Pub Date : 2024-02-10DOI: 10.1177/10775463241232752
Jin Chen, Kuan Lu, Weidong Zhu, Hui Cheng, Kaifu Zhang, Xiaohui Gu, Chao Fu
Aero-engine rotor system contains a variety of connectors such as bolts and bearings. However, the dynamic behaviors of the connection are complex in actual engineering. In this paper, the dynamic behavior of the rotor-bearing system with bolted joints and the influence of the parameters of the joints on it are clarified. The parameters include the bearing clearance and the deflection caused by the uneven bolt preload. A rotor-bearing model with bolted joints is established by using Lagrange equations. The bifurcation diagram is solved to explore the tendency of vibration of the system at different speeds by considering the Hertz contact force. Furthermore, the phase diagram, Poincaré map, time-domain steady-state response curve, and spectrum diagram are used to discuss the dynamic behaviors of the system specifically. The influence of the bearing clearance change and uneven bolt preload on the dynamic behaviors is investigated by using the bifurcation diagram. The result shows that the motion of the system is extremely complex, which includes chaotic motion. The Lyapunov exponent is then calculated to verify whether the system enters chaos. The correctness of the model is verified by comparing the result in this work with those in the literature. The model can clarify the dynamic behaviors of the system well and has high accuracy, which can provide the theoretical guidance for the design of rotor-bearing systems with bolted joints.
{"title":"Study on the influence of joint parameters on nonlinear dynamics of a rotor system","authors":"Jin Chen, Kuan Lu, Weidong Zhu, Hui Cheng, Kaifu Zhang, Xiaohui Gu, Chao Fu","doi":"10.1177/10775463241232752","DOIUrl":"https://doi.org/10.1177/10775463241232752","url":null,"abstract":"Aero-engine rotor system contains a variety of connectors such as bolts and bearings. However, the dynamic behaviors of the connection are complex in actual engineering. In this paper, the dynamic behavior of the rotor-bearing system with bolted joints and the influence of the parameters of the joints on it are clarified. The parameters include the bearing clearance and the deflection caused by the uneven bolt preload. A rotor-bearing model with bolted joints is established by using Lagrange equations. The bifurcation diagram is solved to explore the tendency of vibration of the system at different speeds by considering the Hertz contact force. Furthermore, the phase diagram, Poincaré map, time-domain steady-state response curve, and spectrum diagram are used to discuss the dynamic behaviors of the system specifically. The influence of the bearing clearance change and uneven bolt preload on the dynamic behaviors is investigated by using the bifurcation diagram. The result shows that the motion of the system is extremely complex, which includes chaotic motion. The Lyapunov exponent is then calculated to verify whether the system enters chaos. The correctness of the model is verified by comparing the result in this work with those in the literature. The model can clarify the dynamic behaviors of the system well and has high accuracy, which can provide the theoretical guidance for the design of rotor-bearing systems with bolted joints.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":"123 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139786201","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-10DOI: 10.1177/10775463241231344
Bing Wang, HuiMin Li, Xiong Hu, Wei Wang
Rolling bearing is an important rotating support component in mechanical equipment. It is very prone to wear, defects, and other faults, which directly affect the reliable operation of mechanical equipment. Its running condition monitoring and fault diagnosis have always been a matter of concern to engineers and researchers. A rolling bearing fault diagnosis technique based on multi-domain feature and whale optimization algorithm-support vector machine (MDF-WOA-SVM) is proposed. Firstly, recursive analysis is performed on vibration signal and the recursive features are employed as nonlinear recursive feature vector including recursive rate (RR), deterministic rate (DET), recursive entropy (RE), and diagonal average length (DAL). Then, a comprehensive multi-domain feature vector is constructed by combining three time-domain features including root mean square, variance, and peak to peak. Finally, whale optimization algorithm (WOA) is introduced to optimize the penalty factor C and kernel function parameter g to construct the optimal WOA-SVM model. The rolling bearing datasets of Jiangnan University is employed for instance analysis, and the results show that the 10-CV accuracy of the technique proposed is good with an accuracy of 99%. Compared with recursive features or time-domain features, multi-domain features are more accurate and comprehensive in describing characters of the signal. Some popular supervised learning models are also introduced for comparison including K-nearest neighbor (KNN) and decision tree (DT), and the result shows that the proposed method has a higher accuracy and certain advantages.
