Global mode method for dynamic modeling of a flexible-link flexible-joint manipulator with tip mass

In this paper, the global mode method (GMM) is proposed to obtain a reduced-order analytical dynamic model for a signal flexible-link flexible-joint (SFF) manipulator. Firstly, the nonlinear partial differential equations (PDE) that govern the motion of the flexible link and flexible joint, respectively, are derived by applying the Hamilton principle. By combining the linearized governing equations of motion for a flexible link and the equation of motion for the flexible joint, the characteristic equation is obtained for the whole system. The natural frequencies and global mode shapes of the linearized model of the SFF manipulator are determined, and orthogonality relations of the global mode shapes are established. Then, the global mode shapes and their orthogonality relations are used to truncate the nonlinear PDEs of the SFF manipulator to a nonlinear ordinary differential equation with a few degrees-of-freedom (DOF). For comparison, two other dynamic models of the SFF are derived by employing the assumed mode method (AMM) and finite element method (FEM). To verify the method proposed, the results from the GMM are compared with those obtained from the FEM. The effects of the link length and payload mass on the convergence of AMM model for the first two frequencies are investigated. Based on the dynamic models, obtained by GMM and AMM, dynamical responses for the system with different numbers of modes are worked out numerically, which are compared with those obtained from FEM. These comparisons show a good agreement between the results of the GMM and that of the FEM model, which indeed proved the accuracy and applicability of the GMM model.     

A new load-dependent Ritz vector method for structural dynamics analyses: quasi-static Ritz vectors

Existing load-dependent Ritz vector (LDRV) methods employ static recurrence procedures to generate the Ritz vectors. As such, these vector methods are best suited for low-frequency problems. For higher-frequency problems, the existing methods may engender large sets of Ritz vectors, which significantly reduces the methods’ efficiency. A new algorithm is presented for LDRV generation using a quasi-static recurrence procedure, denoted as the quasi-static Ritz vector (QSRV) method. A tuning parameter, designated as the centering frequency, controls the behavior of the QSRV approach, enabling the new method to improve upon existing LDRV methods for particular frequency ranges of interest. Compared with existing LDRV methods, the QSRV method is more efficient (in terms of the number of Ritz vectors), more accurate (in terms of response errors), and more stable (in terms of orthogonality). Numerical examples are provided to illustrate the accuracy, efficiency and generality of the proposed method.     

考虑空间效应的多支撑管线随机地震响应分析

提出了一种能考虑地震动空间变化效应的多支撑管线随机地震响应分析的解析方法.证明了多点地震作用下结构的平稳随机响应分析可转化为求解支座简谐运动时的确定性响应,直接给出了含有待定系数的简谐响应的形式,并通过边界条件和连续性条件建立待定系数的求解方程.与拟静位移分解法相比,该方法不用计算结构的振型以及拟静位移分量,完全是基于解析推导,因此在计算效率方面优势明显.数值算例中,采用该方法和拟静位移分解法计算了一个6跨管线在空间多点地震作用下的随机响应,对比验证了方法的正确性和高效性.     

The use of splitting of the equations of motion in the numerical solution of problems of the dynamics of elastic systems

Linear elastic systems with a finite number of degrees of freedom, the initial equations of motion of which are constructed using the finite element method or other discretization methods, are considered. Since, in applied dynamics problems, the motions are usually investigated in a frequency range with an upper bound, the degrees of freedom of the initial system of equations are split into dynamic and quasi-dynamic degrees. Finally, the initial system of equations is split into a small number of differential equations for the dynamic degrees of freedom and into a system of algebraic equations for determining the quasi-static displacements, represented in the form of a matrix series. The number of terms of the series taken into account depends on the accuracy required.     

弹性约束浅拱的非线性动力响应与分岔分析

浅拱采用竖向、转动方向弹性约束时,自振频率和模态与理想的铰支/固结边界存在差异,不同约束刚度将改变外激励下的非线性响应及各种分岔产生的参数域．由浅拱基本假定建立无量纲动力学方程, 采用在频率和模态中考虑约束刚度大小的方法,通过Galerkin全离散和多尺度摄动分析导出极坐标、直角坐标形式的平均方程, 其中方程系数与约束刚度一一对应．用数值方法分析了周期激励下竖向弹性约束系统最低两阶模态之间1∶2内共振时的动力行为, 所得结果与有限元的对比以及平均方程系数的收敛性证明了所采用方法是可行的．随着激励幅值、频率的变化存在若干分岔点,分岔发生时的参数分布与约束刚度值有关,在由分岔点连接的不稳定区或共振区附近,存在一系列稳态解、周期解、准周期解和混沌解窗口,且随参数的变化可观测到倍周期分岔．     

