Principal parametric and three-to-one internal resonances of flexible beams undergoing a large linear motion

A set of nonlinear differential equations is established by using Kane‘s method for the planar oscillation of flexible beams undergoing a large linear motion. In the case of a simply supported slender beam under certain average acceleration of base, the second natural frequency of the beam may approximate the tripled first one so that the condition of 3 : 1 internal resonance of the beam holds true. The method of multiple scales is used to solve directly the nonlinear differential equations and to derive a set of nonlinear modulation equations for the principal parametric resonance of the first mode combined with 3 : 1 internal resonance between the first two modes. Then, the modulation equations are numerically solved to obtain the steady-state response and the stability condition of the beam. The abundant nonlinear dynamic behaviors, such as various types of local bifurcations and chaos that do not appear for linear models, can be observed in the case studies. For a Hopf bifurcation,the 4-dimensional modulation equations are reduced onto the central manifold and the type of Hopf bifurcation is determined. As usual, a limit cycle may undergo a series of period-doubling bifurcations and become a chaotic oscillation at last.     

Exact solution and stability of postbuckling configurations of beams

We present an exact solution for the postbuckling configurations of beams with fixed–fixed, fixed–hinged, and hinged–hinged boundary conditions. We take into account the geometric nonlinearity arising from midplane stretching, and as a result, the governing equation exhibits a cubic nonlinearity. We solve the nonlinear buckling problem and obtain a closed-form solution for the postbuckling configurations in terms of the applied axial load. The critical buckling loads and their associated mode shapes, which are the only outcome of solving the linear buckling problem, are obtained as a byproduct. We investigate the dynamic stability of the obtained postbuckling configurations and find out that the first buckled shape is a stable equilibrium position for all boundary conditions. However, we find out that buckled configurations beyond the first buckling mode are unstable equilibrium positions. We present the natural frequencies of the lowest vibration modes around each of the first three buckled configurations. The results show that many internal resonances might be activated among the vibration modes around the same as well as different buckled configurations. We present preliminary results of the dynamic response of a fixed–fixed beam in the case of a one-to-one internal resonance between the first vibration mode around the first buckled configuration and the first vibration mode around the second buckled configuration.     

Three-to-One Internal Resonances in Hinged-Clamped Beams

The nonlinear planar response of a hinged-clamped beam to a primary excitation of either its first mode or its second mode is investigated. The analysis accounts for mid-plane stretching, a static axial load and a restraining spring at one end, and modal damping. For a range of axial loads, the second natural frequency is approximately three times the first natural frequency and hence the first and second modes may interact due to a three-to-one internal resonance. The method of multiple scales is used to attack directly the governing nonlinear partial-differential equation and derive two sets of four first-order nonlinear ordinary-differential equations describing the modulation of the amplitudes and phases of the first two modes in the case of primary resonance of either the first or the second mode. Periodic motions and periodically and chaotically modulated motions of the beam are determined by investigating the equilibrium and dynamic solutions of the modulation equations. For the case of primary resonance of the first mode, only two-mode solutions are possible, whereas for the case of primary resonance of the second mode, single- and two-mode solutions are possible. The two-mode equilibrium solutions of the modulation equations may undergo a supercritical or a subcritical Hopf bifurcation, depending on the magnitude of the axial load. A shooting technique is used to calculate limit cycles of the modulation equations and Floquet theory is used to ascertain their stability. The limit cycles correspond to periodically modulated motions of the beam. The limit cycles are found to undergo cyclic-fold bifurcations and period-doubling bifurcations, leading to chaos. The chaotic attractors may undergo boundary crises, resulting in the destruction of the chaotic attractors and their basins of attraction.     

Coupling between high-frequency modes and a low-frequency mode: Theory and experiment

An analytical and experimental investigation into the response of a nonlinear continuous system with widely separated natural frequencies is presented. The system investigated is a thin, slightly curved, isotropic, flexible cantilever beam mounted vertically. In the experiments, for certain vertical harmonic base excitations, we observed that the response consisted of the first, third, and fourth modes. In these cases, the modulation frequency of the amplitudes and phases of the third and fourth modes was equal to the response frequency of the first mode. Subsequently, we developed an analytical model to explain the interactions between the widely separated modes observed in the experiments. We used a three-mode Galerkin projection of the partial-differential equation governing a thin, isotropic, inextensional beam and obtained a sixth-order nonautonomous system of equations by using an unconventional coordinate transformation. In the analytical model, we used experimentally determined damping coefficients. From this nonautonomous system, we obtained a first approximation of the response by using the method of averaging. The analytically predicted responses and bifurcation diagrams show good qualitative agreement with the experimental observations. The current study brings to light a new type of nonlinear motion not reported before in the literature and should be of relevance to many structural and mechanical systems. In this motion, a static response of a low-frequency mode interacts with the dynamic response of two high-frequency modes. This motion loses stability, resulting in oscillations of the low-frequency mode accompanied by a modulation of the amplitudes and phases of the high-frequency modes.     

