Mathematical foundation of a new complexity measure

For many continuous bio-medieal signals with both strong nonlinearity and non-stationarity, two criterions were proposed for their complexity estimation ： （1） Only a short data set is enough for robust estimation; （2） No over-coarse graining preproeessing, such as transferring the original signal into a binary time series, is needed. Co complexity measure proposed by us previously is one of such measures. However, it lacks the solid mathematical foundation and thus its use is limited. A modified version of this measure is proposed, and some important properties are proved rigorously. According to these properties, this measure can be considered as an index of randomness of time series in some senses, and thus also a quantitative index of complexity under the meaning of randomness finding complexity. Compared with other similar measures, this measure seems more suitable for estimating a large quantity of complexity measures for a given task, such as studying the dynamic variation of such measures in sliding windows of a long process, owing to its fast speed for estimation.     

Nonlinear aeroelastic behavior of an oscillating airfoil during stall-induced vibration

In this paper, nonlinear aeroelastic behavior of a two-dimensional symmetric rotor blade in the dynamic stall regime is investigated. Two different oscillation models have been considered here: pitching oscillation and flap–edgewise oscillation. Stall aeroelastic instability in such systems can potentially lead to structural damage. Hence it is an important design concern, especially for wind turbines and helicopter rotors, where such modes of oscillation are likely to take place. Most previous analyses of such dynamical systems are not exhaustive. System parameters like structural nonlinearity or initial conditions have not been studied which could play a significant role on the overall dynamics. In the present paper, a parametric study on the aeroelastic instability and the nonlinear dynamical behavior of the system has been performed. Emphasis is given on the effect of structural nonlinearity and initial conditions. The aerodynamic loads in the dynamic stall regime have been computed using the Onera model. The qualitative influence of the system parameters is different in the two systems studied. The effect of structural nonlinearity on the bifurcation pattern of the system response is significant in the case of pitching oscillation. The initial condition plays an important role on the aeroelastic stability as well as on the bifurcation pattern in both the systems. In the forced response study, interesting dynamical behavior, like period-3 response, has been observed in the pitching oscillation case. On the other hand, for the flap–edgewise oscillation case, super-harmonic and quasi-harmonic response have been found.     

Nonlinear model predictive control based on piecewise linear Hammerstein models

This paper develops a nonlinear model predictive control (MPC) algorithm for dynamic systems represented by piecewise linear (PWL) Hammerstein models. At each sampling instant, the predicted output trajectory is linearized online at an assumed input trajectory such that the control actions can be easily calculated by solving a quadratic programming optimization problem, and such linearization and optimization may be repeated a few times for good linear approximation accuracy. A three-step procedure is developed to linearize a PWL function, where the derivatives of a PWL function are obtained by a computationally efficient look-up table approach. Unlike many existing MPC algorithms for Hammerstein systems, it does not require the inversion of static nonlinearity and can directly cope with input constraints even in multivariable systems. Two benchmark chemical reactors are studied to illustrate the effectiveness of the proposed algorithm.     

An off-line NMPC strategy for continuous-time nonlinear systems using an extended modal series method

This paper presents a new off-line nonlinear model predictive control (NMPC) approach for continuous-time affine-input nonlinear systems. In this approach, the NMPC-related nonlinear two-point boundary value problem derived from the Pontryagin’s maximum principle is solved by the extended modal series method. The resulting suboptimal control law explicitly depends on the initial conditions and is updated by replacing the initial conditions with the new state measurements in future sampling instants. Therefore, there is no need to repeat the recursive online optimization process in each sampling instant. Since the applicability of NMPC is generally restricted by computational burden of the online optimization, we propose an NMPC scheme, which not only reduces the online computational burden significantly, but also can be applied to fast dynamic systems with short prediction horizons. An efficient algorithm is presented which approximates the order of the modal series such that feasibility of the optimization problem is guaranteed. Closed-loop stability of the proposed NMPC approach is shown using the off-line terminal region calculations suggested in quasi-infinite horizon NMPC scheme. The applicability and effectiveness of the proposed approach are illustrated by two numerical examples.     

