Practical Implementation of the Polynomial Representation of Potential Damping in Time Domain Simulations

2005 ◽  
Author(s):  
Hermione J. van Zutphen ◽  
Joost den Haan
Keyword(s):  
Time Domain ◽  
Degrees Of Freedom ◽  
Added Mass ◽  
Least Square ◽  
Space Representation ◽  
Practical Implementation ◽  
Damping Force ◽  
State Space Representation ◽  
Limit Value ◽  
The Time Domain

Time domain simulations are required when analyzing nonlinear vessel behaviour. The usual approach conducting time domain simulations is to transform a complex valued function of frequency dependent damping and added mass to a convolution integral in the time domain. Evaluating the integrals during time domain simulations is computational expensive and the accuracy of the calculation of the limit value of added mass in diffraction calculations is dependent on the panel size of the model. In this paper, an alternative approach based on a polynomial model for damping proposed by K.E. Kaasen et al is extended from a single degree of freedom to a 6 degrees of freedom model of a heavy lift barge. Polynomials for contributions of velocity to the damping force are constructed generically using a least square curve fitting method. The polynomials then are transformed to the time domain counterpart using a state space representation. The quality of the fits of the damping function has a large influence on the resulting damping force in time domain. Furthermore, the higher the order of the differential equation, the larger the number of variables to integrate during a time domain simulation. Consequently, the presented method is not necessarily more efficient in simulations than the traditional retardation functions.

A Numerical Method for Representing Retardation Functions With Complex Exponentials

2017 ◽  
Author(s):  
Fushun Liu ◽  
Lei Jin ◽  
Jiefeng Chen ◽  
Wei Li
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Degrees Of Freedom ◽  
Added Mass ◽  
Memory Effects ◽  
Floating Structure ◽  
Frequency Dependent ◽  
Laplace Domain ◽  
The Time Domain ◽  
Frequency Domain Techniques

Numerical time- or frequency-domain techniques can be used to analyze motion responses of a floating structure in waves. Time-domain simulations of a linear transient or nonlinear system usually involve a convolution terms and are computationally demanding, and frequency-domain models are usually limited to steady-state responses. Recent research efforts have focused on improving model efficiency by approximating and replacing the convolution term in the time domain simulation. Contrary to existed techniques, this paper will utilize and extend a more novel method to the frequency response estimation of floating structures. This approach represents the convolution terms, which are associated with fluid memory effects, with a series of poles and corresponding residues in Laplace domain, based on the estimated frequency-dependent added mass and damping of the structure. The advantage of this approach is that the frequency-dependent motion equations in the time domain can then be transformed into Laplace domain without requiring Laplace-domain expressions of the added mass and damping. Two examples are employed to investigate the approach: The first is an analytical added mass and damping, which satisfies all the properties of convolution terms in time and frequency domains simultaneously. This demonstrates the accuracy of the new form of the retardation functions; secondly, a numerical six degrees of freedom model is employed to study its application to estimate the response of a floating structure. The key conclusions are: (1) the proposed pole-residue form can be used to consider the fluid memory effects; and (2) responses are in good agreement with traditional frequency-domain techniques.

scholarly journals The Analysis of Controllability and Stability of an Approximate Model of Heat Transfer in an Autoclave

2018 ◽  
Vol 28 (3) ◽  
pp. 416-428 ◽  
Author(s):  
Sergey A. Mokrushin ◽  
Valeri S. Khoroshavin ◽  
Sergey I. Ohapkin ◽  
Alexander V. Zotov ◽  
Victor S. Grudinin
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Transfer Functions ◽  
Structural Transformations ◽  
Space Representation ◽  
Proportional Integral ◽  
State Space Representation ◽  
The Matrix ◽  
The Stability ◽  
The Time Domain

