Stationary response of combined linear dynamic systems to stationary excitation

The stationary response of a broad class of combined linear systems to stationary random excitation is determined by the normal mode method. The systems are characterized by a viscously damped simple beam (or string, membrane, thin plate or shell, etc.) connected at discrete points to a multiplicity of viscously damped linear oscillators and/or masses. The solution of the free vibration problem by way of Green functions and the deterministic forced vibration problem by modal analysis for both proportional and non-proportional damping is reviewed. The orthogonality relation for the natural modes of vibration is used to derive a unique relationship between the cross-spectral density functions of the applied forces and the cross-spectral density functions of the generalized forces. Finally, the response spectral density functions and the mean square responses of the beam and oscillators are derived in closed form, exact for the proportionally damped system and approximate for the non-proportionally damped system.     

The decoupling of defective linear dynamical systems in free motion

It was demonstrated in two earlier papers that there exists a real, linear, time-varying transformation that decouples any non-defective linear dynamical system in free vibration in the configuration space. As an extension of this work, the present paper represents the first systematic effort to decouple defective systems. It is shown that the decoupling of defective systems is a rather delicate procedure that depends on the multiplicities of the system eigenvalues. While any defective system can be decoupled with the eigenvalues kept invariant, the geometric multiplicities of these eigenvalues may not be preserved. Several numerical examples are provided to illustrate the theoretical developments.     

Damped vibration analysis of an elastically connected complex double-string system

The main purpose of the present paper is to consider theoretically damped transverse vibrations of an elastically connected double-string system. This system is treated as two viscoelastic strings with a Kelvin-Voigt viscoelastic layer between them. A theoretical analysis has been made for a simplified model of the system, in which assumed physical parameters make it possible to decouple the governing equations of motion by introducing the principal co-ordinates. Applying the method of separation of variables and the modal expansion method, exact analytical solutions for damped free and forced responses of the system subjected to arbitrarily distributed transverse continuous loads are determined in the case of arbitrary magnitude of linear viscous damping. It is important to note that the solutions obtained are explicitly expressed in terms of parameters characterizing the physical properties of the system under discussion. For the sake of completeness of the analysis, solutions for undamped free and forced vibrations are also formulated.     

Modeling of axially moving wire with damping: Eigenfunctions, orthogonality and applications in slurry wiresaws

The classical modal analysis is applied to derive the analytical solution and to obtain the free vibration response of damped axially moving wire in this paper. The corresponding eigenvalues, eigenfunctions, and orthogonal relationship are presented. The orthogonality property and closed-form solution of free vibration response with damping are the main contributions of this study. In addition, the analytical modal analysis, with damping factor removed, shows agreement with those in existing research literature of moving wire without damping. The specific relevance of this general solution is discussed with respect to the moving wire in a slurry wiresaw. The theoretical definition of the damping factor of the slurry wiresaw system is also provided.     

Modal correlation approaches for general second-order systems: Matching mode pairs and an application to Campbell diagrams

Modal correlation is well developed for undamped and proportionally damped vibrating systems. It is less well defined for generally damped linear systems. This paper addresses the fundamental problem of comparing two general second-order linear systems through modal information. It considers precisely the problem of how to achieve matching of modes (mode pairs).There are several possible motivations for modal correlation of which the most important is probably the model updating application. In that application, one set of modes derives from a numerical model and the other from measured data. This paper focuses mainly on a different application—constructing Campbell diagrams for rotating machines. There are two significant differences here: (a) the two sets of modes being compared at any one time are from the same numerical model but for different spin speeds and (b) there is generally a strong distinction between the left and right modes of the system. Without some modal correlation approach, the Campbell diagram is constructed simply as a set of points on the frequency-speed graph. With modal correlation, the eigenvalue problem can be solved at far fewer speeds and the points can be joined meaningfully.A dimensionless (n×n) modal-matching array is produced whose entries indicate which pairs of modes from the first system best correlate with any particular pair of modes from the second system. The presented work is motivated mainly by the application of developing Campbell diagrams for rotating machines by means which are more effective than simply plotting a large set of discrete points. Wider applications of this paper include model updating procedures where mode pairs must be matched initially to ensure convergence towards the exact system.     

Free vibration analysis of the completely free rectangular plate by the method of superposition

While the subject of free vibration analysis of the completely free rectangular plate has a history which goes back nearly two centuries it remains a fact that most theoretical solutions to this classical problem are considered to be at best approximate in nature. This is because of the difficulties which have been encountered in trying to obtain solutions which satisfy the free edge conditions as well as the governing differential equation. In a new approach to this problem, by using the method of superposition, it is shown that solutions which satisfy identically the differential equation and which satisfy the boundary conditions with any desired degree of accuracy are obtained. Eigenvalues of four digit accuracy are provided for a wide range of plate aspect ratios and modal shapes. Exact delineation is made between the three families of modes which are characteristic of this plate vibration problem. Accurate modal shapes are provided for the response of completely free square plates.     

