Analysis for the Deployment of Single-Point Mooring Buoy System Based on Multi-Body Dynamics Method

Deployment of buoy systems is one of the most important procedures for the operation of buoy system. In the present study, a single-point mooring buoy system which contains surface buoy, cable segments with components, anchor and so on is modeled by applying multi-body dynamics method. The motion equations are developed in discrete node description and fully Cartesian coordinates. Then numerical method is used to solve the ordinary differential equations and dynamics simulations are achieved while anchor is casting from board. The trajectories and velocities of different nodes without current and with current in buoy system are obtained. The transient tension force of each part of the cable is analyzed in the process of deployment. Numerical results indicate that the transient payload increases to a peak value when the anchor is touching the seabed and the maximum tension force will vary with different floating configuration. This work is helpful for design and deployment planning of buoy system.

Multi-Body Dynamics Modeling and Simulation Analysis of a Vehicle Suspension Based on Graph Theory

Multi-body dynamics,relative coordinates and graph theory are combined to analyze the structure of a vehicle suspension.The dynamic equations of the left front suspension system are derived for modeling.First,The pure tire theory model is used as the input criteria of the suspension multibody system dynamic model in order to simulate the suspension K&C characteristics test.Then,it is important to verify the accuracy of this model by comparing and analyzing the experimental data and simulation results.The results show that the model has high precision and can predict the performance of the vehicle.It also provides a new solution for the vehicle dynamic modeling.

STUDY ON DYNAMICS, STABILITY AND CONTROL OF MULTI-BODY FLEXIBLE STRUCTURE SYSTEM IN FUNCTIONAL SPACE

The dynamics, stability and control problem of a kind of infinite dimensional system are studied in the functional space with the method of modern Mathematics. First, the dynamical control model of the distributed parameter system with multi-body flexible and multi-topological structure was established which has damping, gyroscopic parts and constrained damping. Secondly, the necessary and sufficient condition of controllability and observability, the stability theory and asymptotic property of the system were obtained. These results expand the theory of the field about the dynamics and control of the system with multi-body flexible structure, and have important engineering significance.

Articulated Lifting System Modeling Based on Dynamics of Flexible Multi-Body Systems

In lifting sub-system of deep-sea mining system, spherical joint is used to connect lifting pipes to replace fixed joint. Based on Dynamics of Flexible Multi-body systems, the mechanics model of articulated lifting system is established. Under the four-grade and six-grade oceanic condition, dynamic responses of lifting system are simulated and experiment verified. The simulation results are consistent with experimental ones. The maximum moment of flexion is 322 kN-m on the first pipe under six-grade sea condition. It is seen that the articulated connection can reduce the moment of flexion. The bending deformation of pipe center is researched, and the maximum is 0. 000479 m on the first pipe. Deformation has a little effect on the motion of system. It is feasible to analyze articulated lifting system by applying the theory of flexible multi-body dynamics. The articulated lifting system is obviously better than the fixed one.

Implementation of configuration dependent stiffness proportional damping for the dynamics of rigid multi-block systems

The distinct element method(DEM)has been used successfully for the dynamic analysis of rigid block sys- tems.One of many difficulties associated with DEM is modeling of damping.In this paper,new procedures are proposed for the damping modeling and its numerical implementation in distinct element analysis of rigid muhi-block systems.The stiff- ness proportional damping is constructed for the prescribed damping ratio,based on the non-zero fundamental frequency ef- fective during the time interval while the boundary conditions remain essentially constant.At this time interval,the funda- mental frequency can be estimated without complete eigenvalue analysis.The damping coefficients will vary while the damp- ing ratio remains the same throughout the entire analysis.A new numerical procedure is developed to prevent unnecessary energy loss that can occur during the separation phases.These procedures were implemented in the development of the dis- tinet element method for the dynamic analyses of piled multi-block systems.The analysis results |or the single-block and two-block systems were in a good agreement with the analytic predictions.Applications to the seismic analyses of piled four- block systems revealed that the new procedures can make a significant difference and may lead to much-improved results.

