A perturbation method for evaluating nonlinear normal modes of a piecewise linear two-degrees-of-freedom system

The classical Lindstedt–Poincaré method is adapted to analyze the nonlinear normal modes of a piecewise linear system. A simple two degrees-of-freedom, representing a beam with a breathing crack is considered. The fundamental branches of the two modes and their stability are drawn by varying the severity of the crack, i.e., the level of nonlinearity. Results furnished by the asymptotic method give insight into the mechanical behavior of the system and agree well with numerical results; the existence of superabundant modes is proven. The unstable regions and the bifurcated branches are followed by a numerical procedure based on the Poincarè map.     

Nonlinear modes of piecewise linear systems under the action of periodic excitation

The approach for calculation of nonlinear normal modes (NNM) of essential nonlinear piecewise linear systems’ forced vibrations is suggested. The combination of the Shaw–Pierre NNMs and the Rauscher method is the basis of this approach. Using this approach, the nonautonomous piecewise linear system is transformed into autonomous one. The Shaw–Pierre NNMs are calculated for this autonomous system. Torsional vibrations of internal combustion engine power plant are analyzed using these NNMs.     

Characterization of bifurcating non-linear normal modes in piecewise linear mechanical systems

The non-linear modal properties of a vibrating 2-DOF system with non-smooth (piecewise linear) characteristics are investigated; this oscillator can suitably model beams with a breathing crack or systems colliding with an elastic obstacle. The system having two discontinuity boundaries is non-linearizable and exhibits the peculiar feature of a number of non-linear normal modes (NNMs) that are greater than the degrees of freedom. Since the non-linearities are concentrated at the origin, its non-linear frequencies are independent of the energy level and uniquely depend on the damage parameter. An analysis of the NNMs has been performed for a wide range of damage parameter by employing numerical procedures and Poincaré maps. The influence of damage on the non-linear frequencies has been investigated and bifurcations characterized by the onset of superabundant modes in internal resonance, with a significantly different shape than that of modes on fundamental branch, have been revealed.     

A very complicated structure of resonances in a nonlinear system with cyclic symmetry: Nonlinear forced localization

The fundamental and subharmonic resonances of a nonlinear cyclic assembly are examined using the asymptotic method of multiple-scales. The system consists of a number of identical cantilever beams coupled by means of weak linear stiffnesses. Assuming beam inextensionality, geometric nonlinearities arise due to longitudinal inertia and the nonlinear relation between beam curvature and transverse displacement. The governing nonlinear partial differential equations are discretized by a Galerkin procedure and the resulting set of coupled ordinary differential equations is solved using an asymptotic analysis. The unforced assembly is known to possess localized nonlinear normal modes, which give rise to a very complicated topological structure of fundamental and subharmonic response curves. In contrast to the linear system which exhibits as many forced resonances as its number of degrees of freedom, the nonlinear system is found to possess a number of additional resonance branches which have no counterparts in linear theory. Some of the additional resonances are spatially localized, corresponding to motions of only a small subset of periodic elements. The analytical results are verified by numerical Poincaré maps, and the forced localization features of the nonlinear assembly are demonstrated by considering its response to impulsive excitations.     

Normal modes for piecewise linear vibratory systems

A method to construct the normal modes for a class of piecewise linear vibratory systems is developed in this study. The approach utilizes the concepts of Poincaré maps and invariant manifolds from the theory of dynamical systems. In contrast to conventional methods for smooth systems, which expand normal modes in a series form around an equilibrium point of interest, the present method expands the normal modes in a series form of polar coordinates in a neighborhood of an invariant disk of the system. It is found that the normal modes, modal dynamics and frequency-amplitude dependence relationship are all of piecewise type. A two degree of freedom example is used to demonstrate the method.     

