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Nonlinear Dynamic Characteristic Analysis of the Shaft System in Water Turbine Generator Set 被引量:11
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作者 MA Zhenyue SONG Zhiqiang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2009年第1期124-131,共8页
A 3D finite element vibration model of water turbine generator set is constructed considering the coupling with hydropower house foundation.The method of determining guide bearing dynamic characteristic coefficients a... A 3D finite element vibration model of water turbine generator set is constructed considering the coupling with hydropower house foundation.The method of determining guide bearing dynamic characteristic coefficients according to the swing of the shaft is proposed,which can be used for studying the self-vibration characteristic and stability of the water turbine generator set.The method fully considers the complex supporting boundary and loading conditions;especially the nonlinear variation of guide bearing dynamic characteristic coefficients and the coupling effect of the whole power-house foundation.The swing and critical rotating speed of an actual generator set shaft system are calculated.The simulated results of the generator set indicate that the coupling vibration model and calculation method presented in this paper are suitable for stability analysis of the water turbine generator set. 展开更多
关键词 water turbine generator set dynamic characteristic coefficients nonlinearITY coupling vibration critical speed
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Level-Set-Based Topology Optimization of a Geometrically Nonlinear Structure Considering Thermo-mechanical Coupling Effect
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作者 Sujun Wang An Xu Ruohong Zhao 《Acta Mechanica Solida Sinica》 2025年第1期100-114,共15页
This paper presents an improved level set method for topology optimization of geometrically nonlinear structures accounting for the effect of thermo-mechanical couplings.It derives a new expression for element couplin... This paper presents an improved level set method for topology optimization of geometrically nonlinear structures accounting for the effect of thermo-mechanical couplings.It derives a new expression for element coupling stress resulting from the combination of mechanical and thermal loading,using geometric nonlinear finite element analysis.A topological model is then developed to minimize compliance while meeting displacement and frequency constraints to fulfill design requirements of structural members.Since the conventional Lagrange multiplier search method is unable to handle convergence instability arising from large deformation,a novel Lagrange multiplier search method is proposed.Additionally,the proposed method can be extended to multi-constrained geometrically nonlinear topology optimization,accommodating multiple physical field couplings. 展开更多
关键词 Topology optimization Geometric nonlinearity Thermo-mechanical coupling effect Level set method Multiple constraints
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Nonlinear characteristics and functional analysis of masseter electromyography
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作者 胡昕 吴箫博 +3 位作者 邹波 傅予力 喻意 卢广文 《Journal of Central South University》 SCIE EI CAS 2011年第3期834-839,共6页
The C-C method was adopted to analyze the nonlinear characteristics of masseter electromyography (EMG) signals and the chaotic degree by the largest Lyapunov exponent (LLE) of different genders and sides. First, t... The C-C method was adopted to analyze the nonlinear characteristics of masseter electromyography (EMG) signals and the chaotic degree by the largest Lyapunov exponent (LLE) of different genders and sides. First, the embedding dimension and the delay time were obtained through this method, then the phase space was reconstructed to resume the chaotie attractor and determine the LLE. The result shows that the trajectory of attractor is denser than Chen's attractor, and the LLE is positive, which means that not only the signal has the character of chaos, but also the chaotic degree of masseter EMG is relatively high. According to the value of the LLE, the chaotic degree of men's masseter EMG is higher than that of women's; when the dentition is normal, the chaotic degree of two sides is almost the same. Then, a conclusion can be deduced that if the LLE of both sides are in great difference, the unilateral mastication is likely to exist, which means that the nonlinear characteristics of masseter EMG can be applied to predict the unilateral mastication. 展开更多