滚动轴承是机械设备中重要的旋转支撑部件。它极易出现磨损、缺陷等故障，直接影响机械设备的可靠运行。其运行状态监测和故障诊断一直是工程师和研究人员关注的问题。本文提出了一种基于多域特征和鲸鱼优化算法-支持向量机（MDF-WOA-SVM）的滚动轴承故障诊断技术。首先，对振动信号进行递归分析，采用递归特征作为非线性递归特征向量，包括递归率（RR）、确定率（DET）、递归熵（RE）和对角线平均长度（DAL）。然后，结合三个时域特征（包括均方根、方差和峰峰值），构建综合的多域特征向量。最后，引入鲸鱼优化算法（WOA）来优化惩罚因子 C 和核函数参数 g，从而构建最优的 WOA-SVM 模型。采用江南大学的滚动轴承数据集进行实例分析，结果表明所提技术的 10-CV 精度较好，准确率达 99%。与递归特征或时域特征相比，多域特征在描述信号特征方面更加准确和全面。此外，还引入了一些常用的监督学习模型进行比较，包括 K 近邻（KNN）和决策树（DT），结果表明所提出的方法具有更高的准确率和一定的优势。
{"title":"Rolling bearing fault diagnosis based on multi-domain features and whale optimized support vector machine","authors":"Bing Wang, HuiMin Li, Xiong Hu, Wei Wang","doi":"10.1177/10775463241231344","DOIUrl":"https://doi.org/10.1177/10775463241231344","url":null,"abstract":"Rolling bearing is an important rotating support component in mechanical equipment. It is very prone to wear, defects, and other faults, which directly affect the reliable operation of mechanical equipment. Its running condition monitoring and fault diagnosis have always been a matter of concern to engineers and researchers. A rolling bearing fault diagnosis technique based on multi-domain feature and whale optimization algorithm-support vector machine (MDF-WOA-SVM) is proposed. Firstly, recursive analysis is performed on vibration signal and the recursive features are employed as nonlinear recursive feature vector including recursive rate (RR), deterministic rate (DET), recursive entropy (RE), and diagonal average length (DAL). Then, a comprehensive multi-domain feature vector is constructed by combining three time-domain features including root mean square, variance, and peak to peak. Finally, whale optimization algorithm (WOA) is introduced to optimize the penalty factor C and kernel function parameter g to construct the optimal WOA-SVM model. The rolling bearing datasets of Jiangnan University is employed for instance analysis, and the results show that the 10-CV accuracy of the technique proposed is good with an accuracy of 99%. Compared with recursive features or time-domain features, multi-domain features are more accurate and comprehensive in describing characters of the signal. Some popular supervised learning models are also introduced for comparison including K-nearest neighbor (KNN) and decision tree (DT), and the result shows that the proposed method has a higher accuracy and certain advantages.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":"6 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139786626","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-09DOI: 10.1177/10775463241232460
Milad Mehrkash, Erin Santini-Bell
The mechanical properties of joints may impact a system’s static and dynamic behavior. Since connections are usually complex, modeling their geometric details could take time and effort. Thus, joints of structures are often overlooked in model creation and calibration. Therefore, reliable analytical modeling of in-service structures requires accurate and efficient parameter estimation of the connections in their simplified models. However, joints are physically small parts of a system, and parameter estimation techniques may not be sufficiently sensitive to the variations of connections’ mechanical properties. This paper examines the finite element model updating of a laboratory steel grid focusing on the structural parameter estimation of its complex connections using modal data. The mechanical properties of the joints are parametrized by added mass and reduced rigidity. Therefore, several modified models with different combinations of heavier semi-rigid joints are developed. Each model is updated using two modal-based error functions, and the most representative updated model is selected. The results demonstrate how the grid modal outputs are influenced by updating the mass and stiffness of its connections. Moreover, mass and stiffness interactions of the grid joints in the parameter estimation procedure are illustrated. The updated models can efficiently simulate the structural behavior of the grid with increased confidence and reliability.
