Parametric random excitation of nonlinear coupled oscillators

The stochastic bifurcation and response statistics of nonlinear modal interaction under parametric random excitation are studied analytically, numerically and experimentally. Two basic definitions of stochastic bifurcation are first introduced. These are bifurcation in distribution and bifurcation in moments. bifurcation in moments is examined for the case of a coupled oscillator subjected to parametric filtered white noise. The center frequency of the excitation is selected to be close to either twice the first mode or second mode natural frequencies or the sum of the two. The stochastic bifurcation in moments is predicted using the Fokker-Planck equation together with gaussian and non-Gaussian closures and numerically using the Monte Carlo simulation. When one mode is parametrically excited it transfers energy to the other mode due to nonlinear modal interaction. The Gaussian closure solution gives close results to those predicted numerically only in regions well remote from bifurcation points. However, bifurcation points predicted by the non-Gaussian closure are in good agreement with those estimated by numerical simulation. Depending on the excitation level, the probability density of the excited mode is strongly non-Gaussian and exhibits multi-maxima as predicted by Monte Carlo simulation. Experimental tests are carried out at relatively low excitation levels. In the neighborhood of stochastic bifurcation in mean square the measured results exhibit different regimes of response characteristics including zero motion and occasional small random motion regimes. These two regimes are characterized by the phenomenon of on-off intermittency. Both regimes overlap and thus it is difficult to locate experimentally the bifurcation point.     

Random excitation of nonlinear coupled oscillators

This paper presents the experimental results of random excitation of a nonlinear two-degree-of-freedom system in the neighborhood of internal resonance. The random signals of the excitation and response coordinates are processed to estimate the mean squares, autocorrelation functions, power spectral densities, and probability density functions. The results are qualitatively compared with those predicted by the Fokker-Planck equation together with a non-Gaussian closure scheme. The effects of system damping ratios, nonlinear coupling parameter, internal detuning ratio, and excitation spectral density level are considered in both studies except the effect of damping ratios is not considered in the experimental investigation. Both studies reveal similar dynamic features such as autoparametric absorber effect and stochastic instability of the coupled system. The experimental results show that the autocorrelation function of the coupled system has the feature of ultra narrow band process and degenerates to a periodic one as the internal detuning departs from the exact internal resonance condition. The measured probability density functions of the response of the main system suggests that the Gaussian representation is sufticient as long as the excitation level is relatively low in the neighborhood of the system internal resonance condition.     

Harmonic,subharmonic, superharmonic,simultaneous sub/super harmonic and combination resonances of self-excited two coupled second order systems to multi-frequency excitation

Harmonic, subharmonic, superharmonic, simultaneous sub/super harmonic, and combination resonances of the additive type of self-excited two coupled-second order systems to multi-frequency excitation are investigated. The theoretical results are obtained by the multiple-scales method. The steady state amplitudes for each resonance are plotted, showing the influence of the different parameters. Analysis for each figure is given. Approximate solution corresponding to each type of resonance is determined. Stability analyses are carried out for each case.     

Three-dimensional oscillations of suspended cables involving simultaneous internal resonances

The near resonant response of suspended, elastic cables driven by planar excitation is investigated using a three degree-of-freedom model. The model captures the interaction of a symmetric in-plane mode with two out-of-plane modes. The modes are coupled through quadratic and cubic nonlinearities arising from nonlinear cable stretching. For particular magnitudes of equilibrium curvature, the natural frequency of the in-plane mode is simultaneously commensurable with the natural frequencies of the two out-of-plane modes in 1:1 and 2:1 ratios. A second nonlinear order perturbation analysis is used to determine the existence and stability of four classes of periodic solutions. The perturbation solutions are compared with results obtained by numerically integrating the equations of motion. Furthermore, numerical simulations demonstrate the existence of quasiperiodic responses.A portion of this work was presented at the 1992 ASME Winter Annual Meeting, Anaheim, CA.     

Responses of a non-linearly coupled pitch-roll ship model under harmonic excitation

Stationary responses of nonlinearly coupled pitch and roll ship modes are studied using a modified averaging method, along with two second order multiple time scale (MTS) methods for comparison. Stability of the solutions is also studied. In the case of harmonic excitation all the three methods give fairly accurate results to the original problem but the averaging method is the most efficient. Analytic solutions are obtained from the averaged equations, which can be used to predict stationary responses both for small and for large excitations. From the averaging method several qualitatively different phenomena which cannot be addressed by the first order theory have been obtained: (i) the saturation phenomenon is lost, (ii) the bifurcation points are altered and (iii) a drift term is present which, although small, appears to have a significant effect on the accuracy of the solutions.     

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.     

EFFECTS OF CONSTANT EXCITATION ON LOCAL BIFURCATION

The effects of the constant excitation on the local bifurcation of the periodic solutions in the 1:2 internal resonant systems were analyzed based on the singularity theory. It is shown that the constant excitation make influence only when there exist some nonlinear terms, in the oscillator with lower frequency. Besides acting as main bifurcation parameter, the constant excitation, together with coefficients of some nonlinear terms, may change the values of unfolding parameters and the type of the bifurcation. Under the non-degenerate cases, the effect of the third order terms can be neglected.     

