Stability and local bifurcation analyses of two-wheeled trailers considering the nonlinear coupling between lateral and vertical motions

The nonlinear dynamics of two-wheeled trailers is investigated using a spatial 4-DoF mechanical model. The non-smooth characteristics of the tire forces caused by the detachment of the tires from the ground and other geometrical nonlinearities are taken into account. Beyond the linear stability analysis, the nonlinear vibrations are analyzed with special attention to the nonlinear coupling between the vertical and lateral motions of the trailer. The center manifold reduction is performed leading to a normal form up to third degree terms. The nature of the emerging periodic solutions, and, thus, the sense of the Hopf bifurcations are verified semi-analytically and numerically. Simplified models of the trailer are also used in order to point out the practical relevance of the study. It is shown that the linearly independent pitch motion affects the sense of the Hopf bifurcations at the linear stability boundary. Namely, the constructed spatial trailer model provides subcritical bifurcations for higher center of gravity positions, while the commonly used simplified mechanical models explore the less dangerous supercritical bifurcations only. Domains of loss of contact of tires are also detected and shown in the stability charts highlighting the presence of unsafe zones. Experiments are carried out on a small-scale trailer to validate the theoretical results. A good agreement can be observed between the measured and numerically determined critical speeds and vibration amplitudes.

Delay-induced bifurcations in collocated position control of an elastic arm

The interference of the elasticity of a single robotic arm and the unavoidable time delay of its position control is analysed from nonlinear vibrations viewpoint. The simplified mechanical model of two blocks and a connecting spring considers the first vibration mode of the arm, while the collocated proportional-derivative (PD) control uses the state of the first block only and actuates also there. It is assumed that the relevant nonlinearity is the saturation of the delayed control force. The linear stability analysis proves that stabilizable and non-stabilizable parameter regions follow each other periodically even for large spring stiffnesses and for tiny time delays. Hopf bifurcation calculation is carried out after an infinite-dimensional centre manifold reduction, and closed-form algebraic expressions are given for the amplitudes of the emerging oscillations. These results support the experimental tuning of the control gains since the parameters of the arising and often unexpected self-excited vibrations can serve as a guide for this practical procedure.

Manifold reduction techniques for the comparison of crank angle-resolved particle image velocimetry (PIV) data and Reynolds-averaged Navier-Stokes (RANS) simulations in a spark ignition direct injection (SIDI) engine

In this article, different manifold reduction techniques are implemented for the post-processing of Particle Image Velocimetry (PIV) images from a Spark Ignition Direct Injection (SIDI) engine. The methods are proposed to help make a more objective comparison between Reynolds-averaged Navier-Stokes (RANS) simulations and PIV experiments when Cycle-to-Cycle Variations (CCV) are present in the flow field. The two different methods used here are based on Singular Value Decomposition (SVD) principles where Proper Orthogonal Decomposition (POD) and Kernel Principal Component Analysis (KPCA) are used for representing linear and non-linear manifold reduction techniques. To the authors’ best knowledge, this is the first time a non-linear manifold reduction technique, such as KPCA, has ever been used in the study of in-cylinder flow fields. Both qualitative and quantitative studies are given to show the capability of each method in validating the simulation and incorporating CCV for each engine cycle. Traditional Relevance Index (RI) and two other previously developed novel indexes: the Weighted Relevance Index (WRI) and the Weighted Magnitude Index (WMI), are used for the quantitative study. The results indicate that both POD and KPCA show improvements in capturing the main flow field features compared to ensemble-averaged PIV experimental data and single cycle experimental flow fields while capturing CCV. Both methods present similar quantitative accuracy when using the three indexes. However, challenges were highlighted in the POD method for the selection of the number of POD modes needed for a representative reconstruction. When the flow field region presents a Gaussian distribution, the KPCA method is seen to provide a more objective numerical process as the reconstructed flow field will see convergence with an increasing number of modes due to its usage of Gaussian properties. No additional criterion is needed to determine how to reconstruct the main flow field feature. Using KPCA can, therefore, reduce the amount of analysis needed in the process of extracting the main flow field while incorporating CCV.

Reduction principle at work

The purpose of this informal paper is three-fold: First, filling a gap in the literature, we provide a (necessary and sufficient) principle of linearized stability for nonautonomous difference equations in Banach spaces based on the dichotomy spectrum. Second, complementing the above, we survey and exemplify an ambient nonautonomous and infinite-dimensional center manifold reduction, that is Pliss’s reduction principle suitable for critical stability situations. Third, these results are applied to integrodifference equations of Hammerstein- and Urysohn-type both in C- and Lp -spaces. Specific features of the nonautonomous case are underlined. Yet, for the simpler situation of periodic time-dependence even explicit computations are feasible.

Bogdanov–Takens Bifurcation in a Shape Memory Alloy Oscillator with Delayed Feedback

This work is focused on a shape memory alloy oscillator with delayed feedback. The main attention is to investigate the Bogdanov–Takens (B-T) bifurcation by choosing feedback parameters A 1,2 and time delay τ . The conditions for the occurrence of the B-T bifurcation are derived, and the versal unfolding of the norm forms near the B-T bifurcation point is obtained by using center manifold reduction and normal form. Moreover, it is demonstrated that the system also undergoes different codimension-1 bifurcations, such as saddle-node bifurcation, Hopf bifurcation, and saddle homoclinic bifurcation. Finally, some numerical simulations are given to verify the analytic results.

Hopf Bifurcation for Semilinear FDEs in General Banach Spaces

In this paper, we extend the equivariant Hopf bifurcation theory for semilinear functional differential equations in general Banach spaces and then apply it to reaction–diffusion models with delay effect and homogeneous Dirichlet boundary condition on a general open domain with a smooth boundary. In the process we derive the criteria for the existence and directions of branches of bifurcating periodic solutions, avoiding the process of center manifold reduction.