Common effect of wave and slip of internal heavy load will make rolling of the roll-on ship serious. This is one of the important reasons for overturn of ro-ro ships. The multibodies System with a floating base is com...Common effect of wave and slip of internal heavy load will make rolling of the roll-on ship serious. This is one of the important reasons for overturn of ro-ro ships. The multibodies System with a floating base is composed of ro-ro ship and slipping heavy load. This paper takes the rolling angle of the ship and the transverse displacement of the heavy load on desk as two freedoms. Making use of analysis of apparent gravitation and apparent buoyancy, the wave rolling moment is derived. By use of dynamic method of multibodies system with a floating base, dynamic equations of the system are established. Taking a certain channel ferry as an example, a set of numerical calculation have been carried out for rolling response of the ship and displacement response of the slipping heavy load under common effect of synchro-slipping heavy loads and wave.展开更多
The hose-drogue system is a common method for soft aerial refueling,whereby the refueling tanker tows the drogue through the hose.In this paper,a mathematical-physical model of the hose-drogue system is developed and ...The hose-drogue system is a common method for soft aerial refueling,whereby the refueling tanker tows the drogue through the hose.In this paper,a mathematical-physical model of the hose-drogue system is developed and simulated using the Absolute Nodal Coordinate Formulation(ANCF)finite element method.A numerical solution program based on ANCF and ALE(Arbitrary Eulerian-Lagrange)-ANCF method was developed to simulate and analyze the horizontal and elongation release processes of the hose-drogue system at different towing points(underneath the wing and the belly of the aircraft).This program was developed by introducing an ALE description.The numerical solution program,developed based on the ANCF and ALE-ANCF methods,represents a significant advancement in computational efficiency for the rigid-flexible coupled multibody system of the air refueling hose-drogue system.This program can provide a valuable reference for the qualitative design of the hose-drogue multibody system in soft air refueling,while maintaining the necessary accuracy.展开更多
This study aims to establish an integrated sensitivity analysis framework for optimization and design of the dynamic performance of mechanical systems such as tracked vehicles,by combining the direct differentiation m...This study aims to establish an integrated sensitivity analysis framework for optimization and design of the dynamic performance of mechanical systems such as tracked vehicles,by combining the direct differentiation method(DDM)with the linear multibody system transfer matrix method(linear MSTMM).The rigid-flexible coupled multibody system dynamics model of a tracked vehicle is established using the linear MSTMM and validated through the modal test.Building upon the existing DDM-based eigenvalue sensitivity analysis method within the linear MSTMM,the DDM is embedded into it to enable programmable and efficient computation of dynamic response sensitivities for mechanical systems.The proposed approach is used to quantitatively evaluate the sensitivities of both natural vibration characteristics(e.g.,natural frequencies and mode shapes)and transient dynamic responses of the tracked vehicle with respect to system parameters,successfully identifying critical structural parameters.Compared to conventional finite difference methods,the developed methodology eliminates sensitivity to perturbation step sizes.The contributions of this work lie in establishing a unified theoretical foundation and analysis framework for guiding dynamics optimization and design of mechanical systems,and extending the applicability of the linear MSTMM to sensitivity analysis of transient dynamic responses.展开更多
The transformation from multibody models to lumped-parameter models is a crucial aspect of vehicle dynamics research.The velocity transformation method is adopted in this research,and the suspension multibody model is...The transformation from multibody models to lumped-parameter models is a crucial aspect of vehicle dynamics research.The velocity transformation method is adopted in this research,and the suspension multibody model is described using only one degree of freedom.It is found that the equivalent mass of the system is time-dependent during the simulation process,as observed in numerical simulations.Further symbolic calculations are conducted to derive the analytical form of the equivalent mass,and the results show that once the static parameters are determined,the equivalent mass of the suspension system is determined solely by the vertical position of the suspension upright,which reveals the kinematics characteristic of the equivalent mass of the suspension system.It is found that the equivalent mass experiences smaller changes when the suspension is compressed from the middle position,but larger changes when the suspension is extended.Furthermore,by comparing the multibody model,the lumped-parameter model with static mass,and the proposed lumped-parameter model considering the kinematics characteristic of the equivalent unsprung mass,the proposed model produces simulation results that more closely match the original multibody model than the model with static mass.The improvements in accuracy can be up to 20%under certain evaluation metrics.展开更多
