Stability of the stationary motion of a spherical pendulum interacting with a string

The equation of motion of a spherical pendulum suspended at some point of a horizontal string is derived using a hybrid model of this mechanical system. The conditions for the asymptotic stability of the stationary motion of the spherical pendulum interacting with the elastic string are established     

Variational methods of solving dynamic problems for fluid-containing bodies

A variational approach to solving linear and nonlinear problems for a body with cavities partially filled with a perfect incompressible fluid is enunciated. The approach applies a nonclassical variational principle to describe the spatial motion of a finite fluid with a free surface and the classical variational principle, which is widely used in rigid body dynamics. These principles are used to formulate variational problems that are the basis of direct methods of solving nonlinear and linear dynamic problems for body-fluid systems. The approach allows us to derive an infinite system of nonlinear ordinary differential equations describing the joint motion of the rigid body and fluid and to develop an algorithm for determining the hydrodynamic coefficients. Linearized differential equations of motion of the mechanical system are presented and approximate methods are given to solve linear boundary-value problems and to determine the hydrodynamic coefficients.Translated from Prikladnaya Mekhanika, Vol. 40, No. 10, pp. 37–77, October 2004.The study was partially sponsored by the German Research Fund (der Deutsche Forschungsgemeinschaft), Grant 436 UKR113/33/0-3.     

A Variational Approach to Dynamics of Flexible Multibody Systems

Abstract

This paper presents a variational formulation of constrained dynamics of flexible multibody systems, using a vector-variational calculus approach. Body reference frames are used to define global position and orientation of individual bodies in the system, located and oriented by position of its origin and Euler parameters, respectively. Small strain linear elastic deformation of individual components, relative to their body reference frames, is defined by linear combinations of deformation modes that are induced by constraint reaction forces and normal modes of vibration. A library of kinematic couplings between flexible and/or rigid bodies is defined and analyzed. Variational equations of motion for multibody systems are obtained and reduced to mixed differential-algebraic equations of motion. A space structure that must deform during deployment is analyzed, to illustrate use of the methods developed     

Stability of the stationary motion of a double pendulum interacting with a string

The equation of in-plane vertical motion of a double pendulum suspended at some point of a horizontal elastic string is derived using a hybrid model of this mechanical system. The conditions for the asymptotic stability of the stationary motion of the pendulum interacting with the string are established     

Motion stability dynamics for spacecraft coupled with partially filled liquid container

This paper presents a canonical Hamiltonian model of liquid sloshing for the container coupled with spacecraft. Elliptical shape of rigid body is considered as spacecraft structure. Hamiltonian system is an important form of mechanical system. It mostly used to stabilize the potential shaping of dynamical system. Free surface movement of liquid inside the container is called sloshing. If there is uncontrolled resonance between the motion of tank and liquid-frequency inside the tank then such sloshing can be a reason of attitude disturbance or structural damage of spacecraft. Equivalent mechanical model of simple pendulum or mass attached with spring for sloshing is used by many researchers. Mass attached with spring is used as an equivalent model of sloshing to derive the mathematical equations in terms of Hamiltonian model. Analytical method of Lyapunov function with Casimir energy function is used to find the stability for spacecraft dynamics. Vertical axial rotation is taken as the major axial steady rotation for the moving rigid body.     

计及热应变的空间曲梁的刚-柔耦合动力学

研究带中心刚体的作大范围运动的空间曲梁的刚-柔耦合动力学.结合混合坐标法和绝对坐标法的特点,取与中心刚体大范围运动有关的变量和柔性梁各单元节点相对中心刚体连体基的位移和斜率作为广义坐标,建立了一种新的柔性梁的刚柔耦合模型.基于精确的应变和位移的关系式,根据Jourdian速度变分原理,建立了带中心刚体柔性曲梁的有限元离散的动力学方程.数值对比了空间曲梁系统和空间直梁系统的刚柔耦合动力学性质,用能量守恒规律验证了文中曲梁模型的合理性.在此基础上,在应变能中计及热应变,研究温度增高引起的曲梁的热膨胀对系统的动力学性态的影响.     

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.     

