Nonlinear vibration of iced cable under wind excitation using three-degree-of-freedom model

High-voltage transmission line possesses a typical suspended cable structure that produces ice in harsh weather. Moreover, transversely galloping will be excited due to the irregular structure resulting from the alternation of lift force and drag force. In this paper, the nonlinear dynamics and internal resonance of an iced cable under wind excitation are investigated.Considering the excitation caused by pulsed wind and the movement of the support, the nonlinear governing equations of motion of the iced cable are established using a three-degree-of-freedom model based on Hamilton's principle. By the Galerkin method, the partial differential equations are then discretized into ordinary differential equations. The method of multiple scales is then used to obtain the averaged equations of the iced cable, and the principal parametric resonance-1/2 subharmonic resonance and the 2:1 internal resonance are considered. The numerical simulations are performed to investigate the dynamic response of the iced cable. It is found that there exist periodic, multi-periodic, and chaotic motions of the iced cable subjected to wind excitation.     

NON-LINEAR DYNAMIC ANALYSIS OF THE TWO-DIMENSIONAL SIMPLIFIED MODEL OF AN ELASTIC CABLE

The non-linear behavior of an elastic cable subjected to a harmonic excitation is investigated in this paper. Using Garlerkin's method and method of multiple scales, the discrete dynamical equations and a set of first order non-linear differential equations are obtained. A numerical simulation is used to obtain the steady state response and stable solutions. Finally the coupled dynamic features between the out-planar pendulation and the in-planar vibration of an elastic cable are analyzed.     

Response control for the externally excited van der Pol oscillator with non-local feedback

A non-local control force is introduced in such a way to obtain a third-order nonlinear differential equation (jerk dynamics) and to control nonlinear vibrations in an externally excited van der Pol oscillator. Two first-order nonlinear ordinary differential equations governing the modulation of the amplitude and the phase of solutions are derived and subsequently the performance of the control strategy is investigated. Excitation amplitude–response and frequency–response curves are shown. In certain cases when the excitation amplitude is very low an approximate analytic solution corresponding to a modulated two-period quasi-periodic motion can be obtained for the uncontrolled system. Uncontrolled and controlled systems are compared and the appropriate choices for the feedback gains are found in order to reduce the amplitude peak of the response and to exclude the possibility of quasi-periodic motion. Numerical simulation confirms the validity of the new method.     

Space-time numerical simulation and validation of analytical predictions for nonlinear forced dynamics of suspended cables

This paper presents space-time numerical simulation and validation of analytical predictions for the finite-amplitude forced dynamics of suspended cables. The main goal is to complement analytical and numerical solutions, accomplishing overall quantitative/qualitative comparisons of nonlinear response characteristics. By relying on an approximate, kinematically non-condensed, planar modeling, a simply supported horizontal cable subject to a primary external resonance and a 1:1, or 1:1 vs. 2:1, internal resonance is analyzed. To obtain analytical solution, a second-order multiple scales approach is applied to a complete eigenfunction-based series of nonlinear ordinary-differential equations of cable damped forced motion. Accounting for both quadratic/cubic geometric nonlinearities and multiple modal contributions, local scenarios of cable uncoupled/coupled responses and associated stability are predicted, based on chosen reduced-order models. As a cross-checking tool, numerical simulation of the associated nonlinear partial-differential equations describing the dynamics of the actual infinite-dimensional system is carried out using a finite difference technique employing a hybrid explicit-implicit integration scheme. Based on system control parameters and initial conditions, cable amplitude, displacement and tension responses are numerically assessed, thoroughly validating the analytically predicted solutions as regards the actual existence, the meaningful role and the predominating internal resonance of coexisting/competing dynamics. Some methodological aspects are noticed, along with a discussion on the kinematically approximate versus exact, as well as planar versus non-planar, cable modeling.     

