Applying Sherman-Morrison-Woodbury Formulas to Analyze the Free and Forced Responses of a Linear Structure Carrying Lumped Elements

2006 ◽  
Vol 129 (3) ◽  
pp. 307-316 ◽  
Author(s):  
Philip D. Cha ◽  
Nathanael C. Yoder
Keyword(s):  
Natural Frequencies ◽  
Equations Of Motion ◽  
Linear Structure ◽  
Frequency Equation ◽  
Continuous Linear ◽  
Computationally Efficient ◽  
Combined System ◽  
System A ◽  
Lumped Elements ◽  
Forced Responses

A simple approach is proposed that can be used to analyze the free and forced responses of a combined system, consisting of an arbitrarily supported continuous structure carrying any number of lumped attachments. The assumed modes method is utilized to formulate the equations of motion, which conveniently leads to a form that allows one to exploit the Sherman-Morrison or the Sherman-Morrison-Woodbury formulas to compute the natural frequencies and frequency response of the combined system. Rather than solving a generalized eigenvalue problem to obtain the natural frequencies of the system, a frequency equation is formulated whose solution can be easily solved either numerically or graphically. In order to determine the response of the structure to a harmonic input, a method is formulated that leads to a reduced matrix whose inverse yields the same result as the traditional method, which requires the inversion of a larger matrix. The proposed scheme is easy to code, computationally efficient, and can be easily modified to accommodate arbitrarily supported continuous linear structures that carry any number of miscellaneous lumped attachments.

Exact Frequency Equation of a Linear Structure Carrying Lumped Elements Using the Assumed Modes Method

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Philip D. Cha ◽  
Siyi Hu
Keyword(s):  
Linear Structure ◽  
Frequency Equation ◽  
Governing Equations ◽  
Linear Structures ◽  
Combined System ◽  
Digamma Function ◽  
Simply Supported ◽  
Lumped Elements ◽  
Finite Sum ◽  
Infinite Sum

Combined systems consisting of linear structures carrying lumped attachments have received considerable attention over the years. In this paper, the assumed modes method is first used to formulate the governing equations of the combined system, and the corresponding generalized eigenvalue problem is then manipulated into a frequency equation. As the number of modes used in the assumed modes method increases, the approximate eigenvalues converge to the exact solutions. Interestingly, under certain conditions, as the number of component modes goes to infinity, the infinite sum term in the frequency equation can be reduced to a finite sum using digamma function. The conditions that must be met in order to reduce an infinite sum to a finite sum are specified, and the closed-form expressions for the infinite sum are derived for certain linear structures. Knowing these expressions allows one to easily formulate the exact frequency equations of various combined systems, including a uniform fixed–fixed or fixed-free rod carrying lumped translational elements, a simply supported beam carrying any combination of lumped translational and torsional attachments, or a cantilever beam carrying lumped translational and/or torsional elements at the beam's tip. The scheme developed in this paper is easy to implement and simple to code. More importantly, numerical experiments show that the eigenvalues obtained using the proposed method match those found by solving a boundary value problem.

A Unified Frequency Equation and the Motion Analysis of a Moving Flexible Beam Carrying a Concentrated Mass

1999 ◽  
Author(s):  
S. Park ◽  
J. W. Lee ◽  
Y. Youm ◽  
W. K. Chung
Keyword(s):  
Natural Frequencies ◽  
Equations Of Motion ◽  
Frequency Equation ◽  
Open Loop ◽  
Mode Shapes ◽  
Flexible Beam ◽  
Lumped Mass ◽  
Concentrated Mass ◽  
Forcing Function ◽  
The Mathematical Model

Abstract In this paper, the mathematical model of a Bernoulli-Euler cantilever beam fixed on a moving cart and carrying an intermediate lumped mass is derived. The equations of motion of the beam-mass-cart system is analyzed utilizing unconstrained modal analysis, and a unified frequency equation which can be generally applied to this kind of system is obtained. The change of natural frequencies and mode shapes with respect to the change of the mass ratios of the beam, the lumped mass and the cart and to the position of the lumped mass is investigated. The open-loop responses of the system by arbitrary forcing function are also obtained through numerical simulations.

A Variational-Vector Calculus Approach to Machine Dynamics

1986 ◽  
Vol 108 (1) ◽  
pp. 25-30 ◽  
Author(s):  
E. J. Haug ◽  
M. K. McCullough
Keyword(s):  
Mass Matrix ◽  
Equations Of Motion ◽  
Linear Structure ◽  
Rigid Bodies ◽  
Machine Dynamics ◽  
System A ◽  
Vector Calculus ◽  
The Matrix ◽  
Generalized Force ◽  
System Equations

