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This thesis concerns the analysis of dynamical systems suitable to be modelled by piecewise-smooth differential equations. In such systems the continuous-in-time dynamics is interrupted by discrete-in-time jumps in the state or governing equations of motion. Not only can this framework be used to describe existing systems with strong nonlinear behaviour such as impacts and friction, but the non-smooth properties can be exploited to design new mechanical devices. As suggested in this work it opens up the possibility of, for example, fast limit switches and energy transfer mechanisms. Particularly, the dynamics at the onset of low-velocity impacts in systems with recurrent dynamics, so called grazing bifurcations in impact-oscillators, are investigated. As previous work has shown, low-velocity impacts is a strong source of instability to the dynamics, and efforts to control the behaviour is of importance. This problem is approached in two ways in this work. One is to investigate the influence of parameter variations on the dynamic behaviour of the system. The other is to implement low-cost control strategies to regulate the dynamics at the grazing bifurcation. The control inputs are of impulsive nature, and utilizes the natural dynamics of the system to the greatest extent. The scientific contributions of this work is collected in five appended papers. The first paper consists of an experimental verification of a map that captures the correction to the smooth dynamics induced by an impact, known in the literature as the discontinuity map. It is shown that the lowest order expansion of the map accurately captures the transient growth rate of impact velocities. The second paper presents a constructive proof of a control algorithm for a rather large class of impact oscillators. The proof is constructive in the sense that it gives control parameters which stabilizes the dynamics at the onset of low-velocity impacts. In the third paper a piecewise-smooth quarter-car model is derived, and the control strategy is implemented to reduce impact velocities in the suspension system. In the fourth and fifth papers the grazing bifurcation of an impact oscillator with dry friction type damping is investigated. It turns out that the bifurcation is triggered by the disappearance of an interval of stable stick solutions. A condition on the parameters of the system is derived which differentiates between stable and unstable types of bifurcation scenarios. Additionally, a low-cost control strategy is proposed, similar to the one previously mentioned, to regulate the bifurcation scenario. / QC 20100811

This thesis addressed non-smooth dynamics of lumped parameter systems, and was restricted to Filippov-type systems. The main objective of this thesis was twofold. Firstly, modeling aspects of Filippov-type non-smooth dynamical systems were addressed with an emphasis on the constitutive assumptions and mathematical structure behind these models. Secondly, robust algorithms were presented to obtain numerical solutions for various Filippov-type lumped parameter systems. Governing equations were written using two different mathematical approaches. The first approach was based on differential inclusions and the second approach was based on differential-algebraic equations. The differential inclusions approach is more amenable to mathematical analysis using existing mathematical tools. On the other hand, the approach based on differential-algebraic equations gives more insight into the constitutive assumptions of a chosen model and easier to obtain numerical solutions. Bingham-type models in which the force cannot be expressed in terms of kinematic variables but the kinematic variables can be expressed in terms of force were considered. Further, Coulomb friction was considered in which neither the force can be expressed in terms of kinematic variables nor the kinematic variables in terms of force. However, one can write implicit constitutive equations in terms of kinematic quantities and force. A numerical framework was set up to study such systems and the algorithm was devised. Towards the end, representative dynamical systems of practical significance were considered. The devised algorithm was implemented on these systems and the results were obtained. The results show that the setting offered by differential-algebraic equations is appropriate for studying dynamics of lumped parameter systems under implicit constitutive models.

Les propriétés du béton constituant les enceintes de confinement des centrales électronucléaires évoluent sous les effets de mécanismes de vieillissement résultant notamment de transferts couplés de chaleur et de masse au sein du matériau. Ces phénomènes peuvent être modélisés par des équations de transports moyennées : lois de Fick pour le transport d’espèces en solution et lois de Fourier pour la description de la diffusion thermique. Dans cette étude, les développements concernent la diffusion de la thermique dans un milieu hétérogène fissuré représentant un matériau cimentaire dégradé chimiquement. Le problème thermo-mécanique est traité à l'aide d'une approche multi-corps reliés par des lois d’interactions enrichies (zones cohésives). La diffusion thermique est écrite dans le formalisme cohésif-volumique en prenant en compte le couplage entre un état d'endommagement local de la zone cohésive et une conductivité homogénéisée. Afin d'optimiser les coûts de calculs, une étude est menée sur la dimension d'un volume élémentaire représentatif (VER). Pour cela, la méthode d'eigenerosion est étendue à la fissuration de milieux hétérogènes puis appliquée aux milieux cimentaires. La propagation de fissures sous chargement thermique est ensuite analysée dans des VERs de béton dégradés représentatifs des enceintes de confinement des centrales nucléaires après plusieurs années. Le vieillissement est modélisé par un taux de pré-dégradation initial entre le mortier et les granulats. Le développement de multi-fissures est relié au taux de pré-dégradation et la formation "d'écrans" à la diffusion de la thermique est mise en avant. / During their confinement in a nuclear power plant, the mechanical properties of the constitutive materials of concrete change as a result of ageing. This is due to the transportation of chemical species at the microscopic level of the media. Firstly, this can be modelled with average equations. The Fick laws represent the evolution of chemical diffusion and the Fourier laws, the transportation of heat at a mesoscopic level. In this research, we will consider thermal evolution on a fractured media.This thermomechanical problem is solved with a staggered method. The mechanical contribution used an approach based on multi-bodies system linked with cohesive zone models. The thermal problem is based on the approximation of the heat transfer equation at the cohesive interface. This approach has been implemented and validated. The description of the heat trough the interface is composed with the definition of an homogenised conductivity and the local damage parameter. In order to optimize the computational cost with a good agreement of the crack propagation, a criterion is proposed for sizing a representative elementary volume (REV). The eigenerosion method is used, validated and extended to heterogeneous media. Two studies are carried out on the morphological properties on a cementious media. As a result of those studies, a minimal size for a REV is defined.Crack spread under thermal loads are investigated on a media representing the concrete of the containment of a nuclear power station. The ageing effect are taken into account as an initial damage between the mortar and the aggregates. These parameters are expressed in terms of rate of initial damage. A study is proposed for different values of this rate. As assumed, the development of multi-cracks is linked with the rate of initial damage and the creation of thermal border is proposed.

