Dynamic stiffness method for exponentially varying harmonic excitation of continuous systems

The dynamic stiffness method relating the amplitudes of applied forces and responses of a harmonically vibrating continuum has received wide attention. It enables the infinite number of natural modes to be represented by a finite number of nodal co-ordinates for continuous structures of beams and folded plates. However, the method has been applied almost exclusively to harmonic, or periodic, oscillations. This is due mainly to the rather misleading intuition that only harmonic vibrations can be described by solutions with separate time- and space-dependent factors. It is shown here that a much wider class of problem of exponentially varying harmonic excitations can also be analyzed by the dynamic stiffness method. The extension is achieved simply by using complex frequency parameters. The forced response (that is, the part of the response which is independent of the initial conditions) can be obtained directly by solution of linear equations. A single degree of freedom system is considered first, as an illustrative example. It is shown that the present method is equivalent to the usual Duhamel integral method except that integration is completely avoided and the transient effects due to the initial conditions can be considered separately. The method is then applied to undamped straight beam members and is modified so that damped vibration can be covered as well. Distributed loads are then considered and explicit formulae are introduced. Finally, for completeness of presentation, the responses are compared with those obtained by using modal analysis. The method is proved to be equivalent to modal analysis and has the advantages over the latter that (i) integrations in the time variable are completely avoided; (ii) the forced response can be obtained directly; (iii) decomposition into generalized forces is not required; and (iv) the force-response relation is easily visualized.     

A SEMI-ANALYTICAL APPROACH TO THE NON-LINEAR DYNAMIC RESPONSE PROBLEM OF BEAMS AT LARGE VIBRATION AMPLITUDES, PART II: MULTIMODE APPROACH TO THE STEADY STATE FORCED PERIODIC RESPONSE

The semi-analytical approach to the non-linear dynamic response of beams based on multimode analysis has been presented in Part I of this series of papers (Azrar et al., 1999 Journal of Sound and Vibration224, 183-207 [1]). The mathematical formulation of the problem and single mode analysis have been studied. The objective of this paper is to take advantage of applying this semi-analytical approach to the large amplitude forced vibrations of beams. Various types of excitation forces such as harmonic distributed and concentrated loads are considered. The governing equation of motion is obtained and can be considered as a multi-dimensional form of the Duffing equation. Using the harmonic balance method, the equation of motion is converted into non-linear algebraic form. Techniques of solution based on iterative-incremental procedures are presented. The non-linear frequency and the non-linear modes are determined at large amplitudes of vibration. The basic function contribution coefficients to the displacement response for various beam boundary conditions are calculated. The percentage of participation for each mode in the response is presented in order to appraise the relation to higher modes contributing to the solution. Also, the percentage contributions of the higher modes to the bending moment near to the clamps are given, in order to determine accurately the error introduced in the non-linear bending stress estimated by different approximations. Solutions obtained in the jump phenomena region have been determined by a careful selection of the initial iteration at each frequency. The non-linear deflection shapes in various regions of the solution, the corresponding axial force ratios and the bending moments are presented in order to follow the behaviour of the beam at large vibration amplitudes. The numerical results obtained here for the non-linear forced response are compared with those from the linear theory, with available non-linear results, based on various approaches, and with the single mode analysis.     

Suppression of the primary resonance vibrations of a forced nonlinear system using a dynamic vibration absorber

In a single degree-of-freedom weakly nonlinear oscillator subjected to periodic external excitation, a small-amplitude excitation may produce a relatively large-amplitude response under primary resonance conditions. Jump and hysteresis phenomena that result from saddle-node bifurcations may occur in the steady-state response of the forced nonlinear oscillator. A simple mass-spring-damper vibration absorber is thus employed to suppress the nonlinear vibrations of the forced nonlinear oscillator for the primary resonance conditions. The values of the spring stiffness and mass of the vibration absorber are significantly lower than their counterpart of the forced nonlinear oscillator. Vibrational energy of the forced nonlinear oscillator is transferred to the attached light mass through linked spring and damper. As a result, the nonlinear vibrations of the forced oscillator are greatly reduced and the vibrations of the absorber are significant. The method of multiple scales is used to obtain the averaged equations that determine the amplitude and phases of the first-order approximate solutions to primary resonance vibrations of the forced nonlinear oscillator. Illustrative examples are given to show the effectiveness of the dynamic vibration absorber for suppressing primary resonance vibrations. The effects of the linked spring and damper and the attached mass on the reduction of nonlinear vibrations are studied with the help of frequency response curves, the attenuation ratio of response amplitude and the desensitisation ratio of the critical amplitude of excitation.     

