Applied Mathematical Modelling 57 (2018) 302–315

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Applied Mathematical Modelling

journal homepage: www.elsevier.com/locate/apm

Nonlinear vibration analysis of FG nano-beams resting on

elastic foundation in thermal environment using stress-driven
nonlocal integral model
E. Mahmoudpour a, S.H. Hosseini-Hashemi b, S.A. Faghidian a,∗
a
Department of Mechanical and Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
b
School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

a r t i c l e i n f o a b s t r a c t

Article history: This paper comprehensively studies the nonlinear vibration of functionally graded nano-
Received 31 March 2017 beams resting on elastic foundation and subjected to uniform temperature rise. The small-
Revised 22 December 2017
size effect, playing an essential role in the dynamical behavior of nano-beams, is consid-
Accepted 15 January 2018
ered here applying the innovative stress driven nonlocal integral model due to Romano and
Available online 31 January 2018
Barretta. The governing partial differential equations are derived from the Bernoulli–Euler
Keywords: beam theory utilizing the von Karman strain–displacement relations. Using the Galerkin
Nonlinear vibration method, the governing equations are reduced to a nonlinear ordinary differential equation.
Elastic foundation The closed form analytical solution of the nonlinear natural frequency for four different
Functionally graded nano-beam boundary conditions is then established employing the Homotopy Analysis Method. The
Bernoulli–Euler beam theory nonlinear natural frequencies, evaluated according to the stress-driven nonlocal integral
Homotopy Analysis Method model, are compared with those obtained by Eringen differential model. Finally, the ef-
Stress-driven nonlocal integral model fects of different parameters such as length, elastic foundation parameter, thermal loading
and nonlocal characteristic parameter are investigated. The emergent results establish that
when the nonlocal characteristic parameter increases, the nonlinear natural frequencies
obtained by the stress-driven nonlocal integral model reveal a stiffness-hardening effect.
On the other hand, Eringen’s differential law reveals a stiffness-softening effect excepting
the case of cantilever nano-beam. Also, increase in temperature and the elastic foundation
parameter leads to increase in the nonlinear frequency ratios in Eringen differential model
but decrease in the frequency ratios in the stress-driven nonlocal integral model.
© 2018 Elsevier Inc. All rights reserved.

1. Introduction

Advances made in industry have led engineers to exploit materials with better properties. Functionally graded (FG) ma-
terials are composite materials with heterogeneous, fine structures. The mechanical properties of FG materials continuously
change from one level to the other. This can be achieved with gradual change of volume fraction as a function of position
along the thickness of the ingredients. In most cases, FG materials are made of a combination of metal and ceramic to have
metal strength, resistance to high temperature of environment, and to eliminate the share surface problems [1–3].
While nano-beams have been extensively used in various applications of nano-sized systems, carbon nanotubes are
widely employed for design of nano-sensors [4–6]. Study of nano-structures using the Eringen differential model has been

∗
Corresponding author.
E-mail address: faghidian@srbiau.ac.ir (S.A. Faghidian).

https://doi.org/10.1016/j.apm.2018.01.021
0307-904X/© 2018 Elsevier Inc. All rights reserved.
 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315 303

Fig. 1. Geometry of a FG nano-beam.

