Numerical and experimental studies on impact dynamics of a planar flexible multibody system

In this paper a computational methodology on impact dynamics of the flexible multibody system is presented. First, the floating frame of reference approach and nodal coordinates on the basis of finite element formulation are used to describe the kinematics of planar deformable bodies. According to the kinematic description of contact conditions, the contact constraint equations of planar flexible bodies are derived. Based on the varying topology technique the impact dynamic equations for a planar multibody system are established. Then the initial conditions of the equations in each contact stage are determined according to the discontinuity theory in continuum mechanics. The experiments between the aluminum rods are performed to check the correctness of the proposed method. Through the comparison between the numerical and experimental results the proposed method is validated. Experimental results also show that the impulse momentum method cannot accurately predict the complex impact dynamic phenomena and the continuous model may lead to a serious error when used to simulate the impact problems with significant wave propagation effects.

Controller design based on viscoelasticity dynamics model and experiment for flexible drive unit

In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.

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.

Fault Identification for Shear-Type Structures Using Low-Frequency Vibration Modes

Shear-type structures are common structural forms in industrial and civil buildings,such as concrete and steel frame structures.Fault diagnosis of shear-type structures is an important topic to ensure the normal use of structures.The main drawback of existing damage assessment methods is that they require accurate structural finite element models for damage assessment.However,for many shear-type structures,it is difficult to obtain accurate FEM.In order to avoid finite elementmodeling,amodel-freemethod for diagnosing shear structure defects is developed in this paper.This method only needs to measure a few low-order vibration modes of the structure.The proposed defect diagnosis method is divided into two stages.In the first stage,the location of defects in the structure is determined based on the difference between the virtual displacements derived from the dynamic flexibility matrices before and after damage.In the second stage,damage severity is evaluated based on an improved frequency sensitivity equation.Themain innovations of this method lie in two aspects.The first innovation is the development of a virtual displacement difference method for determining the location of damage in the shear structure.The second is to improve the existing frequency sensitivity equation to calculate the damage degree without constructing the finite elementmodel.Thismethod has been verified on a numerical example of a 22-story shear frame structure and an experimental example of a three-story steel shear structure.Based on numerical analysis and experimental data validation,it is shown that this method only needs to use the low-order modes of structural vibration to diagnose the defect location and damage degree,and does not require finite element modeling.The proposed method should be a very simple and practical defect diagnosis technique in engineering practice.

Development of flexible telescopic boom model using ANCF sliding joint constraints with LuGre friction

In this investigation, a modeling procedure of a telescopic boom of cranes is developed using the absolute nodal coordinate formulation together with the sliding joint constraints. Since telescopic booms are extracted and retracted under various operating conditions, the overall length of the boom changes dynamically, leading to the time-variant vibration characteristics. For modeling the telescopic structure of booms, a special care needs to be exercised since the location of the sliding contact point moves Mong the deformable axis of the flexible boom and the solution to a moving boundary problem is required. This issue indeed makes the modeling of the telescopic boom difficult, despite the significant needs for the analysis. It is, therefore, the objective of this investigation to develop a modeling procedure for the flexible telescopic boom by considering the sliding contact condition with the dynamic frictional effect. To this end, the sliding joint constraint developed for the absolute nodal coordinate formulation is employed for describing relative sliding motion between flexible booms, while flexible booms are modeled using the beam element of the absolute nodal coordinate formulation, which allows for modeling the large rotation and deformation of the structure.

