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Computation and investigation of mode characteristics in nonlinear system with tuned/mistuned contact

Houxin SHE, Chaofeng LI, Qiansheng TANG, Hui MA, Bangchun WEN

《机械工程前沿（英文）》 2020年第15卷第1期页码 133-150 doi: 10.1007/s11465-019-0557-7

摘要： This study derived a novel computation algorithm for a mechanical system with multiple friction contact interfaces that is well-suited to the investigation of nonlinear mode characteristic of a coupling system. The procedure uses the incremental harmonic balance method to obtain the nonlinear parameters of the contact interface. Thereafter, the computed nonlinear parameters are applied to rebuild the matrices of the coupling system, which can be easily solved to calculate the nonlinear mode characteristics by standard iterative solvers. Lastly, the derived method is applied to a cycle symmetry system, which represents a shaft–disk–blade system subjected to dry friction. Moreover, this study analyzed the effects of the tuned and mistuned contact features on the nonlinear mode characteristics. Numerical results prove that the proposed method is particularly suitable for the study of nonlinear characteristics in such nonlinear systems.

关键词： coupling vibration nonlinear mode original algorithm contact interface

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Variational mode decomposition based modal parameter identification in civil engineering

Mingjie ZHANG, Fuyou XU

《结构与土木工程前沿（英文）》 2019年第13卷第5期页码 1082-1094 doi: 10.1007/s11709-019-0537-3

摘要： An out-put only modal parameter identification method based on variational mode decomposition (VMD) is developed for civil structure identifications. The recently developed VMD technique is utilized to decompose the free decay response (FDR) of a structure into to modal responses. A novel procedure is developed to calculate the instantaneous modal frequencies and instantaneous modal damping ratios. The proposed identification method can straightforwardly extract the mode shape vectors using the modal responses extracted from the FDRs at all available sensors on the structure. A series of numerical and experimental case studies are conducted to demonstrate the efficiency and highlight the superiority of the proposed method in modal parameter identification using both free vibration and ambient vibration data. The results of the present method are compared with those of the empirical mode decomposition-based method, and the superiorities of the present method are verified. The proposed method is proved to be efficient and accurate in modal parameter identification for both linear and nonlinear civil structures, including structures with closely spaced modes, sudden modal parameter variation, and amplitude-dependent modal parameters, etc.

关键词： modal parameter identification variational mode decomposition civil structure nonlinear system closely spaced modes

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非线性系统的高增益滑模输出跟踪

王新华,陈增强,袁著祉

《中国工程科学》 2004年第6卷第2期页码 38-43

摘要：

基于非线性系统线性化后得到外部动态与内模动态，设计一种线性化观测器，使得当摄动参数在有限范围内任意取值时，观测器误差渐近为零。并且利用在有限时间到达平衡点的连续滑动模态，设计一种连续形式的高增益滑模控制器，使得实际输出与参考输出的差渐近收敛到零。稳定性分析和仿真试验表明，该控制系统具有较强的鲁棒性和快速收敛性。

关键词：非线性系统外部动态内模动态滑模控制鲁棒性

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

《机械工程前沿（英文）》 2007年第2卷第1期页码 110-115 doi: 10.1007/s11465-007-0019-5

摘要： A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词： lower-dimensional nonlinear trajectory tracking diffeomorphism

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一类非仿射离散非线性系统的直接自适应模糊滑模控制 Article

Xiao-yu ZHANG

《信息与电子工程前沿（英文）》 2016年第17卷第12期页码 1331-1343 doi: 10.1631/FITEE.1500318

摘要：针对非仿射离散非线性系统的带干扰轨迹跟踪问题，提出一种直接自适应模糊滑模控制设计。为了获得自适应特性及消除滑模控制抖振，通过使用一个动态模糊逻辑系统（Dynamic fuzzy logical system, DFLS）实现等价控制。DFLS的参数实行在线自调节。用Lyapunov分析方法验证了滑模控制的稳定性，结果表明，整个系统渐近稳定且具备自适应、消除抖振的特点。通过数值仿真和一个2自由度机械臂的应用设计仿真证明了所提出设计的良好性能。

