非线性模态的分类和新的求解方法

引入不可分偶数维不变流形的概念来定义非线性模态．在此基础上，揭示出了一种新的模态——耦合非线性模态，并对实际系统中各种可能的模态进行了分类．这种分类可能是新的构筑非线性模态理论的框架．用此方法构造非线性模态，得到的模态振子具有范式的形式，形式最简、却能反映原系统在平衡点附近的主要动力学行为，且易于得到非线性频率及非线性稳定性等方面的信息．不仅适用于分析一般的多自由度系统，还可用于分析奇数维系统；不仅可构造内共振系统的非耦合模态，还可用于构造内共振耦合模态．从掌握的资料看，以前的方法还不能解决上述所有问题     

The construction of non-linear normal modes for systems with internal resonance

A numerical method, based on the invariant manifold approach, is presented for constructing non-linear normal modes for systems with internal resonances. In order to parameterize the non-linear normal modes of interest, multiple pairs of system state variables involved in the internal resonance are kept as ‘seeds’ for the construction of the multi-mode invariant manifold. All the remaining degrees of freedom are then constrained to these ‘seed’, or master, variables, resulting in a system of non-linear partial differential equations that govern the constraint relationships, and these are solved numerically. The computationally-intensive solution procedure uses a combination of finite difference schemes and Galerkin-based expansion approaches. It is illustrated using two examples, both of which focus on the construction of two-mode models. The first example is based on the analysis of a simple three-degree-of-freedom example system, and is used to demonstrate the approach. An invariant manifold that captures two non-linear normal modes is constructed, resulting in a reduced order model that accurately captures the system dynamics. The methodology is then applied to a larger order system, specifically, an 18-degree-of-freedom rotating beam model that features a three-to-one internal resonance between the first two flapping modes. The accuracy of the non-linear two-mode reduced order model is verified by comparing time-domain simulations of the two DOF model and the full system equations of motion.     

An iterative approach for nonproportionally damped systems

Modal analysis of nonproportionally damped linear dynamic systems is considered. Dynamic response of such systems can be expressed by a modal series in terms of complex modes. Normally state-space based methods or approximate perturbation methods are necessary for the computation of complex modes. In this paper, an iterative method to calculate complex modes from classical normal modes for general linear systems is proposed. A simple numerical algorithm is developed to implement the iterative method. The new method is illustrated using a numerical example.     

Component Mode Synthesis Using Nonlinear Normal Modes

This paper describes a methodology for developing reduced-order dynamic models of structural systems that are composed of an assembly of nonlinear component structures. The approach is a nonlinear extension of the fixed-interface component mode synthesis (CMS) technique developed for linear structures by Hurty and modified by Craig and Bampton. Specifically, the case of nonlinear substructures is handled by using fixed-interface nonlinear normal modes (NNMs). These normal modes are constructed for the various substructures using an invariant manifold approach, and are then coupled through the traditional linear constraint modes (i.e., the static deformation shapes produced by unit interface displacements). A class of systems is used to demonstrate the concept and show the effectiveness of the proposed procedure. Simulation results show that the reduced-order model (ROM) obtained from the proposed procedure outperforms the ROM obtained from the classical fixed-interface linear CMS approach as applied to a nonlinear structure. The proposed method is readily applicable to large-scale nonlinear structural systems that are based on finite-element models.     

Nonlinear modes of piecewise linear systems under the action of periodic excitation

The approach for calculation of nonlinear normal modes (NNM) of essential nonlinear piecewise linear systems’ forced vibrations is suggested. The combination of the Shaw–Pierre NNMs and the Rauscher method is the basis of this approach. Using this approach, the nonautonomous piecewise linear system is transformed into autonomous one. The Shaw–Pierre NNMs are calculated for this autonomous system. Torsional vibrations of internal combustion engine power plant are analyzed using these NNMs.     