an extensive component of research in recent years [7–9]. The equations of motion using classic, first order, and third order
shear deformation theory are derived based on the Eringen differential model, and analytical and numerical solutions for
static bending deflection, buckling analysis, and free vibrations are presented [10]. Also, the equations of motion of nonlocal
nonlinear free vibration of functionally graded nano-beams with simply supported and simply–clamped boundary condi-
tions are solved using the multiple scale method [11]. Dynamic stability and nonlinear vibration of micro/nano structures
based on gradient theories of elasticity have been also been widely investigated in existing literature [12–18].
It has been shown that the Eringen differential model is not generally suitable for analysis of functionally graded materi-
als at micro/nano scale and should be modified [19]. Nonlinear bending and free vibration analysis of FG beams via nonlocal
strain gradient elasticity theory has also been investigated in the literature. Nonlocal strain gradient model contains material
length scale and nonlocal parameters to consider the effects of both inter-atomic long-range force and microstructure defor-
mation mechanism [20–21]. By extending Eringen differential model, a new gradient elastic model has been proposed in this
paper, and the elastostatic problem of a FG nano-rod, bending of a nano-beam, and calculation of the elasticity modulus has
been studied. Merits of the new gradient elastic model, in comparison with existing treatments, are also discussed in Refs.
[22,23]. A thermodynamic approach is also proposed to provide a gradient nonlocal model for the bending of Bernoulli–
Euler and Timoshenko FG nano-beams based on the Eringen model. The governing equations are derived for nano-beam
flexure with relevant higher order boundary conditions [24–26].
Eringen’s nonlocal differential model yields some inconsistencies that are demonstrated for the cantilever nano-beams.
Also, Eringen’s nonlocal elasto-static problem has been shown to be ill-posed due to conflict with the equilibrium require-
ments [27,28]. The stress-driven nonlocal integral model (SDM) was recently proposed by Romano and Barretta [29,30] to
provide a natural way to get well-posed solutions for nonlocal elastic problems in the context of their application to nano-
structures. The stress-driven nonlocal integral model can be successfully utilized to efficiently simulate the small scale effects
in flexural analysis [28–31] and the free vibration of Bernoulli–Euler nano-beams [32]. The Homotopy Analysis Method is
widely used to investigate the nonlinear vibration behavior of beams. It has been shown that this is a very strong semi-
analytical method for highly nonlinear problems [33–42].
In the present study, nonlinear vibration of Bernoulli–Euler nano-beams is examined employing the stress-driven nonlo-
cal integral model (SDM). Using the Galerkin method, the governing equations of a FG Bernoulli–Euler nano-beam resting
on an elastic foundation is reduced to a nonlinear ordinary differential equation. The closed form analytical solution of the
nonlinear natural frequency for four different boundary conditions is then established using the Homotopy Analysis Method.
Finally, a parametric study on elastic foundation stiffness, temperature rise, and gradient index is presented considering the
small scale effects on the frequency ratios of FG nano-beams based on stress-driven nonlocal integral model and Eringen
differential model.

2. Governing equations

An FG Bernoulli–Euler nano-beam with length L, thickness h, and width b resting on a Winkler foundation is shown in
Fig. 1. Since the FG nano-beam is generally composed of two different materials at the top and the bottom surfaces, the
power law distribution for effective material properties dictates that the material variation profile through the thickness of
the small-scale FG beam will be [26]
z 1
P
m
P (zm ) = (PU − PL ) + + PL (1)
h 2
where PU and PL are the material properties at the upper and lower surface of the FG nano-beam respectively, and a
gradient index P determines the variation profile of material properties across the FG nano-beam thickness.
304 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315

The geometric center (zm ) is taken as reference for previous effective material properties. The elastic center can be de-
fined to remove stretching and bending couplings caused by FG material variation. For a FG nano-beam, the neutral axis
passes through the elastic center of the Young elastic modulus field of longitudinal fibers. The relation between the elastic
and geometric center is determined as [26]
 h
2
−h zm E (zm )dzm h(EU − EL )P
z = zm + ce, ce =  2
= (2)
2
h
E (zm )dzm 2(2 + P )(EU + P EL )
−h
2

where ce is the position of the elastic center. If the elastic center is taken as a reference, the Poisson’s ratio (z), elastic
modulus E(z), mass density ρ (z), and thermal expansion coefficients α (z) are assumed to vary continuously along the z
direction and can be expressed as
z 1
P
E ( z ) = ( Ec − Em ) + + Em (3)
h 2
 z 1 P
ρ ( z ) = ( ρc − ρm ) + + ρm (4)
h 2
 z 1 P
α (z ) = (αc − αm ) + + αm (5)
h 2
z 1
P
ν ( z ) = ( νc − νm ) + + νm (6)
h 2
where the subscripts c and m refer to the ceramic and metal phases respectively.

