Pub Date : 2021-12-22DOI: 10.1177/14644193211057972
Yongjie Lu, Yinfeng Han, Weihong Huang, Yang Wang
Aiming at the rollover risk of heavy-duty vehicles, an adaptive rollover prediction and control algorithm based on identification of multiple road adhesion coefficients is proposed, and the control effect has been verified by hardware-in-the-loop experiments. Based on the establishment of a 3 DOFs (Degree of freedom) vehicle dynamic model, the roll angle of the vehicle dynamic model is estimated in real time by using Kalman filter algorithm. In order to ensure the real-time operation of anti-rollover control strategy for multi-body dynamic heavy vehicle model, a sliding mode variable structure controller for anti-rollover of vehicles is designed to determine the optimal yaw moment. Specially, the recognition algorithm of road surface type is integrated into the control rollover algorithm. When the control system with road recognition algorithm recognizes whether the vehicle is in danger of rollover, it can not only adjust the state of the vehicle, but also shorten the time to reach the stable area of the vehicle's lateral load transfer rate by about 2 s. In order to further improve its adaptability and control accuracy, a Hardware-in-loop test platform for three-axis heavy-duty vehicles is built to verify the proposed anti-rollover control strategy. The results prove that the proposed control strategy can accurately predict the rollover risk and control the rollover in time.
{"title":"Sliding mode control for overturning prevention and hardware-in-loop experiment of heavy-duty vehicles based on dynamical load transfer ratio prediction","authors":"Yongjie Lu, Yinfeng Han, Weihong Huang, Yang Wang","doi":"10.1177/14644193211057972","DOIUrl":"https://doi.org/10.1177/14644193211057972","url":null,"abstract":"Aiming at the rollover risk of heavy-duty vehicles, an adaptive rollover prediction and control algorithm based on identification of multiple road adhesion coefficients is proposed, and the control effect has been verified by hardware-in-the-loop experiments. Based on the establishment of a 3 DOFs (Degree of freedom) vehicle dynamic model, the roll angle of the vehicle dynamic model is estimated in real time by using Kalman filter algorithm. In order to ensure the real-time operation of anti-rollover control strategy for multi-body dynamic heavy vehicle model, a sliding mode variable structure controller for anti-rollover of vehicles is designed to determine the optimal yaw moment. Specially, the recognition algorithm of road surface type is integrated into the control rollover algorithm. When the control system with road recognition algorithm recognizes whether the vehicle is in danger of rollover, it can not only adjust the state of the vehicle, but also shorten the time to reach the stable area of the vehicle's lateral load transfer rate by about 2 s. In order to further improve its adaptability and control accuracy, a Hardware-in-loop test platform for three-axis heavy-duty vehicles is built to verify the proposed anti-rollover control strategy. The results prove that the proposed control strategy can accurately predict the rollover risk and control the rollover in time.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"168 1","pages":"68 - 83"},"PeriodicalIF":1.8,"publicationDate":"2021-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80565984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-21DOI: 10.1177/14644193211061914
Liusong Yang, S. Xue, Xingang Zhang, Wenli Yao
In the simulation process for multi-body systems, the generated redundant constraints will result in ill-conditioned dynamic equations, which are not good for stable simulations when the system motion proceeds near a singular configuration. In order to overcome the singularity problems, the paper presents a regularization method with an explicit expression based on Gauss principle, which does not need to eliminate the constraint violation after each iteration step compared with the traditional methods. Then the effectiveness and stability are demonstrated through two numerical examples, a slider-crank mechanism and a planar four-bar linkage. Simulation results obtained with the proposed method are analyzed and compared with augmented Lagrangian formulation and the null space formulation in terms of constraints violation, drift mechanical energy and computational efficiency, which shows that the proposed method is suitable to perform efficient and stable dynamic simulations for multi-body systems with singular configurations.
