On dynamics of elastic rod based on exact Cosserat model

The analysis of kinematics and dynamics of an elastic rod with circular cross section is studied on the basis of exact Cosserat model under consideration of the tension and shear deformation of the rod. The dynamical equations of a rod with arbitrary initial shape are established in general form. The dynamics of a straight rod under axial tension and torsion is discussed as an example. In discussion of static stability in the space domain the Greenhill criteria of stability and the Euler load are corrected by the influence of tension and shear strain. In analysis of dynamical stability in the time domain it is shown that the Lyapunov and Euler stability conditions of the rod in space domain are the necessary conditions of Lyapunov's stability in the time domain. The longitudinal, torsional and lateral vibrations of a straight rod based on exact model are discussed, and an exact formula of free frequency of lateral vibration is obtained. The free frequency formulas of various simplified models, such as the Rayleigh beam, the Kirchhoff rod, and the Timoshenko beam, can be seen as special cases of the exact formula under different conditions of simplification.     

Vibrations of post-buckled rods: The singular inextensible limit

The small-amplitude in-plane vibrations of an elastic rod clamped at both extremities are studied. The rod is modeled as an extensible, shearable, planar Kirchhoff elastic rod under large displacements and rotations, and the vibration frequencies are computed both analytically and numerically as a function of the loading. Of particular interest is the variation of mode frequencies as the load is increased through the buckling threshold. While for some modes there are no qualitative changes in the mode frequencies, other frequencies experience rapid variations after the buckling threshold, the thinner the rod, the more abrupt the variations. Eventually, a mismatch for half of the frequencies at buckling arises between the zero thickness limit of the extensible model and the inextensible model.     

Rod Vibrations Caused by Axial Impact

The axial impact by an elastic body on an elastic-rod end with a fixed opposite end is considered. The propagation of elastic waves in the rod and the local deformations in the contact zone are taken into account. After recoil of the body, the rod performs free longitudinal vibrations, which can under certain conditions cause parametric transverse vibrations having the character of beats. Depending on the parameters of the problem, the collision time, the shock-pulse shape, and the greatest amplitude of the transverse vibrations under parametric resonance are determined.     

弹簧耦合摆小振动的简正模与简正频率

将耦合摆弹簧作为弹性均匀杆，导出了对称简正模与反对称简正模的本征方程，给出各角频率值的近似式，并进行了讨论。     

基于高斯原理的Cosserat弹性杆动力学模型

在动力学普遍原理中, 高斯最小拘束原理的特点是可通过寻求函数极值的变分方法直接得出运动规律, 而无须建立动力学微分方程. Kirchhoff动力学比拟方法以刚性截面的姿态表述弹性细杆的几何形态, 并发展为以弧坐标s和时间t为自变量的弹性杆分析力学. 由于截面姿态的局部微小改变沿弧坐标的积累不受限制, Kirchhoff模型适合描述弹性杆的超大变形. Cosserat弹性杆模型考虑了Kirchhoff模型忽略的截面剪切变形、中心线伸缩变形和分布力等因素, 是更符合实际弹性杆的动力学模型. 建立了基于高斯原理的Cosserat弹性杆的分析力学模型, 导出拘束函数的普遍形式, 以平面运动为例进行讨论. 关于弹性杆空间不可自相侵占的特殊问题, 给出相应的约束条件对可能运动施加限制, 以避免自相侵占情况发生.     

Vibrations and buckling of a beam on a variable winkler elastic foundation

Two methods for solving the eigenvalue problems of vibrations and stability of a beam on a variable Winkler elastic foundation are presented and compared. The first is based on using the exact stiffness, consistent mass, and geometric stiffness matrices for a beam on a variable Winkler elastic foundation. The second method is based on adding an element foundation stiffness matrix to the regular beam stiffness matrix, for vibrations and stability analysis. With these matrices, it is possible to find the natural frequencies and mode shapes of vibrations, and buckling load and mode shape, by using a small number of segments. It is concluded that the use of the element foundation stiffness approach yields better convergence at lower computation costs.     

