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.

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.

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.

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.

Computational Fluid Dynamics Approach for Predicting Pipeline Response to Various Blast Scenarios: A Numerical Modeling Study

Recent industrial explosions globally have intensified the focus in mechanical engineering on designing infras-tructure systems and networks capable of withstanding blast loading.Initially centered on high-profile facilities such as embassies and petrochemical plants,this concern now extends to a wider array of infrastructures and facilities.Engineers and scholars increasingly prioritize structural safety against explosions,particularly to prevent disproportionate collapse and damage to nearby structures.Urbanization has further amplified the reliance on oil and gas pipelines,making them vital for urban life and prime targets for terrorist activities.Consequently,there is a growing imperative for computational engineering solutions to tackle blast loading on pipelines and mitigate associated risks to avert disasters.In this study,an empty pipe model was successfully validated under contact blast conditions using Abaqus software,a powerful tool in mechanical engineering for simulating blast effects on buried pipelines.Employing a Eulerian-Lagrangian computational fluid dynamics approach,the investigation extended to above-surface and below-surface blasts at standoff distances of 25 and 50 mm.Material descriptions in the numerical model relied on Abaqus’default mechanical models.Comparative analysis revealed varying pipe performance,with deformation decreasing as explosion-to-pipe distance increased.The explosion’s location relative to the pipe surface notably influenced deformation levels,a key finding highlighted in the study.Moreover,quantitative findings indicated varying ratios of plastic dissipation energy(PDE)for different blast scenarios compared to the contact blast(P0).Specifically,P1(25 mm subsurface blast)and P2(50 mm subsurface blast)showed approximately 24.07%and 14.77%of P0’s PDE,respectively,while P3(25 mm above-surface blast)and P4(50 mm above-surface blast)exhibited lower PDE values,accounting for about 18.08%and 9.67%of P0’s PDE,respectively.Utilising energy-absorbing materials such as thin coatings of ultra-high-strength concrete,metallic foams,carbon fiber-reinforced polymer wraps,and others on the pipeline to effectively mitigate blast damage is recommended.This research contributes to the advancement of mechanical engineering by providing insights and solutions crucial for enhancing the resilience and safety of underground pipelines in the face of blast events.

Multi-body dynamics modeling and test of an articulated steering half-track tractor

With the benefits of small turning radius and high trafficability, the articulated steering half-track tractor had been widely utilized in orchard and small spaced farmland. To study the dynamic performance of the articulated steering half-track tractor and provide a model basis for studying the path tracking control, an accurate multi-body dynamic model of the tractor was required. In this study, the crucial parameters in the dynamic model construction of the tractor were investigated. Firstly, the topology model of the components of the half-track tractor was built by RecurDyn, in which the movement subs and driver functions were given. Secondly, considering the difference of dynamic characteristic of the articulated steering tractor with respect to different pavement hardnesses, the soft and hard pavement models were constructed by employing the harmonic superposition method. Finally, the simulations of the half-track tractor under straight-line and swerve had been conducted on the two types of pavements, and the simulation results were compared with the experimental and theoretical results. The results indicated that the average speed error of the dynamic model on hard pavement and farmland soft pavement were 2.7% and 2.1% compared with the real tractor tests. At the same time, the straight-line driving offset errors of the dynamic model on the two pavements were 1.6% and 3.8% for the front wheels and the rear wheels offset errors were 3.9% and 2.4%, respectively. Furthermore, the turning radius error under front wheel steering was 8.2% and the error under articulated steering was 5.3%. It is proved that the established dynamic model had high accuracy, which provides an efficient approach to analyze the dynamic features of the half-track tractor.

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.

Phase diagram and quench dynamics of a periodically drivenHaldane model

We investigate a periodically driven Haldane model subjected to a two-stage driving scheme in the form of a step function.By using the Floquet theory,we obtain the topological phase diagram of the system.We also find that anomalous Floquet topological phases exist in the system.Focusing on examining the quench dynamics among topological phases,we analyze the site distribution of the 0-mode and p-mode edge states in long-period evolution after a quench.The results demonstrate that,under certain conditions,the site distribution of the 0-mode can be confined at the edge even in long-period evolution.Additionally,both the 0-mode and p-mode can recover and become confined at the edge in long-period evolution when the post-quench parameters(T,M_(2) /M_(1))in the phase diagram cross away from the phase boundary (M_(2)/ M_(1))=(6√3t2)/ M_(1)−1.Furthermore,we conclude that whether the edge state is confined at the edge in the long-period evolution after a quench depends on the similarity of the edge states before and after the quench.Our findings reveal some new characteristics of quench dynamics in a periodically driven system.

