Periodic Response and Chaos in Nonlinear Systems with Parametric Excitation and Time Delay

In this paper, the periodic motions of a nonlinear system with quadratic,cubic, and parametrically excited stiffness terms and with time-delayterms are obtained by the incremental harmonic balance (IHB) method. Theelements of the Jacobian matrix and residue vector arising in the IHBformulation are derived in closed form. A mechanism model representingthe one-mode oscillation of beams and plates is considered as anexample. A path-following algorithm with an arc-length parametriccontinuation procedure is used to obtain the response diagrams. Thesystem also exhibits chaotic motion through a cascade of period-doublingbifurcations, which is characterized by phase planes, Poincaré sectionsand Lyapunov exponents. The interpolated cell mapping (ICM) procedure isused to obtain the initial condition map corresponding to multiplesteady-state solutions.     

Note on Chaos in Three Degree of Freedom Dynamical System with Double Pendulum

The nonlinear response of a three degree of freedom vibratory system with double pendulum in the neighbourhood internal and external resonances is investigated. The equations of motion have bean solved numerically. In this type system one mode of vibration may excite or damp another one, and for except different kinds of periodic vibration there may also appear chaotic vibration. To prove the character of this vibration and to realise the analysis of transitions from periodic regular motion to quasi-periodic and chaotic, the following have been constructed: bifurcation diagrams and time histories, phase plane portraits, power spectral densities, Poincaré maps and exponents of Lyapunov. These bifurcation diagrams show many sudden qualitative changes, that is, many bifurcations in the chaotic attractor as well as in the periodic orbits.     

The post-Hopf-bifurcation response of an airfoil in incompressible two-dimensional flow

A bifurcation analysis of a two-dimensional airfoil with a structural nonlinearity in the pitch direction and subject to incompressible flow is presented. The nonlinearity is an analytical third-order rational curve fitted to a structural freeplay. The aeroelastic equations-of-motion are reformulated into a system of eight first-order ordinary differential equations. An eigenvalue analysis of the linearized equations is used to give the linear flutter speed. The nonlinear equations of motion are either integrated numerically using a fourth-order Runge-Kutta method or analyzed using the AUTO software package. Fixed points of the system are found analytically and regions of limit cycle oscillations are detected for velocities well below the divergent flutter boundary. Bifurcation diagrams showing both stable and unstable periodic solutions are calculated, and the types of bifurcations are assessed by evaluating the Floquet multipliers. In cases where the structural preload is small, regions of chaotic motion are obtained, as demonstrated by bifurcation diagrams, power spectral densities, phase-plane plots and Poincaré sections of the airfoil motion; the existence of chaos is also confirmed via calculation of the Lyapunov exponents. The general behaviour of the system is explained by the effectiveness of the freeplay part of the nonlinearity in a complete cycle of oscillation. Results obtained using this reformulated set of equations and the analytical nonlinearity are in good agreement with previously obtained finite difference results for a freeplay nonlinearity.     

Numerical simulations of chaotic dynamics in a model of an elastic cable

The finite motions of a suspended elastic cable subjected to a planar harmonic excitation can be studied accurately enough through a single ordinary-differential equation with quadratic and cubic nonlinearities.The possible onset of chaotic motion for the cable in the region between the one-half subharmonic resonance condition and the primary one is analysed via numerical simulations. Chaotic charts in the parameter space of the excitation are obtained and the transition from periodic to chaotic regimes is analysed in detail by using phase-plane portraits, Poincaré maps, frequency-power spectra, Lyapunov exponents and fractal dimensions as chaotic measures. Period-doubling, sudden changes and intermittency bifurcations are observed.Part of this work was presented at the XVIIth Int. Congr. of Theor. and Appl. Mech., Grenoble, August 1988.     

The transition of flow-induced cylinder vibrations to chaos

Flow-induced oscillations of rigid cylinders exposed to fully developed turbulent flow can be described by a fourth order autonomous system. Among the pertinent constants, the mass ratio is the control parameter governing the transition from limit cycle oscillations to chaotic vibrations. Particular attention is paid to the stability of the limit cycles: it has been found that they lose their stability at the point of appearance of quasi-periodic motion. The documentation of this transition is performed in terms of Lyapunov exponents, phase plots, Fourier spectra, bifurcation diagrams, and Poincaré maps. As opposed to the calculation of the Lyapunov exponents where remarkable numerical difficulties were encountered, the investigation of the remaining quantities shows clearly the passage of cylinder motions from limit cycle oscillations to more and more irregular vibrations, leading finally to chaos.     