GENERALIZATION OF KIRCHHOFF KINETIC ANALOGY TO THIN ELASTIC SHELLS 1)

将弹性细杆的"Kirchhoff动力学比拟"方法推广到弹性薄壳,使弹性薄壳的变形在物理概念上和刚体的运动对应, 在数学表述上等同,从而可以用刚体动力学的理论和方法研究弹性薄壳的变形,为连续的弹性薄壳提供新的离散化方法. 在直法线假设下,在弹性中面上构筑空间正交轴系, 此轴系沿坐标线"运动"的角速度构成两自变量的弯扭度. 沿两个坐标线的弯扭度表达了弹性薄壳的变形和位形,证明了弯扭度之间以及弯扭度与中面切矢间的相容关系. 用Euler角和Lam$\acute{e}$系数表达了非完整约束和中面位形的微分方程,用弯扭度和Lam$\acute{e}$系数表达了应变和应力以及内力及其本构方程.导出了用分布内力集度表达的弹性薄壳在变形后位形上的平衡偏微分方程组,方程的形式与刚体动力学的Euler方程和弹性细杆的Kirchhoff方程具有相似性,实现了Kirchhoff动力学比拟对弹性薄壳的推广.总结了弹性薄壳静力学和刚体动力学以及弹性细杆静力学在概念上的比拟关系.最后给出了一个算例. 为研究弹性薄壳的变形和运动提供新的建模方法和研究思路.也可进一步推广到弹性薄壳动力学.     

Evolution of a heavy rigid body rotation under the action of unsteady restoring and perturbation torques

The paper develops an approximate solution to the system of Euler’s equations with additional perturbation term for dynamically symmetric rotating rigid body. The perturbed motions of a rigid body, close to Lagrange’s case, under the action of restoring and perturbation torques that are slowly varying in time are investigated. We describe an averaging procedure for slow variables of a rigid body perturbed motion, similar to Lagrange top. Conditions for the possibility of averaging the equations of motion with respect to the nutation phase angle are presented. The averaging technique reduces the system order from 6 to 3 and does not contain fast oscillations. An example of motion of the body using linearly dissipative torques is worked out to demonstrate the use of general equations. The numerical integration of the averaged system of equations is conducted of the body motion. The graphical presentations of the solutions are represented and discussed. A new class of rotations of a dynamically symmetric rigid body about a fixed point with account for a nonstationary perturbation torque, as well as for a restoring torque that slowly varies with time, is studied. The main objective of this paper is to extend the previous results for problem of the dynamic motion of a symmetric rigid body subjected to perturbation and restoring torques. The proposed averaging method is implemented to receive the averaging system of equations of motion. The graphical representations of the solutions are presented and discussed. The attained results are a generalization of our former works where µ and M_i are independent of the slow time τ and M_i depend on the slow time only.

     

Kirchhoff动力学比拟对弹性薄壳的推广

将弹性细杆的"Kirchhoff动力学比拟"方法推广到弹性薄壳,使弹性薄壳的变形在物理概念上和刚体的运动对应,在数学表述上等同,从而可以用刚体动力学的理论和方法研究弹性薄壳的变形,为连续的弹性薄壳提供新的离散化方法.在直法线假设下,在弹性中面上构筑空间正交轴系,此轴系沿坐标线"运动"的角速度构成两自变量的弯扭度.沿两个...     

Nonlinear dynamic analysis on rigid-flexible coupling system of an elastic beam

Previous work examined the effect of the attached stiffness matrix terms on stability of an elastic beam undergoing prescribed large overall motion. The aim of the present work is to extend the nonlinear formulations to an elastic beam with free large overall motion. Based on initial stress method, the nonlinear coupling equations of elastic beams are obtained with free large overall motion and the attached stiffness matrix is derived by solving sub-static formulation. The angular velocity and the tip deformation of the elastic pendulum are calculated. The analytical results show that the simulation results of the present model are tabled and coincide with the one-order approximate model. It is shown that the simulation results accord with energy conservation principle.     