Discrete time transfer matrix method for dynamics of multibody system with flexible beams moving in space

In this paper, by defining new state vectors and developing new transfer matrices of various elements mov- ing in space, the discrete time transfer matrix method of multi-rigid-flexible-body system is expanded to study the dynamics of multibody system with flexible beams moving in space. Formulations and numerical example of a rigid- flexible-body three pendulums system moving in space are given to validate the method. Using the new method to study the dynamics of multi-rigid-flexible-body system mov- ing in space, the global dynamics equations of system are not needed, the orders of involved matrices of the system are very low and the computational speed is high, irrespec- tive of the size of the system. The new method is simple, straightforward, practical, and provides a powerful tool for multi-rigid-flexible-body system dynamics.

Multi-scale calculation of settling speed of coarse particles by accelerated Stokesian dynamics without adjustable parameter

The calculation of settling speed of coarse particles is firstly addressed, with accelerated Stokesian dynamics without adjustable parameters, in which far field force acting on the particle instead of particle velocity is chosen as dependent variables to consider inter-particle hydrodynamic interactions. The sedimentation of a simple cubic array of spherical particles is simulated and compared to the results available to verify and validate the numerical code and computational scheme. The improved method keeps the same computational cost of the order O（NlogN） as usual accelerated Stokesian dynamics does. Then, more realistic random suspension sedimentation is investigated with the help of Mont Carlo method. The computational results agree well with experimental fitting. Finally, the sedimentation of finer cohesive particle, which is often observed in estuary environment, is presented as a further application in coastal engineering.

MULTI-BODY AEROELASTIC STABILITY ANALYSIS OF TILTROTOR AIRCRAFT IN HELICOPTER MODE

The muhi-body analysis of the aeroelastic stability of the tiltrotor aircraft is presented. Muhi-body dynamic differential equations are combined with the equations of the unsteady dynamic inflow model to establish the complete unsteadily aeroelastic coupling analytical model of the tiltrotor. The stability of the tiltrotor in the helicopter mode is analyzed aiming at a semi span soft-inplane tihrotor model with an elastic wing. Parametric effects of the lag stiffness of blades and the flight speed are analyzed. Numerical simulations demonstrate that the multibody analytical model can analyze the aeroelastic stability of the tiltrotor aircraft in the helicopter mode.

Coupled Vibration Analysis of Vehicle-Bridge System Based on Multi-Boby Dynamics

For establishing the refined numerical simulation model for coupled vibration between vehicle and bridge, the refined three-dimensional vehicle model is setup by multi-body system dynamics method, and finite element method of dynamic model is adopted to model the bridge. Taking Yujiang River Bridge on Nanning-Guangzhou railway line in China as study background, the?refined numerical simulation model of whole vehicle and whole bridge system for coupled vibration analysis is set up. The dynamic analysis model of the cable-stayed bridge is established by finite element method, and the natural vibration properties of the bridge are analyzed. The German ICE Electric Multiple Unit (EMU) train refined three-dimensional space vehicle model is set up by multi-system dynamics software SIMPACK, and the multiple non-linear properties are considered. The space vibration responses are calculated by co-simulation based on multi-body system dynamics and finite element method when the ICE EMU train passes the long span cable-stayed bridge at different speeds. In order to test if the bridge has the sufficient lateral or vertical rigidity and the operation stability is fine. The calculation results show: The operation safety can be guaranteed, and comfort?index is “excellent”. The bridge has sufficient rigidity, and vibration is in good condition.

