Three-to-One Internal Resonances in Hinged-Clamped Beams

The nonlinear planar response of a hinged-clamped beam to a primary excitation of either its first mode or its second mode is investigated. The analysis accounts for mid-plane stretching, a static axial load and a restraining spring at one end, and modal damping. For a range of axial loads, the second natural frequency is approximately three times the first natural frequency and hence the first and second modes may interact due to a three-to-one internal resonance. The method of multiple scales is used to attack directly the governing nonlinear partial-differential equation and derive two sets of four first-order nonlinear ordinary-differential equations describing the modulation of the amplitudes and phases of the first two modes in the case of primary resonance of either the first or the second mode. Periodic motions and periodically and chaotically modulated motions of the beam are determined by investigating the equilibrium and dynamic solutions of the modulation equations. For the case of primary resonance of the first mode, only two-mode solutions are possible, whereas for the case of primary resonance of the second mode, single- and two-mode solutions are possible. The two-mode equilibrium solutions of the modulation equations may undergo a supercritical or a subcritical Hopf bifurcation, depending on the magnitude of the axial load. A shooting technique is used to calculate limit cycles of the modulation equations and Floquet theory is used to ascertain their stability. The limit cycles correspond to periodically modulated motions of the beam. The limit cycles are found to undergo cyclic-fold bifurcations and period-doubling bifurcations, leading to chaos. The chaotic attractors may undergo boundary crises, resulting in the destruction of the chaotic attractors and their basins of attraction.     

内共振条件下直线运动梁的动力稳定性

基于Kane方程,建立起了包含有耦合的三次几何及惯性非线性项大范围直线运动梁动力学控制方程．利用多尺度法并结合笛卡尔坐标变换,对所得方程进行一次近似展开,着重对满足一、二阶模态间3:1内共振现象的两端铰支梁参激振动平凡解稳定性进行了详尽的分析,得出了稳定性边界的解析表达式．采用中心流形定理对调制微分方程组进行降维处理,分析了相应Hopf分岔类型并通过数值计算发现了稳定的极限环存在．     

Bifurcation in a parametrically excited two-degree-of-freedom nonlinear oscillating system with 1∶2 internal resonance

The nonlinear response of a two-degree-of-freedom nonlinear oscillating system to parametric excitation is examined for the case of 1∶2 internal resonance and, principal parametric resonance with respect to the lower mode. The method of multiple scales is used to derive four first-order autonomous ordinary differential equations for the modulation of the amplitudes and phases. The steadystate solutions of the modulated equations and their stability are investigated. The trivial solutions lose their stability through pitchfork bifurcation giving rise to coupled mode solutions. The Melnikov method is used to study the global bifurcation behavior, the critical parameter is determined at which the dynamical system possesses a Smale horseshoe type of chaos. Project supported by the National Natural Science Foundation of China (19472046)     

Combination,principal parametric and internal resonances of an accelerating beam under two frequency parametric excitation

This study analyses the nonlinear transverse vibration of an axially moving beam subject to two frequency excitation. Focus has been made on simultaneous resonant cases i.e. principal parametric resonance of first mode and combination parametric resonance of additive type involving first two modes in presence of internal resonance. By adopting the direct method of multiple scales, the governing nonlinear integro-partial differential equation for transverse motion is reduced to a set of nonlinear first order ordinary partial differential equations which are solved either by means of continuation algorithm or via direct time integration. Specifically, the frequency response plots and amplitude curves, their stability and bifurcation are obtained using continuation algorithm. Numerical results reveal the rich and interesting nonlinear phenomena that have not been presented in the existent literature on the nonlinear dynamics of axially moving systems.     