This paper focuses on the use of rotary-percussive drilling for hard rocks.In order to improve efficiency and reduce costs,it is essential to understand how operational parameters,bit wear,and drilling performance are...This paper focuses on the use of rotary-percussive drilling for hard rocks.In order to improve efficiency and reduce costs,it is essential to understand how operational parameters,bit wear,and drilling performance are related.A model is presented therein that combines multibody dynamics and discrete element method(DEM)to investigate the influences of operational parameters and bit wear on the rate of penetration and wear characteristics.The model accurately captures the motion of the bit and recreates rock using the cutting sieving result.Field experimental results validate the rod dynamic behavior,rock recreating model,and coupling model in the simulation.The findings indicate that hammer pressure significantly influences the rate of penetration and wear depth of the bit,and there is an optimal range for economical hammer pressure.The wear coefficient has a major effect on the rate of penetration,when wear coefficient is between 1/3 and 2/3.Increasing the wear coefficient can reduce drill bit button pressure and wear depth at the same drill distance.Gauge button loss increases the rate of penetration due to higher pressure on the remaining buttons,which also accelerates destruction of the bit.Furthermore,a more evenly distributed button on the bit enhances the rate of penetration(ROP)when the same number of buttons is lost.展开更多
The drivetrain system of tiltrotor aircraft is a complicated multibody system.Traditionally,rotorcraft drivetrain systems are modeled by the finite element method using an equivalent mathematical model with all the el...The drivetrain system of tiltrotor aircraft is a complicated multibody system.Traditionally,rotorcraft drivetrain systems are modeled by the finite element method using an equivalent mathematical model with all the elements spinning at the same rotational velocity and structural properties scaled according to gear ratios.Such a process can be complex and computationally expensive,especially for large-scale problems.This paper proposes the dynamic analysis of a tiltrotor drivetrain,coupled with flexible blades'lagwise motion,using a novel multibody system modeling and analysis method based on the transfer matrix method.The proposed method eliminates the need for equivalent processing of the drivetrain system components and does not require the derivation of the overall governing equations based on the Hamilton principle.Instead,they are directly formulated according to the system's topology graph.Virtual branch and geometric elements are introduced to decouple any topological structure of the drivetrain system into multiple independent chain systems,further reducing the modeling complexity.展开更多
Numerical simulation plays an important role in the dynamic analysis of multibody system.With the rapid development of computer science,the numerical solution technology has been further developed.Recently,data-driven...Numerical simulation plays an important role in the dynamic analysis of multibody system.With the rapid development of computer science,the numerical solution technology has been further developed.Recently,data-driven method has become a very popular computing method.However,due to lack of necessary mechanism information of the traditional pure data-driven methods based on neural network,its numerical accuracy cannot be guaranteed for strong nonlinear system.Therefore,this work proposes a mechanism-data hybrid-driven strategy for solving nonlinear multibody system based on physics-informed neural network to overcome the limitation of traditional data-driven methods.The strategy proposed in this paper introduces scaling coefficients to introduce the dynamic model of multibody system into neural network,ensuring that the training results of neural network conform to the mechanics principle of the system,thereby ensuring the good reliability of the data-driven method.Finally,the stability,generalization ability and numerical accuracy of the proposed method are discussed and analyzed using three typical multibody systems,and the constrained default situations can be controlled within the range of 10^(-2)-10^(-4).展开更多
This paper presents a novel modelling method to study the thrust generation mechanism of biplane flapping wings made of thin and highly deformable membrane.Based on the principle of strain energy equivalence,the membr...This paper presents a novel modelling method to study the thrust generation mechanism of biplane flapping wings made of thin and highly deformable membrane.Based on the principle of strain energy equivalence,the membrane structures were modelled by mass-spring systems.The aerodynamic loads were calculated by a simplified quasi-steady aerodynamic model with consideration of the clap-and-fling mechanism.The impact force was introduced into the system when two wing surfaces were in contact.For wing-dynamics simulation problems,convergence analyses were conducted to obtain suitable mesh resolution.To validate the present modelling method,the predicted thrust and required power of a biplane flapping-wing air vehicle were compared with the experimental data.The effect of the forward speed was also analyzed in this paper.It was shown that as the forward speed increases the thrust production efficiency becomes lower together with smaller wing deformation.展开更多