Multiple Internal Resonance in Suspended Cables under Random In-Plane Loading

The random excitation of a suspended cable with simultaneous internal resonances is considered. The internal resonances can take place among the first in-plane and the first two out-of-plane modes. The external loading is represented by a wide-band random process. The response statistics are estimated using the Fokker-Planck-Kolmogorov (FPK) equation, together with Gaussian and non-Gaussian closures. Monte Carlo simulation is also used for numerical verification. The unimodal in-plane motion exists in regions away from the internal resonance condition. The mixed mode interaction is manifested within a limited range of internal detuning parameters, depending on the excitation power spectrum density and damping ratios. The Gaussian closure scheme failed to predict bounded solutions of mixed mode interaction. The non-Gaussian closure results are in good agreement with the Monte Carlo simulation. The on-off intermittency of the autoparametrically excited modes is observed in the Monte Carlo simulation over a small range of excitation levels. The influence of the cable parameters, such as damping ratios, sag-to-span ratio, internal detuning parameters, and excitation level on the autoparametric interaction, is studied. It is found that the internal detuning and excitation level are the two main parameters which affect the autoparametric interaction among the three modes. Due to the system's nonlinearity, the response of the three modes is strongly non-Gaussian and the coupled modes experience irregular modulation.     

Three-to-One Internal Resonances in Parametrically Excited Hinged-Clamped Beams

The nonlinear planar response of a hinged-clamped beam to a principal parametric resonance of either its first or second mode or a combination parametric resonance of the additive type of its first two modes is investigated. The analysis accounts for mid-plane stretching, a static axial load, a restraining spring at one end, and modal damping. The natural frequency of the second mode is approximately three times the natural frequency of the first mode for a range of static axial loads, resulting in a three-to-one internal resonance. The method of multiple scales is used to attack directly the governing nonlinear integral-partial-differential equation and associated boundary conditions and derive three sets of four first-order nonlinear ordinary-differential equations describing the modulation of the amplitudes and phases of the first two modes in the cases of (a) principal parametric resonance of either the first or the second mode, and (b) a combination parametric resonance of the additive type of these modes. Periodic motions and periodically and chaotically modulated motions of the beam are determined by investigating the equilibrium and dynamic solutions of the modulation equations. For the case of principal parametric resonance of the first mode or combination parametric resonance of the additive type, trivial and two-mode solutions are possible, whereas for the case of parametric resonance of the second mode, trivial, single, and two-mode solutions are possible. The trivial and two-mode equilibrium solutions of the modulation equations may undergo either a supercritical or a subcritical Hopf bifurcation, depending on the magnitude of the axial load. For some excitation parameters, we found complex responses including period-doubling bifurcations and blue-sky catastrophes.     

Three-to-one internal resonance in multiple stepped beam systems

In this study, the vibrations of multiple stepped beams with cubic nonlinearities are considered. A three-to-one internal resonance case is investigated for the system. A general approximate solution to the problem is found using the method of multiple scales （a perturbation technique）. The modulation equations of the amplitudes and the phases are derived for two modes. These equations are utilized to determine steady state solutions and their stabilities. It is assumed that the external forcing frequency is close to the lower frequency. For the numeric part of the study, the three-to-one ratio in natural frequencies is investigated. These values are observed to be between the first and second natural frequencies in the cases of the clamped-clamped and clamped-pinned supports, and between the second and third natural frequencies in the case of the pinned-pinned support. Finally, a numeric algorithm is used to solve the three-to-one internal resonance. The first mode is externally excited for the clamped-clamped and clamped-pinned supports, and the second mode is externally excited for the pinned-pinned support. Then, the amplitudes of the first and second modes are investigated when the first mode is externally excited. The amplitudes of the second and third modes are investigated when the second mode is externally excited. The force-response, damping-response, and .frequency- response curves are plotted for the internal resonance modes of vibrations. The stability analysis is carried out for these plots.     

