Stability analysis of duffing oscillator with time delayed and/or fractional derivatives

The periodic motions of the fractional order and/or delayed nonlinear systems are investigated in the frequency domain using a harmonic balance method with the analytical gradients of the nonlinear quality constraints and the sensitivity information of the Fourier coefficients can also obtained. The properties of fractional order derivatives and trigonometric functions are utilized to construct the fractional order derivatives, delayed and product operational matrices. The operational matrices are used to derive the analytical formulae of nonlinear systems of algebraic equations. The stability of periodic solutions for the delayed nonlinear systems is identified by an eigenvalue analysis of quasi-polynomials characteristic equations. Sensitivity analysis is performed to study the influence of the structural parameters on the system responses. Finally, three numerical examples are presented to illustrate the validity and feasibility of the developed method. It is concluded that the proposed methodology has the potential to facilitate highly efficient optimization, as well as sensitivity and uncertainty analysis of nonlinear systems with fractional derivatives and/or time delayed.     

强非线性动力系统的频率增量法

提出一类强非线性动力系统的暧时频率增量法,将描述动力系统的二阶常微分方程,化为以相位为自变量、瞬廛频率为未知函数的积分方程;用谐波平衡原理,将求解瞬时频率的积分问题,归结为求解以频率增量的Fourier系数为独立变量的线性代数方程组;给出了若干例子。     

Flow and heat transfer over a generalized stretching/shrinking wall problem—Exact solutions of the Navier-Stokes equations

In this paper, we investigate the steady momentum and heat transfer of a viscous fluid flow over a stretching/shrinking sheet. Exact solutions are presented for the Navier-Stokes equations. The new solutions provide a more general formulation including the linearly stretching and shrinking wall problems as well as the asymptotic suction velocity profiles over a moving plate. Interesting non-linear phenomena are observed in the current results including both exponentially decaying solution and algebraically decaying solution, multiple solutions with infinite number of solutions for the flow field, and velocity overshoot. The energy equation ignoring viscous dissipation is solved exactly and the effects of the mass transfer parameter, the Prandtl number, and the wall stretching/shrinking strength on the temperature profiles and wall heat flux are also presented and discussed. The exact solution of this general flow configuration is a rare case for the Navier-Stokes equation.     

A fast harmonic balance technique for periodic oscillations of an aeroelastic airfoil

The harmonic balance (HB) method is utilized to obtain the periodic solutions for the two-dimensional airfoil with cubic nonlinearity in pitch undergoing subsonic flow. In the course of formulating the HB algebraic system, the manipulation software Mathematica is employed to deal with the complex Fourier coefficients involved with the nonlinear term. In general, to solve the HB algebraic system, either a symbolic calculation or a numerical approximation of the Jacobian matrix is required in each iteration, which is computationally expensive. To remedy this drawback, the Jacobian matrix is explicitly derived in this paper. The effects of exploiting the explicit Jacobian matrix on the accuracy and efficiency of the HB method are investigated, through comparing with the case using a numerical Jacobian matrix calculated by a three-point difference technique. Moreover, the spectral analysis is applied to the periodic motions by the numerical method to provide insight into the distribution of the dominant frequencies, so as to provide a reasonable suggestion for the truncation of the Fourier series expansion in the HB method. In addition, a frequency modulation phenomenon is identified in the pitch motions via spectral analysis, whose effect on the accuracy of the HB method is examined both numerically and analytically. Finally, illustrative examples validate that the HB method with as many harmonics as the spectral analysis suggests can yield sufficiently accurate solutions.     

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.     

A Newton's method scheme for solving free-surface flow problems

A Newton's method scheme is described for solving the system of non-linear algebraic equations arising when finite difference approximations are applied to the Navier–Stokes equations and their associated boundary conditions. The problem studied here is the steady, buoyancy-driven motion of a deformable bubble, assumed to consist of an inviscid, incompressible gas. The linear Newton system is solved using both direct and iterative equation solvers. The numerical results are in excellent agreement with previous work, and the method achieves quadratic convergence.     