DYNAMIC CHARACTERISTICS ON PRECISION NC LATHE BASED ON MULTI-BODY SYSTEM THEORY

Based on multi-body system theory and the mainshafl system of precision NC lathe as object investigated, it is treated as a coupled rigid-flexible multi-body system which is made up of some rigid and elastic bodies in an especial linking mode. And a dynamic model is established, The problems of computing vibration characteristics are resolved by using multi-body system transfer matrix method, Resutts show that the mainshaft system of NC lathe is in the stable and reliable working area all the time. The method is simple and easy, the idea is clear. In addition, the method can be easily used and popularized in the other multi-body system.

Nonlinear multi body dynamic modeling and vibration analysis of a double drum coal shearer

The double drum coal shearer is widely applied for the underground coal exploration in the mining industry.The vibration and noise control are significant factors for the stability design of the double drum coal shearer.In this paper,the vibration properties of a double drum coal shearer are firstly investigated.The horizontal,transverse and torsional vibrations of the motor body and the angle displacements of the rockers are taken into account.The walking units and the hydraulic units are modeled by the stiffness-damping systems.The nonlinear equation of motion of the double drum coal shearer is established by applying the Lagrange’s equation.The nonlinear vibration response of the system is calculated by using the Runge Kutta numerical method.The effects of the shearing loads,the equivalent damping and stiffness of the walking units,the inclination angels of the rockers and the equivalent damping and stiffness of the hydraulic units on the vibration properties of the system are discussed.

Perturbation Dynamics and Its Application for Parachute-Munition System

The nine-degree-freedom dynamic model of the parachute-munition system is developed by the theories and the analysis methods of parachute dynamics and multibody dynamics.On the basis of the above model,a linear five-degree-of-freedom dynamic model is developed by linearization at the steady state.A new algorithm,which can be fused with submunition kinematics and used in target identification,is developed by the principle of parachute dynamics.The simulation program is developed and used to remove the influence of wind gust on hitting accuracy.The successful airdrop test demonstrates that the new method can be used in the guidance of smart munition.

Dynamic Analysis of the Seafloor Pilot Miner Based on Single-Body Vehicle Model and Discretized Track-Terrain Interaction Model

In order to achieve the complex dynamic analysis of the self-propelled seafloor pilot miner moving on the seafloor of extremely cohesive soft soil and further to make it possible to integrate the miner system with some subsystems to form the complete integrated deep ocean mining pilot system and perform dynamic analysis, a new method for the dynamic modeling and analysis of the miner is proposed and developed in this paper, resulting in a simplified 3D single-body vehicle model with three translational and three rotational degrees of freedom, while the track-terrain interaction model is built by partitioning the track-terrain interface into discrete elements with parameterized force dements built on the theory of terramechanics acting on each discrete dement. To evaluate and verify the correctness and effectiveness of this new modeling and analysis method, typical comparative studies with regard to computational efficiency and solution accuracy are carried out between the traditional modeling method of building the tracked vehicle as a multi-body model and the new modeling method. In full consideration of the particMar structure design of the pilot miner, the special characteristics of the seafioor soil and the hydrodynamic force of near-seafloor currnt, the dynamic simulation analysis of the miner is performed and discussed, which can provide useful guidance and reference for the practical miner system in design and operation. This new method can not only realize the rapid dynamic simulation analysis of the miner but also make possible the integration and rapid dynamic analysis of the complete integrated deep ocean mining pilot system in further researches.

Augmented Eigenvector and Its Orthogonality of Linear Multi-rigid-flexibel-body System

The orthogonality of eigenvector is a precondition to compute the dynamic responses of linear multi-rigid-flexible-body system using the classical modal analysis method. For a linear multi-rigid-flexible-body system, the eigenfunction does not satisfy the orthogonality under ordinary meaning. A new concept--augmented eigenvector is introduced, which is used to overcome the orthogonality problem of eigenvectors of linear multi-rigid-flexible-body system. The constitution method and the orthogonality of augmented eigenvector are expatiated. After the orthogonality of augmented eigenvector is acquired, the coupling of coordinates in dynamics equations can be released, which makes it possible to analyze exactly the dynamic responses of linear multi-rigid-flexible-body system using the classical modal analysis method.

