Effects of Joint Controller on Analytical Modal Analysis of Rotational Flexible Manipulator

Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.

An operational modal analysis method in frequency and spatial domain

A frequency and spatial domain decomposition method （FSDD） for operational modal analysis （OMA） is presented in this paper, which is an extension of the complex mode indicator function （CMIF） method for experimental modal analysis （EMA）. The theoretical background of the FSDD method is clarified, Singular value decomposition is adopted to separate the signal space from the noise space. Finally, an enhanced power spectrum density （PSD） is proposed to obtain more accurate modal parameters by curve fitting in the frequency domain. Moreover, a simulation case and an application case are used to validate this method.

Modal analysis on transverse vibration of axially moving roller chain coupled with lumped mass

The modal characteristics of the transverse vibration of an axially moving roller chain coupled with lumped mass were analyzed.The chain system was modeled by using the multi-body dynamics theory and the governing equations were derived by means of Lagrange's equations.The effects of the parameters,such as the axially moving velocity of the chain,the tension force,the weight of lumped mass and its time-variable assign position in chain span,on the modal characteristics of transverse vibration for roller chain were investigated.The numerical examples were given.It is found that the natural frequencies and the corresponding mode shapes of the transverse vibration for roller chain coupled with lumped mass change significantly when the variations of above parameters are considered.With the movement of the chain strand,the natural frequencies present a fluctuating phenomenon,which is different from the uniform chain.The higher the order of mode is,the greater the fluctuating magnitude and frequency are.

An improved modal pushover analysis procedure for estimating seismic demands of structures

The pushover analysis （POA） procedure is difficult to apply to high-rise buildings, as it cannot account for the contributions of higher modes. To overcome this limitation, a modal pushover analysis （MPA） procedure was proposed by Chopra et al. （2001）. However, invariable lateral force distributions are still adopted in the MPA. In this paper, an improved MPA procedure is presented to estimate the seismic demands of structures, considering the redistribution of inertia forces after the structure yields. This improved procedure is verified with numerical examples of 5-, 9- and 22-story buildings. It is concluded that the improved MPA procedure is more accurate than either the POA procedure or MPA procedure. In addition, the proposed procedure avoids a large computational effort by adopting a two-phase lateral force distribution..

Finite Element Modeling and Modal Analysis of Complicated Structure with Bolted Joints

A contact bolt model is proposed as a new modeling technique to investigate the complex structure with bolted joints for modal analysis and compared with the coupled bolt model, and the test results are given. Among these models, the coupled bolt model provides the best accurate responses compared with the experimental results. The contact bolt model shows the best effectiveness and usefulness in view of operational time. The bolt models proposed in this study are adopted for a dynamic characteristic analysis of a large diesel engine consisting of several parts which are connected by many bolts. The dynamic behavior of the entire engine structure was investigated by experiment. The coupled bolt model and the contact bolt model were applied to model the assembly of engine with high preload. The experimental results are in good agreement with the finite element method （FEM） results. Compared with the other models, the contact bolt model presented in this paper is more effective and useful in view of operational time and experience of analysts.

Modal analysis of coupled vibration of belt drive systems

The modal method is applied to analyze coupled vibration of belt drive systems. A belt drive system is a hybrid system consisting of continuous belts modeled as strings as well as discrete pulleys and a tensioner arm. The characteristic equation of the system is derived from the governing equation. Numerical results demenstrate the effects of the transport speed and the initial tension on natural frequencies.

CALCULATING RESPONSE SPECTRAL MOMENTS BY COMPLEX MODAL ANALYSIS

Response spectral moments are useful for system reliability analysis.Usually,spectral mo- ments are calculated by the frequency domain method.Based on the time domain modal analysis of random vibrations,the authors present a new method for calculating response spectral moments through response correlation functions.The method can be applied to both classical and non-classical damping cases and to three kinds of random excitations,i.e.,white noise,band-limited white noise, and filtered white noise.

Uncertain Modal Analysis of Unmanned Aircraft Composite Landing Gear

Through taking uncertain mechanical parameters of composites into consideration,this paper carries out uncertain modal analysis for an unmanned aircraft landing gear.By describing correlated multi-dimensional mechanical parameters as a convex polyhedral model,the modal analysis problem of a composite landing gear is transferred into a linear fractional programming(LFR)eigenvalue solution problem.As a consequent,the extreme-point algorithm is proposed to estimate lower and upper bounds of eigenvalues,namely the exact results of eigenvalues can be easily obtained at the extreme-point locations of the convex polyhedral model.The simulation results show that the proposed model and algorithm can play an important role in the eigenvalue solution problem and possess valuable engineering significance.It will be a powerful and effective tool for further vibration analysis for the landing gear.