Internal resonance of an axially transporting beam with a two-frequency parametric excitation

This paper investigates the transverse 3:1 internal resonance of an axially transporting nonlinear viscoelastic Euler-Bernoulli beam with a two-frequency parametric excitation caused by a speed perturbation. The Kelvin-Voigt model is introduced to describe the viscoelastic characteristics of the axially transporting beam. The governing equation and the associated boundary conditions are obtained by Newton’s second law. The method of multiple scales is utilized to obtain the steady-state responses. The Routh-Hurwitz criterion is used to determine the stabilities and bifurcations of the steady-state responses. The effects of the material viscoelastic coefficient on the dynamics of the transporting beam are studied in detail by a series of numerical demonstrations. Interesting phenomena of the steady-state responses are revealed in the 3:1 internal resonance and two-frequency parametric excitation. The approximate analytical method is validated via a differential quadrature method.     

Multiple Internal Resonance in Suspended Cables under Random In-Plane Loading

The random excitation of a suspended cable with simultaneous internal resonances is considered. The internal resonances can take place among the first in-plane and the first two out-of-plane modes. The external loading is represented by a wide-band random process. The response statistics are estimated using the Fokker-Planck-Kolmogorov (FPK) equation, together with Gaussian and non-Gaussian closures. Monte Carlo simulation is also used for numerical verification. The unimodal in-plane motion exists in regions away from the internal resonance condition. The mixed mode interaction is manifested within a limited range of internal detuning parameters, depending on the excitation power spectrum density and damping ratios. The Gaussian closure scheme failed to predict bounded solutions of mixed mode interaction. The non-Gaussian closure results are in good agreement with the Monte Carlo simulation. The on-off intermittency of the autoparametrically excited modes is observed in the Monte Carlo simulation over a small range of excitation levels. The influence of the cable parameters, such as damping ratios, sag-to-span ratio, internal detuning parameters, and excitation level on the autoparametric interaction, is studied. It is found that the internal detuning and excitation level are the two main parameters which affect the autoparametric interaction among the three modes. Due to the system's nonlinearity, the response of the three modes is strongly non-Gaussian and the coupled modes experience irregular modulation.     

SINGULAR ANALYSIS OF BIFURCATION OF NONLINEAR NORMAL MODES FOR A CLASS OF SYSTEMS WITH DUAL INTERNAL RESONANCES

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Effects of excitation probability distribution on system responses

For a system subjected to a random excitation, the probability distribution of the excitation may affect behaviors of the system responses. Such effects are investigated for a variety of dynamical systems, including a linear oscillator, an oscillator of cubic non-linearity in both damping and stiffness, and a non-linear oscillator of the van der Pol type. The random excitations are assumed to be stationary stochastic processes, sharing the same spectral density, but with different probability distributions. Each excitation process is generated by passing a Brownian motion process through a non-linear filter, which is governed by an Ito stochastic differential equation. Monte Carlo simulations are carried out to obtain the transient and stationary properties of the system response in each case. It is shown that, under different excitations, the transient behaviors of the system response can be markedly different. The differences tend to reduce, however, as time of exposure to the excitations increases and the system reaches the stationary state.     

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.     

Dynamical modeling and non-planar coupled behavior of inclined CFRP cables under simultaneous internal and external resonances

A dynamic model for an inclined carbon ?ber reinforced polymer(CFRP)cable is established, and the linear and nonlinear dynamic behaviors are investigated in detail. The partial differential equations for both the in-plane and out-of-plane dynamics of the inclined CFRP cable are obtained by Hamilton's principle. The linear eigenvalues are explored theoretically. Then, the ordinary differential equations for analyzing the dynamic behaviors are obtained by the Galerkin integral and dimensionless treatments.The steady-state solutions of the nonlinear equations are obtained by the multiple scale method(MSM) and the Newton-Raphson method. The frequency-and force-response curves are used to investigate the dynamic behaviors of the inclined CFRP cable under simultaneous internal(between the lowest in-plane and out-of-plane modes) and external resonances, i.e., the primary resonances induced by the excitations of the in-plane mode,the out-of-plane mode, and both the in-plane mode and the out-of-plane mode, respectively. The effects of the key parameters, e.g., Young's modulus, the excitation amplitude,and the frequency on the dynamic behaviors, are discussed in detail. Some interesting phenomena and results are observed and concluded.     

