ARTICLE IN PRESS

JOURNAL OF
SOUND AND
VIBRATION
Journal of Sound and Vibration 322 (2009) 476489
www.elsevier.com/locate/jsvi

Nonlinear modes of parametric vibrations and their applications

to beams dynamics
K.V. Avramova,b,
a

Department of Nonstationary Vibrations, Podgorny Institute for Problems of Engineering Mechanical NAS of Ukraine,
Dm. Pogarski St. 2/10, Kharkov 61046, Ukraine
b
Department of Gas and Fluid Mechanics, National Technical University KhPI, Frunze St.21, Kharkov 61002, Ukraine
Accepted 15 July 2008
The peer review of this article was organized by the Guest Editor
Available online 29 August 2008

Abstract
An iterative loop combining nonlinear modes and the Rauscher method is suggested for analyzing nite degree-offreedom nonlinear mechanical systems with parametric excitation. This method is applied to an analysis of the parametric
vibration of beams.
r 2008 Elsevier Ltd. All rights reserved.

1. Introduction
Many methods exist for analyzing parametric vibrations of discrete nonlinear systems. The asymptotic
methods (multiple-scales method, Van der Pol transformations, Melnikov method) are used for such analysis
[14]. The parametric vibrations of essentially nonlinear systems can be analyzed by the harmonic balance
method, continuation technique [57].
In this paper the method of parametric vibration analysis based on the combination of the Rausher method
and nonlinear modes is suggested. Note this method can easily be used to analyze the parametric vibrations in
the engineering systems with many degrees of freedom.
The Rauscher method is an effective tool for studying forced vibration. This method has been suggested for
the analysis of single degree-of-freedom nonautonomous systems [8]. Let q be the general coordinates of such
an oscillator. At rst, the solution of the corresponding autonomous system is obtained. Let q(t) be this
solution. Then this solution is inverted into the form: t t(q). Using this function, the nonautonomous system
is transformed into the autonomous system and this approximates the nonautonomous dynamical system. The
generalization of the Rauscher method has been suggested in the book [9]. Chebyshev polynomials were used
to obtain the approximate functions t t(q) in Ref. [10]. The existence of a function t(q) for a wide class of
dynamical systems was demonstrated in Ref. [11]. Rosenberg [11] used the Rauscher method for the
Corresponding author at: Department of Nonstationary Vibrations, Podgorny Institute for Problems of Engineering Mechanical NAS
of Ukraine, Dm. Pogarski St. 2/10, Kharkov 61046, Ukraine. Tel.: +380 572 94 55 14; fax: +380 572 94 46 35.
E-mail address: kvavr@kharkov.ua

0022-460X/$ - see front matter r 2008 Elsevier Ltd. All rights reserved.
doi:10.1016/j.jsv.2008.07.013

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qualitative analysis of a one-degree-of-freedom dynamical system. Manevitch et al. [7] suggested the
combination of the Rauscher method and the NNMs to analyze discrete systems with an arbitrary number of
dof. The forced vibrations close to rectilinear NNMs of a two-degree-of-freedom system were studied by
means of the Rauscher method in Ref. [6]. A nonlinear two-degree-of-freedom system describing the
interaction of the linear subsystem and the snap-through truss, has been investigated by the Rauscher
approach [12].
Note that all the above-mentioned publications considered the Rauscher method jointly with the
KaudererRosenberg nonlinear modes to represent motions in the conguration space. In this paper, the
Rauscher method is combined with the nonlinear modes, these being two-dimensional invariant manifolds.
These normal modes have been suggested by Shaw and Pierre [13] and Shaw et al. [14]. This is the novelty of
the method presented in this paper.
Nonlinear modes are effective tools for solving engineering problems. They have been used for the analysis
of problems of absorption of mechanical vibrations in the papers [15,16]. Nonlinear modes are used to analyze
the nonlinear vibrations of rotating pre-twisted beams [17] and to analyze the dynamics of a shallow arch [18].
This paper is organized as follows. A general method for the analysis of parametric vibration combining the
Rauscher method and nonlinear modes is considered in the second section. The third and the fourth sections
contain the application of this method to beams dynamics.
2. An iterative approach consisting of the Rausher method and nonlinear modes
The nonlinear system performing parametric vibrations is considered in the following form:
n

 X
x j o2j xj F j x1 ; . . . ; xn ; x_ 1 ; . . . ; x_ n
aji xi cos2Ot 0;

!
j 1; n ,

(1)

i1

where oi are eigenfrequencies of linear system; aji are constant parameters. In this paper the motions of system
(1) close to the following nonlinear modes are considered:
n
2
xn xn xl ; vl an
1 xl a2 xl v l    ,
vn x_ n vn xl ; vl bn x2 bn xl vl    ,
1

n 1; . . . ; l  1; l 1; . . . ; n.

