Nonlinear Equations Of Motion Research Articles

Experimental and numerical study of lateral vibration of a rotor–stator rubbing system

AbstractIn this paper, lateral vibration of a rotating system with rotor–stator rubbing is investigated experimentally and numerically. An experimental study is conducted using a simple test rig to model a horizontal rotating system with a fixed stator device to simulate rubbing. Furthermore, a lumped parameter model with two degrees of freedom is established with a viscoelastic contact model that considers the stiffness and damping properties of the stator. The fourth/fifth order Runge–Kutta technique is used to solve the nonlinear equations of motion of the rotor system. The effect of changing mass unbalance and radial clearance on the dynamic response is investigated experimentally and numerically. The observed results are presented in detail through bifurcation diagrams, frequency spectra, Poincaré’s points, orbit plots, and time waveforms. The experimental results show that changing the mass unbalance and radial clearance yield significant effects on the system response. The 2 × and 3 × harmonic components are found to serve as good indicators of increasing rub severity. The numerical results show the dynamic characteristics of rub responses such as periodic no-contact, periodic with contact, quasi-periodic, and chaotic responses. The response characteristics are very sensitive to the changes in system parameters and initial conditions. Both the experimental and numerical results show qualitatively that the lateral vibration response exhibits coexistence and alternation of periodic and chaotic responses. Also, quasiperiodic response shows up in some numerical case studies. The obtained results contribute toward a better diagnosis of rotor–stator rub fault in rotating machines.

Period-doubling cascade route to chaos in an initially curved microbeam resonator exposed to fringing-field electrostatic actuation

AbstractThis paper explores the chaotic dynamics of a piezoelectrically laminated initially curved microbeam resonator subjected to fringing-field electrostatic actuation, for the first time. The resonator is fully clamped at both ends and is coated with two piezoelectric layers, encompassing both the top and bottom surfaces. The nonlinear motion equation which is obtained by considering the nonlinear fringing-field electrostatic force, includes geometric nonlinearities due to the mid-plane stretching and initial curvature. The motion equation is discretized using Galerkin method and the reduced order system is numerically integrated over the time for the time response. The variation of the first three natural frequencies with respect to the applied electrostatic voltage is determined and the frequency response curve is obtained using the combination of shooting and continuation methods. The bifurcation points have been examined and their types have been clarified based on the loci of the Floquet exponents on the complex plane. The period-doubled branches of the frequency response curves originating from the period doubling (PD) bifurcation points are stablished. It's demonstrated that the succession PD cascades leads to chaotic behavior. The chaotic behavior is identified qualitatively by constructing the corresponding Poincaré section and analyzing the response's associated frequency components. The bifurcation diagram is obtained for a wide range of excitation frequency and thus the exact range in which chaotic behavior occurs for the system is determined. The chaotic response of the system is regularized and controlled by applying an appropriate piezoelectric voltage which shifts the frequency response curve along the frequency axis.

Geometrically nonlinear vibration of toroidal sandwich shells with auxetic honeycomb core under periodic/impulsive pressure

The main objective of this paper is to evaluate the dynamic behaviour of sandwich toroidal shells composed of a core with negative Poisson ratio (auxetic honeycomb material) and nanocomposite enriched coating layers under impulsive/periodic pressures considering the geometrical nonlinearity. The set of nonlinear equilibrium equations based on the first-order shear deformation theory are and the resultant nonlinear differential motion equations are approximately solved by the Galerkin method and 4th-order Runge–Kutta solution, respectively. The achieved responses show that the amplitude of outward deformations is intensively increased when the proposed sandwich shells are subjected to rectangular periodic and impulsive loadings which shows the destructive effects of this type dynamic loading. The performed parametric studies shows that these destructive effects can be controlled by changing the geometrical properties of the honeycomb cells and the volume fractions of the nanocomposites in the coating layers. It is notable that in the previous studies the nonlinear dynamic response of toroidal shells subjected to various periodic and impulsive pressures was not investigated. However, in the present work, the mentioned dynamic responses were achieved and investigated without spending time-consuming computational. In fact, the novelty of this work is to develop such a robust and efficient tool.

Time‐optimal trajectory generation and observer‐based hierarchical sliding mode control for ballbots with system constraints

AbstractThis paper introduces a comprehensive motion planning–tracking–safety constraint scheme for a 3D ballbot system. A nonlinear control for the 3D ballbot system is designed based on three separate planes by utilizing extended state observer (ESO) to estimate coupling mechanisms. Three virtual control signals are generated from these distinct planes and can be used for formulating actual control signals. To overcome the complexity of nonlinear motion equations, flatness theory is used to construct the time‐optimal trajectory through an optimization problem, facilitating smooth movement of the ballbot, and obstacle avoidance based on RRT* waypoints. Furthermore, our work manipulates the hierarchical sliding mode controller (HSMC) as the nominal controller to ensure that the ballbot tracks to the optimal trajectory, unifying with the exponential control barrier function (ECBF) to address safety constraints in the body's deflection angle. Through extensive simulations and comparative analysis, the system demonstrates its effectiveness and safe operation in various working conditions.