A variational-vector calculus approach is presented to define virtual displacements and rotations and position, velocity, and acceleration of individual components of a multibody mechanical system. A two-body subsystem with both Cartesian and relative coordinates is used to illustrate a systematic method of exploiting the linear structure of both vector and differential calculus, in conjunction with a variational formulation of the equations of motion of rigid bodies, to derive the matrix structure of governing multibody system equations of motion. A pattern for construction of the system mass matrix and generalized force terms is developed and applied to derivation of the equations of motion of a vehicle system. The development demonstrates an approach to multibody machine dynamics that closely parallels methods used in finite-element structural analysis.

scholarly journals Vibration of Rotating and Revolving Planet Rings with Discrete and Partially Distributed Stiffnesses

2020 ◽  
Vol 11 (1) ◽  
pp. 127
Author(s):  
Fuchun Yang ◽  
Dianrui Wang
Keyword(s):  
High Speed ◽  
Differential Operators ◽  
Natural Frequencies ◽  
Rotation Speed ◽  
Distribution Area ◽  
Vibration Modes ◽  
Governing Equations ◽  
Vibration Properties ◽  
Wide Range ◽  
Forced Responses

Vibration properties of high-speed rotating and revolving planet rings with discrete and partially distributed stiffnesses were studied. The governing equations were obtained by Hamilton’s principle based on a rotating frame on the ring. The governing equations were cast in matrix differential operators and discretized, using Galerkin’s method. The eigenvalue problem was dealt with state space matrix, and the natural frequencies and vibration modes were computed in a wide range of rotation speed. The properties of natural frequencies and vibration modes with rotation speed were studied for free planet rings and planet rings with discrete and partially distributed stiffnesses. The influences of several parameters on the vibration properties of planet rings were also investigated. Finally, the forced responses of planet rings resulted from the excitation of rotating and revolving movement were studied. The results show that the revolving movement not only affects the free vibration of planet rings but results in excitation to the rings. Partially distributed stiffness changes the vibration modes heavily compared to the free planet ring. Each vibration mode comprises several nodal diameter components instead of a single component for a free planet ring. The distribution area and the number of partially distributed stiffnesses mainly affect the high-order frequencies. The forced responses caused by revolving movement are nonlinear and vary with a quasi-period of rotating speed, and the responses in the regions supported by partially distributed stiffnesses are suppressed.

scholarly journals Effect of Thrust on the Structural Vibrations of a Nonuniform Slender Rocket

2020 ◽  
Vol 25 (2) ◽  
pp. 29
Author(s):  
Desmond Adair ◽  
Aigul Nagimova ◽  
Martin Jaeger
Keyword(s):  
Natural Frequencies ◽  
Equations Of Motion ◽  
Approximate Solutions ◽  
Mode Shapes ◽  
Algebraic Equations ◽  
Structural Vibrations ◽  
Unknown Parameters ◽  
One Dimensional ◽  
Vibration Problems ◽  
Nonuniform Beam

The vibration characteristics of a nonuniform, flexible and free-flying slender rocket experiencing constant thrust is investigated. The rocket is idealized as a classic nonuniform beam with a constant one-dimensional follower force and with free-free boundary conditions. The equations of motion are derived by applying the extended Hamilton’s principle for non-conservative systems. Natural frequencies and associated mode shapes of the rocket are determined using the relatively efficient and accurate Adomian modified decomposition method (AMDM) with the solutions obtained by solving a set of algebraic equations with only three unknown parameters. The method can easily be extended to obtain approximate solutions to vibration problems for any type of nonuniform beam.

Optimization of Dynamic Forces in the Design of Mechanical Hands

1989 ◽  
Author(s):  
M. A. Nahon ◽  
J. Angeles
Keyword(s):  
Equations Of Motion ◽  
Inequality Constraints ◽  
Kinematic Chain ◽  
Programming Approach ◽  
Quadratic Optimization Problem ◽  
System A ◽  
Redundantly Actuated ◽  
Internal Forces ◽  
Constrained Quadratic Optimization ◽  
Mechanical Hands

Abstract Mechanical hands have become of greater interest in robotics due to the advantages they offer over conventional grippers in tasks requiring dextrous manipulation. However, mechanical hands also tend to be more complex in construction and require more sophisticated design analysis to determine the forces in the system. A mechanical hand can be described as a kinematic chain with time-varying topology which becomes redundantly actuated when an object is grasped. When this occurs, care must be exercised to avoid crushing the object or generating excessive forces within the mechanism. In the present work, this problem is formulated as a constrained quadratic optimization problem. The forces to be minimized form the objective, the dynamic equations of motion form the equality constraints and the finger-object contacts yield the inequality constraints. The quadratic-programming approach is shown to be advantageous due to its ability to minimize ‘internal forces’ A technique is proposed for smoothing the discontinuities in the force solution which occur when the toplogy changes.