(2)

Note that such motions can be observed in system (1) if there are no internal and combination resonances.
An iterative loop is constructed for calculating the motions close to the manifold (2). A similar iterative loop
for forced vibrations analysis is considered in the paper [19]. At the rst iteration it is assumed that xl60, nl60
and xn nn 0. In this case one equation is derived:


x l o2l xl F~ l xl ; x_ l ; x l all xl cos2Ot 0.
(3)
The motions of system (3) can be presented in the following form:
xl A0 A1 cosOt B1 sinOt A2 cos2Ot B2 sin2Ot.

(4)

The harmonic balance method is used to analyze Eq. (3). Then the system of nonlinear algebraic equations
with respect to the parameters (A0, A1, B1, A2, B2, O) is derived. In general, this system has the following form:
!
Fm A0 ; A1 ; B1 ; A2 ; B2 ; O 0; m 1; 5 .
(5)
The aim of the present analysis is calculation of a frequency response. Therefore, the parameter A2 is set
with appropriate step size and then the system (5) is solved. For every value of A2, system (5) is solved with
respect to (A0, A1, B1, B2, O). Now, it is assumed that these values are calculated and function (4) is
determined.
For future analysis the following notation is used:
z1 sin Ot;

z2 cos Ot.

(6)

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478

Then the following equations are obtained from Eq. (4):



xl A0 A1 z2 B1 z1 A2 z22  z21 2B2 z1 z2 ,


x_ l  A1 Oz1 B1 Oz2  4OA2 z1 z2 2OB2 z2  z2 .
2

(7)

The solution of Eq. (7) with respect to z1, z2 is presented in the form of a series:
2

z1 a0 a1 xl a2 x_ l a3 x2l a4 x_ l a5 xl x_ l    ,
2
z2 b0 b1 xl b2 x_ l b3 x2l b4 x_ l b5 xl x_ l    ,

(8)

where a0, a1,y,b0, b1,y are unknown coefcients. Eq. (7) is substituted into Eq. (8) and the coefcients of the
j j
same terms xl1 xl2 ; j1+j2 2; j1+j2 3,y; j1 0, 1,y; j2 0, 1,y are equated. As a result two systems of
linear algebraic equations are derived. These systems can be presented in the following form:
MA R1 ,
MB R2 ,
where RT1 0; 0; 1; 0; 0; 0; RT2
2
0 A2
6
6 0 2B2
6
6 0 B1
6
M6
6 0 A2
6
6 0 A1
4
1

A0

(9)

0; 0; 0; 0; 1; 0; AT a0 ; a1 ; a2 ; a3 ; a4 ; a5 ; BT b0 ; b1 ; b2 ; b3 ; b4 ; b5 ;
3
2B2 O
B21  2A0 A2
A21 O2
B1 A1 O  2A0 B2 O
7
4A2 O 4A0 B2 2A1 B1 2B1 O2 A1 B21 O  4A0 A2 O  A21 O 7
7
7
A1 O
2A0 B1
0
A0 A1 O
7
7.
2
2 2
2B2 O
2A0 A2 A1
B1 O
B1 A1 O 2A0 B2 O 7
7
7
B1 O
2A0 A1
0
A0 B1 O
5
0

A20

Solving the two systems of linear algebraic Eq. (9), the truncated series (8) can be calculated. The following
two equations are obtained from these series:


sinOt S xl ; x_ l ,


cosOt C xl ; x_ l .
(10)
Relations (10) are substituted into Eq. (1) and as a result of this the pseudo-autonomous dynamical system
is obtained. This system can be presented in the following form:


!
x j o2j xj Rj x1 ; . . . ; xn ; x_ 1 ; . . . ; x_ n ; x 1 ; . . . ; x n 0; j 1; n .
(11)
The solutions of the pseudo-autonomous dynamical system (11) are presented in the form of the nonlinear
mode (2). Then, following [4], the functions xn xl ; vl ; vn xl ; vl are determined from the partial differential
equations


qxn qxn  2

o x Rl x1 ; . . . ; xn ; v1 xl ; vl ; . . . ; vn xl ; vl ; o21 x1 ; . . . ; o2n xn ,
qxl qvl l l


qvn qvn

o2n xn xl ; vl Rn x1 ; . . . ; xn ; v1 xl ; vl ; . . . ; vn xl ; vl ; o21 x1 ; . . . ; o2n xn vl

qxl qvl



 o2l xl Rl x1 ; . . . ; xn ; v1 xl ; vl ; . . . ; vn xl ; vl ; o21 x1 ; . . . ; o2n xn .

vn xl ; vl vl

j j
xl 1 vl 2 ; j1+j2

(12)

Eq. (2) is substituted into system of Eqs. (12) and the coefcients of the terms
2; j1+j2 3;
y; j1 0, 1,y; j2 0, 1,y are equated. As a result the system of linear algebraic equations with respect to
n
n n
an
1 ; a2 ; . . . ; b1 ; b2 ; . . . is derived. Solving this system, functions (2) are calculated.
Now the second iteration is considered. Function (2) is substituted into the lth equation of system (1). As a
result one nonautonomous equation of the second order is obtained. In general, this equation has the

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x l o2l xl F l x1 xl ; vl ; . . . ; xn xl ; vl ; v1 xl ; vl ; . . . ; vn xl ; vl ; o21 x1 xl ; vl ; . . . ; o2n xn xl ; vl
n
X
ali xi xl ; vl cos2Ot 0:
all xl cos2Ot

(13)

following form:

i1
ial

The solution of Eq. (13) is presented in the form of Eq. (4). After this solution construction, Eq. (10) is
determined and the normal mode of pseudo-autonomous dynamical system (11) is derived. These calculations
are carried out according to the algorithm expressed by Eqs. (5)(12). The second iteration is nished by
n
means of nonlinear mode determination. If the coefcients an
1 ; a2 ; . . . of two adjacent iterations are close,
then the periodic motions for the particular value of A2 is determined.
The values of A2 are set with some incremental step value for calculating the frequency response of the
periodic motions. For every value of A2, calculations for periodic motions are carried out.
3. Parametric vibrations of beams
The vibration of a beam with a discrete end-mass is considered, as shown in Fig. 1. The vibrations of this
system are described by the following partial differential equation [20]:

Z L  00


00
IV
00 0 2
00
EJu
0:5EJ u u
u Pt cos2Ot  0:5M
u0 2 ds mu  Nu0 0 0,
Z

N 0:5m

ds1
s

0
s1

 00
2
u0
ds2 ,

tt

(14)

tt

where u_ qu=qt; u0 qu=qs; us; t is deection of the beam; EJ is stiffness of the beam; Pt cos(Ot)
 00 is
a
0 2 00
longitudinal force; M is the mass attached to the beam; m is the mass per unit length. The
term
0:5EJ
u
u
R L  00
denes the contribution of the nonlinearity to the beam curvature and the terms 0:5Mu00 0 u0 2 tt ds and (Nu0 )0
describe the nonlinear inertia [21].
Dimensionless variables and parameters are considered for further analysis:
s
u
EJ
s
M
r2
l 2 Pt
;
m

;
w

;
x

,
;
f

w ; tt
r
l
ml
EJ
ml 4
l2

Fig. 1. Mechanical system.

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where r2 J/A is the radius of gyration of the cross section, and A is the area of the cross section. Then system
(14) has the following form with respect to the dimensionless variables and parameters:

Z 1  00

00
w
2
2
 mw
w00 f cos2Ot
w0
dx w  wN n w0 0 0,
wIV w00 w0
tt
2
2 0
Z x1  00
Z 1
N n 0:5
dx1
w0 2 dx2 .
(15)
x

tt

The vibration of system (15) is dened by an eigenmode expansion for a simply supported beam:
wx; t q1 t sinpx q2 t sin2px.
Applying the Galerkin technique to system (15), a two-degree-of-freedom dynamical system is derived:
 





q 1 p4 q1 g1 q31 g2 q1 q22 q1 2g3 q_ 21 q1 q 1 2g4 q_ 22 q2 q 2 g5 q1 q 2 q2 q 1 2q_ 1 q_ 2
 





q2 2g7 q_ 21 q1 q 1 2g8 q_ 22 q2 q 2 g6 q1 q 2 q2 q 1 2q_ 1 q_ 2  q1 f 1 cos2Ot 0,
 