Principal parametric resonances of a slender cantilever beam subject to axial narrow-band random excitation of its base

The non-linear integro-differential equations of motion for a slender cantilever beam subject to axial narrow-band random excitation are investigated. The method of multiple scales is used to determine a uniform first-order expansion of the solution of equations. According to solvability conditions, the non-linear modulation equations for the principal parametric resonance are obtained. Firstly, The largest Lyapunov exponent which determines the almost sure stability of the trivial solution is quantificationally resolved, in which, the modified Bessel function of the first kind is introduced. Results show that the increase of the bandwidth facilitates the almost sure stability of the trivial response and stabilizes the system for a lower acceleration oscillating amplitude but intensifies the instability of the trivial response for a higher one. Secondly, the first and second order non-trivial steady state response of the system is obtained by perturbation method and the corresponding amplitude–frequency curves are calculated when the bandwidth is very small. Results show that the effective non-linearity of whether the amplitude expectation of the first order steady state response or the amplitude expectation of the second order steady state response is of the hardening type for the first mode, whereas for the second mode the effective non-linearity of whether the amplitude expectation of the first order steady state response or the amplitude expectation of the second order steady state response is of the softening type. Finally, the stochastic jump and bifurcation is investigated for the first and second modal parametric principal resonance. The basic jump phenomena indicate that, under the conditions of system parameters with a smaller bandwidth, the most probable motion is around the non-trivial branch of the amplitude response curve, whereas with a higher bandwidth, the most probable motion is around the trivial one of the amplitude response curve. However, the stochastic jump is sometimes more sensitive to the change of the bandwidth, in other words, a small change of bandwidth may induce a series of stochastic jump and bifurcation.     

On the dynamics of rings rotating with variable spin speed

This work investigates nonlinear dynamic response of circular rings rotating with spin speed which involves small fluctuations from a constant average value. First, Hamilton's principle is applied and the equations of motion are expressed in terms of a single time coordinate, representing the amplitude of an in-plane bending mode. For nonresonant excitation or for slowly rotating rings, a complete analysis is presented by employing phase plane methodologies. For rapidly rotating rings, periodic spin speed variations give rise to terms leading to parametric excitation. In this case, the vibrations that occur under principal parametric resonance are analyzed by applying the method of multiple scales. The resulting modulation equations possess combinations of trivial and nontrivial constant steady state solutions. The existence and stability properties of these motions are first analyzed in detail. Also, analysis of the undamped slow-flow equations provides a global picture for the possible motions of the ring. In all cases, the analytical predictions are verified and complemented by numerical results. In addition to periodic response, these results reveal the existence of unbounded as well as transient chaotic response of the rotating ring.     

Principal parametric and three-to-one internal resonances of flexible beams undergoing a large linear motion

A set of nonlinear differential equations is established by using Kane‘s method for the planar oscillation of flexible beams undergoing a large linear motion. In the case of a simply supported slender beam under certain average acceleration of base, the second natural frequency of the beam may approximate the tripled first one so that the condition of 3 : 1 internal resonance of the beam holds true. The method of multiple scales is used to solve directly the nonlinear differential equations and to derive a set of nonlinear modulation equations for the principal parametric resonance of the first mode combined with 3 : 1 internal resonance between the first two modes. Then, the modulation equations are numerically solved to obtain the steady-state response and the stability condition of the beam. The abundant nonlinear dynamic behaviors, such as various types of local bifurcations and chaos that do not appear for linear models, can be observed in the case studies. For a Hopf bifurcation,the 4-dimensional modulation equations are reduced onto the central manifold and the type of Hopf bifurcation is determined. As usual, a limit cycle may undergo a series of period-doubling bifurcations and become a chaotic oscillation at last.     

Three-dimensional nonlinear vibrations of composite beams — III. Chordwise excitations

Three nonlinear integro-differential equations of motion derived in Part I are used to investigate the forced nonlinear vibration of a symmetrically laminated graphite-epoxy composite beam. The analysis focuses on the case of primary resonance of the first in-plane flexural (chordwise) mode when its frequency is approximately twice the frequency of the first out-of-plane flexural-torsional (flapwise-torsional) mode. A combination of the fundamental-matrix method and the method of multiple scales is used to derive four first-order ordinary-differential equations describing the modulation of the amplitudes and phases of the interacting modes with damping, nonlinearity, and resonances. The eigenvalues of the Jacobian matrix of the modulation equations are used to determine the stability of their constant solutions, and Floquet theory is used to determine the stability and bifurcations of their limit-cycle solutions. Hopf bifurcations, symmetry-breaking bifurcations, period-multiplying sequences, and chaotic motions of the modulation equations are studied. The results show that the motion can be nonplanar although the input force is planar. Nonplanar responses may be periodic, periodically modulated, or chaotically modulated motions.     

