Energy harvesting from aeroelastic vibrations induced by discrete gust loads

2016 ◽  
Vol 28 (1) ◽  
pp. 47-62 ◽  
Author(s):  
Claudia Bruni ◽  
James Gibert ◽  
Giacomo Frulla ◽  
Enrico Cestino ◽  
Pier Marzocca
Keyword(s):  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Flow Region ◽  
Rotational Displacement ◽  
Reduced Order ◽  
Piezoelectric Elements ◽  
Out Of Plane ◽  
Gust Loads ◽  
Three Degree Of Freedom ◽  
Euler Bernoulli Beam

This article evaluates the amount of energy that can be extracted from a gust using an aeroelastic energy harvester composed of a flexible wing with attached piezoelectric elements. The harvester operates in a subcritical flow region. It is modeled as a linear Euler–Bernoulli beam sandwiched between two piezoceramics. The extended Hamilton’s principle is used to derive the harvester’s equations of motion and an eigenfunction expansion is used to form a three-degree-of-freedom reduced-order model. The degrees of freedom retained in the model are two flexural degrees for the in-plane and out-of-plane displacements, and a torsional degree for the rotational displacement. Wagner and Küssner functions are used to represent the unsteady aerodynamic and gust loading, respectively. The amount of energy extracted from the system is then compared for two different deterministic gust profiles, 1-COSINE and two sharp-edged gusts forming a square gust, for various magnitudes and durations. The results show that the harvester is able to extract more energy from the square gust profile, although for both profiles the harvester extracts more power after the gust has subsided.

Asymmetric Bifurcation of Initially Curved Nanobeam

2015 ◽  
Vol 82 (9) ◽  
Author(s):  
X. Chen ◽  
S. A. Meguid
Keyword(s):  
Symmetry Breaking ◽  
Degrees Of Freedom ◽  
Surface Elasticity ◽  
Beam Theory ◽  
Surface Effects ◽  
Beam Model ◽  
Bernoulli Beam ◽  
Reduced Order ◽  
Euler Bernoulli Beam ◽  
Bifurcation Behavior

In this paper, we investigate the asymmetric bifurcation behavior of an initially curved nanobeam accounting for Lorentz and electrostatic forces. The beam model was developed in the framework of Euler–Bernoulli beam theory, and the surface effects at the nanoscale were taken into account in the model by including the surface elasticity and the residual surface tension. Based on the Galerkin decomposition method, the model was simplified as two degrees of freedom reduced order model, from which the symmetry breaking criterion was derived. The results of our work reveal the significant surface effects on the symmetry breaking criterion for the considered nanobeam.

Detection of Cracks in Mistuned Bladed Disks Using Reduced-Order Models and Vibration Data

2012 ◽  
Vol 134 (6) ◽  
Author(s):  
Chulwoo Jung ◽  
Akira Saito ◽  
Bogdan I. Epureanu
Keyword(s):  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Equations Of Motion ◽  
Computational Cost ◽  
Three Dimensional ◽  
Cost Savings ◽  
Forced Response ◽  
Response Analysis ◽  
Reduced Order Models ◽  
Reduced Order

A novel methodology to detect the presence of a crack and to predict the nonlinear forced response of mistuned turbine engine rotors with a cracked blade and mistuning is developed. The combined effects of the crack and mistuning are modeled. First, a hybrid-interface method based on component mode synthesis is employed to develop reduced-order models (ROMs) of the tuned system with a cracked blade. Constraint modes are added to model the displacements due to the intermittent contact between the crack surfaces. The degrees of freedom (DOFs) on the crack surfaces are retained as active DOFs so that the physical forces due to the contact/interaction (in the three-dimensional space) can be accurately modeled. Next, the presence of mistuning in the tuned system with a cracked blade is modeled. Component mode mistuning is used to account for mistuning present in the uncracked blades while the cracked blade is considered as a reference (with no mistuning). Next, the resulting (reduced-order) nonlinear equations of motion are solved by applying an alternating frequency/time-domain method. Using these efficient ROMs in a forced response analysis, it is found that the new modeling approach provides significant computational cost savings, while ensuring good accuracy relative to full-order finite element analyses. Furthermore, the effects of the cracked blade on the mistuned system are investigated and used to detect statistically the presence of a crack and to identify which blade of a full bladed disk is cracked. In particular, it is shown that cracks can be distinguished from mistuning.