An efficient formulation based on the Lagrangian method for contact–impact analysis of flexible multi-body system

In this paper,an efficien formulation based on the Lagrangian method is presented to investigate the contact–impact problems of f exible multi-body systems.Generally,the penalty method and the Hertz contact law are the most commonly used methods in engineering applications.However,these methods are highly dependent on various non-physical parameters,which have great effects on the simulation results.Moreover,a tremendous number of degrees of freedom in the contact–impact problems will influenc thenumericalefficien ysignificantl.Withtheconsideration of these two problems,a formulation combining the component mode synthesis method and the Lagrangian method is presented to investigate the contact–impact problems in fl xible multi-body system numerically.Meanwhile,the finit element meshing laws of the contact bodies will be studied preliminarily.A numerical example with experimental verificatio will certify the reliability of the presented formulationincontact–impactanalysis.Furthermore,aseries of numerical investigations explain how great the influenc of the finit element meshing has on the simulation results.Finally the limitations of the element size in different regions are summarized to satisfy both the accuracy and efficien y.

薄壁四点接触球轴承-腕部关节系统接触动力学分析

在机器人实际工况中,针对含有薄壁四点接触球轴承的机器人腕部关节系统的运动稳定性问题,对腕部系统模型进行了简化设计和仿真研究。在考虑薄壁结构的弹性变形和动态接触作用耦合影响的基础上,建立了刚柔耦合工业机器人腕部关节系统模型,分析了不同受载工况和正反转驱动下的变形规律和动态特性。首先,基于多体动力学和Hertz接触理论,设计了包含薄壁四点接触球轴承和中空轴及基座的腕部关节系统刚柔耦合接触动力学仿真模型;然后,考虑薄壁中空轴、基座、轴承套圈和保持架的结构弹性变形、钢球和套圈滚道、保持架的动态接触作用,研究了机器人腕部关节系统两种实际工况对保持架和钢球角速度、保持架和薄壁基座振动位移、钢球与套圈的动态接触力的影响;最后,计算分析了两种工况下腕部关节系统的动态载荷规律和振动响应特性。研究结果表明:在相对较大的径向载荷作用下,保持架和钢球会出现打滑现象,速度呈现周期波动,保持架和基座具有更好的运动稳定性,其薄壁轴承内部载荷降低,主副接触对均承担联合载荷,轴承内部载荷稳定性也更好。该仿真模型及结果可以为薄壁腕部关节系统的动力学分析与设计提供参考。

多体-离散体动力观及拆除楼房结构的切口匹配

中国拆除钢筋混凝土结构的多体—离散体动力分析是建立在多体动力方程(符号、函数)和变质量塌落动力方程基础之上,并求得方程包括解析解的全面解。应用近景摄影测量和实例的动力方程反演,获得了破损钢筋混凝土材料的塑性动力参数和结构拆除参数。利用动力方程解及其导出量的相似准则,组建了各类结构不同倒塌方式的切口相似准则公式,即楼房翻倒的单切口相似准则曲线拟合式(5)和它的另一式(6)及切口经验式(7),跨间下塌框架切口相似准则实例修正线C_(4),单切口有后坐楼房翻倒的相似准则曲线拟合式(8),高楼原地层间连续冲击塌落相似准则式(9),高楼多切口原地冲击塌落切口经验式(10),和楼房双切口同向翻倒相似准则曲线,及其它切口-楼房结构倒塌的相似准则曲线族等。类比国内46个拆除实例,从其切口相似准则曲线和实例图中,提出了我国楼房结构-倒塌方式-切口特性的拆除匹配表的楼房倒塌的判断规则,和楼房结构和切口的[λ(λ_(1),λ_(p)),η_(h)(η_(r))]坐标点在其相似准则曲线上方附近时,确定楼房倒塌的判断规则。可简便地确定各类楼房结构多种拆除方式的切口尺寸,继而以无量纲图表确定其他拆除效果。由此,使用多体动力学切口控拆技术(MBDC),可以实现对楼房爆破拆除的简便、准确地拆除控制。