Nonlinear dynamics of a pipe conveying pulsating fluid with parametric and internal resonances

In this paper, the nonlinear planar vibration of a pipe conveying pulsatile fluid subjected to principal parametric resonance in the presence of internal resonance is investigated. The pipe is hinged to two immovable supports at both ends and conveys fluid at a velocity with a harmonically varying component over a constant mean velocity. The geometric cubic nonlinearity in the equation of motion is due to stretching effect of the pipe. The natural frequency of the second mode is approximately three times the natural frequency of the first mode for a range of mean flow velocity, resulting in a three-to-one internal resonance. The analysis is done using the method of multiple scales (MMS) by directly attacking the governing nonlinear integral-partial-differential equations and the associated boundary conditions. The resulting set of first-order ordinary differential equations governing the modulation of amplitude and phase is analyzed numerically for principal parametric resonance of first mode. Stability, bifurcation, and response behavior of the pipe are investigated. The results show new zones of instability due to the presence of internal resonance. A wide array of dynamical behavior is observed, illustrating the influence of internal resonance.     

受轴向基础激励悬臂梁非线性动力学建模及周期振动

针对轴向基础激励的悬臂梁，基于Kane方程建立了含几何非线性及惯性非线性相互耦合项的动力学方程，采用多尺度法研究了梁的主参激共振响应。研究结果表明，梁的非线性惯性项具有软特性效应，对系统二阶及以上模态产生显著影响；而梁的非线性几何项具有硬特性效应，主宰了系统的一阶模态响应。将文中结果与同类研究进行比较，取得了很好的一致性，从一个侧面验证了建模方法的正确性。     

Nonlinear dynamic modeling and periodic vibration of a cantilever beam subjected to axial movement of basement

Dynamic modeling of a cantilever beam under an axial movement of its basement is presented. The dynamic equation of motion for the cantilever beam is established by using Kane's equation first and then simplified through the Rayleigh-Ritz method. Compared with the older modeling method, which linearizes the generalized inertia forces and the generalized active forces, the present modeling takes the coupled cubic nonlinearities of geometrical and inertial types into consideration. The method of multiple scales is used to directly solve the nonlinear differential equations and to derive the nonlinear modulation equation for the principal parametric resonance. The results show that the nonlinear inertia terms produce a softening effect and play a significant role in the planar response of the second mode and the higher ones. On the other hand, the nonlinear geometric terms produce a hardening effect and dominate the planar response of the first mode. The validity of the present modeling is clarified through the comparisons of its coefficients with those experimentally verified in previous studies. Project supported by the Fundamental Fund of National Defense of China (No. 10172005).     

Principal parametric resonance of axially accelerating rectangular thin plate in magnetic field

Nonlinear parametric vibration and stability is investigated for an axially accelerating rectangular thin plate subjected to parametric excitations resulting from the axial time-varying tension and axial time-varying speed in the magnetic field. Consid- ering geometric nonlinearity, based on the expressions of total kinetic energy, potential energy, and electromagnetic force, the nonlinear magneto-elastic vibration equations of axially moving rectangular thin plate are derived by using the Hamilton principle. Based on displacement mode hypothesis, by using the Galerkin method, the nonlinear para- metric oscillation equation of the axially moving rectangular thin plate with four simply supported edges in the transverse magnetic field is obtained. The nonlinear principal parametric resonance amplitude-frequency equation is further derived by means of the multiple-scale method. The stability of the steady-state solution is also discussed, and the critical condition of stability is determined. As numerical examples for an axially moving rectangular thin plate, the influences of the detuning parameter, axial speed, axial tension, and magnetic induction intensity on the principal parametric resonance behavior are investigated.     

A Second-Order Approximation of Multi-Modal Interactions in Externally Excited Circular Cylindrical Shells

We investigate the nonlinear response of an infinitely long, circularcylindrical shell to a primary-resonance excitation of one of itsflexural modes, which is involved in a one-to-two internal resonancewith the breathing mode. The excited flexural mode is involved in aone-to-one internal resonance with its orthogonal flexural mode. Thereare two simultaneous internal (autoparametric) resonances: two-to-oneand one-to-one. The method of multiple scales is directly applied to thepartial-differential equations to obtain a system of six first-ordernonlinear ordinary-differential equations governing modulation of theamplitudes and phases of the three interacting modes. In the absence ofdamping, the modulation equations are derivable from a Lagrangian,reflecting the conservative nature of the system. The modulationequations are used to study the equilibrium and dynamic solutions andtheir stability and hence their bifurcations. The response may be eithera two-mode or a three-mode solution. For certain excitation parameters,the equilibrium three-mode solutions undergo Hopf bifurcations. Acombination of a shooting technique and Floquet theory is used tocalculate limit cycles and their stability, and hence theirbifurcations.     

