Dynamical Modeling and Dynamic Characteristics Analysisof a Coaxial Dual-Rotor System

The dual-rotor structure serves as the primary source of vibration in aero-engines. Understanding itsdynamical model and analyzing dynamic characteristics, such as critical speed and unbalanced response, arecrucial for rotor system dynamics. Previous work introduced a coaxial dual-rotor-support scheme for aeroengines,and a physical model featuring a high-speed flexible inner rotor with a substantial length-to-diameter ratiowas designed. Then a finite element (FE) dynamic model based on the Timoshenko beam elements and rigid bodykinematics of the dual-rotor system is modeled, with the Newmark method and Newton–Raphson method used forthe numerical calculation to study the dynamic characteristics of the system. Three different simulation models,including beam-based FE (1D) model, solid-based FE (3D) model, and transfer matrix model, were designed tostudy the characteristics of mode and the critical speed characteristic of the dual-rotor system. The unbalancedresponse of the dual-rotor system was analyzed to study the influence of mass unbalance on the rotor system. Theeffect of different disk unbalance phases and different speed ratios on the dynamic characteristics of the dual-rotorsystem was investigated in detail. The experimental result shows that the beam-based FE model is effective andsuitable for studying the dual-rotor system.

THE COUPLING DYNAMICAL MODELING THEORY OF FLEXIBLE MULTIBODY SYSTEM

Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The 'coupling matrix library' and Jourdain's variation principle and single direction recursive formulation method are used to establish the general coupling dynamical equations of flexible multibody system. Two typical examples show the coupling effect between coupling displacements and large overall motion on the dynamics of flexible multibody system consisting of beams.

Modeling and Control of a Continuous Stirred Tank Reactor Based on a Mixed Logical Dynamical Model

A novel control strategy for a continuous stirred tank reactor(CSTR)system,which has the typical characteristic of strongly pronounced nonlinearity,multiple operating points,and a wide operating range,is initiated from the point of hybrid systems.The proposed scheme makes full use of the modeling power of mixed logical dy- namical(MLD)systems to describe the highly nonlinear dynamics and multiple operating points in a unified framework as a hybrid system,and takes advantage of the good control quality of model predictive control(MPC) to design a controller.Thus,this approach avoids oscillation during switching between sub-systems,helps to relieve shaking in transition,and augments the stability robustness of the whole system,and finally achieves optimal(i.e. fast and smooth)transition between operating points.The simulation results demonstrate that the presented ap- proach has a satisfactory performance.

Sampled-data modeling and dynamical effect of output-capacitor time-constant for valley voltage-mode controlled buck-boost converter

By analyzing the output voltage ripple of a buck-boost converter with large equivalent series resistance（ESR） of output capacitor, one valley voltage-mode controller for buck-boost converter is proposed. Considering the fact that the increasing and decreasing slopes of the inductor current are assumed to be constant during each switching cycle, an especial sampleddata model of valley voltage-mode controlled buck-boost converter is established. Based on this model, the dynamical effect of an output-capacitor time-constant on the valley voltage-mode controlled buck-boost converter is revealed and analyzed via the bifurcation diagrams, the movements of eigenvalues, the Lyapunov exponent spectra, the boundary equations,and the operating-state regions. It is found that with gradual reduction of output-capacitor time-constant, the buck-boost converter in continuous conduction mode（CCM） shows the evolutive dynamic behavior from period-1 to period-2, period-4, period-8, chaos, and invalid state. The stability boundary and the invalidated boundary are derived theoretically by stability analysis, where the stable state of valley voltage-mode controlled buck-boost converter can enter into an unstable state, and the converter can shift from the operation region to a forbidden region. These results verified by time-domain waveforms and phase portraits of both simulation and experiment indicate that the sampled-data model is correct and the time constant of the output capacitor is a critical factor for valley voltage-mode controlled buck-boost converter, which has a significant effect on the dynamics as well as control stability.

Dynamically triggered seismicity on a tectonic scale:A review

Earthquakes triggered by dynamic disturbances have been confirmed by numerous observations and experiments.In the past several decades,earthquake triggering has attracted increasing attention of scholars in relation to exploring the mechanism of earthquake triggering,earthquake prediction,and the desire to use the mechanism of earthquake triggering to reduce,prevent,or trigger earthquakes.Natural earthquakes and large‐scale explosions are the most common sources of dynamic disturbances that trigger earthquakes.In the past several decades,some models have been developed,including static,dynamic,quasi‐static,and other models.Some reviews have been published,but explosiontriggered seismicity was not included.In recent years,some new results on earthquake triggering have emerged.Therefore,this paper presents a new review to reflect the new results and include the content of explosion‐triggered earthquakes for the reference of scholars in this area.Instead of a complete review of the relevant literature,this paper primarily focuses on the main aspects of dynamic earthquake triggering on a tectonic scale and makes some suggestions on issues that need to be resolved in this area in the future.

