Experimental analysis of the steady-state behaviour of beam systems with discontinuous support

This paper deals with the experimental analysis of the long-term behaviour of periodically excited linear beams supported by a one-sided spring or an elastic stop. Numerical analysis of the beams showed subharmonic, quasi-periodic and chaotic behaviour. Furthermore, in the beam system with the one-sided spring three different routes leading to chaos were found. Because of the relative simplicity of the beam systems and the variety of calculated nonlinear phenomena, experimental setups are made of the beam systems to verify the numerical results. The experimental results correspond very well with the numerical results as far as the subharmonic behaviour is concerned. Measured chaotic behaviour is proved to be chaotic by calculating Lyapunov exponents of experimental data.

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Sommario Il presente lavoro concerne l'analisi sperimentale del comportamento a regime di travi lineari, su supporti elastici nonlineari discontinui, eccitate periodicamente. L'analisi numerica dei sistemi in esame ha evidenziato risposte subarmoniche, quasi-periodiche e caotiche, nonchè l'esistenza, nel caso di trave con una molla laterale, di tre differenti percorsi verso il caos. La relativa semplicità dei sistemi di travi ha consentito di procedere ad una verifica sperimentale dei risultati numerici e della varietà dei fenomeni nonlineari da essi evidenziati. La corrispondenza fra risultati sperimentali e numerici è molto buona nel caso di risposta subarmonica. Il comportamento caotico sperimentale è stato convalidato attraverso il calcolo degli esponenti di Lyapunov a partire dai relativi dati.

     

Experimental verification of the steady-state behavior of a beam system with discontinuous support

This article deals with the experimental verification of the long-term behavior of a periodically excited linear beam supported by a one-sided spring. Numerical analysis of the beam showed subharmonic, quasi-periodic, and chaotic behavior. Further, three different routes leading to chaos were found. Because of the relative simplicity of the beam system and the variety of calculated nonlinear phenomena, an experimental setup is made of this beam system to verify the numerical results. The experimental results correspond very well with the numerical results as far as the subharmonic behavior is concerned. Measured chaotic behavior is proved to be chaotic by calculating Lyapunov exponents of experimental data.     

Semi-analytical method for computing effective properties in elastic composite under imperfect contact

A parallel fiber-reinforced periodic elastic composite is considered with transversely iso-tropic constituents. Fibers with circular cross section are distributed with the same periodicity along the two perpendicular directions to the fiber orientation, i.e., the periodic cell of the composite is square. The composite exhibits imperfect contact, in particular, spring type at the interface between the fiber and matrix is modeled. Effective properties of this composite for in-plane and anti-plane local problems are calculated by means of a semi-analytic method, i.e. the differential equations that described the local problems obtained by asymptotic homogenization method are solved using the finite element method. Numerical computations are implemented and comparisons with exact solutions are presented.     

Soft-impact dynamics of deformable bodies

Systems constituted by impacting beams and rods of non-negligible mass are often encountered in many applications of engineering practice. The impact between two rigid bodies is an intrinsically indeterminate problem due to the arbitrariness of the velocities after the instantaneous impact and implicates an infinite value of the contact force. The arbitrariness of after-impact velocities is solved by releasing the impenetrability condition as an internal constraint of the bodies and by allowing for elastic deformations at contact during an impact of finite duration. In this paper, the latter goal is achieved by interposing a concentrate spring between a beam and a rod at their contact point, simulating the deformability of impacting bodies at the interaction zones. A reliable and convenient method for determining impact forces is also presented. An example of engineering interest is carried out: a flexible beam that impacts on an axially deformable strut. The solution of motion under a harmonic excitation of the beam built-in base is found in terms of transverse and axial displacements of the beam and rod, respectively, by superimposition of a finite number of modal contributions. Numerical investigations are performed in order to examine the influence of the rigidity of the contact spring and of the ratio between the first natural frequencies of the beam and the rod, respectively, on the system response, namely impact velocity, maximum displacement, spring stretching and contact force. Impact velocity diagrams, nonlinear resonance curves and phase portraits are presented to determine regions of periodic motion with impacts and the appearance of chaotic solutions, and parameter ranges where the functionality of the non-structural element is at risk.     

Steady-state behaviour of flexible rotordynamic systems with oil journal bearings

This paper deals with the long term behaviour of flexible rotor systems, which are supported by nonlinear bearings. A system consisting of a rotor and a shaft which is supported by one oil journal bearing is investigated numerically. The shaft is modelled using finite elements and reduced using a component mode synthesis method. The bearings are modelled using the finite-length bearing theory. Branches of periodic solutions are calculated for three models of the system with an unbalance at the rotor. Also self-excited oscillations are calculated for the three models if no mass unbalance is present. The results show that a mass unbalance can stabilize rotor oscillations.     

