CALCULATING ACCURATE PERIODIC MOTIONS OF HARMONICALLY FORCED PIECEWISE LINEAR OSCILLATORS

This paper presents an efficient numerical scheme for calculating the periodic motion of a harmonically forced piecewise linear oscillator very accurately. The scheme is based on the shooting technique with the traditional numerical Poincare mapping and its Jacobian replaced by the piecewise analytic ones. Thus, the scheme gets rid of the requirement of the current schemes for an assumed order of the oscillator trajectory passing through different linear regions. The numerical examples in the paper demonstrate that the new scheme, compared with the current schemes, enables one to cope with more complicated dynamics of harmonically forced piecewise linear oscillators.

Periodic Motion Planning and Control for Double Rotary Pendulum via Virtual Holonomic Constraints

Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also mean some relation between state variables and could be used in the motion planning.We consider a double rotary pendulum, which has an underactuation degree 2. A novel periodic motion planning is presented based on an optimization search. A necessary condition for existence of the whole periodic trajectory is given because of the higher underactuation degree of the system. Moreover this condition is given to make virtual holonomic constraint(VHC) based control design feasible. Therefore, an initial guess for the optimization of planning a feasible periodic motion is based on this necessary condition. Then, VHCs are used for the system transformation and transverse linearization is used to design a static state feedback controller with periodic matrix function gain. The controller gain is found through another optimization procedure. The effectiveness of initial guess and performance of the closed-loop system are illustrated through numerical simulations.

RESEARCH OF THE PERIODIC MOTION AND STABILITY OF TWO-DEGREE-OF-FREEDOM NONLINEAR OSCILLATING SYSTEMS

The periodic motion and stability for a class of two-degree-of-freedom nonlinear oscillating systems are studied by using the method of Liapunov function. The sufficient conditions which guarantee the existence, uniqueness and asymptotic stability of the periodic solutions are obtained.

PERIODIC MOTIONS OF SPINNING RIGID SPACECRAFT UNDER INFLUENCE OF GRAVITATIONAL AND MAGNETIC FIELDS

The motion of a magnetized axisymmetric spacecraft about its center of mass in a circular orbit is considered, taking the gravitational and magnetic effects of the central body into account. Equations of motion of the reduced system are transformed to equations of plane motion of a charged particle under the action of electric and magnetic fields. Stationary motions of the system are determined and periodic motions near to them are constructed using the Lyapounoff theorem of the holomorphic integral.

Analytical solution of basic equations set of atmospheric motion

On condition that the basic equations set of atmospheric motion possesses the best stability in the smooth function classes, the structure of solution space for local analytical solution is discussed, by which the third-class initial value problem with typ- icality and application is analyzed. The calculational method and concrete expressions of analytical solution about the well-posed initial value problem of the third-kind are given in the analytic function classes. Near an appointed point, the relevant theoretical and computational problems about analytical solution of initial value problem are solved completely in the meaning of local solution. Moreover, for other type ofproblems for determining solution, the computational method and process of their stable analytical solution can be obtained in a similar way given in this paper.

Bifurcation of Periodic Motion of Rigid Rotor System Supported by Angular Contact Ball Bearings

Rotor systems supported by angular contact ball bearings are complicated due to nonlinear Hertzian contact force. In this paper, nonlinear bearing forces of ball bearing under five-dimensional loads are given, and 5-DOF dynamic equations of a rigid rotor ball bearing system are established. Continuation-shooting algorithm for periodic solutions of the nonlinear non-autonomous dynamic system and Floquet multipliers of the system are used. Furthermore, the bifurcation and stability of the periodic motion of the system in different parametric domains are also studied. Results show that the bifurcation and stability of period-1 motion vary with structural parameters and operating parameters of the rigid rotor ball bearing system. Avoidance of unbalanced force and bending moment, appropriate initial contact angle, axial load and damping factor help enhance the unstable rotating speed of period-1 motion.

