离心力—振动复合环境数值模拟
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摘要
对离心力—振动复合环境的研究，有着广泛的工程应用。用分时独立的试验手段不能正确预测复合环境影响下设备的可靠性，因此，研究复合振动环境试验有着重要的意义，它可以预测在单一环境试验中所不能估计的潜在故障，有利于提高其在工程应用上的使用可靠性。本文主要是对振动—离心复合环境数值模拟问题进行一些探索和尝试。
本文在深入研究离心机以及振动台的实验机理，尤其是复合离心机振动台的实验设计机理后，基于多刚体动力学分析，建立了振动台顺臂安装于离心机机臂上的力学模型，基于Hamilton原理得到的拉各朗日运动方程，得到了复合动力学环境下的运动支配方程，并给出了相应的数值求解方法；将离心机臂作为柔性梁，用瞬态有限元的方法进行仿真分析，采用计算软件ANSYS分析了离心机臂和复合系统的模态，并得到了柔性机臂—振动台系统的动力学特性。
最后，在C++Builder环境下编制相应计算程序求解动力学方程，并对不同建模结果进行了比较，算例仿真结果表明，本文建立复合离心机振动台系统力学模型是正确的，从精度、效率、可靠性上均可满足实际工程需要。因此，本文为复合环境下系统的减振、隔振设计和控制系统的设计提供了理论的依据。
The research of centrifugal force-vibration compound environment has comprehensive engineering application. As the reliability of equipments in compound environment can't be forecasted exactly by means of time-sharing unattached tests, the research has important significance. The compound test can forecast latent failure that can't be estimated in single environment test and favor to improve the reliability of equipments.
In this paper, firstly, the experimental mechanism of centrifuge as well as vibrator, especially centrifuge-vibrator compound system is introduced. On the base of multi-rigid body dynamics, the mechanics model of vibrator installed on the arm of centrifuge is founded. Then the dominant motion equation that is based upon Hamilton principle and Lagrange motion equation is obtained. Thereby, relevant numerical solution methods are given. Subsequently, this paper looks the arm of centrifuge upon soft beam and uses transient FEM in simulation analysis. The mode of the arm of centrifuge and the dynamic characteristic of soft beam-vibrator compound system are solved by ANSYS.
At last, the simulation analysis of numerical examples demonstrates that the mechanics model of centrifuge-vibrator compound system is right and satisfies the demands of practical engineering. Therefore, this paper provides with academic foundation of system design of decreasing vibration, separating vibration and control in compound environment.
本文在深入研究离心机以及振动台的实验机理，尤其是复合离心机振动台的实验设计机理后，基于多刚体动力学分析，建立了振动台顺臂安装于离心机机臂上的力学模型，基于Hamilton原理得到的拉各朗日运动方程，得到了复合动力学环境下的运动支配方程，并给出了相应的数值求解方法；将离心机臂作为柔性梁，用瞬态有限元的方法进行仿真分析，采用计算软件ANSYS分析了离心机臂和复合系统的模态，并得到了柔性机臂—振动台系统的动力学特性。
最后，在C++Builder环境下编制相应计算程序求解动力学方程，并对不同建模结果进行了比较，算例仿真结果表明，本文建立复合离心机振动台系统力学模型是正确的，从精度、效率、可靠性上均可满足实际工程需要。因此，本文为复合环境下系统的减振、隔振设计和控制系统的设计提供了理论的依据。
The research of centrifugal force-vibration compound environment has comprehensive engineering application. As the reliability of equipments in compound environment can't be forecasted exactly by means of time-sharing unattached tests, the research has important significance. The compound test can forecast latent failure that can't be estimated in single environment test and favor to improve the reliability of equipments.
In this paper, firstly, the experimental mechanism of centrifuge as well as vibrator, especially centrifuge-vibrator compound system is introduced. On the base of multi-rigid body dynamics, the mechanics model of vibrator installed on the arm of centrifuge is founded. Then the dominant motion equation that is based upon Hamilton principle and Lagrange motion equation is obtained. Thereby, relevant numerical solution methods are given. Subsequently, this paper looks the arm of centrifuge upon soft beam and uses transient FEM in simulation analysis. The mode of the arm of centrifuge and the dynamic characteristic of soft beam-vibrator compound system are solved by ANSYS.