{"title":"A regularization method for solving dynamic problems with singular configuration","authors":"Liusong Yang, S. Xue, Xingang Zhang, Wenli Yao","doi":"10.1177/14644193211061914","DOIUrl":"https://doi.org/10.1177/14644193211061914","url":null,"abstract":"In the simulation process for multi-body systems, the generated redundant constraints will result in ill-conditioned dynamic equations, which are not good for stable simulations when the system motion proceeds near a singular configuration. In order to overcome the singularity problems, the paper presents a regularization method with an explicit expression based on Gauss principle, which does not need to eliminate the constraint violation after each iteration step compared with the traditional methods. Then the effectiveness and stability are demonstrated through two numerical examples, a slider-crank mechanism and a planar four-bar linkage. Simulation results obtained with the proposed method are analyzed and compared with augmented Lagrangian formulation and the null space formulation in terms of constraints violation, drift mechanical energy and computational efficiency, which shows that the proposed method is suitable to perform efficient and stable dynamic simulations for multi-body systems with singular configurations.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"6 1","pages":"3 - 14"},"PeriodicalIF":1.8,"publicationDate":"2021-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90652433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-21DOI: 10.1177/14644193211053547
Vu Duc Phuc, Van-The Tran
The dynamic vibration absorber and tuned mass damper are widely used to suppress harmful vibration of the damped structures under external excitation. The multiple dynamic vibration absorbers have more benefit than the single dynamic vibration absorber. The multiple dynamic vibration absorbers are portability and easy to install because its size is significantly reduced compared to an individual damper. This paper proposes a design method to obtain optimal parameters of multiple dynamic vibration absorbers attached on damped primary structures by using the least squares estimation of equivalent linearization method. An explicit expression of damping ratio and tuning parameters of multiple dynamic vibration absorbers are determined for minimizing the maximum displacement of the primary structures based on the fixed-point theory. The new contribution is provided a reliable theoretical basis for optimizing parameters of the multiple dynamic vibration absorbers that are attached on the damped primary structures. The numerical results reveal the effectiveness of the proposed optimal parameters of multiple dynamic vibration absorbers in reduce vibration of damped primary structures. In the practical applications, this research results allow to divide a large dynamic vibration absorber into many equivalent small dynamic vibration absorbers, which are convenient for manufacturing and installing on the damped primary structures such as high buildings and cable-stayed bridges.
{"title":"Optimization design for multiple dynamic vibration absorbers on damped structures using equivalent linearization method","authors":"Vu Duc Phuc, Van-The Tran","doi":"10.1177/14644193211053547","DOIUrl":"https://doi.org/10.1177/14644193211053547","url":null,"abstract":"The dynamic vibration absorber and tuned mass damper are widely used to suppress harmful vibration of the damped structures under external excitation. The multiple dynamic vibration absorbers have more benefit than the single dynamic vibration absorber. The multiple dynamic vibration absorbers are portability and easy to install because its size is significantly reduced compared to an individual damper. This paper proposes a design method to obtain optimal parameters of multiple dynamic vibration absorbers attached on damped primary structures by using the least squares estimation of equivalent linearization method. An explicit expression of damping ratio and tuning parameters of multiple dynamic vibration absorbers are determined for minimizing the maximum displacement of the primary structures based on the fixed-point theory. The new contribution is provided a reliable theoretical basis for optimizing parameters of the multiple dynamic vibration absorbers that are attached on the damped primary structures. The numerical results reveal the effectiveness of the proposed optimal parameters of multiple dynamic vibration absorbers in reduce vibration of damped primary structures. In the practical applications, this research results allow to divide a large dynamic vibration absorber into many equivalent small dynamic vibration absorbers, which are convenient for manufacturing and installing on the damped primary structures such as high buildings and cable-stayed bridges.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"141 1","pages":"41 - 50"},"PeriodicalIF":1.8,"publicationDate":"2021-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75280260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-17DOI: 10.1177/14644193211061002
Z. Cui, Rui He, Wanyu Wu, Fengtao Wang, L. Heng
In this paper, for double row angular contact ball bearing, a five-degrees-of-freedom bearing analysis model based on quasi-statics is proposed. This model is used to study the influence of structural parameters and service conditions on the tilt angle and limit tilt angle of the bearing. The results show that the radial clearance will increase the ultimate tilt angle. The coincidence degree between the roller and the inner raceway will reduce the ultimate tilt angle, but the coincidence degree between the roller and the outer raceway has the opposite effect. The increase in the external load of the bearing will increase the tilt angle. The moment load has the greatest effect on the tilt angle. The rotation speed of the bearing has no effect on the tilt angle. The coincidence degree between the roller and the raceway will reduce the tilt angle; furthermore, the influence of the coincidence degree between roller and different ring on the tilt angle is also different when different rings are fixed. The tilt angle will decrease with the increase of the initial contact angle, and this effect is more and more obvious. The fixation of different ring has no effect on this influence.