{"title":"Automated structural parameter estimation of semi-rigid complex joints in a benchmark laboratory steel grid by experimental modal analysis","authors":"Milad Mehrkash, Erin Santini-Bell","doi":"10.1177/10775463241232460","DOIUrl":"https://doi.org/10.1177/10775463241232460","url":null,"abstract":"The mechanical properties of joints may impact a system’s static and dynamic behavior. Since connections are usually complex, modeling their geometric details could take time and effort. Thus, joints of structures are often overlooked in model creation and calibration. Therefore, reliable analytical modeling of in-service structures requires accurate and efficient parameter estimation of the connections in their simplified models. However, joints are physically small parts of a system, and parameter estimation techniques may not be sufficiently sensitive to the variations of connections’ mechanical properties. This paper examines the finite element model updating of a laboratory steel grid focusing on the structural parameter estimation of its complex connections using modal data. The mechanical properties of the joints are parametrized by added mass and reduced rigidity. Therefore, several modified models with different combinations of heavier semi-rigid joints are developed. Each model is updated using two modal-based error functions, and the most representative updated model is selected. The results demonstrate how the grid modal outputs are influenced by updating the mass and stiffness of its connections. Moreover, mass and stiffness interactions of the grid joints in the parameter estimation procedure are illustrated. The updated models can efficiently simulate the structural behavior of the grid with increased confidence and reliability.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":"410 29","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139848066","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-09DOI: 10.1177/10775463241232460
Milad Mehrkash, Erin Santini-Bell
The mechanical properties of joints may impact a system’s static and dynamic behavior. Since connections are usually complex, modeling their geometric details could take time and effort. Thus, joints of structures are often overlooked in model creation and calibration. Therefore, reliable analytical modeling of in-service structures requires accurate and efficient parameter estimation of the connections in their simplified models. However, joints are physically small parts of a system, and parameter estimation techniques may not be sufficiently sensitive to the variations of connections’ mechanical properties. This paper examines the finite element model updating of a laboratory steel grid focusing on the structural parameter estimation of its complex connections using modal data. The mechanical properties of the joints are parametrized by added mass and reduced rigidity. Therefore, several modified models with different combinations of heavier semi-rigid joints are developed. Each model is updated using two modal-based error functions, and the most representative updated model is selected. The results demonstrate how the grid modal outputs are influenced by updating the mass and stiffness of its connections. Moreover, mass and stiffness interactions of the grid joints in the parameter estimation procedure are illustrated. The updated models can efficiently simulate the structural behavior of the grid with increased confidence and reliability.
{"title":"Automated structural parameter estimation of semi-rigid complex joints in a benchmark laboratory steel grid by experimental modal analysis","authors":"Milad Mehrkash, Erin Santini-Bell","doi":"10.1177/10775463241232460","DOIUrl":"https://doi.org/10.1177/10775463241232460","url":null,"abstract":"The mechanical properties of joints may impact a system’s static and dynamic behavior. Since connections are usually complex, modeling their geometric details could take time and effort. Thus, joints of structures are often overlooked in model creation and calibration. Therefore, reliable analytical modeling of in-service structures requires accurate and efficient parameter estimation of the connections in their simplified models. However, joints are physically small parts of a system, and parameter estimation techniques may not be sufficiently sensitive to the variations of connections’ mechanical properties. This paper examines the finite element model updating of a laboratory steel grid focusing on the structural parameter estimation of its complex connections using modal data. The mechanical properties of the joints are parametrized by added mass and reduced rigidity. Therefore, several modified models with different combinations of heavier semi-rigid joints are developed. Each model is updated using two modal-based error functions, and the most representative updated model is selected. The results demonstrate how the grid modal outputs are influenced by updating the mass and stiffness of its connections. Moreover, mass and stiffness interactions of the grid joints in the parameter estimation procedure are illustrated. The updated models can efficiently simulate the structural behavior of the grid with increased confidence and reliability.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":" 69","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139787993","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-08DOI: 10.1177/10775463241229477
Fabio von Coburg, Julius Westbeld, Erhard Buchmann, Philipp Höfer
With the intention to detect structural events, for example, occurrence of damage and assessing their severity under service, structural health and event monitoring proved itself as a reliable evaluation tool. While many algorithmic approaches exist, model-based monitoring offers the prominent advantage to enable extensive analysis of damage states based on a structural digital twin. In order to accurately replicate the dynamical behaviour of a real-world structure, inherent physical properties, for example, mass, stiffness and structural damping, of the digital twin might be corrected from nominal values. This can be achieved by numerical model updating procedures. In this study, the application of a model updating approach is presented to eliminate modal discrepancies. Based on the perturbated modal dynamic residual, an updating equation is formulated. Stiffness and mass correction terms with preserved orthogonality and symmetry conditions are determined by the method of least squares. A case study using computationally generated modal data is conducted, evaluating the numerical updating performance in terms of correction accuracy and reproduction of modal parameters. Finally, the transient structural response to an impulse excitation is compared between updated and reference model. The gathered results prove the method’s suitability as accurate and robust updating procedure, fostering its application in model-based monitoring frameworks.
