Nonlinear joint PP-PS AVO inversion based on improved Bayesian inference and LSSVM

Multiwave seismic technology promotes the application of joint PP–PS amplitude versus offset (AVO) inversion;however conventional joint PP–PS AVO inversioan is linear based on approximations of the Zoeppritz equations for multiple iterations. Therefore the inversion results of P-wave, S-wave velocity and density exhibit low precision in the faroffset;thus, the joint PP–PS AVO inversion is nonlinear. Herein, we propose a nonlinear joint inversion method based on exact Zoeppritz equations that combines improved Bayesian inference and a least squares support vector machine (LSSVM) to solve the nonlinear inversion problem. The initial parameters of Bayesian inference are optimized via particle swarm optimization (PSO). In improved Bayesian inference, the optimal parameter of the LSSVM is obtained by maximizing the posterior probability of the hyperparameters, thus improving the learning and generalization abilities of LSSVM. Then, an optimal nonlinear LSSVM model that defi nes the relationship between seismic refl ection amplitude and elastic parameters is established to improve the precision of the joint PP–PS AVO inversion. Further, the nonlinear problem of joint inversion can be solved through a single training of the nonlinear inversion model. The results of the synthetic data suggest that the precision of the estimated parameters is higher than that obtained via Bayesian linear inversion with PP-wave data and via approximations of the Zoeppritz equations. In addition, results using synthetic data with added noise show that the proposed method has superior anti-noising properties. Real-world application shows the feasibility and superiority of the proposed method, as compared with Bayesian linear inversion.

Multi-harmonic equivalent modeling for a planar repetitive structure with polynomial-nonlinear joints

How nonlinear joints affect the response of large space structures is an important problem to investigate.In this paper,a multi-harmonic equivalent modeling method is presented to establish a frequency-domain model of planar repetitive structures with nonlinear joints.First,at the local level,the nonlinear joint is modeled by the multi-harmonic describing function matrix.The element of the hybrid beam is obtained by the dynamic condensation of the beam-joint element.Second,at the global level,the displacement-equivalence method is used to model the multi-harmonic Euler continuum beam equivalent to the planar repetitive structure.Then,the pseudo-arc-length continuation method is applied to track the multi-harmonic trajectory of response.Afterwards,an experiment is conducted to validate the correctness of the modeling method,considering the effect of hanging rope and air damping.In the numerical studies,several simulation results indicate the similarity of response between a single-degree-of-freedom system with a single nonlinear joint and the system of the planar repetitive structure with a large number of nonlinear joints.Finally,the component of higher-order harmonics is shown to be important for predicting the resonance frequencies and amplitudes.

Joint probability density function of the stochastic responses of nonlinear structures

The joint probability density fimction （PDF） of different structural responses is a very important topic in the stochastic response analysis of nonlinear structures. In this paper, the probability density evolution method, which is successfully developed to capture the instantaneous PDF of an arbitrary single response of interest, is extended to evaluate the joint PDF of any two responses. A two-dimensional partial differential equation in terms of the joint PDF is established. The strategy of selecting representative points via the number theoretical method and sieved by a hyper-ellipsoid is outlined. A two-dimensional difference scheme is developed. The free vibration of an SDOF system is examined to verify the proposed method, and a flame structure exhibiting hysteresis subjected to stochastic ground motion is investigated. It is pointed out that the correlation of different responses results from the fact that randomness of different responses comes from the same set of basic random parameters involved. In other words, the essence of the probabilistic correlation is a physical correlation.

Design of Robust Controller for Flexible Joint Robot with Nonlinear Friction Characteristics

A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.

Nonlinear Dynamics Analysis of Joint Dominated Space Deployable Truss Structures

Joints are necessary components in the larger space deployable truss structures which have significant effect on the dynamics behavior of these deployable joint-dominated structures. Four kinds of joints' nonlinear force-displacement relationship are analyzed based on describing function method. The dynamic responses of one-DOF jointed system under different exciting force levels are investigated to understand the influence of joint nonlinearity on dynamic responses. The influences of joint characterizing parameters on joint nonlinearities are analyzed. Dynamic responses of the modular beam-like deployable joint-dominated truss structure are tested under different sinusoidal exciting force levels. The experimental results show obvious nonlinear behaviors contributed by joints that dynamic response shifts to lower resonance frequency and higher amplitude with the increase of exciting force. The nonlinearity of the joints in the tested structure is compared with the theoretical results and identified to meet with the hysteresis nonlinearity.