{"title":"Effect of structural parameters and service conditions on the tilt angle of double row angular contact ball bearing","authors":"Z. Cui, Rui He, Wanyu Wu, Fengtao Wang, L. Heng","doi":"10.1177/14644193211061002","DOIUrl":"https://doi.org/10.1177/14644193211061002","url":null,"abstract":"In this paper, for double row angular contact ball bearing, a five-degrees-of-freedom bearing analysis model based on quasi-statics is proposed. This model is used to study the influence of structural parameters and service conditions on the tilt angle and limit tilt angle of the bearing. The results show that the radial clearance will increase the ultimate tilt angle. The coincidence degree between the roller and the inner raceway will reduce the ultimate tilt angle, but the coincidence degree between the roller and the outer raceway has the opposite effect. The increase in the external load of the bearing will increase the tilt angle. The moment load has the greatest effect on the tilt angle. The rotation speed of the bearing has no effect on the tilt angle. The coincidence degree between the roller and the raceway will reduce the tilt angle; furthermore, the influence of the coincidence degree between roller and different ring on the tilt angle is also different when different rings are fixed. The tilt angle will decrease with the increase of the initial contact angle, and this effect is more and more obvious. The fixation of different ring has no effect on this influence.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"8 1","pages":"168 - 181"},"PeriodicalIF":1.8,"publicationDate":"2021-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74947627","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-06DOI: 10.1177/14644193211055021
Peng Dai, JianPing Wang, S. Yan, Shengzhou Huang, Fengtao Wang, J. Liu
Due to the variable working conditions, there are compound defects in the gear shaft-bearing system easily, vibration signals are very complex, and the fault diagnosis of the system becomes more difficult. Thus, a 36 degrees of freedom (36-DOFs) dynamic model is established for discussing the vibration characteristics of the gear shaft-bearing system, the gear pair spalling defect is considered, there are localized defects on the inner raceway and outer raceway of the supporting bearing, the work conditions contain variable speed, variable load, speed fluctuation, and load fluctuation. The obtained vibration signal is processed by the short-time Fourier transform for the time–frequency distribution map. When the gear shaft-bearing system with compound defects operates under variable conditions, roller passing outer raceway frequency, roller passing inner raceway frequency, gearing meshing frequency, and the relative harmonic frequencies can also be found. The defect frequencies and frequency amplitude are increasing with the speed while the system makes the accelerated movement. While the load acting on the system increases, the defect frequencies remain unchanged, but the frequency amplitude becomes larger. If there are fluctuations of the speed and load, the apparent defect frequency fluctuation and amplitude fluctuation is generated. The mathematical model and the analysis results are verified by the experiment, which will provide the theoretical basis for the fault diagnosis of the gear shaft-bearing system.
{"title":"Vibration characteristics of the gear shaft-bearing system with compound defects under variable operating conditions","authors":"Peng Dai, JianPing Wang, S. Yan, Shengzhou Huang, Fengtao Wang, J. Liu","doi":"10.1177/14644193211055021","DOIUrl":"https://doi.org/10.1177/14644193211055021","url":null,"abstract":"Due to the variable working conditions, there are compound defects in the gear shaft-bearing system easily, vibration signals are very complex, and the fault diagnosis of the system becomes more difficult. Thus, a 36 degrees of freedom (36-DOFs) dynamic model is established for discussing the vibration characteristics of the gear shaft-bearing system, the gear pair spalling defect is considered, there are localized defects on the inner raceway and outer raceway of the supporting bearing, the work conditions contain variable speed, variable load, speed fluctuation, and load fluctuation. The obtained vibration signal is processed by the short-time Fourier transform for the time–frequency distribution map. When the gear shaft-bearing system with compound defects operates under variable conditions, roller passing outer raceway frequency, roller passing inner raceway frequency, gearing meshing frequency, and the relative harmonic frequencies can also be found. The defect frequencies and frequency amplitude are increasing with the speed while the system makes the accelerated movement. While the load acting on the system increases, the defect frequencies remain unchanged, but the frequency amplitude becomes larger. If there are fluctuations of the speed and load, the apparent defect frequency fluctuation and amplitude fluctuation is generated. The mathematical model and the analysis results are verified by the experiment, which will provide the theoretical basis for the fault diagnosis of the gear shaft-bearing system.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"4 7 1","pages":"113 - 129"},"PeriodicalIF":1.8,"publicationDate":"2021-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77834194","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-23DOI: 10.1177/14644193211053540
Lianchao Sheng, Wei Li, Guo Ye, Ke Feng
Gear wear failure is one of the important failures of the gear system in the shearer cutting section. To reveal the influence mechanism of shearer cutting gear wear on the system dynamic characteristics, considering coupling factors such as time-varying meshing stiffness, dynamic gear clearance, internal error excitation, end load constraint and bearing radial clearance under wear failure, an improved dynamic model of shearer drive gear system is introduced to present an in-depth investigation of uniform wear of gear teeth effect. The dynamic meshing stiffness of gears under different degrees of wear is analysed. Furthermore, the bifurcation diagram is utilized to observe the motion state of the system experiencing different excitation frequencies, support damping as well as terminal loads. It is demonstrated that the gear surface wear could bring a change in gear dynamic transmission error, vibration impact state and amplitude, which is mainly manifested in increasing the unstable area and the vibration amplitude of the gear system, providing a method for monitoring and diagnosing of gear surface faults.
