Averaging Oscillations with Small Fractional Damping and Delayed Terms

We demonstrate the method of averaging for conservative oscillators which may be strongly nonlinear, under small perturbations including delayed and/or fractional derivative terms. The unperturbed systems studied here include a harmonic oscillator, a strongly nonlinear oscillator with a cubic nonlinearity, as well as one with a nonanalytic nonlinearity. For the latter two cases, we use an approximate realization of the asymptotic method of averaging, based on harmonic balance. The averaged dynamics closely match the full numerical solutions in all cases, verifying the validity of the averaging procedure as well as the harmonic balance approximations therein. Moreover, interesting dynamics is uncovered in the strongly nonlinear case with small delayed terms, where arbitrarily many stable and unstable limit cycles can coexist, and infinitely many simultaneous saddle-node bifurcations can occur.     

Forced response of quadratic nonlinear oscillator: comparison of various approaches

The primary resonances of a quadratic nonlinear system under weak and strong external excitations are investigated with the emphasis on the comparison of different analytical approximate approaches. The forced vibration of snap-through mechanism is treated as a quadratic nonlinear oscillator. The Lindstedt-Poincaré method, the multiple-scale method, the averaging method, and the harmonic balance method are used to determine the amplitude-frequency response relationships of the steady-state responses. It is demonstrated that the zeroth-order harmonic components should be accounted in the application of the harmonic balance method. The analytical approximations are compared with the numerical integrations in terms of the frequency response curves and the phase portraits. Supported by the numerical results, the harmonic balance method predicts that the quadratic nonlinearity bends the frequency response curves to the left. If the excitation amplitude is a second-order small quantity of the bookkeeping parameter, the steady-state responses predicted by the second-order approximation of the LindstedtPoincaré method and the multiple-scale method agree qualitatively with the numerical results. It is demonstrated that the quadratic nonlinear system implies softening type nonlinearity for any quadratic nonlinear coefficients.     

The Simplest Resonance Capture Problem,Using Harmonic Balance Based Averaging

We study the dynamics of capture into, or escape from, resonance in a strongly nonlinear oscillator with weak damping and forcing, using harmonic balance based averaging (HBBA). This system provides the simplest example of resonance capture that we know of. The HBBA technique, here adapted to tackle nonlinear resonances, provides a harmonic balance assisted approximation to the underlying, asymptotically correct, averaged dynamics. Allowing the harmonic balance approximation makes a variety of systems analytically tractable which might otherwise be intractable. The evolution equations for amplitude and phase of oscillations are derived first. Restricting attention near the primary resonance, the slow flow equations are approximately averaged. The resulting flow transparently shows the stable and unstable primary resonant solutions, as well as the trajectories that get captured into resonance and the ones that escape. Good agreement with numerics is obtained, showing the utility of HBBA near resonance manifolds.     

Modified Parker-Sochacki method for solving nonlinear oscillators

A new approach is presented for solving nonlinear oscillatory systems. Parker-Sochacki method (PSM) is combined with Laplace-Padé resummation method to obtain approximate periodic solutions for three nonlinear oscillators. The first one is Duffing oscillator with quintic nonlinearity which has odd nonlinearity. The second one is Helmholtz oscillator which has even nonlinearity. The last one is a strongly nonlinear oscillator, namely; relativistic harmonic oscillator which has a fractional order nonlinearity. Solutions are also obtained using Runge-Kutta numerical method (RKM) and Lindstedt-Poincare method (LPM). However, the LPM could not be used to solve the relativistic harmonic oscillator since it is a strongly nonlinear oscillator. The comparison between these solutions shows that the convergence zone for the Parker-Sochacki with Laplace-Padé method (PSLPM) is remarkably increased compared to PSM method. It also shows that the PSLPM solutions are in excellent agreement with LPM solutions for Duffing oscillator and are superior to LPM solutions in case of Helmholtz oscillator. The PSLPM succeeded to give an accurate periodic solution for the relativistic harmonic oscillator. For a wide range of solution domain, comparing PSLPM with RKM prove the correctness of the PSLPM method. Hence, the PSLPM method can be used with satisfied confidence to solve a broad class of nonlinear oscillators.     

