Robust multi-steps input command for liquid sloshing control

2021 ◽  
pp. 107754632110177
Author(s):  
Abdullah Alshaya ◽  
Adel Alshayji
Keyword(s):  
Liquid Sloshing ◽  
Flexible Body ◽  
Transient Vibration ◽  
Resonant Frequencies ◽  
System Parameters ◽  
Input Shaper ◽  
Body Dynamics ◽  
Time Optimal ◽  
Multi Body ◽  
Input Command

A robust input command based on multiple steps for eliminating the residual vibrations of a multimode linear system is proposed. Only the system resonant frequencies are needed to determine the step magnitudes in the shaped command. The command duration is selectable to help in designing an optimum command that compensates between the reduction in the transient vibration, the enhancement in the command robustness, and the increase in the total maneuver time. The induced transient and residual sloshing oscillations of a suspended water-filled container are suppressed using the proposed command. The dynamics of the sloshing is numerically simulated using finite element method that accommodates the interactions between the fluid, structural, and multi-body dynamics. A short move time penalty is incurred with the price of significant reduction in the liquid sloshing. The performance of the shaped command to the system parameters and the robustness to their uncertainty are investigated. An improved robust input command in the presence of uncertainties in the cable length and water depth is also introduced. The effectiveness and excellence of the proposed command is demonstrated through a comparison with multimode zero-vibration input shaper and time-optimal flexible-body control.

Modeling and Simulation of Stochastic Lorenz Systems by Polynomial Chaos Approach

2007 ◽  
Author(s):  
Lin Li ◽  
Corina Sandu
Keyword(s):  
Polynomial Chaos ◽  
Initial Conditions ◽  
Nonlinear Problems ◽  
System Response ◽  
Structural Vibrations ◽  
System Parameters ◽  
Highly Nonlinear ◽  
Body Dynamics ◽  
The Lorenz System ◽  
Multi Body

The Lorenz problem is one of the paradigms of the chaotic systems, which are sensitive to initial conditions and for which the performance is hard to predict. However, in many cases and dynamic systems, the initial conditions of a dynamic system and the system parameters can’t be measured accurately, and the response of the system must indeed be explored in advance. In this study, the polynomial chaos approach is used to handle uncertain initial conditions and system parameters of the Lorenz system. The method has been successfully applied by the authors and co-workers in multi-body dynamics and terrain profile and soil modeling. Other published studies illustrate the benefits of using the polynomial chaos, especially for problems involving large uncertainties and highly nonlinear problems in fluid mechanics, structural vibrations, and air quality studies. This study is an attempt to use the polynomial chaos approach to treat the Lorenz problem, and the results are compared with a classical Monte Carlo approach. Error bars are used to illustrate the standard deviation of the system response. Different meshing schemes are simulated, and the convergence of the method is analyzed.

Quasi-Variational Principles of Single Flexible Body Dynamics

2010 ◽  
Author(s):  
Haiyan Song ◽  
Jiansheng Zhou ◽  
Lifu Liang ◽  
Zongmin Liu
Keyword(s):  
Variational Principle ◽  
Variational Principles ◽  
Deformable Body ◽  
Rigid Body Dynamics ◽  
Flexible Body ◽  
Cross Link ◽  
Body Dynamics ◽  
Flexible Body Dynamics ◽  
Multi Body

The theoretical analysis of flexible multi-body system is a long-term and complicated problem. So the single flexible body dynamics should be studied firstly. Quasi-variational principle of non-conservative single flexible body dynamics is established under the cross-link of particle rigid body dynamics and deformable body dynamics. Some important problems are studied in quasi-variational principle of non-conservative single flexible body dynamics. The vibration problem of unrestrained beam can be solved very well by using quasi-variational principle.

scholarly journals Impact-induced vibration in vehicular driveline systems: Theoretical and experimental investigations

2005 ◽  
Vol 219 (1) ◽  
pp. 1-12 ◽  
Author(s):  
M Gnanakumarr ◽  
S Theodossiades ◽  
H Rahnejat ◽  
M Menday
Keyword(s):  
High Frequency ◽  
Experimental Investigations ◽  
Flexible Body ◽  
Experimental Measurements ◽  
Light Truck ◽  
Radiated Noise ◽  
Vibrational Response ◽  
Body Dynamics ◽  
Multi Body

The paper investigates the conditions leading to the emergence and persistence of an acute metallic noise in light-truck drivelines. Sudden demands in torque in the presence of lash zones give rise to this phenomenon, which is onomatopoeically referred to as clonk. The study of clonk requires combined rigid multi-body dynamics and flexible body oscillations. The results show high-frequency contributions in the driveline vibrational response of certain structural modes of the driveshaft pieces, which are induced by remote impact of meshing transmission teeth through backlash. The numerically predicted spectrum of vibration shows good correlation with experimental measurements of radiated noise from a dynamic drivetrain rig.

