Complex eigensolutions of coupled flexural and longitudinal modes in a beam with inclined elastic supports with non-proportional damping

Structure borne vibration and noise in an automobile are often explained by representing the full vehicle as a system of elastically coupled beam structures representing the body, engine cradle and body subframe where the engine is often connected to the chassis via inclined viscoelastic supports. To understand more clearly the interactions between a beam structure and isolators, this article examines the flexural and longitudinal motions in an elastic beam with intentionally inclined mounts (viscoelastic end supports). A new analytical solution is derived for the boundary coupled Euler beam and wave equations resulting in complex eigensolutions. This system is demonstrated to be self-adjoint when the support stiffness matrices are symmetric; thus, the modal analysis is used to decouple the equations of motion and solve for the steady state, damped harmonic response. Experimental validation and computational verifications confirm the validity of the proposed formulation. New and interesting phenomena are presented including coupled rigid motions, modal properties for ideal angled roller boundaries, and relationships between coupling and system modal loss factors. The ideal roller boundary conditions when inclined are seen as a limiting case of coupled longitudinal and flexural motions. In particular, the coupled rigid body motions illustrate the influence of support stiffness coupling on the eigenvalues and eigenfunctions. The relative modal strain energy concept is used to distinguish the contribution of longitudinal and flexural deformation modes. Since the beam is assumed to be undamped, the system damping is derived from the viscoelastic supports. The support damping (for a given loss factor) is shown to be redistributed between the system modes due to the inclined coupling mechanisms. Finally, this article provides valuable insight by highlighting some technical issues a real-life designer faces when balancing modeling assumptions such as rigid or elastic formulations, proportional or non-proportional damping, and coupling terms in multidimensional joint properties.     

On the definition of the natural frequency of oscillations in nonlinear large rotation problems

Computational multibody system algorithms allow for performing eigenvalue analysis at different time points during the simulation to study the system stability. The nonlinear equations of motion are linearized at these time points, and the resulting linear equations are used to determine the eigenvalues and eigenvectors of the system. In the case of linear systems, the system eigenvalues remain the same under a constant coordinate transformation; and zero eigenvalues are always associated with rigid body modes, while nonzero eigenvalues are associated with non-rigid body motion. These results, however, cannot in general be applied to nonlinear multibody systems as demonstrated in this paper. Different sets of large rotation parameters lead to different forms of the nonlinear and linearized equations of motion, making it necessary to have a correct interpretation of the obtained eigenvalue solution. As shown in this investigation, the frequencies associated with different sets of orientation parameters can differ significantly, and rigid body motion can be associated with non-zero oscillation frequencies, depending on the coordinates used. In order to demonstrate this fact, the multibody system motion equations associated with the system degrees of freedom are presented and linearized. The resulting linear equations are used to define an eigevalue problem using the state space representation in order to account for general damping that characterizes multibody system applications. In order to demonstrate the significant differences between the eigenvalue solutions associated with two different sets of orientation parameters, a simple rotating disk example is considered in this study. The equations of motion of this simple example are formulated using Euler angles, Euler parameters and Rodriguez parameters. The results presented in this study demonstrate that the frequencies obtained using computational multibody system algorithms should not in general be interpreted as the system natural frequencies, but as the frequencies of the oscillations of the coordinates used to describe the motion of the system.     

Substructuring and modal synthesis for damped systems

A new approach to complex mode synthesis for damped systems is presented. The technique involves using two successive transformations of the equations written in first order, state space form. The transformations are applied to each subsystem, with consecutive use being made of free interface undamped modes in the existing physical co-ordinates followed by fixed interface damped modes in the generalized co-ordinates. The system eigenvalues are obtained by the QR method in the EISPACK matrix programs. An advantage of the technique is that it can be applied to systems or subsystems possessing rigid body motion. The new method compares very well in accuracy and applicability with other existing methods.     

Dynamics modelling of a flexible hub-beam system with a tip mass

This paper presents a finite-element model for a flexible hub-beam system with a tip mass. Both viscous damping and air drag force are introduced into this model. The complete coupling between the system rigid and flexible degrees of freedom is allowed since the start of the formulation and developing the system kinematic variables. Based on deformation theory and geometric constraints, a second order approximation for the displacement field is proposed and the dynamic stiffening is accounted for. Hamilton's principle is utilized in deriving the equations of motion. The corresponding dynamics models of the tip mass and damping forces are developed in a consistent manner through formulating their energy expressions and applying Hamilton's principle. The finite element method is employed for spatial discretization due to its versatility, high accuracy and convergence. Numerical simulations show that the second order term in deformation field can have significant effect on dynamics behavior of flexible multibody systems. It is also shown that the traditional linear model cannot account for dynamic stiffening and may lead to erroneous result in some high-speed systems because the deformation field commonly used in structural dynamics is straight employed in this model. In contrast, the developed model (CCM) based on the second order deformation field can predict valid results. The effects of tip mass and damping on dynamics behavior of the hub-beam system are also discussed.     

