The effects of Coulomb friction on the performance of centrifugal pendulum vibration absorbers

We investigate analytically and experimentally the effects of Coulomb friction on the performance of centrifugal pendulum vibration absorbers (CPVAs), which are used to reduce torsional vibrations in rotating machinery. The analysis is based on perturbation methods applied to the nonlinear equations of motion for a rotor subjected to an engine order applied torque and equipped with a circular path CPVA with viscous and Coulomb damping. The experimental work is based on quantifying parameters for the damping model using free vibration measurements with a viscous and Coulomb damping identification scheme that is enhanced to better handle measurement noise, and running tests for steady-state operation under a range of loading conditions. The level of Coulomb damping is varied by adjusting the friction of the absorber connection bearing. Good agreement is found between the analytical predictions and the experimental data. It is shown that the absorber sticks up to a level of excitation that allows it to release, after which the Coulomb damping acts in the expected manner, resulting in lowered response amplitudes. The results obtained are of general use in assessing absorber performance when dry friction is present in absorber suspensions.     

A comprehensive study on the behavior of a rigid block on an oscillating ground with friction,elastic and viscous forces

This paper investigates the behavior of a non-linear mechanical model where a block is driven by an oscillating ground through Coulomb friction, a linear viscous damper and a linear spring. The governing equation is solved analytically for different partial configurations: friction only, friction with viscous damping, friction with a linear restoring force, and for the complete model. Using dimensionless groups, the analysis of the block motion provides a comprehensive set of information on the motion regime (stick, stick-slip or permanent sliding), on the dominant energies or forces, on the resonance and on the amplification of the ground oscillation by the system. The limit between the stick-slip regime and the permanent slipping regime is found either analytically or numerically. It is also shown that there exists a set of parameters for which the friction force, the viscous dissipative force and the elastic restoring force are equal.     

Experimental analysis of the influence of damping on the resonance behavior of a spherical pendulum

This study describes the experimental and numerical dynamic analysis of a kinematically excited spherical pendulum. The stability of the response in the vertical plane was analyzed in the theoretically predicted auto-parametric resonance domain. Three different types of the resonance domain were investigated the properties of which depended significantly on the dynamic parameters of the pendulum and the excitation amplitude. A mathematical model was used to represent the nonlinear characteristics of the pendulum, which includes the asymmetrical damping. A special frame was developed to carry out the experiments, which contained the pendulum supported by the Cardan joint and two magnetic units attached to the supporting axes of rotation, and this was able to reproduce linear viscous damping for both of the principal response components. The stability analysis of the system was compared with the numerical solution of the governing equations and experimental observation. The most significant practical outcomes for designers are also summarized.     

Compact model and identification process for friction induced damping in a rotational joint with flawed surfaces

It is well known that bolted joints have significant influence on the dynamical behavior of assembled structures due to formation of damping. This paper focuses on damping caused by dry friction in a rotational joint. Friction can be either induced by micro-slipping or macro-slipping. This paper describes the design of a new experimental device intended to measure damping caused by friction and partial slip in rotational joints. An original method for measuring dissipated energy in rotational joints with plan-plan contact is proposed. This method is based on Lagrange formalism and allows to measure accurately forces and torques only with accelerometers. These techniques are available for very small displacements that occur in micro-slip and partial slip of surfaces in contact and are still available for large displacements (macro-slip). An analytical compact model based on the Greenwood model is studied. The experimental results and simulations used to quantify the dissipated energy in order to compute the damping ratio are presented and discussed.     

Dynamical behavior of a mobile system with two degrees of freedom near the resonance

The design of mobile robots that can move without wheels or legs is an important engineering and technological problem.Self-propelling mechanisms consisting of a body that has contact with a rough surface and moveable internal masses are considered.Mathematical models of such systems are presented in this paper.First,a model of a vibration driven robot that moves along a rough horizontal plane with isotropic dry friction is studied.It is shown that by changing the off-resonance frequency detuning in sign,one can control the direction of motion of the system.In addition,a locomotion system which moves in an environment with anisotropic viscous friction is considered.For all models,the method of averaging to obtain an algebraic equation for the steady-state"average"velocity of the system is used. Prototypes were constructed to compare the theoretical results with experimental ones.     

伴随变阻尼作用的干摩擦下的车辆系统非线性动力学分析

对分段线性阻尼和干摩擦共同作用下的车辆悬挂系统进行了非线性动力学分析研究，阐述了判定系统周期运动稳定性的理论方法；利用数值模拟方法分析了具有不同阻尼参数组合的系统对简谐激励的振动响应，并分析了由干摩擦引起的粘-滑振动行为．结果表明：提高摩擦力对抑制响应有利，但车辆系统在低速下运行时会出现复杂的粘-滑振动，轮轨之间产生较大的瞬时刚性冲击；而通过增加轮对与侧架的弹性悬挂可以有效减弱这种瞬时刚性冲击．     

Equivalent linearizations for practical hysteretic systems

Experimental testing of a friction damped base isolation system has indicated a need for a new model of friction damping and for an appropriate equivalent linearization technique. The model for the damping adopted is a combination of viscous damping, constant Coulomb friction and linear Coulomb friction.This model is incorporated into the equation of motion for a single-degree-of-freedom system and the exact solutions are given for free vibrations and for steady-state vibrations excited by a harmonic force. The exact solution is taken as a basis for an equivalent linearization technique that can be used in conjunction with conventional design spectra for a practical design of such a system.     