Control of Chaotic Motion in a Spinning Spacecraft with a Circumferential Nutational Damper

Control of chaotic vibrations in a simplified model of a spinning spacecraft with a circumferential nutational damper is achieved using two techniques. The control methods are implemented on a realistic spacecraft parameter configuration which has been found to exhibit chaotic instability when a sinusoidally varying torque is applied to the spacecraft for a range of forcing amplitude and frequency. Such a torque, in practice, may arise in the platform of a dual-spin spacecraft under malfunction of the control system or from an unbalanced rotor or from vibrations in appendages. Chaotic instabilities arising from these torques could introduce uncertainties and irregularities into a spacecraft's attitude and consequently could have disastrous affects on its operation. The two control methods, recursive proportional feedback (RPF) and continuous delayed feedback, are recently developed techniques for control of chaotic motion in dynamical systems. Each technique is outlined and the effectiveness of the two strategies in controlling chaotic motion exhibited by the present system is compared and contrasted. Numerical simulations are performed and the results are studied by means of time history, phase space, Poincaré map, Lyapunov characteristic exponents and bifurcation diagrams.     

Impact phenomena of rotor-casing dynamical systems

Rubbing and impacting between a rotor and adjacent motion-constraining structures is a serious malfunction in rotating machinery. A shaver rotor-casing system with clearance and mass imbalance is modelled with two second-order ordinary differential equations and inelastic impact conditions. The dynamics is investigated analytically, as well as by numerical simulation. A Lyapunov exponent technique is developed to characterize the topologically different behavior as the parameters are varied. The dry friction coefficient and the eccentricity of the rotor imbalance were chosen to be the two variable parameters, the effect of which on the system dynamics is illustrated through phase plots, bifurcation diagrams, as well as Poincaré maps. The results demonstrate the existence of both rubbing and impacting behavior. Depending on values of the parameters, rubbing motion in both the clockwise and counter-clockwise directions may occur. Within the impact regime, the impact behavior could be periodic, quasi-periodic or chaotic, as confirmed by the calculation of Lyapunov exponents.     

Nonlinear oscillations and chaotic motions in a road vehicle system with driver steering control

The nonlinear dynamics of a differential system describing the motion of a vehicle driven by a pilot is examined. In a first step, the stability of the system near the critical speed is analyzed by the bifurcation method in order to characterize its behavior after a loss of stability. It is shown that a Hopf bifurcation takes place, the stability of limit cycles depending mainly on the vehicle and pilot model parameters. In a second step, the front wheels of the vehicle are assumed to be subjected to a periodic disturbance. Chaotic and hyperchaotic motions are found to occur for some range of the speed parameter. Numerical simulations, such as bifurcation diagrams, Poincaré maps, Fourier spectrums, projection of trajectories, and Lyapunov exponents are used to establish the existence of chaotic attractors. Multiple attractors may coexist for some values of the speed, and basins of attraction for such attractors are shown to have fractal geometries.     

Chaotic Motion in a Spinning Spacecraft with Circumferential Nutational Damper

The dynamics of a simplified model of a spinning spacecraft with a circumferential nutational damper is investigated using numerical simulations for nonlinear phenomena. A realistic spacecraft parameter configuration is investigated and is found to exhibit chaotic motion when a sinusoidally varying torque is applied to the spacecraft for a range of forcing amplitude and frequency. Such a torque, in practice, may arise in the platform of a dual-spin spacecraft under malfunction of the control system or from an unbalanced rotor or from vibrations in appendages. The equations of motion of the model are derived with Lagrange's equations using a generalisation of the kinetic energy equation and a linear stability analysis is given. Numerical simulations for satellite parameters are performed and the system is found to exhibit chaotic motion when a sinusoidally varying torque is applied to the spacecraft for a range of forcing amplitude and frequency. The motion is studied by means of time history, phase space, frequency spectrum, Poincaré map, Lyapunov characteristic exponents and Correlation Dimension. For sufficiently large values of torque amplitude, the behaviour of the system was found to have much in common with a two well potential problem such as a Duffing oscillator. Evidence is also presented, indicating that the onset of chaotic motion was characterised by period doubling as well as intermittency.     

Investigation on chaotic motion in hysteretic non-linear suspension system with multi-frequency excitations

This paper presents the investigation on possible chaotic motion in a vehicle suspension system with hysteretic non-linearity, which is subjected to the multi-frequency excitation from road surface. The Melnikov’s function is used to derive the critical condition for the chaotic motion, and then it is investigated that the effects of parameters in non-linear damping on the chaotic field. The path from quasi-periodic to chaotic motion is found via Poincaré map and Lyapunov exponents.     