2.1. Stress-driven nonlocal integral model (SDM)

The inapplicability of Eringen differential model to structural mechanics has been shown and discussed in recent litera-
ture [28–31]. The differential constitutive law is equivalent to the Eringen strain-driven integral model with a bi-exponential
kernel merely for unbounded domains. On the contrary, for bounded structural domains, constitutive boundary conditions
are prescribed in order to ensure equivalence. A novel stress-driven nonlocal integral model (SDM) has been already em-
ployed to examine size-dependent static behavior of inflected nano-beams [29–31] and size-dependent dynamical behavior
of nano-beams [32].

2.1.1. Linear equation of FG nano-beam via SDM

In accordance with the stress-driven nonlocal integral model, the elastic curvature field is described by the following
integral convolution law [29,30]:
 L
χEL = φλ (x − ξ )CM (ξ )dξ (7)
0
where M is bending moment and C is elastic compliance defined as
1
C=  (8)
A E y2 dA
where A is the cross-section of the nano-beam. The dimensionless nonlocal characteristic parameter λ is defined as the
ratio between the characteristic length ls and the nano-beam length L. By introducing the bi-exponential kernel [29,30],
 
1 |x|
φλ ( x ) = exp − (9)
2ls ls
Eq. (7) is equivalent to the differential condition
∂ 2 χEL 1
= 2 (χEL − CM ) (10)
∂ x2 ls
With the constitutive boundary condition,
∂ χEL (0 ) 1 ∂ χEL (L ) 1
− χEL (0 ) = 0, + χEL (L ) = 0 (11)
∂x ls ∂x ls
According to the Bernoulli–Euler beam theory, geometric bending curvature is related to the second derivative along the x
axis of the transverse displacement. Therefore, the governing equation of free vibration of the Bernoulli–Euler homogeneous
nano-beam provides as [32]
 
1 ∂ 4w ∂ 4w I1 ∂ 2w
C1 − =− (12)
ls2 ∂ x4 ∂ x4 ls2 ∂t2
 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315 305

Also, the cross section parameters {A1 ,B1 ,C1 } and I1 are defined as
 h
  h
2 −ce 2 −ce
{A1 , B1 , C1 } = b E (z ) 1, z, z2 dz, I1 = b ρ (z )dz (13)
− 2h −ce − 2h −ce

2.1.2. Nonlinear equation of FG nano-beam via SDM

Using the local Bernoulli–Euler beam theory, displacement field at any point of the nano-beam can be written as:
∂ w(x, t )
ux (x, z, t ) = u(x, t ) − z (14)
∂x
uy (x, z, t ) = 0 (15)

uz (x, z, t ) = w(x, t ) (16)

where u (x, t) and w(x, t) are the displacement components of the elastic surface center at time t. Accordingly, the von
Karman type nonlinear strain–displacement relation may be shown to be [43],
 2  2
∂ ux 1 ∂ uz ∂u ∂ 2w 1 ∂ w
ε= + = −z 2 + (17)
∂x 2 ∂x ∂x ∂x 2 ∂x
So, for the beam in thermal environment the non-zero component of the stress tensor can be obtained as [43]
 2
∂u ∂ 2w 1 ∂ w
σ = E (z ) −z 2 + − E (z )α (z ) T (18)
∂x ∂x 2 ∂x

where E (z) is the Young modulus, ν (z) is Poisson’s ratio, α (z) is the thermal expansion coefficient, and T = T − T0 where
T is the temperature distributed through the FG nano-beam and T0 is the reference temperature. Using Hamilton’s principle
[11], the nonlinear equations of motion of the nano-beam can be derived as
∂N ∂ 2u
= I1 2 (19)
∂x ∂t
 
∂ 2M ∂ ∂w ∂ 2w
+ N + f = I1 2 (20)
∂x 2 ∂x ∂x ∂t
where N and M are the local force and bending moment resultants respectively, given by
   2
∂u 1 ∂w
N= σxx dA = A1
+ − Nth (21)
∂x 2 ∂x
A
   2 
∂ w
M= zσxx dA = −C1 − Mth (22)
∂ x2
A