The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV s...The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV systems is frequently limited by strong disturbances induced by waves or currents. This paper develops a novel rigidflexible coupling multibody dynamic model that incorporates disturbances of variable-length marine cables with geometrically nonlinear motion. A hybrid Lagrangian-Eulerian absolute nodal coordinate formulation(ANCF) element is developed to accurately model subsea cables which undergo significant overall motion, substantial deformation,and mass flow during the deployment of underwater equipment. Furthermore, the governing equations of the coupled USV-umbilical-ROV system are derived, considering wave-induced forces and current disturbances. A numerical solver based on the Newmark-beta method is proposed, along with an adaptive meshing technique near the release point. After validating three experimental cases, the cable disturbances at both the USV and ROV ends—caused by ocean currents, heave motion, and simultaneous navigation—are comprehensively compared and evaluated. Finally,it is demonstrated that a PD controller with disturbance compensation can enhance the simultaneous navigation performance of USV-ROV systems.展开更多
The state estimation of the flexible multibody systems is a vital issue since it is the base of effective control and condition monitoring.The research on the state estimation method of flexible multibody system with ...The state estimation of the flexible multibody systems is a vital issue since it is the base of effective control and condition monitoring.The research on the state estimation method of flexible multibody system with large deformation and large rotation remains rare.In this investigation,a state estimator based on multiple nonlinear Kalman filtering algorithms was designed for the flexible multibody systems containing large flexibility components that were discretized by absolute nodal coordinate formulation(ANCF).The state variable vector was constructed based on the independent coordinates which are identified through the constraint Jacobian.Three types of Kalman filters were used to compare their performance in the state estimation for ANCF.Three cases including flexible planar rotating beam,flexible four-bar mechanism,and flexible rotating shaft were employed to verify the proposed state estimator.According to the different performances of the three types of Kalman filter,suggestions were given for the construction of the state estimator for the flexible multibody system.展开更多
As the performance of the box-type multiple launch rocket system(BMLRS)improves,its mechanical structures,particularly the plane clearance design between the slider on the rocket and the guide inside the launch canist...As the performance of the box-type multiple launch rocket system(BMLRS)improves,its mechanical structures,particularly the plane clearance design between the slider on the rocket and the guide inside the launch canister,have grown increasingly complex.However,deficiencies still exist in the current launch modeling theory for BMLRS.In this study,a multi-rigid-flexible-body launch dynamics model coupling the launch platform and rocket was established using the multibody system transfer matrix method and the Newton-Euler formulation.Furthermore,considering the bending of the launch canister,a detection algorithm for slider-guide plane clearance contact was proposed.To quantify the contact force and friction effect between the slider and guide,the contact force model and modified Coulomb model were introduced.Both the modal and launch tests were conducted.Additionally,the modal convergence was verified.By comparing the modal experiments and simulation results,the maximum relative error of the eigenfrequency is 3.29%.thereby verifying the accuracy of the developed BMLRS dynamics model.Furthermore,the launch test validated the proposed plane clearance contact model.Moreover,the study investigated the influence of various model parameters on the dynamic characteristics of BMLRS,including launch canister bending stiffness,slider and guide material,slider-guide clearance,slider length and layout.This analysis of influencing factors provides a foundation for future optimization in BMLRS design.展开更多
Based on the theory of multibody system dynamics, the spatial kinematics analysis of the Mcpherson independent suspension widely used in the car was carried out. A practical and simpler method was provided to reduce t...Based on the theory of multibody system dynamics, the spatial kinematics analysis of the Mcpherson independent suspension widely used in the car was carried out. A practical and simpler method was provided to reduce the number of the generalized coordinates and constraint functions. By solving the nonlinear equations, the motion of any points in the whole suspension and wheel system can be predicted, including the spatial changes of the wheel alignment parameters which are of great importance to the car performances.展开更多