Stability and instability of controlled motions of a two-mass pendulum of variable length

The problem of parametric control of plane motions of a two-mass pendulum (swing) is considered. The swing model is a weightless rod with two lumped masses one of which is fixed on the rod and the other slides along it within bounded limits. The control is the distance from the suspension point to the moving point. The proposed control law of swing excitation and damping consists in continuously varying the pendulumsuspension length depending on the phase state. The stability of various controlled motions, including the motions near the upper and lower equilibria, is studied. The Lyapunov functions that prove the asymptotic stability and instability of the pendulum lower position in the respective cases of the pendulum damping and excitation are constructed for the proposed control law. The influence of the viscous friction forces on the pendulum stable motions and the onset of stagnation regions in the case of its excitation is analyzed. The theoretical results are confirmed by graphical representation of the numerical results.     

Non-linear Damping and Frequency Identification in a Progressively Damaged R.C. Element

This paper describes the non-linear identification of a progressively damaged reinforced concrete beam-column node. The aims are the detection and identification of the different sources of damping and their dependence from the damage level. To this end a specially formulated non-linear identification method is proposed, based on a time-varying polynomial approximation of the system dynamics, suitable for use in the presence of excitations of any form. A minimum condition imposed to the identified dissipated energy leads to the distinction of the linear viscous component from the other damping mechanisms. The estimated values obtained from the experimental tests show a significant influence of the damage level on the linear viscous damping coefficient. This suggests that, in a non-linear dynamic time-history analysis, the use of Rayleigh damping model with proportionality to the initial stiffness is basically in contrast with experimental evidence and more refined viscous damping models are needed for prediction purposes.     

Model of the UIC link suspension for freight wagons

Summary The paper presents a model of the UIC link suspension for freight wagons with emphasis on its longitudinal and lateral characteristics, which influence the lateral dynamics of the vehicle. The functioning of the suspension in the horizontal plane is realised by a number of technical (pivoted) pendulums composing linkages. The main feature of the joints of linkages is internal rolling/sliding in the presence of dry friction. The dissipation of energy by dry friction in the joints is the only source of damping, which influences the lateral dynamics of the vehicle. After detailed modelling of the technical pendulum, phenomenological models of the suspension are built, which reproduce the characteristics of the suspension using simple elements. A three-parameter model with one dry-friction slider and two linear springs reproduces the lateral characteristic of the suspension. A nine-parameter model with four dry-friction sliders and five springs reproduces the longitudinal characteristic. The models, using a method of non-smooth mechanics, may be directly implemented to vehicle/track dynamic simulations.Professor Hans True of TU Denmark for stressing the importance of the problem of the UIC suspension modelling for successful upgrading of freight wagons.     

Influence of spring dynamics and friction on a spring-actuated cam system

Summary  The paper investigates two important aspects, friction and spring motion, of the dynamics of a spring-actuated cam system. The characteristics of the friction on the camshaft are analyzed using the nonlinear pendulum experiment, while the parameters of the friction model are estimated using the optimization technique. The analysis reveals that the friction of the camshaft depends on stick–slip, Stribeck effect and viscous damping. Spring elements are found to have much influence on the dynamic characteristics. Hence, they are modeled as four-degrees-of-freedom lumped masses with equivalent springs. The lumped masses and equivalent springs are obtained to match the static stiffness and natural frequency of the actual spring. The appropriateness of the derived friction and spring model are verified by its application to a vacuum circuit-breaker mechanism of the cam-follower type. Received 23 March 2000; accepted for publication 21 November 2000     

Analytical investigation of an SDOF building structure equipped with a friction damper

The purpose of this study is to investigate analytically a single-degree-of-freedom (SDOF) building structure equipped with a friction damper for assessing its vibration control effect. Friction dampers are installed between stories to reduce inter-story displacements of building structures subjected to external loading. They are in general regarded to generate damping forces characterized by Coulomb damping, of which the directions are opposite to the inter-story velocities of building structures. Hence, the building structure model with friction dampers can be represented by a mass-spring-viscous-Coulomb damping system. The building response reduction as a result of damper installation can be provided by observing the damping ratio rather than the friction force contributed by the dampers. Since a large friction damper force is required to attenuate the response of the building due to strong excitation, friction force ratio is directly related to building response reduction, which is the friction force of the damper versus external force. Therefore, damping and friction force ratios are key parameters, playing a main role in selecting an optimal friction damper, which satisfies target response reduction. This study first identifies an SDOF building structure installed with a friction damper for free vibration with initial conditions. A?closed-form expression of normalized displacement is derived in terms of friction force ratio in the time domain. Peak and valley of displacements are also found and then the time when the structure stops is derived with recursive interval number. This study is extended to identify steady-state vibration of the structure by deriving closed-form solution in case of resonance in terms of friction force ratio. Then, the dissipated energy balance is identified for both free and steady-state vibrations. Finally, equivalent viscous damping ratios are derived by using friction force ratio based on dissipated energy balance equation. The derived equations in terms of viscous damping ratio and friction force ratio can provide insight to design a friction damper for reducing structural displacement under external loadings.     