Modeling and Simulation Analysis of Certain Vehicular Gatling Gun

2013 ◽  
Vol 275-277 ◽  
pp. 2467-2470
Author(s):  
Tao Li ◽  
Rui Lin Wang ◽  
Long Bo Sheng
Keyword(s):  
Simulation Analysis ◽  
Flexible Body ◽  
Response Characteristics ◽  
Vehicle Velocity ◽  
Impact Position ◽  
Body Dynamics ◽  
Velocity Condition ◽  
Flexible Body Dynamics ◽  
Multi Body ◽  
Exterior Ballistics

To study the influence of barrel’s deformation and vehicle velocity to certain vehicular Gatling gun, a virtual simulation with rigid-flexible coupling was established by using ADAMS/Flex module based on rigid multi-body dynamics and flexible body dynamics theories. Considering the interaction of the tires and road surface, vehicle and machine gun, the dynamic analysis and calculation of exterior ballistics were completed in various vehicle velocity condition, the muzzle response characteristics and impact position were obtained. The Model is testified rational, accuracy and effective by comparing simulating results with the experimental data of the velocity and displacement of barrel, which has laid the foundation for further simulation and structural optimization.

Command Shaping for Sloshing Suppression of a Suspended Liquid Container

2020 ◽  
Vol 142 (12) ◽  
Author(s):  
Abdullah Alshaya ◽  
Khalid Alghanim
Keyword(s):  
Liquid Sloshing ◽  
Command Shaping ◽  
Equivalent Mechanical Model ◽  
Proposed Model ◽  
Sloshing Dynamics ◽  
Time Optimal ◽  
Free Surface Wave ◽  
Liquid Depth ◽  
Mass Spring ◽  
Input Command

Abstract The residuals of liquid free-surface wave oscillations induced by a rest-to-rest crane maneuver of a suspended liquid container are eliminated using a command-shaped profile. The dynamics of liquid sloshing are modeled using an equivalent mechanical model based on a series of mass-spring-damper systems. The proposed model considers the excited frequencies of the container swing motion and liquid sloshing modes. The objective is to design a discrete-time shaped acceleration profile with a variable command length that controls the moving crane-jib, while suppressing the sloshing modes. Simulations are conducted to illustrate the command effectiveness in eliminating liquid sloshing with a wide variation range of system and command-designing parameters; liquid depth, cable length, command duration, and the employing of higher sloshing modes in representing the sloshing dynamics. The command sensitivity of the input command to changes of the system parameters are treated as well. A refined and smooth input command based on suppressing the residuals of multimodes is also introduced. Furthermore, the command effectiveness was supported by a comparison with the time-optimal flexible-body control and multimode zero vibration input shaper.

scholarly journals Estimating maximum bite performance in Tyrannosaurus rex using multi-body dynamics

2012 ◽  
Vol 8 (4) ◽  
pp. 660-664 ◽  
Author(s):  
K. T. Bates ◽  
P. L. Falkingham
Keyword(s):  
Body Size ◽  
Feeding Behaviour ◽  
Ontogenetic Change ◽  
Positive Allometry ◽  
Musculoskeletal Models ◽  
Terrestrial Animal ◽  
Body Dynamics ◽  
Mode Of Life ◽  
Scaling Analyses ◽  
Multi Body

Bite mechanics and feeding behaviour in Tyrannosaurus rex are controversial. Some contend that a modest bite mechanically limited T. rex to scavenging, while others argue that high bite forces facilitated a predatory mode of life. We use dynamic musculoskeletal models to simulate maximal biting in T. rex . Models predict that adult T. rex generated sustained bite forces of 35 000–57 000 N at a single posterior tooth, by far the highest bite forces estimated for any terrestrial animal. Scaling analyses suggest that adult T. rex had a strong bite for its body size, and that bite performance increased allometrically during ontogeny. Positive allometry in bite performance during growth may have facilitated an ontogenetic change in feeding behaviour in T. rex , associated with an expansion of prey range in adults to include the largest contemporaneous animals.

Sir Robert Stawell Ball and methodologies of modern screw theory

2002 ◽  
Vol 216 (1) ◽  
pp. 1-11 ◽  
Author(s):  
H Lipkin ◽  
J Duffy
Keyword(s):  
Computational Geometry ◽  
Rigid Body ◽  
Lie Algebra ◽  
Screw Theory ◽  
Mechanical Design ◽  
Ball Screw ◽  
Dual Numbers ◽  
Body Dynamics ◽  
Rigid Body Mechanics ◽  
Multi Body

The theory of screws was largely developed by Sir Robert Stawell Ball over 100 years ago to investigate general problems in rigid body mechanics. Nowadays, screw theory is applied in many different but related forms including dual numbers, Plilcker coordinates and Lie algebra. An overview of these methodologies is presented along with a perspective on Ball. Screw theory has re-emerged after a hiatus to become an important tool in robot mechanics, mechanical design, computational geometry and multi-body dynamics.

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