Seismic response analysis of single‐degree‐of‐freedom structure coupled with tuned self‐centering wall

AbstractThis paper investigates the possibility of using self‐centering walls (SCWs) as tuned mass dampers (TMDs) to control the seismic response of structures. The basic characteristics of this system are investigated using a two‐degree‐of‐freedom (2‐DOF) model, representing the main structure as a single‐degree‐of‐freedom (SDOF) oscillator interconnected with an SCW through viscous and elastic devices. The nonlinear equations of motion for the proposed coupled system are derived and then utilized to determine the displacement amplification response. The coupling parameters are optimized to minimize the dynamic response of the oscillator using a numerical method. A simulation study is conducted to investigate the response of the proposed system by considering six recorded earthquakes. Several parameters are studied, including the mass ratio, the influence of prestressing, and the slenderness angle of the wall. The displacement spectra are generated using the optimized parameters and compared to those of the uncoupled system and the traditional coupled system, which features a rigid connection between the structure and the wall. The results reveal that the proposed system effectively suppresses both maximum and root mean square responses of structures, outperforming the traditional coupled system in most cases. Improved performance for the proposed system can be achieved by increasing the wall's mass ratio and decreasing the slenderness angle. Moreover, prestressing has an adverse impact on the system's displacement response. Finally, the influence of wall flexibility is examined using a finite element model, revealing a minimal effect on the system's response.

An improved Mickens’ solution for nonlinear vibrations

The Duffing equation and other nonlinear equations of motion of nonlinear vibrations are widely applied in the fields of engineering and science, especially mechanical and electrical engineering. The modified Mickens extended iteration method has been utilized in this article to investigate for further accurate solutions to the Duffing equation and an equation of motion of nonlinear vibrations. The third approximate frequency shows good agreement with the exact result for both oscillators. For simplicity in algebraic calculations, the increasing harmonic terms have been taken to the fifth order. In order to establish the reliability and effectiveness of the proposed approach, the results obtained through this method are compared with those available in the literature. The comparison of the obtained solutions with numerical solutions shows a remarkable accuracy. Also, it becomes evident that the modified Mickens extended iteration method is significantly simpler, more accurate, efficient, and straightforward than other existing methods. The highest percentage error in the third approximate frequency of an equation of motion of nonlinear vibrations is less than 0.0488, and the maximal percentage error in the third approximate frequency of the Duffing oscillator is less than 0.0065. The proposed technique is principally exhibited in nonlinear models where the nonlinear terms are strong, but it can also be broadly applicable to other problems arising in engineering. Mathematics Subject Codes34A34, 34C25, 37N15 (AMS Mathematics Subject Classification 2010)

Entropy Generation For Non-Newtonian Fluid With Constant Viscosity

In this research, entropy generation for non-Newtonian fluid flow with constant viscosity is considered. The governing nonlinear equations of motion are solved analytically with regular perturbation techniques. Third grade fluid is employed to account for the non-Newtonian influence. The influence of some physical parameters involved in the analysis is studied. Results show that the parameter has the tendency of increasing the velocity of the fluid flow as well as the temperature of the cylindrical pipe. It is observed that as the Brinkman parameter increases, the cylindrical wall temperature is enhanced. Entropy generation number for both heat transfer and fluid friction for various values of and is examined. Results indicate that increase in these parameters increases the temperature of the cylinder, thereby increasing the entropy generation number.

Joint Resonance Analysis in Multiple Modes of Soft Ferromagnetic Rectangular Thin Plate

In this article, the nonlinear principal and internal resonance properties of a soft ferromagnetic rectangular thin plate are investigated in a magnetic field environment. The nonlinear partial differential equation of motion of a soft ferromagnetic rectangular thin plate is derived under the effect of homogeneous simple harmonic excitation. The system of nonlinear differential equations with multiple degrees of freedom is established by the assumed one-sided fixed trilateral simply support condition using the Galerkin’s method. The system of nonlinear differential equations is solved by the multiscale method to obtain the response of two modes under the simple harmonic force at the principal and internal resonance. The numerical results of the system response show that when the frequency of the simple harmonic force is close to one of the modes (first-order or second-order mode) causing it to resonate, the other mode will also resonate internally. The magnetic field can have an inhibiting effect on the resonant response of the system and also affect the kinematic state of the system. The internal resonance provides a mechanism for transferring energy from a high mode to a lower mode.