Moreover, the resultant thermal force and moment can be described as [43]
 h  h
2 2
Nth = b E (z )α (z ) T dz, Mth = b E (z )α (z ) T zdz (23)
− 2h − 2h

In the present study, T is constant along the beam thickness and the initial uniform temperature (T0 = 300 K) is con-
sidered a stress free state. The resultant thermal force and moment Nth and Mth are constant. Moreover, the driving force f
in Eq. (20) can be shown to be
f = F (x, t ) − kL w (24)
where F(x, t) is the laterally distributed loading and kL is the Winkler elastic foundation coefficient [44].
The axial stress at a generic point of a nano-beam based on the stress-driven nonlocal integral model can be formulated
as:
 
σ 1 1
= E (z ) ε − ∇ 2ε − E (z )α (z ) T (25)
ls2 ls2 ls2
For a nano-beam with immovable ends, the axial strain can be determined by the von Karman strain as
 2
1 ∂w ∂ 2w
ε = −z (26)
2 ∂x ∂ x2
306 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315

The force and moment resultants are obtained considering small-scale parameters as:
   2  2
N SDM 1 A1 ∂w ∂ 2w ∂ w ∂ 3w N
= 2 σ dA = − A1 + − 2th (27)
ls2 ls 2ls2 ∂x ∂ x2 ∂ x ∂ x3 ls
A
   
M SDM
1 ∂ 4w 1 ∂ 2w M
= zσ dA = C1 − − 2th (28)
ls2 ls2 ∂ x4 ls2 ∂ x2 ls
A

where the superscript SDM denotes the stress-driven nonlocal integral model. Finally, by substituting Eqs. (27) and (28) into
Eq. (20), the governing equation of motion for forced nonlinear vibration of FG nano-beams resting on an elastic foundation
and subjected to thermal load using stress-driven nonlocal integral model can be written as
   2  2 3  2
∂ 4w ∂ 6w
1 3 ∂ 2w ∂ w ∂ w ∂ w ∂ 2w ∂ 3w ∂ 4w ∂ w
C1 − − A1 − +4 +
∂ x4
ls2 ∂ x6 2ls2 ∂ x2 ∂ x ∂ x2 ∂ x ∂ x2 ∂ x3 ∂ x4 ∂ x
 
1 ∂ 2 w ∂ 2 Mth ∂ 2w f
+ 2 Nth 2 + + I = 2 (29)
ls ∂x ∂ x2 1
∂t2 ls

2.2. Eringen differential model (EDM)

In the strain-driven nonlocal theory of elasticity, the stress at a point of a continuous body is defined by the integral con-
volution between the elastic strain field and the Helmholtz averaging kernel [6]. The associated differential law is expressed
by [11],
 
σ EDM − μ2 ∇ 2 σ EDM = σ LOC (30)

where μ is the nonlocal characteristic parameter, σ LOC

is the macroscopic or local stress tensor at a point, and is the σ EDM
stress tensor associated with EDM. The acronym EDM stands for Eringen differential model. If the axial inertia is neglected
from Eq. (19), then using Eq. (21) the following result is obtained as Eq. (31):
N EDM = N0 − Nth = constant (31)
where N0 is the nonlinear in-plane force that is caused by stretching and bending of the neutral axis. Then the EDM
force and bending moment resultants can be obtained by imposing the operator of (1 − μ2 ∇ 2 ) on the left-hand side of
Eqs. (21) and (22) [9]. Furthermore, using Eqs. (19), (20) and (31) it may be shown that
 2
EDM ∂u 1 ∂w
N = A1 + − Nth (32)
∂x 2 ∂x
   2 
EDM ∂ w ∂ 2w ∂ w
2
M EDM
= μ −N
2
− f + I1 2 − C1 − Mth (33)
∂ x2 ∂t ∂ x2
For nano-beams with immovable ends (i.e. u = 0 and w = 0, at x = 0 and L), integrating Eq. (32) with respect to x while
using Eq. (31) leads to
  2
A1 L
∂w
N0 = dx (34)
2L 0 ∂x
Finally, substitution of Eqs. (33) and (34) into Eq. (20) results in the governing equation of the EDM nonlinear forced
vibration for the Bernoulli–Euler functionally graded nano-beam resting on an elastic foundation in thermal environment as
 