FLOW-INDUCED INTERNAL RESONANCES AND MODE EXCHANGE IN HORIZONTAL CANTILEVERED PIPE CONVEYING FLUID （Ⅰ）

The Newtonian method is employed to obtain nonlinear mathematical model of motion of a horizontally cantilevered and inflexible pipe conveying fluid. The order magnitudes of relevant physical parameters are analyzed qualitatively to establish a foundation on the further study of the model. The method of multiple scales is used to obtain eigenfunctions of the linear free-vibration modes of the pipe. The boundary conditions yield the characteristic equations from which eigenvalues can be derived. It is found that flow velocity in the pipe may induced the 3:1, 2:1 and 1:1 internal resonances between the first and second modes such that the mechanism of flow-induced internal resonances in the pipe under consideration is explained theoretically. The 3:1 internal resonance first occurs in the system and is, thus, the most important since it corresponds to the minimum critical velocity.     

FLOW-INDUCED INTERNAL RESONANCES AND MODE EXCHANGE IN HORIZONTAL CANTILEVERED PIPE CONVEYING FLUID （Ⅱ）

Based on the nonlinear mathematical model of motion of a horizontally can-tilevered rigid pipe conveying fluid, the 3:1 internal resonance induced by the minimum critical velocity is studied in details. With the detuning parameters of internal and primary resonances and the amplitude of the external disturbing excitation varying, the flow in the neighborhood of the critical flow velocity yields that some nonlinearly dynamical behaviors occur in the system such as mode exchange, saddle-node, Hopf and co-dimension 2 bifurcations. Correspondingly, the periodic motion losses its stability by jumping or flutter, and more complicated motions occur in the pipe under consideration. The good agreement between the analytical analysis and the numerical simulation for several parameters ensures the validity and accuracy of the present analysis.     

黏弹性传动带1:3内共振时的周期和混沌运动

研究了参数激励作用下黏弹性传动带在1:3内共振时的周期解分岔和混沌动力学. 同时考虑传动带的线性外阻尼因素和材料内阻尼因素. 首先建立了具有线性外阻尼情况下的黏弹性传动带平面运动时的非线性动力学方程, 黏弹性材料的本构关系用Kelvin模型描述. 然后考虑黏弹性传动带的横向振动问题, 利用多尺度法和Galerkin离散法得到黏弹性传动带系统在1:3内共振时的平均方程. 最后利用数值模拟方法研究了黏弹性传动带系统的周期振动和混沌动力学, 得到了系统在不同参数下的混沌运动. 数值模拟结果说明黏弹性传动带系统存在周期分岔, 概周期运动及混沌运动.     

Deterministic and Stochastic Response of Nonlinear Coupled Bending-Torsion Modes in a Cantilever Beam

The purpose of this study is to understand the main differences between the deterministic and random response characteristics of an inextensible cantilever beam (with a tip mass) in the neighborhood of combination parametric resonance. The excitation is applied in the plane of largest rigidity such that the bending and torsion modes are cross-coupled through the excitation. In the absence of excitation, the two modes are also coupled due to inertia nonlinearities. For sinusoidal parametric excitation, the beam experiences instability in the neighborhood of the combination parametric resonance of the summed type, i.e., when the excitation frequency is in the neighborhood of the sum of the first bending and torsion natural frequencies. The dependence of the response amplitude on the excitation level reveals three distinct regions: nearly linear behavior, jump phenomena, and energy transfer. In the absence of nonlinear coupling, the stochastic stability boundaries are obtained in terms of sample Lyapunov exponent. The response statistics are estimated using Monte Carlo simulation, and measured experimentally. The excitation center frequency is selected to be close to the sum of the bending and torsion mode frequencies. The beam is found to experience a single response, two possible responses, or non-stationary responses, depending on excitation level. Experimentally, it is possible to obtain two different responses for the same excitation level by providing a small perturbation to the beam during the test.     

Random vibrations of a rotating shaft with non-linear damping

Bending vibrations of a rotating shaft due to external random excitation are considered for the case of potential instability of the shaft's linear model due to the presence of internal or “rotating” damping. A two-degree-of-freedom model is studied which accounts for non-linearity in external or “non-rotating” damping. An explicit expression is obtained for a stationary joint probability density of displacements and velocities as an exact analytical solution to the corresponding Fokker-Planck-Kolmogorov equation. The results are used to develop criterion for on-line detection of instability for the operating shaft from its measured response.     

Response of Systems Under Non-Gaussian Random Excitations

The approach of nonlinear filter is applied to model non-Gaussian stochastic processes defined in an infinite space, a semi-infinite space or a bounded space with one-peak or multiple peaks in their spectral densities. Exact statistical moments of any order are obtained for responses of linear systems jected to such non-Gaussian excitations. For nonlinear systems, an improved linearization procedure is proposed by using the exact statistical moments obtained for the responses of the equivalent linear systems, thus, avoiding the Gaussian assumption used in the conventional linearization. Numerical examples show that the proposed procedure has much higher accuracy than the conventional linearization in cases of strong system nonlinearity and/or high excitation non-Gaussianity. An erratum to this article is available at .     

Multiple internal resonances of rotating composite cylindrical shells under varying temperature fields

Applied Mathematics and Mechanics - Composite cylindrical shells, as key components, are widely employed in large rotating machines. However, due to the frequency bifurcations and dense frequency...