Influence of harmonically varying normal load on steady-state behavior of a 2dof torsional system with dry friction

A nonlinear dry friction problem with harmonically varying normal load is formulated, in the context of a two-degree of freedom torsional system, since virtually all of the prior literature focuses on the topic of time-invariant normal load. First, pure stick, pure slip and stick-slip motions are computationally and analytically determined when excited by a sinusoidal torque, in the presence of harmonically varying saturation torque; mean terms are included in both. These analyses yield both transient and steady-state time histories under various conditions. Second, the effects of time-varying normal load on steady-state responses have been investigated and nonlinear spectral maps (including super-harmonics) are developed. Results show that the actuation system parameters could affect steady-state stick-slip motions in different ways over the lower and higher frequency regimes, as a result of time-delay in slip motions with respect to the torque excitation. In particular, the negative slope characteristics in the friction law exaggerate the stick-slip vibration problems, and it is the major cause of bifurcations and quasi-periodic or chaotic motions. Around the super-harmonic peak frequencies, the nonlinear system tends to lose stability as abrupt jumps in the spectral maps take place. An equivalent viscous damping model is considered to analytically investigate the instability mechanism. Further, the periodicity of the system response under harmonically varying actuation is conceptually by employing the harmonic balance method. Finally, steady-state behavior is examined for the nonlinear, time-varying dry friction problem.     

Existence and analytical predictions of periodic motions in a periodically forced,nonlinear friction oscillator

The grazing bifurcation, stick phenomena and periodic motions in a periodically forced, nonlinear friction oscillator are investigated. The nonlinear friction force is approximated by a piecewise linear, kinetic friction model with the static force. The total forces for the input and output flows to the separation boundary are introduced, and the force criteria for the onset and vanishing of stick motions are developed through such input and output flow forces. The periodic motions of such an oscillator are predicted analytically through the corresponding mapping structure. Illustrations of the periodic motions in such a piecewise friction model are given for a better understanding of the stick motion with the static friction. The force responses are presented, which agreed very well with the force criteria. If the fully nonlinear friction force is modeled by several portions of piecewise linear functions, the periodically forced, nonlinear friction oscillator can be predicted more accurately. However, for the fully nonlinear friction force model, only the numerical investigation can be carried out.     

Micro/macro-slip damping in beams with frictional contact interface

Friction in contact interfaces of assembled structures is the prime source of nonlinearity and energy dissipation. Determination of the dissipated energy in an assembled structure requires accurate modeling of joint interfaces in stick, micro-slip and macro-slip states. The present paper proposes an analytical model to evaluate frictional energy loss in surface-to-surface contacts. The goal is to develop a continuous contact model capable of predicting the dynamics of friction interface and dissipation energy due to partial slips. To achieve this goal, the governing equations of a frictional contact interface are derived for two distinct contact states of stick and partial slip. A solution procedure to determine stick–slip transition under single-harmonic excitations is derived. The analytical model is verified using experimental vibration test responses performed on a free-frictionally supported beam under lateral loading. The theoretical and experimental responses are compared and the results show good agreements between the two sets of responses.     

Stability and transient dynamics of a propeller–shaft system as induced by nonlinear friction acting on bearing–shaft contact interface

This paper investigates the friction-induced instability and the resulting self-excited vibration of a propeller–shaft system supported by water-lubricated rubber bearing. The system under consideration is modeled with an analytical approach by involving the nonlinear interaction among torsional vibrations of the continuous shaft, tangential vibrations of the rubber bearing and the nonlinear friction acting on the bearing–shaft contact interface. A degenerative two-degree-of-freedom analytical model is also reasonably developed to characterize system dynamics. The stability and vibrational characteristics are then determined by the complex eigenvalues analysis together with the quantitative analysis based on the method of multiple scales. A parametric study is conducted to clarify the roles of friction parameters and different vibration modes on instabilities; both the graphic and analytical expressions of instability boundaries are obtained. To capture the nature of self-excited vibrations and validate the stability analysis, the nonlinear formulations are numerically solved to calculate the transient dynamics in time and frequency domains. Analytical and numerical results reveal that the nonlinear coupling significantly affects the system responses and the bearing vibration plays a dominant role in the dynamic behavior of the present system.     