关键词 nonlinear characteristic masseter electromyograph C-C Method phase space reconstruction ATTRACTOR Lyapunovexponent
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Nonlinear static characteristics of piezoelectric unimorph bending micro actuators 被引量:1
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作者 康新 董萼良 章定国 《Journal of Southeast University(English Edition)》 EI CAS 2010年第4期603-607,共5页
The nonlinear static characteristic of a piezoelectric unimorph cantilever micro actuator driven by a strong applied electric field is studied based on the couple stress theory.The cantilever actuator consists of a pi... The nonlinear static characteristic of a piezoelectric unimorph cantilever micro actuator driven by a strong applied electric field is studied based on the couple stress theory.The cantilever actuator consists of a piezoelectric layer,a passive(elastic)layer and two electrode layers.First,the nonlinear static characteristic of the actuator caused by the electrostriction of the piezoelectric layer under a strong applied electric field is analyzed using the Rayleigh-Ritz method.Secondly,since the thickness of the cantilever beam is in micro scale and there exists a size effect,the size dependence of the deformation behavior is evaluated using the couple stress theory.The results show that the nonlinearities of the beam deflection increase along with the increase of the applied electric field which means that softening of the micro beam rigidity exists when a strong external electric field is applied.Meanwhile,the optimal value of the thickness ratio for the passive layer and the piezoelectric layer is not around 1.0 which is usually adopted by some previous researchers.Since there exists a size effect of the micro beam deflection,the optimal value of this thickness ratio should be greater than 1.0 in micro scale. 展开更多
关键词 nonlinear static characteristic piezoelectric unimorph micro actuator couple stress theory Rayleigh-Ritz method
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Mechanical theorem proving in the surfaces using the characteristic set method and Wronskian determinant 被引量:1
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作者 FENG RuYong YU JianPing 《Science China Mathematics》 SCIE 2008年第10期1763-1774,共12页
In this paper, we generalize the method of mechanical theorem proving in curves to prove theorems about surfaces in differential geometry with a mechanical procedure. We improve the classical result on Wronskian deter... In this paper, we generalize the method of mechanical theorem proving in curves to prove theorems about surfaces in differential geometry with a mechanical procedure. We improve the classical result on Wronskian determinant, which can be used to decide whether the elements in a partial differential field are linearly dependent over its constant field. Based on Wronskian determinant, we can describe the geometry statements in the surfaces by an algebraic language and then prove them by the characteristic set method. 展开更多
关键词 mechanical theorem proving Wu-Ritt’s characteristic set method local theory of surface Wronskian determinant 12H99 53A05
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A CHARACTERISTIC SET METHOD FOR SOLVING BOOLEAN EQUATIONS AND APPLICATIONS IN CRYPTANALYSIS OF STREAM CIPHERS 被引量:17
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作者 Fengjuan CHAI Xiao-Shan GAO Chunming YUAN 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2008年第2期191-208,共18页
This paper presents a characteristic more efficient and has better properties than the set method for solving Boolean equations, which is general characteristic set method. In particular, the authors give a disjoint a... This paper presents a characteristic more efficient and has better properties than the set method for solving Boolean equations, which is general characteristic set method. In particular, the authors give a disjoint and monic zero decomposition algorithm for the zero set of a Boolean equation system and an explicit formula for the number of solutions of a Boolean equation system. The authors also prove that a characteristic set can be computed with a polynomial number of multiplications of Boolean polynomials in terms of the number of variables. As experiments, the proposed method is used to solve equations from cryptanalysis of a class of stream ciphers based on nonlinear filter generators. Extensive experiments show that the method is quite effective. 展开更多
关键词 Boolean equation characteristic set method CRYPTANALYSIS finite field stream ciphers.
