EXPRESSIONS FOR PREDICTING FUNDAMENTAL NATURAL FREQUENCIES OF NON-CYLINDRICAL HELICAL SPRINGS

Numerical and analytical studies are performed for the free vibration analysis of non-cylindrical (conical, barrel and hyperboloidal types) helical springs. The stiffness matrix method is used in the numerical analysis. A total of 12 degrees of freedom (six displacements and six rotations) is described for an element. The exact element stiffness matrix and the exact concentrated element inertia matrix are used in the formulation. The rotary inertia, the shear and extensional deformation effects are considered in the analysis. Comparison of the numerical results with the reported results obtained numerically and experimentally gives satisfactory values. After verification of the numerical frequencies, the non-dimensional fundamental frequencies of fixed-fixed non-cylindrical helical springs with circular section are expressed in a simple formula with a maximum absolute relative error of 5% using those numerical values for the constant helix pitch angles (5°, 10°, and 15°). These expressions restricted to the fundamental frequencies are also verified with ANSYS results.     

Exact dynamic stiffness elements based on one-dimensional higher-order theories for free vibration analysis of solid and thin-walled structures

In this paper, an exact dynamic stiffness formulation using one-dimensional (1D) higher-order theories is presented and subsequently used to investigate the free vibration characteristics of solid and thin-walled structures. Higher-order kinematic fields are developed using the Carrera Unified Formulation, which allows for straightforward implementation of any-order theory without the need for ad hoc formulations. Classical beam theories (Euler–Bernoulli and Timoshenko) are also captured from the formulation as degenerate cases. The Principle of Virtual Displacements is used to derive the governing differential equations and the associated natural boundary conditions. An exact dynamic stiffness matrix is then developed by relating the amplitudes of harmonically varying loads to those of the responses. The explicit terms of the dynamic stiffness matrices are also presented. The resulting dynamic stiffness matrix is used with particular reference to the Wittrick–Williams algorithm to carry out the free vibration analysis of solid and thin-walled structures. The accuracy of the theory is confirmed both by published literature and by extensive finite element solutions using the commercial code MSC/NASTRAN^®$\mathrm{MSC}/{\mathrm{NASTRAN}}^{\circledR }$.     

A simplified nonlinear dynamic model for the analysis of pipe structures with bolted flange joints

Bolted flange joints are widely used in engineering structures; however, the dynamic behavior of this connection is complex in nature. In this paper, a simplified nonlinear dynamic model with bi-linear springs is proposed and validated for pipe structures with bolted flange joints. First, static mechanical properties of the bolted flange joint are investigated. The analytical solution reveals that the axial stiffness of the bolted flange joint is different in tension and compression. Then, nonlinear springs with different stiffness in tension and compression are employed to represent the bolted flange joint. A special type of dynamic behavior, coupling vibration in the transverse and longitudinal directions, is observed in analytical derivation. Finally, relevant physical experiments and numerical simulations are performed. The physical experiments confirm the existence of the coupling vibration behavior. The relationship of longitudinal and transverse vibration frequencies is discussed. The numerical solutions reveal that the simplified nonlinear dynamic model better fits the physical response than conventional reduced linear beam model.     

Dynamic stiffness method for exact inplane free vibration analysis of plates and plate assemblies

The inplane free vibration behaviour of plates is investigated using the dynamic stiffness method. Some distinctive modes which went unnoticed in earlier investigations using the dynamic stiffness method have been addressed by revisiting the problem and focusing on the special set of missing solutions. Results are validated extensively both by published results as well as by numerical studies using NASTRAN and ABAQUS. The accuracy of the finite element method for inplane free vibration analysis is assessed and critically examined through the provision of benchmark solutions. Some representative modes that are missed by well-established dynamic-stiffness-based computer programs are presented. The inplane dynamic stiffness matrix presented is of great importance when combined with the out of plane matrix in order to obtain the closed-form solution for free vibration analysis of structures with complex geometries.     