Announcement

Vibration reduction in a harmonically excited 1-DOF beam with one-sided spring is realized by control-ling the system state from a stable large amplitude 1/2 subharmonic response towards a coexisting unstable small amplitude harmonic response using feedback linearization. At the unstable harmonic response no control effort is needed because the unstable harmonic response is a long term solution of the uncontrolled system. To reduce control effort when stabilizing the unstable harmonic response, the stable manifold can be used within the control design because at the stable manifold the system state approaches the unstable harmonic response without control effort. Unfortunately, the calculation of this manifold acquires much off-line computational effort while its usage complicates the on-line control design. Therefore, the stable manifold is approximated by the stable eigenvectors of the monodromy matrix. Due to the local validity of the approximation, a two-stage control approach is used. In the first stage, the system state is controlled towards the unstable harmonic response to reach the region where the stable manifold can be approximated accurately by the stable eigenvectors. In the second stage, the system state is controlled towards the stable eigenvectors and approaches the unstable harmonic response with hardly any control effort.     

Three-dimensional dynamics of a cantilevered pipe conveying fluid, additionally supported by an intermediate spring array

In this paper, the three-dimensional (3-D) non-linear dynamics of a cantilevered pipe conveying fluid, constrained by arrays of four springs attached at a point along its length is investigated. In the theoretical analysis, the 3-D equations are discretized via Galerkin's technique. The resulting coupled non-linear differential equations are solved numerically using a finite difference method. The dynamic behaviour of the system is presented in the form of bifurcation diagrams, along with phase-plane plots, time-histories, PSD plots, and Poincaré maps for five different spring configurations. Interesting dynamical phenomena, such as 2-D or 3-D flutter, divergence, quasiperiodic and chaotic motions, have been observed with increasing flow velocity. Experiments were performed for the cases studied theoretically, and good qualitative and quantitative agreement was observed. The experimental behaviour is illustrated by video clips (electronic annexes). The effect of the number of beam modes in the Galerkin discretization on accuracy of the results and on convergence of the numerical solutions is discussed.     

Response of a flexible tube to transverse impact I. Theory

The large non-linear response of a flexible viscoelastic tube under central transverse impact was studied by means of theoretical models, computer simulations and experiments. The present paper is concerned with the analytical solution of the system represented either as an elastic or viscoelastic (standard linear solid) string or Timoshenko beam with the local pinching deformation at the impact point expressed by either a linear elastic spring or a viscoelastic standard linear solid. These four models were solved numerically by the method of characteristics. A few comparisons of the results for the various models are presented here; correlations with corresponding finite element solutions and experimental data are described in a companion paper.     

Global bifurcations in externally excited autoparametric systems

We consider an autoparametric system consisting of an oscillator coupled with an externally excited subsystem. The oscillator and the subsystem are in one-to-one internal resonance. The excited subsystem is in primary resonance. The method of second-order averaging is used to obtain a set of autonomous equations of the second-order approximations to the externally excited system with autoparametric resonance. The Šhilnikov-type homoclinic orbits and chaotic dynamics of the averaged equations are studied in detail. The global bifurcation analysis indicates that there exist the heteroclinic bifurcations and the Šhilnikov-type homoclinic orbits in the averaged equations. The results obtained above mean the existence of the amplitude-modulated chaos for the Smale horseshoe sense in the externally excited system with autoparametric resonance. Furthermore, a detailed bifurcation analysis of the dynamic (periodic and chaotic) solutions of the averaged equations is presented. Nine branches of dynamic solutions are found. Two of these branches emerge from two Hopf bifurcations and the other seven are isolated. The limit cycles undergo symmetry-breaking, cyclic-fold and period-doubling bifurcations, whereas the chaotic attractors undergo attractor-merging and boundary crises. Simultaneous occurrence of the limit cycle and chaotic attractors, homoclinic orbits, intermittency chaos and homoclinic explosions are also observed.     

A new numerical technique for the analysis of parametrically excited nonlinear systems

A new computational scheme using Chebyshev polynomials is proposed for the numerical solution of parametrically excited nonlinear systems. The state vector and the periodic coefficients are expanded in Chebyshev polynomials and an integral equation suitable for a Picard-type iteration is formulated. A Chebyshev collocation is applied to the integral with the nonlinearities reducing the problem to the solution of a set of linear algebraic equations in each iteration. The method is equally applicable for nonlinear systems which are represented in state-space form or by a set of second-order differential equations. The proposed technique is found to duplicate the periodic, multi-periodic and chaotic solutions of a parametrically excited system obtained previously using the conventional numerical integration schemes with comparable CPU times. The technique does not require the inversion of the mass matrix in the case of multi degree-of-freedom systems. The present method is also shown to offer significant computational conveniences over the conventional numerical integration routines when used in a scheme for the direct determination of periodic solutions. Of course, the technique is also applicable to non-parametrically excited nonlinear systems as well.     