Harmonic Balance Based Averaging: Approximate Realizations of an Asymptotic Technique

Averaging is a classical asymptotic technique commonly used to studyweakly nonlinear oscillations via small perturbations of the harmonicoscillator. If the unperturbed oscillator is autonomous and stronglynonlinear, but with a two-parameter family of periodic solutions, thenaveraging is allowed in principle but typically not considered feasibleunless (a) the required family of unperturbed periodic solutions can befound in closed form, and (b) the averaging integrals can be found inclosed form. Often, the foregoing requirements cannot be met. Here, itis shown how both these difficulties can be bypassed using the classicalbut heuristic approximation method of harmonic balance, to obtain approximate realizations of the asymptotic analytical technique. Theadvantages of the present approach are that (a) closed form solutions tothe unperturbed problem are not needed, and (b) the heuristic andasymptotic parts of the calculation are kept conceptually distinct, withscope for refining the former, while preserving the asymptotic nature ofthe latter. Several examples are provided, including oscillators with astrong cubic nonlinearity, velocity dependent nonlinear terms (includinga strongly nonconservative system), a nondifferentiable characteristic,and a strongly nonlinear but homogeneous function of order 1; dynamicphenomena investigated include damped oscillations, limit cycles, forcedoscillations near resonance, and subharmonic entrainment. Goodapproximations are obtained in each case.     

Constrained parameter-splitting perturbation method for the improved solutions to the nonlinear vibrations of Euler–Bernoulli cantilevers

In this paper, a new method named constrained parameter-splitting perturbation method for improving the solutions obtained from the parameter-splitting perturbation method is proposed for solving the problems in some extremal cases, such as the strongly nonlinear vibration of an Euler–Bernoulli cantilever. The proposed method takes the advantages of both the perturbation method and the harmonic balance method. The idea is that the solution obtained by the parameter-splitting perturbation method is substituted into the equation of motion and then the accumulative error of the equation is minimized for determining the unknown splitting parameters under the constraints constructed under the frame of harmonic balance method. The forced vibration of an oscillator with cubic geometric nonlinearity and inertia nonlinearity and the forced vibration of a planar microcantilever beam with a lumped tip mass are studied as examples to reveal the efficacy of the proposed method. The inspection of the steady-state response including its stability is conducted by means of comparing the frequency-response curves obtained by the proposed method with those obtained by the numerical continuation method and harmonic balance method, respectively, to show the efficacy and the advantages of the proposed method. Meanwhile, the nonlinear ordering effect on the solutions of the proposed method is also studied by comparing the results obtained by using different nonlinear orderings in the systems. In the last, we found through convergence examinations that it is necessary to have corrections to the erroneous solution which are obtained by harmonic balance method and Floquet theory in stability analysis.

     

Symbolic Computation of Local Stability and Bifurcation Surfaces for Nonlinear Time-Periodic Systems

In this paper we present a spectral technique for building asymptotic expansions which describe periodic processes in conservative and self-excited systems without assuming the oscillations to be weakly nonlinear. The small parameter of the expansion is connected with the ratio of the amplitudes of higher than the first harmonics in contrast to the traditional parameter connected with weak nonlinearity. In the case of an oscillator with power nonlinearity the frequency of the main harmonic and the complex amplitudes of higher harmonics are computed as the expansions of either integer (for weakly nonlinear oscillations) or algebraic (for strong nonlinearity) functions of the complex amplitude of the first harmonic depending on the character of the initial conditions and the maximum power of the nonlinear term in the equation. In the simplest case of weakly nonlinear oscillations the complete asymptotic expansion is shown to be valid in the whole domain of the periodic motions of definite type until the separatrix is reached. The expressions for the first terms of the expansion for concrete examples coincide with the expressions obtained both with the use of other methods and by expanding the exact solutions. For some special cases of the strongly nonlinear oscillations the comparison of the results with known exact solutions is carried out as well as the criteria of convergence of the expansions are determined.     