The steady state out-of-plane response of an internally damped ring supported by springs in some bays

The steady state out-of-plane response of an internally damped ring supported by springs in some bays to a sinusoidally varying point force or moment is determined by use of the transfer matrix technique. For this purpose, the equations of out-of-plane vibration of a uniform circular ring based upon the Timoshenko beam theory are written as a coupled set of first order differential equations by using the transfer matrix of the ring. The matrix is obtained analytically and the steady state response of the ring is determined by the product of the matrices in free bays and those in supported bays. In this case, the elastic moduli of the ring and springs with internal damping are assumed to be complex quantities. The method is applied to rings supported against deflection and torsion in some bays of the same length located at equal angular intervals; the driving point impedance, transfer impedance and the distributions of the deflection, angular rotation, force and moment are calculated numerically, and the effects of the number, the stiffness and the length of supporting springs on them are studied.     

Vibration modelling of helical springs with non-uniform ends

Helical springs constitute an integral part of many mechanical systems. Usually, a helical spring is modelled as a massless, frequency independent stiffness element. For a typical suspension spring, these assumptions are only valid in the quasi-static case or at low frequencies. At higher frequencies, the influence of the internal resonances of the spring grows and thus a detailed model is required. In some cases, such as when the spring is uniform, analytical models can be developed. However, in typical springs, only the central turns are uniform; the ends are often not (for example, having a varying helix angle or cross-section). Thus, obtaining analytical models in this case can be very difficult if at all possible. In this paper, the modelling of such non-uniform springs are considered. The uniform (central) part of helical springs is modelled using the wave and finite element (WFE) method since a helical spring can be regarded as a curved waveguide. The WFE model is obtained by post-processing the finite element (FE) model of a single straight or curved beam element using periodic structure theory. This yields the wave characteristics which can be used to find the dynamic stiffness matrix of the central turns of the spring. As for the non-uniform ends, they are modelled using the standard finite element (FE) method. The dynamic stiffness matrices of the ends and the central turns can be assembled as in standard FE yielding a FE/WFE model whose size is much smaller than a full FE model of the spring. This can be used to predict the stiffness of the spring and the force transmissibility. Numerical examples are presented.     

Passive-active vibration isolation systems to produce zero or infinite dynamic modulus: theoretical and conceptual design strategies

The application of mechanical springs connected in parallel and/or in series with active springs can produce dynamical systems characterised by infinite or zero value stiffness. This mathematical model is extended to more general cases by examining the dynamic modulus associated with damping, stiffness and mass effects. This produces a theoretical basis on which to design an isolation system with infinite or zero dynamic modulus, such that stiffness and damping may have infinite or zero values. Several theoretical designs using a mixture of passive and active systems connected in parallel and/or in series are proposed to overcome limitations of feedback gain experienced in practice to achieve an infinite or zero dynamic modulus. It is shown that such systems can be developed to reduce the weight supported by active actuators as demonstrated, for example, by examining suspension systems of very low natural frequency or with a very large supporting stiffness or with a viscous damper or a self-excited vibration oscillator. A more general system is created by combining these individual systems allowing adjustment of the supporting stiffness and damping using both displacement and velocity feedback controls. Frequency response curves show the effects of active feedback control on the dynamical behaviour of these systems. The theoretical design strategies presented can be applied to design feasible hybrid vibration control systems displaying increased control performance.     

A study of a nonlinear vibration isolator with a quasi-zero stiffness characteristic

A vibration isolator consisting of a vertical linear spring and two nonlinear pre-stressed oblique springs is considered in this paper. The system has both geometrical and physical nonlinearity. Firstly, a static analysis is carried out. The softening parameter leading to quasi-zero dynamic stiffness at the equilibrium position is obtained as a function of the initial geometry, pre-stress and the stiffness of the springs. The optimal combination of the system parameters is found that maximises the displacement from the equilibrium position when the prescribed stiffness is equal to that of the vertical spring alone. It also satisfies the condition that the dynamic stiffness only changes slightly in the neighbourhood of the static equilibrium position. For these values, a dynamical analysis of the isolator under asymmetric excitation is performed to quantify the undesirable effects of the nonlinearities. It includes considering the possibilities of the appearance of period-doubling bifurcation and its development into chaotic motion. For this purpose, approximate analytical methods and numerical simulations accompanied with qualitative methods including phase plane plots, Poincaré maps and Lyapunov exponents are used. Finally, the frequency at which the first period-doubling bifurcation appears is found and the effect of damping on this frequency determined.     