基于DEM-MFBD双向耦合技术的采煤机摇臂壳体疲劳寿命预测

采煤机摇臂壳体是采煤机的重要部件及薄弱环节,其寿命直接影响采煤机的工作性能。为研究采煤机截割复杂煤层时滚筒所受载荷对其摇臂壳体寿命的影响,以MG325型采煤机截割兖州矿区杨村煤矿17层含夹矸煤壁为工程背景,通过虚拟样机技术和离散单元法-多柔体动力学(Discrete Element Method-Multi Flexible Body Dynamics,DEM-MFBD)双向耦合技术,利用离散元仿真软件EDEM和多体系统动力学仿真软件RecurDyn,基于实际工况获得采煤机螺旋滚筒的外负载。在RecurDyn仿真平台中,建立采煤机摇臂三维实体模型并进行边界条件的设置及摇臂壳体的柔性化,通过软件本身的Durability疲劳耐久分析模块,计算摇臂壳体的疲劳寿命。利用专业绘图软件Origin绘制2个软件后处理的载荷曲线图,发现其走势较为一致,其后处理数据均值,标准差等相接近,证明两者耦合效果较好。结果表明:MG325型采煤机以滚筒转速83.5 r/min,截深600 mm,牵引速度5 m/min截割复杂煤层时,滚筒所受载荷具有较为强烈的载荷波动现象,由等效应力云图可得摇臂壳体的最大等效应力为230.51 MPa,且应力较大处集中位于壳体的各个齿轮轴孔处、凹槽处以及上下耳过渡处,经应力疲劳分析后得其最小寿命位于壳体的齿轮轴孔处,循环次数为8.3215×10~6次。本研究方法可为复杂条件下工矿装备大型结构件的优化设计提供参考。

基于EDEM-RecurDyn的自激式振动深松铲耦合仿真研究

为探究自激式振动深松作业新的仿真研究方法,通过动力学仿真软件RecurDyn和离散元仿真软件EDEM对自激式振动深松过程进行联合仿真分析。以耕作阻力为评价指标,耕作深度、牵引速度和弹簧刚度为变量,设计3因素3水平响应面分析和优化试验。结果表明,牵引速度为3 km·h^(-1)、耕作深度为350 mm和弹簧刚度为300 N·mm^(-1)时,深松铲最大入土角为26.39°,弹簧振动频率为3.84~6.25 Hz,弹簧对耕作阻力有明显缓冲作用;自激式深松铲参数耕作深度为301 mm、速度为2.6 km·h^(-1)、弹簧刚度115 N·mm^(-1)时,以最小耕作阻力为评价指标的作业效果最优。EDEM-RecurDyn联合仿真为自激式振动深松铲的优化设计提供新方法。

高速磁浮车-轨耦合实验平台的开发及应用

车辆和导轨的耦合振动问题是影响磁悬浮列车安全性和舒适性的重要问题之一。为解决车辆高速运行时面临的稳定性难题,开发并建设了一套高速磁浮车-轨耦合实验平台。平台围绕常导磁浮车的电磁铁模块进行展开设计,其中轨道模块外接激励器,可以模拟各种速度和不平顺下的轨道条件。控制系统基于实车的控制器、斩波器和传感器进行改造,应用DSPACE快速控制原型技术,实现对嵌入式算法的实时监控和在线修改的功能。建立了柔性轨道多体动力学联合仿真模型,便于快速模拟不同控制算法和力学环境下电磁铁的悬浮稳定性。最后,依托实验平台和联合仿真模型,测试了中低速和高速阶段下电磁铁模块的实际悬浮性能。实验表明本平台具有开展高速车-轨-控制器耦合测试和控制算法快速设计的能力,为高速车-轨耦合振动研究、悬浮控制算法优化提供了可靠的设备基础。