考虑参数不确定性的非线性梁随机振动分析

非线性系统的随机振动分析一直是结构动力学领域中的难点,已有一些研究表明基于矩等效的线性化方法在功率谱预测上会得到不恰当的分析结果;另一方面,由于不确定性在实际工程中普遍存在,如果同时考虑非线性和不确定性,更是显著增加了问题难度。本文以具有非线性非理想边界梁为研究对象,基于梁模型的动力学微分方程推导了对应的广义频响函数,并应用Volterra级数理论建立了非线性系统随机振动的谱分析方法,最后,结合蒙特卡洛抽样方法计算了具有参数不确定性非线性梁响应功率谱的均值和方差,讨论了不确定性对结构随机振动响应统计特征的影响。     

Dynamic response of a single-mesh gear system with periodic mesh stiffness and backlash nonlinearity under uncertainty

Parametric uncertainties play a critical role in the response predictions of a gear system. However, accurately determining the effects of the uncertainty propagation in nonlinear time-varying models of gear systems is awkward and difficult. This paper improves the interval harmonic balance method (IHBM) to solve the dynamic problems of gear systems with backlash nonlinearity and time-varying mesh stiffness under uncertainties. To deal with the nonlinear problem including the fold points and uncertainties, the IHBM is improved by introducing the pseudo-arc length method in combination with the Chebyshev inclusion function. The proposed approach is demonstrated using a single-mesh gear system model, including the parametrically varying mesh stiffness and the gear backlash nonlinearity, excited by the transmission error. The results of the improved IHBM are compared with those obtained from the scanning method. Effects of parameter uncertainties on its dynamic behavior are also discussed in detail. From various numerical examples, it is shown that the results are consistent meanwhile the computational cost is significantly reduced. Furthermore, the proposed approach could be effectively applied for sensitivity analysis of the system response to parameter variations.     

基于代理模型的箭体连接结构极值响应分析与优化

螺栓法兰连接结构在航空航天等工程领域中广泛应用,其力学性能在不同工况和装配情况下十分复杂。由于拉压刚度差异,含连接结构的箭体动力学响应呈现明显的非线性特征。因此,考虑不同连接参数及工况下的连接非线性动力学响应,对结构优化设计有着重要意义。本文针对以双线性弹簧表征螺栓法兰连接非线性的箭体等效动力学模型,基于径向基函数(RBF)神经网络和响应面法分别建立其连接面处的极值响应代理模型,对比发现RBF神经网络模型在较高精度上可以实现对动响应极值的预测及分析;同时分析了不同载荷参数及刚度变化对连接结构动响应极值的影响;最后,利用RBF神经网络代理模型,开展了连接面加速度极值响应与螺栓弹簧力最小化为目标的连接结构参数优化。     

折叠翼飞行器的动力学建模与稳定控制

折叠翼飞行器在变形过程中,其动力学模型呈现多刚体、多自由度和强非线性特点,同时气动力/力矩、压心、质心和转动惯量等参数也会大幅度变化,严重影响飞行稳定性. 由此,本论文将对飞行器的多刚体动力学建模与变形稳定控制进行研究.基于凯恩方法建立了折叠翼飞行器的多刚体动力学模型,并从中得到了变形所产生的附加力和力矩表达式.通过气动计算拟合出气动参数与折叠角之间的函数关系,由此分析了不同折叠角速度下飞行器的纵向动态特性, 结果表明,折叠翼飞行器变形过程中速度、高度和俯仰角均会发生变化,飞行器无法保持稳定飞行.为此提出了一种基于自抗扰理论的飞行器变形过程中的稳定控制方法.将折叠翼飞行器纵向非线性动力学模型中存在的非线性项、耦合项以及参数时变项都视为系统内外总扰动,利用扩张状态观测器对总扰动进行实时估计和补偿, 针对补偿后的系统设计PD控制器,实现了速度通道和高度通道的解耦控制.通过Lyapunov稳定性原理证明了系统的稳定性, 并进行数学仿真验证. 仿真结果表明,基于自抗扰理论设计的稳定控制器能够解决飞行器变形所带来的强非线性和参数时变等问题,保证飞行器的高精度稳定控制.      