参数激励下非线性受控系统的动力学和稳定性

研究两自由度参数激励系统的非线性动力学与控制问题．利用Lagrange方程建立含反馈控制的参激捅及其驱动机构组成的系统动力学方程，以多尺度方法获得一阶近似控制方程．然后，对系统受一阶摸态参激主共振与一、二阶模态间3：1内共振联合作用下的幅额响应及其稳定性，以及反馈参数对系统稳态行为的影响作了详细分析．结果表明，响应的稳定域位置和大小取决于位移反馈，位移立方反馈改变了系统的非线性程度，速度反馈类似于阻尼，可使系统呈现自激振动特性．     

High-dimensional time series prediction using kernel-based Koopman mode regression

This paper investigates the nonlinear dynamics of a doubly clamped piezoelectric nanobeam subjected to a combined AC and DC loadings in the presence of three-to-one internal resonance. Surface effects are taken into account in the governing equation of motion to incorporate the associated size effects at nanoscales. The reduced-order model equation (ROM) is obtained based on the Galerkin method. The multiple scales method is applied directly to the nonlinear equation of motion and associated boundary conditions to obtain the modulation equations. The equilibrium solutions of the modulation equations and the dynamic solutions of the ROM equation are investigated in the case of primary and principal parametric resonances of the first mode. Stability, bifurcations and frequency response curves of the nanobeam are investigated. Dynamic behaviors of the motion are shown in the form of time traces, phase portraits, Poincare sections and fast Fourier transforms. The results indicate rich dynamic behaviors such as Hopf bifurcations, periodic and quasiperiodic motions in both directly and indirectly excited modes illustrating the influence of modal interactions on the response.     

Three-dimensional nonlinear vibrations of composite beams — II. flapwise excitations

The nonlinear equations of motion derived in Part I are used to investigate the response of an inextensional, symmetric angle-ply graphite-epoxy beam to a harmonic base-excitation along the flapwise direction. The equations contain bending-twisting couplings and quadratic and cubic nonlinearities due to curvature and inertia. The analysis focuses on the case of primary resonance of the first flexural-torsional (flapwise-torsional) mode when its frequency is approximately one-half the frequency of the first out-of-plane flexural (chordwide) mode. A combination of the fundamental-matrix method and the method of multiple scales is used to derive four first-order ordinary-differential equations to describe the time variation of the amplitudes and phases of the interacting modes with damping, nonlinearity, and resonances. The eigenvalues of the Jacobian matrix of the modulation equations are used to determine the stability and bifurcations of their constant solutions, and Floquet theory is used to determine the stability and bifurcations of their limit-cycle solutions. Hopf bifurcations, symmetry-breaking bifurcations, period-multiplying sequences, and chaotic solutions of the modulation equations are studied. Chaotic solutions are identified from their frequency spectra, Poincaré sections, and Lyapunov's exponents. The results show that the beam motion may be nonplanar although the input force is planar. Nonplanar responses may be periodic, periodically modulated, or chaotically modulated motions.     

Principal resonance in transverse nonlinear parametric vibration of an axially accelerating viscoelastic string

To investigate the principal resonance in transverse nonlinear parametric vibration of an axially accelerating viscoelastic string, the method of multiple scales is applied directly to the nonlinear partial differential equation that governs the transverse vibration of the string. To derive the governing equation, Newton‘s second law, Lagrangean strain, and Kelvin‘s model are respectively used to account the dynamical relation, geometric nonlinearity and the viscoelasticity of the string material. Based on the solvability condition of eliminating the secular terms, closed form solutions are obtained for the amplitude and the existence conditions of nontrivial steady-state response of the principal parametric resonance. The Lyapunov linearized stability theory is employed to analyze the stability of the trivial and nontrivial solutions in the principal parametric resonance. Some numerical examples are presented to show the effects of the mean transport speed, the amplitude and the frequency of speed variation.     