Vibration mode localization in two-dimensional systems with multiple substructural modes

Free vibration mode localization in randomly disordered weakly coupled two-dimensional cantilever-mesh-spring arrays, in which S substructural modes are considered for each cantilever, is studied in this paper. A method of regular perturbation is applied to determine the localization factors, which are defined in terms of the angles of orientation and characterize the average exponential rates of growth or decay of the amplitudes of vibration. Iterative formulations are derived to determine the amplitudes of vibration of the cantilevers. In the diagonal directions, a transfer matrix formulation is obtained. The localization behaviour of the system in the diagonal directions is similar to that of a one-dimensional cantilever-spring array with multiple substructural modes. Applicability of the single-substructural-mode and two-substructural-modes approximations is investigated.     

Dynamical modeling and attitude analysis for the spacecraft with lateral solar arrays

The dynamics and attitude motion of the three-axis stabilized spacecraft installed with lateral solar arrays is investigated in terms of the rigid-flexible coupled global modes of the system. The spacecraft consists of a rigid platform with small moment of inertia and two groups of flexible solar arrays with relatively large moment of inertia installed on the rigid rotation shafts. The rigid-flexible coupled dynamic model of the spacecraft is established by using the Hamiltonian Principle. The global mode method is employed to work out the natural frequency and global modal shapes of the rigid-flexible coupled dynamic model combined with corresponding boundary conditions. To validate the effectiveness of the analytical results obtained by global mode method, the natural frequencies and mode shapes obtained from finite element model using MSC.Patran software are used as a reference. A numerical example is given to show that the results obtained from both methods are matched very well (the relative errors of the corresponding frequencies are small enough) and the rigid motion of the platform is coupled with the vibration mode of the flexible solar arrays. This implies that the global analytical modes can be used to accurately describe the rigid-flexible coupled motion of the spacecraft. By comparing with the finite element model, the reduced dynamical model derived in terms of the global modes of the system has a lower dimension. Numerical simulations for the system with variations of parameters and dynamic responses analysis for different applied forces are performed to illustrate that, the characteristics of the model are affected by inner and external factors.     

On the determination of natural frequencies and mode shapes of cable-stayed bridges

An accurate analysis of the natural frequencies and mode shapes of a cable-stayed bridge is fundamental to the solution of its dynamic responses due to seismic, wind and traffic loads. In most previous studies, the stay cables have been modelled as single truss elements in conventional finite element analysis. This method is simple but it is inadequate for the accurate dynamic analysis of a cable-stayed bridge because it essentially precludes the transverse cable vibrations. This paper presents a comprehensive study of various modelling schemes for the dynamic analysis of cable-stayed bridges. The modelling schemes studied include the finite element method and the dynamic stiffness method. Both the mesh options of modelling each stay cable as a single truss element with an equivalent modulus and modelling each stay cable by a number of cable elements with the original modulus are studied. Their capability to account for transverse cable vibrations in the overall dynamic analysis as well as their accuracy and efficiency are investigated.     

具有动应力、位移和稳定性约束的离散变量桁架结构布局优化设计算法

给出了在动应力、动位移和动稳定约束下离散变量结构布局优化设计问题的数学模型,用“拟静力”算法,将具有动应力约束、动位移约束和动稳定约束的离散变量结构布局优化设计问题化为静应力、静位移和静稳定约束的优化问题,然后利用两级优化算法求解该模型．优化过程由两级组成,拓扑级优化和形状级优化．在每一级,都使用了综合算法,并且在搜索过程中都根据两类设计变量的相对差商值进行搜索．对包含稳定约束和不包含稳定约束的优化结果做了比较,结果显示稳定性约束对优化结果产生较大的影响．     

Numerical analysis of dynamic behavior of stream turbine blade group

This paper considers the stream turbine blade group as a rotationally periodic structure and the complex constraint method has been induced. The effect of the centrifugal force to dynamic vibration frequency has been considered by introducing a nonlinear large deformation equation. A method has been given to introduce the special constraint between the fin heaves of every blade during dynamic analysis.     

Outbound shipment mode considerations for integrated inventory and delivery lot-sizing decisions

We present a two-echelon dynamic lot-sizing model with two outbound delivery modes where one mode has a fixed set-up cost structure while the other has a container-based cost structure. Studying the optimality properties of the problem, we provide a polynomial solution algorithm based on a dynamic programming approach.     

