On Normal Vibrations of a General Class of Nonlinear Dual-Mode Systems

1961 ◽  
Vol 28 (2) ◽  
pp. 275-283 ◽  
Author(s):  
R. M. Rosenberg
Keyword(s):  
General Class ◽  
Degrees Of Freedom ◽  
Normal Modes ◽  
Free Vibrations ◽  
Nonlinear Coupling ◽  
Dual Mode ◽  
Normal Vibrations ◽  
Numerical Examples ◽  
Real Positive Number ◽  
The Stability

Free vibrations in normal modes are examined for a system consisting of two unequal (or equal) masses, interconnected by a nonlinear coupling spring, and each mass connected by nonlinear unequal (or equal) anchor springs to fixed points. All spring forces are odd functions, and proportional to the k’th power, of the spring deflections, where k is a real, positive number. The frequency-amplitude relations for the in and out-of-phase modes are derived without approximation, the stability of these modes is analyzed, and several numerical examples are worked out. A surprising feature of these systems is that they may have a greater number of normal modes than they have degrees of freedom.

On normal mode vibrations

1964 ◽  
Vol 60 (3) ◽  
pp. 595-611 ◽  
Author(s):  
R. M. Rosenberg
Keyword(s):  
Finite Number ◽  
Linear Systems ◽  
Normal Mode ◽  
Degrees Of Freedom ◽  
Normal Modes ◽  
Free Vibrations ◽  
Non Linear ◽  
Non Linear Systems

1. Introduction. In linear systems, the concept of ‘free vibrations in normal modes’ is well defined and fully understood. The meaning of this phrase is far less clear when it is applied to non-linear systems. It is the purpose here to define and examine the free vibrations in normal modes (and their stability) in certain non-linear systems composed of masses and springs and having a finite number of degrees of freedom. Of necessity, such a paper is in some degree conceptual in nature.

Modal Reduction of a Nonlinear Rotating Beam Through Nonlinear Normal Modes*

2002 ◽  
Vol 124 (2) ◽  
pp. 229-236 ◽  
Author(s):  
Eric Pesheck ◽  
Christophe Pierre ◽  
Steven W. Shaw
Keyword(s):  
Degrees Of Freedom ◽  
Invariant Manifolds ◽  
Equations Of Motion ◽  
Normal Modes ◽  
Nonlinear Normal Modes ◽  
Nonlinear Coupling ◽  
Rotating Beam ◽  
Internal Resonances ◽  
Modal Expansion ◽  
Nonlinear Normal

A method for determining reduced-order models for rotating beams is presented. The approach is based on the construction of nonlinear normal modes that are defined in terms of invariant manifolds that exist for the system equations of motion. The beam considered is an idealized model for a rotor blade whose motions are dominated by transverse vibrations in the direction perpendicular to the plane of rotation (known as flapping). The mathematical model for the rotating beam is relatively simple, but contains the nonlinear coupling that exists between transverse and axial deflections. When one employs standard modal expansion or finite element techniques to this system, this nonlinearity causes slow convergence, leading to models that require many degrees of freedom in order to achieve accurate dynamical representations. In contrast, the invariant manifold approach systematically accounts for the nonlinear coupling between linear modes, thereby providing models with very few degrees of freedom that accurately capture the essential dynamics of the system. Models with one and two nonlinear modes are considered, the latter being able to handle systems with internal resonances. Simulation results are used to demonstrate the validity of the approach and to exhibit features of the nonlinear modal responses.

An Efficient Method for the Kinematics of Multibody Systems That Works in Singular Positions

1992 ◽  
Author(s):  
A. Avello ◽  
E. Bayo
Keyword(s):  
Efficient Method ◽  
Multibody Systems ◽  
Degrees Of Freedom ◽  
Augmented Lagrangian ◽  
Multibody System ◽  
Jacobian Matrix ◽  
Numerical Examples ◽  
Constraint Equations ◽  
The Stability ◽  
Augmented Lagrangian Formulation

Abstract When a multibody system reaches a singular position, one or more degrees of freedom appear instantaneously and the jacobian matrix of the constraint equations becomes rank-deficient. The classical kinematic formulation is based on the factorization of the jacobian and, therefore, fails in singular positions. In this paper we develop an efficient method, which uses a penalty and an augmented Lagrangian formulation, and successfully handles singular positions. This formulation automatically copes with redundant incompatible constraints and guarantees the stability of the constraints during numerical integration. Critical numerical examples are shown which corroborate these findings.

Triatomic molecules

2018 ◽  
Author(s):  
John H. D. Eland ◽  
Raimund Feifel
Keyword(s):  
Degrees Of Freedom ◽  
Normal Modes ◽  
Electronic States ◽  
Triatomic Molecules ◽  
Doubly Charged Ions ◽  
Spectral Bands ◽  
Valence Electrons ◽  
Doubly Charged ◽  
Charged Ions ◽  
Double Ionisation

Double ionisation of the triatomic molecules presented in this chapter shows an added degree of complexity. Besides potentially having many more electrons, they have three vibrational degrees of freedom (three normal modes) instead of the single one in a diatomic molecule. For asymmetric and bent triatomic molecules multiple modes can be excited, so the spectral bands may be congested in all forms of electronic spectra, including double ionisation. Double photoionisation spectra of H2O, H2S, HCN, CO2, N2O, OCS, CS2, BrCN, ICN, HgCl2, NO2, and SO2 are presented with analysis to identify the electronic states of the doubly charged ions. The order of the molecules in this chapter is set first by the number of valence electrons, then by the molecular weight.

