Torsional vibration of a shape memory wire

The paper studies the rotational motion of a rigid mass suspended by a shape memory wire. The wire represents a torsional spring, which causes the mass to oscillate. At the same time, however, the wire induces damping through the hysteretic phase transitions that it undergoes during the oscillation. Due to the strong temperature dependence of the wire's thermomechanical properties, a complex behavior can be observed. The oscillation is shown to differ substantially depending on whether the wire is quasiplastic (low temperature) or pseudoelastic (high temperature). This provides a mechanism for an active control of the system. By an appropriate heating strategy, it is possible to compensate for the damping, and the oscillation can thus be stabilized. Received May 7, 1997     

The extension and oscillation of a non-Hooke's law spring

We derive a wave equation for small-amplitude, undamped, extensional oscillation of a spring-mass system consisting of a mass suspended on a spring governed by a quadratic force-extension relationship. We justify this quadratic model using a Taylor series expansion of the general elasticity equations for a helical spring. Transformation of the equation of motion of the spring leads to a separable wave equation with the spacial component being a transformation of Bessel's equation. The model is successful in predicting static extension and period of oscillation of a helical wire spring for which the wave equation based on Hooke's law is inadequate.     

Vibration of beams with general boundary conditions due to a moving random load

Summary  The transverse vibrations of elastic homogeneous isotropic beams with general boundary conditions due to a moving random force with constant mean value are analyzed. The boundary conditions considered are: pinned–pinned, fixed–fixed, pinned–fixed, and fixed–free. Based on the Bernoulli beam theory, the problem is described by means of a partial differential equation. Closed-form solutions for the variance and the coefficient of variation of the beam deflection are obtained and compared for three types of force motion: accelerated, decelerated and uniform. The effects of beam damping and speed of the moving force on the dynamic response of beams are studied in detail. Received 3 December 2001; accepted for publication 30 April 2002     

Some dynamic properties of axially loaded wire ropes

Results are presented on the transverse damping, the transverse fundamental natural frequency as well as the longitudinal fundamental natural frequency for axially loaded wire ropes. Twelve different wire ropes are tested. During the test, a mass is centrally attached to the rope. The results indicate an increasing transverse damping with an increasing axial load. This damping is primarily attributed to a Coulomb damping. Although core material and construction influence the transverse damping of the wire rope, no relationships are found when comparing this damping with the structural strength, the number of wires used in the rope, the alloy composition or the heat treatment of the rope materials. The transverse and longitudinal fundamental natural frequencies of the axially loaded wire ropes with a mass centrally attached has been satisfactorily modeled.     

Vibration and stability of an axially moving beam immersed in fluid

Vibration and stability are investigated for an axially moving beam in fluid and constrained by simple supports with torsion springs. The equations of motion of the beam with uniform circular cross-section, moving axially in a horizontal plane at a known rate while immersed in an incompressible fluid are derived first. An “axial added mass coefficient” and an initial tension are implemented in these equations. Based on the Differential Quadrature Method (DQM), a solution for natural frequency is obtained and numerical results are presented. The effects of axially moving speed, axial added mass coefficient, and several other system parameters on the dynamics and instability of the beam are discussed. Particularly, natural frequency in terms of the moving speed is presented for fixed–fixed, hinged–hinged and hybrid supports with torsion spring. It is shown that when the moving speed exceeds a certain value, the beam becomes subject to buckling-type instability. The variations of the lowest critical moving speed with several key parameters are also investigated.     

On the dynamic behaviour of a beam with an accelerating mass

Summary The dynamic behaviour of an Euler beam traversed by a moving concentrated mass, is analyzed for the general case of a mass moving with a varying speed. The equation of motion in a matrix form is formulated using the Lagrangian approach and the assumed mode method. The dimensionless form of the equation enables the numerical results to be applicable for a wide range of system parameters. The possibility of the mass separating from the beam is analyzed by examining the contact forces between the mass and the beam during the motion.     

Development of a generalised active vibration suppression strategy for a cantilever beam using internal resonance

In this paper, the potential to utilise modal coupling effects in the formulation of a generalised vibration suppression algorithm is investigated. The plant, a flexible cantilever beam undergoing first mode oscillation, is modelled by a second order differential equation with a spring constant and damping coefficient that are representative of the first mode flexibility and material damping of the beam, respectively.In order to establish an internal resonance condition, a second equation, designated the supplementary equation or controller, is appended to the plant to render a two-degree-of-freedom system. The objective is to generate an internally resonant pair. Upon successful completion of this task, a suppression technique is implemented whereby energy is removed from the plant via the supplementary system.The introduction of the supplementary system results in a set of design parameters which are employed to realise a state of internal resonance and to establish the desired dynamic response. The choice of 2:1 internal resonance models results in a unidirectional control torque making this technique particularly attractive for systems using thrusters or tendons as actuators. A similar structural configuration regulated under a PD (Proportional-Derivative) control law is compared to the proposed control scheme via simulation.     