Nonlinear vibration of viscoelastic sandwich beams by the harmonic balance and finite element methods

This paper deals with geometrically nonlinear vibrations of sandwich beams with viscoelastic materials. For this purpose, a new finite element formulation has been developed, in which a zig-zag model is used to describe the displacement field. The viscoelastic behaviour is handled by using hereditary integrals and their relationships with complex moduli. An efficient solution procedure based on the harmonic balance method is also developed. To demonstrate its abilities, various problems of nonlinear vibrations of sandwich beams are considered. First, the results derived from the proposed approach are compared with those of nonlinear dynamic analyses using direct time integration and to experimental data. Then, the influence of the vibration amplitude on the damping properties of sandwich beams is investigated. The effect of an initial axial strain is also examined.     

Dynamic impedances and free-field vibration analysis of pile groups in saturated ground

A three-dimensional (3D) numerical model basing on the thin layer element method and the flexible volume method was established for the computation of dynamic impedances and free-field vibrations of rigidly-capped pile groups embedded in saturated ground. The piles were considered as beams and the saturated ground was represented by Biot?s three-dimensional elastodynamic theory. By recourse to the thin layer element method, Green function of the three dimensional saturated ground was obtained and then verified. The dynamic interaction of the piles and the saturated ground was solved by using the flexible volume method, in which the piles were discretized into three dimensional Euler−Bernoulli beam elements and the dynamic stiffness matrix of saturated ground was formed at the pile−soil interaction nodes by using the Green function. Impedances of the 2×2 pile group and free-field displacement and pore pressure responses caused by harmonic vertical, lateral and rocking forces (moments) applied at the cap center were presented, respectively, for different soil permeability and excitation frequencies. It is found that the soil permeability and the excitation frequency have significant influence on the impedances and the free-field vibration responses.     

Dynamic behaviour of structures in large frequency range by continuous element methods

The continuous element method is presented in the context of the harmonic response of beam assemblies. A general formulation is described from the displacement solution of the elementary problem. A direct computation of elementary dynamic stiffness matrices is presented. In the present formulation, distributed loadings are taken into account. In the case of more complex geometries for which many coupling phenomena occur, an explicit formulation is no more conceivable. In this case, a numerical approach is presented. This approach allows an algorithmic computation of exact dynamic stiffness matrices. This method, called “Numerical Continuous Element”, allows one to consider the coupled vibrations of curved beams and those of helical beams. The validation of this numerical method is achieved by comparisons with the harmonic response of various beams obtained by a finite element approach. Finally, a comparison between eigenfrequencies obtained experimentally and numerically for a straight beam and a helical beam has been made to evaluate the performances of the method.     

Stability improvement and regenerative chatter suppression in nonlinear milling process via tunable vibration absorber

In this paper, a tunable vibration absorber set (TVAs) is designed to suppress regenerative chatter in milling process (as a semi-active controller). An extended dynamic model of the peripheral milling with closed form expressions for the nonlinear cutting forces is presented. The extension part of the cutting tool is modeled as an Euler–Bernoulli beam with in plane lateral vibrations (x–y directions). Tunable vibration absorbers in x–y directions are composed of mass, spring and dashpot elements. In the presence of regenerative chatter, coupled dynamics of the system (including the beam and x–y absorbers) is described through nonlinear delay differential equations. Using an optimal algorithm, optimum values of the absorbers' position and their springs' stiffness in both x–y directions are determined such that the cutting tool vibration is minimized. Results are compared for both linear and nonlinear models. According to the results obtained, absorber set acts effectively in chatter suppression over a wide range of chatter frequencies. Stability limits are obtained and compared with two different approaches: a trial and error based algorithm and semi-discretization method. It is shown that in the case of self-excited vibrations, the optimum absorber improves the process stability. Therefore, larger values of depth of cut and consequently more material removal rate (MRR) can be achieved without moving to unstable conditions.     