谐波平衡法与复平均法计算强非线性系统稳态响应的区别

近些年,很多学者致力于利用非线性增强振动响应减少的效果或者能量采集器的效率。因而非线性系统的响应值需要从理论计算方面更准确地预测。另外,根据学者已取得的研究成就,非线性能量汇(NES)中存在的立方刚度非线性可以将结构中宽频域的振动能量传递至非线性振子部分。文章将一种由NES和压电能量采集器组成的NES-piezo装置与两自由度主结构耦合连接,系统受谐和激励作用。文章采用谐波平衡法和复平均法分别推导了系统稳态响应,参照数值结果,对比两种近似解析方法在求解强非线性系统稳态响应时的异同。计算结果表明,系统体现较弱非线性时,二者计算结果差异很小;当系统体现强非线性时,复平均法不能准确地呈现系统高阶响应,提高阶数的谐波平衡法能更准确地表示系统响应值。基于谐波平衡法和数值算法,讨论NES-piezo装置对于系统宽频域减振的影响。与仅加入非线性能量汇情况对比,结果表明NES-piezo装置不会恶化宽频域减振效果,并且在第一阶共振频率附近,可以稍微提高结构减振效率。另外,计算结果也表明,采用恰当的NES-piezo装置可实现宽频域范围的结构减振和压电能量采集一体化。此项研究工作为研究不同情形强非线性系统的响应提供了理论方法的指导。另外,研究结果也为宽频域范围的结构减振和压电能量采集一体化提供了理论依据。     

高阶谐波平衡方法中非物理解来源分析及改进方法研究

对于周期性非定常问题,高阶谐波平衡（High-order Harmonic Balance, HOHB）方法将非定常方程的解用Fourier 级数展开至一定阶次,从而消除其中的时间导数项,大大降低了计算消耗. 本文以达芬振子方程为例,探讨了HOHB 方法中非物理解的来源,分析结果表明:非物理解出现的原因是在推导过程中非线性项的简化处理导致方程左右两边并不严格相等. 根据非线性项的特点,在其处理过程中扩充子时间层上的时域解,并将非线性项中出现的更高阶谐波截断,使方程左右两边严格相等. 通过对达芬振子方程进行数值模拟发现:改进方法在消除非物理解的同时,也显著减少了计算所需谐波数. 对比参考文献发现,同阶改进方法的精度和原始谐波平衡方法基本相当,证明了本方法的可行性. 最后将本方法应用于具有立方刚度非线性的气动弹性系统中,验证本方法的工程适用性. 但是,当方程中非线性项较多时,本方法所需要的计算消耗会有所增加.      

具有多个极限环非线性动力系统的解析近似

应用一种新的解析方法------同伦分析法，研究了一种具有多个 极限环的Rayleigh振子问题. 与所有其他传统方法不同，该方法不依赖于小参数， 且提供了一个简便的途径以确保级数解的收敛, 因此，特别适用于强非线性问题. 将同伦分析法与平均法以及四阶的龙格库塔方法(数值解)做了比较. 结果 表明，平均法在强非线性情况失效, 四阶的龙格库塔法不能找到非稳定的极限环，而同伦分析法不仅适用于强非线性情 况，而且给出了非稳定的极限环.     

Construction of approximate analytical solutions to strongly nonlinear damped oscillators

An analytical approximate method for strongly nonlinear damped oscillators is proposed. By introducing phase and amplitude of oscillation as well as a bookkeeping parameter, we rewrite the governing equation into a partial differential equation with solution being a periodic function of the phase. Based on combination of the Newton’s method with the harmonic balance method, the partial differential equation is transformed into a set of linear ordinary differential equations in terms of harmonic coefficients, which can further be converted into systems of linear algebraic equations by using the bookkeeping parameter expansion. Only a few iterations can provide very accurate approximate analytical solutions even if the nonlinearity and damping are significant. The method can be applied to general oscillators with odd nonlinearities as well as even ones even without linear restoring force. Three examples are presented to illustrate the usefulness and effectiveness of the proposed method.     