The theory of multibody system dynamics is used to simulate valve trains' kinematics and dynamics characteristics, and the methods of establishing and analyzing the multibody system dynamics model for valve trains...The theory of multibody system dynamics is used to simulate valve trains' kinematics and dynamics characteristics, and the methods of establishing and analyzing the multibody system dynamics model for valve trains are discussed. Since most of the flexible bodies of a valve train are slender parts, the finite segment method is used to build their models. Other parts such as cams, valve heads etc., are built as rigid bodies. After applying the constraints, forces and motions, the establishing of the whole system is accomplished, and the Lagrange's multiplier method can be used to obtain its dynamics constitutive equations. As an example, a valve trains multibody system model of 4100QB engine made by the Yunnan Internal Combustion Engine Limited Liability Company is established, and the analysis results obtained show that its working performance is generally good except that the air pass ability and the lubrication effect of the cam and the tappet have to be improved.展开更多
To analyze a multibody system composed of non-uniform beam and spring-mass subsystems, the model discretization is carried on by utilizing the finite element method（FEM）, the dynamic model of non-uniform beam is dev...To analyze a multibody system composed of non-uniform beam and spring-mass subsystems, the model discretization is carried on by utilizing the finite element method（FEM）, the dynamic model of non-uniform beam is developed by using the transfer matrix method of multibody system（MS-TMM）, the transfer matrix of non-u- niform beam is derived, and the natural frequencies are computed. Compared with the numerical assembly method （NAM）, the results by MS-TMM have good agreement with the results by FEM, and are better than the results by NAM. When using the high precision method, the global dynamic equations of the complex multibody system are not needed and the orders of involved system matrices are decreased greatly. For the investigation on the re- verse problem of the physical parameter identification of multibody system, MS-TMM and the optimization tech- nology based on genetic algorithms（GAs） are combined and extended. The identification problem is exchanged for an optimization problem, and it is formulated as a global minimum solution of the objective function with respect to natural frequencies of multibody system. At last, the numerical example of non-uniform beam with attach- ments is discussed, and the identification results indicate the feasibility and the effectivity of the proposed aop- proach.展开更多
A novel friction pendulum system （FPS） with dual rollers is studied based on the multibody dynamics theory. By analyzing kinematic characteristics of the system, it is reduced to a one degree-of-freedom system. Then...A novel friction pendulum system （FPS） with dual rollers is studied based on the multibody dynamics theory. By analyzing kinematic characteristics of the system, it is reduced to a one degree-of-freedom system. Then the equation of motion for the system is analytically derived by applying the theorem of the relative kinetic energy for a system of particles in differential form in the non-inertial reference system described as a nonlinear differential equation. In the case of the small angular displacement, the natural frequency of the corresponding undamped linear system is obtained, which is consistent with the experimental observation. The derived equation is useful for the study of dynamic characteristics of novel FPS, and its solution directly expedites the simulation of the system in a control loop, and further facilitates the semi-active control process including novel FPS.展开更多
Aim To study the influence of restraint system performance upon the occupant's response during impact, and provide a scientific base for occupant restraint system design. Methods \ In the light of basic th...Aim To study the influence of restraint system performance upon the occupant's response during impact, and provide a scientific base for occupant restraint system design. Methods \ In the light of basic theory of multibody system dynamics and impact dynamics on the basis of classical theory of impact, R W method is adopted to construct the vehicle occupant system model consisting of fourteen rigid bodies, thirty seven DOFs and slip joints for the simulation. A software named SVC3D(3 dimensional simulation of vehicle crash) is developed in the FORTRAN language. Results\ The results of simulation have a good coincidence with those of tests and the restraint system with low elongation webbing and equipped with pretensioner provides better restraint effect for the occupant. Conclusion\ The model of vehicle occupant multibody system and SVC3D are suitable for use. Occupant should be belted with low elongation webbing to a certain degree and occupant restraint system should be equipped with pretensioner.展开更多
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 ...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.展开更多
基金the National Natural Science Foundation of China(50309018).