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Involutive characteristic sets of algebraic partial differential equation systems 被引量:3
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作者 陈玉福 高小山 《Science China Mathematics》 SCIE 2003年第4期469-487,共19页
This paper presents an algorithm to reduce a nonlinear algebraic partial differential equation system into the involutive characteristic set with respect to an abstract involutive prolongation direction, which covers ... This paper presents an algorithm to reduce a nonlinear algebraic partial differential equation system into the involutive characteristic set with respect to an abstract involutive prolongation direction, which covers the existing algorithms based on Riquier method, Thomas method, and Pommaret method. It also provides new algorithms for computing involutive characteristic sets due to the existence of new involutive directions. Experiments show that these new algorithms may be used to significantly reduce the computational steps in Wu-Ritt's characteristic set method for algebraic partial differential equations. 展开更多
关键词 involutive characteristic set INTEGRABILITY conditions ALGEBRAIC PARTIAL differential equation system Wu-Ritt's characteristic set method.
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Automated Reasoning and Equation Solving with the Characteristic Set Method 被引量:2
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作者 吴文俊 高小山 《Journal of Computer Science & Technology》 SCIE EI CSCD 2006年第5期756-764,共9页
A brief introduction to the characteristic set method is given for solving algebraic equation systems and then the method is extended to algebraic difference systems. The method can be used to decompose the zero set f... A brief introduction to the characteristic set method is given for solving algebraic equation systems and then the method is extended to algebraic difference systems. The method can be used to decompose the zero set for a difference polynomial set in general form to the union of difference polynomial sets in triangular form. Based on the characteristic set method, a decision procedure for the first order theory over an algebraically closed field and a procedure to prove certain difference identities are proposed. 展开更多
关键词 characteristic set method automated reasoning first order theory difference equation
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PARAMETRIC EQUATION SOLVING AND QUANTIFIER ELIMINATION IN FINITE FIELDS WITH THE CHARACTERISTIC SET METHOD 被引量:3
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作者 Zhenyu HUANG 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2012年第4期778-791,共14页
For a parametric algebraic system in finite fields, this paper presents a method for computing the cover and the refined cover based on the characteristic set method. From the cover, the author knows for what parametr... For a parametric algebraic system in finite fields, this paper presents a method for computing the cover and the refined cover based on the characteristic set method. From the cover, the author knows for what parametric values the system has solutions and at the same time presents the solutions in the form of proper chains. By the refined cover, the author gives a complete classification of the number of solutions for this system, that is, the author divides the parameter space into several disjoint components, and on every component the system has a fix number of solutions. Moreover, the author develops a method of quantifier elimination for first order formulas in finite fields. 展开更多
关键词 characteristic set method finite field parametric equation system quantifier elimination.
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An explicit finite volume element method for solving characteristic level set equation on triangular grids 被引量:1
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作者 Sutthisak Phongthanapanich Pramote Dechaumphai 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2011年第6期911-921,共11页
Level set methods are widely used for predicting evolutions of complex free surface topologies,such as the crystal and crack growth,bubbles and droplets deformation,spilling and breaking waves,and two-phase flow pheno... Level set methods are widely used for predicting evolutions of complex free surface topologies,such as the crystal and crack growth,bubbles and droplets deformation,spilling and breaking waves,and two-phase flow phenomena.This paper presents a characteristic level set equation which is derived from the two-dimensional level set equation by using the characteristic-based scheme.An explicit finite volume element method is developed to discretize the equation on triangular grids.Several examples are presented to demonstrate the performance of the proposed method for calculating interface evolutions in time.The proposed level set method is also coupled with the Navier-Stokes equations for two-phase immiscible incompressible flow analysis with surface tension.The Rayleigh-Taylor instability problem is used to test and evaluate the effectiveness of the proposed scheme. 展开更多
关键词 Keywords characteristic level set equation - Finite volume element method Explicit method Triangular grid Twophase incompressible flow
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AN APPROACH TOWARDS THE IMPLEMENTATION OF CHARACTERISTIC SET METHOD
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作者 WU Wenda LIU Zhuojun LIN Dongdai( Mathematics Mechanization Research Center, Institute of Systems Science,Academia Sinica,Beijing 100080, China) 《Systems Science and Mathematical Sciences》 SCIE EI CSCD 1999年第S1期88-95,共8页
Wu’s Characteristic Set Method is a theory that can compute, analyze thestructure of the zeros of a polynomial system. In the past two decades, the practice applications of Wu’s method have proved that it is a power... Wu’s Characteristic Set Method is a theory that can compute, analyze thestructure of the zeros of a polynomial system. In the past two decades, the practice applications of Wu’s method have proved that it is a powerful tool for many problems encountered in mathematics, science, engineering, and industrial/ social applications. Focusingon the implementation of Characteristic Set method, ELIMINO is a computer mathematics research system designed for researchers to perform sophisticated mathematicalcomputations. It has very general capabilities for treating integers, it has an interactiveprogramming capability which allow users to create new facilities. 展开更多
关键词 Wu’s METHOD characteristic set METHOD ELIMINO computermathematics MATHEMATICAL research software.
