Large free vibrations of a beam carrying a moving mass

The focus of this work is to develop a technique to obtain numerical solution over a long range of time for non-linear multi-body dynamic systems undergoing large amplitude motion. The system considered is an idealization of an important class of problems characterized by non-linear interaction between continuously distributed mass and stiffness and lumped mass and stiffness. This characteristic results in some distinctive features in the system response and also poses significant challenges in obtaining a solution.

In this paper, equations of motion are developed for large amplitude motion of a beam carrying a moving spring–mass. The equations of motion are solved using a new approach that uses average acceleration method to reduce non-linear ordinary differential equations to non-linear algebraic equations. The resulting non-linear algebraic equations are solved using an iterative method developed in this paper. Dynamics of the system is investigated using a time-frequency analysis technique.     

Periodic responses and chaotic behaviors of an axially accelerating viscoelastic Timoshenko beam

This paper investigates the steady-state periodic response and the chaos and bifurcation of an axially accelerating viscoelastic Timoshenko beam. For the first time, the nonlinear dynamic behaviors in the transverse parametric vibration of an axially moving Timoshenko beam are studied. The axial speed of the system is assumed as a harmonic variation over a constant mean speed. The transverse motion of the beam is governed by nonlinear integro-partial-differential equations, including the finite axial support rigidity and the longitudinally varying tension due to the axial acceleration. The Galerkin truncation is applied to discretize the governing equations into a set of nonlinear ordinary differential equations. Based on the solutions obtained by the fourth-order Runge–Kutta algorithm, the stable steady-state periodic response is examined. Besides, the bifurcation diagrams of different bifurcation parameters are presented in the subcritical and supercritical regime. Furthermore, the nonlinear dynamical behaviors are identified in the forms of time histories, phase portraits, Poincaré maps, amplitude spectra, and sensitivity to initial conditions. Moreover, numerical examples reveal the effects of various terms Galerkin truncation on the amplitude–frequency responses, as well as bifurcation diagrams.     

粘弹性轴向运动梁的非线性动力学行为

本文研究了带有小脉动的轴向运动粘弹性梁的分岔及混沌现象。建立了系统的动力学模型。通过二阶Galerkin截断，把描述系统运动的偏微分方程离散化。利用数值方法分别分析了几种运动脉动频率时，梁随轴向运动脉动幅值，平均速度及粘弹性系数等几个参数变化时的运动分岔行为。利用Lyapunov指数识别系统的动力学行为，区分准周期振动和混沌运动。     

Coupled global dynamics of an axially moving viscoelastic beam

The nonlinear global forced dynamics of an axially moving viscoelastic beam, while both longitudinal and transverse displacements are taken into account, is examined employing a numerical technique. The equations of motion are derived using Newton′s second law of motion, resulting in two partial differential equations for the longitudinal and transverse motions. A two-parameter rheological Kelvin–Voigt energy dissipation mechanism is employed for the viscoelastic structural model, in which the material, not partial, time derivative is used in the viscoelastic constitutive relations; this gives additional terms due to the simultaneous presence of the material damping and the axial speed. The equations of motion for both longitudinal and transverse motions are then discretized via Galerkin’s method, in which the eigenfunctions for the transverse motion of a hinged-hinged linear stationary beam are chosen as the basis functions. The subsequent set of nonlinear ordinary equations is solved numerically by means of the direct time integration via modified Rosenbrock method, resulting in the bifurcation diagrams of Poincaré maps. The results are also presented in the form of time histories, phase-plane portraits, and fast Fourier transform (FFTs) for specific sets of parameters.     

Three-dimensional nonlinear planar dynamics of an axially moving Timoshenko beam

The three-dimensional nonlinear planar dynamics of an axially moving Timoshenko beam is investigated in this paper by means of two numerical techniques. The equations of motion for the longitudinal, transverse, and rotational motions are derived using constitutive relations and via Hamilton’s principle. The Galerkin method is employed to discretize the three partial differential equations of motion, yielding a set of nonlinear ordinary differential equations with coupled terms. This set is solved using the pseudo-arclength continuation technique so as to plot frequency-response curves of the system for different cases. Bifurcation diagrams of Poincaré maps for the system near the first instability are obtained via direct time integration of the discretized equations. Time histories, phase-plane portraits, and fast Fourier transforms are presented for some system parameters.     