Dynamic instability of supercritical driveshafts mounted on dissipative supports—Effects of viscous and hysteretic internal damping

The case of a rotating shaft with internal damping mounted either on elastic dissipative bearings or on infinitely rigid bearings with viscoelastic suspensions is investigated in order to obtain the stability region. A Euler-Bernoulli shaft model is adopted, in which the transverse shear effects are neglected and the effects of translational and rotatory inertia, gyroscopic moments, and internal viscous or hysteretic damping are taken into account. The hysteretic damping is incorporated with an equivalent viscous damping coefficient. Free motion analysis yields critical speeds and threshold speeds for each damping model in analytical form. In the case of elastic dissipative bearings, the present results are compared with the results of previous studies on finite element models. In the case of infinitely rigid bearings with viscoelastic suspensions, it is established that viscoelastic supports increase the stability of long shafts, thus compensating for the loss of efficiency which occurs with classical bearings. The instability criteria also show that the effect of the coupling which occured between rigid modes introducing external damping and shaft modes are almost more important than damping factor. Lastly, comparisons between viscous and hysteretic damping conditions lead to the conclusion that an appropriate material damping model is essential to be able to assess these instabilities.     

A comparison of shell theories for large-amplitude vibrations of circular cylindrical shells: Lagrangian approach

Large-amplitude (geometrically non-linear) vibrations of circular cylindrical shells subjected to radial harmonic excitation in the spectral neighbourhood of the lowest resonances are investigated. The Lagrange equations of motion are obtained by an energy approach, retaining damping through Rayleigh's dissipation function. Four different non-linear thin shell theories, namely Donnell's, Sanders-Koiter, Flügge-Lur’e-Byrne and Novozhilov's theories, which neglect rotary inertia and shear deformation, are used to calculate the elastic strain energy. The formulation is also valid for orthotropic and symmetric cross-ply laminated composite shells. The large-amplitude response of perfect and imperfect, simply supported circular cylindrical shells to harmonic excitation in the spectral neighbourhood of the lowest natural frequency is computed for all these shell theories. Numerical responses obtained by using these four non-linear shell theories are also compared to results obtained by using the Donnell's non-linear shallow-shell equation of motion. A validation of calculations by comparison with experimental results is also performed. Both empty and fluid-filled shells are investigated by using a potential fluid model. The effects of radial pressure and axial load are also studied. Boundary conditions for simply supported shells are exactly satisfied. Different expansions involving from 14 to 48 generalized co-ordinates, associated with natural modes of simply supported shells, are used. The non-linear equations of motion are studied by using a code based on an arclength continuation method allowing bifurcation analysis.     

Hilber-Hughes-Taylor-α法在接触约束多体系统动力学中的应用

以柔性梁在重力作用下绕转动铰做大范围定轴转动,并与刚性平面发生碰撞这一动力学过程为例,对Hilber-Hughes-Taylor(HHT-α)法在求解含接触约束的柔性多体系统动力学方程时的数值特性进行了研究.系统运动过程的全局动力学仿真由常微分方程组和微分-代数方程组的数值求解构成.柔性梁在无碰撞阶段系统动力学方程是一组常微分方程组.采用接触约束法模拟接触约束过程,系统的动力学方程为指标3的微分-代数方程组.采用HHT-α法对的该微分-代数方程组进行求解,并与Baumgarte违约修正法进行比较.分析了HHT-α法自由参数和违约修正常数对计算效率、动力学响应和系统机械能的影响,并对数值积分方法对模态截断数的敏感度以及速度约束和加速度约束的违约程度进行了分析.结果表明,违约修正常数对仿真结果影响非常明显,而HHT-α法的自由参数α对动力学响应的影响较小,从而避免了违约修正常数对数值积分结果的影响.HHT-α法的自由参数α可以消除碰撞高频模态的影响.     

A finite element model for sandwich viscoelastic beams: Experimental and numerical assessment

Among the passive control systems for attenuation of vibrations in structures, those that use viscoelastic materials as a damping core in laminated-plate-like components are focused herein. In the present work an assessment of a time-domain formulation for numerical modelling of viscoelastic materials is made. This formulation, which is called Golla–Hughes method (GHM), is based on a second-order time-domain realization of Laplace-domain motion equations. The GHM parameters used in the characterization of a viscoelastic material are experimentally determined and a sandwich GHM-based finite element model is presented and validated through numerical comparisons with classic formulation results. Finally, a time-domain simulation of an experimentally tested sandwich beam is carried out.     

