A TORSIONAL SPRING-LIKE BEAM ELEMENT FOR THE DYNAMIC ANALYSIS OF FLEXIBLE MULTIBODY SYSTEMS

A new finite element beam formulation for modelling flexible multibody systems undergoing large rigid-body motion and large deflections is developed. In this formulation, the motion of the ‘nodes’ is referred to a global inertial reference frame. Only Cartesian position co-ordinates are used as degrees of freedom. The beam element is divided into two subelements. The first element is a truss element which gives the axial response. The second element is a torsional spring-like bending element which gives the transverse bending response. D'Alembert principle is directly used to derive the system's equations of motion by invoking the equilibrium, at the nodes, of inertia forces, structural (internal) forces and externally applied forces. Structural forces on a node are calculated from the state of deformation of the elements surrounding that node. Each element has a convected frame which translates and rotates with it. This frame is used to determine the flexible deformations of the element and to extract those deformations from the total element motion. The equations of motion are solved along with constraint equations using a direct iterative integration scheme. Two numerical examples which were presented in earlier literature are solved to demonstrate the features and accuracy of the new method.     

空间刚柔性机械臂振动抑制的LQ最优控制方法

以双连杆空间刚柔性机械臂为对象,建立了非线性动力学方程。运用线性二次型最优控制方法讨论机械臂消除残余振动的控制问题,给出相应的最优控制规律,通过算例仿真计算,表明控制规律的有效性。     

大范围运动柔性梁动力学分析

针对有偏心、考虑剪切的变截面大范围运动柔性梁，使用有限元方法离散柔性梁，结合非线性变形场得到耦合形函数；在此基础上得到动力学方程，仿真算例验证了有限元离散的有效性和耦合形函数的正确性。     

梁杆结构二阶效应分析的一种新型梁单元

推导了一种计及梁杆二阶效应的新型两结点梁单元。首先依据插值理论构造了三结点Euler-Bernoulli梁单元的位移场:使用五次Hermite插值函数建立梁单元的侧向位移场,二次Lagrange插值函数建立梁单元的轴向位移场,进而由非线性有限元理论推导了单元的线性刚度矩阵和几何刚度矩阵,然后使用静力凝聚方法消除三结点梁单元中间结点的自由度,从而得到一种考虑轴力效应的新型两结点梁单元。实例分析表明,此新型梁单元具有很高的计算精度,使用此单元进行梁杆结构分析可获得相当准确的二阶位移和内力。     

A SPACE–TIME FINITE ELEMENT MODEL TO STUDY THE INFLUENCE OF INTERFACIAL KINETICS AND DIFFUSION ON CRYSTALLIZATION KINETICS

We present a space–time finite element formulation to study the cooperative growth of adjacent needle-like crystals in a two-dimensional, binary melt. It is assumed that the system is isothermal and that the compositions of the melt and the crystals are different. The growth rate of the crystals is taken to be a function of the melt composition in front of the growing crystals, and the composition of the melt as a function of space and time is determined by the diffusion equation. The positions of the growth fronts of each crystal are tracked. Good agreement is found between the numerical solution of an approximated one-dimensional problem and an analytical solution. Numerical results of the simulation of the growth of isolated and adjacent crystals are presented. © 1997 John Wiley & Sons, Ltd.     

梁杆结构几何非线性有限元的数值实现方法

梁杆结构几何非线性有限元方法主要包括两个部分, 建立虚功方程和实现数值求解. 该文运用对比方法, 分析了采用UL型增量理论的梁杆结构几何非线性有限元法求解过程与连续体求解过程的主要不同点, 特别是论述了确定加载步末的内力状态的重要性和方法.     

A SPACE–TIME FINITE ELEMENT METHOD FOR THE EXTERIOR STRUCTURAL ACOUSTICS PROBLEM: TIME-DEPENDENT RADIATION BOUNDARY CONDITIONS IN TWO SPACE DIMENSIONS

A time-discontinuous Galerkin space–time finite element method is formulated for the exterior structural acoustics problem in two space dimensions. The problem is posed over a bounded computational domain with local time-dependent radiation (absorbing) boundary conditions applied to the fluid truncation boundary. Absorbing boundary conditions are incorporated as ‘natural’ boundary conditions in the space–time variational equation, i.e. they are enforced weakly in both space and time. Following Bayliss and Turkel, time-dependent radiation boundary conditions for the two-dimensional wave equation are developed from an asymptotic approximation to the exact solution in the frequency domain expressed in negative powers of a non-dimensional wavenumber. In this paper, we undertake a brief development of the time-dependent radiation boundary conditions, establishing their relationship to the exact impedance (Dirichlet-to-Neumann map) for the acoustic fluid, and characterize their accuracy when implemented in our space–time finite element formulation for transient structural acoustics. Stability estimates are reported together with an analysis of the positive form of the matrix problem emanating from the space–time variational equations for the coupled fluid-structure system. Several numerical simulations of transient radiation and scattering in two space dimensions are presented to demonstrate the effectiveness of the space–time method.     