q 2 16p4 q2 b1 q32 q2 2b3 q_ 21 q1 q 1 2b4 q_ 22 q2 q 2 b5 q1 q 2 q2 q 1 2q_ 1 q_ 2
 





q1 2b7 q_ 21 q1 q 1 2b8 q_ 22 q2 q 2 b6 q1 q 2 q2 q 1 2q_ 1 q_ 2 b2 q2 q21  4q2 f 1 cos2Ot 0, (16)
where
 2



p m 3
p2
5 p2

; g4 wp2 p2 m 
,
4
32 12
16 3
10
5
20
g5 g6 wp2 ; g7 wp2 ; g8 wp2 ; f 1 p2 f ; b1 8wp6 ; b2 4wp6 ,
9
9
9
 2

 2

2
p
5
p
m
3
40
2
2 2p
2
b3 2wp

 2p m ; b5 wp2 ,
; b4 2wp
2
16
9
6 32
3
10 2
5
20
wp ; b7 wp2 ; b8 wp2 .
b6
9
9
9
g1

wp6
;
8

g2 wp6 ;

g3 wp2

Now parametric vibrations of discrete system (16) are considered. It is assumed that the generalized
coordinate q1 shows a considerable vibration amplitude and that q2 displays a correspondingly small
amplitude. The method suggested in the previous section is used to accommodate such motions. At the rst
iteration it is assumed that q2 0. System (16) takes the following form:


(17)
q 1 p4 q1 g1 q31 2g3 q1 q_ 21 q1 q 1  f 1 q1 cos2Ot 0.
The analysis of oscillator (17) in the asymptotic limit is considered in the Appendix A. Taking into account
the results of this asymptotic analysis, periodic vibrations of system (17) is chosen in the following form:
q1 A1 cos Ot B1 sin Ot.

(18)

The harmonic balance method is used to determine the parameters A1, B1. As a result, a system of two
nonlinear algebraic equations with respect to A1 and B1 is derived:




A1 O2 p4 0:75g1  g3 O2 A21 B21  0:5f 1 0,




(19)
B1 O2 p4 0:75g1  g3 O2 A21 B21 0:5f 1 0.
Two groups of solutions exist in system (19):
(I) A1 0, B160,
(II) A1
6 0, B1 0.

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Group I is determined by the value B1:

s
O2  p4  0:5f 1
B1
0:75g1  g3 O2

(20)

and group II is characterized by the value A1:

s
0:5f 1 O2  p4
A1
.
0:75g1  g3 O2

(21)

Note that it is possible to obtain the frequency response oscillations of system (17) from Eqs. (20) and (21).
In order to obtain the nonlinear mode of system (16), solution (18) is given as
 2

A1 B21 cosOt A1 q1 B1 O1 q_ 1 ,
 2

(22)
A1 B21 sinOt B1 q1  A1 O1 q_ 1 .
From Eq. (22) it can be shown that the following can be derived:
cos2Ot a1 q21 a2 q_ 21 a3 q1 q_ 1 ,

(23)

where
a1 

A21  B21
2 ;
A21 B21

a2 O2 

B21  A21
2 ;
A21 B21

4A1 B1 O1
a3 
2 .
A21 B21

Eq. (23) is substituted into Eq. (16) and as a result of this the pseudo-autonomous dynamical system is
derived. The nonlinear mode of this system can be presented in the following form:
q2 Q2 q1 ; v1 a1 q21 a2 q1 v1 a3 v21 a4 q31 a5 q21 v1 a6 q1 v21 a7 v31    ,
v2 V 2 q1 ; v1 b1 q21 b2 q1 v1 b3 v21 b4 q31 b5 q21 v1 b6 q1 v21 b7 v31    .