Free and forced vibration analysis of a nonlinear system with cyclic symmetry: Application to a simplified model

This work program is devoted to studying the nonlinear dynamics of a structure with cyclic symmetry under conditions of geometric nonlinearity, through the use of the harmonic balance method (HBM). In order to study the influence of nonlinearity due to the large deflection of blades, a simplified model has been developed. This approach leads to a system of linearly coupled, second-order nonlinear differential equations, in which nonlinearity appears via cubic terms. Periodic solutions, in both the free and forced cases, are sought by applying HBM coupled with an arc-length continuation method. Solution stability has been investigated using Floquet's theorem. In addition to featuring similar and nonsimilar nonlinear modes, the unforced system is known to contain localized nonlinear modes that arise from branching point bifurcation at certain vibration amplitudes. In the forced case, these nonlinear modes give rise to a complex dynamic behavior. Many bifurcations can take place, thus leading to strong or weak localization that may or may not be stable. In this study, special attention has been paid to the influence of excitation on dynamic responses. Several cases of excitation have been analyzed herein: localized excitation, and low-engine-order excitation. In the case of low-engine-order excitation, sensitivity of the response to a perturbation of this excitation type has been investigated, and it has been shown that for a localized, or sufficiently detuned excitation, several solutions can coexist, some of which are represented by closed curves in the Frequency-Amplitude domain. These various solutions overlap when increasing the force amplitude, leading to forced nonlinear localization. Because closed curves are not tied up with the basic nonlinear solution, they can easily be overlooked. In this study, they have been calculated using a sequential continuation with the force amplitude as a parameter.     

Generalised modal stability of inclined cables subjected to support excitations

Parametric excitation is of concern for cables such as on cable-stayed bridges, whereby small amplitude end motion can lead to large, potentially damaging, cable vibrations. Previous identification of the stability boundaries for the onset of such vibrations has considered only a single mode of the cable, ignoring non-linear coupling between modes, or has been limited to special cases. Here multiple cable modes in both planes are included, with support excitation close to any natural frequency. Cable inclination, sag, parametric and direct excitation and nonlinearities, including modal coupling, are included. The only significant limitation is that the sag is small. The method of scaling and averaging is used to find the steady-state amplitude of the directly excited mode and, in the presence of this response, to define stability boundaries of other modes excited parametrically or through nonlinear modal coupling. It is found that the directly excited response significantly modifies the stability boundaries compared to previous simplified solutions. The analysis is validated by a series of experimental tests, which also identified another nonlinear mechanism which caused significant cable vibrations at twice the excitation frequency in certain conditions. This new mechanism is explained through a refinement of the analysis.     

Fokker–Planck equation analysis of randomly excited nonlinear energy harvester

The probability structure of the response and energy harvested from a nonlinear oscillator subjected to white noise excitation is investigated by solution of the corresponding Fokker–Planck (FP) equation. The nonlinear oscillator is the classical double well potential Duffing oscillator corresponding to the first mode vibration of a cantilever beam suspended between permanent magnets and with bonded piezoelectric patches for purposes of energy harvesting. The FP equation of the coupled electromechanical system of equations is derived. The finite element method is used to solve the FP equation giving the joint probability density functions of the response as well as the voltage generated from the piezoelectric patches. The FE method is also applied to the nonlinear inductive energy harvester of Daqaq and the results are compared. The mean square response and voltage are obtained for different white noise intensities. The effects of the system parameters on the mean square voltage are studied. It is observed that the energy harvested can be enhanced by suitable choice of the excitation intensity and the parameters. The results of the FP approach agree very well with Monte Carlo Simulation (MCS) results.     

Effects of cables damage on vertical and torsional eigenproperties of suspension bridges

This paper presents a continuum model for the nonlinear coupled vertical and torsional vibrations of suspension bridges with arbitrary damage in one main cable and, after pursuing a suitable linearization of the equations of motion, an investigation of damage effects on modal parameters. Damage is modeled as a diffused loss of cross-section representing the typical effect of fretting fatigue and it is introduced in the formulation by enforcing relevant literature results providing analytical solution for the static response of damaged suspended cables. The coupled nonlinear equations of motion of the damaged bridge, including the effects of shear deformation, rotary inertia and warping of the cross-section of the girder, are derived by application of Hamilton?s principle. In this way, the equations of motion available in the literature for undamaged suspension bridges are generalized to the presence of arbitrary damage in one main cable and the resulting eigenfrequencies and eigenfunctions are derived in an analytical fashion. An extensive parametric investigation is finally presented to discuss damage effects on eigenfunctions and eigenfrequencies under variation of practically meaningful parameters.     