The pendulum-slosh problem: Simulation using a time-dependent conformal mapping

Suspending a rectangular vessel which is partially filled with fluid from a single rigid pivoting pole produces an interesting theoretical model with which to investigate the dynamic coupling between fluid motion and vessel rotation. The exact equations for this coupled system are derived with the fluid motion governed by the Euler equations relative to the moving frame of the vessel, and the vessel motion governed by a modified forced pendulum equation. The nonlinear equations of motion for the fluid are solved numerically via a time-dependent conformal mapping, which maps the physical domain to a rectangle in the computational domain with a time dependent conformal modulus. The numerical scheme expresses the implicit free-surface boundary conditions as two explicit partial differential equations which are then solved via a pseudo-spectral method in space. The coupled system is integrated in time with a fourth-order Runge–Kutta method. The starting point for the simulations is the linear neutral stability contour discovered by Turner et al. (2015, Journal of Fluid & Structures 52, 166–180). Near the contour the nonlinear results confirm the instability boundary, and far from the neutral curve (parameterized by longer pole lengths) nonlinearity is found to significantly alter the vessel response. Results are also presented for an initial condition given by a superposition of two sloshing modes with approximately the same frequency from the linear characteristic equation. In this case the fluid initial conditions generate large nonlinear vessel motions, which may have implications for systems designed to oscillate in a confined space or on the slosh-induced-rolling of a ship.     

Stress recovery algorithm for reduced order models of mechanical systems in nonlinear dynamic operative conditions

Nonlinear forced response analyses of mechanical systems in the presence of contact interfaces are usually performed in built-in numerical codes on reduced order models (ROM). Most of the cases these derive from complex finite element (FE) models, resulting from the high accuracy the designers require in modeling and meshing the components in commercial FE software. In the technical literature several numerical methods are proposed for the identification of the nonlinear forced response in terms of a kinematic quantity (i.e. displacement, velocity and acceleration) associated either to the master degrees-of-freedom retained in the ROM, or to the slave ones after having expanded the reduced response through the reduction matrix. In fact, the displacement is the quantity usually adopted to monitor the nonlinear response, and to evaluate the effectiveness of a partially loose friction interface in damping vibrations, with respect to a linear case where no friction interfaces exist and no energy dissipation can take place. However, when a ROM is used the engineering quantities directly involved in the mechanical design, i.e. the strains and stresses, cannot be retrieved without a further data processing. Moreover, in the case of a strong nonlinear behavior of the mechanical joints, the distributions of the nonlinear strains and stresses over the structure is likely different than the one obtained as a superposition of linear mode shapes whose definition require a-priori assumptions on the boundary conditions at the contact interface. This means that the mentioned approximation cannot be used to predict the safety margins of a structure working in real (nonlinear) operative conditions. This paper addresses this topic and presents a novel stress recovery algorithm for the identification of the strains and stresses resulting from a nonlinear forced response analysis on a ROM. The algorithm is applied to a bladed disk with friction contacts at the shroud joint, which make the behavior of the blades nonlinear and non-predictable by means of standard linear analyses in commercial FE software.

     

Principal Trajectories of Forced Vibrations for Discrete and Continuous Systems

Principal trajectories of forced vibration of linear and nonlinear continuous systems are introduced as such motions in which the system is equivalent to a Newtonian particle in the function space of the system configurations. The corresponding 'effective mass' of the particle gives physical characteristics of the system response, so that zero effective mass is associated with resonance. The methodology can be viewed as a complementary tool to the method of normal modes, when considering the class of forced vibrating systems, since the related basis accounts for the system physical properties as well as the external forcing factor. In particular, it is shown that a two degrees of freedom system can possess an infinite discrete set of in-phase and out-of-phase forced vibrations of the normal modes type. The corresponding forcing vector-functions obey the second Newton law due to the definition of principal trajectories.     

Approximating piecewise nonlinearities in dynamic systems with sigmoid functions: advantages and limitations

In the industry field, the increasingly stringent requirements of lightweight structures are exposing the ultimately nonlinear nature of mechanical systems. This is extremely true for systems with moving parts and loose fixtures which show piecewise stiffness behaviours. Nevertheless, the numerical solution of systems with ideal piecewise mathematical characteristics is associated with time-consuming procedures and a high computational burden. Smoothing functions can conveniently simplify the mathematical form of such systems, but little research has been carried out to evaluate their effect on the mechanical response of multi-degree-of-freedom systems. To investigate this problem, a slightly damped mechanical two-degree-of-freedom system with soft piecewise constraints is studied via numerical continuation and numerical integration procedures. Sigmoid functions are adopted to approximate the constraints, and the effect of such approximation is explored by comparing the results of the approximate system with the ones of the ideal piecewise counter-part. The numerical results show that the sigmoid functions can correctly catch the very complex dynamics of the proposed system when both the above-mentioned techniques are adopted. Moreover, a reduction in the computational burden, as well as an increase in numerical robustness, is observed in the approximate case.