Nonlinear dynamic buckling analysis of the FG-GPLRC cylindrical and sinusoid panels with porous core under time-dependent axial compression

The nonlinear dynamic buckling responses of functionally graded graphene platelet reinforced composite (FG-GPLRC) cylindrical and sinusoid panels with porous core are presented in this paper. The governing formulations are established by applying the nonlinear higher-order shear deformation theory (HSDT). an approximation technique is used to determine the stress function for complexly curved panels. Euler-Lagrange equations can be used to achieve the nonlinear motion equation. Numerical investigations are considered using the Runge-Kutta method for dynamic responses, and using the Budiansky-Roth criterion for critical dynamic buckling loads. Some discussions on the dynamic buckling responses of panels with porous core can be achieved from the numerical examples.

Vibration Characteristics of a Functionally Graded Viscoelastic Fluid-Conveying Pipe with Initial Geometric Defects under Thermal–Magnetic Coupling Fields

In this study, the Kevin–Voigt viscoelastic constitutive relationship is used to investigate the vibration characteristics and stability of a functionally graded viscoelastic(FGV) fluid-conveying pipe with initial geometric defects under thermal–magnetic coupling fields. First, the nonlinear dimensionless differential equations of motion are derived by applying Timoshenko beam theory. Second, by solving the equilibrium position of the system, the nonlinear term in the differential equations of motion is approximated as the sum of the longitudinal displacement at the current time and longitudinal displacement relative to the position, and the equations are linearized. Third, these equations are discretized using the Galerkin method and are numerically solved under simply supported conditions. Finally, the effects of dimensionless temperature field parameters, dimensionless magnetic field parameters, thermal–magnetic coupling, initial geometric defect types, and the power-law exponent on the complex frequency of the pipe are examined. Results show that increasing the magnetic field intensity enhances the critical velocity of first-order mode instability, whereas a heightened temperature variation reduces the critical velocity of first-order diverge instability. Under thermal–magnetic fields, when the magnetic field intensity and temperature difference are simultaneously increased, their effects on the complex frequency can partially offset each other. Increasing the initial geometric defect amplitude increases the imaginary parts of the complex frequencies; however, for different types of initial geometric defect tubes, it exhibits the most distinct influence only on a certain order.

Nonlinear dynamic response of a temperature-dependent FGM spherical shell under various boundary conditions and thermal shocks: Examination of dynamic snap-through

In this study, a comprehensive exploration of the nonlinear dynamic snap-through phenomenon observed in shallow spherical shells composed of functionally graded materials (FGMs) is examined. The analysis encompasses the interplay of thermomechanical characteristics within metal and ceramic phases, taking into account their temperature-dependent behaviors. To address this problem, the transient heat conduction equation in a nonlinear form, accounting for the temperature dependence factor is derived. To solve this complexity, the Generalized Differential Quadrature (GDQ) method is employed, coupled with the Crank-Nicolson time integrating scheme, leveraging an iterative approach for precision. The formulation of nonlinear dynamic motion equations is based on Hamilton's principle and incorporates the utilization of nonlinear strain-displacement equations and uncoupled thermoelasticity. In the spatial domain, GDQ proves invaluable in solving these nonlinear, coupled equations. In the temporal domain, the Newmark procedure in conjunction with the Newton-Raphson iterative method are utilized to navigate through dynamic equations, yielding insights into shell's behavior over time. In the initial stages of the investigation, we validate our spherical shell formulation and methodologies by comparing shell's response with existing, simpler works. This step ensures the reliability and accuracy of our model. The primary objective is to assess the presence and characteristics of the thermal snap-through phenomenon within the shell under these diverse conditions.

Formulation and free vibration analysis of spinning Timoshenko composite beams using nonlinear geometrically exact theory

AbstractIn this study, a set of generalized nonlinear equations of motion for Timoshenko composite shafts is derived using the geometrically exact approach. These partial differential equations of motion are discretized by Galerkin method and the free vibration of an orthotropic spinning shaft with hinged‐hinged boundary conditions is investigated using the multiple‐scale method. We find that in the case of two mode discretization, composite couplings can have significant linear and nonlinear effects on the behavior of the shaft and that these effects were not predictable in the classical model. Also, in the investigating of composite layering we find that the effects of the fibers angle as well as the composite couplings can be noticeable, and these effects are greater in the case of the asymmetrical layering.