文摘Common effect of wave and slip of internal heavy load will make rolling of the roll-on ship serious. This is one of the important reasons for overturn of ro-ro ships. The multibodies System with a floating base is composed of ro-ro ship and slipping heavy load. This paper takes the rolling angle of the ship and the transverse displacement of the heavy load on desk as two freedoms. Making use of analysis of apparent gravitation and apparent buoyancy, the wave rolling moment is derived. By use of dynamic method of multibodies system with a floating base, dynamic equations of the system are established. Taking a certain channel ferry as an example, a set of numerical calculation have been carried out for rolling response of the ship and displacement response of the slipping heavy load under common effect of synchro-slipping heavy loads and wave.
基金the support from the National Natural Science Foundation of China(No.52472384)the Fundamental Research Funds for the Central Universities,China(No.G2024KY0615)+1 种基金sponsored by the Foundations of National Key Laboratory of Unmanned Aerial Vehicle Technology in NPU,(No.WR202411-2)the National Key Laboratory of Aircraft Configuration Design,China(No.JBGS-2024-01)。
文摘The hose-drogue system is a common method for soft aerial refueling,whereby the refueling tanker tows the drogue through the hose.In this paper,a mathematical-physical model of the hose-drogue system is developed and simulated using the Absolute Nodal Coordinate Formulation(ANCF)finite element method.A numerical solution program based on ANCF and ALE(Arbitrary Eulerian-Lagrange)-ANCF method was developed to simulate and analyze the horizontal and elongation release processes of the hose-drogue system at different towing points(underneath the wing and the belly of the aircraft).This program was developed by introducing an ALE description.The numerical solution program,developed based on the ANCF and ALE-ANCF methods,represents a significant advancement in computational efficiency for the rigid-flexible coupled multibody system of the air refueling hose-drogue system.This program can provide a valuable reference for the qualitative design of the hose-drogue multibody system in soft air refueling,while maintaining the necessary accuracy.
基金supported by the Natural Science Foundation of Jiangsu Province,China(Grant No.BK20241443)the Jiangsu Funding Program for Excellent Postdoctoral Talent(Grant No.2024ZB072)the National Natural Science Foundation of China(Grant No.92266201).
文摘This study aims to establish an integrated sensitivity analysis framework for optimization and design of the dynamic performance of mechanical systems such as tracked vehicles,by combining the direct differentiation method(DDM)with the linear multibody system transfer matrix method(linear MSTMM).The rigid-flexible coupled multibody system dynamics model of a tracked vehicle is established using the linear MSTMM and validated through the modal test.Building upon the existing DDM-based eigenvalue sensitivity analysis method within the linear MSTMM,the DDM is embedded into it to enable programmable and efficient computation of dynamic response sensitivities for mechanical systems.The proposed approach is used to quantitatively evaluate the sensitivities of both natural vibration characteristics(e.g.,natural frequencies and mode shapes)and transient dynamic responses of the tracked vehicle with respect to system parameters,successfully identifying critical structural parameters.Compared to conventional finite difference methods,the developed methodology eliminates sensitivity to perturbation step sizes.The contributions of this work lie in establishing a unified theoretical foundation and analysis framework for guiding dynamics optimization and design of mechanical systems,and extending the applicability of the linear MSTMM to sensitivity analysis of transient dynamic responses.
基金This work was supported by the National Natural Science Foundation of China(Grant No.12272141)The financial support is gratefully acknowledged.