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Backlash Nonlinear Compensation of Servo Systems Using Backpropagation Neural Networks 被引量:2
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作者 何超 徐立新 张宇河 《Journal of Beijing Institute of Technology》 EI CAS 1999年第3期300-305,共6页
Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on s... Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on some weapon tracking servo system, a three layer BPNN was used to off line identify the backlash characteristics, then a nonlinear compensator was designed according to the identification results. Results The simulation results show that the method can effectively get rid of the sustained oscillation(limit cycle) of the system caused by the backlash characteristics, and can improve the system accuracy. Conclusion The method is effective on sloving the problems produced by the backlash characteristics in servo systems, and it can be easily accomplished in engineering. 展开更多
关键词 servo system backlash nonlinear characteristics limit cycle backpropagation neural networks(BPNN) compensation methods
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地铁浮轨式扣件动态刚度和阻尼非线性特性研究
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作者 张和平 李伟 +1 位作者 温泽峰 吕锐 《振动与冲击》 北大核心 2026年第1期215-224,共10页
浮轨式扣件(亦称先锋扣件)是地铁轨道普遍使用的一种高等减振扣件,在车辆轨道动力学模型中常被简化为线性弹簧阻尼单元,但其非线性动态特性对轮轨高频动力学行为影响至关重要。为获得浮轨式扣件系统动态特性,首先,通过锤击法获得其自由... 浮轨式扣件(亦称先锋扣件)是地铁轨道普遍使用的一种高等减振扣件,在车辆轨道动力学模型中常被简化为线性弹簧阻尼单元,但其非线性动态特性对轮轨高频动力学行为影响至关重要。为获得浮轨式扣件系统动态特性,首先,通过锤击法获得其自由状态下的频响特性;其次,利用动态试验台测试预载情况下扣件20 Hz以下的刚度和阻尼频变特性;最后,建立考虑橡胶材料的超弹性和黏弹性本构关系的扣件系统三维实体有限元模型,并基于试验数据对模型进行校准,对20~1 000 Hz频率范围的扣件刚度和阻尼进行模拟。结果表明:在自由状态下,扣件系统的垂向和横向刚度分别为5.38和7.97 kN/mm,垂向和横向阻尼分别为1.86和2.01 kN·s/m。16 kN服役预载下,垂向动态刚度随频率增大而增加(0.5 Hz时21.6 kN/mm,100 Hz时32.7 kN/mm,1 000 Hz时38.6 kN/mm),且增长速率递减,对数频率坐标下呈线性关系;动态阻尼随频率增大而减小(0.5 Hz时900 kN·s/m,100 Hz时6.7 kN·s/m,1 000 Hz时0.76 kN·s/m),且减小速率递减,双对数坐标下呈线性关系。相同加载频率下,扣件系统的动态刚度与动态阻尼均随预载的增加而增大,且增大速率递减。通过对比线性与非线性的浮轨式扣件系统在相同激励下的位移响应特性,得出扣件的非线性对其振动特性影响显著,考虑扣件系统非线性能够提高对钢轨系统振动特性的预测精度。 展开更多
关键词 浮轨式扣件 刚度和阻尼非线性特性 动态特性试验 橡胶材料本构模型 有限元法
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二维非线性对流扩散方程基于梯度重构的自适应有限元方法
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作者 苗菁菁 孙同军 《山东大学学报(理学版)》 北大核心 2026年第2期1-9,共9页
对一类二维非线性对流扩散方程提出一种自适应有限元方法。采用特征线法处理方程对流项,有效解决因对流占优性而产生的数值震荡和数值弥散等问题。设计了一种基于梯度重构型后验误差估计的自适应有限元算法,在标准有限元方法的基础上进... 对一类二维非线性对流扩散方程提出一种自适应有限元方法。采用特征线法处理方程对流项,有效解决因对流占优性而产生的数值震荡和数值弥散等问题。设计了一种基于梯度重构型后验误差估计的自适应有限元算法,在标准有限元方法的基础上进一步调整网格、提高精度。最后进行数值实验,验证方法的有效性。 展开更多
关键词 非线性对流扩散方程 特征线法 梯度重构 自适应有限元方法
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基于堆石料试验的高沥青混凝土心墙坝筑坝安全性预测分析
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作者 方博 肖澎 王辉 《水电能源科学》 北大核心 2026年第1期128-132,192,共6页
分析大坝安全性对维持大坝安全运行至关重要。依托某拟建抽水蓄能电站下水库高沥青混凝土心墙堆石坝工程,开展过渡层、上游堆石区和下游堆石区的堆石料力学特性试验,测定堆石料的邓肯E-B模型和流变模型参数,在此基础上开展大坝三维非线... 分析大坝安全性对维持大坝安全运行至关重要。依托某拟建抽水蓄能电站下水库高沥青混凝土心墙堆石坝工程,开展过渡层、上游堆石区和下游堆石区的堆石料力学特性试验,测定堆石料的邓肯E-B模型和流变模型参数,在此基础上开展大坝三维非线性应力变形有限元计算,从坝体、心墙和防渗墙等方面论证大坝安全性。结果表明,正常蓄水位下,大坝沉降极值为-22.29 cm,沉降率0.28%;坝体大、小主应力分别为1.38、0.54 MPa。心墙顺河向、坝轴向和竖向位移极值分别为11.55、-3.70/3.63、-21.46 cm;心墙主拉应变极值为-0.8%。防渗墙顺河向、坝轴向和竖向位移极值分别为1.32、-0.11/0.02、-0.54 cm;大、小主应力极值分别为6.82、-1.20 MPa。计入流变和湿化后,运行期(8年)坝体沉降极值为-35.00 cm,沉降率0.44%,心墙顺河向、坝轴向和竖向位移极值分别为13.65、-4.97/4.77、-33.01 cm。综合分析计算成果,大坝应力变形分布和极值合理,沥青混凝土心墙拉应变和坝基混凝土防渗墙拉应力均未超标,可以判定大坝能够满足安全运行要求。 展开更多