Transient Response of Sandwich Plates with Corrugated Core Under Mechanical-Thermal Loads

The nonlinear dynamic responses of the corrugated sandwich plate under mechanical-thermal loads are studied and analyzed. Based on hyperbolic parabola shear deformation plate theory (HPSDT), the partial differential equation of the sandwich plate with the corrugated core is established. Using the Galerkin truncation method, the nonlinear motion equation is derived. By the solution, the response of the corrugation plate with simply supported four edges at different temperatures is obtained and validated. Then the transient responses of the corrugated sandwich plate under different impact loads are analyzed, and the effects of the base materials, the corrugation types and the structural parameters of the corrugated plate on the transient responses are discussed in detail. The research provides a reference for improving the impact resistance of the sandwich plate in practical application.

Solving the Non-Linear Dynamic Equations of Motion of a Variable Curvature Continuum Robot Using Runge-Kutta Method and MATLAB Software

Solving the Non-Linear Dynamic Equations of Motion of a Variable Curvature Continuum Robot Using Runge-Kutta Method and MATLAB Software

Nonlinear Dynamic Analysis of FG Fluid Conveying Micropipes with Initial Imperfections

This paper investigates the nonlinear dynamics of FG-FCMPs with initial imperfections. Based on the MCST, the nonlinear equations of motion and the corresponding boundary conditions are established by applying Hamilton’s principle, the Euler–Bernoulli beam theory, and von-Kármán geometric nonlinearity. To describe the initial geometric imperfection of the FG-FCMP, the first-order vibrational mode is employed. Subsequently, in cases of primary parametric resonance, 1:2 subharmonic resonance for the first-order mode, as well as primary resonance for the second-order mode, Galerkin’s method, and the multiple scale method are utilized to analyze the amplitude–frequency responses of the imperfect FG-FCMP. The numerical simulations test the influence of flow velocity, micro-scale parameter, geometrical imperfections, and external loads on the nonlinear characteristics of a coupled system with two DOFs. It is found that, as the increase of flow velocity, micro-scale effect, and external load, the amplitude of the first two modes can be increased. The hardening characteristics are converted into the softening characteristics due to the imperfect effect. Furthermore, numerical results provide a more comprehensive understanding of the nonlinear dynamics of FCMPs for both periodic and chaotic motions.

Numerical continuation and stability of nonlinear systems with distributed delays: Application to fluid-induced impacts of tubes in cross-flow

Fluid–elastic instability is the main source of concern during the design of heat-exchanger tube bundles. The associated research has focused on the understanding of the physical mechanisms behind this phenomenon and the establishing of models capable of predicting its onset; also some concomitant work has been done to establish post-instability behaviour and to prevent from excessive wear in possible sliding contacts. Moreover, the existing studies make use of time-integration methods alone for this purpose, through which it is difficult to get a comprehensive insight of global dynamics. Continuation methods, which give access to unstable branches and precise bifurcation information, are a precious tool to unfold the attainable dynamic regimes. In this paper, the parametric behaviour of two representative systems under cross-flow excitation is explored through pseudo arc-length continuation with mean flow velocity as a main driving parameter, wherein the nonlinear modal equations of motion are solved by harmonic balance at each step. As the quasi-unsteady model used for fluid–elastic coupling introduces convolution integrals, this approach is quite natural and we show that, despite some difficulties regarding the treatment of stiff intermittent contacts, it allows for a thorough exploration of the system’s response. For the first case -a benchmark model-, increasingly complex dynamics arise as more modes are kept in the truncated modal basis, which is due to a series of modal interactions as the impacts distribute mechanical energy from the linearly-unstable first mode to the higher ones. This can be anticipated by studying the nonlinear normal modes of the system, as they expose the allowed internal resonances. In the second case, consisting of a realistic heat-exchanger tube configuration, a similar pattern is observed.

A dynamic study of a bead sliding on a wire in fractal space with the non-perturbative technique

Drawing on the principles of fractal properties and nonlinear vibration analysis, this paper delves into the investigation of a moving bead on a vertically rotated parabola. The dynamical nonlinear equation of motion, incorporating fractal derivatives, transforms traditional derivatives within continuous space. Consequently, the equation of motion takes the form of the Duffing-Van der Pol oscillator. Utilizing a non-perturbative approach, the nonlinear oscillator is systematically transformed into a linear one, boasting an exact solution. The analytical solution yields two valid formulas governing the frequency-amplitude relationships. Numerical solutions affirm that these proposed formulas offer highly satisfactory approximations to the analytical solution. Leveraging fractal properties through Galerkin’s method, the paper successfully determines the fractalness parameter of the medium, shedding light on the intricate dynamics of the system.