Vibrations of Spinning Rings With Radial and Circumferential Displacement Constraints

1991 ◽  
Author(s):  
Shyh-Chin Huang ◽  
Chen-Kai Su
Keyword(s):  
Natural Frequencies ◽  
Point Contact ◽  
Frequency Equation ◽  
Mode Shapes ◽  
Complex Conjugate ◽  
Constrained System ◽  
Form Complex ◽  
Circumferential Displacement ◽  
On The Road ◽  
Displacement Constraints

Abstract The frequencies and mode shapes of rolling rings with radial and circumferential displacement constraints are investigated. The displacement constraints practically come from the point contact, e.g., rolling tire on the road, or other applications. The proposed approach to analysis is calculating the natural frequencies and modes of a non-contacted spinning ring, then employing the receptance method for displacement constraints. The frequency equation for the constrained system is hence obtained, and it can be solved numerically or graphically. The receptance matrix developed for the spinning ring is surprisingly found not symmetric as usual. Moreover, the cross receptances are discovered to form complex conjugate pairs. That is a feature that has never been described in literature. The results show that the natural frequencies for the spinning ring in contact, as expected, higher than those for the non-contacted ring. The variance of frequencies to rotational speeds are then illustrated. The analytic forms of mode shapes are also derived and sketched. The traveling modes are then shown for cases.

Vibration Suppression of an Elastically Supported Beam With Closely Spaced Natural Frequencies

2020 ◽  
Author(s):  
Haizhou Liu ◽  
Hao Gao
Keyword(s):  
Natural Frequencies ◽  
Vibration Suppression ◽  
Fixed Point Theory ◽  
Dynamic Performance ◽  
Point Theory ◽  
Primary System ◽  
Computationally Efficient ◽  
Wide Range ◽  
Univariate Optimization ◽  
Elastically Supported

Abstract Vibration suppression of distributed parameter systems is of great interest and has a wide range of applications. The dynamic performance of a primary system can be improved by adding dynamic vibration absorbers (DVA). Although the relevant topics have been studied for decades, the trade-off between capability of suppressing multiple resonant peaks and complexity of absorbers has not been well addressed. In this paper, the vibration suppression problem of a uniform Euler-Bernoulli beam with closely spaced natural frequencies is investigated. To achieve desired vibration reduction, a two-DOF DVA is connected to the beam through a pair of a spring and a dashpot. By introducing a virtual ground spring, the parameters of the absorber are determined via extended fixed point theory. The proposed method only requires univariate optimization and is computationally efficient. Numerical examples conducted verify the viability of the proposed method and the effectiveness of a two-DOF DVA in suppressing double resonances.

scholarly journals Nonlinear Forced Response of Electromechanical Integrated Toroidal Drive to Coupled Excitation

2012 ◽  
Vol 2012 ◽  
pp. 1-10
Author(s):  
Lizhong Xu ◽  
Fen Wang
Keyword(s):  
Natural Frequencies ◽  
Forced Response ◽  
Drive System ◽  
Mesh Stiffness ◽  
Electric Excitation ◽  
Time Period ◽  
Electromechanical Integrated ◽  
Exciting Frequency ◽  
Mesh Parameter ◽  
Forced Responses

The electric excitation and the parameter excitation from mesh stiffness fluctuation are analyzed. The forced response equations of the drive system to the coupled excitations are presented. For the exciting frequencies far from and near natural frequencies, the forced responses of the drive system to the coupled excitations are investigated. Results show that the nonlinear forced responses of the drive system to the coupled excitations change periodically and unsteadily; the time period of the nonlinear forced responses depends on the frequencies of the electric excitation, the mesh parameter excitation, and the nonlinear natural frequencies of the drive system; in order to improve the dynamics performance of the drive system, the frequencies of the electric excitations should not be taken as integral multiple of the mesh parameter exciting frequency.

Free Vibration Analysis of a Carbon Nanotube Reinforced Composite Beam

2014 ◽  
Vol 592-594 ◽  
pp. 2041-2045 ◽  
Author(s):  
B. Naresh ◽  
A. Ananda Babu ◽  
P. Edwin Sudhagar ◽  
A. Anisa Thaslim ◽  
R. Vasudevan
Keyword(s):  
Carbon Nanotube ◽  
Free Vibration ◽  
Composite Beam ◽  
Natural Frequencies ◽  
Equations Of Motion ◽  
Free Vibration Analysis ◽  
Mode Shapes ◽  
Element Formulation ◽  
Reinforced Composite ◽  
Vibration Responses

In this study, free vibration responses of a carbon nanotube reinforced composite beam are investigated. The governing differential equations of motion of a carbon nanotube (CNT) reinforced composite beam are presented in finite element formulation. The validity of the developed formulation is demonstrated by comparing the natural frequencies evaluated using present FEM with those of available literature. Various parametric studies are also performed to investigate the effect of aspect ratio and percentage of CNT content and boundary conditions on natural frequencies and mode shapes of a carbon nanotube reinforced composite beam. It is shown that the addition of carbon nanotube in fiber reinforced composite beam increases the stiffness of the structure and consequently increases the natural frequencies and alter the mode shapes.

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