Analytical study of an active piezoelectric absorber on vibration attenuation of a plate

The attenuation of the transverse vibration of a plate, subjected to a harmonic force, is studied. This goal can be achieved by using an active dynamic absorber. The active absorber is made of a pair of piezoelectric sheets, attached to both sides of the plate, and closed electric circuits. One piece of the piezoelectric material provides a sensor for detecting the motion of the plate. Another piece serves as an active dynamic absorber. The equations of motion of the composite plate, including the plate and the piezoelectric material, and the circuit equations of the sensor and the absorber are derived. The displacements of the plate and the currents in the circuits are calculated. The active absorber can successfully attenuate the vibration. The numerical results show that the proposed active absorber can offer more reduction than that using a passive absorber while the absorber is designed to suppress the resonance of a particular vibration mode. Moreover, the active absorber can also reduce the displacements corresponding to other uncontrolled modes. The effects of altering various parameters of the active absorber are studied and discussed.     

Amplitude reduction of parametric resonance by dynamic vibration absorber based on quadratic nonlinear coupling

The paper proposes an amplitude reduction method for parametric resonance with a new type of dynamic vibration absorber utilizing quadratic nonlinear coupling. A main system with asymmetric nonlinear restoring force and harmonic excitation causes parametric resonance in the system. In contrast with autoparametric vibration absorber, the natural frequency of the vibration absorber is tuned to be in the neighborhood of twice that of the main system. For such a vibration absorber, we investigate the effect on the amplitude reduction for a parametrically excited main system. Analytical results using the method of multiple scales show that the amplitude of parametric resonance is reduced by the effect of the vibration absorber. The experimental results by a simple apparatus indicate that the parametric resonance is stabilized by the effects of both vibration absorber and Coulomb friction of the main system. Moreover, numerical results considering the Coulomb friction of the main system show that the amplitude of parametric resonance becomes close to zero by the proposed vibration absorber.     

Mathematical model of the dynamics of micropolar elastic thin beams. Free and forced vibrations

A method of hypotheses has been developed to construct a mathematical model of micropolar elastic thin beams. The method is based on the asymptotic properties of the solution ofan initial boundary value problem in a thin rectangle within the micropolar theory of elasticity with independent displacement and rotation fields. An applied model of the dynamics of micropolar elastic thin beams was constructed in which transverse shear strains and related strains are taken into account. The constructed dynamics model was used to solve problems of free and forced vibrations of a micropolar beam. Free vibration frequencies and modes, forced vibration amplitudes, and resonance conditions were determined. The obtained numerical calculation results show the specific features of free vibrations of thin beams. Micropolar thin beams have a free vibration frequency which is almost independent of the thin beam size, but depends only on the physical and inertial properties of the micropolar material. It is shown for the micropolar material that the free vibration frequency values of beams can be readily adjusted and hence a large vibration frequency separation can be achieved, which is important for studying resonance.     

Passive vibration isolation of reaction wheel disturbances using a low frequency flexible space platform

Reaction wheel assemblies (RWAs) are momentum exchange devices used in fine pointing control of spacecrafts. Even though the spinning rotor of the reaction wheel is precisely balanced to minimize emitted vibration due to static and dynamic imbalances, precision instrument payloads placed in the neighborhood can always be severely impacted by residual vibration forces emitted by reaction wheel assemblies. The reduction of the vibration level at sensitive payloads can be achieved by placing the RWA on appropriate mountings. A low frequency flexible space platform consisting of folded continuous beams has been designed to serve as a mount for isolating a disturbance source in precision payloads equipped spacecrafts.Analytical and experimental investigations have been carried out to test the usefulness of the low frequency flexible platform as a vibration isolator for RWAs. Measurements and tests have been conducted at varying wheel speeds, to quantify and characterize the amount of isolation obtained from the reaction wheel generated vibration. These tests are further extended to other variants of similar design in order to bring out the best isolation for given disturbance loads. Both time and frequency domain analysis of test data show that the flexible beam platform as a mount for reaction wheels is quite effective and can be used in spacecrafts for passive vibration control.     