Study on High Accuracy Hybrid Controller for Periodic Motion Control

In order to realize high accuracy control for periodic motion,a hybrid controller with grey prediction was presented in this paper.Incorporating the grey prediction,repetitive control,and the traditional Proportional-Integral-Differential(PID)control,a design method of the grey prediction repetitive PID(GRPID)control algorithm was investigated,according to the characteristics of the periodic motion control.The hybrid control algorithm can estimate unsure parameters and disturbance of system using grey prediction,and compensate control in terms of the prediction results,and this may improve control quality and robustness of repetitive control for controlling periodic motion.An example was carried out to verify the feasibility of the controller.The simulation results show that this algorithm has better performances than that of the conventional repetitive control system.It indicates the presented control method is more suitable for control system of periodic motion.

用Visual Basic模拟抛射体运动

在Visual Basic的集成开发环境下,模拟离地面不同高度的物体的斜抛运动和平抛运动的轨迹,并对抛射体运动的射高、飞行时间和水平射程进行了求解.

Traveling wave effect on the seismic response of a steel arch bridge subjected to near fault ground motions

In the 1990s, several major earthquakes occurred throughout the world, with a common observation that near fault ground motion （NFGM） characteristics had a distinct impact on causing damage to civil engineering structures that could not be predicted by using far field ground motions. Since then, seismic responses of structures under NFGMs have been extensively examined, with most of the studies focusing on structures with relatively short fundamental periods, where the traveling wave effect does not need to be considered. However, for long span bridges, especially arch bridges, the traveling wave （only time delay considered） effect may be very distinct and is therefore important. In this paper, the results from a case study on the seismic response of a steel arch bridge under selected NFGMs is presented by considering the traveling wave effect with variable apparent velocities. The effects of fling step and long period pulses of NFGMs on the seismic responses of the arch bridge are also discussed.

Representation of near-fault pulse-type ground motions

Near-fault ground motions with long-period pulses have been identified as critical in the design of structures. To aid in the representation of this special type of motion, eight simple pulses that characterize the effects of either the flingstep or forward-directivity are considered. Relationships between pulse amplitudes and velocity pulse period for different pulses are discussed. Representative ratios and peak acceleration amplification can exhibit distinctive features depending on variations in pulse duration, amplitude and the selected acceleration pulse shape. Additionally, response spectral characteristics for the equivalent pulses are identified and compared in terms of fixed PGA and PGV, respectively. Response spectra are strongly affected by the duration of pulses and the shape of the basic pulses. Finally, dynamic time history response features of a damped SDOF system subjected to pulse excitations are examined. These special aspects of pulse waveforms and their response spectra should be taken into account in the estimation of ground motions for a project site close to a fault.

Study on equivalent velocity pulse of nearfault ground motions

Near-fault strong ground motions that resulted in serious structural damage are characterized by directivity effect and pulse-type motion. Large-amplitude and long-period pulses are contained in the velocity time-history traces of near-fault pulse-type records. A reasonable model of equivalent velocity pulse is proposed on the basis of the ex- isted models in this paper to simplify the calculation and analysis. Based on the large amount of collected near-fault strong earthquakes records, the parameters describing equivalent velocity pulse model such as pulse period, pulse intensity and number of predominant pulses are studied, and comparison is made with the results obtained by others models. The proposed model is contributive to the seismic design for structures in near-fault areas.

Stability for basic system of equations of atmospheric rhotion

The topological characteristics for the basic system of equations of atmospheric motion were analyzed with the help of method provided by stratification theory. It was proved that in the local rectangular coordinate system the basic system of equations of atmospheric motion is stable in infinitely differentiable function class. In the sense of local solution, the necessary and sufficient conditions by which the typical problem for determining solution is well posed were also given. Such problems as something about ＂speculating future from past＂ in atmospheric dynamics and how to amend the conditions for determining solution as well as the choice of underlying surface when involving the practical application were further discussed. It is also pointed out that under the usual conditions, three motion equations and continuity equation in the basic system of equations determine entirely the property of this system of equations.