Rigid Body dynamics and decoupled control architecture for two strongly interacting manipulators

Robotica ◽  
1991 ◽  
Vol 9 (4) ◽  
pp. 421-430 ◽  
Author(s):  
M.A. Unseren
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Equations Of Motion ◽  
Joint Space ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Control Architecture ◽  
Reduced Order ◽  
Closed Chain

SUMMARYA rigid body dynamical model and control architecture are developed for the closed chain motion of two structurally dissimilar manipulators holding a rigid object in a three-dimensional workspace. The model is first developed in the joint space and then transformed to obtain reduced order equations of motion and a separate set of equations describing the behavior of the generalized contact forces. The problem of solving the joint space and reduced order models for the unknown variables is discussed. A new control architecture consisting of the sum of the outputs of a primary and secondary controller is suggested which, according to the model, decouples the force and position-controlled degrees of freedom during motion of the system. The proposed composite controller enables the designer to develop independent, non-interacting control laws for the force and position control of the complex closed chain system.

Aeromechanics of passive rotation in flapping flight

2010 ◽  
Vol 660 ◽  
pp. 197-220 ◽  
Author(s):  
J. P. WHITNEY ◽  
R. J. WOOD
Keyword(s):  
Aerodynamic Force ◽  
Equations Of Motion ◽  
Beat Frequency ◽  
Element Model ◽  
Rotational Dynamics ◽  
Model Parameters ◽  
Passive Rotation ◽  
Out Of Plane ◽  
Three Degree Of Freedom ◽  
Blade Element

Flying insects and robots that mimic them flap and rotate (or ‘pitch’) their wings with large angular amplitudes. The reciprocating nature of flapping requires rotation of the wing at the end of each stroke. Insects or flapping-wing robots could achieve this by directly exerting moments about the axis of rotation using auxiliary muscles or actuators. However, completely passive rotational dynamics might be preferred for efficiency purposes, or, in the case of a robot, decreased mechanical complexity and reduced system mass. Herein, the detailed equations of motion are derived for wing rotational dynamics, and a blade-element model is used to supply aerodynamic force and moment estimates. Passive-rotation flapping experiments with insect-scale mechanically driven artificial wings are conducted to simultaneously measure aerodynamic forces and three-degree-of-freedom kinematics (flapping, rotation and out-of-plane deviation), allowing a detailed evaluation of the blade-element model and the derived equations of motion. Variations in flapping kinematics, wing-beat frequency, stroke amplitude and torsional compliance are made to test the generality of the model. All experiments showed strong agreement with predicted forces and kinematics, without variation or fitting of model parameters.

Augmented Perpetual Manifolds and Perpetual Mechanical Systems-Part I: Definitions, Theorem and Corollary for Triggering Perpetual Manifolds, Application in Reduced Order Modeling and Particle-Wave Motion of Flexible Mechanical Systems

2021 ◽  
Author(s):  
Fotios Georgiades
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Mechanical Engineering ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Reduced Order ◽  
Rigid Body Motions ◽  
Definition Of ◽  
External Forces ◽  
Perpetual Points

