各种板边条件下大挠度圆板自由振动的分岔解

计及几何非线性,在各种板边条件下,建立圆板自由振动的非线性动力学方程.采用Galerkin法,将圆板的非线性动力学偏微分方程简化成三种标准类型的Duffing方程.提出一类强非线性动力系统的两项谐波法,将描述动力系统的二阶常微分方程,化为以频率、振幅为变量的非线性代数方程组,考虑初始条件补充约束方程,构成频率、振幅为变量的封闭非线性代数方程组.利用Maple程序可以方便地求解.结果表明,两项谐波法不仅适合于对称振动问题,而且适合于非对称振动问题.     

带伸展柔性附件航天器系统动力响应的精细积分算法

带伸展柔性附件航天器的动力学方程是刚 -柔耦合的时变非线性动力学方程 ,用传统方法求解其动力学响应时会遇到很大的困难。精细积分法在求解刚性方程和常系数线性方程时显示出很大的优越性 ,这为柔性体系动力学方程的求解提供了新的工具。本文将精细积分法加以改进 ,并将之应用于刚 -柔耦合系统动力学方程 ,采用带伸展柔性附件航天器系统动力学模型 ,研究结构的动态特征变化规律 ,得出了一些有意义的结论     

Analyzing the nonlinear vibrational wave differential equation for the simplified model of Tower Cranes by Algebraic Method

In the current paper, a simplified model of Tower Cranes has been presented in order to investigate and analyze the nonlinear differential equation governing on the presented system in three different cases by Algebraic Method (AGM). Comparisons have been made between AGM and Numerical Solution, and these results have been indicated that this approach is very efficient and easy so it can be applied for other nonlinear equations. It is citable that there are some valuable advantages in this way of solving differential equations and also the answer of various sets of complicated differential equations can be achieved in this manner which in the other methods, so far, they have not had acceptable solutions. The simplification of the solution procedure in Algebraic Method and its application for solving a wide variety of differential equations not only in Vibrations but also in different fields of study such as fluid mechanics, chemical engineering, etc. make AGM be a powerful and useful role model for researchers in order to solve complicated nonlinear differential equations.     

含间隙机构无质量杆-弹簧阻尼组合模型的近似解法

提出了一种新的无质量杆一弹簧阻尼组合(MKD)模型非线性动力学运动微分方程的近似解法。它通过求解无间隙机构来得到相应的含间隙机构的动力响应，无须求解系统的非线性微分方程组，使解决问题的难度大为降低，且具有较高的精度。     

一类非线性振动Duffing方程的精确解

针对单自由度自治系统中常见的一类非线性振动Duffing方程,在没有任何假设和近似的前提下,引入anstz,利用一个2阶常微分方程及其解,经过等价变换,给出了该类方程的精确解法。本文以软弹簧型Duffing方程为例,通过将解回代原方程,证明了解答的正确性。还讨论了不同初始条件下软弹簧型Duffing方程精确解的形式。研究表明:该方法还可应用于其它非线性振动Duffing方程的求解。     

二次非线性圆板的1/2亚谐解

计及材料的非线性弹性和粘性性质，研究圆板在简谐载荷作用下的1／2亚谐解，导出相应的非线性动力方程。提出一类强非线性动力系统的叠加－叠代谐波平衡法。将描述动力系统的二阶常微分方程化为在本解为未知函数的基本微分方程和分岔解为未知函数的增量微分方程。通过叠加－叠代谐波平衡法得出圆板的1／2亚谐解。同时，对叠加－叠代谐波平衡法和数值积分法的精度进行比较。并且讨论了1／2亚谐解的渐近稳定性。     

微分变换法在动力学响应分析及系统边界参数识别中的应用研究

引入求解非线性微分方程的微分变换法，将其推广为广义微分变换法。建立求解一般非线性振动微分方程的一般框架，将此方法用于求解著名的Vander pol方程。并且将微分变换法推广到结构边界参数识别，以一个典型的悬臂梁边界参数识别为例，对其进行数值仿真和实验研究，并将此方法的实验研究识别结果与用实测频率响应函数法的识别结果作比较。说明该方法具有良好的工程应用价值。     

轴向运动矩形板的谐波共振与稳定性分析

针对轴向运动矩形薄板的非线性振动问题,在给出薄板运动的动能和应变能的基础上,应用哈密顿变分原理,推得几何非线性下轴向运动薄板的非线性振动方程。通过位移函数和应力函数的设定,并应用伽辽金积分法,得到四边简支边界约束条件下受横向激励载荷作用轴向运动薄板的达芬型振动方程。利用多尺度法对系统的非线性谐波共振问题进行求解,得到稳态运动下关于共振幅值的幅频响应方程。依据李雅普诺夫运动稳定性理论对定常解的稳定性进行分析,得到解的稳定性判别式。通过数值算例,得到不同横向载荷和轴向速度下共振幅值的变化规律曲线图以及对应的相图,讨论分岔点变化以及倍周期运动规律,分析横向激励载荷和轴向运动速度对系统非线性动力学行为的影响。     