Effects of a flexible net barrier on the dynamic behaviours and interception of debris flows in mountainous areas

Flexible net barriers are a new type of effective mitigation measure against debris flows in valleys and can affect the kinematic energy and mass of debris flows. Here, ten flume tests were performed to study the dynamic behaviours of debris flows with differences in volumes, concentrations(solid volume fraction), and travel distances after interception by a uniform flexible net barrier. A high-speed camera was used to monitor the whole test process, and their dynamic behaviours were recorded. A preliminary computational framework on energy conversion is proposed according to the deposition mechanisms and outflow of debris flow under the effects of the flexible net barrier. The experimental results show that the dynamic interaction process between a debris flow and the flexible net barrier can be divided into two stages:(a) the two-phase impact of the leading edge of the debris flow with the net and(b) collision and friction between the body of the debris flow and intercepted debris material. The approach velocity of a debris flow decreases sharply(a maximum of 63%) after the interception by the net barrier, and the mass ratio of the debris material being intercepted and the kinetic energy ratio of the debris material being absorbed by the net barrier are close due to the limited interception efficiency of the flexible net barrier, which is believed to be related to the flexibility. The energy ratio of outflow is relative small despite the large permeability of the flexible net barrier.

Dynamic Analysis of Flexible Cage of High-speed Angular Contact Ball Bearing

A dynamics formula was established for the flexible cage of high-speed angular contact ball bearing. A modified Craig-Bampton component mode synthetic method was used to establish the formula with regard to the flexibility of cage and based on a dynamic analysis of angular contact ball bearing,and a rigid-flexible multi-body dynamic analysis program was developed using ADAMS,which is verified by a computation example of Gupta. The results show that it's not likely to keep the rotation smoothness of cage when the ratio of pocket clearance to guiding clearance and the ratio of radial load to axial load become too large or too small. By comparison,the flexible cage runs more smoothly than the rigid cage.

Dynamic modeling and simulation for the flexible spacecraft with dynamic stiffening

A rigid flexible coupling physical model which can represent a flexible spacecraft is investigated in this paper. By applying the mechanics theory in a non-inertial coordinate system,the rigid flexible coupling dynamic model with dynamic stiffening is established via the subsystemmodeling framework. It is clearly elucidated for the first time that,dynamic stiffening is produced by the coupling effect of the centrifugal inertial load distributed on the beamand the transverse vibration deformation of the beam. The modeling approach in this paper successfully avoids problems which are caused by other popular modeling methods nowadays： the derivation process is too complex by using only one dynamic principle; a clearly theoretical explanation for dynamic stiffening can＇t be provided. First,the continuous dynamic models of the flexible beamand the central rigid body are established via structural dynamics and angular momentumtheory respectively. Then,based on the conclusions of orthogonalization about the normal constrained modes,the finite dimensional dynamic model suitable for controller design is obtained. The numerical simulation validations showthat： dynamic stiffening is successfully incorporated into the dynamic characteristics of the first-order model established in this paper,which can indicate the dynamic responses of the rigid flexible coupling system with large overall motion accurately,and has a clear modeling mechanism,concise expressions and a good convergence.

Seismic earth pressures on flexible cantilever retaining walls with deformable inclusions

In this study, the results of 1-g shaking table tests performed on small-scale flexible cantilever wallmodels retaining composite backfill made of a deformable geofoam inclusion and granular cohesionlessmaterial were presented. Two different polystyrene materials were utilized as deformable inclusions.Lateral dynamic earth pressures and wall displacements at different elevations of the retaining wallmodel were monitored during the tests. The earth pressures and displacements of the retaining wallswith deformable inclusions were compared with those of the models without geofoam inclusions.Comparisons indicated that geofoam panels of low stiffness installed against the retaining wall modelaffect displacement and dynamic lateral pressure profile along the wall height. Depending on the inclusioncharacteristics and the wall flexibility, up to 50% reduction in dynamic earth pressures wasobserved. The efficiency of load and displacement reduction decreased as the flexibility ratio of the wallmodel increased. On the other hand, dynamic load reduction efficiency of the deformable inclusionincreased as the amplitude and frequency ratio of the seismic excitation increased. Relative flexibility ofthe deformable layer （the thickness and the elastic stiffness of the polystyrene material） played animportant role in the amount of load reduction. Dynamic earth pressure coefficients were compared withthose calculated with an analytical approach. Pressure coefficients calculated with this method werefound to be in good agreement with the results of the tests performed on the wall model having lowflexibility ratio. It was observed that deformable inclusions reduce residual wall stresses observed at theend of seismic excitation thus contributing to the post-earthquake stability of the retaining wall. Thegraphs presented within this paper regarding the dynamic earth pressure coefficients versus the wallflexibility and inclusion characteristics may serve for the seismic design of full-scale retaining walls withdeformable polystyrene inclusions. 2014 Institute of Rock and Soil Mechanics, Chinese Academy of Sciences. Production and hosting byElsevier B.V. All rights reserved.