Dynamical modeling and controllability analysis of a flexible needle in soft tissue

This paper is concerned with deriving a dynamic model of a moderately flexible needle inserted into soft tissue,where the model’s output is the needle deflection.The main advantages of the proposed dynamic modeling approach are that the presented model structure involves parameters that are all measurable or identifiable by simple exper-iments and that it considers the same inputs that are currently used in the clinical practice of manual needle insertion.Conventional manual needle insertion suffers from the fact that flexible needles bend during insertion and their trajectories often vary from those planned,resulting in positioning errors.Enhancement of needle insertion accuracy via robot-assisted needle steering has received significant attention in the past decade.A common assumption in previous research has been that the needle behavior during insertion can be adequately described by static models relating the needle’s forces and torques to its deflection.For closed-loop control purposes,however,a dynamic model of the flexible needle in soft tissue is desired.In this paper,we propose a Lagrangian-based dynamic model for the coupled needle/tissue system,and analyze the response of the dynamic system.Steerability(controllability)analysis is also performed,which is only possible with a dynamic model.The proposed dynamic model can serve as a cornerstone of future research into designing dynamics-based control strategies for closed-loop needle steering in soft tissue aimed at minimizing position error.

Hybrid modeling for carbon monoxide gas-phase catalytic coupling to synthesize dimethyl oxalate process

Ethylene glycol(EG)plays a pivotal role as a primary raw material in the polyester industry,and the syngas-to-EG route has become a significant technical route in production.The carbon monoxide(CO)gas-phase catalytic coupling to synthesize dimethyl oxalate(DMO)is a crucial process in the syngas-to-EG route,whereby the composition of the reactor outlet exerts influence on the ultimate quality of the EG product and the energy consumption during the subsequent separation process.However,measuring product quality in real time or establishing accurate dynamic mechanism models is challenging.To effectively model the DMO synthesis process,this study proposes a hybrid modeling strategy that integrates process mechanisms and data-driven approaches.The CO gas-phase catalytic coupling mechanism model is developed based on intrinsic kinetics and material balance,while a long short-term memory(LSTM)neural network is employed to predict the macroscopic reaction rate by leveraging temporal relationships derived from archived measurements.The proposed model is trained semi-supervised to accommodate limited-label data scenarios,leveraging historical data.By integrating these predictions with the mechanism model,the hybrid modeling approach provides reliable and interpretable forecasts of mass fractions.Empirical investigations unequivocally validate the superiority of the proposed hybrid modeling approach over conventional data-driven models(DDMs)and other hybrid modeling techniques.

Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these robots.However,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical applications.This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics.Building on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero.An experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction model.This method establishes a mapping relationship between the friction force and motor current.In addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm.Trajectory tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm.This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders

Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The mechanism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture adjustment.Based on elastic beam theory,the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is considered.To improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method.Firstly,each branch of the RPR type mechanism is divided into a substructure.Subsequently,a set of hypothetical modes of each substructure is obtained based on the C-B method.Finally,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

Dynamics modeling and optimal control for multi-information diffusion in Social Internet of Things

As an ingenious convergence between the Internet of Things and social networks,the Social Internet of Things(SIoT)can provide effective and intelligent information services and has become one of the main platforms for people to spread and share information.Nevertheless,SIoT is characterized by high openness and autonomy,multiple kinds of information can spread rapidly,freely and cooperatively in SIoT,which makes it challenging to accurately reveal the characteristics of the information diffusion process and effectively control its diffusion.To this end,with the aim of exploring multi-information cooperative diffusion processes in SIoT,we first develop a dynamics model for multi-information cooperative diffusion based on the system dynamics theory in this paper.Subsequently,the characteristics and laws of the dynamical evolution process of multi-information cooperative diffusion are theoretically investigated,and the diffusion trend is predicted.On this basis,to further control the multi-information cooperative diffusion process efficiently,we propose two control strategies for information diffusion with control objectives,develop an optimal control system for the multi-information cooperative diffusion process,and propose the corresponding optimal control method.The optimal solution distribution of the control strategy satisfying the control system constraints and the control budget constraints is solved using the optimal control theory.Finally,extensive simulation experiments based on real dataset from Twitter validate the correctness and effectiveness of the proposed model,strategy and method.

Time-Varying Mesh Stiffness Calculation and Dynamic Modeling of Spiral Bevel Gear with Spalling Defects

Time-varying mesh stiffness(TVMS)is a vital internal excitation source for the spiral bevel gear(SBG)transmission system.Spalling defect often causes decrease in gear mesh stiffness and changes the dynamic characteristics of the gear system,which further increases noise and vibration.This paper aims to calculate the TVMS and establish dynamic model of SBG with spalling defect.In this study,a novel analytical model based on slice method is proposed to calculate the TVMS of SBG considering spalling defect.Subsequently,the influence of spalling defect on the TVMS is studied through a numerical simulation,and the proposed analytical model is verified by a finite element model.Besides,an 8-degrees-of-freedom dynamic model is established for SBG transmission system.Incorporating the spalling defect into TVMS,the dynamic responses of spalled SBG are analyzed.The numerical results indicate that spalling defect would cause periodic impact in time domain.Finally,an experiment is designed to verify the proposed dynamic model.The experimental results show that the spalling defect makes the response characterized by periodic impact with the rotating frequency of spalled pinion.