Wavelet approach to vibratory analysis of surface due to a load moving in the layer

The paper analyses theoretically the surface vibration induced by a point load moving uniformly along a infinitely long beam embedded in a two-dimensional viscoelastic layer. The beam is placed parallel to the traction-free surface and the layer under the beam is assumed to be a half space. The response due to a harmonically varying load is investigated for different load frequencies. The influence of the layer damping and moving load speed on the level of vibrations at the surface is analysed and analytical closed form solutions in the integral form for the displacement amplitude and the amplitude spectra are derived. Approximate displacement values depending on Young’s modulus and mass density of layers are obtained. The mathematical model is described by the Euler–Bernoulli beam equation, Navier’s elastodynamic equation of motion for the elastic medium and appropriate boundary and continuity conditions. A special approximation method based on the wavelet theory is used for calculation of the displacements at the surface.     

Nonlinear-forced vibrations of piezoelectrically actuated viscoelastic cantilevers

This paper aims to study the nonlinear-forced vibrations of a viscoelastic cantilever with a piecewise piezoelectric actuator layer on its top surface using the method of Multiple Scales. The governing equation of motion is a second-order nonlinear ordinary differential equation with quadratic and cubic nonlinearities which appear in stiffness, inertia, and damping terms. The nonlinear terms are due to the piezoelectricity, viscoelasticity, and geometry of the system. Forced vibrations of the system are investigated in the cases of primary resonance and non-resonance hard excitation including subharmonic and superharmonic resonances. Analytical expressions for frequency responses are derived, and the effects of different parameters including damping coefficient, thickness to width ratio of the beam, length and position of the piezoelectric layer, density of the beam, and the piezoelectric coefficient on the frequency-response curves are discussed for each case. It is shown that in all these cases, the response of the system follows a softening behavior due to the existence of the piezoelectric layer. The piezoelectric layer provides an effective tool for active control of vibration. In addition, the effect of the viscoelasticity of the beam on passive control of amplitude of vibration is illustrated.     

The longitudinal harmonic excitation of a circular bar embedded in an elastic half-space

This investigation is concerned with the dynamic response of a circular elastic bar of finite length partially embedded in a half-space of distinct elastic properties. The bar is perpendicular to the free surface of the embedding medium and supports a mass which is harmonically excited in the direction of the bar's longitudinal axis. Two bonding conditions are considered: fully bonded wherein the bar completely adheres to the embedding medium throughout the surface of contact, and loosely bonded wherein the bar is secured through its terminal cross section alone. Of primary importance is the energy dissipation due to the spatial characteristics of the embedding medium and accordingly the system is interpreted as a frequency-dependent spring-dashpot.The determination of the effective spring constant and damping coefficient is achieved by modeling the bar with a one-dimensional theory and using three-dimensional theory for a region which approximates the embedding medium, namely the full half-space. Lamé potentials and Hankel transforms enable a basic half-space problem to be solved which in turn allows integral representations for the spring constant and damping coefficient to be established. For the fully-bonded problem these integral representations involve a bar-force term which must be determined from an integral equation. In both cases the solutions are evaluated numerically over a range of forcing frequencies and for various bar/half-space configurations.     

黏弹性阻尼作用下轴向运动Timoshenko梁振动特性的研究

黏弹性阻尼一直是轴向运动系统的研究热点之一.以往研究轴向运动系统大都没有考虑黏弹性阻尼的影响.但在工程实际中, 存在黏弹性阻尼的轴向运动体系更为普遍.本文研究了黏弹性阻尼作用下轴向运动Timoshenko梁的振动特性.首先, 采用广义Hamilton原理给出了轴向运动黏弹性Timoshenko梁的动力学方程组和相应的简支边界条件.其次, 应用直接多尺度法得到了轴速和相关参数的对应关系, 给出了前两阶固有频率和衰减系数在黏弹性作用下的近似解析解.最后, 采用微分求积法分析了在有无黏弹性作用下前两阶固有频率和衰减系数随轴速的变化; 给出了前两阶固有频率和衰减系数在黏弹性作用下的近似数值解, 验证了近似解析解的有效性.结果表明: 随着轴速的增大, 梁的固有频率逐渐减小.梁的固有频率和衰减系数随着黏弹性系数的增大而逐渐减小, 其中衰减系数与黏弹性系数成正比关系, 黏弹性系数对第一阶衰减系数和固有频率的影响很小, 对第二阶衰减系数和固有频率的影响较大.      

Motion of a rigid plastic cantilever in a damping medium under transverse impact

The motion of a rigid plastic cantilever beam which is surrounded by a damping medium and struck transversely at the tip by a moving mass is studied. The elementary theory, which disregards effects due to rate of straining and geometry changes is used. The governing equations of motion are integrated numerically. For comparison the case of discrete damping provided at the tip only is also solved. Results are presented for a wide range of parameters.     