关键词：非线性系统；离散系统；动态模糊逻辑系统；直接自适应；滑模控制

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New nonlinear stiffness actuator with predefined torque‒deflection profile

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0721-3

摘要： A nonlinear stiffness actuator (NSA) could achieve high torque/force resolution in low stiffness range and high bandwidth in high stiffness range, both of which are beneficial for physical interaction between a robot and the environment. Currently, most of NSAs are complex and hardly used for engineering. In this paper, oriented to engineering applications, a new simple NSA was proposed, mainly including leaf springs and especially designed cams, which could perform a predefined relationship between torque and deflection. The new NSA has a compact structure, and it is lightweight, both of which are also beneficial for its practical application. An analytical methodology that maps the predefined relationship between torque and deflection to the profile of the cam was developed. The optimal parameters of the structure were given by analyzing the weight of the NSA and the mechanic characteristic of the leaf spring. Though sliding friction force is inevitable because no rollers were used in the cam-based mechanism, the sliding displacement between the cam and the leaf spring is very small, and consumption of sliding friction force is very low. Simulations of different torque‒deflection profiles were carried out to verify the accuracy and applicability of performing predefined torque‒deflection profiles. Three kinds of prototype experiments, including verification experiment of the predefined torque‒deflection profile, torque tracking experiment, and position tracking experiment under different loads, were conducted. The results prove the accuracy of performing the predefined torque‒deflection profile, the tracking performance, and the interactive performance of the new NSA.

关键词： compliant actuator nonlinear stiffness actuator nonlinear spring predefined torque−deflection profile

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Mean wind load induced incompatibility in nonlinear aeroelastic simulations of bridge spans

Zhitian ZHANG

《结构与土木工程前沿（英文）》 2019年第13卷第3期页码 605-617 doi: 10.1007/s11709-018-0499-x

摘要： Mean wind response induced incompatibility and nonlinearity in bridge aerodynamics is discussed, where the mean wind and aeroelastic loads are applied simultaneously in time domain. A kind of incompatibility is found during the simultaneous simulation of the mean wind and aeroelastic loads, which leads to incorrect mean wind structural responses. It is found that the mathematic expectations (or limiting characteristics) of the aeroelastic models are fundamental to this kind of incompatibility. In this paper, two aeroelastic models are presented and discussed, one of indicial-function-denoted (IF-denoted) and another of rational-function-denoted (RF-denoted). It is shown that, in cases of low wind speeds, the IF-denoted model reflects correctly the mean wind load properties, and results in correct mean structural responses; in contrast, the RF-denoted model leads to incorrect mean responses due to its nonphysical mean properties. At very high wind speeds, however, even the IF-denoted model can lead to significant deviation from the correct response due to steady aerodynamic nonlinearity. To solve the incompatibility at high wind speeds, a methodology of subtraction of pseudo-steady effects from the aeroelastic model is put forward in this work. Finally, with the method presented, aeroelastic nonlinearity resulted from the mean wind response is investigated at both moderate and high wind speeds.

关键词： bridge aerodynamics nonlinear aeroelastic model Pseudo-steady mean wind loads

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General expression for linear and nonlinear time series models

Ren HUANG, Feiyun XU, Ruwen CHEN

《机械工程前沿（英文）》 2009年第4卷第1期页码 15-24 doi: 10.1007/s11465-009-0015-z

摘要： The typical time series models such as ARMA, AR, and MA are founded on the normality and stationarity of a system and expressed by a linear difference equation; therefore, they are strictly limited to the linear system. However, some nonlinear factors are within the practical system; thus, it is difficult to fit the model for real systems with the above models. This paper proposes a general expression for linear and nonlinear auto-regressive time series models (GNAR). With the gradient optimization method and modified AIC information criteria integrated with the prediction error, the parameter estimation and order determination are achieved. The model simulation and experiments show that the GNAR model can accurately approximate to the dynamic characteristics of the most nonlinear models applied in academics and engineering. The modeling and prediction accuracy of the GNAR model is superior to the classical time series models. The proposed GNAR model is flexible and effective.