A three-dimensional nonlinear reduced-order predictive joint model

Mechanical joints can have significant effects on the dynamics of assembled structures.However,the lack of efficacious predictive dynamic models tot joints hinders accurate prediction of their dynamic behavior.The goal of our work is to develop physics-based,reduced-order,finite element models that are capable of replicating the effects of joints on vi- brating structures.The authors recently developed the so-called two-dimensional adjusted lwan beam element(2-D AIBE) to simulate the hysteretic behavior of bolted joints in 2-D beam structures.In this paper,2-D AIBE is extended to three-di- mensional cases by formulating a three-dimensional adjusted lwan beam element(3-D AIBE).hupulsive loading experi- ments are applied to a jointed frame structure and a beam structure containing the same joint.The frame is subjected to ex- citation out of plane so that the joint is under rotation and single axis bending.By assuming that the rotation in the joint is linear elastic,the parameters of the joint associated with bending in the flame are identified from acceleration responses of the jointed beam structure,using a multi-layer teed-torward neural network(MLFF).Numerieal simulation is then per- formed on the frame structure using the identified parameters.The good agreement between the simulated and experimental impulsive acceleration responses of the frame structure validates the efficacy of the presented 3-D AIBE,and indicates that the model can potentially be applied to more complex structural systems with joint parameters identified from a relatively simple structure.

钢轨打磨车专用EHA非线性反演控制

为提高钢轨打磨车打磨钢轨的平顺性及稳定性,提出以电动静液作动器(EHA)代替传统液压作动系统作为钢轨打磨车的专用执行器,考虑柱塞泵的总效率波动和液压缸动静摩擦差异大2个非线性因素,建立非线性数学模型;建立EHA的MATLAB、AMESim联合仿真模型,对PID控制、滑模变结构控制、反演控制进行控制策略对比研究,仿真分析验证反演控制在响应快速性及稳定性方面具有良好的表现。搭建四象限平台对EHA进行反演控制负载试验,结果表明:其位移控制精度达0.21 mm,具有较好的控制性能。

Nonlinear Modeling and Identification of Structural Joint by Response Control Vibration Test

Components of mechanical product are assembled by structural joints,such as bolting,riveting,welding,etc.Structural joints introduce nonlinearity to some engineering structures,and the nonlinearity need to be modeled precisely.To meet serious quality requirements,it is necessary to detect and identify nonlinearity of mechanical products for structural optimization.Modal test to acquire a dynamic response has been applied for decades,which provides reliable results for finite element(FE)model updating.Here response control vibration test for identification of nonlinearity is presented.A nonlinear system can be regarded as linearity for particular steady state response,and classical linear analysis tool is applicable to extract modal data for particular response.First,its applicability is illustrated by some numerical simulations.Subsequently,it is implemented on experimental setup with structural joints by shaking table.The stiffness and damping function dependent of relative displacement are fitted to describe its inherent nonlinearity.The spring and damping forces are identified by harmonic balance method(HBM)to predict output response.Based on the identified results,the procedure is recommended that it allows a reliable measurement of nonlinearity with a certain accuracy.

新型装配式型钢混凝土组合节点非线性分析

通过ABAQUS平台对新型装配式钢混组合节点试件进行有限元建模,基于试验结果,验证了该有限元模型的可靠性,并分析了节点盖板厚度和方钢管宽厚比对节点滞回性能、能量耗散及刚度退化等抗震性能的影响。结果表明:该新型节点具有良好的整体承载力及耗能能力;当增大节点盖板厚度时,试件的承载力、耗能及初始刚度均逐步增大,其峰值弯矩增幅约为17.6%,延性系数呈先增大后降低的变化趋势。当方钢管宽度一定时,节点承载力随着方钢管厚度的增大而增加,最大增幅约15.6%,但方钢管厚度对节点延性影响较小;当方钢管厚度一定时,节点的承载力变化较小,但其延性随着方钢管宽度的增大而增大,最大增幅约为24.2%;同时,方钢管宽厚比对新型节点强度和刚度退化性能的影响较为稳定。

连接界面黏滑摩擦行为的非线性载荷重构方法

提出一种连接界面黏滑摩擦行为的非线性载荷重构方法。基于非线性动力学子结构建模方法,将复杂连接结构视作线性子结构和非线性连接两部分,通过虚拟非线性激励载荷进行关联。以线性子结构为研究对象,采用两次动刚度矩阵求逆的反转技术消除传递函数的病态奇异性,建立观测点自由度和非线性连接自由度之间的传递关系。考虑连接界面黏滑摩擦行为的影响,将观测的非线性动力响应进行谐波级数展开,直接辨识连接界面的局部非线性接触载荷。利用螺栓连接梁结构的数值仿真和实验结果进行验证。结果表明:重构的虚拟非线性激励载荷能够直接反映连接界面黏滑摩擦行为的影响,并且能够有效地识别螺栓连接界面预紧性能的变化。

基于ANSYS的复式膨胀节强度和轴向刚度有限元分析

通过ANSYS有限元分析,研究了复式膨胀节在同时受内压及轴向位移时的强度和轴向刚度.建立了复式膨胀节的二维轴对称模型,并考虑了非线性对复式膨胀节的影响,将分析结果与EJMA工程近似法计算结果进行对比,表明ANSYS有限元结果更接近实际情况,采用工程近似法分析复式膨胀节时存在一定误差.