求解含缺陷一维周期结构动力响应的高效算法

基于周期结构的动力特性和群理论,建立了一种高效求解含缺陷一维周期结构动力响应的数值方法。在求解结构动力响应时,高效求解结构对应的线性代数方程组最为关键。采用凝聚技术,可减小结构对应线性代数方程组的规模。基于周期结构动力系统中线性代数方程组的特性,通过一个小规模含缺陷结构和一维周期结构的响应分析,可得到含缺陷一维周期结构的动力响应。同理,一维周期结构的动力响应可通过一系列小规模结构的响应分析得到,且小规模结构的动力响应可基于群理论高效求解。数值算例表明,本文算法有较高的求解效率。     

Variational integrators for fractional Birkhoffian systems

In this paper, we generalize the Pfaff–Birkhoff principle to the case of containing fractional derivatives and obtain the so-called fractional Pfaff–Birkhoff–d’Alembert principle. The fractional Birkhoff equations in the sense of Riemann–Liouville fractional derivative are derived. Under the framework of variational integrators, we develop the discrete fractional Birkhoff equations by approximating the Riemann–Liouville fractional derivative with the shifted Grünwald–Letnikov fractional derivative. The resulting algebraic equations can be served as an algorithm to numerically solve the fractional Birkhoff equations. A numerical example is demonstrated to show the validity and applicability of the presented methodology.     

Complex dynamics of perfect discrete systems under partial follower forces

Equilibrium points, primary and secondary static bifurcation branches, and periodic orbits with their bifurcations of discrete systems under partial follower forces and no initial imperfections are examined. Equilibrium points are computed by solving sets of simultaneous, non-linear algebraic equations, whilst periodic orbits are determined numerically by solving 2- or 4-dimensional non-linear boundary value problems. A specific application is given with Ziegler's 2-DOF cantilever model. Numerous, complicated static bifurcation paths are computed as well as complicated series of periodic orbit bifurcations of relatively large periods. Numerical simulations indicate that chaotic-like transient motions of the system may appear when a forcing parameter increases above the divergence state. At these forcing parameter values, there co-exist numerous branches of bifurcating periodic orbits of the system; it is conjectured that sensitive dependence on initial conditions due to the large number of co-existing periodic orbits causes the chaotic-like transients observed in the numerical simulations.     

THREE-DIMENSIONAL VISCOUS FLOW THROUGH A ROTATING CHANNEL: A PSEUDOSPECTRAL MATRIX METHOD APPROACH

A Fourier–Chebyshev pseudospectral method is used for the numerical simulation of incompressible flows in a three-dimensio nal channel of square cross-section with rotation. Realistic, non-periodic boundary conditions that impose no-slip conditions in two directions (spanwis e and vertical directions) are used. The Navier–Stokes equations are integrated in time using a fractional step method. The Poisson equations for pressure and the Helmholtz equation for velocity are solved using a matrix diagonalization (eigenfunction decomposition) method, through which we are able to reduce a three-dimensional matrix problem to a simple algebraic vector equation. This results in signficant savings in computer storage requirement, particularly for large-scale computations. Verification of the numerical algorithm and code is carried out by comparing with a limiting case of an exact steady state solution for a one-dimensional channel flow and also with a two-dimensional rotating channel case. Two-cell and four-cell two-dimensional flow patterns are observed in the numerical experiment. It is found that the four-cell flow pattern is stable to symmetri cal disturbances but unstable to asymmetrical disturbances.     

Finite volume multigrid method of the planar contraction flow of a viscoelastic fluid

This paper reports on a numerical algorithm for the steady flow of viscoelastic fluid. The conservative and constitutive equations are solved using the finite volume method (FVM) with a hybrid scheme for the velocities and first‐order upwind approximation for the viscoelastic stress. A non‐uniform staggered grid system is used. The iterative SIMPLE algorithm is employed to relax the coupled momentum and continuity equations. The non‐linear algebraic equations over the flow domain are solved iteratively by the symmetrical coupled Gauss–Seidel (SCGS) method. In both, the full approximation storage (FAS) multigrid algorithm is used. An Oldroyd‐B fluid model was selected for the calculation. Results are reported for planar 4:1 abrupt contraction at various Weissenberg numbers. The solutions are found to be stable and smooth. The solutions show that at high Weissenberg number the domain must be long enough. The convergence of the method has been verified with grid refinement. All the calculations have been performed on a PC equipped with a Pentium III processor at 550 MHz. Copyright © 2001 John Wiley & Sons, Ltd.     