摆线针轮传动建模方法与固有特性分析

以摆线针轮传动系统为研究对象,基于集中质量法建立了弯扭耦合的非线性动力学模型,考虑摆线轮的偏心运动以及摆线轮与针轮啮合的时变刚度、齿侧间隙及传动误差的影响,运用拉格朗日法求得系统的运动微分方程。针对系统微分方程的半正定、变参数和强非线性特点,以摆线轮与针轮啮合位置的相对啮合位移作为系统的广义坐标,运用线性变换将方程组转换为统一形式的矩阵形式,并对方程进行了无量纲处理。通过计算得到了系统的固有频率和无量纲频率,并对固有频率的影响因素进行了分析。     

1/2 SUBHARMONIC RESONANCE OF A SHAFT WITH UNSYMMETRICAL STIFFNESS

The 1/2 subharmonic resonance of a shaft with unsymmetrical stiffness is studied. By means of the Hamilton's principle the nonlinear differential equations of motion of the rotating shaft are derived in the rotating rectangular coordinate system. Transforming the equations of motion from rotating coordinate system into stationary coordinate system and introducing a complex variable, the equation of motion in complex variable form is obtained, in which the stiffness coefficient varies periodically with time. It presents a nonlinear oscillation system under parametric excitation. By applying the method of multiple scales (MMS) the averaged equation, the bifurcating response equations and local bifurcating set are obtained. Via the theory of singularity, the stability of constant solutions is analyzed and bifurcating response curves are obtained. This study shows that the rotating shaft has rich bifurcation phenomena.     

基于非线性微分方程的机械臂运动位置控制方法

针对当前机械臂运动位置控制方法存在机械臂关节节点位置的跟踪效果差和机械臂运动位置控制能力差的问题,提出基于非线性微分方程的机械臂运动位置控制方法。首先对机械臂动力学进行分析,获取内部三连杆结构作用原理和机械臂动力学目标函数,再利用坐标求权矩阵重构机械臂动力学目标函数,获取机械臂相关的非线性微分方程,将非线性微分方程的输出结果,即机械臂动力学参数代入 CPG 神经网络中,构建机械臂运动控制模型。实验结果表明,所提方法的械臂关节节点位置跟踪效果好、机械臂运动位置控制能力强。     

非对称刚度转轴的参激共振和分叉分析

研究非对称刚度转轴的参激共振和分叉。用Hamilton原理导出运动微分方程 ,这是刚度系数周期性变化的参激振动方程 ,再用平均法求得平均方程 ,分叉响应方程和定常解。讨论了横截面的不对称性 ,外阻尼和非线性对幅频响应曲线的影响 ,最后用奇异性理论分析定常解的稳定性和分叉。     

Scrutiny of non-linear differential equations Euler-Bernoulli beam with large rotational deviation by AGM

The kinematic assumptions upon which the Euler-Bernoulli beam theory is founded allow it to be extended to more advanced analysis. Simple superposition allows for three-dimensional transverse loading. Using alternative constitutive equations can allow for viscoelastic or plastic beam deformation. Euler-Bernoulli beam theory can also be extended to the analysis of curved beams, beam buckling, composite beams and geometrically nonlinear beam deflection. In this study, solving the nonlinear differential equation governing the calculation of the large rotation deviation of the beam (or column) has been discussed. Previously to calculate the rotational deviation of the beam, the assumption is made that the angular deviation of the beam is small. By considering the small slope in the linearization of the governing differential equation, the solving is easy. The result of this simplification in some cases will lead to an excessive error. In this paper nonlinear differential equations governing on this system are solved analytically by Akbari-Ganji’s method (AGM). Moreover, in AGM by solving a set of algebraic equations, complicated nonlinear equations can easily be solved and without any mathematical operations such as integration solving. The solution of the problem can be obtained very simply and easily. Furthermore, to enhance the accuracy of the results, the Taylor expansion is not needed in most cases via AGM manner. Also, comparisons are made between AGM and numerical method (Runge-Kutta 4th). The results reveal that this method is very effective and simple, and can be applied for other nonlinear problems.     