3D simulation of near-fault strong ground motion: comparison between surface rupture fault and buried fault

In this paper, near-fault strong ground motions caused by a surface rupture fault （SRF） and a buried fault （BF） are numerically simulated and compared by using a time-space-decoupled, explicit finite element method combined with a multi-transmitting formula （MTF） of an artificial boundary. Prior to the comparison, verification of the explicit element method and the MTF is conducted. The comparison results show that the final dislocation of the SRF is larger than the BF for the same stress drop on the fault plane. The maximum final dislocation occurs on the fault upper line for the SRF; however, for the BE the maximum final dislocation is located on the fault central part. Meanwhile, the PGA, PGV and PGD of long period ground motions （≤ 1 Hz） generated by the SRF are much higher than those of the BF in the near-fault region. The peak value of the velocity pulse generated by the SRF is also higher than the BE Furthermore, it is found that in a very narrow region along the fault trace, ground motions caused by the SRF are much higher than by the BF. These results may explain why SRFs almost always cause heavy damage in near-fault regions compared to buried faults.

基于Visual Basic 6.0的运动决策测试系统软件设计与实现

近几年,随着科技和信息技术的发展,各种信息软件系统被广泛应用于社会的各行各业。随着体育事业的发展,这种技术逐渐应用到体育运动中,能够很好的提高体育运动效率和决策准确性。本次研究选取奥运会中击剑比赛的决策片段为素材,并采用Visual Basic 6.0软件开发运动决策测试系统,系统能够随时调用比赛片段,准确的识别比赛中运动员决策出剑的时间,而且系统能够自动记录出剑决策的速度、准确性等指标。此系统的应用具有较高的效度和信度,是评价击剑运动员各种能力的理想工具。

Site dependence of far-source ground motions during the Wenchuan earthquake

This paper aimed to examine the site dependence and evaluate the methods for site analysis of far-source ground motions. This was achieved through the examination of frequency content estimated by different methods based on strong ground motions recorded at twelve far-source stations in Shandong province during the Wenchuan earthquake. The stations were located in sites with soil profiles ranging from code classes Ⅰ to Ⅲ. Approaches used included the Fourier amplitude spectrum （FAS）, the earthquake response spectrum （ERS）, the spectral ratio between the horizontal and the vertical components （H/V）, the spectral ratio between the spectra at the site and at a reference site （SRRS）, and coda wave analysis （CWA）. Results showed that major periods of these ground motions obtained by FAS, ERS and H/V ratio methods were all evidently larger than site dominant periods; the periods were also different from each other and mainly reflected the frequency content of long period components. Prominent periods obtained by the SRRS approach neither illuminated the long period aspect nor efficiently determined site features of the motions. The CWA resulted in a period close to site period for stations with good quality recordings. The results obtained in this study will be useful for the evaluation of far-source effect in constructing seismic design spectra and in selecting methods for ground motion site analysis.

Characteristics of near-fault ground motion containing velocity pulses

There are many reports about the research on near-fault velocity pulses, which focus on the generation of velocity pulse and simplify the velocity pulse so as to be used in the seismic design of structure, However few researches have put emphasis on the characteristics of near-fault ground motions containing velocity pulses, especially the characteristics relevant with the design response spectrum prescribed by the code. Through collection of a large number of near-fault records containing velocity pulses, the response spectra and the characteristic periods of records containing no pulses are compared with those of records containing pulses. Response spectra of near-fault records are compared with standard spectra given by code; furthermore, the response spectra and the characteristic periods of each earthquake are compared with that given by code. The result shows that at long periods （longer than 1.5 s）, the response spectrum of pulse-containing records is bigger than the response spectrum of no-pulse-containing records; when the characteristic period of near-fault records is calculated, the method that does not fix frequency is more reasonable because the T1 and T2 have a lagging tendency; regardless of the site Ⅰ and site Ⅱ, the characteristic period of pulse-containing records is over twice bigger than the characteristic period given by the code,

A LARGE-SCALE ESTIMATE OF THE NUMBEROF PERIODIC SMALL OSCILLATIONS OFNONLINEAR SYSTEMS

A conservative system performing a small oscillation near every equilibrium position is analysed in classical way. The paper tries to answer the following question: How many types of the periodic small oscillation in the whole configuration space of the system are there? Making some hypotheses, it expresses the lower bounds of the number of the types for two cases where critical points of the potential function are nondegenerate and degenerate respectively by the Betti numbers and dimension of the constraint manifold only.