Introduction.Ensuring the safety of country food industry in terms of the duration of storage and the quality of products is impossible without sterilizing products in autoclaves. The effectiveness of the sterilization processes depends on the degree of their automation. In the last twenty years, the improvement of automatic and automated control systems was primarily based on the development of technical means for automation without theoretical justification of decision-making. The proposed work is aimed at identifying the links between the parameters and connections of the sterilization process and the choice of structural and parametric features of the control system. Materials and Methods. A qualitative analysis is carried out based on the modern theory of automatic control for an approximative model of the thermal process of steam heating in an autoclave, taking into account the laws of heat transfer and the sufficiency of using a twodimensional model depending upon the structural and functional features of the model, which have regard to the parameters and relationships of the process, namely, the Kalman’s controllability properties of the model in the time domain in the state-space representation (the transition from the transfer function with zeros in the numerator to the normal differential system differential equations is also described). There were also analized the stability properties of the model in the frequency domain by means of transfer functions and structural transformations and the relationship of parameters in the form of inequalities with the subsequent choice of proportional-integral-differential configuration components for a real autoclave using the matrix of expert estimates. Results. It is shown that to make a qualitatively study of the issues of controllability and stability of the approximative model of the thermal process of water heating by steam in an autoclave, depending on the process parameters, it is necessary to represent the model the time domain (in the state-space representation) and in the frequency domain (in the form of transfer functions). The analysis of the controllability of the process is based on three approaches: the first (formalized) approach is based on the representation of the model in the form of a normal system of ordinary differential equations in the Cauchy form with the development of a method of decreasing the order of the higher derivatives of coordinates and introducing additional control signals taking into account the control derivatives; the second (unformalized) is based on the exclusion of management derivatives through structural transformation; the third (direct) approach uses the first-order heat balance and heat conduction equations derived from physical considerations. Under the conditions of Kalman’s controllability, dependencies between the parameters of the process and the degree of its controllability have been obtained.The analysis of the stability of the process is based on studying the poles of the transfer functions in the frequency domain and the characteristic roots of the equations of state in the time domain. On the basis of structural transformations, a closed canister heating loop with water with inertia, depending on the autoclave charging parameters, is isolated. Transient processes in this circuit take an amplifying, aperiodic or integral character, which affects the nature of the transient processes of the control system as a whole. The formalized choice of the components of the proportional-integral-differential regulation law is carried out depending on the frequency of application of the degree of loading and the need for the components of the proportional-integral-differential regulator using the matrix of expert estimates. Conclusions. The results of the research will serve as the material for the development of a real model of the autoclaving process, taking into account the static and dynamic characteristics of measuring, conversion and actuating elements, investigating the influence and compensation of inertia and nonlinearities of real elements, followed by the development of an automated system for controlling the sterilization process in autoclaves. The results of the work can be used to study general and applied problems of optimal control in both food and other industries, for example, in the production of building materials and the production of rubber products.

Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks

2017 ◽  
Vol 9 (6) ◽  
Author(s):  
Stephen L. Canfield ◽  
Reabetswe M. Nkhumise
Keyword(s):  
Time Domain ◽  
Controller Design ◽  
Control Design ◽  
Quantitative Measure ◽  
Space Representation ◽  
System Response ◽  
Geometric Representation ◽  
Mobile Manipulators ◽  
Control Parameters ◽  
The Time Domain

This paper develops an approach to evaluate a state-space controller design for mobile manipulators using a geometric representation of the system response in tool space. The method evaluates the robot system dynamics with a control scheme and the resulting response is called the controllability ellipsoid (CE), a tool space representation of the system’s motion response given a unit input. The CE can be compared with a corresponding geometric representation of the required motion task (called the motion polyhedron) and evaluated using a quantitative measure of the degree to which the task is satisfied. The traditional control design approach views the system response in the time domain. Alternatively, the proposed CE views the system response in the domain of the input variables. In order to complete the task, the CE must fully contain the motion polyhedron. The optimal robot arrangement would minimize the total area of the CE while fully containing the motion polyhedron. This is comparable to minimizing the power requirements of robot design when applying a uniform scale to all inputs. It will be shown that changing the control parameters changes the eccentricity and orientation of the CE, implying a preferred set of control parameters to minimize the design motor power. When viewed in the time domain, the control parameters can be selected to achieve desired stability and time response. When coupled with existing control design methods, the CE approach can yield robot designs that are stable, responsive, and minimize the input power requirements.

Experimental Identification Technique of Nonlinear Beams in Time Domain

1997 ◽  
Author(s):  
Kimihio Yasuda ◽  
Keisuke Kamiya
Keyword(s):  
Time Domain ◽  
Harmonic Balance ◽  
Least Square Method ◽  
Least Square ◽  
Governing Equations ◽  
Experimental Identification ◽  
Initial Values ◽  
Nonlinear Beams ◽  
Identification Technique ◽  
The Time Domain

Abstract In previous papers the authors proposed a new experimental identification technique applicable to elastic structures. The proposed technique is based on the principle of harmonic balance, and can be classified as the frequency domain technique. The technique requires the excitation force to be periodic. This is in some cases a restriction. So another technique free from this restriction is of use. In this paper, as a first step for developing such techniques, a technique applicable to beams is proposed. The proposed technique can be classified as the time domain one. Two variations of the technique are proposed, depending on what methods are used for estimating the parameters of the governing equations. The first method is based on the usual least square method. The second is based on solving a minimization problem with constraints. The latter usually yields better results. But in this method, an iteration procedure is used, which requires initial values for the parameters. To determine the initial values, the first method can be used. So both methods are useful. Finally the applicability of the proposed technique is confirmed by numerical simulation and experiments.