Approximate analytical solutions to a conservative oscillator using global residue harmonic balance method

In the current research paper, a conservative system comprising of a mass grounded by linear and nonlinear springs in series connection is studied. The equation of motion for the aforementioned system has been derived as a nonlinear ordinary differential equation with inertia and static–type cubic nonlinearities. The global residue harmonic balance method is applied to obtain an approximate analytical frequency and periodic solution of the problem. Using the obtained analytical expressions, the influences of the hardening and softening nonlinear spring on the non–dimensional frequency are investigated. The results show that developing the system nonlinearity leads the displacement of the mass and the deflection of linear spring to approach each other. Moreover, comparison of the results obtained using the proposed procedure with those achieved by other methods such as numerical method, variational iteration method and harmonic balance approach demonstrates the accuracy and advantages of the current approach.     

Order domain analysis of speed-dependent friction-induced torque in a brake experiment

A friction-induced forced vibration problem, as excited by the geometric distortions of the brake rotor, is studied in this article. The focus is on the order domain analysis, as the speed-dependent behavior of friction torque is not well understood. First, a new laboratory experiment is constructed to simulate vehicle brake judder in a scientific and yet controlled manner. The variations in pressure and torque are measured as the rotor slows down, and the order domain tracking is used to construct shaft torque vs. speed diagrams. A quasi-linear model of the laboratory experiment is then developed to obtain an analytical solution and to estimate the torque envelope function. A nonlinear model of the laboratory experiment (with a clearance) is also investigated to examine the resonant amplitude growth. Finally, predictions are successfully compared with measurements. Several contributions emerge over the prior literature. In particular, the experimental data clearly show that multiple-orders of the rotor surface distortion profile excite the friction-induced torque, and a clearance in the torsional system controls the resonant amplitude regime. New analytical and numerical solutions provide much insight into the speed-dependent resonant amplitude growth process.     

Influence of velocity in nanoscale friction processes

Force-microscopy images of boric acid crystals were obtained experimentally and simulated with the use of a two-dimensional mechanical model. An analysis of the stick and slip movement of the microscope tip shows that the energy-dissipation mechanism is strongly influenced by the non-linear dynamics of the sliding system. The contributions of stick and viscous forces on the energy dissipation (or friction forces) are studied as a function of the relative scanning velocity. At low relative velocities, the stick forces are shown to be responsible for the energy dissipation. This energy is velocity-dependent, due to the coupling between the two degrees of freedom of the sliding system. As the scanning velocity increases the stick forces are damped; the viscous force is then predominant in the energy-dissipation process. Received: 30 October 2001 / Accepted: 17 May 2002 / Published online: 22 November 2002 RID="*" ID="*"Corresponding author. Fax: +55-21/2295-9397, E-mail: prioli@vdg.fis.puc-rio.br     

Dynamics and control of oscillations in a complex crystalline lattice

A highly nonlinear system of acoustic and optical oscillations in a complex crystalline lattice consisting of two sublattices is analyzed. The system is obtained as a generalization of the linear Carman–Born–Kun Huang theory. Large displacements of atoms up to structure stability loss and restructuring are admitted. It is shown that the system has nontrivial solutions describing movements of fronts, emergence of periodic structures and defects. Strong interaction of acoustic and optical modes of oscillation for media without center of symmetry is demonstrated. A possibility of energy-excitation of the optical mode by means of controlling torque applied to the ends of the lattice is examined. Control algorithm based on speed-gradient method is proposed and analyzed numerically. Simulation results demonstrate that application of control may eliminate or reduce influence of initial conditions. An easily realizable nonfeedback version of control algorithm is proposed possessing similar properties.     

A numerical investigation of curve squeal in the case of constant wheel/rail friction

Curve squeal is commonly attributed to self-excited vibrations of the railway wheel, which arise due to a large lateral creepage of the wheel tyre on the top of the rail during curving. The phenomenon involves stick/slip oscillations in the wheel/rail contact and is therefore strongly dependent on the prevailing friction conditions. The mechanism causing the instability is, however, still a subject of controversial discussion. Most authors introduce the negative slope of the friction characteristic as a source of the instability, while others have found that squeal can also occur in the case of constant friction due to the coupling between normal and tangential dynamics. As a contribution to this discussion, a detailed model for high-frequency wheel/rail interaction during curving is presented in this paper and evaluated in the case of constant friction. The interaction model is formulated in the time domain and includes the coupling between normal and tangential directions. Track and wheel are described as linear systems using pre-calculated impulse response functions that are derived from detailed finite element models. The nonlinear, non-steady state contact model is based on an influence function method for the elastic half-space. Real measured wheel and rail profiles are used. Numerical results from the interaction model confirm that stick/slip oscillations occur also in the case of constant friction. The choice of the lateral creepage, the value of the friction coefficient and the lateral contact position on the wheel tread are seen to have a strong influence on the occurrence and amplitude of the stick/slip oscillations. The results from the interaction model are in good qualitative agreement with previously published findings on curve squeal.     