Adaptive Tracking Filter for Stabilizing a Flexible Launch Vehicle

The flight control system designer is increasingly concerned with the problem of providing adequate stability of the elastic modes of the flight vehicle. The problem of stabilizing bending modes can be solved by the use of different bending filters. But continuously changing behavior of the elastic modes frequencies makes it impossible to suppress the elastic modes. In this paper, adaptive tracking filter is used to solve this problem. Where it can track the frequency of predominant oscillatory component of its input signal and automatically adjust the shaping characteristics as a function of this frequency. Simulation results are presented to show the frequency tracking accuracy and response of the flight launch vehicle, which are based on the assumption that, only first bending mode is selected at a time. Comparison with the second order band pass filter is carried out in order to emphasis the effectiveness of this design methodology.

Flexible Tropism of the Enterprises＇ Organization in Uncertain Competitive Environment

With the rapid development of the computer network, communication technology and the economic globalization, the competition environment faced by the enterprises has been more and more complicated. While the interactive competition becomes more and more fierce, it has been more and more difficult for enterprises to keep sustainable advantages in competition. In this paper the author mainly discusses the severe challenge of the new competition conditions to the traditional hierarchical structure and the reason why flexible organization will be the inevitable strategy selection of the enterprises.

A GENERAL PROCEDURE TO CAPTURE THE "DYNAMIC STIFFNESS

A general procedure to capture the 'dynanmic Stiffness' is presented in this paper. The governing equations of motion are formulated for an arbitrary flexible body in large overall motion based on Kane's equations . The linearization is performed peroperly by means of geometrically nonlinear straindisplacement relations and the nonlinear expression of angular velocity so that the 'dynamical stiffness' terms can be captured naturally in a general tcase. The concept and formulations of partial velocity and angular velocity arrays of Huston's method are extended to the flexible body and form the basis of the analysis. The validity and generality of the procedure presented in the paper are verified by numerical results of its application in both the beam and plate models.

Multibody dynamic analysis using a rotation-free shell element with corotational frame

Rotation-free shell formulation is a simple and effective method to model a shell with large deformation. Moreover, it can be compatible with the existing theories of finite element method. However, a rotation-free shell is seldom employed in multibody systems. Using a derivative of rigid body motion, an efficient nonlinear shell model is proposed based on the rotation-free shell element and corotational frame. The bending and membrane strains of the shell have been simplified by isolating deformational displacements from the detailed description of rigid body motion. The consistent stiffness matrix can be obtained easily in this form of shell model. To model the multibody system consisting of the presented shells, joint kinematic constraints including translational and rotational constraints are deduced in the context of geometric nonlinear rotation-free element. A simple node-to-surface contact discretization and penalty method are adopted for contacts between shells. A series of analyses for multibody system dynamics are presented to validate the proposed formulation. Furthermore,the deployment of a large scaled solar array is presented to verify the comprehensive performance of the nonlinear shell model.

The Dynamic Flexibility of Batch Exothermic Reaction System： Take into Account the Effect of the Initial Operational Temperature

It is shown in this article that by changing the initial operation condition of the batch processes, the dynamic performance of the system can be varied largely, especially for the initial operational temperature of the exothermic reaction. The initial operation condition is often ignored in the designing batch processes for flexibility against disturbances or parameter variations. When the initial condition is not rigid as in the case of a batch reactor, where the initial reaction temperature is quite arbitrary, optimization can also be applied to determine the ＂best＂ initial condition to use. Problems for dynamic flexibility analysis of exothermic reaction including initial temperature and process operation can be formulated as dynamic optimization problems. Formulations are derived when the initial conditions are considered or not. When the initial conditions are considered, the initial condition can be transferred into control variables in the first optimal step. The solution of the dynamic optimization is on the basis of Rugge-Kutta integration algorithm and decomposition search algorithm. This method, as illustrated and tested with two highly nonlinear process problems, enables the determination of the optimal level. The dynamic performance is improved by the proposed method in the two exothermic reaction examples.