关键词： linear and nonlinear autoregressive model system identification time series analysis

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Evaluation of transmissibility for a class of nonlinear passive vibration isolators

Z. K. PENG, Z. Q. LANG, G. MENG

《机械工程前沿（英文）》 2012年第7卷第4期页码 401-409 doi: 10.1007/s11465-012-0349-9

摘要：

In this study, the concept of Output Frequency Response Functions (OFRFs) is applied to represent the transmissibility of nonlinear isolators in frequency domain. With the OFRFs estimated from numerical simulation responses, an explicit analytical relationship between the transmissibility and the nonlinear characteristic parameters is derived for a wide class of nonlinear isolators that have nonlinear anti-symmetric damping characteristics and a comprehensive pattern about how the nonlinear damping characteristic parameters might affect the force and displacement transmissibility is built for the vibration isolators. The results reveal that it is reasonable to analyze the force and displacement transmissibility of the nonlinear isolators by simply investigating the fundamental harmonic components of the force and displacement outputs of the nonlinear isolators, and the introduction of a nonlinear anti-symmetric damping into vibration isolators can significantly suppress both the force and displacement transmissibility over the resonant frequency region, but has almost no effect on the transmissibility at non-resonant regions. These conclusions are of significant importance in the analysis and design of the nonlinear vibration isolators with nonlinear anti-symmetric damping.

关键词： nonlinear vibration volterra series Output Frequency Response Functions (OFRFs) nonlinear damping vibration isolator

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Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

《能源前沿（英文）》 2020年第14卷第4期页码 836-849 doi: 10.1007/s11708-017-0444-z

摘要： This paper proposes a design of control and estimation strategy for induction motor based on the variable structure approach. It describes a coupling of sliding mode direct torque control (DTC) with sliding mode flux and speed observer. This algorithm uses direct torque control basics and the sliding mode approach. A robust electromagnetic torque and flux controllers are designed to overcome the conventional SVM-DTC drawbacks and to ensure fast response and full reference tracking with desired dynamic behavior and low ripple level. The sliding mode controller is used to generate reference voltages in stationary frame and give them to the controlled motor after modulation by a space vector modulation (SVM) inverter. The second aim of this paper is to design a sliding mode speed/flux observer which can improve the control performances by using a sensorless algorithm to get an accurate estimation, and consequently, increase the reliability of the system and decrease the cost of using sensors. The effectiveness of the whole composed control algorithm is investigated in different robustness tests with simulation using Matlab/Simulink and verified by real time experimental implementation based on dS pace 1104 board.

关键词： induction motor direct torque control (DTC) space vector modulation (SVM) sliding mode control (SMC) sliding mode observer (SMO) dS1104

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Numerical analysis of nonlinear dynamic behavior of earth dams

Babak EBRAHIMIAN

《结构与土木工程前沿（英文）》 2011年第5卷第1期页码 24-40 doi: 10.1007/s11709-010-0082-6

摘要： A numerical study is conducted to investigate the dynamic behavior of earth dams. The numerical investigation employs a fully nonlinear dynamic finite difference analysis incorporating a simple elastic perfectly plastic constitutive model to describe the stress-strain response of the soil and the Rayleigh damping to increase the level of hysteretic damping. The extended Masing rules are implemented into the constitutive model to explain more accurately the soil response under general cyclic loading. The soil stiffness and hysteretic damping change with loading history. The procedures for calibrating the constructed numerical model with centrifuge test data and also a real case history are explained. For the latter, the Long Valley (LV) earth dam subjected to the 1980 Mammoth Lake earthquake as a real case-history is analyzed and the obtained numerical results are compared with the real measurements at the site in both the time and frequency domains. Relatively good agreement is observed between computed and measured quantities. It seems that the Masing rules combined with a simple elasto-plastic model gives reasonable numerical predictions. Afterwards, a comprehensive parametric study is carried out to identify the effects of dam height, input motion characteristics, soil behavior, strength of the shell materials and dam reservoir condition on the dynamic response of earth dams. Three real earthquake records with different levels and peak acceleration values (PGAs) are used as input motions. The results show that the crest acceleration decreases when the dam height increases and no amplification is observed. Further, more inelastic behavior and more earthquake energy absorption are observed in higher dams.

