Averaging method in the motion stability problem for a rotating body suspended on a long rigid string

2008 ◽  
Vol 43 (3) ◽  
pp. 372-378
Author(s):  
V. N. Koshlyakov
2011 ◽  
Vol 148-149 ◽  
pp. 82-87
Author(s):  
Chang Hua Fan ◽  
Zhen Jiang ◽  
Bai Yu He

This paper proposes a kind of control method used to solve the stability problem of the trotted robot. Propose the concept of inside flip design four-footed robot and build a double inverted pendulum model. Establish dynamic equation to analyze the factors of affecting the motion stability. During walking, the center of gravity can maintain a proper vibration and have a maximum safety region of flip angle. Finally, use Adams to verify the control method.


2017 ◽  
Vol 48 (3) ◽  
pp. 243-249
Author(s):  
E. N. Kuznetsov ◽  
V. Yu. Lunin ◽  
A. V. Panyushkin ◽  
I. L. Chernyshev
Keyword(s):  

Author(s):  
V. E. Perekutnev ◽  
V. V. Zotov

Operation of inhaul rubber steel cables in vertical mine hoisting is discussed. The research in the field of mine hoisting is reviewed, and the further R&D directions are identified. Some studies concern life extension of hoisting ropes. One of the promising trends seems to be application of belt pullers as inhaul cables, which can essentially enhance mine hoist efficiency. In the meanwhile, capabilities of rubber steel cables suffer from deficient attention. The performance capabilities of rubber steel cables of top manufacturers (Promkanat and SAG) are compared, and application ranges in vertical mine hoisting are determined for such cables. It is found that the Polish manufacturer’s rubber steel cables offer a wider range of application. The analysis shows that rubber steel cables can be used as inhaul cables of vertical mine hoisters. Rubber steel cables possess suitable characteristics and are capable to elevate considerable loads to various hoisting heights. In particular, the existing rubber steel cables ensure carrying capacity of hoists up to 20-25 t at the hoisting heights to 400-500 m and sometimes can elevate skips with tonnage of 10 t to a height up to 1000 m and more. The further feasibility study of operation of inhaul steel rubber cables in hoisting units should address motion stability of a puller on a driving drum, load distribution in ropes of base of rubber steel cables, validation of hoister design, adjustability of rubber steel cable length during its operation, etc.


2021 ◽  
Vol 73 (1) ◽  
Author(s):  
Hengxin Ren ◽  
Ling Zeng ◽  
Yao-Chong Sun ◽  
Ken’ichi Yamazaki ◽  
Qinghua Huang ◽  
...  

AbstractIn this paper, numerical computations are carried out to investigate the seismo-electromagnetic signals arising from the motional induction effect due to an earthquake source embedded in 3-D multi-layered media. First, our numerical computation approach that combines discrete wavenumber method, peak-trough averaging method, and point source stacking method is introduced in detail. The peak-trough averaging method helps overcome the slow convergence problem, which occurs when the source–receiver depth difference is small, allowing us to consider any focus depth. The point source stacking method is used to deal with a finite fault. Later, an excellent agreement between our method and the curvilinear grid finite-difference method for the seismic wave solutions is found, which to a certain degree verifies the validity of our method. Thereafter, numerical computation results of an air–solid two-layer model show that both a receiver below and another one above the ground surface will record electromagnetic (EM) signals showing up at the same time as seismic waves, that is, the so-called coseismic EM signals. These results suggest that the in-air coseismic magnetic signals reported previously, which were recorded by induction coils hung on trees, can be explained by the motional induction effect or maybe other seismo-electromagnetic coupling mechanisms. Further investigations of wave-field snapshots and theoretical analysis suggest that the seismic-to-EM conversion caused by the motional induction effect will give birth to evanescent EM waves when seismic waves arrive at an interface with an incident angle greater than the critical angle θc = arcsin(Vsei/Vem), where Vsei and Vem are seismic wave velocity and EM wave velocity, respectively. The computed EM signals in air are found to have an excellent agreement with the theoretically predicted amplitude decay characteristic for a single frequency and single wavenumber. The evanescent EM waves originating from a subsurface interface of conductivity contrast will contribute to the coseismic EM signals. Thus, the conductivity at depth will affect the coseismic EM signals recorded nearby the ground surface. Finally, a fault rupture spreading to the ground surface, an unexamined case in previous numerical computations of seismo-electromagnetic signals, is considered. The computation results once again indicate the motional induction effect can contribute to the coseismic EM signals.


In the first part of this paper opportunity has been taken to make some adjustments in certain general formulae of previous papers, the necessity for which appeared in discussions with other workers on this subject. The general results thus amended are then applied to a general discussion of the stability problem including the effect of the trailing wake which was deliberately excluded in the previous paper. The general conclusion is that to a first approximation the wake, as usually assumed, has little or no effect on the reality of the roots of the period equation, but that it may introduce instability of the oscillations, if the centre of gravity of the element is not sufficiently far forward. During the discussion contact is made with certain partial results recently obtained by von Karman and Sears, which are shown to be particular cases of the general formulae. An Appendix is also added containing certain results on the motion of a vortex behind a moving cylinder, which were obtained to justify certain of the assumptions underlying the trail theory.


Author(s):  
Michael Rom ◽  
Florian König ◽  
Siegfried Müller ◽  
Georg Jacobs

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