文摘The transformation from multibody models to lumped-parameter models is a crucial aspect of vehicle dynamics research.The velocity transformation method is adopted in this research,and the suspension multibody model is described using only one degree of freedom.It is found that the equivalent mass of the system is time-dependent during the simulation process,as observed in numerical simulations.Further symbolic calculations are conducted to derive the analytical form of the equivalent mass,and the results show that once the static parameters are determined,the equivalent mass of the suspension system is determined solely by the vertical position of the suspension upright,which reveals the kinematics characteristic of the equivalent mass of the suspension system.It is found that the equivalent mass experiences smaller changes when the suspension is compressed from the middle position,but larger changes when the suspension is extended.Furthermore,by comparing the multibody model,the lumped-parameter model with static mass,and the proposed lumped-parameter model considering the kinematics characteristic of the equivalent unsprung mass,the proposed model produces simulation results that more closely match the original multibody model than the model with static mass.The improvements in accuracy can be up to 20%under certain evaluation metrics.
基金supported by the National Natural Science Foundation of China Youth Science Foundation of China(Grant No.52308388)the Key Project of High-speed Rail Joint Fund of National Natural Science Foundation of China(Grant No.U1934210).
文摘This paper focuses on the use of rotary-percussive drilling for hard rocks.In order to improve efficiency and reduce costs,it is essential to understand how operational parameters,bit wear,and drilling performance are related.A model is presented therein that combines multibody dynamics and discrete element method(DEM)to investigate the influences of operational parameters and bit wear on the rate of penetration and wear characteristics.The model accurately captures the motion of the bit and recreates rock using the cutting sieving result.Field experimental results validate the rod dynamic behavior,rock recreating model,and coupling model in the simulation.The findings indicate that hammer pressure significantly influences the rate of penetration and wear depth of the bit,and there is an optimal range for economical hammer pressure.The wear coefficient has a major effect on the rate of penetration,when wear coefficient is between 1/3 and 2/3.Increasing the wear coefficient can reduce drill bit button pressure and wear depth at the same drill distance.Gauge button loss increases the rate of penetration due to higher pressure on the remaining buttons,which also accelerates destruction of the bit.Furthermore,a more evenly distributed button on the bit enhances the rate of penetration(ROP)when the same number of buttons is lost.
基金the National Natural Science Foundation of China(No.12272169)the Project of Key Laboratory of Cross-Domain Flight Interdisciplinary Technology,China(Nos.2024-KF03001 and 2024-KF03003)Technology Development Project,China(No.XYZX040401)for the financial support。
文摘The drivetrain system of tiltrotor aircraft is a complicated multibody system.Traditionally,rotorcraft drivetrain systems are modeled by the finite element method using an equivalent mathematical model with all the elements spinning at the same rotational velocity and structural properties scaled according to gear ratios.Such a process can be complex and computationally expensive,especially for large-scale problems.This paper proposes the dynamic analysis of a tiltrotor drivetrain,coupled with flexible blades'lagwise motion,using a novel multibody system modeling and analysis method based on the transfer matrix method.The proposed method eliminates the need for equivalent processing of the drivetrain system components and does not require the derivation of the overall governing equations based on the Hamilton principle.Instead,they are directly formulated according to the system's topology graph.Virtual branch and geometric elements are introduced to decouple any topological structure of the drivetrain system into multiple independent chain systems,further reducing the modeling complexity.
基金supported by the National Natural Science Foundation of China(Grant No.U2241263)the fellowship of China Postdoctoral Science Foundation(Grant No.2024M750310).
文摘Numerical simulation plays an important role in the dynamic analysis of multibody system.With the rapid development of computer science,the numerical solution technology has been further developed.Recently,data-driven method has become a very popular computing method.However,due to lack of necessary mechanism information of the traditional pure data-driven methods based on neural network,its numerical accuracy cannot be guaranteed for strong nonlinear system.Therefore,this work proposes a mechanism-data hybrid-driven strategy for solving nonlinear multibody system based on physics-informed neural network to overcome the limitation of traditional data-driven methods.The strategy proposed in this paper introduces scaling coefficients to introduce the dynamic model of multibody system into neural network,ensuring that the training results of neural network conform to the mechanics principle of the system,thereby ensuring the good reliability of the data-driven method.Finally,the stability,generalization ability and numerical accuracy of the proposed method are discussed and analyzed using three typical multibody systems,and the constrained default situations can be controlled within the range of 10^(-2)-10^(-4).