Linear and nonlinear vibrations analysis of viscoelastic sandwich beams

In this paper, numerical models are proposed for linear and nonlinear vibrations analyses of viscoelastic sandwich beams with various viscoelastic frequency dependent laws using the finite element based solution. Real and various complex eigenmodes approaches are investigated as Galerkin bases. Based on harmonic balance method, simplified and general approaches are developed for nonlinear vibration analysis. Analytical frequency-amplitude and phase-amplitude relationships are elaborated based on the numerically computed complex eigenmodes. The equivalent loss factors and frequencies as well as the forced harmonic response and phase curves are performed for sandwich beams with various boundary conditions and frequency dependent viscoelastic laws.     

Modeling, design and analysis of low frequency platform for attenuating micro-vibration in spacecraft

One of the most important factors that affect the pointing of precision payloads and devices in space platforms is the vibration generated due to static and dynamic unbalanced forces of rotary equipments placed in the neighborhood of payload. Generally, such disturbances are of low amplitude, less than 1 kHz, and are termed as ‘micro-vibrations’. Due to low damping in the space structure, these vibrations have long decay time and they degrade the performance of payload. This paper addresses the design, modeling and analysis of a low frequency space frame platform for passive and active attenuation of micro-vibrations. This flexible platform has been designed to act as a mount for devices like reaction wheels, and consists of four folded continuous beams arranged in three dimensions. Frequency and response analysis have been carried out by varying the number of folds, and thickness of vertical beam. Results show that lower frequencies can be achieved by increasing the number of folds and by decreasing the thickness of the blade. In addition, active vibration control is studied by incorporating piezoelectric actuators and sensors in the dynamic model. It is shown using simulation that a control strategy using optimal control is effective for vibration suppression under a wide variety of loading conditions.     

Two-degree-of-freedom rotational-pendulum vibration absorbers

This paper presents experimental as well as analytic results on a rotational-pendulum vibration absorber. The characteristic frequencies of the absorber can be tuned dynamically by adjusting the rotational speed. The device is coupled to the primary structure through a mechanical spring, thus possessing two natural modes of vibrations in the vertical plane. When the primary structure is excited by a harmonic disturbance of which the frequency matches one of the two natural frequencies, the oscillations will be minimized. Whether the pendulum absorber is operating in a resonant mode can be detected by measuring the phase difference between the motions of the primary structure and the absorber, which provides an efficient way to tune the rotational speed for optimal performance. Experimental results confirm the theoretical developments and also demonstrate the effectiveness of the proposed scheme.     

Non-linear vibrations of a harmonically excited autoparametric system

Harmonic forced vibration of a spring-mass-damper system with a parametrically excited pendulum hinged to the mass is investigated. Two types of restoring forces on the pendulum are considered. The method of harmonic balance is used to evaluate the system response. The results are also verified by numerical integration. Non-periodic system responses are possible if the excitation parameter is large. The performance of the pendulum as an absorber is also studied.     

Calculation of ground vibration spectra from heavy military vehicles

The demand for reliable autonomous systems capable to detect and identify heavy military vehicles becomes an important issue for UN peacekeeping forces in the current delicate political climate. A promising method of detection and identification is the one using the information extracted from ground vibration spectra generated by heavy military vehicles, often termed as their seismic signatures. This paper presents the results of the theoretical investigation of ground vibration spectra generated by heavy military vehicles, such as tanks and armed personnel carriers. A simple quarter car model is considered to identify the resulting dynamic forces applied from a vehicle to the ground. Then the obtained analytical expressions for vehicle dynamic forces are used for calculations of generated ground vibrations, predominantly Rayleigh surface waves, using Green's function method. A comparison of the obtained theoretical results with the published experimental data shows that analytical techniques based on the simplified quarter car vehicle model are capable of producing ground vibration spectra of heavy military vehicles that reproduce basic properties of experimental spectra.     