The analysis of the spectrum of Lyapunov exponents in a two-degree-of-freedom vibro-impact system

In the study of dynamical systems, the spectrum of Lyapunov exponents has been shown to be an efficient tool for analyzing periodic motions and chaos. So far, different calculating methods of Lyapunov exponents have been proposed. Recently, a new method using local mappings was given to compute the Lyapunov exponents in non-smooth dynamical systems. By the help of this method and the coordinates transformation proposed in this paper, we investigate a two-degree-of-freedom vibro-impact system with two components. For this concrete model, we construct the local mappings and the Poincaré mapping which are used to describe the algorithm for calculating the spectrum of Lyapunov exponents. The spectra of Lyapunov exponents for periodic motions and chaos are computed by the presented method. Moreover, the largest Lyapunov exponents are calculated in a large parameter range for the studied system. Numerical simulations show the success of the improved method in a kind of two-degree-of-freedom vibro-impact systems.     

Non-linear dynamic phenomena in the behaviour of a railway wheelset model

A dicone moving on a pair of cylindrical rails can be considered as a simplified model of a railway wheelset. Taking into account the non-linear friction laws of rolling contact, the equations of motion for this non-linear mechanical system result in a set of differential-algebraic equations. Previous simulations performed with the differential-algebraic solver DASSL, [2], and experiments, [7], indicated non-linear phenomena such as limit-cycles, bifurcations as well as chaotic behaviour. In this paper the non-linear phenomena are investigated in more detail with the aid of special in-house software and the path-following algorithm PATH [10]. We apply Poincaré sections and Poincaré maps to describe the structure of periodic, quasiperiodic and chaotic motions. The analyses show that part of the chaotic behaviour of the non-linear system can be fully understood as a non-linear iterative process. The resulting stretching and folding processes are illustrated by series of Poincaré sections.     

A new chaotic system with fractional order and its projective synchronization

Based on Rikitake system, a new chaotic system is discussed. Some basic dynamical properties, such as equilibrium points, Lyapunov exponents, fractal dimension, Poincaré map, bifurcation diagrams and chaotic dynamical behaviors of the new chaotic system are studied, either numerically or analytically. The obtained results show clearly that the system discussed is a new chaotic system. By utilizing the fractional calculus theory and computer simulations, it is found that chaos exists in the new fractional-order three-dimensional system with order less than 3. The lowest order to yield chaos in this system is 2.733. The results are validated by the existence of one positive Lyapunov exponent and some phase diagrams. Further, based on the stability theory of the fractional-order system, projective synchronization of the new fractional-order chaotic system through designing the suitable nonlinear controller is investigated. The proposed method is rather simple and need not compute the conditional Lyapunov exponents. Numerical results are performed to verify the effectiveness of the presented synchronization scheme.     

Chaotic attitude motion of gyrostat statellites in a central force field

The nonlinear attitude motion of gyrostat satellites in a central force field is investigated, with particular emphasis on their long-time dynamic behavior for a wide range of parameters. The numbers of equilibrium solutions, as well as their stability, vary with the rotor speed, and bifurcation diagrams have been obtained. Various dynamic behaviors of gyrostat satcllites, e.g. periodic, quasiperiodic, and chaotic, are studied via the Poincaré map technique. It is shown that the rotor speed has a significant effect on the dynamic behavior of gyrostat satellites.     

Distinguishing Periodic and Chaotic Time Series Obtained from an Experimental Nonlinear Pendulum

The experimental analysis of nonlinear dynamical systems furnishes ascalar sequence of measurements, which may be analyzed using state spacereconstruction and other techniques related to nonlinear analysis. Thenoise contamination is unavoidable in cases of data acquisition and,therefore, it is important to recognize techniques that can be employedfor a correct identification of chaos. The present contributiondiscusses the experimental analysis of a nonlinear pendulum, consideringstate space reconstruction, frequency domain analysis and thedetermination of dynamical invariants, Lyapunov exponents and attractordimension. A procedure to construct Poincaré map of the signal ispresented. The analyses of periodic and chaotic motions are carried outin order to establish a difference between them. Results show that it ispossible to distinguish periodic and chaotic time series obtained froman experimental set up employing proper procedures even though noisesuppression is not contemplated.     

Transition to chaotic vibrations for harmonically forced perfect and imperfect circular plates

The transition from periodic to chaotic vibrations in free-edge, perfect and imperfect circular plates, is numerically studied. A pointwise harmonic forcing with constant frequency and increasing amplitude is applied to observe the bifurcation scenario. The von Kármán equations for thin plates, including geometric non-linearity, are used to model the large-amplitude vibrations. A Galerkin approach based on the eigenmodes of the perfect plate allows discretizing the model. The resulting ordinary-differential equations are numerically integrated. Bifurcation diagrams of Poincaré maps, Lyapunov exponents and Fourier spectra analysis reveal the transitions and the energy exchange between modes. The transition to chaotic vibration is studied in the frequency range of the first eigenfrequencies. The complete bifurcation diagram and the critical forces needed to attain the chaotic regime are especially addressed. For perfect plates, it is found that a direct transition from periodic to chaotic vibrations is at hand. For imperfect plates displaying specific internal resonance relationships, the energy is first exchanged between resonant modes before the chaotic regime. Finally, the nature of the chaotic regime, where a high-dimensional chaos is numerically found, is questioned within the framework of wave turbulence. These numerical findings confirm a number of experimental observations made on shells, where the generic route to chaos displays a quasiperiodic regime before the chaotic state, where the modes, sharing internal resonance relationship with the excitation frequency, appear in the response.     

