt (LSS) of a vibrating pipe under operating conditions was studied experimentally and numerically. Motion images made using a high speed charge-coupled device (CCD) camera as well as acceleration signals were analyzed in order to correlate the physical states of the LSS pipe system with the vibration transmissibility (TM) through the pipe. Experiments on the pipe undergoing harmonic excitation demonstrate that the damping of the LSS is caused by the same mechanism as with a conventional impact damper. Measurements of the acceleration TM as a function of excitation amplitude verified that the momentum exchange between the pipe and the auxiliary spring is the cause of the damping produced by the LSS pipe. Another finding of this research is that the experimental representation of the resonance shift phenomenon is related to two main operating conditions, namely: 1) the driving frequency and 2) the excitation amplitude. This research demonstrated the occurrence of the resonance shift phenomenon through experimental mapping of the system response at increasing excitation amplitudes using frequency sweep tests. Simulations of the LSS pipe system based on principal coordinate and impact damping analysis were performed in order to investigate and provide better explanations for LSS pipe system damping mechanisms. As a result of this research study, a new damping mechanism is proposed which is different from previous damping models. This research study has also addressed more practical boundary and excitation conditions for LSS pipe systems.     

Some observations on two piecewise-linear dynamic systems with induced hysteretic damping

Significant hysteretic damping can be introduced into dynamical systems for vibration control purpose by means of semi-active control implementation. The dynamic behavior of two such models with a single-degree-of-freedom are examined in this paper. Control performance is found to be not only dependent on the stiffness ratio between the primary spring and auxiliary spring, but also on the forcing frequency of the harmonic excitation. Some problems associated with the equivalent linearization of these types of dynamical systems are also discussed.     

A kind of nonlinear oscillations of single degree of non-autonomy system

In this paper we use the method of derivative expansion of multiple scales of singularperturbations and we have solve the forced vibration equation of a particle attached to anonlinear spring under the influence of slight viscous damping.The problem is of the fourthorder nonlinearity.Tle four cases discussed are: the soft excitation of non-resonance,thehard excitation of non-resonance,the soft excitation of resonance,the hard excitation ofresonance.