The decoupling of damped linear systems in configuration and state spaces

It has recently been reported that any viscously damped linear system can be decoupled in the configuration space by a real, nonlinear, time-dependent transformation. The purpose of this rapid communication is to provide a few clarifying remarks about the decoupling operation. It is shown that, for homogeneous systems, the time-dependent configuration-space decoupling transformation is real, linear and time-invariant when cast in state space. In addition, the configuration-space transformation generates a diagonalizing structure-preserving transformation. In non-homogeneous systems, both the configuration and associated state transformations are nonlinear and depend continuously on the excitation. An example is given of a linear system that can be decoupled in configuration but not in state space.     

Efficient uncoupled stochastic analysis with non-proportional damping

The use of normal modes of vibration in the analysis of structures with non-proportional damping reduces the size of the resulting set of governing equations, but does not decouple them. A common practice consists in decoupling the equations by disregarding the off-diagonal elements in the modal damping matrix. Recently, an approximation based on an asymptotic expansion of the modal transfer matrix has been proposed in a deterministic framework to partially account for off-diagonal terms, but still with a set of uncoupled equations. This paper aims at extending this method in a stochastic context. First the mathematical background is introduced and the method is illustrated with a simple example. Then its relevance is demonstrated within the context of the structural analysis of a large and realistic structure.     

Free vibration analysis of circular cylindrical shells

A general analytical method is presented for evaluating the free vibration characteristics of a circular cylindrical shell with classical boundary conditions of any type. The solution is obtained through a direct solution procedure in which Sanders' shell equations are used with the axial modal displacements represented as simple Fourier series expressions. Stokes' transformation is exploited to obtain correct series expressions for the derivatives of the Fourier series. An explicit expression of the exact frequency equation can be obtained for any kind of boundary conditions. The accuracy of the method is checked against available data. The method is used to find the modal characteristics of the thermal liner model of the U.S. Fast Test Reactor (FTP). The numerical results obtained are compared with finite element method solutions.     

A real decoupled method and free interface component mode synthesis methods for generally damped systems

This paper reports on the development of a new transformation method. In contrast to most existing mode transformation methods in which the first-order state-space equation of the damped vibration system is transformed into a decoupled form with complex coefficient matrices, using the decoupled method presented in this paper, the equation of the damped system can be decomposed into a decoupled equation with real coefficient matrices. Two new free interface component mode synthesis methods are also presented. The equivalent full-mode matrix of the damped structure is used to capture the effects of the higher-order modes. Additionally, this work modifies the compatibility conditions at the junctions that are employed in most of the previous component mode synthesis methods for generally damped systems. The first component mode synthesis method is performed in complex space, whereas the second method can be applied in real space. Because the coefficient matrices of the coupled equation constructed by the second component mode synthesis method are all real-valued, the solution of the eigenproblem for this coupled equation can be performed in real space as well. Additionally, numerical examples demonstrate the accuracy and validity of these two component mode synthesis methods.     

自由阻尼复合板的模态密度研究

模态密度是统计能量分析（SEA）的一个重要参数,尽管有关阻尼复合板振动特性的文献很多,便至今为止,研究其模态密度及变化规律的论文尚未见到,为此本文利用弹性最小势能原理和变分法,并考虑振动阻尼的影响,导出了自由阻尼复合板的弯曲振动模态密度计算公式,系统地分析了模态密度随阻尼层厚度、温度和频率而变化的规律。     

Time and frequency response of structures with frequency dependent,non-proportional linear damping

A method to compute the non-stationary time and frequency response of structures with a frequency-dependent non-proportional linear damping, called the resonance modes method, is presented in this paper. It consists of two main steps. The first step aims at spotting the structure resonance modes, which are the solutions of the matrix nonlinear eigenvalue problem obtained using the finite element method in the complex plane. This step requires a complex eigensolver and an iterative scheme, a perturbation technique or a combination of both. The second step uses the computed resonance modes and an analytical expression of the inverse Laplace transform to deduce the time or frequency response of structures to general excitations. The response of an aluminum plate damped with an elastomer treatment to a point-force excitation, computed with the classical modal approach, the direct solution and the presented method shows its precision and efficiency. An acoustic power computation finally validates the implementation of a fast variant, based on the perturbation technique, for vibroacoustic applications.     