Nonlinear Oscillations and Stability of Parametrically Excited Cylindrical Shells

Based on Donnell shallow shell equations, the nonlinear vibrations and dynamic instability of axially loaded circular cylindrical shells under both static and harmonic forces is theoretically analyzed. First the problem is reduced to a finite degree-of-freedom one by using the Galerkin method; then the resulting set of coupled nonlinear ordinary differential equations of motion are solved by the Runge–Kutta method. To study the nonlinear behavior of the shell, several numerical strategies were used to obtain Poincaré maps, Lyapunov exponents, stable and unstable fixed points, bifurcation diagrams, and basins of attraction. Particular attention is paid to two dynamic instability phenomena that may arise under these loading conditions: parametric excitation of flexural modes and escape from the pre-buckling potential well. Calculations are carried out for the principal and secondary instability regions associated with the lowest natural frequency of the shell. Special attention is given to the determination of the instability boundaries in control space and the identification of the bifurcational events connected with these boundaries. The results clarify the importance of modal coupling in the post-buckling solution and the strong role of nonlinearities on the dynamics of cylindrical shells.     

Chaotic Vibrations of a Cylindrical Shell-Panel with an In-Plane Elastic-Support at Boundary

This paper presents numerical results on chaotic vibrations of a shallow cylindrical shell-panel under harmonic lateral excitation. The shell, with a rectangular boundary, is simply supported for deflection and the shell is constrained elastically in an in-plane direction. Using the Donnell--Mushtari--Vlasov equation, modified with an inertia force, the basic equation is reduced to a nonlinear differential equation of a multiple-degree-of-freedom system by the Galerkin procedure. To estimate regions of the chaos, first, nonlinear responses of steady state vibration are calculated by the harmonic balance method. Next, time progresses of the chaotic response are obtained numerically by the Runge--Kutta--Gill method. The chaos accompanied with a dynamic snap-through of the shell is identified both by the Lyapunov exponent and the Poincaré projection onto the phase space. The Lyapunov dimension is carefully examined by increasing the assumed modes of vibration. The effects of the in-plane elastic constraint on the chaos of the shell are discussed.     

Poincaré Mapping Method for Hydrodynamic Systms. Dynamic Chaos in a Fluid Layer between Eccentrically Rotating Cylinders

Investigation of the plane–parallel motion of particles of an incompressible medium reduces to investigation of a Hamiltonian system. The Hamiltonian function is a stream function. The timeperiodic mixing of an incompressible medium is described by a timeperiodic Hamiltonian function. The mixing of the medium is associated with dynamic chaos. Transition to dynamic chaos is studied by analysis of the positions of Lagrangian particles at times divisible by the period — Poincaré recurrence points. The set of Poincaré recurrence points is studied with the use of Poincaré mapping on the phase flow. A method for constructing Poincaré maps in parametric form is proposed. A map is constructed as a series in a small parameter. It is shown that the parametric method has a number of advantages over the generating function method is shown. The proposed method is used to examine the motion of particles of an incompressible viscous fluid layer between two circular cylinders. The outer cylinder is immovable, and the inner cylinder rotates about a point that does not coincide with the centers of both cylinders. An optimal mode for the motion is established, in which the area of the chaotic region is maximal.     

Three routes to chaos for a three-degree-of-freedom articulated cylinder system subjected to annular flow and impacting on the outer pipe

In this paper, the dynamics of a cantilevered articulated system of rigid cylinders interconnected by rotational springs, within a pipe containing fluid flow is studied. Although the formulation is generalized to any number of degrees-of-freedom (articulations), the present work is restricted to three-degree-of-freedom systems. The motions are considered to be planar, and the equations of motion, apart from impacting terms, are linearized. Impacting of the articulated cylinder system on the outer pipe is modelled by either a cubic spring (for analytical convenience) or, more realistically, by a trilinear spring model. The critical flow velocities, for which the system loses stability, by flutter (Hopf bifurcation) or divergence (pitchfork bifurcation) are determined by an eigenvalue analysis. Beyond these first bifurcations, it is shown that, for different values of the system parameters, chaos is obtained through three different routes as the flow is incremented: a period-doubling cascade, the quasiperiodic route, and type III intermittency. The dynamical behaviour of the system and differing routes to chaos are illustrated by phase-plane portraits, bifurcation diagrams, power spectra, Poincaré sections, and Lyapunov exponent calculations.