Design and multi-objective optimization of magnetorheological damper considering vehicle riding comfort and operation stability

2021 ◽  
pp. 1045389X2110482
Author(s):  
Zhaoxue Deng ◽  
Xinxin Wei ◽  
Xingquan Li ◽  
Shuen Zhao ◽  
Sunke Zhu
Keyword(s):  
Time Domain ◽  
Vehicle Dynamics ◽  
Mr Damper ◽  
Structure Parameters ◽  
Multi Objective Optimization ◽  
Dynamics Model ◽  
Damping Force ◽  
Domain Optimization ◽  
Operation Stability ◽  
The Time Domain

Mostly, magnetorheological (MR) dampers were optimized based on individual performance, without considering the influence of structure parameters change on vehicle performance. Therefore, a multi-objective optimization scheme of MR damper based on vehicle dynamics model was proposed. The finite element method was used to analyze magnetic flux density distribution in tapered damping channel under different structure parameters. Furthermore, the damping force expression of the tapered flow mode MR damper was derived, and the damping force was introduced into the vehicle dynamics model. In order to improve the ride comfort and operation stability of the vehicle, a collaborative optimization platform combining magnetic circuit finite element analysis and vehicle dynamics model was established. Based on this platform, the optimal design variables were determined by comfort and stability sensitivity analysis. The time domain optimization objective and frequency domain optimization objective are proposed simultaneously to overcome the lack of time domain optimization objective. The results show that compared with the time domain optimization and the initial design, the suspension dynamic deflection, tire dynamic load and vehicle body vertical acceleration are decreased after the time-frequency optimization. At the same time, in the frequency domain, the amplitude of vibration acceleration in each working condition is significantly reduced.

Generalized Modes in Time-Domain Seakeeping Calculations

2012 ◽  
Vol 56 (04) ◽  
pp. 215-233
Author(s):  
Johan T. Tuitman ◽  
Šime Malenica ◽  
Riaan van't Veer
Keyword(s):  
Rigid Body ◽  
Transient Response ◽  
Time Domain ◽  
Large Amplitude ◽  
Degrees Of Freedom ◽  
Mode Shapes ◽  
Nonlinear Load ◽  
Large Amplitude Motions ◽  
Rigid Body Modes ◽  
The Time Domain

The concept of "generalized modes" is to describe all degrees of freedom by mode shapes and not using any predefined shape, like rigid body modes. Generalized modes in seakeeping computations allow one to calculate the response of a single ship, springing, whipping, multibody interaction, etc., using a uniform approach. The generalized modes have already been used for frequency-domain seakeeping calculations by various authors. This article extents the generalized modes methodology to be used for time-domain seakeeping computations, which accounts for large-amplitude motions of the rigid-body modes. The time domain can be desirable for seakeeping computations because it is easy to include nonlinear load components and to compute transient response, like slamming and whipping. Results of multibody interaction, two barges connected by a hinge, whipping response of a ferry resulting from slamming loads, and the response of a flexible barge are presented to illustrate the theory.

Time-Domain Hydroelastic Analysis of a Flexible Marine Structure Using State-Space Models

2008 ◽  
Vol 131 (1) ◽  
Author(s):  
Reza Taghipour ◽  
Tristan Perez ◽  
Torgeir Moan
Keyword(s):  
State Space ◽  
Time Domain ◽  
State Space Model ◽  
Space Representation ◽  
Regular Waves ◽  
State Space Representation ◽  
Alternative State ◽  
Marine Structure ◽  
Hydroelastic Analysis ◽  
The Mathematical Model

This article deals with time-domain hydroelastic analysis of a marine structure. The convolution terms associated with fluid memory effects are replaced by an alternative state-space representation, the parameters of which are obtained by using realization theory. The mathematical model established is validated by comparison to experimental results of a very flexible barge. Two types of time-domain simulations are performed: dynamic response of the initially inert structure to incident regular waves and transient response of the structure after it is released from a displaced condition in still water. The accuracy and the efficiency of the simulations based on the state-space model representations are compared to those that integrate the convolutions.

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