DYNAMIC MODELING AND STABILITY CONTROL OF FOLDING WING AIRCRAFT 1)

折叠翼飞行器在变形过程中,其动力学模型呈现多刚体、多自由度和强非线性特点,同时气动力/力矩、压心、质心和转动惯量等参数也会大幅度变化,严重影响飞行稳定性. 由此,本论文将对飞行器的多刚体动力学建模与变形稳定控制进行研究.基于凯恩方法建立了折叠翼飞行器的多刚体动力学模型,并从中得到了变形所产生的附加力和力矩表达式.通过气动计算拟合出气动参数与折叠角之间的函数关系,由此分析了不同折叠角速度下飞行器的纵向动态特性, 结果表明,折叠翼飞行器变形过程中速度、高度和俯仰角均会发生变化,飞行器无法保持稳定飞行.为此提出了一种基于自抗扰理论的飞行器变形过程中的稳定控制方法.将折叠翼飞行器纵向非线性动力学模型中存在的非线性项、耦合项以及参数时变项都视为系统内外总扰动,利用扩张状态观测器对总扰动进行实时估计和补偿, 针对补偿后的系统设计PD控制器,实现了速度通道和高度通道的解耦控制.通过Lyapunov稳定性原理证明了系统的稳定性, 并进行数学仿真验证. 仿真结果表明,基于自抗扰理论设计的稳定控制器能够解决飞行器变形所带来的强非线性和参数时变等问题,保证飞行器的高精度稳定控制.     

A new type of four-wing chaotic attractors in 3-D quadratic autonomous systems

In this paper, several smooth canonical 3-D continuous autonomous systems are proposed in terms of the coefficients of nonlinear terms. These systems are derived from the existing 3-D four-wing smooth continuous autonomous chaotic systems. These new systems are the simplest chaotic attractor systems which can exhibit four wings. They have the basic structure of the existing 3-D four-wing systems, which means they can be extended to the existing 3-D four-wing chaotic systems by adding some linear and/or quadratic terms. Two of these systems are analyzed. Although the two systems are similar to each other in structure, they are different in dynamics. One is sensitive to the initializations and sampling time, but another is not, which is shown by comparing Lyapunov exponents, bifurcation diagrams, and Poincaré maps.     

利用强夯模拟试验研究饱和砂土强夯动本构关系

饱和土是孔隙中充满水的松散介质, 在强夯冲击荷载作用下的变形是非线性变形, 因此, 饱和土强夯动本构关系有其特殊性。本文利用具有 90年代先进水平高精度、高灵敏度的MTS810土动三轴仪对强夯加固饱和土地基进行了全面、系统的模拟试验, 试验按模型比设计, 试验条件与实际土体工况符合, 通过多组不同条件的组合试验, 获得了大量强夯数据, 在此基础上结合强夯现场试验对强夯过程中各种变量的变化过程及其相互关系进行了分析研究, 推导出强夯冲击荷载作下饱和土的动本构关系, 对强夯作用下土体动本构关系问题作出了有益的探索。     

基于最大熵方法的水下航行体结构动力响应概率建模

水下航行体结构承受的水动力外载荷具有显著的时空分布不确定性,其引发的结构动力响应,诸如结构最大内力、最大内力发生时刻、最大内力发生位置等也由此产生了不确定性;同时,水下航行体的动力响应还会因其连接或分离结构的拉压刚度不同而出现非线性特征. 为了在水动力外载荷样本有限的基础上,分析水下航行体结构连接非线性对动力响应统计特性的影响, 利用水下航行体结构的简化动力学模型,计算了水动力横向载荷作用下响应的样本统计矩,采用最大熵方法实现了动力响应的概率建模. 在分别求出结构最大内力、最大内力发生时刻、最大内力发生位置的概率密度函数后,通过与蒙特卡洛模拟结果对比验证了最大熵方法拟合的响应概率密度函数精度;而后,基于这些结构响应概率密度曲线讨论了系统连接非线性参数变化对结构动力响应的影响. 最终得出如下结论:连接非线性会导致结构在只有横向力的作用时产生的轴力响应,并且最大轴力概率密度函数峰值会因连接结构非线性程度增大而逐渐增大;连接非线性对不确定性传播有显著影响,当连接非线性比较强时,输入正态分布的载荷所得到的内力响应不是正态分布的;最大内力响应的发生位置也会受到连接非线性程度的影响. 上述结果可以为结构优化提供技术支持.      