The effect of nonlinearity on unstable zones of Mathieu equation

Mathieu equation is a well-known ordinary differential equation in which the excitation term appears as the non-constant coefficient. The mathematical modelling of many dynamic systems leads to Mathieu equation. The determination of the locus of unstable zone is important for the control of dynamic systems. In this paper, the stable and unstable regions of Mathieu equation are determined for three cases of linear and nonlinear equations using the homotopy perturbation method. The effect of nonlinearity is examined in the unstable zone. The results show that the transition curves of linear Mathieu equation depend on the frequency of the excitation term. However, for nonlinear equations, the curves depend also on initial conditions. In addition, increasing the amplitude of response leads to an increase in the unstable zone.     

Experimental study of the nonlinear dynamic characteristics of suspended taut steel cables using a 3-D motion analysis system

This paper presents an experimental study of the nonlinear dynamic characteristics of taut steel cables using a 3-D motion analysis system. In the experiment, the taut cables have one end fixed and the other end subject to harmonic vertical excitation. The 3-D motion analysis system can simultaneously record (with high resolution) the instant 3-D coordinates of the multiple markers fixed on a vibrating cable; this distinguishes it from other experimental systems used in vibration studies, in which the vibration of only one single point can be recorded during each individual testing. With the 3-D motion analysis system, this experimental study presents a distinctive interpretation of the dynamic characteristics of taut cables in spatial domain (based on the mode-shape information of the entire cable), in addition to one in time domain (based on real-time traces of one single point). This paper introduces the 3-D motion analysis system and experimental setup, discusses practical experimental procedures, and presents a detailed analysis of three sets of experimental vibration data of three taut steel cables with different small sags. The frequency response curves were obtained for three cables. For one of the three taut cables, more informative vibration data were recorded; this cable was studied in greater detail via modal analysis using a modal decomposition technique and nonlinear time-series analysis.     

Method of Green’s function of nonlinear vibration of corrugated shallow shells

Based on the dynamic equations of nonlinear large deflection of axisymmetric shallow shells of revolution, the nonlinear free vibration and forced vibration of a corrugated shallow shell under concentrated load acting at the center have been investigated. The nonlinear partial differential equations of shallow shell were reduced to the nonlinear integral-differential equations by using the method of Green’s function. To solve the integral-differential equations, the expansion method was used to obtain Green’s function. Then the integral-differential equations were reduced to the form with a degenerate core by expanding Green’s function as a series of characteristic function. Therefore, the integral-differential equations became nonlinear ordinary differential equations with regard to time. The amplitude-frequency relation, with respect to the natural frequency of the lowest order and the amplitude-frequency response under harmonic force, were obtained by considering single mode vibration. As a numerical example, nonlinear free and forced vibration phenomena of shallow spherical shells with sinusoidal corrugation were studied. The obtained solutions are available for reference to the design of corrugated shells.     

On the response of a harmonically excited two degree-of-freedom system consisting of a linear and a nonlinear quasi-zero stiffness oscillator

There are many systems which consist of a nonlinear oscillator attached to a linear system, examples of which are nonlinear vibration absorbers, or nonlinear systems under test using shakers excited harmonically with a constant force. This paper presents a study of the dynamic behaviour of a specific two degree-of-freedom system representing such a system, in which the nonlinear system does not affect the vibration of the forced linear system. The nonlinearity of the attachment is derived from a geometric configuration consisting of a mass suspended on two springs which are adjusted to achieve a quasi-zero stiffness characteristic with pure cubic nonlinearity. The response of the system at the frequency of excitation is found analytically by applying the method of averaging. The effects of the system parameters on the frequency-amplitude response of the relative motion are examined. It is found that closed detached resonance curves lying outside or inside the continuous path of the main resonance curve can appear as a part of the overall amplitude-frequency response. Two typical situations for the creation of the detached resonance curve inside the main resonance curve, which are dependent on the damping in the nonlinear oscillator, are discussed.     