     

Steady state response analysis for a switched stiffness vibration control system based on vibration energy conversion

A novel semi-active vibration control concept with a serial-switch-stiffness-system was previously presented in our work. Differing from conventional vibration control systems, this system does not dissipate but converts vibration energy as potential energy stored in springs and then reacts against external disturbance. As a piecewise linear system, whether or not energy conversion limit happens is an interesting nonlinear dynamic issue related to the systems steady state response. This paper formulates this issue in depth using the approach called equivalence in control. The systems control force represented by the converted vibration energy is approximately decomposed into two portions. One is responsible for low-frequency free response and the other for high-frequency switching response. An equivalent linear system suffering from a decomposed high-frequency switching force is obtained instead of the original switched system. The steady state response of the disturbed system can be delivered through linear superposition as executed in a linear system. Energy conversion limit occurring in the system under a harmonic disturbance is numerically shown by means of fast Fourier transformation. Analytical formulation and numerical simulation for open- and closed-loop control of the system are further carried out, respectively. The results give that the proposed approach is capable of solving the stead state response of the switched system accurately, and meanwhile, energy conversion limit occurs in the vibration control system indeed. Experimental discussion is also executed.

     

Experimental analysis of the influence of damping on the resonance behavior of a spherical pendulum

This study describes the experimental and numerical dynamic analysis of a kinematically excited spherical pendulum. The stability of the response in the vertical plane was analyzed in the theoretically predicted auto-parametric resonance domain. Three different types of the resonance domain were investigated the properties of which depended significantly on the dynamic parameters of the pendulum and the excitation amplitude. A mathematical model was used to represent the nonlinear characteristics of the pendulum, which includes the asymmetrical damping. A special frame was developed to carry out the experiments, which contained the pendulum supported by the Cardan joint and two magnetic units attached to the supporting axes of rotation, and this was able to reproduce linear viscous damping for both of the principal response components. The stability analysis of the system was compared with the numerical solution of the governing equations and experimental observation. The most significant practical outcomes for designers are also summarized.     

Impact Oscillator with Hertz's Model of Contact

Dynamic properties of simple mechanical 1 DOF system containing soft stop is described and analyzed. The proposed general dynamical impact model respects the nonlinearity of the restoring contact force between solid bodies as function of deformation and velocity. It describes the real behavior of impacting system more exact than the piecewise linear model or the Kelvin–Voigt model and even model based on application of constant coefficient of restitution. Free and forced vibrations of system with Hertz's contact are investigated and domains of various types of impact motion, response curves and phase-plane trajectories are presented.     

A logarithmic complexity floating frame of reference formulation with interpolating splines for articulated multi-flexible-body dynamics

An interpolating spline-based approach is presented for modeling multi-flexible-body systems in the divide-and-conquer (DCA) scheme. This algorithm uses the floating frame of reference formulation and piecewise spline functions to construct and solve the non-linear equations of motion of the multi-flexible-body system undergoing large rotations and translations. The new approach is compared with the flexible DCA (FDCA) that uses the assumed modes method [1]. The FDCA, in many cases, must resort to sub-structuring to accurately model the deformation of the system. We demonstrate, through numerical examples, that the interpolating spline-based approach is comparable in accuracy and superior in efficiency to the FDCA. The present approach is appropriate for modeling flexible mechanisms with thin 1D bodies undergoing large rotations and translations, including those with irregular shapes. As such, the present approach extends the current capability of the DCA to model deformable systems. The algorithm retains the theoretical logarithmic complexity inherent in the DCA when implemented in parallel.     

一类双自由度碰振系统运动分析

基于Poincare映射方法对一类两自由度碰撞系统进行了分析。经过详细的理论演算得到单碰周期n的次谐运动的存在性判据和稳定性条件,给出计算Jacobi矩阵特征值的公式。数值模拟表明,该方法具有令人满意的结果。此外,还讨论了当不满足所提出的单碰周期n次谐运动的存在性条件时,可能会出现的运动形式。     