Internal-external resonance of a curved pipe conveying fluid resting on a nonlinear elastic foundation

In this study, the forced vibration of a curved pipe conveying fluid resting on a nonlinear elastic foundation is considered. The governing equations for the pipe system are formed with the consideration of viscoelastic material, nonlinearity of foundation, external excitation, and extensibility of centre line. Equations governing the in-plane vibration are solved first by the Galerkin method to obtain the static in-plane equilibrium configuration. The out-of-plane vibration is simplified into a constant coefficient gyroscopic system. Subsequently, the method of multiple scales (MMS) is developed to investigate external first and second primary resonances of the out-of-plane vibration in the presence of three-to-one internal resonance between the first two modes. Modulation equations are formed to obtain the steady state solutions. A parametric study is carried out for the first primary resonance. The effects of damping, nonlinear stiffness of the foundation, internal resonance detuning parameter, and the magnitude of the external excitation are investigated through frequency response curves and force response curves. The characteristics of the single mode response and the relationship between single and two mode steady state solutions are revealed for the second primary resonance. The stability analysis is carried out for these plots. Finally, the approximately analytical results are confirmed by the numerical integrations.     

High-dimensional time series prediction using kernel-based Koopman mode regression

This paper investigates the nonlinear dynamics of a doubly clamped piezoelectric nanobeam subjected to a combined AC and DC loadings in the presence of three-to-one internal resonance. Surface effects are taken into account in the governing equation of motion to incorporate the associated size effects at nanoscales. The reduced-order model equation (ROM) is obtained based on the Galerkin method. The multiple scales method is applied directly to the nonlinear equation of motion and associated boundary conditions to obtain the modulation equations. The equilibrium solutions of the modulation equations and the dynamic solutions of the ROM equation are investigated in the case of primary and principal parametric resonances of the first mode. Stability, bifurcations and frequency response curves of the nanobeam are investigated. Dynamic behaviors of the motion are shown in the form of time traces, phase portraits, Poincare sections and fast Fourier transforms. The results indicate rich dynamic behaviors such as Hopf bifurcations, periodic and quasiperiodic motions in both directly and indirectly excited modes illustrating the influence of modal interactions on the response.     

Coupled, forced response of an axially moving strip with internal resonance

In this paper, the forced response of a non-linear axially moving strip with coupled transverse and longitudinal motions is studied. In particular, the response of the system is examined in the neighborhood of a 3 : 1 internal resonance between the first two transverse modes. The equations of motion are derived using the Hamilton's Principle and discretized by the Galerkin's method. First, with the longitudinal motion neglected, the forced transverse response is investigated by applying the method of multiple scales to assess the effects of speed and the internal resonance. In general, the speed is shown to affect each mode differently. The internal resonance results in the constant solutions having transition to instability of both a saddle-node type and a Hopf bifurcation. In the region where the Hopf bifurcation occurs, steady-state periodic motion does not exist. Instead the stable motion is amplitude- and phase-modulated. When the coupled system with longitudinal motion is examined with internal resonance, results reveal that the modulated motions disappear. Thus, the presence of the longitudinal motion has a stabilizing effect on the transverse modes in the Hopf bifurcation region. The second longitudinal mode is shown to drift due primarily to a direct excitation of the first transverse mode. Effects of the longitudinal motion on the transverse response are shown to be significant for speeds both away from and close to the critical speed.     

Time-harmonic dynamical stress field in a system comprising a pre-stressed orthotropic layer and pre-stressed orthotropic half-plane

The time-harmonic dynamical stress field in a system comprising a pre-stressed orthotropic layer and orthotropic half-plane is studied within the scope of the piecewise homogeneous body model utilizing the three-dimensional linearized theory of elastic waves in an initially stressed body. The main focus is on the influence of the mechanical properties of the constituent materials and the initial stresses present on the “resonance” values of the normal stress acting on the interface plane and on the “resonance” values of the frequency of the external point-located force. The numerical results are presented and discussed. In particular, it is shown that the values of the normal stress decrease with a decrease in the modulus of elasticity of the materials along the thickness of the covering layer.     