{"title":"Investigation of a perturbation-based model updating approach for structural health and event monitoring","authors":"Fabio von Coburg, Julius Westbeld, Erhard Buchmann, Philipp Höfer","doi":"10.1177/10775463241229477","DOIUrl":"https://doi.org/10.1177/10775463241229477","url":null,"abstract":"With the intention to detect structural events, for example, occurrence of damage and assessing their severity under service, structural health and event monitoring proved itself as a reliable evaluation tool. While many algorithmic approaches exist, model-based monitoring offers the prominent advantage to enable extensive analysis of damage states based on a structural digital twin. In order to accurately replicate the dynamical behaviour of a real-world structure, inherent physical properties, for example, mass, stiffness and structural damping, of the digital twin might be corrected from nominal values. This can be achieved by numerical model updating procedures. In this study, the application of a model updating approach is presented to eliminate modal discrepancies. Based on the perturbated modal dynamic residual, an updating equation is formulated. Stiffness and mass correction terms with preserved orthogonality and symmetry conditions are determined by the method of least squares. A case study using computationally generated modal data is conducted, evaluating the numerical updating performance in terms of correction accuracy and reproduction of modal parameters. Finally, the transient structural response to an impulse excitation is compared between updated and reference model. The gathered results prove the method’s suitability as accurate and robust updating procedure, fostering its application in model-based monitoring frameworks.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":"81 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139851966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-08DOI: 10.1177/10775463241229477
Fabio von Coburg, Julius Westbeld, Erhard Buchmann, Philipp Höfer
With the intention to detect structural events, for example, occurrence of damage and assessing their severity under service, structural health and event monitoring proved itself as a reliable evaluation tool. While many algorithmic approaches exist, model-based monitoring offers the prominent advantage to enable extensive analysis of damage states based on a structural digital twin. In order to accurately replicate the dynamical behaviour of a real-world structure, inherent physical properties, for example, mass, stiffness and structural damping, of the digital twin might be corrected from nominal values. This can be achieved by numerical model updating procedures. In this study, the application of a model updating approach is presented to eliminate modal discrepancies. Based on the perturbated modal dynamic residual, an updating equation is formulated. Stiffness and mass correction terms with preserved orthogonality and symmetry conditions are determined by the method of least squares. A case study using computationally generated modal data is conducted, evaluating the numerical updating performance in terms of correction accuracy and reproduction of modal parameters. Finally, the transient structural response to an impulse excitation is compared between updated and reference model. The gathered results prove the method’s suitability as accurate and robust updating procedure, fostering its application in model-based monitoring frameworks.
{"title":"Investigation of a perturbation-based model updating approach for structural health and event monitoring","authors":"Fabio von Coburg, Julius Westbeld, Erhard Buchmann, Philipp Höfer","doi":"10.1177/10775463241229477","DOIUrl":"https://doi.org/10.1177/10775463241229477","url":null,"abstract":"With the intention to detect structural events, for example, occurrence of damage and assessing their severity under service, structural health and event monitoring proved itself as a reliable evaluation tool. While many algorithmic approaches exist, model-based monitoring offers the prominent advantage to enable extensive analysis of damage states based on a structural digital twin. In order to accurately replicate the dynamical behaviour of a real-world structure, inherent physical properties, for example, mass, stiffness and structural damping, of the digital twin might be corrected from nominal values. This can be achieved by numerical model updating procedures. In this study, the application of a model updating approach is presented to eliminate modal discrepancies. Based on the perturbated modal dynamic residual, an updating equation is formulated. Stiffness and mass correction terms with preserved orthogonality and symmetry conditions are determined by the method of least squares. A case study using computationally generated modal data is conducted, evaluating the numerical updating performance in terms of correction accuracy and reproduction of modal parameters. Finally, the transient structural response to an impulse excitation is compared between updated and reference model. The gathered results prove the method’s suitability as accurate and robust updating procedure, fostering its application in model-based monitoring frameworks.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":" 25","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139791960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-06DOI: 10.1177/10775463241231845
R. Geronel, Douglas D. Bueno
Unmanned aerial vehicles (UAVs) have been used to transport a variety of payloads, including medical materials, foods, and different electronic devices. This type of innovation generates important concerns regarding payload integrity, mainly when involving medical goods that can be affected by vibration. This paper presents the flight dynamics of suspended payload carried by an UAV, considering a flexible attachment between a quadrotor and its payload. Adaptive sliding mode control (ASMC) is proposed to enhance the trajectory tracking and consequently minimize the payload vibration. Adaptive coefficients are introduced to compensate the payload dynamics and uncertainties, which are computed for each proposed trajectory and cargo mass. The proposed adaptive control can efficiently compensate the extra dynamics and uncertainties caused by the attached payload, regardless of the chosen trajectory and weight of the cargo. A root mean square–based index is used to quantitatively evaluate the oscillations. The results show a significant attenuation of the undesired oscillations up to 27%, when the adaptive control is used. Therefore, the use of the proposed ASMC aims to guarantee an improved trajectory tracking and the attenuation of residual oscillations on the main state variables, allowing to be safely employed for transporting several types of medicines, including those sensitive to vibration and those that are dropped during a flight.