A homotopy perturbation analysis of nonlinear free vibration of Timoshenko microbeams

This paper uses He’s Homotopy Perturbation Method (HPM) to analyze the nonlinear free vibrational behavior of clamped-clamped and clamped-free microbeams considering the effects of rotary inertia and shear deformation. Galerkin’s projection method is used to reduce the governing nonlinear partial differential equation. to a nonlinear ordinary differential equation. HPM is used to find analytic expressions for nonlinear natural frequencies of the pre-stretched microbeam. A parametric study investigated the effects of design parameters such as applied axial loads and slenderness ratio. The effect of rotary inertia and shear deformation on the nonlinear natural frequency was investigated. For verification, a numerical approach was implemented to solve the nonlinear equation. of vibration. A comparison between analytical and numerical results shows that HPM can predict system nonlinear vibrational behavior significantly more accurately than previously used methods in the literature.     

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange’s principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.     

Modeling and simulation for PIG flow control in natural gas Pipeline

This paper deals with dynamic analysis of Pipeline Inspection Gauge (PIG) flow control in natural gas pipelines. The dynamic behaviour of PIG depends on the pressure differential generated by injected gas flow behind the tail of the PIG and expelled gas flow in front of its nose. To analyze dynamic behaviour characteristics (e.g. gas flow, the PIG position and velocity) mathematical models are derived. Two types of nonlinear hyperbolic partial differential equations are developed for unsteady flow analysis of the PIG driving and expelled gas. Also, a non-homogeneous differential equation for dynamic analysis of the PIG is given. The nonlinear equations are solved by method of characteristics (MOC) with a regular rectangular grid under appropriate initial and boundary conditions. Runge-Kutta method is used for solving the steady flow equations to get the initial flow values and for solving the dynamic equation of the PIG. The upstream and downstream regions are divided into a number of elements of equal length. The sampling time and distance are chosen under Courant-Friedrich-Lewy (CFL) restriction. Simulation is performed with a pipeline segment in the Korea gas corporation (KOGAS) low pressure system, Ueijungboo-Sangye line. The simulation results show that the derived mathematical models and the proposed computational scheme are effective for estimating the position and velocity of the PIG with a given operational condition of pipeline.     

State-dependent differential Riccati equation to track control of time-varying systems with state and control nonlinearities

This work studies an optimal control problem using the state-dependent Riccati equation (SDRE) in differential form to track for time-varying systems with state and control nonlinearities. The trajectory tracking structure provides two nonlinear differential equations: the state-dependent differential Riccati equation (SDDRE) and the feed-forward differential equation. The independence of the governing equations and stability of the controller are proven along the trajectory using the Lyapunov approach. Backward integration (BI) is capable of solving the equations as a numerical solution; however, the forward solution methods require the closed-form solution to fulfill the task. A closed-form solution is introduced for SDDRE, but the feed-forward differential equation has not yet been obtained. Different ways of solving the problem are expressed and analyzed. These include BI, closed-form solution with corrective assumption, approximate solution, and forward integration. Application of the tracking problem is investigated to control robotic manipulators possessing rigid or flexible joints. The intention is to release a general program for automatic implementation of an SDDRE controller for any manipulator that obeys the Denavit–Hartenberg (D–H) principle when only D–H parameters are received as input data.     

Accurate higher-order analytical approximate solutions to nonconservative nonlinear oscillators and application to van der Pol damped oscillators

In general, this paper deals with general nonlinear oscillations of a nonconservative and single degree-of-freedom system with odd nonlinearity and, in particular, it presents accurate higher-order analytical approximate solutions to van der Pol damped nonlinear oscillators having odd nonlinearity and the Rayleigh equation. By combining the linearization of the governing equation with harmonic balancing and the method of averaging, we establish accurate analytical approximate solutions for the general weakly damped nonlinear systems. Unlike the classical harmonic balance method, simple linear algebraic equations instead of nonlinear algebraic equations are obtained upon linearization prior to harmonic balancing. The combination of these two methods results in very accurate transient response of the periodic solution. In addition and for the first time, this paper also presents a method for deducing fourth-, fifth- and higher-order linearized governing equations from the lower-order equations without the requirement of formulating the problem from the first principle. Three examples including the van der Pol damped nonlinear oscillator are presented to illustrate the excellent agreement with approximate solution using the exact frequency.     

Three-dimensional static solutions of rectangular plates by variant differential quadrature method

An endeavor to exploit three-dimensional elasticity solutions for bending and buckling of rectangular plates via the differential quadrature (DQ) and harmonic differential quadrature (HDQ) methods is performed. Unlike other works, the priority of this paper is to examine the computational characteristics of the two methods; therefore, we focus our studies only on the simply supported and clamped rectangular plates. To start with, we first outline the basic equations and boundary conditions describing the bending and buckling of rectangular plates followed by normalizing and discretizing them according to the DQ and HDQ algorithms. The resulting algebraic equation systems are then solved to obtain the solutions. Based on these solutions, the computational characteristics of the DQ and HDQ methods are investigated in terms of their numerical performances. It is found that the DQ method displays obvious superior convergence characteristics over the HDQ method for the three-dimensional static analysis of rectangular plates.