Response analysis of a pitch–plunge airfoil with structural and aerodynamic nonlinearities subjected to randomly fluctuating flows

This study focuses on numerically investigating the response dynamics of a pitch–plunge airfoil with structural nonlinearity under dynamic stall conditions. The aeroelastic responses are investigated for both deterministic and randomly time varying flow conditions. To that end, a pitch–plunge airfoil under dynamic stall condition is considered and the nonlinear aerodynamic loads are computed using a Leishman–Beddoes formulation. It is shown that the presence of structural nonlinearities can give rise to a variety of dynamical responses in the pre-flutter regime. Next, a response analysis under the presence of a randomly fluctuating wind is carried out. It is demonstrated that the route to flutter occurs via a regime of pre-flutter oscillations called intermittency. Finally, the manifestation of these stochastic responses is characterized by invoking stochastic bifurcation concepts. The route to flutter via intermittency is presented in terms of topological changes occurring in the joint-probability density function of the state variables.     

Three-dimensional non-axisymmetric behavior of a penny shaped crack in a piezoelectric strip subjected to in-plane loads

The behavior of a penny shaped crack in a three-dimensional piezoelectric ceramic strip under non-axisymmetric in-plane normal mechanical and electrical loads is analyzed based on the continuous electric boundary conditions of the crack surface. The potential theory, Hankel transform and Fourier series are used to obtain the systems of dual integral equations, which are then expressed as Fredholm integral equations. The singular mechanical and electric fields and all mode-I field intensity factors are obtained, and the numerical values of various field intensity factors for PZT-6B piezoelectric ceramic are shown graphically for an uniform load and a pair of concentrated load, respectively.     

Time and frequency domain nonlinear system characterization for mechanical fault identification

Mechanical systems are often nonlinear with nonlinear components and nonlinear connections, and mechanical damage frequently causes changes in the nonlinear characteristics of mechanical systems, e.g. loosening of bolts increases Coulomb friction nonlinearity. Consequently, methods which characterize the nonlinear behavior of mechanical systems are well-suited to detect such damage. This paper presents passive time and frequency domain methods that exploit the changes in the nonlinear behavior of a mechanical system to identify damage. In the time domain, fundamental mechanics models are used to generate restoring forces, which characterize the nonlinear nature of internal forces in system components under loading. The onset of nonlinear damage results in changes to the restoring forces, which can be used as indicators of damage. Analogously, in the frequency domain, transmissibility (output-only) versions of auto-regressive exogenous input (ARX) models are used to locate and characterize the degree to which faults change the nonlinear correlations present in the response data. First, it is shown that damage causes changes in the restoring force characteristics, which can be used to detect damage. Second, it is shown that damage also alters the nonlinear correlations in the data that can be used to locate and track the progress of damage. Both restoring forces and auto-regressive transmissibility methods utilize operational response data for damage identification. Mechanical faults in ground vehicle suspension systems, e.g. loosening of bolts, are identified using experimental data.     

结构动力可靠度的重要抽样法

重要抽样法是蒙特卡洛数值模拟方法中的一种重要的方差缩减技术,目前重要抽样法在工程结构可靠度计算中的应用主要集中于静力问题。本文分析了动力可靠度蒙特卡洛方法的特点,提出了在结构动力可靠度问题中应用重要抽样法的方法,并针对白噪声荷载,给出了选择重要抽样函数的方法和重要抽样函数的具体表达式。理论和数值分析表明,本文所提出的重要抽样法应用于结构动力可靠度计算是可行的。     