{"title":"Nonlinear dynamic analysis of gear system in shearer cutting section under wear failure","authors":"Lianchao Sheng, Wei Li, Guo Ye, Ke Feng","doi":"10.1177/14644193211053540","DOIUrl":"https://doi.org/10.1177/14644193211053540","url":null,"abstract":"Gear wear failure is one of the important failures of the gear system in the shearer cutting section. To reveal the influence mechanism of shearer cutting gear wear on the system dynamic characteristics, considering coupling factors such as time-varying meshing stiffness, dynamic gear clearance, internal error excitation, end load constraint and bearing radial clearance under wear failure, an improved dynamic model of shearer drive gear system is introduced to present an in-depth investigation of uniform wear of gear teeth effect. The dynamic meshing stiffness of gears under different degrees of wear is analysed. Furthermore, the bifurcation diagram is utilized to observe the motion state of the system experiencing different excitation frequencies, support damping as well as terminal loads. It is demonstrated that the gear surface wear could bring a change in gear dynamic transmission error, vibration impact state and amplitude, which is mainly manifested in increasing the unstable area and the vibration amplitude of the gear system, providing a method for monitoring and diagnosing of gear surface faults.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"29 1","pages":"99 - 112"},"PeriodicalIF":1.8,"publicationDate":"2021-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81635839","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-03DOI: 10.1177/14644193211052136
Xiwen Wang, T. Lu
Dual clutch transmission can avoid some noise vibration and harshness issues caused by other transmissions with single clutch. And applying micro-slip control on clutches can further improve the gearshift performance of transmission compared to the lock-up control. Considering the real-time characteristic of vehicle control, an offline model predictive controller designed by multi-parameter quadratic programming was creatively applied in dual clutch transmission to obtain both clutch torque at the same time with optimal control algorithm. In this way, while realizing the micro-slip state of the clutches, the fast response speed can be realized through the off-line controller, which makes it more feasible and practical for transmission control. A six degrees of freedom vehicle powertrain system model was built in MATLAB/Simulink to simulate the proposed control algorithm. The simulation results show that the micro-slip control avoid the negative torque compared to the lock-up control, which leads to a smoother shift process. In addition, compared with the proportional–integral–derivative micro-slip controller, the offline model predictive controller can achieve more stable control effects with less output torque fluctuation and shorter gearshift time.