Linear feedback and parametric controls of vibrations and chaotic escape in a Φ potential

The control of vibration amplitude and chaotic escape of an harmonically excited particle in a single well Φ⁶ potential is considered. The linear feedback and parametric control strategies are used. The control efficiency on amplitude is found by analysing the behaviour of the amplitude of the controlled system as compared to that of the uncontrolled system. The conditions for inhibition of the chaotic escape are obtained by means of the Melnikov method.     

A parametrically excited pendulum with irrational nonlinearity

In this paper, we propose a parametrically excited pendulum with irrational nonlinearity which comprises a simple pendulum linked by a linear spring under base excitation. This parametric vibration system exhibits bistable state and discontinuous characteristics due to the geometry configuration. For small oscillations, this system can be described by Mathieu equation coupled with SD (Smooth and Discontinuous) oscillator whose dynamic response is examined analytically by using the averaging method in both smooth and discontinuous case. Numerical simulations are carried out to demonstrate the complicated dynamic behavior of multiple periodic motions and different types of chaotic motions.     

The limit case response of the archetypal oscillator for smooth and discontinuous dynamics

In this paper, the limit case of the SD (smooth and discontinuous) oscillator is studied. This system exhibits standard dynamics governed by the hyperbolic structure associated with the stationary state of the double-well. The substantial deviation from the standard dynamics is the non-smoothness of the velocity in crossing from one well to another, caused by the loss of local hyperbolicity due to the discontinuity. Without dissipation, the KAM structure on the Poincaré section is constructed with generic KAM curves and a series of fixed points associated with surrounded islands of quasi-periodic orbits and the chaotic connection orbits. It is found that, for a fixed set of parameters, a special chaotic orbit exits there which fills a finite region and connects a series of islands dominated by different chains of fixed points. As one adds weak dissipation, the periodic solutions in this finite region remain unchanged while the quasi-periodic solutions (isolated islands) are converted to the corresponding periodic solutions. The relevant dynamics for the system with weak dissipation under external excitation is shown having period doubling bifurcation leading to chaos, and multi-stable solutions.     

Numerical and geometrical analysis of bifurcation and chaos for an asymmetric elastic nonlinear oscillator

An asymmetric nonlinear oscillator representative of the finite forced dynamics of a structural system with initial curvature is used as a model system to show how the combined use of numerical and geometrical analysis allows deep insight into bifurcation phenomena and chaotic behaviour in the light of the system global dynamics.Numerical techniques are used to calculate fixed points of the response and bifurcation diagrams, to identify chaotic attractors, and to obtain basins of attraction of coexisting solutions. Geometrical analysis in control-phase portraits of the invariant manifolds of the direct and inverse saddles corresponding to unstable periodic motions is performed systematically in order to understand the global attractor structure and the attractor and basin bifurcations.     

Chaos in a single equilibrium point system: Finite deformations

The purpose of this paper is to examine a highly nonlinear model of a slender beam which yields chaotic solutions for some forcing amplitudes. The study is unique in that the governing partial differential equations are solved directly, and that the model lends itself to a more physical analysis of the beam than traditional chaotic models. In addition, the analysis will provide proof that a beam experiencing moderate deformations without stops or an initial axial force can exhibit chaotic motion. The model represents a simply-supported. Euler-Bernoulli beam subjected to a transverse load. The forcing function is sinusoidally distributed in space with an amplitude which also varies sinusoidally in time and is assumed to reach a maximum sufficient to allow nonlinearities associated with finite deformations to become important. During motion, even though displacements are large, the beam is assumed to attain only small strain levels and thus is assumed to be linearly elastic. The results indicate that for most levels of the forcing function the response of the beam is periodic. However, the steady state motion is not sinusoidal in time and in fact exhibits some bifurcated motions. At a certain level of the forcing amplitude, an asymmetry is observed and the periodicity of the motion breaks down as the beam experiences a period doubling cascade which culminates in a chaotic motion. The progression from periodic to chaotic motion is presented through a series of phase plane and Poincané plots, and physical variables such as bending moment are examined.     