The effective damping approach to design a dynamic vibration absorber using Coriolis force

In this paper, the vibration reduction of a pendulum structure with dynamic vibration absorber (DVA) using Coriolis force is investigated. When the pendulum structure is subjected to a single harmonic excitation, the effective damping of Coriolis force is used with the second-order approximations to obtain the closed forms of optimal parameters of the DVA. The closed forms obtained show that the natural frequency of the absorber should be tuned to twice that of the pendulum. The closed forms of optimal parameters are verified by numerical optimization. The modified forms of optimal parameters are proposed to be used in case of general excitation. Base on this modified form, the design procedure is demonstrated by the numerical calculation of the free vibration and wind-induced vibration of a ropeway gondola.     

Whirling motion of a shallow cable with viscous dampers

The paper deals with the non-linear dynamic analysis of cables with a pair of viscous dampers close to one support. Such cables are characterized by a sag-to-chord-length ratio below 0.02, for which natural frequencies for the vertical and the horizontal vibrations are pair-wise close. Under resonance the non-linear coupling of pairs of modes may cause whirling harmonic motions around the chord line. Whirling motion may occur after bifurcation from single-mode response for harmonic loads in either vertical or horizontal direction. The non-linear features are included in the two coupled modes, while all other modes are treated as linear. The motion is discretized by expansion in terms of the damped complex eigenfunctions. The applied base functions fulfil the transition condition at the damper, leading to fast convergence of the expansion. It is demonstrated that the behaviour of the whirling motion is controlled primarily by the damper acting in the direction of the unloaded mode, whereas the magnitude of the damper in the loaded mode is less important. If the dampers in the vertical and horizontal direction are close to the optimal value of the corresponding taut cable case, substantial reduction of the vibration level of the whirling mode as well as the frequency interval of its occurrence is attained.     

An investigation into the simultaneous use of a resonator as an energy harvester and a vibration absorber

A mass–spring–damper system is at the core of both a vibration absorber and a harvester of energy from ambient vibrations. If such a device is attached to a structure that has a high impedance, then it will have very little effect on the vibrations of the structure, but it can be used to convert mechanical vibrations into electrical energy (act as an energy harvester). However, if the same device is attached to a structure that has a relatively low impedance, then the device may attenuate the vibrations as it may act as both a vibration absorber and an energy harvester simultaneously. In this paper such a device is discussed. Two situations are considered; the first is when the structure is excited with broadband random excitation and the second is when the structure is excited by a single frequency. The optimum parameters of the device for both energy harvesting and vibration attenuation are discussed for these two cases. For random excitation it is found that if the device is optimized for vibration suppression, then this is also adequate for maximizing the energy absorbed (harvested), and thus a single device can effectively suppress vibration and harvest energy at the same time. For single frequency excitation this is found not to be the case. To maximize the energy harvested, the natural frequency of the system (host structure and absorber) has to coincide with the forcing frequency, but to minimize vibration of the host structure, the natural frequency of the absorber has to coincide with the forcing frequency. In this case, therefore, a single resonator cannot effectively suppress vibration and harvest energy at the same time.     

Optimization of a hybrid vibration absorber for vibration control of structures under random force excitation

A recently reported design of a hybrid vibration absorber (HVA) which is optimized to suppress resonant vibration of a single degree-of-freedom (SDOF) system is re-optimized for suppressing wide frequency band vibration of the SDOF system under stationary random force excitation. The proposed HVA makes use of the feedback signals from the displacement and velocity of the absorber mass for minimizing the vibration response of the dynamic structure based on the H₂ optimization criterion. The objective of the optimal design is to minimize the mean square vibration amplitude of a dynamic structure under a wideband excitation, i.e., the total area under the vibration response spectrum is minimized in this criterion. One of the inherent limitations of the traditional passive vibration absorber is that its vibration suppression is low if the mass ratio between the absorber mass and the mass of the primary structure is low. The active element of the proposed HVA helps further reduce the vibration of the controlled structure and it can provide significant vibration absorption performance even at a low mass ratio. Both the passive and active elements are optimized together for the minimization of the mean square vibration amplitude of the primary system. The proposed HVA are tested on a SDOF system and continuous vibrating structures with comparisons to the traditional passive vibration absorber.