(24)

Using the nonlinear mode approach of Shaw and Pierre [13] the following two partial differential equations
are obtained:
v2 q1 ; v1 v1


qQ2 qQ2  4

p q1  g1  f 1 a1 q31  g2 q1 Q22 q1 ; v1 f 1 a2 q1 v21 f 1 a3 q21 v1  y1 ,

qq1
qv1

 16p4 Q2 q1 ; v1 4f 1 a1  b2 Q2 q1 ; v1 q21 4f 1 a2 Q2 q1 ; v1 v21 4f 1 a3 Q2 q1 ; v1 q1 v1


qV 2 qV 2  4
 b1 Q32  y2 v1

p q1  g1  f 1 a1 q31  g2 q1 Q22 q1 ; v1 f 1 a2 q1 v21 f 1 a3 q21 v1  y1 ,

qq1
qv1

(25)

where
 





y1 q1 2g3 q_ 21 q1 q 1 2g4 q_ 22 q2 q 2 g5 q 1 q2 2q_ 1 q_ 2 q1 q 2
 





q2 g6 q 1 q2 2q_ 1 q_ 2 q1 q 2 2g7 q_ 21 q1 q 1 2g8 q_ 22 q2 q 2 ,
 





y2 q2 2b3 q_ 21 q1 q 1 2b4 q_ 22 q2 q 2 b5 q 1 q2 2q_ 1 q_ 2 q1 q 2
 





q1 b6 q 1 q2 2q_ 1 q_ 2 q1 q 2 2b7 q_ 21 q1 q 1 2b8 q_ 22 q2 q 2 .
j

Matching the coefcients of the same terms q11 v12 ; j 1 0; 1; . . . ; j 2 0; 1; . . ., is performed. As a result of
this a system of linear algebraic equations with respect to (a1, a2,y, b1, b2,y) is derived. This system of linear
algebraic equations is not presented here for conciseness. The solution of this system has the following form:
a1 a2 a3 b1 b2 b3 a5 a7 b6 b4 0,
38b7
22b7
142
b.
; b5
; a4
a6 b7 
4
105 7
105p
105
Eq. (26) is substituted into Eq. (24) and the nonlinear mode is obtained.

(26)

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18
16

B1

14

A1

A1, B1

12
10
8
6
4
2
0

9.6

9.7

9.8

9.9

10

10.1

10.2

Fig. 2. The frequency response of the mechanical system (16).

3e-07
2e-07
q2

1e-07
0
-1e-07
-2e-07
-3e-07
-10

-1
-0.5

-5

0
5

0.5
10

q1

Fig. 3. The nonlinear mode of the mechanical system (16).

The numerical calculations are carried out for the beam, which is considered in the paper [20]. The following
values of parameters are used:
m 9:3  102 kg=m;
l 0:56 m;

M 0:162 kg;

EJ 0:201 N m2 .

E 2:013  1011 N=m2 ;

r 7:8  103 kg=m3 ,

(27)

The quantities of (27) are used within the calculations for the frequency response in Eqs. (20) and (21).
Fig. 2 shows the frequency response and the nonlinear mode is presented in Fig. 3.

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483

P0 + Ptcos2t

l
2
l

Fig. 4. The beam interacting with the oscillator.

4. Interaction of the beam with a linear oscillator

In this section, the nonlinear modes are applied for the analysis of the mechanical system consisting of the
beam and an arbitrary one-degree-of-freedom system attached to the beam, as shown in Fig. 4. This oscillator
can represent a vibration absorber attached in order to reduce parametric vibration in the beam. Thus
the interaction of a discrete and a continuous subsystem is considered. The resulting system is dened
as follows:

Z l  00


00
2
2
EJwIV 0:5EJ w00 w0
w00 P0 Pt cos2Ot  0:5M
w0
ds
0

tt

0 0

mw  Nw dx  0:5LKfq  w0:5l; tg,

M 1 q Kq  w0:5l; t,
Z s1
Z l
ds1
w0 00tt ds2 ;
N 0:5m
s

(28)

where w(s, t) is deection of the beam; q is a generalized coordinate of the oscillator; M1 is mass of the
oscillator; EJ is bending stiffness; m is the mass per unit length; d(x0.5l) is the delta function; K is a stiffness
of the spring.
The following dimensionless variables and parameters are used:
s
w
EJ
s
M
Pt l 2
r2
Kl 3
M1
q
; f
(29)
; x ; m
; w 2; c
; m1
; qn ,
wn ; t t
4
r
l
ml
r
EJ
EJ
ml
ml
l
where r is the radius of gyration of the cross section. The nondimensionalised dynamical system of Eq. (28) has
the following form:

Z 1  00

w  00 0 2 00
2
IV
00
w w w  w f cos2Ot  0:5mw
w0  dx w 
tt
2
0


0 0

 w Nw cdx  0:5fq  w 0:5; tg,



m1 q  c q  w 0:5; t ,
Z x1  00
Z 1
2
0:5
dx1
w0  dx2 .
(30)
N
x

tt

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K.V. Avramov / Journal of Sound and Vibration 322 (2009) 476489

It is assumed that beam vibration occurs in the rst mode of the simply supported beam:
wx; t yt sinpx.