At last, the simulation analysis of numerical examples demonstrates that the mechanics model of centrifuge-vibrator compound system is right and satisfies the demands of practical engineering. Therefore, this paper provides with academic foundation of system design of decreasing vibration, separating vibration and control in compound environment.
引文
1 Craig W H. On the use of centrifuge. In: Cortced. Centrifuge 88. Rotterdam. Balkema. 1988.1--6
2 环境条件与试验．环境试验应用指南编写组．中国标准出版社．1990
3 电工电子产品基本环境试验规程．中华人民共和国国家标准GB2423—81．中国标准出版社
4 贺云波等．复合离心机振动台系统的研究现状．中国机械工程．1999．10(5)．576—579
5 Elgamal A W. Dobry R. Laak P V et al. Design, construction and operation of 100 g-ton centrifuge at RPI. Centrifuge 91. Balkema. Rotterdam. 1991.27--34
6 Campbell D J. Cheney J A. Kutter B L. Boundary effects in dynamic centrifuge model tests. Centrifuge 91. Balkema. Rotterdam. 1991. 441--448
7 王保乾．振动—离心复合环境试验设备．环境技术．1994．(5)．15—19
8 王保乾．实现线加速度—振动复合环境模拟中的问题．环境技术．1996．(3)．7-12
9 J. D. Rogers. F. Cricola. VIBRAFUGE-Combined Vibration and Centrifuge Testing. SAND-89-1656c. 1989
10 贺云波等．复合离心机电液伺服振动台系统的发展．机床与液压．1999．(2)．13—16
11 Earthquake centrifuge modeling. A general review of equipment development. AD-A257 721. ANS&A Report 26-02-R-004. 1992. 12. B1--B33
12 L. A. Ortiz. R. F. Scott. J. Lee. Dynamic centrifuge testing of a cantilever retaining wall. Earthquake Engineering And Structural Dynamics. 1983.11.251--268
13 B. Hushmand. R. E Scott. C. B. Crouse. Centrifuge liquefaction tests in a laminar box. Geotechnique 38. 1988.2. 253--262
14 A. G. I. Hjonnaes-Pedersen. H. A. M, Nelissen. Applications of hydraulic actuators in the Delft Geotechnics centrifuge. Centrifuge 91. Ko(ed.) 1991Balkema. Rotterdam. 1991. 385--398
15 Henk A. M. Nelissen. The Delft Geotechnical centrifuge. Centrifuge 91. Ko(ed.) 1991Balkema. Rotterdam. 1991.35--36
16 A. W. Elgamal. Ricardo Dobry. etc. Design, construction and operation of 100g-ton centrifuge at RPI. Centrifuge 91. Ko(ed.) 1991Balkema. Rotterdam. 1991.27--34
17 D. J. Campbell. J. A. Cheney. B. L. Kutter. Boundary effects in dynamic centrifuge model tests. Centrifuge 91. Ko(ed.) 1991Balkema. Rotterdam. 1991.441--448