Stability and bifurcations of an axially moving beam with an intermediate spring support

The forced non-linear vibrations of an axially moving beam fitted with an intra-span spring-support are investigated numerically in this paper. The equation of motion is obtained via Hamilton??s principle and constitutive relations. This equation is then discretized via the Galerkin method using the eigenfunctions of a hinged-hinged beam as appropriate basis functions. The resultant non-linear ordinary differential equations are then solved via either the pseudo-arclength continuation technique or direct time integration. The sub-critical response is examined when the excitation frequency is set near the first natural frequency for both the systems with and without internal resonances. Bifurcation diagrams of Poincaré maps obtained from direct time integration are presented as either the forcing amplitude or the axial speed is varied; as we shall see, a sequence of higher-order bifurcations ensues, involving periodic, quasi-periodic, periodic-doubling, and chaotic motions.     

Refined models of elastic beams undergoing large in-plane motions: Theory and experiment

Accurate mechanical models of elastic beams undergoing large in-plane motions are discussed theoretically and experimentally. Employing the geometrically exact theory of rods with appropriate kinematic assumptions and asymptotic arguments, two approximate models are obtained—a relaxed model and its constrained version—that describe extensional and bending motions and neglect shear deformations. These models are shown to be suitable to predict, via an asymptotic approach, closed-form nonlinear motions of beams with general boundary conditions and, in particular, with boundary conditions that longitudinally constrain the motions. On the other hand, for axially unrestrained or weakly restrained beams, an inextensible and unshearable model is presented that describes bending motions only. The perturbations about the reference configuration up to third order are consistently derived for all beam models. Closed-form solutions of the responses to primary-resonance excitations are obtained via an asymptotic treatment of the governing equations of motion for two different beam configurations; namely, hinged–hinged (axially restrained) and simply supported (axially unrestrained) beams. In particular, considering the present theory and the existing theories, variations of the frequency–response curves with the beam slenderness or the relative boundary mass are investigated for the lowest modes. The fidelity of the proposed nonlinear models is ascertained comparing the theoretically obtained frequency–response curves of the first mode with those experimentally obtained.     

Towards linear modal analysis for an L-shaped beam: Equations of motion

We consider an L-shaped beam structure and derive all the equations of motion considering also the rotary inertia terms. We show that the equations are decoupled in two motions, namely the in-plane bending and out-of-plane bending with torsion. In neglecting the rotary inertia terms the torsional equation for the secondary beam is fully decoupled from the other equations for out-of-plane motion. A numerical modal analysis was undertaken for two models of the L-shaped beam, considering two different orientations of the secondary beam, and it was shown that the mode shapes can be grouped into these two motions: in-plane bending and out-of-plane motion. We compared the theoretical natural frequencies of the secondary beam in torsion with finite element results which showed some disagreement, and also it was shown that the torsional mode shapes of the secondary beam are coupled with the other out-of-plane motions. These findings confirm that it is necessary to take rotary inertia terms into account for out-of-plane bending. This work is essential in order to perform accurate linear modal analysis on the L-shaped beam structure.     

Hopf bifurcation and chaotic motions of a tubular cantilever subject to cross flow and loose support

The Hopf bifurcation and chaotic motions of a tubular cantilever impacting on loose support is studied using an analytic model that involves delay differential equations. By using the damping-controlled mechanism, a single flexible cantilever in an otherwise rigid square array of cylinders is analyzed. The analytical model, after Galerkin discretization to five d.o.f., exhibits interesting dynamical behavior. Numerical solutions show that, with increasing flow beyond the critical, the amplitude of motion grows until impacting with the loose support placed at the tip end of the cylinder occurs; more complex motions then arise, leading to chaos and quasi-periodic motions for a sufficiently high flow velocity. The effect of location of the loose support on the global dynamics of the system is also investigated.     

Chaos in a single equilibrium point system: Finite deformations

The purpose of this paper is to examine a highly nonlinear model of a slender beam which yields chaotic solutions for some forcing amplitudes. The study is unique in that the governing partial differential equations are solved directly, and that the model lends itself to a more physical analysis of the beam than traditional chaotic models. In addition, the analysis will provide proof that a beam experiencing moderate deformations without stops or an initial axial force can exhibit chaotic motion. The model represents a simply-supported. Euler-Bernoulli beam subjected to a transverse load. The forcing function is sinusoidally distributed in space with an amplitude which also varies sinusoidally in time and is assumed to reach a maximum sufficient to allow nonlinearities associated with finite deformations to become important. During motion, even though displacements are large, the beam is assumed to attain only small strain levels and thus is assumed to be linearly elastic. The results indicate that for most levels of the forcing function the response of the beam is periodic. However, the steady state motion is not sinusoidal in time and in fact exhibits some bifurcated motions. At a certain level of the forcing amplitude, an asymmetry is observed and the periodicity of the motion breaks down as the beam experiences a period doubling cascade which culminates in a chaotic motion. The progression from periodic to chaotic motion is presented through a series of phase plane and Poincané plots, and physical variables such as bending moment are examined.     