(31)

The Galerkin method is applied to the rst equation of system (30). As a result the following dynamical
system is derived:
 2



y p4 y w p6 y3  yp2 f cos2Ot  0:25mwp2 y2 dd wp2 p  3 yy2 dd  2cq  y 0,
n
8
12 32
(32)
m1 q n cqn  y.
System (32) is re-expressed in linear modal coordinates, using the following equations:
(33)

NU MUP,
where

"
N

p4 2c

2c

2c

2c

"

M
2p21;2

2m1

"
;

U
"

p21

1  p21 n2
1

1  p22 n2
1

"

#
,

c
,
; n21
m1
0 p22
q
2
p4 2c n21 
p4 2c n21  4p4 n21 .
;

The following change of variables is applied:

" #
x1
x2

1

qn

#
.

(34)

The dynamical system (32) takes this form in modal space:



x 1 p21 x1 zF 1 x1 ; x2 ; x_ 1 ; x_ 2 ; x 1 ; x 2 ; t 0,


x 2 p22 x2 zF 1 x1 ; x2 ; x_ 1 ; x_ 2 ; x 1 ; x 2 ; t 0,






F 1 x1 ; x2 ; x_ 1 ; x_ 2 ; x 1 ; x 2 ; t g1 P2 x1 ; x2 2g3 P1 x1 ; x2 ; x_ 1 ; x_ 2 2g3 P1 x 1 ; x 2 ; x1 ; x2
 f 11 x1 f 12 x2 cos2Ot,

(35)

where
 2

w 6
p2
3
2 mp

f 11 f 1 a1 ; f 12 f 1 a2 ; f 1 p f ; g1 p ; g3 wp
,
8
4
12 32
1
a2 1  p22 n2
z
,
a1 1  p21 n2
1 ;
1 ;
a1  a2
P2 x1 ; x2 a31 x31 a32 x32 3a21 a2 x21 x2 3a1 a22 x1 x22 ,


2
2
2
2
P1 x1 ; x2 ; x_ 1 ; x_ 2 a31 x_ 1 x1 a22 a1 x_ 2 x1 2a21 a2 x1 x_ 1 x_ 2 a21 a2 x2 x_ 1 a32 x2 x_ 2 2a1 a22 x2 x_ 1 x_ 2 .
2

The method suggested in Section 2 is used to analyze the system expressed in Eq. (35). The motions with
considerable values of x1, x_ 1 and small values of x2, x_ 2 are analyzed. Let us consider the iterative loop for the
analysis of periodic motion. For the rst iteration it is assumed that x2 0. From then on Eq. (35) are
transformed into the following form:
h
i
 2

x 1 p21 x1 z g1 a31 x31 2g3 a31 x_ 1 x1 x21 x 1  f 11 x1 cos2Ot 0.
(36)

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The solutions of Eq. (36) are given in the form of Eq. (18), and the methodology relating to Eqs. (18)(21) is
used to solve Eq. (36), for which the following solutions are admissible:




the equilibrium given by A1 B1 0;

periodic motions with amplitudes:
A1 0;

s
O2  p21  0:5f 11
B1
.
0:75g1  0:5g3 O2

(37)

another periodic motion condition with the following amplitudes:

s
O2  p21 0:5f 11
A1 0; B1
.
0:75g1  0:5g3 O2

From these motions function cos(2Ot) can be obtained using Eq. (23). Thus, the rst iteration is nished.
Eq. (23) is substituted into Eq. (35) and from this the following pseudo-autonomous dynamical system is derived:
h


i


x i p2i xi ri z P2 x1 ; x2 P1 x1 ; x2 ; x_ 1 ; x_ 2 P1 x 1 ; x 2 ; x1 ; x2  b1 x21 x_ 1  b2 x1 x_ 1 x2 0,
(38)
where
b2 f 12 a3 ,
1 2
1 3
2
P2 x1 ; x2
a2 x1 x2 a3 x2 a1
4 x1 x2 ,
2 _ 2
2 _ _
_2
P1 x1 ; x2 ; x_ 1 ; x_ 2 a2
1 x1 x1 a2 x2 x1 a 3 x2 x1 x1

r1 1;

r2 1;

b1 f 11 a3 ;

3
a1
1 x1

2 _
2 _ _
_
a2
4 x1 x2 a5 x2 x2 a6 x2 x1 x2 .