{"title":"Offline model predictive control approach to micro-slip control in gearshifts of dual clutch transmission","authors":"Xiwen Wang, T. Lu","doi":"10.1177/14644193211052136","DOIUrl":"https://doi.org/10.1177/14644193211052136","url":null,"abstract":"Dual clutch transmission can avoid some noise vibration and harshness issues caused by other transmissions with single clutch. And applying micro-slip control on clutches can further improve the gearshift performance of transmission compared to the lock-up control. Considering the real-time characteristic of vehicle control, an offline model predictive controller designed by multi-parameter quadratic programming was creatively applied in dual clutch transmission to obtain both clutch torque at the same time with optimal control algorithm. In this way, while realizing the micro-slip state of the clutches, the fast response speed can be realized through the off-line controller, which makes it more feasible and practical for transmission control. A six degrees of freedom vehicle powertrain system model was built in MATLAB/Simulink to simulate the proposed control algorithm. The simulation results show that the micro-slip control avoid the negative torque compared to the lock-up control, which leads to a smoother shift process. In addition, compared with the proportional–integral–derivative micro-slip controller, the offline model predictive controller can achieve more stable control effects with less output torque fluctuation and shorter gearshift time.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"13 1","pages":"84 - 98"},"PeriodicalIF":1.8,"publicationDate":"2021-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78089229","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-25DOI: 10.1177/14644193211049928
M. Saeedi
In this study, a new controller to prevent the yaw instability and rollover of a three-wheeled vehicle has been proposed. This controller offers the most obvious opportunity for affecting the vehicle's lateral dynamics performance on the full range of nonlinearities during various operating boundaries. The active combined controller has been designed based on sliding mode control method using an active roll system and an active braking system to dominate the uncertainties of the nonlinear dynamic model. Firstly, to avoid rollover of the three-wheeled vehicle, the roll angle was considered as the control objective, and the anti-roll bar was employed as an actuator to produce the roll moment. Secondly, to increase the maneuverability and lateral dynamics enhancement, an active braking system was designed. In the control system, the yaw rate and the lateral velocity were regarded as the control variables to track their references. Moreover, to verify the performance of the mentioned combined controller, another control system has been designed using the linearization feedback control method. Then, computer simulation has been carried out with a 12 degrees of freedom dynamic model of the three-wheeled vehicle called the delta. Furthermore, a nonlinear tire model has been utilized to compute the longitudinal and the lateral forces. Next, the comparative simulation results confirmed the effectiveness of the robust control system to raise the vehicle's maneuverability and its rollover stability in comparison with the linearization feedback control method, especially when the three-wheeled vehicle is subjected to critical conditions.
{"title":"A novel nonlinear controller for enhancement of the transient dynamics performance of a three-wheeled vehicle during different conditions","authors":"M. Saeedi","doi":"10.1177/14644193211049928","DOIUrl":"https://doi.org/10.1177/14644193211049928","url":null,"abstract":"In this study, a new controller to prevent the yaw instability and rollover of a three-wheeled vehicle has been proposed. This controller offers the most obvious opportunity for affecting the vehicle's lateral dynamics performance on the full range of nonlinearities during various operating boundaries. The active combined controller has been designed based on sliding mode control method using an active roll system and an active braking system to dominate the uncertainties of the nonlinear dynamic model. Firstly, to avoid rollover of the three-wheeled vehicle, the roll angle was considered as the control objective, and the anti-roll bar was employed as an actuator to produce the roll moment. Secondly, to increase the maneuverability and lateral dynamics enhancement, an active braking system was designed. In the control system, the yaw rate and the lateral velocity were regarded as the control variables to track their references. Moreover, to verify the performance of the mentioned combined controller, another control system has been designed using the linearization feedback control method. Then, computer simulation has been carried out with a 12 degrees of freedom dynamic model of the three-wheeled vehicle called the delta. Furthermore, a nonlinear tire model has been utilized to compute the longitudinal and the lateral forces. Next, the comparative simulation results confirmed the effectiveness of the robust control system to raise the vehicle's maneuverability and its rollover stability in comparison with the linearization feedback control method, especially when the three-wheeled vehicle is subjected to critical conditions.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"109 1","pages":"568 - 585"},"PeriodicalIF":1.8,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80627005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-16DOI: 10.1177/14644193211045273
Jialin Tian, Jie Wang, Siqi Zhou, Yinglin Yang, Liming Dai
Excessive stick–slip vibration of drill strings can cause inefficiency and unsafety of drilling operations. To suppress the stick–slip vibration that occurred during the downhole drilling process, a drill string torsional vibration system considering the torsional vibration tool has been proposed on the basis of the 4-degree of freedom lumped-parameter model. In the design of the model, the tool is approximated by a simple torsional pendulum that brings impact torque to the drill bit. Furthermore, two sliding mode controllers, U1 and U2, are used to suppress stick–slip vibrations while enabling the drill bit to track the desired angular velocity. Aiming at parameter uncertainty and system instability in the drilling operations, a parameter adaptation law is added to the sliding mode controller U2. Finally, the suppression effects of stick–slip and robustness of parametric uncertainty about the two proposed controllers are demonstrated and compared by simulation and field test results. This paper provides a reference for the suppression of stick–slip vibration and the further study of the complex dynamics of the drill string.