18 Stephen A. Ketcham. Hanover. N.H. Performance of an earthquake motion simulator for a small geotechnical centrifuge. Centrifuge 91. Ko(ed.)1991Balkema. Rotterdam. 1991. 361-368
19 章为民，赖忠中，徐光明．电液式土工离心机振动台的研制．水利水运工程学报．2002．(1)．63—66
20 蒋丽忠．洪嘉振．作大范围运动对弹性梁振动频率及模态的影响．振动与冲击．1999．18(1)．12—16
21 蒋丽忠．洪嘉振．赵跃宇．作大范围运动弹性梁刚—柔耦合动力学建模．计算力学学报．2002．19(1)．12—15
22 Kane T R. Ryan R R & Banerjee A K. Dynamics of a cantilever beam attached to a moving base. Journal of Guidance, Control and Dynamics. 1987. 10(2). 139--151
23 蒋丽忠．洪嘉振．作大范围运动弹性梁的动力刚化分析．计算力学学报．1998．15(4)．407—412
24 诸德超．升阶谱有限元法．国防工业出版社．1993
25 潘振宽等．转动刚体上固结悬臂梁系统的动力学数值分析．力学与实践．1995．17(2)．26—29
26 陈国平．离心力场中直梁的固有振动分析及连续质量梁元素．振动、测试与诊断．1992．12(4)．15—21
27 肖世富．杜强．离心场中悬臂梁模态分析．振动工程及应用．90—95
28 肖世富．陈滨．一类刚—柔耦合系统的建模与稳定性研究．力学学报．1997．29(4)．439—447
29 肖世富．陈滨．匀速转动内悬臂梁系统的建模与分岔研究．中国科学(A)．1997．27(10)．911—916
30 肖世富．陈滨．离心场中纵向悬臂梁的大范围分岔分析．力学学报．2000．32(5)．559—565
31 D. Pnueli. Natural Bending Frequency Comparable to Rotational Frequency in Rotating Cantilever Beam. Journal of Applied Mechanics. 1972.39.602--604
32 Sen Yung Lee. Yee Hsiung Kuo. Bending Frequency of a Rotating Beam With an Elastically Restrained Root. Journal of Applied Mechanics. 1991.58. 209--214
33 A. D. Wright. C. E. Smith. R. W. Thresher and J. L. C. Wang. Vibration Modes of Centrifugally Stiffened Beams. Journal of Applied Mechanics. 1982.49 (1) . 197--202
34 朱先辉等．离心力场中电动振动台的建模．振动与冲击．1999．18(3)．37—44
35 董龙雷等．离心力场中振动台与柔性梁的运动耦合分析．机械工程学报．2001．37(6)．29—33
36 余建军等．离心力—振动复合动力学环境的仿真．系统仿真学报．2001．13(6)．726—729
37 董龙雷等．离心机振动台复合环境实验系统的隔振研究．应用力学学报．2002．19(1)．23—26
38 向旭等．离心力环境下振动台的控制．机电工程．2001．18(5)．122—124
39 董龙雷等．离心力场中电液振动台的振动模拟实验研究．机床与液压．1999．(6)．5—6
40 党开放等．离心力场电液伺服振动台的鲁棒H_(∞)控制．机床与液压．2001．5．85—86
41 田昌会等．离心机臂的振摆及其对振动台振动的影响．机械科学与技术．2002．21(3)．370—372
42 刘冰等．模糊—神经网络控制算法及其在离心力—振动复合环境试验系统中的应用．应用力学学报．1999．16(4)．7—1
43 中国工程物理研究所结构力学研究所．成都科技大学水利工程系．25g—t土工离心机简
介．1991
44 胡志强．液压振动台应用前景的探讨．测控技术．1993．12(5)．2—5
45 谷口修(日)．振动工程大全．机械工业出版社．1986
46 J．D．Rogers．Testing in combined dynamic environments．SAND93-0090C．1993
47 哈尔滨工业大学理论力学教研室编．理论力学(上册)．高等教育出版社．1981
48 C．F．比尔兹．振动分析与控制系统动力学．兵器工业出版社．1989
49 于建华．谢用九．魏泳涛．高等结构动力学．四川大学出版社．2001
50 崔俊芝．梁俊．现代有限元软件方法．国防工业出版社．1995
51 姜朴．现代土工测试技术．中国水利水电出版社．1997
52 李庆扬．王能超．易大义．数值分析．华中理工大学出版社．2000
53 刘国庆．杨庆东．ANSYS工程应用教程(机械篇)．中国铁道出版社．2003
54 洪嘉振．计算多体系统动力学．高等教育出版社．1999