Finite element modelling for the investigation of in-plane modes and damping shims in disc brake squeal

Squeal propensity of the in-plane modes and the constrained-layer type damping shims for disc brake system is investigated by using the finite element method. Theoretical formulation is derived for a rotating disc in contact with two stationary vibrating pads attached to the damping shim components. By the conversion from the theoretical to FE brake model, the full equations of motion for the actual disc brake system describes the disc rotation, the in-plane friction characteristics and damping shims in association with squeal vibration. It is concluded from the results that the in-plane torsion modes can be generated by the negative friction slope, but they cannot be controlled by the damping shims. The in-plane radial mode is also investigated and found to be very insensitive in squeal generation.     

Vibration and damping analysis of multilayered rectangular plates with constrained viscoelastic layers

Governing equations of motion for vibrations of a general multilayered plate consisting of an arbitrary number of alternate stiff and soft layers of orthotropic materials are derived by using variational principles. Extension, bending and in-plane shear deformations in stiff layers and only transverse shear deformations in soft layers are considered as in conventional sandwich structural analysis. In addition to transverse inertia, longitudinal translatory and rotary inertias are included, as such analysis gives higher order modes of vibration and leads to accurate results for relatively thick plates. Vibration and damping analysis of rectangular simply supported plates consisting of alternate elastic and viscoelastic layers is carried out by taking a series solution and applying the correspondence principle of linear viscoelasticity. The damping effectiveness, in term of the system loss factor, for all families of modes for three-, five- and seven-layered plates is evaluated and its variations with geometrical and material property parameters are investigated.     

FINITE ELEMENT FORMULATION AND ACTIVE VIBRATION CONTROL STUDY ON BEAMS USING SMART CONSTRAINED LAYER DAMPING (SCLD) TREATMENT

This work deals with the active vibration control of beams with smart constrained layer damping (SCLD) treatment. SCLD design consists of viscoelastic shear layer sandwiched between two layers of piezoelectric sensors and actuator. This composite SCLD when bonded to a vibrating structure acts as a smart treatment. The sensor piezoelectric layer measures the vibration response of the structure and a feedback controller is provided which regulates the axial deformation of the piezoelectric actuator (constraining layer), thereby providing adjustable and significant damping in the structure. The damping offered by SCLD treatment has two components, active action and passive action. The active action is transmitted from the piezoelectric actuator to the host structure through the viscoelastic layer. The passive action is through the shear deformation in the viscoelastic layer. The active action apart from providing direct active control also adjusts the passive action by regulating the shear deformation in the structure. The passive damping component of this design eliminates spillover, reduces power consumption, improves robustness and reliability of the system, and reduces vibration response at high-frequency ranges where active damping is difficult to implement. A beam finite element model has been developed based on Timoshenko's beam theory with partially covered SCLD. The Golla-Hughes-McTavish (GHM) method has been used to model the viscoelastic layer. The dissipation co-ordinates, defined using GHM approach, describe the frequency-dependent viscoelastic material properties. Models of PCLD and purely active systems could be obtained as a special case of SCLD. Using linear quadratic regulator (LQR) optimal control, the effects of the SCLD on vibration suppression performance and control effort requirements are investigated. The effects of the viscoelastic layer thickness and material properties on the vibration control performance are investigated.     

A generalized modelling technique for linearized motions of mechanisms with flexible parts

Analysis and control of vibrations of agricultural machines to improve machine performance and vibration comfort of the operator is a major concern of manufacturers these days. In this paper, an analytical method to build the linearized equations of motion of an elastic tree structured mechanism, is presented. The method is based on the principle of virtual work resulting in a set of parameterized linear equations that are functions of the mechanical parameters and the geometry and the interconnection structure of different bodies in the mechanism. The rigid-body motions of the mechanical system are represented by Lagrangian generalized co-ordinates while elastic deformations are described by nodal co-ordinates from a finite element formulation. Explicit expressions for external distributed and concentrated forces and internal concentrated forces acting on the mechanism are given.     

Development of elastic force model for wheel/rail contact problems

In this investigation, a new formulation for the wheel/rail contact problem based on the elastic force approach is presented. Crucial to the success of any elastic force formulation for the wheel/rail contact problem is the accurate prediction of the location of the contact points. To this end, features of multibody formulations that allow introducing additional differential equations are exploited in this investigation in order to obtain a good estimate of the rail arc length travelled by the wheel set. In the formulation presented in this paper, four parameters are used to describe the wheel and the rail surfaces. In order to determine the location of the points of contact between the wheel and the rail, a first order differential equation for the rail arc length is introduced and is integrated simultaneously with the multibody equations of motion of the wheel/rail system. The method presented in this paper allows for multiple points of contact between the wheel and the rail by using an optimized search for all possible contact points. The normal contact forces are calculated and used with non-linear expressions for the creepages to determine the creep forces. The paper also discusses two different procedures for the analysis of the two-point contact in the wheel/rail interaction. Numerical results obtained using the elastic force model are presented and compared with the results obtained using the constraint approach.     