{"title":"Study of stick–slip suppression and robustness to parametric uncertainty in drill strings containing torsional vibration tool using sliding-mode control","authors":"Jialin Tian, Jie Wang, Siqi Zhou, Yinglin Yang, Liming Dai","doi":"10.1177/14644193211045273","DOIUrl":"https://doi.org/10.1177/14644193211045273","url":null,"abstract":"Excessive stick–slip vibration of drill strings can cause inefficiency and unsafety of drilling operations. To suppress the stick–slip vibration that occurred during the downhole drilling process, a drill string torsional vibration system considering the torsional vibration tool has been proposed on the basis of the 4-degree of freedom lumped-parameter model. In the design of the model, the tool is approximated by a simple torsional pendulum that brings impact torque to the drill bit. Furthermore, two sliding mode controllers, U1 and U2, are used to suppress stick–slip vibrations while enabling the drill bit to track the desired angular velocity. Aiming at parameter uncertainty and system instability in the drilling operations, a parameter adaptation law is added to the sliding mode controller U2. Finally, the suppression effects of stick–slip and robustness of parametric uncertainty about the two proposed controllers are demonstrated and compared by simulation and field test results. This paper provides a reference for the suppression of stick–slip vibration and the further study of the complex dynamics of the drill string.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"45 1 1","pages":"653 - 667"},"PeriodicalIF":1.8,"publicationDate":"2021-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89561703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-14DOI: 10.1177/14644193211046094
Arash Khalatbari, A. Jalali, H. Ahmadi, K. Foroutan
In this paper, one of the most efficient passive absorbers, called nonlinear energy sink (NES), is analytically studied. A two-degree-of-freedom system is considered which consists of a linear oscillator (LO) with a base excitation and an NES, called grounded NES (GNES), which is connected to the ground with a nonlinear spring. In this study, we proposed a new arrangement of potential elements in GNES and studied invariant manifolds of the system, as well as the energy absorption performance of the NES. The system is considered in the vicinity of 1:1 resonance to investigate the strongly modulated response (SMR). To this end, after obtaining the equations of motion, the Manevitch complex variable and multiple scale method are applied to solve the equations, analytically. Then, the slow invariant manifold (SIM) is obtained. Also, the energy dissipation ratio of the NES and the percentage of the instantaneous total energy stored in the NES are calculated via the time-amplitude diagram. The results show that when the nonlinear effect decreases, the occurrence of energy pumping is less probable. Also, when the excitation amplitude decreases, the percentage of the instantaneous total energy stored in the NES increases as well as the amount of energy dissipation.
{"title":"Effects of bi-stable grounded nonlinear energy sink on energy dissipation of the system","authors":"Arash Khalatbari, A. Jalali, H. Ahmadi, K. Foroutan","doi":"10.1177/14644193211046094","DOIUrl":"https://doi.org/10.1177/14644193211046094","url":null,"abstract":"In this paper, one of the most efficient passive absorbers, called nonlinear energy sink (NES), is analytically studied. A two-degree-of-freedom system is considered which consists of a linear oscillator (LO) with a base excitation and an NES, called grounded NES (GNES), which is connected to the ground with a nonlinear spring. In this study, we proposed a new arrangement of potential elements in GNES and studied invariant manifolds of the system, as well as the energy absorption performance of the NES. The system is considered in the vicinity of 1:1 resonance to investigate the strongly modulated response (SMR). To this end, after obtaining the equations of motion, the Manevitch complex variable and multiple scale method are applied to solve the equations, analytically. Then, the slow invariant manifold (SIM) is obtained. Also, the energy dissipation ratio of the NES and the percentage of the instantaneous total energy stored in the NES are calculated via the time-amplitude diagram. The results show that when the nonlinear effect decreases, the occurrence of energy pumping is less probable. Also, when the excitation amplitude decreases, the percentage of the instantaneous total energy stored in the NES increases as well as the amount of energy dissipation.","PeriodicalId":54565,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics","volume":"131 1","pages":"668 - 682"},"PeriodicalIF":1.8,"publicationDate":"2021-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86323174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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