Non-linear normal modes,invariance, and modal dynamics approximations of non-linear systems

Non-linear systems are here tackled in a manner directly inherited from linear ones, that is, by using proper normal modes of motion. These are defined in terms of invariant manifolds in the system's phase space, on which the uncoupled system dynamics can be studied. Two different methodologies which were previously developed to derive the non-linear normal modes of continuous systems — one based on a purely continuous approach, and one based on a discretized approach to which the theory developed for discrete systems can be applied-are simultaneously applied to the same study case-an Euler-Bernoulli beam constrained by a non-linear spring-and compared as regards accuracy and reliability. Numerical simulations of pure non-linear modal motions are performed using these approaches, and compared to simulations of equations obtained by a classical projection onto the linear modes. The invariance properties of the non-linear normal modes are demonstrated, and it is also found that, for a pure non-linear modal motion, the invariant manifold approach achieves the same accuracy as that obtained using several linear normal modes, but with significantly reduced computational cost. This is mainly due to the possibility of obtaining high-order accuracy in the dynamics by solving only one non-linear ordinary differential equation.     

Resonant non-linear normal modes. Part I: analytical treatment for structural one-dimensional systems

Approximations of the resonant non-linear normal modes of a general class of weakly non-linear one-dimensional continuous systems with quadratic and cubic geometric non-linearities are constructed for the cases of two-to-one, one-to-one, and three-to-one internal resonances. Two analytical approaches are employed: the full-basis Galerkin discretization approach and the direct treatment, both based on use of the method of multiple scales as reduction technique. The procedures yield the uniform expansions of the displacement field and the normal forms governing the slow modulations of the amplitudes and phases of the modes. The non-linear interaction coefficients appearing in the normal forms are obtained in the form of infinite series with the discretization approach or as modal projections of second-order spatial functions with the direct approach. A systematic discussion on the existence and stability of coupled/uncoupled non-linear normal modes is presented. Closed-form conditions for non-linear orthogonality of the modes, in a global and local sense, are discussed. A mechanical interpretation of these conditions in terms of virtual works is also provided.     

An analytic separation method for photoelasticity

A method for separating principal stresses in photoelasticity is presented. This method is based upon the series solution of Laplace's equation and the determination of the unknown coefficients arising in this series by a least-squares numerical technique. By selecting an adequate number of terms in the series, the representation of the boundary values of the first stress invariant can be established as accurately as the initial photoelastic data. This form of representation of the first stress invariant at interior points in the region is moe accurate than the boundary values employed.     

Buoyancy-Opposed Darcy’s Flow in a Vertical Circular Duct with Uniform Wall Heat Flux: A Stability Analysis

An analytical and numerical study is presented to show that buoyancy-opposed mixed convection in a vertical porous duct with circular cross-section is unstable. The duct wall is assumed to be impermeable and subject to a uniform heat flux. A stationary and parallel Darcy’s flow with a non-uniform radial velocity profile is taken as a basic state. Stability to small-amplitude perturbations is investigated by adopting the method of normal modes. It is proved that buoyancy-opposed mixed convection is linearly unstable, for every value of the Darcy–Rayleigh number, associated with the wall heat flux, and for every mass flow rate parametrised by the Péclet number. Axially invariant perturbation modes and general three-dimensional modes are investigated. The stability analysis of the former modes is carried out analytically, while general three-dimensional modes are studied numerically. An asymptotic analytical solution is found, suitable for three-dimensional modes with sufficiently small wave number and/or Péclet number. The general conclusion is that the onset of instability selects the axially invariant modes. Among them, the radially invariant and azimuthally invariant mode turns out to be the most unstable for all possible buoyancy-opposed flows.     

Experimental evidence of bifurcating nonlinear normal modes in piecewise linear systems

A system with piecewise linear restoring forces, typical of damaged beams with a breathing crack, exhibits bifurcations characterized by the onset of superabundant modes in internal resonance with a significantly different shape than that of modes on a fundamental branch. A 2-DOF frame with piecewise linear stiffness is analyzed by means of an experimental investigation; the frame is forced by an harmonic base excitation and the operative modal shapes as well as the response amplitude are directly measured; the results are compared with numerical outcomes for different damping values. This study shows that the shapes and the frequencies of certain nonlinear normal modes (NNMs) of the related autonomous system strongly affect the forced response, in both the numerical and the experimental environments. Therefore, it is possible to match the NNM with the forced response of the system, leading to the prospect of identifying the severity and position of the damage from experimental tests.     