Abstract Perpetual points in mechanical systems defined recently. Herein are used to seek specific types of solutions of N-degrees of freedom systems, and their significance in mechanics is discussed. In discrete linear mechanical systems, is proven, that the perpetual points are forming the perpetual manifolds and they are associated with rigid body motions, and these systems are called perpetual. The definition of perpetual manifolds herein is extended to the augmented perpetual manifolds. A theorem, defining the conditions of the external forces applied in an N-degrees of freedom system lead to a solution in the exact augmented perpetual manifold of rigid body motions, is proven. In this case, the motion by only one differential equation is described, therefore forms reduced-order modelling of the original equations of motion. Further on, a corollary is proven, that in the augmented perpetual manifolds for external harmonic force the system moves in dual mode as wave-particle. The developed theory is certified in three examples and the analytical solutions are in excellent agreement with the numerical simulations. The outcome of this research is significant in several sciences, in mathematics, in physics and in mechanical engineering. In mathematics, this theory is significant for deriving particular solutions of nonlinear systems of differential equations. In physics/mechanics, the existence of wave-particle motion of flexible mechanical systems is of substantial value. Finally in mechanical engineering, the theory in all mechanical structures can be applied, e.g. cars, aeroplanes, spaceships, boats etc. targeting only the rigid body motions.

DYNAMIC SIMULATION OF A SPATIAL 3-DOF TENSEGRITY MECHANISM

2005 ◽  
Vol 29 (4) ◽  
pp. 491-505 ◽  
Author(s):  
Marc Arsenault ◽  
Clément M. Gosselin
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Dynamic Problem ◽  
Degrees Of Freedom ◽  
Dynamic Behaviour ◽  
Equations Of Motion ◽  
Attractive Alternative ◽  
Equilibrium Configurations ◽  
Geometrical Constraints ◽  
Three Degree Of Freedom

Tensegrity mechanisms have the advantage of being relatively lightweight due to. their extensive use of cables and springs. As such, they have the potential of being an attractive alternative to conventional mechanisms in certain application environments. However, the presence of unconstrained degrees of freedom in tensegrity mechanisms leads to a dynamic behaviour that cannot be directly controlled with the actuators. In this work, the dynamic model of a novel spatial three-degree-of-freedom (3-DOF) tensegrity mechanism is developed using the Lagrangian formulation. The resulting equations of motion are then solved to simulate the mechanism's motion between equilibrium configurations. Since the mechanism is subjected to holonomic nonlinear geometrical constraints, these must be considered during the solution of its forward dynamic problem. It is seen that the use of damping in the springs is not very efficient in dissipating the mechanism's energy during motion.

Modal Analysis of Jointed Structures

2011 ◽  
Author(s):  
D. Dane Quinn
Keyword(s):  
Equations Of Motion ◽  
Nonlinear Damping ◽  
Mode Shapes ◽  
Continuum Approximation ◽  
Elastic Rod ◽  
Reduced Order ◽  
Multiple Components ◽  
Load Carrying ◽  
Three Degree Of Freedom ◽  
Modal Coordinates

Structural systems are often composed of multiple components joined together at localized interfaces. Compared to a corresponding monolithic system, these interfaces are designed to leave the load carrying capability of the system unchanged and the resulting effect on the system stiffness is minimal. Hence the mode shapes and frequencies of the dominant structural modes are relatively insensitive to the presence of the interfaces. However, the energy dissipation in such systems is strongly dependent on the joints. The microslip that occurs at each interface couples together the structural modes of the system and introduces nonlinear damping into the system, effectively altering the observed damping of the structural modes. This work develops equations of motion for a jointed structure in terms of the structural modal coordinates and implements a reduced-order description of the microslip that occurs at the interface between components. The interface is incorporated into the modal description of the system through an existing decomposition of a series-series Iwan interface model and a continuum approximation for microslip of a elastic rod. The developed framework is illustrated through a discrete three degree-of-freedom system.