Influence of initial geometrical imperfections on vibrations of axially compressed stiffened cylindrical shells

The vibrations of stiffened cylindrical shells having axisymmetric or asymmetric initial geometrical imperfections and axial preload are analyzed. The analysis is based on a solution of the von Kárman-Donnell non-linear shell equations, an “exact” solution of the compatibility equation, and a first order approximation by the Galerkin method of the equilibrium equation. The stiffeners are closely spaced and “smeared” stiffener theory is employed. The results of an extensive parametric study carried out on shells similar to those used in vibration and buckling tests at the Technion show that stiffening of the shell will lower the imperfection-sensitivity of its free vibrations, but the decrease depends on the type of stiffening (stringers or rings), the mode shapes of the vibration and the imperfection, the stiffener strength and eccentricity. The imperfection-sensitivity decrease, caused by the stiffeners, is greater for vibration mode shapes with high imperfection-sensitivity than for other vibration mode shapes. The sensitivity differences between stringer and ring-stiffened shells depend especially on the vibration and the imperfection mode shapes, and on their coupling. Small imperfections change the natural frequencies of stiffened shells in the same directions as for isotropic shells, but to a smaller extent. The frequency dependence on the external load is also strongly affected by the imperfection mode shape. The results correlate well with earlier ones for isotropic shells.     

圆截面弹性螺旋杆的稳定性与振动

基于Kirchhoff理论讨论圆截面弹性螺旋杆的动力学问题.以杆中心线的Frenet坐标系为参考系，建立用欧拉角描述的弹性杆动力学方程.讨论其在端部轴向力和扭矩作用下保持的无扭转螺旋线平衡状态.在静力学和动力学领域内讨论其平衡稳定性问题.还讨论了弹性杆平衡的Lyapunov稳定性和欧拉稳定性两种不同稳定性概念之间的区别和联系.在一次近似意义下证明了螺旋杆在空间域内的欧拉稳定性条件是时域内Lyapunov稳定性的必要条件.导出了解析形式螺旋杆三维弯曲振动的固有频率，为螺旋线倾角和受扰挠性线波数的函数. 关键词： 弹性螺旋杆 Kirchhoff动力学比拟 Lyapunov稳定性 欧拉稳定性     

An approach based on tool mode control for surface roughness reduction in high-frequency vibration cutting

The presented research work, aimed at deeper understanding of vibrational process during high-frequency vibration cutting, is accomplished by treating cutting tool as an elastic structure which is characterized by several modes of natural vibrations. An approach for surface quality improvement is proposed in this paper by taking into account that quality of machined surface is related to the intensity of tool-tip (cutting edge) vibrations. It is based on the excitation of a particular higher vibration mode of a turning tool, which leads to the reduction of deleterious vibrations in the machine-tool-workpiece system through intensification of internal energy dissipation in the tool material. The combined application of numerical analysis with accurate finite element model as well as different experimental methods during investigation of the vibration turning process allowed to determine that the most favorable is the second flexural vibration mode of the tool in the direction of vertical cutting force component. This mode is excited by means of piezoelectric transducer vibrating in axial tool direction at the corresponding natural frequency, thereby enabling minimization of surface roughness and tool wear.     

Vibration tailoring of inhomogeneous rod that possesses a trigonometric fundamental mode shape

In this study, a special class of closed-form solutions for inhomogeneous rod is investigated. Namely, the following problem is considered: determine the distribution axial rigidity when the material density is given of an inhomogeneous rod so that the postulated fundamental trigonometric mode shape serves as an exact vibration mode. In this study, the associated semi-inverse problem is solved that results in the distributions of axial rigidity that together with a specified law of material density satisfy the governing eigenvalue problem. For comparison, the obtained closed-form solutions are contrasted with approximate solutions based on an appropriate polynomial shapes, serving as trial functions in an energy method. The obtained results are utilized for vibration tailoring, i.e. construction of the rod with a given natural frequency.     