Nonlinear theory of hydrodynamic stability and bifurcations of solutions of the Navier-Stokes equations

A new approach to the investigation of the nonlinear development of disturbances, based on the theory of invariant manifolds, is outlined. A method of obtaining projections of the Navier-Stokes equations on finite-dimensional invariant manifolds is proposed. The behavior of the disturbances is finally described by a system of ordinary differential equations with right sides in the form of power series in the amplitudes. It is an important property of the method that these series are convergent. A two-dimensional invariant projection is calculated numerically for plane Poiseuille flow. As a result, it is possible to clarify the nature of the change from subcritical to supercritical bifurcation and investigate new bifurcations of periodic flow regimes.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 1, pp. 9–15, January–February, 1990.The author is grateful to A. Zharilkasinov for carrying out the numerical calculations.     

Nonlinear Modal Analysis of Structural Systems Using Multi-Mode Invariant Manifolds

In this paper, an invariant manifold approach is introduced for the generationof reduced-order models for nonlinear vibrations of multi-degrees-of-freedomsystems. In particular, the invariant manifold approach for defining andconstructing nonlinear normal modes of vibration is extended to the case ofmulti-mode manifolds. The dynamic models obtained from this technique capture the essential coupling between modes of interest, while avoiding coupling fromother modes. Such an approach is useful for modeling complex systemresponses, and is essential when internal resonances exist between modes.The basic theory and a general, constructive methodology for the method arepresented. It is then applied to two example problems, one analytical andthe other finite-element based. Numerical simulation results are obtainedfor the full model and various types of reduced-order models, including theusual projection onto a set of linear modes, and the invariant manifoldapproach developed herein. The results show that the method is capable ofaccurately representing the nonlinear system dynamics with relatively fewdegrees of freedom over a range of vibration amplitudes.     

Elucidating the escape dynamics of the four hill potential

This paper treads discontinuous bifurcation in piecewise smooth systems of Filippov type. These bifurcations occur when a fixed point or a periodic orbit crosses with the border between two regions of smooth behavior. A detailed analysis of generalization Poincaré map and monodromy matrix which are related shows that subfamily of system with invariant cone-like objects is foliated by periodic orbits and determines its stability. In addition, we introduce a theoretical framework for analyzing 3D perturbed nonlinear piecewise smooth systems and give necessary conditions so that different types of bifurcations occur. The analysis identifies criteria for the existence of a novel bifurcation based on sensitively the location of the return map. Moreover, the piecewise smooth Melnikov function and sufficient conditions of the existence of the periodic orbits for nonlinear perturbed system are explicitly obtained.     

A perturbation method for evaluating nonlinear normal modes of a piecewise linear two-degrees-of-freedom system

The classical Lindstedt–Poincaré method is adapted to analyze the nonlinear normal modes of a piecewise linear system. A simple two degrees-of-freedom, representing a beam with a breathing crack is considered. The fundamental branches of the two modes and their stability are drawn by varying the severity of the crack, i.e., the level of nonlinearity. Results furnished by the asymptotic method give insight into the mechanical behavior of the system and agree well with numerical results; the existence of superabundant modes is proven. The unstable regions and the bifurcated branches are followed by a numerical procedure based on the Poincarè map.     

High order direct parametrisation of invariant manifolds for model order reduction of finite element structures: application to large amplitude vibrations and uncovering of a folding point

This paper investigates model-order reduction methods for geometrically nonlinear structures. The parametrisation method of invariant manifolds is used and adapted to the case of mechanical systems in oscillatory form expressed in the physical basis, so that the technique is directly applicable to mechanical problems discretised by the finite element method. Two nonlinear mappings, respectively related to displacement and velocity, are introduced, and the link between the two is made explicit at arbitrary order of expansion, under the assumption that the damping matrix is diagonalised by the conservative linear eigenvectors. The same development is performed on the reduced-order dynamics which is computed at generic order following different styles of parametrisation. More specifically, three different styles are introduced and commented: the graph style, the complex normal form style and the real normal form style. These developments allow making better connections with earlier works using these parametrisation methods. The technique is then applied to three different examples. A clamped-clamped arch with increasing curvature is first used to show an example of a system with a softening behaviour turning to hardening at larger amplitudes, which can be replicated with a single mode reduction. Secondly, the case of a cantilever beam is investigated. It is shown that invariant manifold of the first mode shows a folding point at large amplitudes. This exemplifies the failure of the graph style due to the folding point on a real structure, whereas the normal form style is able to pass over the folding. Finally, a MEMS (Micro Electro Mechanical System) micromirror undergoing large rotations is used to show the importance of using high-order expansions on an industrial example.