On the size-dependent flexural vibration characteristics of unbalanced couple stress-based micro-spinning beams

On the basis of the modified couple stress theory, some analytical results are obtained for vibrational parameters of micro-spinning Rayleigh beams with an axial mass-eccentricity distribution. The modified couple stress theory is a nonclassical continuum theory capable to capture the size effects in small-scale structures. After writing the governing equations of motion, they are transformed to the complex form. Then by utilizing the Galerkin method, analytical expressions for natural frequencies of the micro-spinning beam in forward and backward whirl motions are obtained. Critical speeds are also analytically presented in the two whirl motions for different modes. Moreover, the vibrational amplitude of the micro-spinning beam with axial mass eccentricity distribution is determined. Some numerical results are presented to study the effect of the length scale parameter on the vibrational characteristics.     

Simply supported elastic beams under parametric excitation

In this paper, the nonlinear characteristics of the parametric resonance of simply supported elastic beams are investigated. Considering a geometrically exact formulation for unsharable and inextensible elastic beams subject to support motions, the integral-partial-differential equation of motion is obtained. The third-order perturbation of the equation of motion is then determined in a form amenable to an asymptotic treatment. The method of multiple scales is used to obtain the equations that describe the modulation of the amplitude and phase of parametric-resonance motions. The stability and bifurcations of the system are investigated considering, in particular, the frequency-response function. Furthermore, experimental results are shown to confirm the theoretically predicted stability and bifurcations.     

时变张力作用下轴向运动梁的分岔与混沌

轴向运动结构的横向参激振动一直是非线性动力学领域的研究热点之一. 目前研究较多的是轴向速度摄动的动力学模型,参数激励由速度的简谐波动产生. 但在工程应用中,存在轴向张力波动的运动结构较为广泛,而针对轴向张力摄动的模型研究较少. 本文研究了时变张力作用下轴向变速运动黏弹性梁的分岔与混沌. 考虑随着时间周期性变化的轴向张力,计入线性黏性阻尼,采用Kelvin模型的黏弹性本构关系,给出了梁横向非线性 振动的积分--偏微分控制方程. 首先应用四阶Galerkin截断方法将控制方程离散化,然后采用四阶Runge-Kutta方法计算系统的数值解,进而确定其动力学行为. 基于梁中点的横向位移和速度的数值结果,仿真了梁沿平均轴速、张力摄动幅值、张力摄动频率以及黏弹性系数变化的倍周期分岔与混 沌运动,并且通过计算系统的最大李雅普诺夫指数来识别其混沌行为. 结果表明:较小的平均轴速有助于梁的周期运动,梁在临界速度附近容易发生倍周期分岔与混沌行为. 随着张力摄动幅值的增大,梁的振动幅值的混沌区间不断增大. 较小的黏弹性系数和张力摄动频率更容易使梁发生混沌运动. 最后,给出时程图、频谱图、相图以及Poincaré 映射图来确定梁的混沌运动.      

Nonlinear dynamics of axially moving beam with coupled longitudinal–transversal vibrations

In this study, the nonlinear vibrations of an axially moving beam are investigated by considering the coupling of the longitudinal and transversal motion. The Galerkin method is used to truncate the governing partial differential equations into a set of coupled nonlinear ordinary differential equations. By detuning the axially velocity, the exact parameters with which the system may turn to internal resonance are detected. The method of multiple scales is applied to the governing equations to study the nonlinear dynamics of the steady-state response caused by the internal–external resonance. The saturation and jump phenomena of such system have been reported by investigating the nonlinear amplitude–response curves with respect to external excitation, internal, and external detuning parameters. The longitudinal external excitation may trigger only longitudinal response when excitation amplitude is weak. However, beyond the critical excitation amplitude, the response energy will be transferred from the longitudinal motion to the transversal motion even the excitation is employed on the longitudinal direction. Such energy transfer due to saturation has the potential to be used in the vibration suppression.     