∂ 4w   ∂ 2w ∂ 2w ∂ 2 Mth  
D ∗
+ 1−μ ∇
2 2
(Nth − N0 ) 2 + I1 2 + = 1 − μ2 ∇ 2 f (35)
∂ x4 ∂x ∂t ∂ x2
where ∇ 2 = ∂ 2 /∂ x2 . D∗ = C1 is the flexural rigidity of the functionally graded nano-beam. By knowing that Nth , N0 are con-
stant and by applying the operator of (1 − μ2 ∇ 2 ), the Eq. (35) can be rewritten as
∂ 4w ∂ 2w ∂ 2w ∂ 4w ∂ 2 Mth ∂2 f
D∗∗ + (Nth − N0 ) 2 + I1 2 − μ2 I1 2 2 + = f − μ2 2 (36)
∂ x4 ∂x ∂t ∂ x ∂t ∂ x2 ∂x
along with
  2 
∂w
h
L
A1 2
D∗∗ = C1 + μ2 (N0 − Nth ) = C1 + μ2 dx − E (z )α (z ) T dz
2L 0 ∂x − 2h
 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315 307

3. Nonlinear free vibration analysis

In general, Mth is a function of x and z coordinates and time t. If it is assumed that temperature varies only in the thick-
ness direction, then ∂ 2 Mth /∂ x2 = 0. The governing equations for nonlinear free vibration analysis can also be obtained by
setting (x, t) = 0 . Furthermore, to reduce the nonlinear equation of free vibration of FG nano-beam based on the Eringen
differential model Eq. (35) and stress-driven nonlocal integral model Eq. (29) into a time-varying set of ordinary differential
equations, the Galerkin method is employed here. To this end, the displacement function is supposed to have the separable
form of
w(x, t ) = φ (x )q(t ) (37)
where q (t) is a time base function to be determined later and φ (x) is the linear spatial mode shape. To determine the mode
shapes for different boundary conditions based on stress-driven nonlocal integral model, it is assumed that the solution of
Eq. (12) is in the form of
w(x, t ) = w(x )e t
(38)
where is the linear natural frequency. Substituting Eq. (38) into Eq. (12) yields the eigenvalue problem, which can be
expressed in terms of a six-dimensional array w = {w1 ,w2 ,w3 ,w4 ,w5 ,w6 }. For a nontrivial solution, the determinant of the
coefficient matrix vanishes. This leads to the characteristic equation as a function of . The computer package Mathemat-
ica was used to write a program to calculate the natural frequencies and spatial mode shapes. Finally, eigenvalues and
eigenvectors φ (x) were calculated. The governing equation of the time base function in nonlinear free vibration of the FG
nano-beam based on stress-driven nonlocal integral model are determined by substituting Eq. (37) into Eq. (29) and subse-
quently multiplying it by the linear spatial mode shape integrated along the FG nano-beam length as
q̈ + α1 q + α3 q3 = 0 (39)
where the coefficients α 1 and α 3 are introduced as
 1    
α1 = bC1 a3 − ls2 a4 + Nth a2 + KL a1
I1 a1
 1   
α3 = bA1 −1.5a5 + ls2 (a6 + 4a7 + a8 )
I1 a1
  2 
 l
d2 φ d4 φ d6 φ d2 φ dφ
{a 1 , a 2 , a 3 , a 4 , a 5 } = φ2, φ 2 , φ 4 ,φ 6 ,φ 2 dx
0 dx dx dx dx dx
  3  2  2 
 l
d2 φ dφ d2 φ d3 φ d4 φ dφ dφ
{a 6 , a 7 , a 8 , a 9 } = φ 2
,φ 2 3
,φ 4 , dx (40)
0 dx dx dx dx dx dx dx