     

Occurrence of multiple attractor bifurcations in the two-dimensional piecewise linear normal form map

Multiple attractor bifurcations occurring in piecewise smooth dynamical systems may lead to potentially damaging situations. In order to avoid these in physical systems, it is necessary to know their conditions of occurrence. Using the piecewise-linear 2D normal form, we investigate which types of multiple attractor bifurcations may occur and where in the parameter space they can be expected. For piecewise smooth maps, multiple attractor bifurcations will be expected to occur if the condition we identified for the piecewise-linear 2D normal form are satisfied in the close neighborhood of the border.     

Normal Vibrations in Near-Conservative Self-Excited and Viscoelastic Nonlinear Systems

A perturbation methodology and power series are utilizedto the analysis of nonlinear normal vibration modes in broadclasses of finite-dimensional self-excited nonlinear systems closeto conservative systems taking into account similar nonlinear normal modes.The analytical construction is presented for some concretesystems. Namely, two linearly connected Van der Pol oscillatorswith nonlinear elastic characteristics and a simplesttwo-degrees-of-freedom nonlinear model of plate vibrations in agas flow are considered.Periodical quasinormal solutions of integro-differentialequations corresponding to viscoelastic mechanical systems areconstructed using a convergent iteration process. One assumesthat conservative systems appropriate for the dominant elasticinteractions admit similar nonlinear normal modes.     

Method of stochastic normal forms

—The method of normal forms, originally developed for deterministic non-linear dynamical systems, is extended to include stochastic excitations, with the objective of obtaining an optimal reduction of dimensionality of the system while retaining its essential dynamic characteristics. Similar to the deterministic case, the crucial step in the normal-form computation is to find the so-called resonant terms which cannot be eliminated through a non-linear change of variables. Subsequent to the reduction of dimensionality, the associated stochastic normal form is obtained using a Markovian approximation. It is shown that the second order stochastic terms must be retained, in order to capture the stochastic contributions of the stable modes to the drift terms of the critical modes. Furthermore, for a specific class of non-linear systems, the results obtained from the stochastic normal form analysis are the same as those obtained from an extended stochastic averaging procedure. Thus, for this particular class, the two methods are equivalent.     

Nonlinear oscillations of an elastic two-degrees-of-freedom pendulum

Nonlinear oscillations of the vertical plane swinging spring pendulum in the resonance case are studied (frequencies ratio regarding horizontal and vertical directions is equal to 1:2). Square and cubic terms of the Hamiltonian are taken into account. Novel normal form method, i.e., the so called invariant normalization is applied to solve the stated problem. Full system of integrals exhibits equations of the normal form, and solution for the pendulum coordinates is expressed via elementary functions. Frequencies of modes of oscillations are proportional to the first power of amplitude, and not to the second power as it is exhibited by one dimensional Duffing oscillator. Amplitudes of the modes are changed periodically, and energy from one mode is transited to energy of the second one, whereas the period of oscillations depends on the initial conditions. It is illustrated that asymptotic solution with small amplitudes approximates well numerical solution of the governing equations. In addition, an example of a periodic stable solution with constant amplitudes of the oscillation modes is given. Stability of this solution is proved.     

Invariant Manifolds,Nonclassical Normal Modes,and Proper Orthogonal Modes in the Dynamics of the Flexible Spherical Pendulum

It is shown that the flexible spherical pendulum undergoes purely slow motions with master and slaved components. The family of slow motions is realized as a three-dimensional invariant manifold in phase space. This manifold is computed analytically by applying the method of geometric singular perturbations. This manifold is nonlinear and for all energy and angular momentum levels is characterized precisely by three PO (proper orthogonal) modes. Its submanifold of zero angular momentum is a two-dimensional invariant manifold; it is the geometric realization of a nonclassical nonlinear normal mode. This normal mode is characterized precisely by two PO modes. The slaved slow dynamics are characterized precisely by a single PO mode. The stability of the slow invariant manifold as well as interactions between fast and slow dynamics are considered.