Singular perturbation composite control of a free-floating flexible dual-arm space robot

The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.     

Wind pressure distribution and wind-induced dynamic response for spatial groined latticed vaults

The wind pressure distribution and wind-induced vibration responses of long-span spatial groined latticed vaults (SGLVs) were numerically simulated, which always are ones of the most important problems in the structural wind resistance design. Incompressible visco-fluid model was introduced, and the standard k-εtwo equation model and semi-implicit method for pressure linked equation (SIMPLE) were used to describe the flow turbulence. Furthermore, the structural dynamic equation was set up, which is solved by Newmark-β method. And several sort of wind-induced vibration coefficients such as the wind-induced vibration coefficient corresponding to the nodal displacement responses and wind loads were suggested. In the numerical simulation where the SGLV consisting of the cylindrical sectors with different curved surface was chosen as the example,the influence on the relative wind pressure distribution and structural wind-induced vibration responses of the closed or open SGLV caused by such parameters as the number of cylindrical sectors, structural curvature and the ratio of rise to span was investigated. Finally, some useful conclusions on the local wind pressure distribution on the structural surface and the wind-induced vibration coefficients of SGLV were developed.     

桥面平整度对大跨度斜拉桥车桥耦合振动的影响

将随机桥面平整度描述为零均值的平稳高斯随机过程,建立了大跨度斜拉桥空间有限元模型,考虑结构的初始应力效应和几何非线性因素,利用逐步积分法解车．桥耦合振动方程,进而对斜拉桥动力特性进行分析。     

Application of Lead Viscoelastic Dampers to Wind Vibration Control on Big-Span Power Transmission Tower

To study the wind vibration response of power transmission tower, the lead viscoelastic dampers (LVDs) were applied to a cup tower. With time history analysis method, the displacement, velocity, acceleration and force response of the tower was calculated and analyzed. The results show that the control effect of lead viscoelastic dampers is very good, and the damping ratio can reach 20% or more when they are applied to the tower head.     

In-plane Auto-Parametric Vibration of Inclined Cables under Random Transverse Excitation

In-plane auto-parametric stochastic vibration of inclined cables subjected to Gaussian white noise in transverse bridge orientation is investigated. Based on Newton＇s laws of motion and Galerkin＇s modal truncation principle, the influences of geometry nonlinearity induced by sag and large displacement of cables and the initial equilibrium state are taken into account. Meanwhile, the three-dimensional non-linear differential equations of inclined cables for coupling vibration are deduced, equivalent stochastic linearization method is applied to derive the 14-dimensional first-order nonlinear differential equations of state vectors, and the Runge-Kutta integration method is utilized to obtain the root mean square （RMS） response. Results show that when the transverse random excitation imposed on the stayed cable exceeds a critical value, the in-plane transverse vibration of the cable are excited due to tim auto-parametric nonlinear coupling, and the critical value of random excitation increases with the damping ratio. In this motion, the cable response possesses non-stationary characteristics, even though the loading keeps stationary.     

双链式悬索桥车桥耦合振动研究

采用单个移动质量-弹簧-阻尼模型模拟车辆,应用达朗贝尔原理和位移协调条件,推导出车桥耦合振动的运动方程.考虑几何非线性及桥面不平度因素,就车辆沿桥纵轴向中心行驶和偏心行驶2种工况,探讨单个移动车辆荷载对双链悬索桥振动响应的影响.针对桥面设计理论竖曲线、水平竖曲线、运营20多年后实测竖曲线,综合考虑桥面不平度,探讨在单个移动车辆荷载下双链悬索桥的车振响应特征.这对该类桥动力性能评估及动力加固设计都有积极的意义.     

地铁列车引起的振动对西安钟楼的影响

以西安地铁2号线6、号线通过钟楼工程为背景,针对铺设浮置板轨道和采取隔离桩两种减振措施,分6种工况分析了地铁2号线及6号线运营对钟楼结构的振动影响,预测了减振隔振措施的效果,并分别对不同工况进行三维动力有限元数值模拟.结果表明：不采取减振措施时,地铁振动会对钟楼造成影响;采用浮置板轨道对地表振动有明显改善;采用隔离桩对减少地表振动效果并不明显.     

结构随机振动有限元/边界元法声学数值仿真

建立了结构振动的有限元模型和声学分析的边界元模型,基于边界元法推导了声学响应函数的计算公式,利用声学响应函数和激励谱密度推导了设计域点响应声压的自谱密度函数.以平板稳态振动声辐射为研究算例,计算了1~200 Hz的声学频率响应函数,并计算了系统受常谱密度和变谱密度随机载荷激励的声学响应.理论推导和实例结果表明,基于边界元法的声学响应函数可有效的求解随机声场.     

环板式针摆行星传动非线性动力学模型与方程

以环板式针摆行星传动为研究对象,建立了考虑时变啮合刚度、齿侧间隙、误差等因素的齿轮传动系统的非线性动力学模型,推导了系统的运动微分方程.针对系统微分方程的半正定、变参数和非线性的特点,采用以齿轮副相对啮合位移为系统的广义坐标,将线性与非线性回复力共存的方程组转化为统一的矩阵形式,并对方程进行无量纲处理,为后续的微分方程的求解做准备.     

小口径钢管内壁振动除锈工艺原理及试验分析

针对目前应用的前处理工艺方法不适合于小口径钢管内表面除锈的实际问题,提出创新的机械振动工艺方法除锈．分析了振动除锈工艺原理,并结合振动除锈试验结果分析不同工艺参数对除锈效果的影响规律（例如：振幅越大,加速度越大,粒子动能大,除锈效果越好;频率增加,加速度变大,但振幅减小,除锈效果下降等）．试验结果表明,振动除锈工艺对小口径管道内表面除锈效果显著．