Small oscillations of a liquid in a partitioned cylindrical vessel

The equations of motion of a rigid body whose cavity is partially filled with an ideal fluid have been obtained in works of Moiseev [1, 2, 3], Okhotsimskii [4], Narimanov [5], and Rabinovich [6]. All the equation coefficients have been calculated for a cavity in the form of a circular cylinder or two concentric cylinders.The problem of fluid motion in a partitioned cylindrical cavity was considered by Rabinovich [7]. It was also considered by Bauer [8], who analyzed the particular case of vessel motion in the plane of one of the partitions.In the following we consider the two-dimensional motion of a cylinder with radial and annular baffles, and a definition is given of the velocity potential in the case of arbitrary positioning of the radial baffles with respect to the motion plane. Formulas are obtained for determining the parameters of a mechanical analog of the wave oscillations, which consists of two mathematical pendulum subsystems.     

带孔隙损伤的弹性固体的广义变分原理

应用弹性微结构理论,建立了具广义力场带孔隙损伤线弹性固体的基本模型．应用变积方法,同时分别建立了带孔隙损伤弹性固体四类和两类变量的广义变分原理,这些变分原理对应着带孔隙损伤弹性固体微分方程和初值边值条件．应用弹性微结构理论,建立了带孔隙损伤的弹性Timoshenko 梁的基本方程,得到带孔隙损伤的弹性Timoshenko 梁两类变量的广义变分原理．这些广义变分原理为近似求解带孔隙损伤的弹性问题提供了有效途径．     

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.     

A New Case of an Integrable System with Dissipation on the Tangent Bundle of a Multidimensional Sphere

The equations of motion for a dynamically symmetric n-dimensional fixed rigid body-pendulum situated in a rioricoriservative force field are studied. The form of these equations is taken from the dynamics of real fixed rigid bodies placed in a homogeneous flow of an incident medium. The complete list of transcendental first integrals expressed in terms of finite combinations of elementary functions is found.     

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.     

On contact interaction between a moving massive body and a linear elastic half space

We study a class of problems involving the motion of a linear elastic body in frictional contact with a linear elastic half space. The dynamic effects considered are the inertial properties of the body regarded as rigid. We study only those regimes of contact interaction for which the slip velocity with the body taken as absolutely rigid and the time rate of change of the elastic displacements of points of the body and the half space that are on the contact surface are of the same order of magnitude. This work generalizes previous work on similar problems in that we simultaneously consider inertia forces of the body and the convective term in the slip-velocity due to the rigid-body velocity of the slider/indentor. Thus regimes of contact interaction investigated include rolling/sliding and shift-torsion type. We propose a variational formulation of the following two problems: (a) finite contact area and shift-torsion type of contact kinematics, (b) local contact area and general kinematics at the contact surface. Results for an elastic cylinder contacting an elastic half-plane are also given.     

Cases of Integrability of Three-Dimensional Dynamic Equations for a Solid

A dynamic model of the interaction of a rigid body with a jet flow of a resistant medium is considered. This model allows us to obtain three-dimensional analogs of plane dynamic solutions for a solid interacting with the medium and to reveal new cases where the equations are Jacobi integrable. In such cases, the integrals are expressed in terms of elementary functions. The classical problems of a spherical pendulum in a flow and three-dimensional motion of a body with a servoconstraint are shown to be integrable. Mechanical and topological analogs of these problems are found     

Features of how surface waves form in a cylinder made of a hard material and filled with a fluid

The properties of harmonic surface waves in an elastic cylinder made of a rigid material and filled with a fluid are studied. The problem is solved using the dynamic equations of elasticity and the equations of motion of a perfect compressible fluid. It is shown that two surface (Stoneley and Rayleigh) waves exist in this waveguide system. The first normal wave generates a Stoneley wave on the inner surface of the cylinder. If the material is rigid, no normal wave exists to transform into a Rayleigh wave. The Rayleigh wave on the outer surface forms on certain sections of different dispersion curves. The kinematic and energy characteristics of surface waves are analyzed. As the wave number increases, the phase velocities of all normal waves, except the first one, tend to the sonic velocity in the fluid from above __________ Translated from Prikladnaya Mekhanika, Vol. 43, No. 9, pp. 48–62, September 2007.