大转动曲边柱壳非线性3-D动力学建模及分析

对曲边柱壳受轴向非均匀内压作用下的大转动几何非线性3-D动力学行为进行了研究.基于Nayfeh and Pai[1]非线性壳体理论,给出了考虑几何非线性的3-D混合型（含内力与位移）动力学模型.为了克服该强非线性模型难以求解的问题,依据分析获得的结构静动态变形关系,采用Lagrange方程推导建立了基于结构静态解的曲边柱壳多自由度3-D动力学方程,并对其进行了线性化与降阶处理,结合差分法获得了一套高效的求解算法.与LS-DYNA有限元结果的吻合,验证了本文方法的正确性.最后分析了单元数和计算时间步分别对有限元模型和本文方法的影响,发现求解精度随着计算时间步的减小不断提高直至趋于稳定.同时对采用本文方法获得的曲边柱壳动态变形模式的分析表明:结构动态响应与其所受内压载荷沿轴向的分布形式关系紧密,可以通过改变或者设计内压轴向分布形式来影响以及控制结构的动态变形模式,从而应用于曲边柱壳结构设计及优化的工程实际中.     

Event-triggered robust adaptive control for uncertain nonlinear systems preceded by actuator dead-zone

It is both theoretically and practically important to investigate the problem of event-triggered adaptive tracking control for a class of uncertain nonlinear systems subject to actuator dead-zone, which aims at reducing communication rate and compensating actuator nonlinearity simultaneously. In this paper, to handle such a problem, an event-trigger based adaptive compensation scheme is proposed for the system preceded by actuator dead-zone. The challenges of this work can be roughly classified into two categories: how to compensate the nonsmooth dead-zone nonlinearity and how to eliminate the quantization signal effects caused by event-triggered strategy. To resolve the first challenge, a new decomposition of dead-zone mathematical model is employed so that dead-zone nonlinearity can be successively compensated by using robust approach. In addition, an adaptive controller and its triggering event are co-designed based on the relative threshold strategy, such that an asymptotic tracking performance can be ensured. The proposed scheme is proved to guarantee the globally bounded of all closed-loop signals and the asymptotic convergence performance of tracking error toward zero. The simulation results illustrate the effectiveness of our proposed control scheme.     

Dynamic response of micro-pillar sensors measuring fluctuating wall-shear-stress

We present in this paper test results of flexible micro-pillars and pillar arrays for wall shear stress measurements in flows with fluctuating wall shear stress such as unsteady separated flows or turbulent flows. Previous papers reported on the sensing principle and fabrication process. Static calibrations have shown this sensor to have a maximum nonlinearity of 1% over two orders of wall-shear-stress. For measurements in flows with fluctuating wall shear stress the dynamic response has been experimentally verified in an oscillating pipe flow and compared to a calculated response based on Stokes’ and Oseen’s solution for unsteady flow around a cylinder. The results demonstrate good agreement under the given boundary conditions of cylindrical micro-pillars and the limit of viscous Stokes-flow around the pillar. Depending on the fluid and pillar geometry, different response curves result ranging from a flat low-pass filtered response to a strong resonant behavior. Two different methods are developed to detect the frequency content and the directional wall shear stress information from image processing of large sensor films with arrays of micro-pillars of different geometry. Design rules are given to achieve the optimal conditions with respect to signal-to-noise ratio, sensitivity and bandwidth for measurements in turbulent flows.     

Identification of the nonlinear vibration characteristics in hydropower house using transfer entropy

The nonlinear behavior is the primary attribute of the dynamic system stability. In this study, the time-delayed transfer entropy method is proposed to identify the nonlinear dynamic behavior of hydropower house and civil construction, including the transport directionality of information, cracked damage location, and degree of dynamic nonlinearity. Differing from the objects investigated in currently available literature, large-scale civil engineering structures such as hydropower house are more complex and larger size, which stimulate the demand for special identification techniques. Due to the fact that nonlinearity of hydropower house can be induced by many types of interactions between structure and mechanism, a simple similarity model of a multistory building, including damaged contact nonlinearity is studied first following by a discussion of the method for identifying information transmission directionality of the linear or nonlinear structure. The method for identifying the source and degrees of structural nonlinearity vibration is described. Furthermore, the procedure for identification of nonlinearity dynamic behavior in the hydropower house structure based on transfer entropy is studied based on a prototype field experiment under various load cases. Rather than the traditional linear signal processing tools and identification methods, the advantage of this proposed method is to identify the nonlinearity dynamic characteristics of hydropower house structure. This study provides a valuable reference for identifying the damage-induced nonlinearities in civil engineering structures as well as studying the nonlinear dynamic characteristics of hydropower house.