Seismic bearing capacity of strip footing on partially saturated soil using modal response analysis

The present study proposes a novel and simplified methodology to assess the seismic bearing capacity(SBC) of a shallow strip footing by incorporating strength non-linearity arising due to partial saturation of a soil matrix. Furthermore, developed methodology incorporates the modal response analysis of soil layers to assess SBC. A constant matric suction distribution profile has been considered throughout the depth of the soil. The Van Genuchten equation and corresponding fitting parameters have been considered to quantify matric suction in the analysis. SBC has been obtained for three different geomaterials;viz. sand, fly ash and clay, based on their predominant grain size and diverse soil water characteristics curve(SWCC) attributes. Variation of SBC with different modes of vibration and damping ratio are reported for ranges of matric suction pertinent to the geomaterials considered in the study. The relative significance of matric suction on SBC has been reported for suction values within the transition zone of each geomaterial. It is observed that the SBC of sand is drastically reduced, with matric suction reaching beyond the residual suction value. The SBC of fly ash remains constant beyond the residual suction value, whereas the SBC of clay shows an increasing trend toward the practical range of matric suction values.

MODAL PART ANALYSIS OF SLOSH OF THE LIQUID IN A CYLINDRICAL CONTAINER IN THE CASE OF SMALL BOND NUMBER

Reconstruction of liquid free slosh modes by curved quiet free surface was investigated in the case of small Bond number by means of modal part analysis method in this paper. It is shown that the curved liquid quiet free surface would couple the modes to form new eigen-modes while the orthogonality of the modes which participate the liquid slosh are given only by their Bessel modal parts and it would change their eigen-frequencies respectively while the orthogonality are given by their triangle function modal parts. By studying the laterally forced slosh of the liquid in a cylindrical container based on the new eigen-modes, a characteristic of modes-choosing was found.

Travel modal choice analysis for traffic corridors based on decision-theoretic approaches

The rapid development of multimodal transportation system prompts travellers to choose multiple transportation modes, such as private vehicles or taxi, transit(subways or buses), or park-and-ride combinations for urban trips. Traffic corridor is a major scenario that supports travellers to commute from suburban residential areas to central working areas. Studying their modal choice behaviour is receiving more and more interests. On one hand, it will guide the travellers to rationally choose their most economic and beneficial mode for urban trips. On the other hand, it will help traffic operators to make more appropriate policies to enhance the share of public transit in order to alleviate the traffic congestion and produce more economic and social benefits. To analyze the travel modal choice, a generalized cost model for three typical modes is first established to evaluate each different travel alternative. Then, random utility theory(RUT) and decision field theory(DFT) are introduced to describe the decision-making process how travellers make their mode choices. Further, some important factors that may influence the modal choice behaviour are discussed as well. To test the feasibility of the proposed model, a field test in Beijing was conducted to collect the real-time data and estimate the model parameters. The improvements in the test results and analysis show new advances in the development of travel mode choice on multimodal transportation networks.

Application of experimental modal analysis technique to structural design of linear vibrating screen

A large model of the screen was mounted in the laboratory for studying its modal performance. The model is suspended with steel ropes. Modal test was carried out with artificially exciting by 500 g impacting hammer and 100 kg exciting force shaker respectively. Synthesis and correction of the modal parameters are obtained from both testing methods. Design faults of vibrating screen were determined based on the analy-sis and dynamic correction of structure approaches about the screen was put forward finally.

Modal Analysis of Thread off Failure of Oil Round Thread Casing Connection

The dynamic modal model analysis of the oil casing connection is done by finite element method (FEM), and the first nature frequency, the second nature frequency, the vibration mode shape and the time domain of the node displacement and the element stress variation in the thread connection are gotten. The Von.Mises stresses of the connection in the static and dynamic state are also studied. The results of calculation and analysis show: (1) because the maximum of static stress is at the coupling thread end of connection, the connection begins to thread off at the coupling thread end, which is in accord with the results of the thread off experiment in laboratory; (2) because the first nature frequency is very high, the probability of casing connection to be damaged from vibration is little; (3) the shock dynamic load makes casing connection begin to thread off at the tube thread end.

Dynamic Stability Analysis of Linear Time-varying Systems via an Extended Modal Identification Approach

The problem of linear time-varying（LTV） system modal analysis is considered based on time-dependent state space representations, as classical modal analysis of linear time-invariant systems and current LTV system modal analysis under the ＂frozen-time＂ assumption are not able to determine the dynamic stability of LTV systems. Time-dependent state space representations of LTV systems are first introduced, and the corresponding modal analysis theories are subsequently presented via a stabilitypreserving state transformation. The time-varying modes of LTV systems are extended in terms of uniqueness, and are further interpreted to determine the system＇s stability. An extended modal identification is proposed to estimate the time-varying modes, consisting of the estimation of the state transition matrix via a subspace-based method and the extraction of the time-varying modes by the QR decomposition. The proposed approach is numerically validated by three numerical cases, and is experimentally validated by a coupled moving-mass simply supported beam exper- imental case. The proposed approach is capable of accurately estimating the time-varying modes, and provides anew way to determine the dynamic stability of LTV systems by using the estimated time-varying modes.