基于谱元法的裂Lamb纹梁波传播特性研究

首次提出用一种无质量弹簧元来模拟含横向裂纹梁的轴弯耦合效应,并结合谱元法分析含裂纹梁内Lamb波的传播特性.由卡氏定理和断裂力学方法推导弹簧元的刚度,以此构建裂纹处的平衡条件和位移协调条件,建立损伤谱元模型.通过和传统的有限元模型进行比较,表明在显著提高计算效率的同时,所提出模型在分析结构固有特性和Lamb波传播特性上都具有较高的精度.在所提出模型的基础上又推导出基于谱元法的能量计算公式,通过裂纹处的能量守恒再次验证损伤模型的正确性和有效性,同时研究结果表明裂纹处转化生成的Lamb 波各模态能量随裂纹深度的变化具有单调性,该结论可以为结构健康监测中定量识别裂纹提供实用依据.     

基于退化理论的空间梁单元有限元分析

从双线性退化板壳单元出发,演绎推导出了一种可以应用于空间有限元分析的退化梁单元。退化梁单元采用基本的平截面假设,并用轴线节点位移来表示梁单元的三维位移场。在进行单元有限元列式时,仍然沿用三维结构的几何方程和物理方程。在退化梁单元的理论基础上编制了有限元计算程序,通过对几个算例的分析,证明了这种基于退化理论的空间梁单元的精确、高效和通用,这种单元也可以广泛应用于大型结构空间双重非线性有限元分析。     

旋转电流变复合梁的有限元建模分析

研究了含有电流变材料层的旋转复合梁的振动特性。利用Hamilton原理和有限元方法推导了电流变夹层梁的动力学方程。分析了外加电场、旋转速度及电流变层的厚度等对梁的固有频率和模态损耗因子的影响。仿真结果表明电流变材料在外加电场作用下，能显著提高系统的阻尼损耗因子，可有效抑制旋转梁结构的振动。     

THE s-VERSION OF FINITE ELEMENT METHOD FOR LAMINATED COMPOSITES

The s-version of the finite element method is developed for laminated plates and shells. By this technique the global domain is idealized using 2-D Equivalent Single Layer model. The regions where ESL model errs badly in capturing localized phenomena are superimposed by a stack of 3-D elements. Assumed strain formulation and selective polynomial order escalation in the two models, as well as fast iterative procedures, are employed to maintain a high level of computational efficiency.     

柔性机械臂的动力学模型及滑模变结构控制

本文针对轴向不伸长的Euler-Bernouli梁模型,采用假设模态法,对带有末端荷载的柔性机械臂,推导出考虑动力刚化影响的柔性机械臂有限维一致线性化动力模型.通过极点配置技术设计滑模超曲面参数,采用滑模变结构控制方法,实现关节转角的运动轨迹控制.采用LQR方法设计弹性模态稳态器,抑制由于刚体运动而激发的弹性振动.文中最后针对一单杆柔性机械臂进行了计算机仿真,验证了本文所提出的控制策略的有效性.     

柔性梁上高速移动质量动力响应分析

与通常研究移动质量与结构的动力相互作用不同,本文认为移动质量在梁上的刚体运动不是预先知道的,即考虑Timoshenko paradox效应,建立了移动质量与柔性梁振动微分方程.然后,采用数值积分方法求解耦合系统的动力响应.数值结果表明本文的方法是正确的     

解析型弹性地基Timoshenko梁单元

采用双参数弹性地基模型和Timoshenko深梁模型,建立了弹性地基一般梁挠度控制方程,求解得到了挠度方程解析通解,构建了双参数弹性地基深梁的挠度、截面弯曲转角及剪切角的解析位移形函数。建立了梁模型、梁基模型等两种势能泛函,利用最小势能原理,构造了两个双参数弹性地基深梁单元,给出了单元列式。分析表明：梁模型单元在均布荷载作用下误差为0.221%,非均布荷载作用下误差为0;梁基模型单元在均布荷载作用下误差为0,在两端集中力作用下误差为6.597%,在跨中集中力作用下误差为102.716%;同时,该文提出的双参数Timoshenko梁模型单元不存在剪切闭锁的问题。     

A NUMERICAL METHOD FOR DYNAMIC ANALYSIS OF VEHICLES MOVING ON FLEXIBLE STRUCTURES HAVING GAPS

A numerical method is presented for the dynamic analysis of vehicles moving on flexible structures which contain gaps. The Lagrange multipliers associated with the kinematic constraints of the vehicle components and the contact forces between the rigid wheels of the vehicle and the flexible structures are simultaneously computed with the solutions of the equations of motion by using the iterative schemes. On the kinematic joints and on the possible contact points the velocity and acceleration constraints as well as the displacement constraints are satisfied by the monotone reductions of the corresponding error vectors. And a well-developed simple one-step time integration of ordinary differential equation is employed for the solution of the equations of motion. Convergences of the iterative schemes are analysed and numerical simulations are conducted. © 1997 by John Wiley & Sons, Ltd.     