Ageing of a microscopic sliding gold contact at low temperatures

Nanometer-scale friction measurements on a Au(111) surface have been performed at temperatures between 30 and 300?K by means of atomic force microscopy. Stable stick slip with atomic periodicity is observed at all temperatures, showing only weak dependence on temperature between 300 and 170?K. Below 170?K, friction increases with time and a distortion of the stick-slip characteristic is observed. Low friction and periodic stick slip can be reestablished by pulling the tip out of contact and subsequently restoring the contact. A comparison with molecular dynamics simulations indicates that plastic deformation within a growing gold junction leads to the observed frictional behavior at low temperatures. The regular stick slip with atomic periodicity observed at room temperature is the result of a dynamic equilibrium shape of the contact, as microscopic wear damage is observed to heal in the sliding contact.     

Dynamics of solitary waves generated by subcritical instability under the action of delayed feedback control

We consider the influence of a global delayed feedback control which acts on a system governed by a subcritical Ginzburg–Landau equation. The method based on a variational principle is applied for the derivation of a low-dimensional evolution model. In the framework of this model a one-pulse solution is found, and its linear and nonlinear stability analysis is carried out. The existence region for a stable time-periodic pulse solution is found between the boundaries in the parameter space corresponding to a Hopf bifurcation and a saddle-node bifurcation. The obtained results are compared with the results of an analytical linear theory and direct numerical simulations of the original problem.     

Modelling of a two-dimensional Coulomb friction oscillator

Xia proposes a model for investigating the stick-slip motion caused by dry friction of a two-dimensional oscillator under arbitrary excitations. Instead of the harmonic balance method used by most investigators, a numerical approach to investigate the system is provided. The concept of the friction direction angle is introduced to determine the components of the static and kinetic friction force vector and the hyperbolic secant function is introduced to deal with the transition of the friction force from the static to the kinetic state. The friction direction angle is determined by either relative velocities or input forces. With this method the switch conditions for stick state, slip state and stick-slip state can be easily derived. The orbits of the responses, which are either straight line segments, circular or elliptic are obtained. In the general case, the orbit of the response is a complex planar curve. Zero-stop, one-stop, two-stops and more than two-stops per cycle are also found.     

On the nonlinear normal modes of free vibration of piecewise linear systems

A modification of the Shaw–Pierre nonlinear normal modes is suggested in order to analyze the vibrations of a piecewise linear mechanical systems with finite degrees of freedom. The use of this approach allows one to reduce to twice the dimension of the nonlinear algebraic equations system for nonlinear normal modes calculations in comparison with systems obtained by previous researchers. Two degrees of freedom and fifteen degrees of freedom nonlinear dynamical systems are investigated numerically by using nonlinear normal modes.     

Wave convection regimes in a binary mixture in a modulated gravitational field

Nonlinear wave convection regimes are studied in a horizontal layer of an incompressible binary mixture with anomalous thermal diffusion in the gravitational field modulated with an arbitrary amplitude and finite frequency. Oscillation regimes are numerically simulated by the finite difference method for the case of a layer with impenetrable rigid boundaries, which better corresponds to experimental laboratory conditions. A qualitative difference is found in the dynamics of nonlinear quasi-periodic and subharmonic oscillations appearing in the initially stratified mixture and behaving as modulated and regular standing waves. The dependences of the intensity of convective flows on the modulation amplitude are obtained. The results of nonlinear calculations are compared with data on the boundaries of the equilibrium stability found from the linear theory. It is shown that a region of parameters exists where alternating action suppresses the convective motion.     

The global responses characteristics of a rotor/stator rubbing system with dry friction effects

Rotor/stator rubbing systems may undertake a number of quite different responses. Recent experiments on rotor/stator rubbing have revealed that two or three different responses may coexist. In this paper the global response characteristics of a general rotor/stator rubbing system, which takes into account the dominant factors in the process of rotor/stator rubbing, especially, the dry friction effect that is mostly neglected in the previous works and is the main factor for the self-excited dry friction backward whirl, are studied. The different solutions of the piecewise nonlinear system are derived and their stability are analyzed to get the existence boundaries of the different responses. An overall picture of the global response characteristics of this model is then obtained by drawing the existence boundaries in a same parameter space. The present results provide good understanding on the coexistence of different rubbing responses observed in tests. Moreover, deeper insight into the types of coexistence of different rubbing responses and their relationship with the system parameters is gained.     