Genetic algorithm based active vibration control for a moving flexible smart beam driven by a pneumatic rod cylinder

A rod cylinder based pneumatic driving scheme is proposed to suppress the vibration of a flexible smart beam. Pulse code modulation (PCM) method is employed to control the motion of the cylinder's piston rod for simultaneous positioning and vibration suppression. Firstly, the system dynamics model is derived using Hamilton principle. Its standard state-space representation is obtained for characteristic analysis, controller design, and simulation. Secondly, a genetic algorithm (GA) is applied to optimize and tune the control gain parameters adaptively based on the specific performance index. Numerical simulations are performed on the pneumatic driving elastic beam system, using the established model and controller with tuned gains by GA optimization process. Finally, an experimental setup for the flexible beam driven by a pneumatic rod cylinder is constructed. Experiments for suppressing vibrations of the flexible beam are conducted. Theoretical analysis, numerical simulation and experimental results demonstrate that the proposed pneumatic drive scheme and the adopted control algorithms are feasible. The large amplitude vibration of the first bending mode can be suppressed effectively.     

Fundamental frequency evolution in slender beams subjected to imposed axial displacements

The influence of applied axial loads on the fundamental vibration frequency is strictly connected with the stability analysis of elastic slender beams. For this reason, the correct evaluation of the fundamental frequency is of primary importance in designing new structures and components, as well as in monitoring existing ones. At the same time, if an internal axial load arises in a slender element as the consequence of an imposed (static) axial end displacement, then a different dynamic structural response is encountered respect to the case in which a beam end is free to slide, during transverse vibration, and a (constant) axial load is applied externally. This difference is due to the change in the axial boundary condition. Moreover, the presence of an initial curvature of the beam axis may significantly affect the aforesaid response. The experimental study proposed in the present paper investigates the dependence of the fundamental frequency on the axial load in slender beams subjected to imposed axial end displacements. The considered specimens presented different geometrical imperfections (initial curvatures), and were tested in two different constraint conditions (hinged–hinged and hinged–clamped). In addition, the behaviors observed during the experiments were reproduced by numerical simulations offering a valid confirmation for test results and contributing to understand the evolution of the fundamental frequency in the analyzed slender elements subjected to imposed axial end displacements.     

Forced torsional vibrations of a cylindrical rod connected to an elastic half-space

An analysis is presented of the forced torsional vibrations of a cylindrical rod connected to an elastic half-space under the condition that the circumferential displacement at the free end of the rod, where the disturbing moment is applied, varies proportionally with the distance from the rod axis. Both the Pochhammer-Chree and elementary theory are utilized. The response curve of the rotational amplitude at the free end of the rod, obtained from the Pochhammer-Chree theory, and that obtained from the elementary theory almost coincide with each other except in the case where the rod and the half-space are of the same material. The amplitude attenuation is largest when the rod and the half-space are of the same material. The maximum values of half-space displacement distribution at the interface lie within the rod edge.     

Vibration characteristic analysis of buried pipes using the wave propagation approach

A theoretical analysis for the free vibration of simply supported buried pipes has been investigated using the wave propagation approach. The pipe modeled as a thin cylindrical shell of linear homogeneous isotropic elastic material buried in a linear isotropic homogeneous elastic medium of infinite extent. The vibrations of the pipe are examined by using Flüggle shell equation. The natural frequencies are obtained for the pipes surrounded by vacuo or elastic medium. The results are compared with those available in the literature and agreement is found with them. It is found that the free vibration frequency of the pipe does not appear for some of the axial or circular vibration modes and the real natural frequencies of the pipe are significantly dependent on the rigidity of the surrounding medium.     