Dynamic stiffness method for exponentially varying harmonic excitation of continuous systems

The dynamic stiffness method relating the amplitudes of applied forces and responses of a harmonically vibrating continuum has received wide attention. It enables the infinite number of natural modes to be represented by a finite number of nodal co-ordinates for continuous structures of beams and folded plates. However, the method has been applied almost exclusively to harmonic, or periodic, oscillations. This is due mainly to the rather misleading intuition that only harmonic vibrations can be described by solutions with separate time- and space-dependent factors. It is shown here that a much wider class of problem of exponentially varying harmonic excitations can also be analyzed by the dynamic stiffness method. The extension is achieved simply by using complex frequency parameters. The forced response (that is, the part of the response which is independent of the initial conditions) can be obtained directly by solution of linear equations. A single degree of freedom system is considered first, as an illustrative example. It is shown that the present method is equivalent to the usual Duhamel integral method except that integration is completely avoided and the transient effects due to the initial conditions can be considered separately. The method is then applied to undamped straight beam members and is modified so that damped vibration can be covered as well. Distributed loads are then considered and explicit formulae are introduced. Finally, for completeness of presentation, the responses are compared with those obtained by using modal analysis. The method is proved to be equivalent to modal analysis and has the advantages over the latter that (i) integrations in the time variable are completely avoided; (ii) the forced response can be obtained directly; (iii) decomposition into generalized forces is not required; and (iv) the force-response relation is easily visualized.     

IMPROVEMENT OF THE SEMI-ANALYTICAL METHOD, FOR DETERMINING THE GEOMETRICALLY NON-LINEAR RESPONSE OF THIN STRAIGHT STRUCTURES: PART II—FIRST AND SECOND NON-LINEAR MODE SHAPES OF FULLY CLAMPED RECTANGULAR PLATES

In a previous series of papers, a semi-analytical model based on Hamilton's principle and spectral analysis has been developed for geometrically non-linear free vibrations occurring at large displacement amplitudes of clamped-clamped beams and fully clamped rectangular homogeneous and composite plates. In Part I of this series of papers, concerned with geometrically non-linear free and forced vibrations of various beams, a practical simple “multi-mode theory”, based on the linearization of the non-linear algebraic equations, written in the modal basis, in the neighbourhood of each resonance has been developed. Simple explicit formulae, ready and easy to use for analytical or engineering purposes have been derived, which allows direct calculation of the basic function contributions to the first three non-linear mode shapes of the beams considered. Also, various possible truncations of the series expansion defining the first non-linear mode shape have been considered and compared with the complete solution, which showed that an increasing number of basic functions has to be used, corresponding to increasingly sized intervals of vibration amplitudes; starting from use of only one function, i.e., the first linear mode shape, corresponding to very small amplitudes, for which the linear theory is still valid, and ending by the complete series, involving six functions, corresponding to maximum vibration amplitudes at the beam middle point up to once the beam thickness. For higher amplitudes, a complementary second formulation has been developed, leading to reproduction of the known results via the solution of reduced linear systems of five equations and five unknowns. The purpose of this paper is to extend and adapt the approach described above to the geometrically non-linear free vibration of fully clamped rectangular plates in order to allow direct and easy calculation of the first, second and higher non-linear fully clamped rectangular plate mode shapes, with their associated non-linear frequencies and non-linear bending stress patterns. Also, numerical results corresponding to the first and second non-linear modes shapes of fully clamped rectangular plates with an aspect ratio α=0·6 are presented. Data concerning the higher non-linear modes, the aspect ratio effect, and the forced vibration case will be presented later.     

Self-adaptive modal control for time-varying structures

For the past several years, modal controllers are widely studied and used in the field of vibration or vibro-acoustics control. They are efficient but not robust, because these methods involve a reconstructor based on a modal truncation. When the dynamic behavior of the structure change, the controller and reconstructor must be updated to cope with the changes in the structure behavior, in order to maintain both performance and robustness. A solution is adaptive control but this approach needs some specific information not generally available particularly in the case of undergone modifications. This paper deals with a self-adaptive modal control based on a real-time identifier, which avoid the need of specific information. The identifier permits to update the controller and the reconstructor according to the changes of modal characteristics of time-varying structures. A classical algorithm of identification is used to obtain a state space model with an unspecified state vector. Then, based on this model, a well adapted transformation is carried out to get the modal characteristics from the expression of complex modes, including the mode shapes. As a criterion of running identification, the value of “variance-accounted for” (VAF) is employed to carry out the identifier only when the initial or previous model is not enough exact. A Linear Quadratic Gaussian Algorithm is employed in such a way that the controller and observer can be optimized according to the updated modal model. By this way, a self-adaptive modal control is completed and can demonstrate some smart properties. The proposed methodology is carried out on a simple but representative time-varying mechanical discrete structure. An inertia modification leads not only to low modal frequency shifts but also to inversion of a mode shape which is shown to lead to unstable configuration when control system is not updated. The overall procedure will be described through simulations and performed for different operating conditions, which will prove that mode shapes have to be precisely determined and updated in the controller and observer to guarantee a robust modal control with high performance in spite of the changes of structure.     