Multi-Body Dynamics Modeling of Heavy Goods Vehicle-Rail Interaction

Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling.

DYNAMIC MODELING FOR AIRSHIP EQUIPPED WITH BALLONETS AND BALLAST

Total dynamics of an airship is modeled. The body of an airship is taken as a submerged rigid body with neutral buoyancy, i. e. , buoyancy with value equal to that of gravity, and the coupled dynamics between the body with ballonets and ballast is considered. The total dynamics of the airship is firstly derived by Newton-Euler laws and Kirchhoff＇ s equations. Furthermore, by using Hamiltonian and Lagrangian semidirect product reduction theories, the dynamics is formulated as a Lie-Poisson system, or also an Euler-Poincare system. These two formulations can be exploited for the control design using energy-based methods for Hamiltonian or Lagrangian system.

Three-Dimensional Dynamic Modeling of a Tangentially Fired Utility Boiler Furnace

The tangentially fired utility boiler furnace is divided into several sections. The dynamic mathematical models for each section are presented. In the combustion zone, three dimensional model is used, while for the upper sections, lumped parameter model is used instead. With the combination of different models, we can get detailed distributions of gas velocity, temperature, chemical species, heat flux, etc. in the furnace, but with less CPU time. The radiation through the interfaces of each section is cons...

Dynamic Modeling and Motion Simulation for A Winged Hybrid-Driven Underwater Glider

PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.

Dynamic Modeling and Three-Dimensional Motion Analysis of Underwater Gliders

For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.

A Dynamic Modeling For Cyclic Total Reflux Batch Distillation

Cyclic total reflux(CTR) batch distillation is a promising mode of the process but lacking of appropriate modeling for the period of filling the reflux drum.A new dynamic modeling method for the simulation of CTR batch distillation is proposed in this work,in which the changes in column holdup and liquid flow rate during the filling of the drum,and the consequent change in valid number of theoretical plates are considered.The effect of drum holdup on operation time is investigated and the optimal drum holdup is obtained from the simulation.The dynamic modeling is compared to the conventional modeling without consideration of change in liquid flow rate. The experimental result shows that the present modeling is more reliable and more accurate,especially for the column with large liquid holdup.

Dynamic Modeling of a Roller Chain Drive System Considering the Flexibility of Input Shaft

Roller chain drives are widely used in various high-speed, high-load and power transmission applications, but their complex dynamic behavior is not well researched. Most studies were only focused on the analysis of the vibration of chain tight span, and in these models, many factors are neglected. In this paper, a mathematical model is developed to calculate the dynamic response of a roller chain drive working at constant or variable speed condition. In the model, the complete chain transmission with two sprockets and the necessary tight and slack spans is used. The effect of the flexibility of input shaft on dynamic response of the chain system is taken into account, as well as the elastic deformation in the chain, the inertial forces, the gravity and the torque on driven shaft. The nonlinear equations of movement are derived from using Lagrange equations and solved numerically. Given the center distance and the two initial position angles of teeth on driving and driven sprockets corresponding to the first seating roller on each side of the tight span, dynamics of any roller chain drive with two sprockets and two spans can be analyzed by the procedure. Finally, a numerical example is given and the validity of the procedure developed is demonstrated by analyzing the dynamic behavior of a typical roller chain drive. The model can well simulate the transverse and longitudinal vibration of the chain spans and the torsional vibration of the sprockets. This study can provide an effective method for the analysis of the dynamic characteristics of all the chain drive systems.

Modeling and simulation of a mini AUV in spatial motion

Accurate modeling and simulation of autonomous underwater vehicle （AUV） is essential for autonomous control and maneuverability research. In this paper, a mini AUV- ＂MAUV-Ⅱ＂ was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of ＂MAUV-Ⅱ ＂, the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the ＂MAUV-Ⅱ＂ has good spatial maneuverability, and verify the feasibility and reliability of control software.

Numerical modeling for rockbursts:A state-of-the-art review

As the depth of excavation increases,rockburst becomes one of the most serious geological hazards damaging equipment and facilities and even causing fatalities in mining and civil engineering.This has forced researchers worldwide to identify different methods to investigate rockburst-related problems.However,some problems,such as the mechanisms and the prediction of rockbursts,continue to be studied because rockburst is a very complicated phenomenon influenced by the uncertainty and complexity in geological conditions,in situ stresses,induced stresses,etc.Numerical modeling is a widely used method for investigating rockbursts.To date,great achievements have been made owing to the rapid development of information technology(IT)and computer equipment.Hence,it is necessary and meaningful to conduct a review of the current state of the studies for rockburst numerical modeling.In this paper,the categories and the origin of different numerical approaches employed in modeling rockbursts are reviewed and the current usage of various numerical modeling approaches is investigated by a literature research.Later,a state-of-the-art review is implemented to investigate the application of numerical modeling in the mechanism study,and prediction and prevention of rockbursts.The main achievements and problems are highlighted.Finally,this paper discusses the limitations and the future research of numerical modeling for rockbursts.An approach is proposed to provide researchers with a systematic and reasonable numerical modeling framework.