The Method of Averaging for Euler's Equations of Rigid Body Motion

We formulate the method of averaging for perturbations of Euler's equations of rotational motion. Euler's equations are three strongly nonlinear coupled differential equations that can be viewed as a three dimensional oscillator. The method of averaging is used to determine the long-term influence of perturbation terms on the motion by averaging about the nominal rigid body motion. The treatment is applicable to a large class of motions including precession with large nutation – it is not restricted to small motions about simple spins or nearly axi-symmetric bodies. Three examples are shown that demonstrate the accuracy of the method's predictions.     

Suppression of super-harmonic resonance response using a linear vibration absorber

Super-harmonic resonances may appear in the forced response of a weakly nonlinear oscillator having cubic nonlinearity, when the forcing frequency is approximately equal to one-third of the linearized natural frequency. Under super-harmonic resonance conditions, the frequency-response curve of the amplitude of the free-oscillation terms may exhibit saddle-node bifurcations, jump and hysteresis phenomena. A linear vibration absorber is used to suppress the super-harmonic resonance response of a cubically nonlinear oscillator with external excitation. The absorber can be considered as a small mass-spring-damper oscillator and thus does not adversely affect the dynamic performance of the nonlinear primary oscillator. It is shown that such a vibration absorber is effective in suppressing the super-harmonic resonance response and eliminating saddle-node bifurcations and jump phenomena of the nonlinear oscillator. Numerical examples are given to illustrate the effectiveness of the absorber in attenuating the super-harmonic resonance response.     

Nonstationary probability densities of system response of strongly nonlinear single-degree-of-freedom system subject to modulated white noise excitation

The nonstationary probability densities of system response of a single-degree-of -freedom system with lightly nonlinear damping and strongly nonlinear stiffness subject to modulated white noise excitation are studied.Using the stochastic averaging method based on the generalized harmonic functions,the averaged Fokker-Planck-Kolmogorov equation governing the nonstationary probability density of the amplitude is derived. The solution of the equation is approximated by the series expansion in terms of a set...     

Nonstationary probability densities of strongly nonlinear single-degree-of-freedom oscillators with time delay

The approximate nonstationary probability density of a nonlinear single-degree-of-freedom (SDOF) oscillator with time delay subject to Gaussian white noises is studied. First, the time-delayed terms are approximated by those without time delay and the original system can be rewritten as a nonlinear stochastic system without time delay. Then, the stochastic averaging method based on generalized harmonic functions is used to obtain the averaged Itô equation for amplitude of the system response and the associated Fokker–Planck–Kolmogorov (FPK) equation governing the nonstationary probability density of amplitude is deduced. Finally, the approximate solution of the nonstationary probability density of amplitude is obtained by applying the Galerkin method. The approximate solution is expressed as a series expansion in terms of a set of properly selected basis functions with time-dependent coefficients. The proposed method is applied to predict the responses of a Van der Pol oscillator and a Duffing oscillator with time delay subject to Gaussian white noise. It is shown that the results obtained by the proposed procedure agree well with those obtained from Monte Carlo simulation of the original systems.     

Multiple Scales via Galerkin Projections: Approximate Asymptotics for Strongly Nonlinear Oscillations

The method of multiple scales and the related method of averaging are commonly used tostudy slowly modulated oscillations. If the system of interest is a slightlyperturbed harmonic oscillator, then these techniques can be applied easily. If the unperturbed system is strongly nonlinear (though possiblyconservative), then these methods can run into difficulties due to the impossibilityof carrying out required analytical operations in closed form.In this paper, we abandon the requirement of closed form analyticaltreatment at all stages. Instead, Galerkin projections are used toobtain approximate realizations of the method of multiple scales. Thispaper adapts recent work using similar ideas for approximaterealizations of the method of averaging. A key contribution of thepresent work is in the systematic identification and removal of secularterms in the general nonlinear case, a procedure that is more difficultthan for the perturbed harmonic oscillator case, and that is unnecessaryfor averaging.A strength of the present work is that the heuristics (Galerkin)and asymptotics (multiple scales) are kept distinct,leaving room for systematic refinement of the formerwithout compromising the asymptotic features of the latter.     