Part 1: Dynamical Characterization of a Frictionally Excited Beam

The dynamics of an experimental frictionally excited beam areinvestigated. The friction is characterized and shown to involve contactcompliance. Beam displacements are approximated from strain gagesignals. The system dynamics are rich, including a variety of periodic,quasi-periodic and chaotic responses. Proper orthogonal decomposition isapplied to chaotic data to obtain information about the spatialcoherence of the beam dynamics. Responses for different parameter valuesresult in a different set of proper orthogonal modes. The number ofproper orthogonal modes that account for 99.99% of the signalpower is compared to the corresponding number of linear normal modes,and it is verified that the proper orthogonal modes are more efficientin capturing the dynamics.     

Micromechanical analysis of fibrous piezoelectric composites with imperfectly bonded adherence

In this work, two-phase parallel fiber-reinforced periodic piezoelectric composites are considered wherein the constituents exhibit transverse isotropy and the cells have different configurations. Mechanical imperfect contact at the interface of the piezoelectric composites is studied via linear spring model. The statement of the problem for two-phase piezoelectric composites with mechanical imperfect contact is given. The local problems are formulated by means of the asymptotic homogenization method, and their solutions are found using complex variable theory. Analytical formulae are obtained for the effective properties of the composites with spring imperfect type of contact and different rhombic cells. Using the concept of a representative volume element (RVE), a finite element model is created, which combines the angular distribution of fibers and imperfect contact conditions (spring type) between the phases. Periodic boundary conditions are applied to the RVE, so that effective material properties can be derived. The fibers are distributed in such a way that the microstructure is characterized by a rhombic cell. The presented numerical homogenization technique is validated by comparing results with theoretical approach reported in the literature. Some studies of particular cases, numerical examples, and comparisons between the two aforementioned methods with other theoretical results illustrate that the model is efficient for the analysis of composites with presence of rhombic cells and the aforementioned imperfect contact.     

Subharmonic resonance of a clamped-clamped buckled beam with 1:1 internal resonance under base harmonic excitations

The subharmonic resonance and bifurcations of a clamped-clamped buckled beam under base harmonic excitations are investigated. The nonlinear partial integrodifferential equation of the motion of the buckled beam with both quadratic and cubic nonlinearities is given by using Hamilton's principle. A set of second-order nonlinear ordinary differential equations are obtained by spatial discretization with the Galerkin method. A high-dimensional model of the buckled beam is derived, concerning nonlinear coupling. The incremental harmonic balance (IHB) method is used to achieve the periodic solutions of the high-dimensional model of the buckled beam to observe the nonlinear frequency response curve and the nonlinear amplitude response curve, and the Floquet theory is used to analyze the stability of the periodic solutions. Attention is focused on the subharmonic resonance caused by the internal resonance as the excitation frequency near twice of the first natural frequency of the buckled beam with/without the antisymmetric modes being excited. Bifurcations including the saddle-node, Hopf, perioddoubling, and symmetry-breaking bifurcations are observed. Furthermore, quasi-periodic motion is observed by using the fourth-order Runge-Kutta method, which results from the Hopf bifurcation of the response of the buckled beam with the anti-symmetric modes being excited.     

Low-dimensional chaotic response of axially accelerating continuum in the supercritical regime

Summary Nonlinear dynamics of one-mode approximation of an axially moving continuum such as a moving magnetic tape is studied. The system is modeled as a beam moving with varying speed, and the transverse vibration of the beam is considered. The cubic stiffness term, arising out of finite stretching of the neutral axis during vibration, is included in the analysis while deriving the equations of motion by Hamilton's principle. One-mode approximation of the governing equation is obtained by the Galerkin's method, as the objective in this work is to examine the low-dimensional chaotic response. The velocity of the beam is assumed to have sinusoidal fluctuations superposed on a mean value. This approximation leads to a parametrically excited Duffing's oscillator. It exhibits a symmetric pitchfork bifurcation as the axial velocity of the beam is varied beyond a critical value. In the supercritical regime, the system is described by a parametrically excited double-well potential oscillator. It is shown by numerical simulation that the oscillator has both period-doubling and intermittent routes to chaos. Melnikov's criterion is employed to find out the parameter regime in which chaos occurs. Further, it is shown that in the linear case, when the operating speed is supercritical, the oscillator considered is isomorphic to the case of an inverted pendulum with an oscillating support. It is also shown that supercritical motion can be stabilised by imposing a suitable velocity variation. Received 13 February 1997; accepted for publication 29 July 1997     

差分格式收敛性研究的一种新方法

提出了一种对差分格式收敛性进行研究的新方法．应用U变换法和有限差分法，分析了均质简支梁的静力问题，求出了在均布荷载作用下梁的挠度和弯矩的精确解析表达式，并研究其收敛性，得到了收敛率系数的精确值．