A BRIEF HISTORY OF THE BEGINNING OF THE FINITE ELEMENT METHOD

This paper presents summaries of the works of several authors associated with the invention of the analysis technique now referred to as the finite element method. It stresses the notion of first development from which subsequent ideas evolved and gives what is believed to be an accurate record of the historical sequence of published papers in the international literature.     

考虑剪滞剪切效应的复合材料薄壁箱型梁梁单元

运用层合板理论,用最小势能原理和能量变分法建立了复合材料箱型梁梁单元的控制微分方程,给出了初参数解,导出了考虑剪切和剪力滞效应的单元刚度矩阵和等效节点荷载矩阵,还推导出了每层的应力,并编制出了有限元分析程序.运用该程序对复合材料箱型简支梁和连续梁进行了算例分析,从算例分析的结果与理论分析、实验结果和ANSYS软件的计算结果的比较,可以看出该梁单元有限元方法是正确可靠的.     

IMPLEMENTATION OF THE BOUNDARY ELEMENT METHOD IN THE DYNAMICS OF FLEXIBLE BODIES

This paper presents the implementation of the Boundary Element Method in the dynamics of flexible multibody systems. Kane's equations are used to formulate the governing boundary initial value problem for an arbitrary three-dimensional elastic body subjected to large overall base motion. Using continuum mechanics principles, direct boundary element incremental formulations are derived. The Galerkin approach was employed to generate the weighted residual statement which serves as a transitory point between continuum mechanics and boundary integral equations. By adapting the updated Langrangian formulation for large displacements analysis and using the Maxwell–Betti reciprocal theorem, integral representations for geometric stiffening were also derived. The non-linear terms were found to be functions of the time-variant stresses associated with the inertial forces at the reference configuration. The domain integrals arising from body forces (such as gravitational loads, inertia loads and thermal loads, etc.) are presented as DRM integrals (Dual-Reciprocity Method). Using the substructuring technique the elastic body is divided into several regions leading to a system of equations whose matrices are sparse (block-banded). The linearized equations of motion were discretized along the boundary of the body, and an algorithm for the integration involving the Houbolt method was used to establish an algebraic system of pseudo-static equilibrium equations. A Newton–Raphson-type iteration scheme was used to solve these discretized balance equations. To take advantage of the sparsity of the matrices, special routines were used to decompose and solve the resulting linear system of equations. An illustrative example is presented to demonstrate the validity of the method as well as how the effects of geometric stiffening effects are captured. The example consists of spin-up manoeuvre of a tapered beam attached to a moving base. The beam was modelled as two-dimensional plane strain problem divided into a number of substructures. Numerical simulation results show how the phenomenon of dynamic stiffening is captured by the present approach.     

钢-混凝土组合简支梁滞回性能非线性有限元分析

为实现钢-混凝土组合简支梁滞回性能三维非线性有限元分析,该文提出混凝土在单轴拉、压应力下的损伤变量计算方法,给定了混凝土的卸载规则,完善并提出混凝土应力-应变滞回本构关系和钢材循环本构关系,应用ABAQUS有限元软件建立混凝土棱柱体试件、钢材试件和钢-混凝土组合简支梁有限元三维非线性有限元模型,对混凝土棱柱体试件在单轴受压和受拉反复荷载下的试验结果进行分析,对钢材试件在单轴拉压循环荷载下的试验结果进行分析,对钢-混凝土组合简支梁在循环荷载下的荷载-挠度滞回关系、梁端荷载-滑移滞回关系以及栓钉的荷载-侧向变形滞回关系曲线等试验结果进行分析,计算结果与试验结果符合较好。     

A SET OF HYBRID EQUILIBRIUM FINITE ELEMENT MODELS FOR THE ANALYSIS OF THREE-DIMENSIONAL SOLIDS

In this paper an approach to the formulation of equilibrium elements for the analysis of three-dimensional elasticity problems is presented. This formulation is an extension of the approach previously proposed for the analysis of two-dimensional elasticity problems. The general aspects of the formulation remain unchanged when applied to the new problem, but new points are considered, namely the way to perform volume integrations for general elements and the techniques used to obtain the self-equilibrated three-dimensional stress approximation functions. The numerical behaviour of such elements is presented and discussed.