基金funded by Vietnam National Foundation for Science and Technology Development(NAFOSTED)(Grant No.107.01-2021.39).
文摘This paper presents a novel modelling method to study the thrust generation mechanism of biplane flapping wings made of thin and highly deformable membrane.Based on the principle of strain energy equivalence,the membrane structures were modelled by mass-spring systems.The aerodynamic loads were calculated by a simplified quasi-steady aerodynamic model with consideration of the clap-and-fling mechanism.The impact force was introduced into the system when two wing surfaces were in contact.For wing-dynamics simulation problems,convergence analyses were conducted to obtain suitable mesh resolution.To validate the present modelling method,the predicted thrust and required power of a biplane flapping-wing air vehicle were compared with the experimental data.The effect of the forward speed was also analyzed in this paper.It was shown that as the forward speed increases the thrust production efficiency becomes lower together with smaller wing deformation.
基金financially supported in part by the General Program of the National Natural Science Foundation of China (Grant No.12272221)the State Key Laboratory of Ocean Engineering (Shanghai Jiao Tong University)(Grant No. GKZD010087)。
文摘The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV systems is frequently limited by strong disturbances induced by waves or currents. This paper develops a novel rigidflexible coupling multibody dynamic model that incorporates disturbances of variable-length marine cables with geometrically nonlinear motion. A hybrid Lagrangian-Eulerian absolute nodal coordinate formulation(ANCF) element is developed to accurately model subsea cables which undergo significant overall motion, substantial deformation,and mass flow during the deployment of underwater equipment. Furthermore, the governing equations of the coupled USV-umbilical-ROV system are derived, considering wave-induced forces and current disturbances. A numerical solver based on the Newmark-beta method is proposed, along with an adaptive meshing technique near the release point. After validating three experimental cases, the cable disturbances at both the USV and ROV ends—caused by ocean currents, heave motion, and simultaneous navigation—are comprehensively compared and evaluated. Finally,it is demonstrated that a PD controller with disturbance compensation can enhance the simultaneous navigation performance of USV-ROV systems.
基金supported by the National Natural Science Foundation of China(Grant Nos.12272123 and 12302047)the Natural Science Foundation of Jiangsu Province(Grant No.BK20231185)the Postgraduate Research&Practice Innovation Program of Jiangsu Province(Grant No.SJCX24_0192).
文摘The state estimation of the flexible multibody systems is a vital issue since it is the base of effective control and condition monitoring.The research on the state estimation method of flexible multibody system with large deformation and large rotation remains rare.In this investigation,a state estimator based on multiple nonlinear Kalman filtering algorithms was designed for the flexible multibody systems containing large flexibility components that were discretized by absolute nodal coordinate formulation(ANCF).The state variable vector was constructed based on the independent coordinates which are identified through the constraint Jacobian.Three types of Kalman filters were used to compare their performance in the state estimation for ANCF.Three cases including flexible planar rotating beam,flexible four-bar mechanism,and flexible rotating shaft were employed to verify the proposed state estimator.According to the different performances of the three types of Kalman filter,suggestions were given for the construction of the state estimator for the flexible multibody system.
基金supported by National Natural Science Foundation of China(Grant No.92266201).
文摘As the performance of the box-type multiple launch rocket system(BMLRS)improves,its mechanical structures,particularly the plane clearance design between the slider on the rocket and the guide inside the launch canister,have grown increasingly complex.However,deficiencies still exist in the current launch modeling theory for BMLRS.In this study,a multi-rigid-flexible-body launch dynamics model coupling the launch platform and rocket was established using the multibody system transfer matrix method and the Newton-Euler formulation.Furthermore,considering the bending of the launch canister,a detection algorithm for slider-guide plane clearance contact was proposed.To quantify the contact force and friction effect between the slider and guide,the contact force model and modified Coulomb model were introduced.Both the modal and launch tests were conducted.Additionally,the modal convergence was verified.By comparing the modal experiments and simulation results,the maximum relative error of the eigenfrequency is 3.29%.thereby verifying the accuracy of the developed BMLRS dynamics model.Furthermore,the launch test validated the proposed plane clearance contact model.Moreover,the study investigated the influence of various model parameters on the dynamic characteristics of BMLRS,including launch canister bending stiffness,slider and guide material,slider-guide clearance,slider length and layout.This analysis of influencing factors provides a foundation for future optimization in BMLRS design.