{"title":"Adaptive sliding mode control for vibration reduction on UAV carrying a payload","authors":"R. Geronel, Douglas D. Bueno","doi":"10.1177/10775463241231845","DOIUrl":"https://doi.org/10.1177/10775463241231845","url":null,"abstract":"Unmanned aerial vehicles (UAVs) have been used to transport a variety of payloads, including medical materials, foods, and different electronic devices. This type of innovation generates important concerns regarding payload integrity, mainly when involving medical goods that can be affected by vibration. This paper presents the flight dynamics of suspended payload carried by an UAV, considering a flexible attachment between a quadrotor and its payload. Adaptive sliding mode control (ASMC) is proposed to enhance the trajectory tracking and consequently minimize the payload vibration. Adaptive coefficients are introduced to compensate the payload dynamics and uncertainties, which are computed for each proposed trajectory and cargo mass. The proposed adaptive control can efficiently compensate the extra dynamics and uncertainties caused by the attached payload, regardless of the chosen trajectory and weight of the cargo. A root mean square–based index is used to quantitatively evaluate the oscillations. The results show a significant attenuation of the undesired oscillations up to 27%, when the adaptive control is used. Therefore, the use of the proposed ASMC aims to guarantee an improved trajectory tracking and the attenuation of residual oscillations on the main state variables, allowing to be safely employed for transporting several types of medicines, including those sensitive to vibration and those that are dropped during a flight.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139858096","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-06DOI: 10.1177/10775463241231845
R. Geronel, Douglas D. Bueno
Unmanned aerial vehicles (UAVs) have been used to transport a variety of payloads, including medical materials, foods, and different electronic devices. This type of innovation generates important concerns regarding payload integrity, mainly when involving medical goods that can be affected by vibration. This paper presents the flight dynamics of suspended payload carried by an UAV, considering a flexible attachment between a quadrotor and its payload. Adaptive sliding mode control (ASMC) is proposed to enhance the trajectory tracking and consequently minimize the payload vibration. Adaptive coefficients are introduced to compensate the payload dynamics and uncertainties, which are computed for each proposed trajectory and cargo mass. The proposed adaptive control can efficiently compensate the extra dynamics and uncertainties caused by the attached payload, regardless of the chosen trajectory and weight of the cargo. A root mean square–based index is used to quantitatively evaluate the oscillations. The results show a significant attenuation of the undesired oscillations up to 27%, when the adaptive control is used. Therefore, the use of the proposed ASMC aims to guarantee an improved trajectory tracking and the attenuation of residual oscillations on the main state variables, allowing to be safely employed for transporting several types of medicines, including those sensitive to vibration and those that are dropped during a flight.
