The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV) for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. A challenge is that typical vehicle suspensions involve closed-chain loops which require expensive DAE integration techniques. In this paper, we illustrate the use the alternative constraint embedding technique to reduce the cost and improve the accuracy of the dynamics model for the vehicle.
Flexible, slender structures like cables, hoses or wires can be described by the geometrically exact Cosserat rod theory. Due to their complex multilayer structure, consisting of various materials, viscoplastic behavior has to be expected for cables under load. Classical experiments like uniaxial tension, torsion or three-point bending already show that the behavior of e.g. electric cables is viscoplastic. A suitable constitutive law for the observed load case is crucial for a realistic simulation of the deformation of a component. Consequently, this contribution aims at a viscoplastic constitutive law formulated in the terms of sectional quantities of Cosserat rods. Since the loading of cables in applications is in most cases not represented by these mostly uniaxial classical experiments, but rather multiaxial, new experiments for cables have to be designed. They have to illustrate viscoplastic effects, enable access to (viscoplastic) material parameters and account for coupling effects between different deformation modes. This work focuses on the design of such experiments.
Numerical simulation is an economical and effective method in the field of marine engineering. The dynamics of mooring cables has been analysed by a numerical simulation code that was created on a basis of a new element frame. This paper aims at verifying the accuracy of the numerical simulation code through comparisons with both the real experiments and a commercial simulation code. The real experiments are carried out with a catenary chain mooring in a water tank. The experimental results match the simulation results by the numerical simulation code well. Additionally, a virtual simulation of a large size chain mooring in ocean is carried out by both the numerical simulation code and a commercial simulation code. The simulation results by the numerical simulation code match those by the commercial simulation code well. Thus, the accuracy of the numerical simulation code for underwater chain mooring is verified by both the real experiments and commercial simulation code.
This paper proposes an analysis of the effect of vertical position of the pivot point of the inverted pendulum during humanoid walking. We introduce a new feature of the inverted pendulum by taking a pivot point under the ground level allowing a natural trajectory for the center of pressure (CoP), like in human walking. The influence of the vertical position of the pivot point on energy consumption is analyzed here. The evaluation of a 3D Walking gait is based on the energy consumption. A sthenic criterion is used to depict this evaluation. A consequent reduction of joint torques is shown with a pivot point under the ground.
Wave-Based Control has been previously applied successfully to simple underactuated flexible mechanical systems. Spacecraft and rockets with structural flexibility and sloshing are examples of such systems but have added difficulties due to nonuniform structure, external disturbing forces and non-ideal actuators and sensors. The aim of this paper is to extend the application of WBC to spacecraft systems, to compare the performance of WBC to other popular controllers and to carry out experimental validation of the designed control laws. A mathematical model is developed for an upper stage accelerating rocket moving in a single plane. Fuel sloshing is represented by an equivalent mechanical pendulum model. A wave-based controller is designed for the upper stage AVUM of the European launcher Vega. In numerical simulations the controller successfully suppresses the sloshing motion. A major advantage of the strategy is that no measurement of the pendulum states (sloshing motion) is required.
In the present work, a tire model is derived based on geometrically exact shells. The discretization is done with the help of isoparametric quadrilateral finite elements. The interpolation is performed with bilinear Lagrangian polynomials for the midsurface as well as for the director field. As time stepping method for the resulting differential algebraic equation a backward differentiation formula is chosen. A multilayer material model for geometrically exact shells is introduced, to describe the anisotropic behavior of the tire material. To handle the interaction with a rigid road surface, a unilateral frictional contact formulation is introduced. Therein a special surface to surface contact element is developed, which rebuilds the shape of the tire.
In this paper we present a mixed shooting – harmonic balance method for large linear mechanical systems on which local nonlinearities are imposed. The standard harmonic balance method (HBM), which approximates the periodic solution in frequency domain, is very popular as it is well suited for large systems with many degrees of freedom. However, it suffers from the fact that local nonlinearities cannot be evaluated directly in the frequency domain. The standard HBM performs an inverse Fourier transform, then calculates the nonlinear force in time domain and subsequently the Fourier coefficients of the nonlinear force. The disadvantage of the HBM is that strong nonlinearities are poorly represented by a truncated Fourier series. In contrast, the shooting method operates in time-domain and relies on numerical time-simulation. Set-valued force laws such as dry friction or other strong nonlinearities can be dealt with if an appropriate numerical integrator is available. The shooting method, however, becomes infeasible if the system has many states. The proposed mixed shooting-HBM approach combines the best of both worlds.
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Archive of Mechanical Engineering is an international journal publishing works of wide significance, originality and relevance in most branches of mechanical engineering. The journal is peer-reviewed and is published both in electronic and printed form. Archive of Mechanical Engineering publishes original papers which have not been previously published in other journal, and are not being prepared for publication elsewhere. The publisher will not be held legally responsible should there be any claims for compensation. The journal accepts papers in English.
Archive of Mechanical Engineering is an Open Access journal. The journal does not have article processing charges (APCs) nor article submission charges.
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