Vibration control of two degrees of freedom system using variable inertia vibration absorbers: Modeling and simulation

Variable inertia vibration absorbers (VIVA) are previously used for the vibration control of single degree of freedom (dof) primary systems. The performance of such absorbers is studied in many investigations. This paper presents the dynamic modeling and simulation of a proposed modified design of such VIVA’s for the vibration control of two dof primary systems. Lagrange formulation is used to obtain its dynamic model in an analytical form. This model, which is highly nonlinear, is used to develop a computational algorithm to study the absorber performance characteristics. This algorithm is programmed and simulated in Matlab. The obtained results are numerically verified using SAMS2000 software. The effect of mass and stiffness of the proposed VIVA on its performance and tuning is discussed. An optimization algorithm is developed to select the best absorber parameters for vibration suppression of a specific primary system. The obtained results show a good agreement with those obtained using similar techniques. In addition, a linearized model of VIVA dynamics is developed, tested and simulated for the same data used in its nonlinear model. The relative deviation between results of the linear and nonlinear models is less than 1%, which confirms the realistic use of this linearized model. The experimental testing and verification of the simulation results of the proposed VIVA is the subject of another paper.     

Exploring the dynamics of a class of post-tensioned, moment resisting frames

In this paper, we present an equivalent low-order nonlinear system that describes the dynamics of a generic class of post-tensioned frames. The proposed nonlinear single degree of freedom system is derived from energy considerations. We demonstrate that the equation of motion for the entire, planar, post-tensioned frame is equivalent to the dynamics of a single tied rocking block on an elastic foundation. As validation for this analytical model we present physical tests (1/4 scale) undertaken at Bristol. Quasi-static push-pull-over tests and dynamic frequency sine sweep shake table tests are conducted on the physical model. Comparison of results indicate that the analytical model predicts both quasi-static nonlinear push-over and nonlinear dynamic resonant behaviour very well. Further numerical simulations on the analytical model identify the nonlinear resonant frequency backbone curves for a range of system parameters. We explore catchment basins of both Poincaré phase and system parameter spaces. In addition we describe failure boundaries and system integrity surfaces giving an indication as to likely bounds on forcing amplitudes.     

Schwarz method for earthquake source dynamics

Dynamic faulting under slip-dependent friction in a linear elastic domain (in-plane and 3D configurations) is considered. The use of an implicit time-stepping scheme (Newmark method) allows much larger values of the time step than the critical CFL time step, and higher accuracy to handle the non-smoothness of the interface constitutive law (slip weakening friction).The finite element form of the quasi-variational inequality is solved by a Schwarz domain decomposition method, by separating the inner nodes of the domain from the nodes on the fault. In this way, the quasi-variational inequality splits into two subproblems. The first one is a large linear system of equations, and its unknowns are related to the mesh nodes of the first subdomain (i.e. lying inside the domain). The unknowns of the second subproblem are the degrees of freedom of the mesh nodes of the second subdomain (i.e. lying on the domain boundary where the conditions of contact and friction are imposed). This nonlinear subproblem is solved by the same Schwarz algorithm, leading to some local nonlinear subproblems of a very small size.Numerical experiments are performed to illustrate convergence in time and space, instability capturing, energy dissipation and the influence of normal stress variations. We have used the proposed numerical method to compute source dynamics phenomena on complex and realistic 2D fault models (branched fault systems).     

Double-diffusive radiative magnetic mixed convective slip flow with Biot and Richardson number effects

This paper investigates combined heat and mass transfer by mixed magneto-convective flow of an electrically conducting flow along a moving radiating vertical flat plate with hydrodynamic slip and thermal convective boundary conditions. The governing transport equations are converted into a system of coupled nonlinear ordinary differential equations with prescribed boundary conditions using similarity variables developed by Lie group theory. The transformed nondimensional boundary value problem is then solved numerically with MAPLE13 quadrature. Excellent correlation with previous nonmagnetic, no-slip studies is achieved. Surface shear stress function and local Nusselt number (heat transfer gradient at the wall) are increased with Richardson number, whereas local Sherwood number is found to initially decrease then subsequently increase. The “thermally thick” scenario (Biot number > 0.1) is investigated and increasing Biot number is observed to enhance shear stress function (skin friction), local Nusselt number, and local Sherwood number. Increasing thermal radiation flux increases thermal boundary layer thickness as does increasing the magnetic field effect. Increasing hydrodynamic slip parameter reduces skin friction but enhances local Nusselt and Sherwood numbers. The study has applications in high-temperature polymeric synthesis and magnetic field flow control.