The forced vibration of one-dimensional multi-coupled periodic structures: An application to finite element analysis

A general theory for the forced vibration of multi-coupled one-dimensional periodic structures is presented as a sequel to a much earlier general theory for free vibration. Starting from the dynamic stiffness matrix of a single multi-coupled periodic element, it derives matrix equations for the magnitudes of the characteristic free waves excited in the whole structure by prescribed harmonic forces and/or displacements acting at a single periodic junction. The semi-infinite periodic system excited at its end is first analysed to provide the basis for analysing doubly infinite and finite periodic systems. In each case, total responses are found by considering just one periodic element. An already-known method of reducing the size of the computational problem is reexamined, expanded and extended in detail, involving reduction of the dynamic stiffness matrix of the periodic element through a wave-coordinate transformation. Use of the theory is illustrated in a combined periodic structure+finite element analysis of the forced harmonic in-plane motion of a uniform flat plate. Excellent agreement between the computed low-frequency responses and those predicted by simple engineering theories validates the detailed formulations of the paper. The primary purpose of the paper is not towards a specific application but to present a systematic and coherent forced vibration theory, carefully linked with the existing free-wave theory.     

A distributed-mass approach for dynamic analysis of Bernoulli-Euler plane frames

The exact dynamic analysis of plane frames should consider the effect of mass distribution in beam elements, which can be achieved by using the dynamic stiffness method. Solving for the natural frequencies and mode shapes from the dynamic stiffness matrix is a nonlinear eigenproblem. The Wittrick-Williams algorithm is a reliable tool to identify the natural frequencies. A deflated matrix method to determine the mode shapes is presented. The dynamic stiffness matrix may create some null modes in which the joints of beam elements have null deformation. Adding an interior node at the middle of beam elements can eliminate the null modes of flexural vibration, but does not eliminate the null modes of axial vibration. A force equilibrium approach to solve for the null modes of axial vibration is presented. Orthogonal conditions of vibration modes in the Bernoulli-Euler plane frames, which are required in solving the transient response, are theoretically derived. The decoupling process for the vibration modes of the same natural frequency is also presented.     

Dynamic analysis of an axially moving finite-length beam with intermediate spring supports

This paper presents the analysis for the transverse vibration of an axially moving finite-length beam inside which two points are supported by rotating rollers. In this study, the rollers are modeled as uniaxial springs in the transverse direction. Hamilton?s principle is applied to derive the equations of motion and boundary conditions of the system. The equations of motion include translational and rotational motions as well as flexible motion. These equations are discretized using Galerkin?s method, and then the dynamic characteristics of a flexible beam with spring supports are studied by solving an eigenvalue problem. The veering phenomenon of natural frequency loci and mode exchanges are investigated for different positions of the springs and various values of the spring stiffness. In addition, the mode localization is also analyzed using the peak amplitude ratio. It is found in this study that the first mode is localized in one of the beam spans if an appropriate value of the spring constant is selected. Furthermore, it is shown that mode localization can be used to reduce the vibration transferred from one span to the other span while a beam moves axially.     

Dynamic stiffness method for inplane free vibration of rotating beams including Coriolis effects

The paper addresses the in-plane free vibration analysis of rotating beams using an exact dynamic stiffness method. The analysis includes the Coriolis effects in the free vibratory motion as well as the effects of an arbitrary hub radius and an outboard force. The investigation focuses on the formulation of the frequency dependent dynamic stiffness matrix to perform exact modal analysis of rotating beams or beam assemblies. The governing differential equations of motion, derived from Hamilton's principle, are solved using the Frobenius method. Natural boundary conditions resulting from the Hamiltonian formulation enable expressions for nodal forces to be obtained in terms of arbitrary constants. The dynamic stiffness matrix is developed by relating the amplitudes of the nodal forces to those of the corresponding responses, thereby eliminating the arbitrary constants. Then the natural frequencies and mode shapes follow from the application of the Wittrick–Williams algorithm. Numerical results for an individual rotating beam for cantilever boundary condition are given and some results are validated. The influences of Coriolis effects, rotational speed and hub radius on the natural frequencies and mode shapes are illustrated.     