Eliminating the modal truncation problem encountered in frequency responses of viscoelastic systems

Increasing the number of degrees of freedom used in finite element analysis for mechanical and structural systems with viscoelastic damping, the need to consider the modal truncation problem of viscoelastic systems is more than ever before. The higher modes may be unnecessary to obtain in dynamic analysis for engineering applications. For viscoelastic systems, the modal truncation problem may be more frequently encountered since the nonviscous modes are difficult or even impossible to be found accurately even if a small-scaled problem is considered for some eigensolution methods. This study aims at eliminating the influence of the higher modes on the frequency responses of viscoelastically damped systems. A method is presented by making the equilibrium equations of motion into a subspace equation spanned in terms of the columns of a projection basis obtained by considering the use of the contribution of the lower modes and the first two terms of the Neumann expansion of the contribution of the unavailable modes. Finally, three example studies are provided to illustrate the effectiveness of the derived results. It is shown that the proposed method can reduce the modal truncation error significantly.     

刚性多原子分子的正则系综分子动力学算法

通过将Nose所定义的扩展系统哈密顿量推广到刚性多原子分子系统中，严格地推导了刚性多原子分子在正则系综下的运动方程.在此基础上，证明了依靠所给出的运动方程能得到平衡态的正则分布，并给出了该方程所对应的可逆而守恒的积分格式. 关键词： 刚性多原子分子 正则系综 分子动力学算法     

A Brief Review of Elasticity and Viscoelasticity for Solids

There are a number of interesting applications where modeling elastic and/or viscoelastic materials is fundamental, including uses in civil engineering, the food industry, land mine detection and ultrasonic imaging. Here we provide an overview of the subject for both elastic and viscoelastic materials in order to understand the behavior of these materials. We begin with a brief introduction of some basic terminology and relationships in continuum mechanics, and a review of equations of motion in a continuum in both Lagrangian and Eulerian forms. To complete the set of equations, we then proceed to present and discuss a number of specific forms for the constitutive relationships between stress and strain proposed in the literature for both elastic and viscoelastic materials. In addition, we discuss some applications for these constitutive equations. Finally, we give a computational example describing the motion of soil experiencing dynamic loading by incorporating a specific form of constitutive equation into the equation of motion.     

Dynamic stability of plane elastic frames

The stability of plane elastic frames subjected to a vertical foundation motion of the stationary, ergodic type is investigated. The equations of motion are obtained in modal co-ordinates, with account taken of many modes of vibration. The problem is subsequently reduced to the study of only the first mode of vibration. By considering a particular case, the stability domains are sketched as functions of the variation of the rigidities of the beam-column connecting joints and as functions of the number of stories.     

Damped vibration analysis of an elastically connected complex double-string system

The main purpose of the present paper is to consider theoretically damped transverse vibrations of an elastically connected double-string system. This system is treated as two viscoelastic strings with a Kelvin-Voigt viscoelastic layer between them. A theoretical analysis has been made for a simplified model of the system, in which assumed physical parameters make it possible to decouple the governing equations of motion by introducing the principal co-ordinates. Applying the method of separation of variables and the modal expansion method, exact analytical solutions for damped free and forced responses of the system subjected to arbitrarily distributed transverse continuous loads are determined in the case of arbitrary magnitude of linear viscous damping. It is important to note that the solutions obtained are explicitly expressed in terms of parameters characterizing the physical properties of the system under discussion. For the sake of completeness of the analysis, solutions for undamped free and forced vibrations are also formulated.     

Dynamic analysis of frames with viscoelastic dampers modelled by rheological models with fractionalderivatives

Frame structures with viscoelastic dampers mounted on them are considered in this paper. Viscoelastic (VE) dampers are modelled using two, three-parameter, fractional rheological models. The structures are treated as elastic linear systems. The equation of motion of the whole system (structure with dampers) is written in terms of state-space variables. The resulting matrix equation of motion is the fractional differential equation. The proposed state space formulation is new and does not require matrices with huge dimensions. The paper is devoted to determine the dynamic properties of the considered structures. The nonlinear eigenvalue problem is formulated from which the dynamic parameters of the system can be determined. The continuation method is used to solve the nonlinear eigenvalue problem. Moreover, results of typical calculations are presented.