The first part of this Thesis deals with the analysis of piecewise-smooth mechanical systems and the definition of special stability criteria in presence of non-conservative follower forces. To illustrate the peculiar stability properties of this kind of dynamical system, a reference 2 d.o.f. structure has been considered, composed of a rigid bar, with one and constrained to slide, without friction, along a curved profile, whereas the other and is subject to a follower force. In particular, the curved constraint is assumed to be composed of two circular profiles, with different and opposite curvatures, defining two separated subsystems. Due to this jump in the curvature, located at the junction point between the curved profiles, the entire mechanical structure can be modelled by discontinuous equations of motion, the differential equations valid in each subsystem can be combined, leading to the definition of a piecewise-smooth dynamical system. When a follower force acts on the structure, an unexpected and counterintuitive behaviour may occur: although the two subsystems are stable when analysed separately, the composed structure is unstable and exhibits flutter-like exponentially-growing oscillations. This special form of instability, previously known only from a mathematical point of view, has been analysed in depth from an engineering perspective, thus finding a mechanical interpretation based on the concept of non-conservative follower load. Moreover, the goal of this work is also the definition of some stability criteria that may help the design of these mechanical piecewise-smooth systems, since classical theorems cannot be used for the investigation of equilibrium configurations located at the discontinuity. In the literature, this unusual behaviour has been explained, from a mathematical perspective, through the existence of a discontinuous invariant cone in the phase space. For this reason, starting from the mechanical system described above, the existence of invariant cones in 2 d.o.f. mechanical systems is investigated through Poincaré maps. A complete theoretical analysis on piecewise-smooth dynamical systems is presented and special mathematical properties have been discovered, valid for generic 2~d.o.f. piecewise-smooth mechanical systems, which are useful for the characterisation of the stability of the equilibrium configurations. Numerical tools are implemented for the analysis of a 2~d.o.f. piecewise-smooth mechanical system, valid for piecewise-linear cases and extendible to the nonlinear ones. A numerical code has been developed, with the aim of predicting the stability of a piecewise-linear dynamical system a priori, varying the mechanical parameters. Moreover, “design maps” are produced for a given subset of the parameters space, so that a system with a desired stable or unstable behaviour can easily be designed. The aforementioned results can find applications in soft actuation or energy harvesting. In particular, in systems devoted to exploiting the flutter-like instability, the range of design parameters can be extended by using piecewise-smooth instead of smooth structures, since unstable flutter-like behaviour is possible also when each subsystem is actually stable. The second part of this Thesis deals with the numerical analysis of an elastic cloak for transient flexural waves in Kirchhoff-Love plates and the design of special metamaterials for this goal. In the literature, relevant applications of transformation elastodynamics have revealed that flexural waves in thin elastic plates can be diverted and channelled, with the aim of shielding a given region of the ambient space. However, the theoretical transformations which define the elastic properties of this “invisibility cloak” lead to the presence of a strong compressive prestress, which may be unfeasible for real applications. Moreover, this theoretical cloak must present, at the same time, high bending stiffness and a null twisting rigidity. In this Thesis, an orthotropic meta-structural plate is proposed as an approximated elastic cloak and the presence of the prestress has been neglected in order to be closer to a realistic design. With the aim of estimating the performance of this approximated cloak, a Finite Element code is implemented, based on a sub-parametric technique. The tool allows the investigation of the sensitivity of specific stiffness parameters that may be difficult to match in a real cloak design. Moreover, the Finite Element code is extended to investigate a meta-plate interacting with a Winkler foundation, to analyse how the substrate modulus transforms in the cloak region. This second topic of the Thesis may find applications in the realization of approximated invisibility cloaks, which can be employed to reduce the destructive effects of earthquakes on civil structures or to shield mechanical components from unwanted vibrations.