关键词 抽水蓄能电站 沥青混凝土心墙堆石坝 堆石料力学特性试验 非线性有限元法 心墙 防渗墙
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Improved incremental transfer matrix method for nonlinear rotor-bearing system 被引量:3
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作者 Yiheng Chen Xiaoting Rui +1 位作者 Zhiyong Zhang Adeel Shehzad 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2020年第5期1119-1132,I0004,共15页
Rotor system supported by nonlinear bearing such as squeeze film damper(SFD)is widely used in practice owing to its wide range of damping capacity and simplicity in structure.In this paper,an improved and effective In... Rotor system supported by nonlinear bearing such as squeeze film damper(SFD)is widely used in practice owing to its wide range of damping capacity and simplicity in structure.In this paper,an improved and effective Incremental transfer matrix method(ITMM)is first presented by combining ITMM and fast Fourier transform(FFT).Afterwards this method is applied to calculate the dynamic characteristics of a Jeffcott rotor system with SFD.The convergence dificulties incurred caused by strong nonlinearities of SFD has been dealt by adopting a control factor.It is found that for the more general boundary problems where the boundary conditions are not at input and output ends of a chain system,the supplementary equation is necessarily added.Additionally,the Floquet theory is used to analyze the stability and bifurcation type of the obtained periodic solution.The semi-analytical results,including the periodic solutions of the system,the bifurcation points and their types,are in good agreement with the numerical method.Furthermore,the involution mechanism of the quasi-periodic and chaotic motions near the first-order translational mode and the second order bending mode of this system is also clarified by this method with the aid of Floquet theory. 展开更多
关键词 Incremental transfer matrix method Squeeze film damper Jeffcott rotor system BIFURCATION nonlinear characteristics
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Size Effect on Onset and Subsequent Evolution of Adiabatic Shear Band:Theoretical and Numerical Analysis
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作者 Jiejian Liu Tao Suo +1 位作者 Fenghua Zhou Yulong Li 《Acta Mechanica Solida Sinica》 SCIE EI CSCD 2020年第3期294-306,共13页