55 陈乐生．王以伦．多刚体动力学基础．哈尔滨工程大学出版社．1995
56 袁士杰．吕哲勤．多刚体系统动力学．1992
57 黄文虎等．多柔体系统动力学．科学出版社．1996
58 朱仕明．动力学．华中理工大学出版社．2000
59 陈滨．分析动力学．北京大学出版社．1987
60 邱秉权．分析力学．中国铁道出版社．1999
61 刘书振．陈书勤．罗绍凯．分析力学．河南大学出版社．1992
62 梅凤翔．刘瑞．罗勇．高等分析力学．北京理工大学出版社．1991
2 环境条件与试验．环境试验应用指南编写组．中国标准出版社．1990
3 电工电子产品基本环境试验规程．中华人民共和国国家标准GB2423—81．中国标准出版社
4 贺云波等．复合离心机振动台系统的研究现状．中国机械工程．1999．10(5)．576—579
5 Elgamal A W. Dobry R. Laak P V et al. Design, construction and operation of 100 g-ton centrifuge at RPI. Centrifuge 91. Balkema. Rotterdam. 1991.27--34
6 Campbell D J. Cheney J A. Kutter B L. Boundary effects in dynamic centrifuge model tests. Centrifuge 91. Balkema. Rotterdam. 1991. 441--448
7 王保乾．振动—离心复合环境试验设备．环境技术．1994．(5)．15—19
8 王保乾．实现线加速度—振动复合环境模拟中的问题．环境技术．1996．(3)．7-12
9 J. D. Rogers. F. Cricola. VIBRAFUGE-Combined Vibration and Centrifuge Testing. SAND-89-1656c. 1989
10 贺云波等．复合离心机电液伺服振动台系统的发展．机床与液压．1999．(2)．13—16
11 Earthquake centrifuge modeling. A general review of equipment development. AD-A257 721. ANS&A Report 26-02-R-004. 1992. 12. B1--B33
12 L. A. Ortiz. R. F. Scott. J. Lee. Dynamic centrifuge testing of a cantilever retaining wall. Earthquake Engineering And Structural Dynamics. 1983.11.251--268
13 B. Hushmand. R. E Scott. C. B. Crouse. Centrifuge liquefaction tests in a laminar box. Geotechnique 38. 1988.2. 253--262
14 A. G. I. Hjonnaes-Pedersen. H. A. M, Nelissen. Applications of hydraulic actuators in the Delft Geotechnics centrifuge. Centrifuge 91. Ko(ed.) 1991Balkema. Rotterdam. 1991. 385--398
15 Henk A. M. Nelissen. The Delft Geotechnical centrifuge. Centrifuge 91. Ko(ed.) 1991Balkema. Rotterdam. 1991.35--36
16 A. W. Elgamal. Ricardo Dobry. etc. Design, construction and operation of 100g-ton centrifuge at RPI. Centrifuge 91. Ko(ed.) 1991Balkema. Rotterdam. 1991.27--34
17 D. J. Campbell. J. A. Cheney. B. L. Kutter. Boundary effects in dynamic centrifuge model tests. Centrifuge 91. Ko(ed.) 1991Balkema. Rotterdam. 1991.441--448
18 Stephen A. Ketcham. Hanover. N.H. Performance of an earthquake motion simulator for a small geotechnical centrifuge. Centrifuge 91. Ko(ed.)1991Balkema. Rotterdam. 1991. 361-368
19 章为民，赖忠中，徐光明．电液式土工离心机振动台的研制．水利水运工程学报．2002．(1)．63—66
20 蒋丽忠．洪嘉振．作大范围运动对弹性梁振动频率及模态的影响．振动与冲击．1999．18(1)．12—16