Chaotic vibrations of a beam with non-linear boundary conditions

Forced vibrations of an elastic beam with non-linear boundary conditions are shown to exhibit chaotic behavior of the strange attractor type for a sinusoidal input force. The beam is clamped at one end, and the other end is pinned for the tip displacement less than some fixed value and is free for displacements greater than this value. The stiffness of the beam has the properties of a bi-linear spring. The results may be typical of a class of mechanical oscillators with play or amplitude constraining stops. Subharmonic oscillations are found to be characteristic of these types of motions. For certain values of forcing frequency and amplitude the periodic motion becomes unstable and nonperiodic bounded vibrations result. These chaotic motions have a narrow band spectrum of frequency components near the subharmonic frequencies. Digital simulation of a single mode mathematical model of the beam using a Runge-Kutta algorithm is shown to give results qualitatively similar to experimental observations.     

NONLINEAR DYNAMICS OF AXIALLY ACCELERATING VISCOELASTIC BEAMS BASED ON DIFFERENTIAL QUADRATURE

This paper investigates nonlinear dynamical behaviors in transverse motion of an axially accelerating viscoelastic beam via the differential quadrature method. The governing equation, a nonlinear partial-differential equation, is derived from the viscoelastic constitution relation using the material derivative. The differential quadrature scheme is developed to solve numerically the governing equation. Based on the numerical solutions, the nonlinear dynamical behaviors are identified by use of the Poincare map and the phase portrait. The bifurcation diagrams are presented in the case that the mean axial speed and the amplitude of the speed fluctuation are respectively varied while other parameters are fixed. The Lyapunov exponent and the initial value sensitivity of the different points of the beam, calculated from the time series based on the numerical solutions, are used to indicate periodic motions or chaotic motions occurring in the transverse motion of the axially accelerating viscoelastic beam.     

Modified shooting approach to the non-linear periodic forced response of isotropic/composite curved beams

Large amplitude periodic forced vibration of curved beams under periodic excitation is investigated using a three-noded beam element. The element is based on the higher-order shear deformation theory satisfying interlayer continuity of displacements and transverse shear stress, and top-bottom conditions on the latter. The periodic responses are obtained using shooting technique coupled with Newmark time marching and arc length continuation algorithm developed. The second order governing differential equations of motion are solved without transforming to the first order differential equations thereby resulting in a computationally more efficient algorithm. The effects of excitation amplitude, support conditions and beam curvature on the frequency versus response amplitude relation are highlighted. The typical frequency response curves for isotropic and cross-ply laminated curved beams are presented. Phenomenon of strong modal interactions is observed.     

Fragility analysis of bridges under ground motion with spatial variation

Seismic ground motion can vary significantly over distances comparable to the length of a majority of highway bridges on multiple supports. This paper presents results of fragility analysis of highway bridges under ground motion with spatial variation. Ground motion time histories are artificially generated with different amplitudes, phases, as well as frequency contents at different support locations. Monte Carlo simulation is performed to study dynamic responses of an example multi-span bridge under these ground motions. The effect of spatial variation on the seismic response is systematically examined and the resulting fragility curves are compared with those under identical support ground motion. This study shows that ductility demands for the bridge columns can be underestimated if the bridge is analyzed using identical support ground motions rather than differential support ground motions. Fragility curves are developed as functions of different measures of ground motion intensity including peak ground acceleration, peak ground velocity, spectral acceleration, spectral velocity and spectral intensity. This study represents a first attempt to develop fragility curves under spatially varying ground motion and provides information useful for improvement of the current seismic design codes so as to account for the effects of spatial variation in the seismic design of long-span bridges.     

Dynamics of a Flexible Cantilever Beam Carrying a Moving Mass

The motion of a flexible cantilever beam carrying a moving spring-mass system is investigated. The beam is assumed to be an Euler–Bernouli beam. The motion of the system is described by a set of two nonlinear coupled partial differential equations where the coupling terms have to be evaluated at the position of the mass. The nonlinearities arise due to the coupling between the mass and the beam. Due to the nonlinearities the system exhibits internal resonance which is investigated in this work. The equations of motion are solved numerically using the Rayleigh–Ritz method and an automatic ODE solver. An approximate solution using the perturbation method of multiple scales is also obtained.     

Simulation of attitude motions of torque-free,deformable spacecraft

Equations of motion are derived for torque-free, elastic, dissipative systems possessing a finite number of degrees of freedom. The equations are linearized about a particular solution in the variables describing the “internal” configuration of the system, and then SAM, a computer program based on these equations, is described. The program permits the user to obtain information about motions of a given system without writing any computer code. The paper concludes with an illustrative example involving a comparison of results obtained, on the one hand, by solving the exact equations of motion and, on the other hand, by using SAM to explore the behavior of a satellite containing a passive nutation damper. The example shows rather vividly both that relatively small deformational motions can give rise to large attitude motions and that SAM can describe these motions satisfactorily.