Active vibration control in Duffing mechanical systems using dynamic vibration absorbers

This paper deals with the multi-frequency harmonic vibration suppression problem in forced Duffing mechanical systems using passive and active linear mass–spring–damper dynamic vibration absorbers. An active vibration absorption scheme is proposed to extend the vibrating energy dissipation capability of a passive dynamic vibration absorber for multiple excitation frequencies and, simultaneously, to perform reference position trajectory tracking tasks planned for the nonlinear primary system. A differential flatness-based disturbance estimation scheme is also described to estimate the unknown multiple time-varying frequency disturbance signal affecting the differentially flat nonlinear vibrating mechanical system dynamics. Some numerical simulation results are provided to show the efficient performance of the proposed active vibration absorption scheme and the fast estimation of the vibration disturbance signal.     

Critical examination of isolation system design paradigms for a coupled powertrain and frame: Partial torque roll axis decoupling methods given practical constraints

The torque roll axis motion decoupling concept is analytically and computationally studied in a realistic coupled powertrain and frame system using discrete, proportionally damped linear models. Recently, Hu and Singh (2012 [1]) (Journal of Sound and Vibration 331 (2012) 1498–1518) proposed new paradigms to fully decouple such a system. However, critical examination shows that the derivation does not always lead to a physically realizable system, as each powertrain mount is not referenced to a single location. This deficiency is overcome by deriving mount compatibility conditions to ensure realistic mount positions which are incorporated into proposed decoupling conditions. It is mathematically shown that full decoupling is not possible for a practical system, and therefore partial decoupling paradigms are pursued. Powertrain mount design using only the decoupled powertrain achieves better decoupling than minimizing conditions for the coupled system using a total least squares method. Further decoupling is obtained through frame isolation design using a decoupled frame model such that the torque roll mode is dominant over the frequency range considered. Other methods for limiting frame coupling are also briefly discussed.     

The decoupling of second-order linear systems with a singular mass matrix

It was demonstrated in earlier work that a nondefective, linear dynamical system with an invertible mass matrix in free or forced motion may be decoupled in the configuration space by a real and isospectral transformation. We extend this work by developing a procedure for decoupling a linear dynamical system with a singular mass matrix in the configuration space, transforming the original differential-algebraic system into decoupled sets of real, independent, first- and second-order differential equations. Numerical examples are provided to illustrate the application of the decoupling procedure.     

Experimental identification of viscous damping in linear vibration

This paper is concerned with the experimental evaluation of the performance of viscous damping identification methods in linear vibration theory. Both existing and some new methods proposed by the present authors [A.S. Phani, J. Woodhouse, Viscous damping identification in linear vibration, Journal of Sound and Vibration 303 (3–5) (2007) 475–500] are applied to experimental data measured on two test structures: a coupled three cantilever beam with moderate modal overlap and a free–free beam with low modal overlap. The performance of each method is quantified and compared based on three norms and the best methods are identified. The role of complex modes in damping identification from vibration measurements is critically assessed.     

Analysis of nonlinear steady state vibration of a multi-degree-of-freedom system using component mode synthesis method

In this paper, an analytical approach for nonlinear forced vibration of a multi-degree-of-freedom system is proposed using the component mode synthesis method. The whole system is divided into some components and a nonlinear modal equation of each component is derived using the free-interface vibration modes. The modal equations of all components and the conjunction conditions are solved simultaneously, and then the modal responses of components are derived. Finally, the dynamic responses of the whole system can be obtained. The degrees of freedom of modal equations can be reduced when the lower vibration modes are only adopted in each component. As a numerical example, a nine-degree-of-freedom system is considered, in which all spring have cubic type nonlinearity. As a result, it is shown that when there are no rigid modes in components, the compliance by the proposed method agrees very well with the exact one even if the lower vibration modes of components are only adopted. The other hand, in the case with rigid modes in components, the compliance has a little error compared with the exact result. It is recognized that the method proposed is very effective in the case without rigid modes in components for the actual application.