On damping properties of a frictionless physical pendulum with a moving mass

The damping effects are generated in a frictionless oscillating physical pendulum by a continuous motion of an auxiliary mass. The main parameters affecting the damping properties of the pendulum-mass system are identified. In particular, the effective damping ratio for a cycle is introduced and derived in a closed form from the energy considerations and then independently from Mathieu's equation. It is shown that a continuous damping can be achieved if the mass motion is synchronized with the pendulum rotation. Otherwise the system becomes prone to ‘beating’ phenomenon. The results presented may be useful for design of active control strategy of autonomous systems with negligible passive damping.     

用地面模拟试验识别卫星太阳电池翼伸展运动的各种阻尼参数

本文利用Lagnrange方程建立了卫星太阳电池翼伸展运动的数学模型.这是一个包含摩擦阻尼、结构阻尼和空气阻尼参数的非线性微分方程组.在用气垫消除了重力影响但存在空气阻尼的地面环境中,对实尺太阳电池翼模型进行了伸展运动的模拟试验并用频闪摄影技术记录了运动的时间历程.再利用最小p乘优化方法识别出该系统的各个阻尼参数.通过对系统运动方程进行数值积分求得的太阳电池翼的伸展运动历程与实测值相当吻合.取空气阻尼等于零,得出了太阳电池翼在无空气阻尼的太空中的伸展运动规律.     

Analytical prediction of chaos in rotated Froude pendulum

A rotated Froude pendulum with Coulomb-type friction, viscous damping and external harmonic excitation is studied. Melinkov's technique is applied to predict a homoclinic bifurcation, assuming that the unperturbed system possesses either two or four homoclinic orbits. Chaotic behavior predicted by the applied analytical approach has been confirmed by numerical simulations.     

On the beneficial effect of rotor suspension anisotropy on viscous-dry hysteretic instability

The destabilizing influence of the internal friction on the supercritical rotor whirl can be efficiently counterbalanced by other external dissipative sources and/or anisotropic suspension systems. The theoretical approach may take the internal dissipation into consideration either by dry or viscous models. Nevertheless, several numerical results and a new perturbation technique of the averaging type prove that similar rotor motions and stability limits are achievable by both models, whence the linear viscous assumption appears preferable. Thus, the internal hysteretic force may be expressed by the product of an equivalent viscous coefficient and the rotor centre velocity relative to a reference frame rotating with the shaft end sections. After calculating the natural frequencies and the response to dynamic imbalances, the stability of the steady motion is checked by the Routh-Hurwitz criterion, focusing the analysis on the individual influence of several characteristic properties, like the gyro structure, the stiffness anisotropy of the supports and their asymmetry, and searching for the external damping level needed for stability. A?fairly interesting result is that the benefit of the suspension anisotropy is most effective for a symmetric rotor mounted at the shaft mid-span and decreases significantly on increasing the configuration asymmetry, even moderately. It is also observed how the stability may somehow be associated with the coupling between progressive and retrograde precession motions.     

On modelling and linear vibrations of arbitrarily sagged inclined cables in a quiescent viscous fluid

A theory of free linear vibrations of arbitrarily sagged inclined cables in a viscous fluid is presented in the framework of the heavy fluid loading concept. The static equilibrium shape of the cable is found by using the model of inextensible catenary and the validity ranges of this approximation are assessed. The dynamics of the viscous fluid is described by the linearised Navier–Stokes equations and their solution is pursued analytically by formulating the fluid field variables via potential functions. The vibration problem of a submerged cable is solved by Galerkin's method and the modal added mass and modal viscous damping coefficients are calculated. As a prerequisite for this analysis, the free vibrations of a cable in vacuum are addressed and a very good agreement with known results is observed. The physical interpretation of the dependence of modal added mass and modal damping coefficients on the ‘design variables’ for a fluid-loaded cable is given and the possible extensions of the suggested theory to capture weakly nonlinear effects are highlighted.     

Transient response of a ship to an abrupt flooding accounting for the momentum flux

Numerical non-linear time domain simulation method for damaged ship motions is presented. Floodwater motion modelling is based on the lumped mass method with a moving free surface. The ship and floodwater motions are fully coupled. The variation of the floodwater mass is accounted for. A model to account for the flooding ingress transporting the momentum is presented. The experiments of abrupt flooding have shown that the ship may experience the first large roll towards the undamaged side, especially when a large undivided compartment is flooded. The presented time domain model is validated against the experimental data on the roll damping of the flooded ship and transient flooding. Two different initial stability conditions and two different compartment layouts are studied. Viscous dissipation of the floodwater motions is modelled with an equivalent friction coefficient. The impact of the viscous damping is studied. Transient flooding tests show that the inflow momentum has to be accounted for when the undivided compartment is flooded. The simulation model is capable of capturing the impact of the inflooding jet and the first roll on the opposite side of the damage is reproduced.