Nonlinear Analysis of Rotational Springs to Model Semi-Rigid Frames

This paper explains the mathematical foundations of a method for modelling semi-rigid unions. The unions are modelled using rotational rather than linear springs. A nonlinear second-order analysis is required, which includes both the effects of the flexibility of the connections as well as the geometrical nonlinearity of the elements. The first task in the implementation of a 2D Beam element with semi-rigid unions in a nonlinear finite element method (FEM) is to define the vector of internal forces and the tangent stiffness matrix. After defining the formula for this vector and matrix in the context of a semi-rigid steel frame, an iterative adjustment of the springs is proposed. This setting allows a moment–rotation relationship for some given load parameters, dimensions, and unions. Modelling semi-rigid connections is performed using Frye and Morris’ polynomial model. The polynomial model has been used for type-4 semi-rigid joints (end plates without column stiffeners), which are typically semi-rigid with moderate structural complexity and intermediate stiffness characteristics. For each step in a non-linear analysis required to adjust the matrix of tangent stiffness, an additional adjustment of the springs with their own iterative process subsumed in the overall process is required. Loops are used in the proposed computational technique. Other types of connections, dimensions, and other parameters can be used with this method. Several examples are shown in a correlated analysis to demonstrate the efficacy of the design process for semi-rigid joints, and this is the work’s application content. It is demonstrated that using the mathematical method presented in this paper, semi-rigid connections may be implemented in the designs while the stiffness of the connection is verified.     

Combined dynamic stiffness matrix and precise time integration method for transient forced vibration response analysis of beams

A method has been developed for determining the transient response of a beam. The beam is divided into several continuous Timoshenko beam elements. The overall dynamic stiffness matrix is assembled in turn. Using Leung's equation, we derive the overall mass and stiffness matrices which are more suitable for response analysis than the overall dynamic stiffness matrix. The forced vibration of the beam is computed by the precise time integration method. Three illustrative beams are discussed to evaluate the performance of the current method. Solutions calculated by the finite element method and theoretical analysis are also enumerated for comparison. In these examples, we have found that the current method can solve the forced vibration of structures with a higher precision.     

Dynamic stiffness matrix of thin-walled composite I-beam with symmetric and arbitrary laminations

For the spatially coupled free vibration analysis of thin-walled composite I-beam with symmetric and arbitrary laminations, the exact dynamic stiffness matrix based on the solution of the simultaneous ordinary differential equations is presented. For this, a general theory for the vibration analysis of composite beam with arbitrary lamination including the restrained warping torsion is developed by introducing Vlasov's assumption. Next, the equations of motion and force–displacement relationships are derived from the energy principle and the first order of transformed simultaneous differential equations are constructed by using the displacement state vector consisting of 14 displacement parameters. Then explicit expressions for displacement parameters are derived and the exact dynamic stiffness matrix is determined using force–displacement relationships. In addition, the finite-element (FE) procedure based on Hermitian interpolation polynomials is developed. To verify the validity and the accuracy of this study, the numerical solutions are presented and compared with analytical solutions, the results from available references and the FE analysis using the thin-walled Hermitian beam elements. Particular emphasis is given in showing the phenomenon of vibrational mode change, the effects of increase of the modulus and the bending–twisting coupling stiffness for beams with various boundary conditions.     

The dynamic stiffness matrix of two-dimensional elements: application to Kirchhoff's plate continuous elements

This paper describes a procedure for building the dynamic stiffness matrix of two-dimensional elements with free edge boundary conditions. The dynamic stiffness matrix is the basis of the continuous element method. Then, the formulation is used to build a Kirchhoff rectangular plate element. Gorman's method of boundary condition decomposition and Levy's series are used to obtain the strong solution of the elementary problem. A symbolic computation software partially performs the construction of the dynamic stiffness matrix from this solution. The performances of the element are evaluated from comparisons with harmonic responses of plates obtained by the finite element method.     