OPERATIONAL MODAL ANALYSIS SCHEMES USING CORRELATION TECHNIQUE

For some large-scale engineering structures in operating conditions, modal param- eters estimation must base itself on response-only data. This problem has received a considerable amount of attention in the past few years. It is well known that the cross-correlation function between the measured responses is a sum of complex exponential functions of the same form as the impulse response function of the original system. So this paper presents a time-domain operating modal identifcation global scheme and a frequency-domain scheme from output-only by cou- pling the cross-correlation function with conventional modal parameter estimation. The outlined techniques are applied to an airplane model to estimate modal parameters from response-only data.

A Multilevel Hierarchical Parallel Algorithm for Large-Scale Finite Element Modal Analysis

The strict and high-standard requirements for the safety and stability ofmajor engineering systems make it a tough challenge for large-scale finite element modal analysis.At the same time,realizing the systematic analysis of the entire large structure of these engineering systems is extremely meaningful in practice.This article proposes a multilevel hierarchical parallel algorithm for large-scale finite element modal analysis to reduce the parallel computational efficiency loss when using heterogeneous multicore distributed storage computers in solving large-scale finite element modal analysis.Based on two-level partitioning and four-transformation strategies,the proposed algorithm not only improves the memory access rate through the sparsely distributed storage of a large amount of data but also reduces the solution time by reducing the scale of the generalized characteristic equation(GCEs).Moreover,a multilevel hierarchical parallelization approach is introduced during the computational procedure to enable the separation of the communication of inter-nodes,intra-nodes,heterogeneous core groups(HCGs),and inside HCGs through mapping computing tasks to various hardware layers.This method can efficiently achieve load balancing at different layers and significantly improve the communication rate through hierarchical communication.Therefore,it can enhance the efficiency of parallel computing of large-scale finite element modal analysis by fully exploiting the architecture characteristics of heterogeneous multicore clusters.Finally,typical numerical experiments were used to validate the correctness and efficiency of the proposedmethod.Then a parallel modal analysis example of the cross-river tunnel with over ten million degrees of freedom(DOFs)was performed,and ten-thousand core processors were applied to verify the feasibility of the algorithm.

Simulation and modal analysis of the uplift device of a sugarcane harvester using virtual prototype technology

A three-dimensional model of the uplift device of a sugarcane harvester was built up in Pro/Engineer. Simulation and evaluation of its motional and dynamic performance were performed with the automatic dynamic analysis of mechanical system (ADAMS). ANSYS program was applied to the structural analysis of the model. A finite element analytic model was built up with the bottom-up methodology and was meshed. The default Block Lanczos method was used to work out the native frequency. The results indicate that the five lower modes-the transpotaion wheel, the left holding device, the right holding device, the left cutter disk, and the right cutter disk- and displacement of vibratory type only slightly affect the process of sugarcane harvester and harvesting quality. So it is advisable that the optimization of the static intensity other than the dynamic stiffness of uplift device be executed.

Vibration measurement and modal analysis for tunneller

In this paper, the method of vibration measurement and modal analysis for AM50 Tunneller machine is presented. When the machine was used for cutting man made coal bed and real coal bed, the vibration of the machine was measured and the results of signal analysis show that the vibration characteristics under the two kinds of working situations are similar. The modal model of the machine is established, and then, the intrinsic vibration characteristics of AM50 tunneller are investigated by means of the method of experimental modal analysis. The vibration response simulation under a set of loading spectra measured is carried out by force response simulation software.

Study of Axial Vibration of a Motor-Compressor System Using Operational Modal Analysis

A case study of excessive vibration on a motor-compressor system is presented in this paper.After barely two months of operation,the reciprocating compressor motor’s routine monitoring revealed excessive axial vibration amplitude.For this reason,the Operational Modal Analysis(OMA)was carried out in order to identify the pri-mary cause.According to the investigation,one of the harmonic components which was 18 times the motor’s running speed matched with a resonance frequency of 112 Hz.According to OMA study,the motor was vibrating in torsional motion because the compressor’s load had stimulated the entire motor-compressor unit at this reso-nance frequency.The analysis also demonstrates the bulging effect of the motor shaft’s axial vibration on the motor’s endplate.

Modal analysis and pulse response of mobile hard disk head actuator arm assembly

Head actuator arm assembly (HAA) is the most important mechanical component of a mobile hard disk drive (HDD) and its shock dynamic response is a principal index of vibration resistance. In this paper,a finite element (FE) model is firstly developed in ANSYS of 2.5 inch (1 inch=25.4 mm) mobile hard disk. This model includes actuator arm,voice coil motor (VCM) and pivot bearing. The various step modal of HAA is calculated by FE model. Then the actuator arm vibration behavior is simulated with LS-DYNA procedure. The influence of pulse waveform,pulse amplitude and pulse width on the shock response of the relative displacement of the head actuator arm assembly is studied.