文摘Based on the theory of multibody system dynamics, the spatial kinematics analysis of the Mcpherson independent suspension widely used in the car was carried out. A practical and simpler method was provided to reduce the number of the generalized coordinates and constraint functions. By solving the nonlinear equations, the motion of any points in the whole suspension and wheel system can be predicted, including the spatial changes of the wheel alignment parameters which are of great importance to the car performances.
文摘The theory of multibody system dynamics is used to simulate valve trains' kinematics and dynamics characteristics, and the methods of establishing and analyzing the multibody system dynamics model for valve trains are discussed. Since most of the flexible bodies of a valve train are slender parts, the finite segment method is used to build their models. Other parts such as cams, valve heads etc., are built as rigid bodies. After applying the constraints, forces and motions, the establishing of the whole system is accomplished, and the Lagrange's multiplier method can be used to obtain its dynamics constitutive equations. As an example, a valve trains multibody system model of 4100QB engine made by the Yunnan Internal Combustion Engine Limited Liability Company is established, and the analysis results obtained show that its working performance is generally good except that the air pass ability and the lubrication effect of the cam and the tappet have to be improved.
基金Supported by the National Natural Science Foundation of China(10902051)the Natural Science Foundation of Jiangsu Province(BK2008046)~~
文摘To analyze a multibody system composed of non-uniform beam and spring-mass subsystems, the model discretization is carried on by utilizing the finite element method（FEM）, the dynamic model of non-uniform beam is developed by using the transfer matrix method of multibody system（MS-TMM）, the transfer matrix of non-u- niform beam is derived, and the natural frequencies are computed. Compared with the numerical assembly method （NAM）, the results by MS-TMM have good agreement with the results by FEM, and are better than the results by NAM. When using the high precision method, the global dynamic equations of the complex multibody system are not needed and the orders of involved system matrices are decreased greatly. For the investigation on the re- verse problem of the physical parameter identification of multibody system, MS-TMM and the optimization tech- nology based on genetic algorithms（GAs） are combined and extended. The identification problem is exchanged for an optimization problem, and it is formulated as a global minimum solution of the objective function with respect to natural frequencies of multibody system. At last, the numerical example of non-uniform beam with attach- ments is discussed, and the identification results indicate the feasibility and the effectivity of the proposed aop- proach.
文摘A novel friction pendulum system （FPS） with dual rollers is studied based on the multibody dynamics theory. By analyzing kinematic characteristics of the system, it is reduced to a one degree-of-freedom system. Then the equation of motion for the system is analytically derived by applying the theorem of the relative kinetic energy for a system of particles in differential form in the non-inertial reference system described as a nonlinear differential equation. In the case of the small angular displacement, the natural frequency of the corresponding undamped linear system is obtained, which is consistent with the experimental observation. The derived equation is useful for the study of dynamic characteristics of novel FPS, and its solution directly expedites the simulation of the system in a control loop, and further facilitates the semi-active control process including novel FPS.
文摘Aim To study the influence of restraint system performance upon the occupant's response during impact, and provide a scientific base for occupant restraint system design. Methods \ In the light of basic theory of multibody system dynamics and impact dynamics on the basis of classical theory of impact, R W method is adopted to construct the vehicle occupant system model consisting of fourteen rigid bodies, thirty seven DOFs and slip joints for the simulation. A software named SVC3D(3 dimensional simulation of vehicle crash) is developed in the FORTRAN language. Results\ The results of simulation have a good coincidence with those of tests and the restraint system with low elongation webbing and equipped with pretensioner provides better restraint effect for the occupant. Conclusion\ The model of vehicle occupant multibody system and SVC3D are suitable for use. Occupant should be belted with low elongation webbing to a certain degree and occupant restraint system should be equipped with pretensioner.
文摘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.