The nonlinear modes of Shaw and Pierre [13] are used to study the dynamical system (38):
x2 x2 x1 ; v1 p4 x31 p5 x21 v1 p6 x1 v21 p7 v31    ,
v2 x_ 2 v2 x1 ; v1 r x3 r x2 v1 r x1 v2 r v3   
4 1

5 1

7 1

(39)

A nonlinear mode of Eq. (39) is represented as a power series, and following on from Refs. [13,17] it is
known that if linear parts of system (38) are dened in modal space then the linear terms in the series of
Eq. (39) are also equal to zero. System (38) only exhibits cubic nonlinearities. Therefore the quadratic terms in
Eq. (39) are also equal to zero.
At this point the cubic terms from expansion (39) are calculated and by applying the nonlinear modes [13]
the following equations are derived:
qx2 x1 ; v1
qx x ; v1
v1 2 1
v_1 ,
qx1
qv1
qv2 x1 ; v1
qv2 x1 ; v1
v1
v_1 .
v_2 x1 ; v1
qx1
qv1

v2 x1 ; v1

(40)

Eq. (38) are substituted into Eq. (40) and the coefcients of x31 ; x21 v1 ; x1 v21 ; v31 are equated. As a result a
system of linear algebraic equations in p4, p5,y is obtained. The solution of this system is the following:

 1
p5 zb1 1  3p21 p2
2 D ,
r6 2zb1 D1 ,

 1
r4 p21 zb1 3p21 p2
2 1 D ,
1
p7  2p2
2 zb1 D ,

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K.V. Avramov / Journal of Sound and Vibration 322 (2009) 476489

h 

i

1  2
2 3
2
2 2 2
r5 D1 p2
z
3
p
a

a

3p
p
a
p

2p
2
1 1
2
1
1 2 1 ,
1
h 

i

2
1
1
2
2
2 3
,
r7 p6 p2
2 D z a1 3p1  p2  6 p1 a1  a1
h

i

1
1
p22  7p21 2p41 a2
p4 p2
p21 a3
2 D z
1  a1
1 ,

(41)

where
2
D 10p21  9p41 p2
2  p2 .

(42)

The next step requires the nonlinear mode of Eq. (39) to be substituted into Eq. (35) in order to generate
n
2
x 1 p21 x1 z g1 a31 x31 2g3 a31 x_ 1 x1 2g3 a31 x21 x 1  f 11 x1 cos2Ot



(43)
 f 12 p4 x31 p5 x21 v1 p6 x1 v21 p7 v31 cos2Ot .
Eq. (42) more accurately describes the motions in the nonlinear mode than does Eq. (36) and these two
equations are seen to differ essentially from one another.
The solution of Eq. (42) is presented as Eq. (18). Then the harmonic balance method is applied and
consequently a system of two nonlinear algebraic equations is obtained:


p21  O2 A1 z d5 A31 d6 A1 B21  d3 A21 B1  d4 B31  0:5f 11 A1 0,


p21  O2 B1 z d1 A21 B1 d2 B31  d3 A1 B21  d4 A31 0:5f 11 B1 0,
(44)
where
d1 0:75g1 a31  g3 O2 a31 0:5f 12 p6 O2 ,
d2 0:75g1 a31  g3 O2 a31 0:5f 12 p4 ,
d3 0:5f 12 p5 O;

d4 0:5f 12 p7 O3 ,

d5 0:75g1 a31  g3 O2 a31  0:5f 12 p4 ,

d6 0:75g1 a31  g3 O2 a31  0:5f 12 p6 O2 .

(45)

The second iteration concludes with the solution of Eq. (43).

A1

B1

A1, B1

4.903

4.904

4.905

Fig. 5. The frequency response.