Enlarging the region of stability in robust model predictive controller based on dual-mode control

2021 ◽  
pp. 014233122110123
Author(s):  
Fatemeh Khani ◽  
Mohammad Haeri
Keyword(s):  
Stability Region ◽  
Linear Matrix ◽  
Input State ◽  
Dual Mode ◽  
Model Predictive Controller ◽  
Mode Control ◽  
Robust Model ◽  
Output Constraints ◽  
Predictive Controller ◽  
The Stability

Industrial processes are inherently nonlinear with input, state, and output constraints. A proper control system should handle these challenging control problems over a large operating region. The robust model predictive controller (RMPC) could be an linear matrix inequality (LMI)-based method that estimates stability region of the closed-loop system as an ellipsoid. This presentation, however, restricts confident application of the controller on systems with large operating regions. In this paper, a dual-mode control strategy is employed to enlarge the stability region in first place and then, trajectory reversing method (TRM) is employed to approximate the stability region more accurately. Finally, the effectiveness of the proposed scheme is illustrated on a continuous stirred tank reactor (CSTR) process.

scholarly journals On the Numerical Simulation of HPDEs Using θ-Weighted Scheme and the Galerkin Method

Mathematics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 78
Author(s):  
Haifa Bin Jebreen ◽  
Fairouz Tchier
Keyword(s):  
Differential Equation ◽  
Galerkin Method ◽  
Linear Ordinary Differential Equation ◽  
Time Interval ◽  
Hyperbolic Partial Differential Equation ◽  
Time Step ◽  
Numerical Examples ◽  
One Dimensional ◽  
The Stability ◽  
The Galerkin Method

Herein, an efficient algorithm is proposed to solve a one-dimensional hyperbolic partial differential equation. To reach an approximate solution, we employ the θ-weighted scheme to discretize the time interval into a finite number of time steps. In each step, we have a linear ordinary differential equation. Applying the Galerkin method based on interpolating scaling functions, we can solve this ODE. Therefore, in each time step, the solution can be found as a continuous function. Stability, consistency, and convergence of the proposed method are investigated. Several numerical examples are devoted to show the accuracy and efficiency of the method and guarantee the validity of the stability, consistency, and convergence analysis.

scholarly journals Velocity and acceleration level inverse kinematic calculation alternatives for redundant manipulators

Meccanica ◽  
2021 ◽  
Author(s):  
Dóra Patkó ◽  
Ambrus Zelei
Keyword(s):  
Degrees Of Freedom ◽  
Direct Method ◽  
Tracking Error ◽  
Inverse Kinematic ◽  
Linear Feedback ◽  
Joint Position ◽  
Stability Properties ◽  
Acceleration Level ◽  
Error Elimination ◽  
The Stability

AbstractFor both non-redundant and redundant systems, the inverse kinematics (IK) calculation is a fundamental step in the control algorithm of fully actuated serial manipulators. The tool-center-point (TCP) position is given and the joint coordinates are determined by the IK. Depending on the task, robotic manipulators can be kinematically redundant. That is when the desired task possesses lower dimensions than the degrees-of-freedom of a redundant manipulator. The IK calculation can be implemented numerically in several alternative ways not only in case of the redundant but also in the non-redundant case. We study the stability properties and the feasibility of a tracking error feedback and a direct tracking error elimination approach of the numerical implementation of IK calculation both on velocity and acceleration levels. The feedback approach expresses the joint position increment stepwise based on the local velocity or acceleration of the desired TCP trajectory and linear feedback terms. In the direct error elimination concept, the increment of the joint position is directly given by the approximate error between the desired and the realized TCP position, by assuming constant TCP velocity or acceleration. We investigate the possibility of the implementation of the direct method on acceleration level. The investigated IK methods are unified in a framework that utilizes the idea of the auxiliary input. Our closed form results and numerical case study examples show the stability properties, benefits and disadvantages of the assessed IK implementations.

Stability of Ring-Type MEMS Gyroscopes Subjected to Stochastic Angular Speed Fluctuation

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Samuel F. Asokanthan ◽  
Soroush Arghavan ◽  
Mohamed Bognash
Keyword(s):  
Angular Velocity ◽  
Degrees Of Freedom ◽  
Microelectromechanical Systems ◽  
Damping Ratio ◽  
Operating Conditions ◽  
System Stability ◽  
System Response ◽  
Ring Type ◽  
Mems Gyroscopes ◽  
The Stability

Effect of stochastic fluctuations in angular velocity on the stability of two degrees-of-freedom ring-type microelectromechanical systems (MEMS) gyroscopes is investigated. The governing stochastic differential equations (SDEs) are discretized using the higher-order Milstein scheme in order to numerically predict the system response assuming the fluctuations to be white noise. Simulations via Euler scheme as well as a measure of largest Lyapunov exponents (LLEs) are employed for validation purposes due to lack of similar analytical or experimental data. The response of the gyroscope under different noise fluctuation magnitudes has been computed to ascertain the stability behavior of the system. External noise that affect the gyroscope dynamic behavior typically results from environment factors and the nature of the system operation can be exerted on the system at any frequency range depending on the source. Hence, a parametric study is performed to assess the noise intensity stability threshold for a number of damping ratio values. The stability investigation predicts the form of threshold fluctuation intensity dependence on damping ratio. Under typical gyroscope operating conditions, nominal input angular velocity magnitude and mass mismatch appear to have minimal influence on system stability.

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