Secondary resonances of a quadratic nonlinear oscillator following two-to-one resonant Hopf bifurcations

Stable bifurcating solutions may appear in an autonomous time-delayed nonlinear oscillator having quadratic nonlinearity after the trivial equilibrium loses its stability via two-to-one resonant Hopf bifurcations. For the corresponding non-autonomous time-delayed nonlinear oscillator, the dynamic interactions between the periodic excitation and the stable bifurcating solutions can induce resonant behaviour in the forced response when the forcing frequency and the frequencies of Hopf bifurcations satisfy certain relationships. Under hard excitations, the forced response of the time-delayed nonlinear oscillator can exhibit three types of secondary resonances, which are super-harmonic resonance at half the lower Hopf bifurcation frequency, sub-harmonic resonance at two times the higher Hopf bifurcation frequency and additive resonance at the sum of two Hopf bifurcation frequencies. With the help of centre manifold theorem and the method of multiple scales, the secondary resonance response of the time-delayed nonlinear oscillator following two-to-one resonant Hopf bifurcations is studied based on a set of four averaged equations for the amplitudes and phases of the free-oscillation terms, which are obtained from the reduced four-dimensional ordinary differential equations for the flow on the centre manifold. The first-order approximate solutions and the nonlinear algebraic equations for the amplitudes and phases of the free-oscillation terms in the steady state solutions are derived for three secondary resonances. Frequency-response curves, time trajectories, phase portraits and Poincare sections are numerically obtained to show the secondary resonance response. Analytical results are found to be in good agreement with those of direct numerical integrations.     

Hertzian Contact of Anisotropic Piezoelectric Bodies

The Fourier transform method is applied to the Hertzian contact problem for anisotropic piezoelectric bodies. Using the principle of linear superposition, the resulting transformed (algebraic) equations, whose right-hand sides contain both pressure and electric displacement terms, can be solved by superposing the solutions of two sets of algebraic equations, one containing pressure and another containing electric displacement. By presupposing the forms of the pressure and electric displacement distribution over the contact area, the problem is solved successfully; then the generalized displacements, stresses and strains are expressed by contour integrals. Details are presented in the case of special orthotropic piezoelectricity whose material constants satisfy six relations, which can be easily degenerated to the case of transverse isotropic piezoelectricity. It can be shown that the result gained in this paper is of a universal and compact form for a general material.Supported by the National Natural Science Foundation of China (No.10372003).     

Analytical approximation to large-amplitude oscillation of a non-linear conservative system

This paper deals with non-linear oscillation of a conservative system having inertia and static non-linearities. By combining the linearization of the governing equation with the method of harmonic balance, we establish analytical approximate solutions for the non-linear oscillations of the system. Unlike the classical harmonic balance method, linearization is performed prior to proceeding with harmonic balancing, thus resulting in a set of linear algebraic equations instead of one of non-linear algebraic equations. Hence, we are able to establish analytical approximate formulas for the exact frequency and periodic solution. These analytical approximate formulas show excellent agreement with the exact solutions, and are valid for small as well as large amplitudes of oscillation.     

A PIECEWISE–LINEARIZED METHOD FOR ORDINARY DIFFERENTIAL EQUATIONS: TWO–POINT BOUNDARY–VALUE PROBLEMS

Piecewise-linearized methods for the solution of two-point boundary value problems in ordinary differential equations are presented. These problems are approximated by piecewise linear ones which have analytical solutions and reduced to finding the slope of the solution at the left boundary so that the boundary conditions at the right end of the interval are satisfied. This results in a rather complex system of non-linear algebraic equations which may be reduced to a single non-linear equation whose unknown is the slope of the solution at the left boundary of the interval and whose solution may be obtained by means of the Newton–Raphson method. This is equivalent to solving the boundary value problem as an initial value one using the piecewise-linearized technique and a shooting method. It is shown that for problems characterized by a linear operator a technique based on the superposition principle and the piecewise-linearized method may be employed. For these problems the accuracy of piecewise-linearized methods is of second order. It is also shown that for linear problems the accuracy of the piecewise-linearized method is superior to that of fourth-order-accurate techniques. For the linear singular perturbation problems considered in this paper the accuracy of global piecewise linearizat ion is higher than that of finite difference and finite element methods. For non-linear problems the accuracy of piecewise-linearized methods is in most cases lower than that of fourth-order methods but comparable with that of second-order techniques owing to the linearization of the non-linear terms.     