Non-linear dynamics of a test particle near the Lagrange points L4 and L5 (Earth-Moon and Sun-Earth case)

The two-bodies problem can be fully solved, and was solved by Kepler (1609) and Newton (1687). The general three-body problem is often given as an example of a mathematical problem that ‘can’t be solved’. So, there is no general analytical solution. This problem can be significant and a special case of this problem is the Circular Restricted Three-Body Problem (CRTBP), which can be applied to the Earth-Moon system with a spacecraft, the Sun-Earth system with an asteroid, etc. In this paper, let’s focus on the motion of a test particle near the triangular Lagrange points L4 and L5 in the Earth-Moon and the Sun-Earth systems. Studying the movement of an object around these points is especially important for space mission design. To generate a trajectory around these points, the non-linear equations of motion for the circular restricted three-body problem were numerically integrated into MATLAB® 2023 software and the results are presented in the plane (x, y) and the phase plane (x, vx) and (y, vy). By numerical orbit integration, it is possible to investigate what happens when the displacement is relatively large or short from the Lagrange points. Then the small astronomical body may vibrate around these points. The results in this paper are shown in the rotating and inertia axes. Various initial positions near the Lagrange points and velocities are used to produce various paths the test particle can take. The same examples of numerical studies of trajectories associated with Lagrange points are shown in the inertial and the rotating coordinates system and are discussed. From the results of the numerical tests performed in MATLAB® 2023, it is possible to saw that there are different types of periodic, quasi-periodic, and chaotic orbits

The dependent coordinates in the linearization of constrained multibody systems: Handling and elimination

In this paper, the handling of the dependent coordinates in the linearization of constrained multibody systems is clarified. To this end, a brief but comprehensive overview of linearization approaches used in the field of Multibody System Dynamics is presented. These procedures are illustrated by using a common notation and classified into four groups, depending on the initial form of the nonlinear equations of motion and the selection of the generalized coordinates (a redundant or a minimal set). The handling of the dependent coordinates in each of the procedures is discussed. The linearized equations of motion of constrained multibody systems are of great importance in several applications, such as linear stability and modal analyses, the design of linear state feedback controllers or the building of state and input estimators, like Kalman filters. When modeling a constrained multibody system, a number of coordinates greater than the number of degrees of freedom of the system is usually used. While some linearization approaches make use of the complete set of coordinates, several procedures are based on a coordinate partition in terms of independent and dependent coordinates to reduce the number of linearized equations of motion. In this latter scenario, the role of the dependent coordinates in the linearization is important and, in a general case, these dependent coordinates cannot be ignored to obtain the correct linearized equations of motion. This aspect, which may seem obvious, is not straightforward and is addressed in this work. The importance of considering the set of dependent coordinates in the linearization is demonstrated with a well-acknowledged bicycle benchmark multibody model and an electric kickscooter multibody model with rear and front suspensions. To this end, the Jacobian matrix and the linear stability results of these case studies are computed by considering different choices of independent and dependent coordinates.

Non-linear AUV Controller Design Using Logic-Based Switching PID Control

The inspection of pipes without stopping pipeline operations is of industrial interest due to the inherent economic benefits. A pipe inspection robot design is proposed together with a suitable motion controller. The proposed robot is an Autonomous Underwater Vehicle (AUV) architecture that does not require shunting, draining or unearthing pipework for inspection purposes. This posed the challenge of controlling the AUV through a narrow pipe where manouvers are restricted. A set of general non-linear equations of motion were identified and refined using existing research and strip theory. The non-linear analytical model was implemented in Simulink to enable real-time monitoring and controller tuning. A non-linear controller based on a combination of classical PID theory and switching logic was developed to control the platform. The controller was transplanted into a Hardware-in-Loop (HIL) testing model developed with the Arduino and Simulink software suites. Pool tests measuring the parameters pitch and yaw angles showed that when operated independently with a 5° input, the maximum overshoot was 0.5° or 10% of the command value with a maximum angular velocity of 1.25°/s. When operated simultaneously, the overshoot rose to 30% with a constant error in the region of 1° over the target. Distance readings conducted with ultrasonic sensors to the pipe wall showed constant Sway-Heave bias errors from the centerline as −5 mm, and 4 mm, respectively, with an error range of 4 mm / −7 mm for Sway and 6 mm/ −4 mm for Heave. Pitch and heave motions were up to 18% faster than yaw and sway motions due to actuator orientation, with speeds of 6.25°/s and 40.57 mm/s, respectively. Despite the turbulence present during tests, the controller successfully drove the AUV to target positions through active flow and presented a reasonable basis for further refinement.