The adiabatic shear instability of ductile materials has attracted more and more attentions of researchers and groups,who have been sparing no effort in further understanding of the underlying mechanism since the firs... The adiabatic shear instability of ductile materials has attracted more and more attentions of researchers and groups,who have been sparing no effort in further understanding of the underlying mechanism since the first experimental depiction of adiabatic shear instability by Zener and Hollomon.As for the adiabatic shear instability,many factors account for its occurrence,including heat conduction,inertia effect,microstructure effect and so on.However,lots of experimental evidence has shown that metal materials display a strong size effect when the characteristic length scale is in the order of microns.The size effect has also been observed in the analysis of shear band in the ductile materials because the order of the bandwidth stays within the microscale range.However,a comprehensive understanding of the whole process of adiabatic shear banding(ASB),including the early onset and the subsequent evolution,is still lacking.In this work,a gradient plasticity model based on the Taylor-based nonlocal theory feasible for the linear perturbation analysis and convenient for numerical calculation is proposed to investigate the strain gradient on the onset of ASB and the coupling effect of heat conduction,inertia effect and strain gradient at the early stage,as well as on the subsequent evolution process at later stages.As for the onset of ASB,the linear perturbation method is used to consider the effect on the initial formation of ASB.After the investigation of the onset of ASB.the characteristic line method is applied to describe the subsequent nonlinear evolution process of ASB.Three stages of ASB evolution are clearly depicted during the evolution process,and the significance of size effect on the ASB nonlinear evolution process of ASB at different stages is analyzed.With the help of linear perturbation analysis and characteristic line method,a comprehensive description of the role of strain gradient in the ASB from the early onset to the end of the evolution is provided. 展开更多
关键词 Adiabatic shear band Strain gradient nonlinear evolution process Linear perturbation method characteristic line method
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Numerical modeling and experimental investigation of a two-phase sink vortex and its fluid-solid vibration characteristics
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作者 Zichao YIN Yesha NI +4 位作者 Lin LI Tong WANG Jiafeng WU Zhe LI Dapeng TAN 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2024年第1期47-62,共16页
A sink vortex is a common physical phenomenon in continuous casting,chemical extraction,water conservancy,and other industrial processes,and often causes damage and loss in production.Therefore,the real-time monitorin... A sink vortex is a common physical phenomenon in continuous casting,chemical extraction,water conservancy,and other industrial processes,and often causes damage and loss in production.Therefore,the real-time monitoring of the sink vortex state is important for improving industrial production efficiency.However,its suction-extraction phenomenon and shock vibration characteristics in the course of its formation are complex mechanical dynamic factors for flow field state monitoring.To address this issue,we set up a multi-physics model using