Non-destructive testing of ceramic balls using high frequency ultrasonic resonance spectroscopy

Although ceramic balls are used more and more for bearings in the aerospace and space industries, defects in this type of ceramic material could be dangerous, particularly if such defects are located close to the surface. In this paper, we propose a non-destructive testing method for silicon nitride balls, based on ultrasonic resonance spectroscopy. Through the theoretical study of their elastic vibrations, it is possible to characterize the balls using a vibration mode that is similar to surface wave propagation. The proposed methodology can both excite spheroidal vibrations in the ceramic balls and detect such vibrations over a large frequency range. Studying their resonance spectrums allows the balls’ elastic parameters be characterized. Ours is an original method that can quickly estimate the velocity of surface waves using high frequency resonances, which permits surface and sub-surface areas to be tested specifically. Two applications are described in this paper. Both use velocity measurements to achieve their different goals, the first to differentiate between flawless balls from different manufacturing processes, and the second to detect small defects, such as cracks. Our method is rapid and permits the entire ceramic ball to be tested in an industrial context.     

Resonance frequencies and mode shapes of elastically restrained,prestressed annular plates attached together by flexible cores

The free vibrations of annular plates attached together by flexible cores are studied analytically. Both axisymmetric and non-axisymmetric vibrations are considered. The plates are elastically constrained against rotation at the inner and outer edges. At the same time, the plates are subjected to initial radial tensions. Detailed analysis is worked out for systems consisting of five through two identical plates with identical boundary conditions and a uniform radial tension. General frequency equations and mode shapes are developed. The first nine eigenvalues are calculated for a plate system having identically constrained inside and outside edges and are tabulated as functions of the initial tension parameter, the elastic edge constraint parameter and the ratio of inner to outer radius. The orthogonality property of the mode function is also discussed.     

Nonlinear vibration of micromachined asymmetric resonators

In this paper, the nonlinear dynamics of a beam-type resonant structure due to stretching of the beam is addressed. The resonant beam is excited by attached electrostatic comb-drive actuators. This structure is modeled as a thin beam-lumped mass system, in which an initial axial force is exerted to the beam. This axial force may have different origins, e.g., residual stress due to micro-machining. The governing equations of motion are derived using the mode summation method, generalized orthogonality condition, and multiple scales method for both free and forced vibrations. The effects of the initial axial force, modal damping of the beam, the location, mass, and rotary inertia of the lumped mass on the free and forced vibration of the resonator are investigated. For the case of the forced vibration, the primary resonance of the first mode is investigated. It has been shown that there are certain combinations of the model parameters depicting a remarkable dynamic behavior, in which the second to first resonance frequencies ratio is close to three. These particular cases result in the internal resonance between the first and second modes. This phenomenon is investigated in detail.     

On the Coriolis effect in acoustic waveguides

Rotation of an elastic medium gives rise to a shift of frequency of its acoustic modes, i.e., the time-period vibrations that exist in it. This frequency shift is investigated by applying perturbation theory in the regime of small ratios of the rotation velocity and the frequency of the acoustic mode. In an expansion of the relative frequency shift in powers of this ratio, upper bounds are derived for the first-order and the second-order terms. The derivation of the theoretical upper bounds of the first-order term is presented for linear vibration modes as well as for stable nonlinear vibrations with periodic time dependence that can be represented by a Fourier series.     

Defect identification in rods subject to forced vibrations using the spatial wavelet transform

Use of the wavelet transform (WT) to study the forced vibrations in a rod in order to detect the presence of a defect is proposed. The axial vibrations in an inhomogeneous rod, produced by the application of different forces, are simulated by the Network Simulation Method and the obtained response is analyzed with the WT. An analysis of the detection and location of defects for several applied forces and defects generated by locally changing density or stiffness of the rod is presented. A noise test was carried out to check the robustness of the technique in real situations.     

黏性流体中超细长弹性杆的动力学不稳定性

基于坐标基矢摄动的方法研究了黏性流体中超细长弹性杆动力学稳定性判据与失稳后的模态选择,推导出了黏性介质中超细长弹性杆Kirchoff动力学方程的一阶摄动表示,即线性的二阶偏微分方程组.以平面扭转DNA环为例,说明了以上结果的应用,得到了平面扭转DNA环的稳定性判据及其稳定的临界区域,讨论了其失稳后的模态选择及黏性阻力对其的影响.