Bifurcations in a parametrically excited non-linear oscillator

A non-linear parametrically excited oscillator, that includes van der Pol as well as Duffing type non-linearities, is studied for its small non-linear motions using the method of averaging. The averaged equations, which form a dynamical system on the plane and depend on the linear damping and the detuning, are analyzed for their constant and periodic solutions. Bendixon's criterion is used to deduce the existence and the non-existence of limit cycle solutions for various values of the parameters. Then, using local bifurcation theory for “saddle-node”, pitchfork and “Hopf” bifurcations and some results from one and two parameter unfoldings of degenerate singularities, a partial bifurcation set is constructed. Since constant and periodic solutions of the averaged system correspond, respectively, to the periodic solutions and almost periodic or amplitude modulated motions of the original oscillator, the bifurcation set indicates some ways in which periodic solutions can become “entrained” or can break the entrainment for almost periodic oscillations.     

Non-linear dynamics of a flexible single link Cartesian manipulator

The present work deals with the non-linear vibration of a harmonically excited single link roller-supported flexible Cartesian manipulator with a payload. The governing equation of motion of this system is developed using extended Hamilton's principle, which is reduced to the second-order temporal differential equation of motion, by using generalized Galerkin's method. This equation of motion contains both cubic non-linearities of geometric and inertial type in addition to linear forced and non-linear parametric excitation terms. Method of multiple scales is used to solve this non-linear equation and study the stability and bifurcations of the system. Influence of amplitude of the base excitation and mass ratio on the steady state response of the system is investigated for both simple and subharmonic resonance conditions. Critical bifurcation points are determined from the fixed-point responses and periodic, quasi-periodic responses are also found for different system parameters. The results obtained using the perturbation analysis are compared with the previously published experimental work and are found to be in good agreement. This work will be useful for the designer of a flexible manipulator.     

心脏作功的动力学过程──考虑动功率的最小功原理

心脏最小功原理是描述心脏做功动力学过程的一种有效模型，在文献［１］中，作者在忽略心脏动功率前提下，给出了心脏做功动力学过程的解析解．但由于动功率在心脏整个做功过程中，特别是在某些病理状态下，占有相当比例，因此，在分析心脏动态做功过程时，应该考虑心脏的总体对外做功．当计入动功率后，方程由原来的线性变成非线性，问题复杂许多，已无法应用原来的解析方法．本文在牛顿法的基础上，得到一种考虑动功率项求解非线性方程组的方法．实例计算表明该方法收敛速度快，所得结果与动物实验相符合．从而使得最小功原理的计算得到完善，为进一步研究心脏做功的动力学过程奠定理论基础．     

Effects of thermo hydrodynamic (THD) floating ring bearing model on rotordynamic bifurcation

This paper introduces a numerical scheme for simulating instabilities of a nonlinear rotordynamic system including thermal effects in the fluid film bearings. The method utilizes shooting/arc-length continuation, and simultaneous, finite element based solutions of the variable viscosity Reynolds equation and the energy equation. This provides a means to investigate the effects of the thermo-hydrodynamic THD model on bifurcations and nonlinear rotordynamic stability. A “Jeffcott” type rigid rotor is modeled as supported on double-layered fluid film, floating ring bearings (FRB). The FRB are known to produce highly nonlinear forces as functions of relative and absolute internal displacements and velocities. Both autonomous (free vibration) and non-autonomous (mass unbalanced excitation) cases and algorithms are presented. The computational workload and execution time required for determining coexisting periodic solutions is significantly reduced by employing deflation and parallel computing methods. The THD model nonlinear responses and bifurcation diagrams are compared with isoviscous model results for various lubricant supply temperatures. The autonomous case, THD model orbit sizes and onset of Hopf and saddle–node bifurcations for coexisting steady state responses, may have significant differences relative to the isothermal model results. The onset of Hopf bifurcation is strongly dependent on thermal conditions, and the saddle–node bifurcation points are significantly shifted compared to the isothermal model. This tends to increase the likelihood of bifurcation from a machine operators standpoint. In the non-autonomous case, large unbalance forces create sub-synchronous and quasi-periodic responses at low spin speeds. The responses stability and onset of bifurcations of these responses are highly reliant on the lubricant supply temperature.     

Karman型正交异性矩形薄板非线性弯曲的统一求解方法

本文对Karman型四边支承正交异性薄板在5种不同边界条件下的几何非线性弯曲进行了统一分析。所设的位移函数均为梁振动函数。它们精确地满足边界条件，利用Galerkin方法和位移函数的正交属性，转换控制方程为非线性代数方程。用“稳定化双共轭梯度法”求解稀疏矩阵线性方程组以及“可调节参数的修正迭代法”求解非线性代数方程组，最后给出了相应的数值结果。