黏接结构在扭转循环载荷下力学行为的试验与理论研究

在应变控制的试验条件下,对圆柱形中空对接试件进行了扭转循环加载的试验,分析了平均剪应变和剪应变幅值对黏接结构的扭转循环应力松弛和软化的影响.试验结果表明:在扭转循环载荷作用下,黏接结构的应力-应变响应曲线形状为下凹形,说明该黏接结构在扭转循环载荷下黏接界面的变形较小,且黏接结构出现了扭转循环应力松弛和循环软化情况.松弛应力在初始阶段下降较快,但随着循环次数的增加逐渐稳定.循环软化在循环加载的初始几圈较为严重,随着循环圈数的增加而减弱.平均剪应变与剪应变幅值的增大都会导致黏接结构的扭转应力松弛与循环软化加剧.此外,通过此黏接结构在扭转循环载荷作用下的力学行为试验分析,本文提出了一个可描述黏接结构在扭转循环载荷下力学响应的非线性黏-弹性循环模型,考虑了扭转循环应力松弛及循环软化的变化规律,以及平均剪应变与剪应变幅值对其力学响应的影响.通过模型计算结果与试验曲线对比,可以看出模型计算的应力-应变响应循环曲线与试验曲线重合度较好,证明该模型可以较好地描述黏接结构在不同循环载荷条件下的力学行为.此研究结果可为黏接结构及相关复合材料疲劳损伤的预测与评价提供试验和理论支持.

泥炭质土非线性固结理论研究

在泥炭质土软基固结过程中,孔隙比和渗透系数会随固结时间增加逐渐变小,导致按Terzaghi一维固结理论计算的软基固结值与实测值存在较大误差,故以滇池湖相沉积泥炭质土为研究对象,进行固结-渗透联合试验,研究泥炭质土e-σ′,k-σ′之间规律,从而得到e-lgσ′,lgk-lgσ′模型,然后引入这两个模型推导出适用于泥炭质土的一维非线性固结理论,并求解出渗压指数C_(k)=1,C_(k)=2两种不同条件下的解析解。根据所取泥炭质土的C_(k)不同,当C_(k)=1时,一维非线性固结微分方程的解析解与Terzaghi一维固结方程解析解比较,仅竖向固结系数存在差异;当C_(k)=2时,一维非线性固结微分方程难以直接得到解析解,可引入激活函数得到非线性固结微分方程的一个特解。研究发现,C_(k)=1时,泥炭质土固结过程中Terzaghi一维固结理论预测沉降速率比实测快,固结完成所需时间短;推导的一维非线性固结理论预测的各时间段固结沉降值和实测值接近,预测固结完成所需的时间误差小,且上覆荷载越大St-t关系曲线与实测值越接近,推导的一维非线性固结理论预测结果越精确。研究结果可为泥炭质土类软基提供一种更为精确的固结计算方法。

柔性多关节移动机器人非线性控制轨迹的二次模糊逼近

针对柔性多关节移动机器人在非线性控制轨迹下控制精准度不高的问题,提出一种非线性控制下的模糊逼近方法。建立机器人动力学模型,根据动力学特性设置矢量参数,对误差扰动动态修正。将矢量参数作为初始输入值,采用加权平均和乘积推理法,使得矢量符合自适应规律,通过模糊逼近函数对控制器的输出值实行状态逼近,直至符合初始设定值;凭借李亚普诺夫函数对控制输出值二次实施稳定模糊逼近,完成非线性轨迹控制。以B样条曲线轨迹为例做控制实验,实验数据证明:该二次逼近控制方法在非线性轨迹下的控制精准度较高,控制器输出力矩稳定,实用性能较强。

基于非线性语谱图联合判决的语种识别

针对灰度对数语谱图对基频拉伸幅度过大,短时长语音识别率提升受限的问题,提出一种非线性语谱图联合判决的语种识别方法。首先,对语音进行能量归一化,提取对数功率谱,将频率刻度按照人耳听觉感知进行非线性映射得到非线性语谱图。然后,将非线性语谱图按词关联特性进行等间隔拆分,在ResNet网络后端加入联合判决层;输出语音所属语种类型。实验结果表明,所提方法有效改善灰度对数语谱图的缺点,识别性能均高于语谱图及改进特征。联合判决对切分时长为1.0 s的样本语音取得的识别效果最佳,在广播音频数据集中,识别率达到94.25%;在VoxForge公共语料集中,识别率达到98.94%。