A General Model for Analysis of Sound Radiation from Orthogonally Stiffened Laminated Composite Plates

A general theoretical model is developed to investigate the sound radiation from an infinite orthogonally stiffened plate under point excitation force. The plate can be metallic or composite, and fluid loading is also considered in the research. The first order shear deformation theory is used to account for the transverse shear deformation. The motion of the equally spaced stiffeners is examined by considering their bending vibrations and torsional movements. Based on the periodic structure theory and the concepts of the equivalent dynamic flexibility of the plate, the generalized vibro-acoustic equation of the model is obtained by applying the Fourier transform method. The generalized model that can be solved numerically is validated by comparing model predictions with the existing results. Numerical calculations are performed to investigate the effects of the location of the excitation, the spacing of the stiffeners, the plate thickness, the strengthening form and the fiber orientation on the sound radiation characteristic of the orthogonaUy stiffened plate, and some practical conclusions are drawn from these parameter studies.

The influences of Organizational Routines on Establishing Dynamic Competitive Advantages

As an important part in unique resources and capability of enterprises, organizational routines, on one hand, promote the success of enterprises, on the other hand, influence the future development of enterprises. Especially, organizational routines have the influences on the two factors of building up dynamic competitive advantages-strategic change and strategic flexibility and further influence the establishment of dynamic competitive advantages. This paper involves detailed analysis on the influences of organizational routines and on the approaches of establishing dynamic competitive advantages and puts forward the relevant countermeasures.

COMPUTER AIDED ANALYSIS OF FLEXI－BLE MEMBER IN CONSIDERATION OF THE EFFECTS OF DYNAMIC STI－FFEN－ING

A recently developed procedure to capture the dynamic stiffening of an arbitrary flexiblemember in large overall motion accompanied by small elastic vibrations is presented. A mechanicalsystem that consists of one or more flexible members is called a flexible mechanical system. If thesystem is considered as a multibody system, the flexiblemember can be considered as a flexible bodyin a flexible multibody system. Having retained the nonlinearitites up to an appropriate point in theanalysis, the linearization is then performed properiy so that the dynamic stiffening terms can befound naturally, while the explicit formulation of the governing equations for the deformation mo-tion is ultimately linear. Based on the procedure, the effects of dynamic stiffening are investigatedqualitatively and quantitatively with analytical and numerical examples. The results are useful incomputer aid analysis of the dynamic behavior of flexible mechanical systems.

Experimental validation of sound quality simulation and optimization of a four-cylinder diesel engine

A novel sound quality simulation approach was proposed to optimize the acoustic performance of a four-cylinder diesel engine.Finite element analysis,single-input and multiple-output technology,flexible multi-body dynamics,and boundary element codes were used to acquire the hexahedron-element model,experimental modal frequencies,vibration velocities,and structurally radiated noise of the block,respectively.The simulated modal frequencies and vibration velocities agreed well with the experimental data,which validated the finite-element block.The acoustic response showed that considerable acoustic power levels existed in 1500-1900 Hz and 2300-2800 Hz as the main frequency ranges to optimize the block acoustics.Then,the optimal block is determined in accordance with the novel approach,which reduces the overall value,high-frequency amplitudes,and peak values of acoustic power;thus,the loudness,sharpness,and roughness decline to make the sound quieter,lower-pitched,and smoother,respectively.Finally,the optimal block was cast and bench-tested.The results reveal that the sound quality of the optimal-block engine is substantially improved as numerically expected,which verifies the effectiveness of the research approach.