The initial conditions for Eq. (43) are assumed to be:

q(0 ) = a0 , q˙ (0 ) = 0 (41)
where a0 is maximum amplitude corresponding to the time base function q(t). Employing the Galerkin method and substi-
tuting Eq. (37) into Eq. (35), the governing equation of the time base function in nonlinear free vibration of a FG nano-beam
based on Eringen differential model is determined as
q̈ + γ1 q + γ3 q3 = 0 (42)
where to summarize the mathematical formulation the coefficients γ 1 and γ 3 are introduced as
 
D∗ a3 + Nth a2 + KL a1 − μ2 a2
γ1 =  
I1 a1 − μ2 a2
 
−bA1 a9 a2 − μ2 a3
γ2 =   (43)
2I1 l a1 − μ2 a2
It is obvious that the governing equation of the time base functions derived from Eringen differential model Eq. (42) is
similar to that derived from stress-driven nonlocal integral model Eq. (39) with the same initial conditions according to Eq.
(41).

4. Solution method

4.1. Homotopy Analysis Method

Homotopy Analysis Method (HAM) is a general analytic method for solving nonlinear differential equations. It successfully
results in convergent series solutions of strongly nonlinear problems [33]. HAM transforms a nonlinear differential equation
308 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315

into an infinite number of linear differential equations by embedding an auxiliary parameter p that typically ranges from
zero to one. As p increases from 0 to 1, the solution varies from the initial guess to the exact solution [33]. To illustrate the
basic ideas of HAM, consider the following non-linear differential equation:

N [q(t )] = 0 (44)
where N is a nonlinear operator, t denotes time as the independent variable, and q (t) is an unknown variable. The homotopy
function is constructed as follows [33]:

H̄ (ϕ ; p, h̄, H (t )) = (1 − p)L[ϕ (t; p) − q0 (t )] − p h̄H (t )N [ϕ (t; p)] (45)

where ϕ is a function of t and p, and ћ and H(t) are the non-zero auxiliary parameter and the non-zero auxiliary function
respectively. The parameter L denotes an auxiliary linear operator. As p increases from 0 to 1, ϕ (t; p) varies from the initial
approximation to the exact solution. So, the zero-order deformation is constructed as:

(1 − p)L[ϕ (t; p) − q0 (t )] = p h̄H (t )N [ϕ (t; p)] (46)

With the following initial conditions corresponding to the initial conditions of Eq. (39),
d ϕ ( 0; p )
ϕ ( 0; p ) = a0 , =0 (47)
dt
The higher order approximations of the solution can be obtained by calculating the m-order (m > 1) deformation equation
as

L[qm − χ qm−1 ] = h̄H (t )Rm (qm−1 , ωm−1 ) (48)

where χ and Rm (qm − 1 , ωm − 1 ) are defined as follows:

1 ∂ m−1 N [ϕ (t; p), ω ( p)]

Rm (qm−1 , ωm−1 ) = |p = 0 (49)
( m − 1 )! ∂ pm−1

0 m≤1
χ= (50)
1 m≥2
Subjected to the following homogeneous initial conditions,

qm (0 ) = q˙ m (0 ) = 0 (51)
since the initial conditions of Eq. (47) are already imposed on the zero-order deformation.