21 蒋丽忠．洪嘉振．赵跃宇．作大范围运动弹性梁刚—柔耦合动力学建模．计算力学学报．2002．19(1)．12—15
22 Kane T R. Ryan R R & Banerjee A K. Dynamics of a cantilever beam attached to a moving base. Journal of Guidance, Control and Dynamics. 1987. 10(2). 139--151
23 蒋丽忠．洪嘉振．作大范围运动弹性梁的动力刚化分析．计算力学学报．1998．15(4)．407—412
24 诸德超．升阶谱有限元法．国防工业出版社．1993
25 潘振宽等．转动刚体上固结悬臂梁系统的动力学数值分析．力学与实践．1995．17(2)．26—29
26 陈国平．离心力场中直梁的固有振动分析及连续质量梁元素．振动、测试与诊断．1992．12(4)．15—21
27 肖世富．杜强．离心场中悬臂梁模态分析．振动工程及应用．90—95
28 肖世富．陈滨．一类刚—柔耦合系统的建模与稳定性研究．力学学报．1997．29(4)．439—447
29 肖世富．陈滨．匀速转动内悬臂梁系统的建模与分岔研究．中国科学(A)．1997．27(10)．911—916
30 肖世富．陈滨．离心场中纵向悬臂梁的大范围分岔分析．力学学报．2000．32(5)．559—565
31 D. Pnueli. Natural Bending Frequency Comparable to Rotational Frequency in Rotating Cantilever Beam. Journal of Applied Mechanics. 1972.39.602--604
32 Sen Yung Lee. Yee Hsiung Kuo. Bending Frequency of a Rotating Beam With an Elastically Restrained Root. Journal of Applied Mechanics. 1991.58. 209--214
33 A. D. Wright. C. E. Smith. R. W. Thresher and J. L. C. Wang. Vibration Modes of Centrifugally Stiffened Beams. Journal of Applied Mechanics. 1982.49 (1) . 197--202
34 朱先辉等．离心力场中电动振动台的建模．振动与冲击．1999．18(3)．37—44
35 董龙雷等．离心力场中振动台与柔性梁的运动耦合分析．机械工程学报．2001．37(6)．29—33
36 余建军等．离心力—振动复合动力学环境的仿真．系统仿真学报．2001．13(6)．726—729
37 董龙雷等．离心机振动台复合环境实验系统的隔振研究．应用力学学报．2002．19(1)．23—26
38 向旭等．离心力环境下振动台的控制．机电工程．2001．18(5)．122—124
39 董龙雷等．离心力场中电液振动台的振动模拟实验研究．机床与液压．1999．(6)．5—6
40 党开放等．离心力场电液伺服振动台的鲁棒H_(∞)控制．机床与液压．2001．5．85—86
41 田昌会等．离心机臂的振摆及其对振动台振动的影响．机械科学与技术．2002．21(3)．370—372
42 刘冰等．模糊—神经网络控制算法及其在离心力—振动复合环境试验系统中的应用．应用力学学报．1999．16(4)．7—1
43 中国工程物理研究所结构力学研究所．成都科技大学水利工程系．25g—t土工离心机简
介．1991
44 胡志强．液压振动台应用前景的探讨．测控技术．1993．12(5)．2—5
45 谷口修(日)．振动工程大全．机械工业出版社．1986
46 J．D．Rogers．Testing in combined dynamic environments．SAND93-0090C．1993
47 哈尔滨工业大学理论力学教研室编．理论力学(上册)．高等教育出版社．1981
48 C．F．比尔兹．振动分析与控制系统动力学．兵器工业出版社．1989
49 于建华．谢用九．魏泳涛．高等结构动力学．四川大学出版社．2001
50 崔俊芝．梁俊．现代有限元软件方法．国防工业出版社．1995
51 姜朴．现代土工测试技术．中国水利水电出版社．1997
52 李庆扬．王能超．易大义．数值分析．华中理工大学出版社．2000
53 刘国庆．杨庆东．ANSYS工程应用教程(机械篇)．中国铁道出版社．2003
54 洪嘉振．计算多体系统动力学．高等教育出版社．1999
55 陈乐生．王以伦．多刚体动力学基础．哈尔滨工程大学出版社．1995
56 袁士杰．吕哲勤．多刚体系统动力学．1992
57 黄文虎等．多柔体系统动力学．科学出版社．1996
58 朱仕明．动力学．华中理工大学出版社．2000
59 陈滨．分析动力学．北京大学出版社．1987
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