Low-frequency dilatational wave propagation through unsaturated porous media containing two immiscible fluids

An analytical theory is presented for the low-frequency behavior of dilatational waves propagating through a homogeneous elastic porous medium containing two immiscible fluids. The theory is based on the Berryman–Thigpen–Chin (BTC) model, in which capillary pressure effects are neglected. We show that the BTC model equations in the frequency domain can be transformed, at sufficiently low frequencies, into a dissipative wave equation (telegraph equation) and a propagating wave equation in the time domain. These partial differential equations describe two independent modes of dilatational wave motion that are analogous to the Biot fast and slow compressional waves in a single-fluid system. The equations can be solved analytically under a variety of initial and boundary conditions. The stipulation of “low frequency” underlying the derivation of our equations in the time domain is shown to require that the excitation frequency of wave motions be much smaller than a critical frequency. This frequency is shown to be the inverse of an intrinsic time scale that depends on an effective kinematic shear viscosity of the interstitial fluids and the intrinsic permeability of the porous medium. Numerical calculations indicate that the critical frequency in both unconsolidated and consolidated materials containing water and a nonaqueous phase liquid ranges typically from kHz to MHz. Thus engineering problems involving the dynamic response of an unsaturated porous medium to low excitation frequencies (e.g., seismic wave stimulation) should be accurately modeled by our equations after suitable initial and boundary conditions are imposed.     

Thermal analysis of composite superconductors subjected to time-dependent disturbances

A one-dimensional heat conduction equation with time- and temperature-dependent heat sources was employed to study the steady-state and transient response of a composite superconductor subjected to a thermal disturbance. An integral formulation was used to solve the steady-state problem of current redistribution and heat generation. The results of the integral formulation are compared with those of an analytical solution. The two solutions agree with each other except when the analytical solution fails as the temperature in the superconductor begins to exceed the critical temperature. Transient solutions were obtained by the finite-difference technique and the results are compared with a known analytical solution. Results of numerical calculations of the transient response of a composite superconductor subjected to an initial pulsed disturbance are presented. It is demonstrated that the superconductor can switch between the superconducting and the current-sharing state. The transient response and the stability of the composite conductor depend on the magnitude and duration of the disturbance, the dimensionless temperature θ^*, and the dimensionless parameter φ. Received on 18 November 1996     

Symmetry classification of quasi-linear PDE’s containing arbitrary functions

We consider the problem of performing the preliminary “symmetry classification” of a class of quasi-linear PDE’s containing one or more arbitrary functions: we provide an easy condition involving these functions in order that nontrivial Lie point symmetries be admitted, and a “geometrical” characterization of the relevant system of equations determining these symmetries. Two detailed examples will elucidate the idea and the procedure: the first one concerns a nonlinear Laplace-type equation, the second a generalization of an equation (the Grad–Schlüter–Shafranov equation) which is used in magnetohydrodynamics.     

Nonlinear Normal Modes of Buckled Beams: Three-to-One and One-to-One Internal Resonances

Nonlinear normal modes of a fixed-fixed buckled beam about its first post-buckling configuration are investigated. The cases of three-to-one and one-to-one internal resonances are analyzed. Approximate solutions for the nonlinear normal modes are computed by applying the method of multiple scales directly to the governing integral-partial-differential equation and associated boundary conditions. Curves displaying variation of the amplitude of one of the modes with the internal-resonance-detuning parameter are generated. It is shown that, for a three-to-one internal resonance between the first and third modes, the beam may possess one stable uncoupled mode (high-frequency mode) and either (a) one stable coupled mode, (b) three stable coupled modes, or (c) two stable and one unstable coupled modes. For the same resonance, the beam possesses one degenerate mode (with a multiplicity of two) and two stable and one unstable coupled modes. On the other hand, for a one-to-one internal resonance between the first and second modes, the beam possesses (a) two stable uncoupled modes and two stable and two unstable coupled modes; (b) one stable and one unstable uncoupled modes and two stable and two unstable coupled modes; and (c) two stable uncoupled and two unstable coupled modes (with a multiplicity of two). For a one-to-one internal resonance between the third and fourth modes, the beam possesses (a) two stable uncoupled modes and four stable coupled modes; (b) one stable and one unstable uncoupled modes and four stable coupled modes; (c) two unstable uncoupled modes and four stable coupled modes; and (d) two stable uncoupled modes and two stable coupled modes (each with a multiplicity of two).     