Internal-external resonance of beams on non-linear viscoelastic foundation traversed by moving load

Vibration of a finite Euler–Bernoulli beam, supported by non-linear viscoelastic foundation traversed by a moving load, is studied and the Galerkin method is used to discretize the non-linear partial differential equation of motion. Subsequently, the solution is obtained for different harmonics using the Multiple Scales Method (MSM) as one of the perturbation techniques. Free vibration of a beam on non-linear foundation is investigated and the effects of damping and non-linear stiffness of the foundation on the responses are examined. Internal-external resonance condition is then stated and the frequency responses of different harmonics are obtained by MSM. Different conditions of the external resonance are studied and a parametric study is carried out for each case. The effects of damping and non-linear stiffness of the foundation as well as the magnitude of the moving load on the frequency responses are investigated. Finally, a thorough local stability analysis is performed on the system.     

Inner mass impact damper for attenuating structure vibration

The behaviors of a vibration system suppressed with an impact damper are investigated, where the impact damper is simplified as a combination of spring and viscous damping. The analytical theory for the optimal impact control algorithms for impact damper is developed, and the accurate expressions are derived for the optimal values of the impact damper damping and initial displacement in a single-degree-of-freedom structure. The relation between coefficient of restitution and impact damping ratio is obtained. The investigation shows that the effective reduction of the vibration response is nearly independent of the number of impacts, but primarily related to the type of collision which the impact mass collides with the main mass face-to-face. This theory is generalized to continuous structures. An example of an impact damper in a rotating cantilever beam demonstrates that the impact dampers are suitable for attenuating the impulse response of structures unconditional stable without the requirement of the accuracy of the modal information.     

时变张力作用下轴向运动梁的分岔与混沌

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

On damping properties of a frictionless physical pendulum with a moving mass

The damping effects are generated in a frictionless oscillating physical pendulum by a continuous motion of an auxiliary mass. The main parameters affecting the damping properties of the pendulum-mass system are identified. In particular, the effective damping ratio for a cycle is introduced and derived in a closed form from the energy considerations and then independently from Mathieu's equation. It is shown that a continuous damping can be achieved if the mass motion is synchronized with the pendulum rotation. Otherwise the system becomes prone to ‘beating’ phenomenon. The results presented may be useful for design of active control strategy of autonomous systems with negligible passive damping.     

Zener internal damping in modelling of axially moving viscoelastic beam with time-dependent tension

Non-linear vibrations of axially moving beam with time-dependent tension are investigated in this paper. The beam material is modelled as three-parameter Zener element. The Galerkin method and the fourth order Runge-Kutta method are used to solve the governing non-linear partial-differential equation. The effects of the transport speed, the tension perturbation amplitude and the internal damping on the dynamic behaviour of the system are numerically investigated. The Poincare maps and bifurcation diagrams are constructed to classify the vibrations. For small values of the transport speed and the amplitude of periodic perturbation the system is asymptotically stable with its response tending to zero. With the increase of parameters one can observe the coexistence of attractors. Regular and chaotic motion occur when the internal damping increases.     

Nonlinear vibration of an axially loaded beam carrying multiple mass–spring–damper systems

This paper deals with the nonlinear vibration of a beam subjected to a tensile load and carrying multiple spring–mass–dashpot systems. The nonlinearity is attributable to mid-plane stretching, damping, and spring constant. Explicit expressions are presented for the frequency equations, mode shapes, nonlinear frequency, and modulation equations. The validity of the results is demonstrated via comparison with results in the literature. Parametric studies are conducted on beams with varying boundary conditions to investigate the effect of the location and magnitude of the spring–mass–dashpot system, as well as the role of the tension.     

力锤敲击作用下内嵌自主移动钢球欧拉梁碰撞减振性能研究

结合内嵌自主移动质量子系统梁／板实验平台实验结果,对力锤敲击作用下,内嵌自主移动钢球欧拉梁碰撞减振系统进行研究。采用线性弹簧-阻尼模型模拟钢球与梁之间的碰撞机制,通过分析建立了整个碰撞系统的分段线性动力学方程;运用无量纲化、假设模态法及高阶模态截断等方法导出系统的状态空间方程。数值计算结果表明,内嵌自主移动钢球对欧拉梁...     

STABILITY AND LOCAL BIFURCATION IN A SIMPLY-SUPPORTED BEAM CARRYING A MOVING MASS

The stability and local bifurcation of a simply-supported flexible beam(Bernoulli- Euler type)carrying a moving mass and subjected to harmonic axial excitation are investigated. In the theoretical analysis,the partial differential equation of motion with the fifth-order nonlinear term is solved using the method of multiple scales(a perturbation technique).The stability and local bifurcation of the beam are analyzed for 1/2 sub harmonic resonance.The results show that some of the parameters,especially the velocity of moving mass and external excitation,affect the local bifurcation significantly.Therefore,these parameters play important roles in the system stability.