Limit cycle oscillations of rectangular cantilever wings containing cubic nonlinearity in an incompressible flow

Limit cycle oscillations (LCO) as well as nonlinear aeroelastic analysis of rectangular cantilever wings with a cubic nonlinearity are investigated. Aeroelastic equations of a rectangular cantilever wing with two degrees of freedom in an incompressible potential flow are presented in the time domain. The harmonic balance method is modified to calculate the LCO frequency and amplitude for rectangular wings. In order to verify the derived formulation, flutter boundaries are obtained via a linear analysis of the derived system of equations for five different cases and compared with experimental data. Satisfactory results are gained through this comparison. The problem of finding the LCO frequency and amplitude is solved via applying the two methods discussed for two different cases with hardening cubic nonlinearities. The results from first-, third- and fifth-order harmonic balance methods are compared with the results of an exact numerical solution. A close agreement is obtained between these harmonic balance methods and the exact numerical solution of the governing aeroelastic equations. Finally, the nonlinear aeroelastic analysis of a rectangular cantilever wing with a softening nonlinearity is studied.     

Remarks on the Perturbation Methods in Solving the Second-Order Delay Differential Equations

The paper presents a study on the validity of perturbation methods, suchas the method of multiple scales, the Lindstedt–Poincaré method and soon, in seeking for the periodic motions of the delayed dynamic systemsthrough an example of a Duffing oscillator with delayed velocityfeedback. An important observation in the paper is that the method ofmultiple scales, which has been widely used in nonlinear dynamics, worksonly for the approximate solutions of the first two orders, and givesrise to a paradox for the third-order approximate solutions of delaydifferential equations. The same problem appears when theLindstedt–Poincaré method is implemented to find the third-orderapproximation of periodic solutions for delay differential equations,though it is effective in seeking for any order approximation ofperiodic solutions for nonlinear ordinary differential equations. Apossible explanation to the paradox is given by the results obtained byusing the method of harmonic balance. The paper also indicates thatthese perturbation methods, despite of some shortcomings, are stilleffective in analyzing the dynamics of a delayed dynamic system sincethe approximate solutions of the first two orders already enable one togain an insight into the primary dynamics of the system.     

An Energy Analysis of the Local Dynamics of a Delayed Oscillator Near a Hopf Bifurcation

Hopf bifurcation exists commonly in time-delay systems. The local dynamics of delayed systems near a Hopf bifurcation is usually investigated by using the center manifold reduction that involves a great deal of tedious symbolic and numerical computation. In this paper, the delayed oscillator of concern is considered as a system slightly perturbed from an undamped oscillator, then as a combination of the averaging technique and the method of Lyapunov's function, the energy analysis concludes that the local dynamics near the Hopf bifurcation can be justified by the averaged power function of the oscillator. The computation is very simple but gives considerable accurate prediction of the local dynamics. As an illustrative example, the local dynamics of a delayed Lienard oscillator is investigated via the present method.     

Stochastic averaging of strongly nonlinear oscillators with small fractional derivative damping under combined harmonic and white noise excitations

A stochastic averaging method for strongly nonlinear oscillators with lightly fractional derivative damping of order α (0<α<1) under combined harmonic and white noise external and (or) parametric excitations is proposed and then applied to study the first passage failure of Duffing oscillator with lightly fractional derivative damping of order 1/2 under combined harmonic and white noise excitations in the case of primary parametric resonance. Numerical results show that the proposed method works very well.