the level set method(LSM)for a free sink vortex to study the two-phase interaction mechanism.Then,a fluid–solid coupling dynamic model was deduced to investigate the shock vibration characteristics and reveal the transition mechanism of the critical flow state.The numerical results show that the coupling energy shock induces a pressure oscillation phenomenon,which appears to be a transient enhancement of vibration at the vortex penetration state.The central part of the transient enhancement signal is a high-frequency signal.Based on the dynamic coupling model,an experimental observation platform was established to verify the accuracy of the numerical results.The water-model experiment results were accordant with the numerical results.The above results provide a reference for fluid state recognition and active vortex control for industrial monitoring systems,such as those in aerospace pipe transport,hydropower generation,and microfluidic devices. 展开更多
关键词 Free sink vortex Fluid-solid coupling Level set method(LSM) Multi-physics model Vibration characteristics
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Deriving Energy-Gap of Some Nonlinear Hamiltonians by Invariant Eigen-operator Method
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作者 FAN Hong-Yi TANG Xu-Bing HU Hai-Peng 《Communications in Theoretical Physics》 SCIE CAS CSCD 2008年第9期674-676,共3页
By virtue of the invariant eigen-operator method we search for the invariant eigen-operators for someHamiltonians describing nonlinear processes in particle physics.In this way the energy-gap of the Hamiltonians can b... By virtue of the invariant eigen-operator method we search for the invariant eigen-operators for someHamiltonians describing nonlinear processes in particle physics.In this way the energy-gap of the Hamiltonians can benaturally obtained.The characteristic polynomial theory has been fully employed in our derivation. 展开更多
关键词 invariant eigen-operator method nonlinear multiphoton Hamiltonian energy gap characteristic polynomial
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一种适用于货物搬运的新型三平移并联机构
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作者 郭彬 蔡祥 +1 位作者 高波 严得鸿 《机电工程》 北大核心 2025年第12期2409-2423,共15页
以往三平移并联机构在完成货物搬运时,为了实现高效避障目的存在控制算法复杂的问题,为此,设计了一种利用机构本身特性即可实现沿曲线轨迹平移的新型三平移并联机构。首先,分析了最新三平移并联机构的平移类型不适用于沿曲线轨迹平移的... 以往三平移并联机构在完成货物搬运时,为了实现高效避障目的存在控制算法复杂的问题,为此,设计了一种利用机构本身特性即可实现沿曲线轨迹平移的新型三平移并联机构。首先,分析了最新三平移并联机构的平移类型不适用于沿曲线轨迹平移的情况,还分析了现存的弯曲平移机构的不足之处;然后,基于方位特征集方程的并联机构设计理论,设计了一种驱动副均位于静平台上且具有弯曲平移运动输出特性的三平移并联机构,并完成了该机构的方位特征集(POC集为3T)、自由度(3-DOF)、耦合度(耦合度为0)等拓扑性能分析;基于拓扑结构运动学建模原理,完成了该机构参数化标注的符号式位置正解方程、符号式位置逆解方程的构建,并使用多种工况验证了正、逆解方程求解的正确性;使用MATLAB软件以及ADAMS软件从运动学层面完成了机构的弯曲平移运动输出特性的仿真;最后,完成了机构的运动精度分析,建立了机构位置精度数学模型,通过实例计算得到了对动平台运动误差影响最大的驱动副。研究结果表明:该机构正、逆解方程求解简单且机构的耦合度为0,同时该并联机构具有部分输入-输出运动解耦性,能够极大降低机构的运动控制难度以及提高机构运动学分析的效率;该动平台能够在多个平面内同时具有弯曲平移的运动输出特性,通过实例分析,得到了动平台最大误差为1.5484 mm,最小误差为1 mm。该并联机构进一步丰富了弯曲平移机构的类型,未来能够应用于工业领域中的货物自动分拣以及货物的高效搬运。 展开更多
关键词 并联机构 驱动副 静平台 拓扑设计方法 弯曲平移 解析解 耦合度 方位特征集
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