关键词： earth dam numerical nonlinear response dynamic analysis earthquake dam height

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Velocity gradient elasticity for nonlinear vibration of carbon nanotube resonators

Hamid M. SEDIGHI, Hassen M. OUAKAD

《结构与土木工程前沿（英文）》 2020年第14卷第6期页码 1520-1530 doi: 10.1007/s11709-020-0672-x

摘要： In this study, for the first time, we investigate the nonlocality superimposed to the size effects on the nonlinear dynamics of an electrically actuated single-walled carbon-nanotube-based resonator. We undertake two models to capture the nanostructure nonlocal size effects: the strain and the velocity gradient theories. We use a reduced-order model based on the differential quadrature method (DQM) to discretize the governing nonlinear equation of motion and acquire a discretized-parameter nonlinear model of the system. The structural nonlinear behavior of the system assuming both strain and velocity gradient theories is investigated using the discretized model. The results suggest that nonlocal and size effects should not be neglected because they improve the prediction of corresponding dynamic amplitudes and, most importantly, the critical resonant frequencies of such nanoresonators. Neglecting these effects may impose a considerable source of error, which can be amended using more accurate modeling techniques.

关键词： velocity gradient elasticity theory nanotube resonators differential-quadrature method nonlinear vibration

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基于双重分组和密钥计数的并行认证模式

黄玉划,胡爱群,宋宇波

《中国工程科学》 2004年第6卷第7期页码 70-74

摘要：

由于CBC－MAC模式不可并行处理，提出了一种基于双重分组的并行认证模式(PKCB)。PKCB模式同并行认证模式PMAC相比，安全性和速率都有显著提高，PKCB认证模式与CTR（计数器）加密模式结合可构成分组密码算法的一种全工作模式。在此基础上提出了一种基于密钥计数的并行认证模式（KCTR－MAC）。KCTR－MAC模式安全性比PMAC模式高得多，而速率未降低，KCTR－MAC认证模式和CTR加密模式结合也可构成分组密码算法的一种全工作模式（2CTR），2CTR模式的综合性能不亚于标准模式CCM（CTR with CBC－MAC），是一种安全快速的实用模式。

关键词：认证模式 CBC－MAC模式 PMAC模式 CTR模式 CCM模式

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Analytical approach to robust design of nonlinear mechanical systems

Jian ZHANG, Nengsheng BAO, Guojun ZHANG, Peihua GU

《机械工程前沿（英文）》 2009年第4卷第2期页码 203-214 doi: 10.1007/s11465-009-0022-0

摘要： The robustness of mechanical systems is influenced by various factors. Their effects must be understood for designing robust systems. This paper proposes a model for describing the relationships among functional requirements, structural characteristics, design parameters and uncontrollable variables of nonlinear systems. With this model, the sensitivity of systems was analyzed to formulate a system sensitivity index and robust sensitivity matrix to determine the importance of the factors in relation to the robustness of systems. Based on the robust design principle, an optimization model was developed. Combining this optimization model and the Taguchi method for robust design, an analysis was carried out to reveal the characteristics of the systems. For a nonlinear mechanical system, relationships among structural characteristics of the system, design parameters, and uncontrollable variables can be formulated as a mathematical function. The characteristics of the system determine how design parameters affect the functional requirements of the system. Consequently, they affect the distribution of system performance functions. Nonlinearity of the system can facilitate the selection of design parameters to achieve the required functional requirements.

关键词： robust design nonlinear

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Iterative finite element model of nonlinear viscoplastic analyses for blended granular porous media

WU Yuching, ZHU Cimian

《结构与土木工程前沿（英文）》 2007年第1卷第4期页码 464-473 doi: 10.1007/s11709-007-0063-6

摘要： The iterative finite element model, in which an element is used to represent a single particle, is generated to analyze the global behavior of multiple-material aggregates of materially nonlinear viscoplastic particles. The genera

关键词： nonlinear viscoplastic iterative behavior multiple-material