Modal interaction activations and nonlinear dynamic response of shallow arch with both ends vertically elastically constrained for two-to-one internal resonance

This study investigates the two-to-one internal resonance of the shallow arch with both ends elastically constraining, and the primary resonance case is considered. The full-basis Galerkin method and the multi-scale method are applied to obtain the modulation equations. It is shown that the natural frequencies of the first two modes cross/avoid to each other when the stiffness of elastic supports at two ends is the same/different. Moreover, the nonlinear modal interactions between these two modes may not/may be activated. The force/frequency-response curves are employed to explore the nonlinear response of the elastically supported shallow arch. The saddle-node bifurcation points and Hopf bifurcation points are observed in these cases. Moreover, the dynamic solutions, i.e., the periodic solution, quasi-periodic solution and chaotic solution are discussed. The numerical simulations are used to illustrate the route to chaos via period-doubling bifurcation.     

Nonlinear vibrations of functionally graded doubly curved shallow shells

Nonlinear forced vibrations of FGM doubly curved shallow shells with a rectangular base are investigated. Donnell’s nonlinear shallow-shell theory is used and the shell is assumed to be simply supported with movable edges. The equations of motion are reduced using the Galerkin method to a system of infinite nonlinear ordinary differential equations with quadratic and cubic nonlinearities. Using the multiple scales method, primary and subharmonic resonance responses of FGM shells are fully discussed and the effect of volume fraction exponent on the internal resonance conditions, softening/hardening behavior and bifurcations of the shallow shell when the excitation frequency is (i) near the fundamental frequency and (ii) near two times the fundamental frequency is shown. Moreover, using a code based on arclength continuation method, a bifurcation analysis is carried out for a special case with two-to-one internal resonance between the first and second doubly symmetric modes with respect to the panel’s center (ω₁₃≈2ω₁₁). Bifurcation diagrams and Poincaré maps are obtained through direct time integration of the equations of motion and chaotic regions are shown by calculating Lyapunov exponents and Lyapunov dimension.     

Coupled nonlinear size-dependent behaviour of microbeams

The nonlinear resonant behaviour of a microbeam, subject to a distributed harmonic excitation force, is investigated numerically taking into account the longitudinal as well as the transverse displacement. Hamilton’s principle is employed to derive the coupled longitudinal-transverse nonlinear partial differential equations of motion based on the modified couple stress theory. The discretized form of the equations of motion is obtained by applying the Galerkin technique. The pseudo-arclength continuation technique is then employed to solve the discretized equations of motion numerically. Different types of bifurcations as well as the stability of solution branches are determined. The numerical results are presented in the form of frequency-response and force-response curves for different sets of parameters. The effect of taking into account the longitudinal displacement is highlighted.     

Suppression of the primary resonance vibrations of a forced nonlinear system using a dynamic vibration absorber

In a single degree-of-freedom weakly nonlinear oscillator subjected to periodic external excitation, a small-amplitude excitation may produce a relatively large-amplitude response under primary resonance conditions. Jump and hysteresis phenomena that result from saddle-node bifurcations may occur in the steady-state response of the forced nonlinear oscillator. A simple mass-spring-damper vibration absorber is thus employed to suppress the nonlinear vibrations of the forced nonlinear oscillator for the primary resonance conditions. The values of the spring stiffness and mass of the vibration absorber are significantly lower than their counterpart of the forced nonlinear oscillator. Vibrational energy of the forced nonlinear oscillator is transferred to the attached light mass through linked spring and damper. As a result, the nonlinear vibrations of the forced oscillator are greatly reduced and the vibrations of the absorber are significant. The method of multiple scales is used to obtain the averaged equations that determine the amplitude and phases of the first-order approximate solutions to primary resonance vibrations of the forced nonlinear oscillator. Illustrative examples are given to show the effectiveness of the dynamic vibration absorber for suppressing primary resonance vibrations. The effects of the linked spring and damper and the attached mass on the reduction of nonlinear vibrations are studied with the help of frequency response curves, the attenuation ratio of response amplitude and the desensitisation ratio of the critical amplitude of excitation.     