4.2. Application of HAM

The governing equation for EDM nonlinear free vibrations of the FG nano-beam resting on elastic foundation may be
transformed to the following equation using the change of variable τ = ωt:

ω2 q̈ + γ1 q + γ3 q3 = 0 (52)
where the dot denotes d/dτ . In order to solve Eq. (52) through HAM, the first conjecture of the problem solution which
satisfies the initial conditions of Eq. (51) can be stated as

q0 (τ ) = a0 cos (τ ), q0 (0 ) = a0 , q˙ 0 (0 ) = 0 (53)
where a0 = wmax /r is the maximum dimensionless amplitude or amplitude ratio. Linear and nonlinear operator can also be
expressed as
 
∂ 2 q (τ , p)
L[q(τ , p)] = ω02 + q ( τ , p ) (54)
∂τ 2

∂ 2 q (τ , p)
N [q(τ , p)] = ω2 + γ1 q + γ3 q3 (55)
∂τ 2
The first-order deformation equation which gives the first-order approximation of q(τ ) can be written as

L[q1 (τ )] = h̄H (t )N [q(τ , p), ω]q=0 (56)

∂ q1 ( 0 )
q1 ( 0 ) = 0, =0 (57)
∂τ
 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315 309

Table 1
Comparison of frequency ratio (ωNL /ωL ) for a simply supported isotropic beam.
a0
Present Ref. [11] Ref. [47] Exact Eq. (64)
r
ωNL ωL ωNL /ωL
1 10.7496 9.8696 1.08916 1.0937 1.0897 1.08916
2 13.0063 9.8696 1.31781 1.3750 1.3229 1.31778
3 16.0469 9.8696 1.62589 1.8438 1.6394 1.62568
4 19.5079 9.8696 1.97656 – – 1.97602

The auxiliary function H(τ ) and the auxiliary parameter ћ which adjust convergence region and rate of approximate
solution must be chosen in such a way that the solution of Eq. (56) is expressed by a set of base functions [34]. Assuming
ћ = −1 and H(τ ) = 1 can satisfy this constraint [33,39], Eq. (56) utilizing q0 (τ ) as Eq. (53) may be shown to be
 3
 1
ω02 [q̈1 + q1 ] = ω02 a0 − γ1 a0 − α3 a30 cos(τ ) − γ3 a30 cos(3τ ) (58)
4 4
To prevent the so-called secular term in time response, the coefficients of the term cos(τ ) are set to zero and conse-
quently,

3
ω0 = γ1 + γ3 a20 (59)
4
The zero-order approximation of the nonlinear natural frequencies of the FG nano-beam based on Eringen differential
model can be obtained from Eq. (59) [33]. Similarly, considering the initial conditions of Eq. (57), the time response of the
first-order transformation equation and the equivalent terms for nonlinear natural frequencies are determined as follows:
α3 a30
q1 ( τ ) = (− cos (τ ) + cos(3τ ) ) (60)
32ω02

α3 a20   2  
ω1 = 2 ω0 − α1 − 3α3 a20 (61)
128ω0 3

Because the governing equation of the time base functions derived from Eringen differential model is similar to that
derived from stress-driven nonlocal integral model with the same initial conditions, the first-order approximation for natural
frequencies and the first-order approximation for time response for nonlinear vibration of the FG nano-beam based on
stress-driven nonlocal integral model are obtained in a similar way as:
α3 a20   2  
ωn = ω0 + ω1 = ω0 + 2 ω0 − α1 − 3α3 a20 (62)
128ω0 3

α3 a30
q(τ ) = q0 (τ ) + q1 (τ ) = a0 cos (τ ) + (− cos (τ ) + cos(3τ ) ) (63)
32ω02
Eq. (42) is the nonlinear equation of motion of the nano-beam, the so-called Duffing equation. The exact solution for
Duffing equation can be expressed as [45]:

π α1 + α3 a20
ωn = (64)
2K
where K is defined by using the complete elliptic integral of the first kind as [46]
 π
2 1
K=  dx (65)
0 1 + msin2 (x )
along with m = α3 a20 /(2(α1 + α3 a20 ) ).