4.906

4.907

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487

Table 1
The results of the calculations of the frequency response
o

A1 for the rst iteration

A1 for the second iteration

4.905707
4.90570
4.90568
4.90564
4.90561

0.8076918841
1.557934983
2.737854823
4.199224210
5.023894997

0.7184797517
1.505888506
2.707908819
4.180446464
5.008755142

Finally a third iteration is considered, and the solution of Eq. (43) is taken in the form of Eq. (23). Then the
nonlinear mode (39) is calculated and system (42) is analyzed by solving nonlinear algebraic Eq. (43). At that
point the third iteration is concluded and the iteration is complete when solutions of Eq. (43) for two
subsequent iterations are regarded as being close enough.
The calculation of the frequency response is the aim of this analysis. The values of A1 are preset by means of
some chosen iterative step. For every value of A1 an iterative loop is constructed. The values of B1 and O are
determined from this iterative loop.
The results of an example consisting of a beam interacting with an arbitrary linear oscillator are considered.
The parameters of Eq. (27) and further data comprising
f 1;

r 0:289  103 m;

M 1 0:0521 kg;

c 70,

are used within the calculations. The results are presented in Fig. 5 as frequency response. The dependence of
the vibrations amplitudes A1, B1 on O is shown. The results of the rst and the second iterations are presented
in this gure. These results are so close that they cannot be identied in the scale of this gure. The data of the
frequency response calculations are shown additionally in the table, in which for some values of the excitation
frequency O, the results of the rst and the second iterations are presented. As shown in Table 1 the results of
the rst and the second iterations are very close.

5. Concluding remarks
An iteration in which nonlinear modes and the Rauscher method are combined has been suggested in this
paper. This approach can be used to determine all the nonlinear modes, and the number of these is equal to the
number of degree of freedom of the nonlinear system. A dynamical system without an internal resonance has
been considered here.
The main advantage of the method suggested here is that it does not need a small parameter in the equations
of motion. Moreover, this method has a simple numerical implementation and reduces to the harmonic
balance method for a one degree of freedom, and it also simplies to a system of linear algebraic equations.
This method has been applied to an investigation of the parametric vibration of a beam and to the analysis
of the interaction of the beam with an arbitrary one-degree-of-freedom oscillator for which calculations
demonstrate that the iteration converges in two cycles. The second iteration contributes signicantly to the
solution of the problem of the beam interacting with the linear oscillator, with the rst iteration giving the
nonlinear mode emanating from Eq. (36) whereas the second iteration relates to the form of Eq. (42), with
clear differences between the equations. The second iteration does not contribute to this problem of
parametric vibration in a beam. Therefore, this iteration is not needed.

Acknowledgement
The author is grateful to the Ukraine Foundations of Fundamental Research (Grant F25.1/042) for support
of this research.

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Appendix A. Asymptotic analysis of system (17)

It is shown that in the asymptotic limit the solutions of Eq. (17) have the form (18). Using the small
parameter e, system (17) can be presented as




q 1 p4 q1  g1 q31 2g3 q1 q_ 21 q1 q 1  f 1 q1 cos2Ot 0.
(A.1)
The vibrations of system (A.1) are considered in the case of the main parametric resonance
O p2 s.

(A.2)

The vibration of the system given by Eq. (A.1) is dened by

q1 T 0 ; T 1 ; . . . q10 T 0 ; T 1 ; . . . q11 T 0 ; T 1 ; . . .    ,

(A.3)

where T0 t; T1 et. Using the multiple-scales method the following equations are obtained:
q2 q10
p4 q10 0,
qT 20



2
q2 q11
q2 q10
qq10 2
4
3
2 q q10

p
q

g
q

2g
q

2g
q
 q10 f 1 cos2Ot 0.
1 10
3 10
3 10
11
qT 0 qT 1
qT 0
qT 20
qT 20

(A.4)

The motions of the rst equation of Eq. (A.4) can be shown to be given by
1 expip2 T 0 .
q10 AT 1 expip2 T 0 AT
Using the change of variables A 0.5a exp(ic) and equating to zero the secular terms of the second
equation of system (A.4), the following system of modulation equations is derived:
f 1a
sin2y 0,
4p2


a2 3
p4 g3
f
g1 
y0  s 2
 12 cos2y 0.
p 8
2
4p

a0 

(A.5)

As follows from Eq. (A.5) three kinds of steady-state solutions exist. The rst group satises a1 0. The
second group of solutions is described by
y2 0;

a22

1
0:25f 1 p2 s;
w1

3
p 4 g3
.
w1 g 1 
8
2

The third group of solutions is determined by

y3

p
;
2

a23

1 2
p s  0:25f 1 .
w1

The vibrations of system (A.1) have the following form:

q1 a cosc p2 T 0 .
The second group of the solutions has the form
q1 a cosOt
and the third group of motions has the following form:
q1 a sinOt.
The analysis given in this appendix shows that the vibration dened by Eq. (17) has the form of Eq. (18).

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