Combination Internal Resonances in Heated Annular Plates

Nonlinear modal interactions in the forced vibrations of a thermally loaded pre-buckled annular plate with clamped–clamped immovable boundary conditions are investigated. The mechanism responsible for the interaction is a combination internal resonance involving the natural frequencies of the three lowest axisymmetric modes. The in-plane thermal load acting on the plate is assumed to be axisymmetric and the plate is externally excited by a harmonic force. The nonlinear von Kármán plate equations along with the heat conduction equation are combined to model the behavior of the system. An analytical/numerical approach is used to examine the plate vibrations to a harmonic excitation near primary resonance of one of the modes.     

Inelastic impact dynamics of ships with one-sided barriers. Part I: analytical and numerical investigations

This two-part paper deals with impact interaction of ships with one-sided ice barrier during roll dynamics. The first part presents analytical and numerical studies for the case of inelastic impact. An analytical model of a ship roll motion interacting with ice is developed based on Zhuravlev and Ivanov non-smooth coordinate transformations. These transformations have the advantage of converting the vibro-impact oscillator into an oscillator without barriers such that the corresponding equation of motion does not contain any impact term. Such approaches, however, account for the energy loss at impact times in different ways. The present work, in particular, demonstrates that the impact dynamics may have qualitatively different response characteristics to different dissipation models. The difference between localized and distributed equivalent damping approaches is discussed. Extensive numerical simulations are carried out for all initial conditions covered by the ship grazing orbit for different values of excitation amplitude and frequency of external wave roll moment. The basins of attraction of safe operation are obtained and reveal the coexistence of different response regimes such as non-impact periodic oscillations, modulation impact motion, period added impact oscillations, chaotic impact motion and rotational motion. The second part will consider experimental validations of predicted results.     

Evolution of the double-jumping in pipes conveying fluid flowing at the supercritical speed

Non-linear vibration of viscoelastic pipes conveying fluid around curved equilibrium due to the supercritical flow is investigated with the emphasis on steady-state response in external and internal resonances. The governing equation, a non-linear integro-partial-differential equation, is truncated into a perturbed gyroscopic system via the Galerkin method. The method of multiple scales is applied to establish the solvability condition in the first primary resonance and the 2:1 internal resonance. The approximate analytical expressions are derived for the frequency–amplitude curves of the steady-state responses. The stabilities of the steady-state responses are determined. The generation and the vanishing of a double-jumping phenomenon on the frequency–amplitude curves are examined. The analytical results are supported by the numerical integration results.     

On the Transfer of Energy between Widely Spaced Modes in Structures

An experimental and theoretical study of the response of aflexible cantilever beam to an external harmonic excitation nearthe beam's third natural frequency is presented. For a certain range ofthe excitation frequency, we observed experimentally that the responseincludes a large contribution due to the first mode of the beamaccompanied by a slow modulation of the amplitude and phase of the thirdmode. In addition, we noted that the energy transfer between the thirdand first modes is very much dependent upon the closeness of themodulation (or Hopf bifurcation) frequency to the first-mode naturalfrequency. In earlier studies by Nayfeh and coworkers, the modulationfrequency was close to the first-mode natural frequency, and thereforelarge first-mode swaying was observed. But for higher forcingamplitudes, the present experiments show that the modulation frequencytends to shift away from the first-mode natural frequency, andsubsequently very little swaying is observed. We also developed areduced-order analytical model by discretizing the integralpartial-differential equation of motion, derived by Crespo daSilva and Glenn, using the Galerkin procedure with a four-modeapproximation. The reduced-order model demonstrates the energy transferfrom the third mode to the first mode.     

Primary resonance of traveling viscoelastic beam under internal resonance

Under the 3:1 internal resonance condition,the steady-state periodic response of the forced vibration of a traveling viscoelastic beam is studied.The viscoelastic behaviors of the traveling beam are described by the standard linear solid model,and the material time derivative is adopted in the viscoelastic constitutive relation.The direct multi-scale method is used to derive the relationships between the excitation frequency and the response amplitudes.For the first time,the real modal functions are employed to analytically investigate the periodic response of the axially traveling beam.The undetermined coefficient method is used to approximately establish the real modal functions.The approximate analytical results are confirmed by the Galerkin truncation.Numerical examples are presented to highlight the effects of the viscoelastic behaviors on the steady-state periodic responses.To illustrate the effect of the internal resonance,the energy transfer between the internal resonance modes and the saturation-like phenomena in the steady-state responses is presented.