Effect of one-way clutch on the nonlinear vibration of belt-drive systems with a continuous belt model

This study focuses on the nonlinear steady-state response of a belt-drive system with a one-way clutch. A dynamic model is established to describe the rotations of the driving pulley, the driven pulley, and the accessory shaft. Moreover, the model considers the transverse vibration of the translating belt spans for the first time in belt-drive systems coupled with a one-way clutch. The excitation of the belt-drive system is derived from periodic fluctuation of the driving pulley. In automotive systems, this kind of fluctuation is induced by the engine firing harmonic pulsations. The derived coupled discrete–continuous nonlinear equations consist of integro-partial-differential equations and piece-wise ordinary differential equations. Using the Galerkin truncation, a set of nonlinear ordinary differential equations is obtained from the integro-partial-differential equations. Applying the Runge–Kutta time discretization, the time histories of the dynamic response are numerically solved for the driven pulley and the accessory shaft and the translating belt spans. The resonance areas of the coupled belt-drive system are determined using the frequency sweep. The effects of the one-way clutch on the belt-drive system are studied by comparing the frequency–response curves of the translating belt with and without one-way clutch device. Furthermore, the results of 2-term and 4-term Galerkin truncation are compared to determine the numerical convergence. Moreover, parametric studies are conducted to understand the effects of the system parameters on the nonlinear steady-state response. It is concluded that one-way clutch not only decreases the resonance amplitude of the driven pulley and shaft's rotational vibration, but also reduces the resonance region of the belt's transverse vibration.     

Modal stability of inclined cables subjected to vertical support excitation

In this paper the out-of-plane dynamic stability of inclined cables subjected to in-plane vertical support excitation is investigated. We compute stability boundaries for the out-of-plane modes using rescaling and averaging methods. Our study focuses on the 2:1 internal resonance phenomenon between modes that occurs when the excitation frequency is twice the first out-of-plane natural frequency of the cable. The second in-plane mode is excited directly, while the out-of-plane modes can be excited parametrically. An analytical model is developed in order to study the stability regions in parameter space. In this model we include nonlinear coupling effects with other modes, which have thus far been omitted from previous models of parametric excitation of inclined cables. Our study reflects the importance of such effects. Unstable parameter regions are defined for the selected cable configuration. The validity of the proposed stability model was tested experimentally using a small-scale cable actuator rig. A comparison between experimental and analytical results is presented in which very good agreement with model predictions was obtained.     

Saturation in hadamard NMR spectroscopy and its description by a correlation expansion

In broadband NMR spectroscopy excitation with pseudorandom binary amplitude or phase modulation permits the distribution of the excitation power over the entire data acquisition time while peak power requirements are kept low. For sufficiently low excitation power, the magnetization is the linear response of the spin system to its input. The transfer function of the linearly driven system is recovered with the fast Hadamard transform. It is identical to the FID signal in FT NMR. Increasing excitation levels produce distorted lineshapes resulting from linear processing of a nonlinear spin response. Spectra measured for different degrees of saturation are reproduced faithfully by a numerical solution of the Bloch equations including relaxation during excitation. The origin of the lineshape distortions is discussed on the basis of an expansion of the nonlinear response in terms of the linear response. This expansion is in good agreement with the Bloch equations for limited excitation levels. Its nonlinear response terms are generalized to account for connectivities in coupled spin systems.     

Experimental and numerical study of a vibro-impact phenomenon in a gearshift cable

This paper presents a study of the nonlinear dynamic behavior of a gearshift cable and more specifically of the associated tizzing phenomenon. A gearshift cable is composed of an inner wire that can slide freely in an outer composite housing. When undergoing harmonic excitation, the inner wire interacts with the housing. Hammer and swept sine shaker tests are first used to estimate the characteristics of the two main components. It is shown that the behavior of the outer housing is nonlinear and depends on the amplitude of the excitation. The assembled gearshift cable is then set up on the shaker and the nonlinear vibro-impacting phenomenon is studied. Finally a finite element model, based on the Euler-Bernoulli beams and the Rayleigh damping coefficients, proves to offer good correlation with the measured data for different excitation frequencies. A period doubling bifurcation is observed both experimentally and numerically.