Detection of Cracks in Mistuned Bladed Disks Using Reduced Order Models and Vibration Data

2011 ◽  
Author(s):  
Chulwoo Jung ◽  
Akira Saito ◽  
Bogdan I. Epureanu
Keyword(s):  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Equations Of Motion ◽  
Computational Cost ◽  
Three Dimensional ◽  
Cost Savings ◽  
Forced Response ◽  
Response Analysis ◽  
Reduced Order Models ◽  
Reduced Order

A novel methodology to detect the presence of a crack and to predict the nonlinear forced response of mistuned turbine engine rotors with a cracked blade and mistuning is developed. The combined effects of the crack and mistuning are modeled. First, a hybrid-interface method based on component mode synthesis is employed to develop reduced order models (ROMs) of the tuned system with a cracked blade. Constraint modes are added to model the displacements due to the intermittent contact between the crack surfaces. The degrees of freedom (DOFs) on the crack surfaces are retained as active DOFs so that the physical forces due to the contact/interaction (in the three-dimensional space) can be accurately modeled. Next, the presence of mistuning in the tuned system with a cracked blade is modeled. Component mode mistuning is used to account for mistuning present in the un-cracked blades while the cracked blade is considered as a reference (with no mistuning). Next, the resulting (reducedorder) nonlinear equations of motion are solved by applying an alternating frequency/time-domain method. Using these efficient ROMs in a forced response analysis, it is found that the new modeling approach provides significant computational cost savings, while ensuring good accuracy relative to full-order finite element analyses. Furthermore, the effects of the cracked blade on the mistuned system are investigated, and used to detect statistically the presence of a crack and to identify which blade of a full bladed disk is cracked. In particular, it is shown that cracks can be distinguished from mistuning.

scholarly journals An XYZ Micromanipulator with three translational degrees of freedom

Robotica ◽  
2006 ◽  
Vol 24 (3) ◽  
pp. 305-314 ◽  
Author(s):  
Kimberly A. Jensen ◽  
Craig P. Lusk ◽  
Larry L. Howell
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Surface Micromachining ◽  
Out Of Plane ◽  
Plane Displacement ◽  
Three Degree Of Freedom

This paper introduces a three degree of freedom XYZ Micromanipulator (XYZM) that is fabricated in the $x$-$y$ plane and positions components in the $x$, $y$, and $z$ directions using three independent linear inputs. The mechanism positions components on a platform using three legs, each composed of a slider mechanism and a parallelogram mechanism.Three versions of the XYZM were fabricated and tested using surface micromachining processes: the rigid-body, offset, and compliant XYZM. Slider displacements of 45 micrometers result in a predicted out-of-plane displacement of 188 micrometers for the rigid-body XYZM, 205 micrometers for the offset XYZM, and 262 micrometers for the compliant XYZM.

The motion of a lunar orbiter

1966 ◽  
Vol 25 ◽  
pp. 373
Author(s):  
Y. Kozai
Keyword(s):  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Artificial Satellite ◽  
Equations Of Motion ◽  
Triaxial Ellipsoid ◽  
The Moon ◽  
Secular Motion ◽  
The Earth ◽  
Close Satellite ◽  
The Mean

The motion of an artificial satellite around the Moon is much more complicated than that around the Earth, since the shape of the Moon is a triaxial ellipsoid and the effect of the Earth on the motion is very important even for a very close satellite.The differential equations of motion of the satellite are written in canonical form of three degrees of freedom with time depending Hamiltonian. By eliminating short-periodic terms depending on the mean longitude of the satellite and by assuming that the Earth is moving on the lunar equator, however, the equations are reduced to those of two degrees of freedom with an energy integral.Since the mean motion of the Earth around the Moon is more rapid than the secular motion of the argument of pericentre of the satellite by a factor of one order, the terms depending on the longitude of the Earth can be eliminated, and the degree of freedom is reduced to one.Then the motion can be discussed by drawing equi-energy curves in two-dimensional space. According to these figures satellites with high inclination have large possibilities of falling down to the lunar surface even if the initial eccentricities are very small.The principal properties of the motion are not changed even if plausible values ofJ3andJ4of the Moon are included.This paper has been published in Publ. astr. Soc.Japan15, 301, 1963.

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