Stabilization of the motions of mechanical systems in prescribed phase-space manifolds

A method for constructing a mathematical model of the dynamics of a mechanical system is proposed. An algorithm is constructed for determining the expressions for the control forces and the components of the constraint reactions. A modification is made to the dynamic equations which enables one to solve the problem of stabilizing the constraints and which ensures the required accuracy in the numerical solution of the corresponding system of differential-algebraic equations describing the constraints imposed on the system, its kinematics and dynamics. By virtue of well-known dynamic analogies, the proposed method can be used to investigate the dynamics of different physical systems. The problem of modelling the dynamics of an adaptive optical system with two degrees of freedom is considered.     

An analytical solution for free liquid sloshing in a finite-length horizontal cylindrical container filled to an arbitrary depth

A general series-type theoretical formulation based on the linearized potential theory, the method of separation of variables, and the translational addition theorem for cylindrical Bessel functions is developed to study three-dimensional natural sloshing in a partially filled horizontally-mounted circular cylindrical tank of finite span. Assuming time-harmonic variations, the potential solutions associated with the Symmetric/Antisymmetric (S/A) modes of free liquid surface oscillations are first analytically expanded as series of bounded spatial functions with unknown modal coefficients. The impenetrability conditions of the rigid end-plates along with the free surface dynamic/kinematic boundary condition are then imposed. The zero-normal-velocity requirement of the lateral tank boundary is subsequently applied by innovative use of Graf's translational addition theorem for modified cylindrical Bessel functions. After truncation, four independent sets of homogeneous algebraic equations are obtained that are then numerically worked out for the natural sloshing eigen-frequencies and free surface oscillation mode shapes. Extensive numerical data include the first thirty six longitudinal/transverse Antisymmetric/Symmetric (AA, SA, AS, SS) dimensionless sloshing frequencies, for a wide range of liquid fill depths and container span to radius ratios. Also, the influence of fill depth on the free surface oscillation mode shapes is addressed through selected 2D images. Comprehensive numerical simulations illustrate the strong effects of container length and liquid fill depth on the calculated sloshing frequencies. It is revealed that the frequency branches with the same transverse mode number form a cluster that progressively merge together amid the tank fill-depth limits as the tank span ratio increases. On the other hand, when the tank length substantially decreases, the number of “frequency cross-overs” between various frequency clusters at certain liquid fill depths considerably increases. Moreover, primary advantages of proposed methodology in comparison to other approximate/numerical methods are explicitly pointed out, convergence of solution is tested, and accuracy/reliability of the results is demonstrated by comparisons with available data.     

Selection of technology acquisition mode using the analytic network process

Selecting the appropriate acquisition mode for a required technology, is one of the critical strategic decisions in formulating a technology strategy. Although a number of factors were found to be influential in the choice of technology acquisition mode, it still remains a void in the literature how to make a strategic decision, based on a huge set of those factors with the help of a systematic approach. This study deals with the selection of technology acquisition mode as a multiple criteria decision making (MCDM) problem. The proposed solution to the problem in this study, is the analytic network process (ANP) approach. Since the ANP is a MCDM method that can accommodate interdependency among decision attributes, it is capable of providing priorities of alternatives with consideration of interrelationships among strategic factors. The 21 influential factors identified from the empirical studies are included as sub-criteria in the ANP model, and they are grouped into five criteria: capability, strategy, technology, market, and environment. The final decision can be made based on the resulting priorities of the alternative acquisition modes. The proposed approach is expected to effectively aid decision making on which mode is adopted for acquisition of required technologies. A case of a software company is presented for the illustration of the proposed approach.     

An adaptive-dynamic sliding mode controller for non-minimum phase systems

This paper presents a new algorithm for designing dynamic sliding-mode controllers. The proposed controller is based on dynamic sliding manifolds to circumvent the difficulties associated with the conventional sliding mode controllers in the face of non-minimum phase systems. Unlike previous works, a proper and easy to implement algorithm is presented for designing the dynamic sliding manifold which facilitates the design of the controller. The output tracking problem in nonlinear non-minimum phase systems with matched and unmatched disturbances and matched nonlinearities is addressed. Then, the performance of the dynamic sliding mode controller is significantly improved by combining the given dynamic sliding manifold with online parameter adaptation. Simulations results are presented to demonstrate the effectiveness of the proposed sliding mode controller in terms of performance, robustness and stability.     