Global Bifurcations and Chaotic Dynamics in Nonlinear Nonplanar Oscillations of a Parametrically Excited Cantilever Beam

This paper presents the analysis of the global bifurcations and chaotic dynamics for the nonlinear nonplanar oscillations of a cantilever beam subjected to a harmonic axial excitation and transverse excitations at the free end. The governing nonlinear equations of nonplanar motion with parametric and external excitations are obtained. The Galerkin procedure is applied to the partial differential governing equation to obtain a two-degree-of-freedom nonlinear system with parametric and forcing excitations. The resonant case considered here is 2:1 internal resonance, principal parametric resonance-1/2 subharmonic resonance for the in-plane mode and fundamental parametric resonance–primary resonance for the out-of-plane mode. The parametrically and externally excited system is transformed to the averaged equations by using the method of multiple scales. From the averaged equation obtained here, the theory of normal form is applied to find the explicit formulas of normal forms associated with a double zero and a pair of pure imaginary eigenvalues. Based on the normal form obtained above, a global perturbation method is utilized to analyze the global bifurcations and chaotic dynamics in the nonlinear nonplanar oscillations of the cantilever beam. The global bifurcation analysis indicates that there exist the heteroclinic bifurcations and the Silnikov type single-pulse homoclinic orbit in the averaged equation for the nonlinear nonplanar oscillations of the cantilever beam. These results show that the chaotic motions can occur in the nonlinear nonplanar oscillations of the cantilever beam. Numerical simulations verify the analytical predictions.     

Nonlinear Nonplanar Dynamics of Parametrically Excited Cantilever Beams

The nonlinear nonplanar response of cantilever inextensional metallic beams to a principal parametric excitation of two of its flexural modes, one in each plane, is investigated. The lowest torsional frequencies of the beams considered are much larger than the frequencies of the excited modes so that the torsional inertia can be neglected. Using this condition as well as the inextensionality condition, we develop a Lagrangian whose variation leads to two integro-partial-differential equations governing the motions of the beams. The method of time-averaged Lagrangian is used to derive four first-order nonlinear ordinary-differential equations governing the modulation of the amplitudes and phases of the two interacting modes. These modulation equations exhibit symmetry properties. A pseudo arclength scheme is used to trace the branches of the equilibrium solutions and an investigation of the eigenvalues of the Jacobian matrix is used to assess their stability. The equilibrium solutions experience pitchfork, saddle-node, Hopf, and codimension-2 bifurcations. A detailed bifurcation analysis of the dynamic solutions of the modulation equations is presented. Five branches of dynamic (periodic and chaotic) solutions were found. Two of these branches emerge from two Hopf bifurcations and the other three are isolated. The limit cycles undergo symmetry-breaking, cyclic-fold, and period-doubling bifurcations, whereas the chaotic attractors undergo attractor-merging and boundary crises.     

Nonlinear dynamics of a three-beam structure with attached mass and three-mode interactions

Nonlinear dynamics of elastic structures with two-mode interactions have been extensively studied in the literature. In this work, nonlinear forced response of elastic structures with essential inertial nonlinearities undergoing three-mode interactions is studied. More specifically, a three-beam structural system with attached mass is considered, and its multidegree-of-freedom discretized model for the structure undergoing planar motions is carefully studied. Linear modal characteristics of the structure with uniform beams depend on the length ratios of the three beams, the mass of the particle relative to that of the structure, and the location of the mass particle along the beams. The discretized model is studied for both external and parametric resonances for parameter combinations resulting in three-mode interactions. For the external excitation case, focus is on the system with 1:2:3 internal resonances with the external excitation frequency near the middle natural frequency. For the case of the structure with 1:2:5 internal resonances, the problem involving simultaneous principal parametric resonance of the middle mode and a combination resonance between the lowest and the highest modal frequencies is investigated. This case requires a higher-order approximation in the method of multiple time scales. For both cases, equilibrium and bifurcating solutions of the slow-flow equations are studied in detail. Many pitchfork, saddle-node, and Hopf bifurcations appear in the amplitude response of the three-beam structure, thus resulting in complex multimode responses in different parameter regions.