Characterization and identification towards dynamic-based electrical modeling of lithium-ion batteries

Lithium-ion batteries are widely recognized as a crucial enabling technology for the advancement of electric vehicles and energy storage systems in the grid.The design of battery state estimation and control algorithms in battery management systems is usually based on battery models,which interpret crucial battery dynamics through the utilization of mathematical functions.Therefore,the investigation of battery dynamics with the purpose of battery system identification has garnered considerable attention in the realm of battery research.Characterization methods in terms of linear and nonlinear response of lithium-ion batteries have emerged as a prominent area of study in this field.This review has undertaken an analysis and discussion of characterization methods,with a particular focus on the motivation of battery system identification.Specifically,this work encompasses the incorporation of frequency domain nonlinear characterization methods and dynamics-based battery electrical models.The aim of this study is to establish a connection between the characterization and identification of battery systems for researchers and engineers specialized in the field of batteries,with the intention of promoting the advancement of efficient battery technology for real-world applications.

Influence of Various Earth-Retaining Walls on the Dynamic Response Comparison Based on 3D Modeling

The present work aims to assess earthquake-induced earth-retaining(ER)wall displacement.This study is on the dynamics analysis of various earth-retaining wall designs in hollow precast concrete panels,reinforcement concrete facing panels,and gravity-type earth-retaining walls.The finite element(FE)simulations utilized a 3D plane strain condition to model full-scale ER walls and numerous nonlinear dynamics analyses.The seismic performance of differentmodels,which includes reinforcement concrete panels and gravity-type and hollowprecast concrete ER walls,was simulated and examined using the FE approach.It also displays comparative studies such as stress distribution,deflection of the wall,acceleration across the wall height,lateral wall displacement,lateral wall pressure,and backfill plastic strain.Three components of the created ER walls were found throughout this research procedure.One is a granular reinforcement backfill,while the other is a wall-facing panel and base foundation.The dynamic response effects of varied earth-retaining walls have also been studied.It was discovered that the facing panel of the model significantly impacts the earthquake-induced displacement of ER walls.The proposed analytical model’s validity has been evaluated and compared with the reinforcement concrete facing panels,gravity-type ER wall,scientifically available data,and American Association of State Highway and Transportation Officials(AASHTO)guidelines results based on FE simulation.The results of the observations indicate that the hollow prefabricated concrete ER wall is the most feasible option due to its lower displacement and high-stress distribution compared to the two types.The methodology and results of this study establish standards for future analogous investigations and professionals,particularly in light of the increasing computational capabilities of desktop computers.

Dynamic optimal allocation of energy storage systems integrated within photovoltaic based on a dual timescale dynamics model

Energy storage systems(ESSs)operate as independent market participants and collaborate with photovoltaic(PV)generation units to enhance the flexible power supply capabilities of PV units.However,the dynamic variations in the profitability of ESSs in the electricity market are yet to be fully understood.This study introduces a dual-timescale dynamics model that integrates a spot market clearing(SMC)model into a system dynamics(SD)model to investigate the profit-aware capacity growth of ESSs and compares the profitability of independent energy storage systems(IESSs)with that of an ESS integrated within a PV(PV-ESS).Furthermore,this study aims to ascertain the optimal allocation of the PV-ESS.First,SD and SMC models were set up.Second,the SMC model simulated on an hourly timescale was incorporated into the SD model as a subsystem,a dual-timescale model was constructed.Finally,a development simulation and profitability analysis was conducted from 2022 to 2040 to reveal the dynamic optimal range of PV-ESS allocation.Additionally,negative electricity prices were considered during clearing processes.The simulation results revealed differences in profitability and capacity growth between IESS and PV-ESS,helping grid investors and policymakers to determine the boundaries of ESSs and dynamic optimal allocation of PV-ESSs.

Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

Due to the novel applications of flexible pipes conveying fluid in the field of soft robotics and biomedicine,the investigations on the mechanical responses of the pipes have attracted considerable attention.The fluid-structure interaction(FSI)between the pipe with a curved shape and the time-varying internal fluid flow brings a great challenge to the revelation of the dynamical behaviors of flexible pipes,especially when the pipe is highly flexible and usually undergoes large deformations.In this work,the geometrically exact model(GEM)for a curved cantilevered pipe conveying pulsating fluid is developed based on the extended Hamilton's principle.The stability of the curved pipe with three different subtended angles is examined with the consideration of steady fluid flow.Specific attention is concentrated on the large-deformation resonance of circular pipes conveying pulsating fluid,which is often encountered in practical engineering.By constructing bifurcation diagrams,oscillating shapes,phase portraits,time traces,and Poincarémaps,the dynamic responses of the curved pipe under various system parameters are revealed.The mean flow velocity of the pulsating fluid is chosen to be either subcritical or supercritical.The numerical results show that the curved pipe conveying pulsating fluid can exhibit rich dynamical behaviors,including periodic and quasi-periodic motions.It is also found that the preferred instability type of a cantilevered curved pipe conveying steady fluid is mainly in the flutter of the second mode.For a moderate value of the mass ratio,however,a third-mode flutter may occur,which is quite different from that of a straight pipe system.