{"title":"Adaptive sliding mode control for vibration reduction on UAV carrying a payload","authors":"R. Geronel, Douglas D. Bueno","doi":"10.1177/10775463241231845","DOIUrl":"https://doi.org/10.1177/10775463241231845","url":null,"abstract":"Unmanned aerial vehicles (UAVs) have been used to transport a variety of payloads, including medical materials, foods, and different electronic devices. This type of innovation generates important concerns regarding payload integrity, mainly when involving medical goods that can be affected by vibration. This paper presents the flight dynamics of suspended payload carried by an UAV, considering a flexible attachment between a quadrotor and its payload. Adaptive sliding mode control (ASMC) is proposed to enhance the trajectory tracking and consequently minimize the payload vibration. Adaptive coefficients are introduced to compensate the payload dynamics and uncertainties, which are computed for each proposed trajectory and cargo mass. The proposed adaptive control can efficiently compensate the extra dynamics and uncertainties caused by the attached payload, regardless of the chosen trajectory and weight of the cargo. A root mean square–based index is used to quantitatively evaluate the oscillations. The results show a significant attenuation of the undesired oscillations up to 27%, when the adaptive control is used. Therefore, the use of the proposed ASMC aims to guarantee an improved trajectory tracking and the attenuation of residual oscillations on the main state variables, allowing to be safely employed for transporting several types of medicines, including those sensitive to vibration and those that are dropped during a flight.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":"39 24","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139798504","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-02DOI: 10.1177/10775463241230573
M. U. Saram, Jianming Yang
The coupled flapwise and edgewise vibrations of a horizontal axis wind turbine blade (HAWT) are discussed in this paper. Kinetic and potential energies of the blade are evaluated with consideration of the effects of gravity and aerodynamic forces. Hamilton’s principle is employed to develop the nonlinear coupled modal equations of the blade. The coupling between the first order edgewise and the first two order of flapwise modes is considered. This leads to three equations with nonlinear terms. Multiple-scales perturbation method is employed to solve these equations. Furthermore, the numerical values of structural specifications of National Renewable Energy Laboratory (NREL) 5-MW reference wind turbine blade are used, for example. It is shown that first edgewise and first flapwise vibrations are dominant, while second flapwise mode of vibration is less significant in the case of transient responses. Energy transfer between resonant modes is observed in both internal and combination resonances. The amplitude–frequency curves and phase diagrams during primary and combination resonances are obtained for the steady-state responses. Combination and primary resonances are further examined by considering various factors such as geometric nonlinearity and aerodynamic force.
{"title":"A study on coupled edgewise and flapwise vibration modes of wind turbine blade","authors":"M. U. Saram, Jianming Yang","doi":"10.1177/10775463241230573","DOIUrl":"https://doi.org/10.1177/10775463241230573","url":null,"abstract":"The coupled flapwise and edgewise vibrations of a horizontal axis wind turbine blade (HAWT) are discussed in this paper. Kinetic and potential energies of the blade are evaluated with consideration of the effects of gravity and aerodynamic forces. Hamilton’s principle is employed to develop the nonlinear coupled modal equations of the blade. The coupling between the first order edgewise and the first two order of flapwise modes is considered. This leads to three equations with nonlinear terms. Multiple-scales perturbation method is employed to solve these equations. Furthermore, the numerical values of structural specifications of National Renewable Energy Laboratory (NREL) 5-MW reference wind turbine blade are used, for example. It is shown that first edgewise and first flapwise vibrations are dominant, while second flapwise mode of vibration is less significant in the case of transient responses. Energy transfer between resonant modes is observed in both internal and combination resonances. The amplitude–frequency curves and phase diagrams during primary and combination resonances are obtained for the steady-state responses. Combination and primary resonances are further examined by considering various factors such as geometric nonlinearity and aerodynamic force.","PeriodicalId":508293,"journal":{"name":"Journal of Vibration and Control","volume":"274 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139809416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-02DOI: 10.1177/10775463241230573
M. U. Saram, Jianming Yang
The coupled flapwise and edgewise vibrations of a horizontal axis wind turbine blade (HAWT) are discussed in this paper. Kinetic and potential energies of the blade are evaluated with consideration of the effects of gravity and aerodynamic forces. Hamilton’s principle is employed to develop the nonlinear coupled modal equations of the blade. The coupling between the first order edgewise and the first two order of flapwise modes is considered. This leads to three equations with nonlinear terms. Multiple-scales perturbation method is employed to solve these equations. Furthermore, the numerical values of structural specifications of National Renewable Energy Laboratory (NREL) 5-MW reference wind turbine blade are used, for example. It is shown that first edgewise and first flapwise vibrations are dominant, while second flapwise mode of vibration is less significant in the case of transient responses. Energy transfer between resonant modes is observed in both internal and combination resonances. The amplitude–frequency curves and phase diagrams during primary and combination resonances are obtained for the steady-state responses. Combination and primary resonances are further examined by considering various factors such as geometric nonlinearity and aerodynamic force.
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