Analysis on Stability of Coning Motion of Rockets Based on Nutation Theory

A nonlinear mathematic model taking the nutation and precession angles as variables for the coning motion of projectile was established according to a short period moment projection of the spining projectile. By introducing the generalized nutation angle and precession angular speed, the model that is difficult to be resolved can be transformed to a resolvable one. The interrelationship between nutation and precession was analyzed based on the linear model, and the stability condition was obtained for the spinning projectile. For the nonlinear model, the effects of the nutation and precession on the limit circle of the projectile's coning motion were investigated, and the analytical relations between the nutation angle and the precession angular speed in the steady coning motion of the spinning projectile were given.

Pulse-like ground motion observed during the 6 February 2023 M_(W)7.8 Pazarcık Earthquake(Kahramanmaraş,SE Türkiye)

In this study,we analyzed 100 three-component strong ground motion records observed within 200 km of the causative fault of the 6 February 2023 M_(W)7.8 Pazarcık(Kahramanmaraş)Earthquake in SE Türkiye.The wavelet method was utilized to identify and analyze the characteristics of pulse-like ground motions in the near-fault region,while considering the uncertainty of the pulse orientation during the analysis.Our investigation focused on the effects of the focal mechanism and rupture process on the spatial distribution,pulse orientation,and maximum pulse direction of the observed pulse-like ground motion.We also analyzed the amplitude and period of the observed ground pulses and the effect of long-period amplification on the ground motion response spectra.Our results indicated the following:(1)A total of 21 typical ground velocity pulses were observed during this earthquake,exhibiting complex characteristics due to the influence of the strike-slip mechanism and rupture directivity.Most ground pulses(17 out of 21)were recorded within 20 km of the fault,in a wide range of orientations,including normal and parallel to the fault direction.The waveforms exhibited unidirectional features,indicating the effects of left-lateral fault slip.Distinct pulses observed more than 20 km from the fault were mainly oriented normal to the fault.The waveforms were bidirectional with double-or multi-round trips as a result of rupture directivity.(2)The amplitudes of the observed pulses ranged from 30.5 to 220.0 cm/s,with the largest peak velocity of 220.0 cm/s observed at Station 3138.The pulse periods ranged from 2.3 to 14.5 s,with the longest pulse period of 14.5 s observed at Station 3116.The amplitude and period of the pulses observed during this earthquake were comparable to those of similar-magnitude global earthquakes.The amplitude of the pulses decreased significantly with increasing fault distance,whereas the pulse period was not significantly affected by the fault distance.(3)Compared with non-pulse records,the velocity pulse records had a pronounced amplification effect on the acceleration response spectra near the pulse period,with factors ranging from 2.1 to 5.8.The larger velocity pulses also significantly amplified the velocity response spectra,particularly over the long periods.This significant amplification effect of the pulses on the response spectra leads to empirical models underestimating the long-period earthquake ground motion.

基于SolidWorks Motion的“无碳小车”周期延拓凸轮轮廓设计

"无碳小车"项目是第七届全国大学生工程训练综合能力竞赛的主题,难度非常提高。如何快速设计小车的转向机构,使小车精确走出预期轨迹是竞赛中最具挑战的目标。对传统凸轮的周期进行延拓得到一种新周期能使小车精确走出各种复杂运动轨迹。该文提出了基于SolidWorks Motion的周期延拓凸轮轮廓设计方法,通过SolidWorks艺术绘制出理想轨迹,再通过SolidWorks Motion运动仿真推理出周期延拓凸轮轮廓,最后通过正向运动仿真验证了该设计的准确性。