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.

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.

Towards a Modeling of the Impacts of Road Verge Management on the Pollination Service Using System Dynamics: A Case Study in France

Several research studies have proven that eliciting and predicting the impact of human activity on ecosystem services will be crucial to support stakeholders’ awareness and to decide how to interact with the environment in a more sustainable manner. In this sense, the ecosystems known as road verges are particularly important because of their length and surface at an international scale, and their role in mitigating the damage done by roads. Plant pollination by insects is one of the most important ecosystem services. Because of its nature and the fact that they extend across a variety of landscapes, roadside can contribute to the maintenance of healthy ecosystems, under the condition of adapted management practices. This research is the first attempt to develop a System Dynamics-based aiming to estimate the ecological and economic impact of maintenance on the road verge pollination service in France. Maintenance strategies of road verges are simulated to compare their performance. The results show that there are ways to improve current maintenance strategies in terms of pollination value, but also that the model needs to consider other ecosystem services and synergistic effects that could further affect pollination to obtain more accurate estimations.

Functional Sustainability of a Flight Dynamics Control System for Stable Hovering Flight of an Unmanned Aerial Vehicle(UAV),such as in Agricultural Applications:Mathematical Modeling and Simulation

The simulation of a control system for the longitudinal axis of the rotary or fixed-wing unmanned aerial vehicles(UAVs)is demonstrated in this study.The control unit includes design considerations of two controllers to provide robust stability,tracking of the proposed linear dynamics,an adequate set of proportional-integral-derivative(PID)controller gains,and a minimal cost function.The PID control and linear quadratic regulator(LQR)with or without full-state-observer were evaluated.An optimal control system is assumed to provide fast rise and settling time,minimize overshoot,and eliminate the steady-state error.The effectiveness of this approach was verified by a linear model of the UAV aircraft in the semi-dynamic simulation platform of Matlab/Simulink,in which the open-loop system was assessed in terms of flight robustness and reference tracking.The experimental results show that the proposed controllers effectively improve the configuration of the control system of the plant,maintain the sustainability of the dynamic flight model stability,and diminish the flight controller errors.The LQR provides robust stability,but it is not optimal in the transient phase of particular plant output.The PID control system can adjust the controller’s gains for optimal hovering(or stable slow flight)and is especially useful for the tracking system.Finally,comparing aircraft stability using PID and LQR controllers shows that the latter has less overshoot and a shorter settling time;in addition,all proposed controllers can be practically deployed as one UAV’s system,which can be handled as an exemplary model of the UAV flight management system.

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.

Time-domain dynamic constitutive model suitable for mucky soil site seismic response

Soil nonlinear behavior displays noticeable effects on the site seismic response.This study proposes a new functional expression of the skeleton curve to replace the hyperbolic skeleton curve.By integrating shear modulus and combining the dynamic skeleton curve and the damping degradation coefficient,the constitutive equation of the logarithmic dynamic skeleton can be obtained,which considers the damping effect in a soil dynamics problem.Based on the finite difference method and the multi-transmitting boundary condition,a 1D site seismic response analysis program called Soilresp1D has been developed herein and used to analyze the time-domain seismic response in three types of sites.At the same time,this study also provides numerical simulation results based on the hyperbolic constitutive model and the equivalent linear method.The results verify the rationality of the new soil dynamic constitutive model.It can analyze the mucky soil site nonlinear seismic response,reflecting the deformation characteristics and damping effect of the silty soil.The hysteresis loop area is more extensive,and the residual strain is evident.

Hybrid Dynamic Variables-Dependent Event-Triggered Fuzzy Model Predictive Control

This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.

Adaptive Optimal Discrete-Time Output-Feedback Using an Internal Model Principle and Adaptive Dynamic Programming

In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback-merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization problem. We then design an observer to reproduce the full state of the system by measuring the inputs and outputs. Moreover, this technique includes both a policy iteration algorithm and a value iteration algorithm to determine the optimal feedback gain without using a dynamic system model. It is important that with this concept one does not need to solve the regulator equation. Finally, this control method was tested on an inverter system of grid-connected LCLs to demonstrate that the proposed method provides the desired performance in terms of both tracking and disturbance rejection.