圆钢管K型相贯节点焊缝应力分布规律研究

圆钢管相贯节点具有构造简单、加工方便、外表美观等优点,已在钢结构工程中得到广泛应用。相贯焊缝在节点受力过程中应力分布较为复杂,应力集中处易较早屈服,影响节点整体承载性能。对相贯节点焊缝应力分布规律进行研究,可以预测相贯节点在失效破坏前焊缝屈服萌生位置和扩展趋势。本文结合某钢结构工程K型相贯节点,建立有限元模型,分析不同角度和焊脚高度的K型相贯节点在承受轴向力作用下其焊缝应力的分布规律。通过对模拟结果的分析,得出焊缝应力分布特点和影响因素。

基于库伦-粘性摩擦模型的大腿假肢动力学参数辨识

基于模型的智能假肢控制方式具有物理意义明确、参数变量少的优势,但受建模误差、模型不确定等因素的影响,其控制精度仍有待进一步提高,而有效措施之一便是假肢先验动力学建模与辨识.本文针对实验室新设计的动力大腿假肢,研究了基于库伦-粘性摩擦的大腿假肢动力学参数辨识问题.首先,基于拉格朗日方法建立了具有固定传动比动力膝关节和非线性传动比动力踝关节的大腿假肢动力学模型;其次,采用库伦-粘性摩擦模型来描述假肢动力学模型中的关节摩擦行为;最后,通过粒子群优化算法辨识了大腿假肢的动力学参数.结果表明,相比于基于3D建模软件的估计参数,基于辨识参数重构的膝、踝关节电机扭矩与实测扭矩的均方根误差分别降低了93.55%和80.83%,模型精度得到了显著提高.这一结果不仅验证了本文假肢动力学建模与参数辨识方法的有效性,也为假肢后续的高精度控制提供了技术支撑.

光谷空轨高新大道站钢结构顶棚设计与分析

为了实现光谷空轨高新大道站钢结构顶棚外侧悬挑和中央抬高天窗的建筑造型,提出了叠级自平衡结构体系,即第一级弦支穹顶自平衡结构形式和第二级双侧悬挑梁柱框架自平衡结构形式,实现了建筑和结构功能形态的统一融合,解决了细柱受压问题并消除对基础的影响。采用SAP2000对结构进行了静力和非线性稳定分析,补充了ABAQUS梁柱节点应力分析,按上部结构受力特点采用了内侧桩基外围独基结合的基础形式。结果表明,上部结构和基础设计合理,整体稳定性较好,梁柱节点受力良好。

非线性结构系统的局部连接刚度辨识方法研究

连接结构在工程应用领域广泛存在,连接位置处的局部非线性特征对结构系统的动力学建模与特性预示具有重要影响。针对非线性结构系统局部连接参数未知或难以测量的问题,本文从结构动力学反问题的角度出发,提出一种基于频响函数变换的局部线性连接刚度辨识方法,通过与时域非线性子空间辨识方法相结合,可进一步获取非线性结构系统的局部线性和非线性连接刚度。设计并搭建三自由度结构系统的数值算例和实验系统,开展辨识方法的数值和实验验证,结果表明,所提方法能够分离并辨识得到非线性结构系统的标称线性系统频响函数和非线性参数,进而实现局部线性和非线性连接刚度的联合辨识。

干式连接装配式风电混塔非线性特征研究

为探究干式连接装配式风电混塔在复杂耦合载荷作用下的非线性行为特征,利用ANSYS和ABAQUS两种软件分别建立涵盖风电机组基础、混凝土塔筒、钢混过渡段、钢绞线、钢塔筒、风电机组的一体化有限元模型,采用风电机组厂家提供的截面载荷进行静力加载分析,验证两种有限元模型计算结果的正确性。在此基础上,分别针对塔架结构的边界非线性、材料非线性、几何非线性行为特征开展系统研究,分析拼缝接触状态、混凝土塑性损伤模型、几何大变形对于塔架承载能力以及变形能力的影响。研究表明:干式连接混塔在极限大弯矩作用下,塔架迎风侧水平接缝会出现脱开等现象,从而让竖向接缝有空间进行切向滑动,导致上下管片相互挤压,管片出现大范围的应力集中现象,开启几何大变形后挤压现象更为明显;当管片应力超过混凝土抗拉强度后,混凝土发生开裂,钢筋发挥作用,协同受力,混凝土进行应力重分布,保障了塔架在极限荷载作用下的整体承载力和稳定性。