Frequency veering and mode degeneration of a rectangular disc

In typical applications as ultrasonic welding horns, the oscillators are designed to be driven in the longitudinal mode. Modal interactions occur at critical aspect ratios, resulting in a poor uniformity of the output surface and assessing the geometry as critical. In this contribution, a method is presented for a simple rectangular disc how to eliminate the modal interaction and decouple the longitudinal mode from other modes. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Modelling and passive control of flexible guiding hoisting system with time-varying length

ABSTRACT

A coupled dynamic modelling of the flexible guiding hoisting system is established, which includes the transverse-longitudinal-coupled vibration and the rotational vibration. Substituting vibrational energy of the system into Hamilton principle and applying the dynamic constraint, a distributed parameter mathematical model of the multi-rope system is derived. It is governed by coupled partial differential equations and ordinary differential equations (PDEs-ODEs), where the dynamic constraint in the form of an unknown moving force is the only connection between the hoisting conveyance and the guiding ropes. Based on Galerkin method, the dynamic response of the system is validated by numerical calculation and ADAMS simulation. Besides, an absorber with artificial intelligence optimization is proposed to reduce system vibration. The simulation result has demonstrated that a hoisting conveyance resonance can be observed when the external disturbance frequency is close to the system natural frequencies. Moreover, a vibration absorber can effectively diminish the resonant peaks of the first three orders of the guiding rope.     

The analyses of dynamic response and reliability for failure-dependent stochastic micro-resonator with thermoelastic coupling effects

A crucial measure for the design of high-performance micro-resonators is to consider the randomness of structural parameters when analyzing the structural system reliability. In this work, the stochastic dynamic response analysis and subsequently, a dynamic reliability assessment of the random micro-resonators are originally presented, where the thermoelastic coupling effects are freshly incorporated in the models proposed. The dynamic characteristics equation of the deterministic micro-resonator is firstly established based on the finite element method. The random dynamic characteristics of the resonator are then solved by implementing the left and right eigenvectors and the block Lanczos algorithm, and the random temperature field and structural random dynamic stress are also tackled. Afterwards, the overall structural reliability is investigated with a comprehensive consideration of the strength failure and frequency resonance failure, in which the Copula function is used for describing the dynamic correlation between two failure modes. Finally, the feasibility and rationality of the method put forward are demonstrated via a practically motivated example.     

Analysis and Applications of Extended Kantorovich–Krylov Method

In our prior work, the two-dimensional bending and in-plane mode shape functions of isotropic rectangular plates were solved based on the extended Kantorovich–Krylov method. These plate modes were then applied to sandwich plate analysis using the assumed modes method. Numerical results has shown these two-dimensional plate modes improved our sandwich plate analysis. However, the rigorous mathematical convergence proof of the extended Kantorovich–Krylov method is lacking. In this article, we provide a rigorous mathematical convergence proof of the extended Kantorovich–Krylov method using the example of rectangular plate bending vibration, in which the governing equation is a biharmonic equation. The predictions of natural frequency and mode shape functions based on the extended Kantorovich–Krylov method were calculated and the results were numerically validated by other analyses. A similar convergence proof can be applied to other types of partial differential equations (PDEs) that govern vibration problems in engineering applications. Based on these results, the extended Kantorovich–Krylov method was proven to be a powerful tooi for the boundary value problems of partial differential equations in the structural vibrations.     

Influence of Finite Amplitude Disturbances on the Nonstationary Modes of a Compressible Boundary Layer Flow

A weakly nonlinear stability analysis is performed to search for the effects of compressibility on a mode of instability of the three-dimensional boundary layer flow due to a rotating disk. The motivation is to extend the stationary work of [ 1 ] (hereafter referred to as S90) to incorporate into the nonstationary mode so that it will be investigated whether the finite amplitude destabilization of the boundary layer is owing to this mode or the mode of S90. Therefore, the basic compressible flow obtained in the large Reynolds number limit is perturbed by disturbances that are nonlinear and also time dependent. In this connection, the effects of nonlinearity are explored allowing the finite amplitude growth of a disturbance close to the neutral location and thus, a finite amplitude equation governing the evolution of the nonlinear lower branch modes is obtained. The coefficients of this evolution equation clearly demonstrate that the nonlinearity is destabilizing for all the modes, the effect of which is higher for the nonstationary waves as compared to the stationary waves. Some modes particularly having positive frequency, regardless of the adiabatic or wall heating/cooling conditions, are always found to be unstable, which are apparently more important than those stationary modes determined in S90. The solution of the asymptotic amplitude equation reveals that compressibility as the local Mach number increases, has the influence of stabilization by requiring smaller initial amplitude of the disturbance for the laminar rotating disk boundary layer flow to become unstable. Apart from the already unstable positive frequency waves, perturbations with positive frequency are always seen to compete to lead the solution to unstable state before the negative frequency waves do. Also, cooling the surface of the disk will be apparently ineffective to suppress the instability mechanisms operating in this boundary layer flow.