On the design of a high-static-low-dynamic stiffness isolator using linear mechanical springs and magnets

The frequency range over which a linear passive vibration isolator is effective is often limited by the mount stiffness required to support a static load. This can be improved upon by incorporating a negative stiffness element in the mount such that the dynamic stiffness is much less than the static stiffness. In this case, it can be referred to as a high-static-low-dynamic stiffness (HSLDS) mount. This paper is concerned with a theoretical and experimental study of one such mount. It comprises two vertical mechanical springs between which an isolated mass is mounted. At the outer edge of each spring, there is a permanent magnet. In the experimental work reported here, the isolated mass is also a magnet arranged so that it is attracted by the other magnets. Thus, the combination of magnets acts as a negative stiffness counteracting the positive stiffness provided by the mechanical springs. Although the HSLDS suspension system will inevitably be nonlinear, it is shown that for small oscillations the mount considered here is linear. The measured transmissibility is compared with a comparable linear mass-spring-damper system to show the advantages offered by the HSLDS mount.     

Vibration control for an overhung roller in textile machine considering the stiffness of control device stand

This paper treats a vibration control method that can be used in textile machinery to reduce the unbalanced vibration of an overhung roller–motor system. To control the vibration of the overhung roller, a drive motor with a hybrid type vibration control device consisted with rubber springs and electromagnets is used. When the vibration control system is set up in the textile machinery for industrial use, the stand supporting the control system to the base may be assumed not too rigid but elastic. For a certain value of the elastic stand stiffness, the vibration control performance of the overhung roller becomes very low. In order to prevent this deterioration, a stiffness control achieved by a positive feedback of the displacement signal of the rubber spring is proposed and the effectiveness of the stiffness control is confirmed by simulations and experiments.     

Design and experiment of a compact quasi-zero-stiffness isolator capable of a wide range of loads

This paper proposes the design and experiment of a vibration isolator capable of isolating a wide range of loads. The isolator consists of two oblique springs and one vertical spring to achieve quasi-zero stiffness at the equilibrium position. The quasi-zero-stiffness characteristic makes the isolator attenuate external disturbance more at low frequencies, when compared with linear isolators. Unlike previous studies, this paper focuses on the analysis of the effect of different loads and the implementation of an adjustment mechanism to handle a wide range of loads. To ensure zero stiffness under imperfect stiffness matching, a lateral adjustment mechanism is also proposed. Instead of using coil springs, special planar springs are designed to realize the isolator in a compact space. Static and dynamic models are developed to evaluate the effect of key design parameters so that the isolator can have a wide isolation range without sacrificing its size. A prototype and its associated experiments are presented to validate the transmissibility curves under three different loads. The results clearly show the advantage of quasi-zero-stiffness isolators against linear isolators.     

Vibration analysis of liquid-filled pipelines with elastic constraints

In this paper, a transfer matrix method (TMM) in frequency domain considering fluid-structure interaction of liquid-filled pipelines with elastic constraints is proposed. The time-domain equations considering fluid-structure interaction, are transformed into frequency domain by Laplace transformation, and then twelve fourth-order ordinary differential equations and two second-order ordinary differential equations are deduced from the frequency-domain equations. The results of the fourteen frequency-domain equations are assembled into a transfer matrix, which represents the motion of a single pipe section. Combined with point matrices that describe specified boundary conditions, an overall transfer matrix for liquid-filled pipeline system can be assembled. Using the method, all the pipeline with no and rigid constraints can be easily calculated by simply setting the stiffness of the restraining springs from zero to a large number. Taking into account the longitudinal vibration, transverse vibration and torsional vibration, the proposed method can be used to analyze the pipelines with bends. Several numerical examples with different constraints are presented here to illustrate the application of the proposed method. The results are validated by measured and simulation data. Through the numerical examples, it is shown that the proposed method is efficient.