伴随变阻尼作用的干摩擦下的车辆系统非线性动力学分析

对分段线性阻尼和干摩擦共同作用下的车辆悬挂系统进行了非线性动力学分析研究，阐述了判定系统周期运动稳定性的理论方法；利用数值模拟方法分析了具有不同阻尼参数组合的系统对简谐激励的振动响应，并分析了由干摩擦引起的粘-滑振动行为．结果表明：提高摩擦力对抑制响应有利，但车辆系统在低速下运行时会出现复杂的粘-滑振动，轮轨之间产生较大的瞬时刚性冲击；而通过增加轮对与侧架的弹性悬挂可以有效减弱这种瞬时刚性冲击．     

Experimental eigenvalues and mode shapes for flat clamped plates

Experimental eigenvalues of both square and rectangular clamped flat plates were measured using digital spectrum analysis. Individual mode shapes were recorded experimentally using holographic interferometry. Plate spectra showing the first 35 modes of vibration for each of the square and rectangular plates were recorded, allowing the experimentally determined eigenvalues to be compared with published theoretical predictions. Over 25 modes for a square plate and 16 modes for a rectangular plate with aspect ratio of 2/3 were recorded holographically. Selected recorded mode shapes are compared with beam mode shapes as well as with modified Bolotin mode shapes, both of which are popular assumed mode shapes in current numerical techniques. It was found that both of these assumed mode shapes agree favorably with the experimental results. The beam mode shapes agree better in some modes; the modified Bolotin mode shapes agree more favorably in others.     

Experimental eigenvalues and mode shapes for flat clamped plates

Experimental eigenvalues of both square and rectangular clamped flat plates were measured using digital spectrum analysis. Individual mode shapes were recorded experimentally using holographic interferometry. Plate spectra showing the first 35 modes of vibration for each of the square and rectangular piates were recorded, allowing the experimentally determined eigenvalues to be compared with published theoretical predictions. Over 25 modes for a square plate and 16 modes for a rectangular plate with aspect ratio of 2/3 were recorded holographically. Selected recorded mode shapes are compared with beam mode shapes as well as with modified Bolotin mode shapes, both of which are popular assumed mode shapes in current numerical techniques. It was found that both of these assumed mode shapes agree favorably with the experimental results. The beam mode shapes agree better in some modes; the modified Bolotin mode shapes agree more favorably in others.     

Primary resonance of coupled cantilevers subjected to magnetic interaction

Based on a distributed-parameter model, the forced vibration of a cantilever pair excited by a sinusoidal base movement is analyzed. Two cantilevers are coupled at their free ends by a linear spring. A nonlinear concentrated magnetic force acts on the tip of one cantilever, serving at the nonlinear boundary condition of the continuous model. The magnetic force is modeled as a fractional function, strongly dependent on the distance between two magnets. Via the method of multiple scales, the primary resonance is analyzed for all modes. A second-order approximate solution and its stability condition are analytically captured. It is revealed that the frequency–response curves are sensitive to the distance between the two magnets. The curve may exhibit the hardening-type, softening-type or linear behavior due to the existence of the quadratic nonlinearity. The outcomes are supported by the numerical simulations very well.     

大范围运动细长柔性空间结构动力学特性分析

自由-自由边界无约束状态的细长柔性空间结构大范围运动时的动力学特性对整体结构运动分析和运动控制系统设计具有极其重要的作用。通过浮动坐标系建立结构的运动学关系;借助假设模态法对结构变形进行变量分离;利用Lagrange’s方程建立了结构的刚柔耦合振动方程;再通过Rayleigh-Ritz法,以无大范围运动时的振型函数作为基本解组,得到了大范围运动影响下的结构振动特征方程,求解该方程得到了结构频率和振型。通过几组数值算例的对比分析,指出了非耦合模型和耦合模型下结构频率及振型之间的差异。     

Determination of mode shapes using wavelet transform of free vibration data

In this article, a new method is proposed to determine the mode shapes of linear dynamic systems with proportional viscous damping excited by an impact force. The time signals of responses and a priori knowledge of the natural frequencies are required in this method. The method is particularly suitable for the wavelet techniques which can precisely estimate the natural frequencies. A previously proposed method based on a modified Morlet wavelet function with an adjusting parameter is used to identify the natural frequencies and damping ratios of system, and the mode shapes are estimated using the proposed method in this work. It is shown that the extracted mode shapes are not scaled. Therefore, mass change method is used for scaling the mode shapes. Moreover, the effect of noise on the extracted modal parameters is investigated. The validity of method is demonstrated using numerical and experimental case studies.