5. Results and discussion

5.1. Comparative study

A comparative study for evaluation of classical nonlinear frequency to classical linear frequency ratios (ωNL /ωL ) between
the present first-order homotopy analysis solution, the exact solution, the multiple scale method [11], and the Ritz–Galerkin
method [47] is carried out in Table 1 for simply supported isotropic beams with L = 2 m and h = 0.1 m.
It is observed that the present results agree well with those given by using exact solution and those obtained by Singh et
al. [47] using the Ritz–Galerkin method. As the amplitude ratio increases, the difference between the present solution and
310 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315

Table 2
Linear dimensionless natural frequencies of a homogeneous cantilever nano-beam based on SDM and EDM for
various dimensionless nonlocal characteristic parameter.

ls
λ= SDM EDM
L
Present Ref. [32] Present Ref. [32]

0.00+ 3.516013 3.516013 3.516013 3.516013

0.01 3.551528 3.551528 3.516170 3.516170
0.02 3.587734 3.587734 3.516620 3.516620
0.03 3.624609 3.624609 3.517370 3.517370
0.04 3.662122 3.662122 3.518430 3.518430
0.05 3.700236 3.700236 3.519798 3.519798
0.06 3.738905 3.738905 3.521470 3.521470
0.07 3.778081 3.778081 3.523450 3.523450
0.08 3.817712 3.817712 3.525750 3.525750
0.09 3.857741 3.857741 3.528350 3.528350
0.10 3.898114 3.898114 3.531280 3.531280

Table 3
Linear dimensionless natural frequencies of a homogeneous nano-beam resting on elastic foundation (KL = 50) with different boundary condi-
tions based on SDM and EDM for various dimensionless nonlocal characteristic parameter.

ls
λ= SDM EDM
L
C−F S−S C−S C−C C−F S−S C−S C−C

0.00+ 7.896984 12.141214 16.962343 23.464098 7.896984 12.141214 16.962343 23.464098

0.01 7.912859 12.145094 17.114435 23.920842 7.897052 12.137259 16.954283 23.450987
0.02 7.929176 12.156408 17.290164 24.438521 7.897253 12.125430 16.930187 23.411799
0.03 7.945929 12.174664 17.488993 25.017669 7.897589 12.105844 16.890316 23.346963
0.04 7.963111 12.199360 17.710188 25.657921 7.898062 12.078691 16.835084 23.257178
0.05 7.980711 12.229993 17.952827 26.357979 7.898669 12.044231 16.765061 23.143397
0.06 7.998713 12.266064 18.215827 27.115669 7.899415 12.002785 16.680954 23.006798
0.07 8.017100 12.307084 18.497981 27.928074 7.900298 11.954731 16.583585 22.848756
0.08 8.035852 12.352580 18.7980 0 0 28.791726 7.901321 11.900494 16.473879 22.670803
0.09 8.054947 12.402102 19.114565 29.702831 7.902486 11.840536 16.352832 22.474596
0.10 8.074360 12.455226 19.446359 30.657474 7.903794 11.775348 16.221499 22.261881

the multiple scale solutions used in Ref. [11] compare with the exact solution. Therefore, HAM has more accuracy than the
multiple scale method. It can be observed from Table 1 that HAM has high accuracy and high adaptability with the exact
solution.

5.2. Benchmark results

To demonstrate the small scale effects based on stress-driven nonlocal integral model and Eringen differential model on
the nonlinear free vibration of FG nano-beams, variations of the frequency ratios versus gradient index, amplitude ratio,
length of the FG nano-beam, elastic foundation stiffness, and temperature rise are presented in this section.
SDM/EDM nonlinear natural frequency
Frequency Ratio = (66)
Classical nonlinear natural frequency
The linear frequencies of a homogeneous nano-beam resting on elastic foundation are first calculated based on stress-
driven nonlocal integral model and Eringen differential model with simply–simply (S–S), clamped–clamped (C–C), clamped–
simply (C–S), and clamped–free (C–F) boundary conditions. In all figures, the acronym SDM and EDM stand for stress-
driven nonlocal integral and Eringen differential model, respectively. Table 2 shows that the present results are in good
agreement with those reported by Apuzzo et al. [32]. Table 3 shows that the size-dependent dynamical structural response
associated with the Eringen differential model is of hardening type for cantilever (C–F) nano-beam. However, for other
boundary conditions it exhibits a softening response for an increasing nonlocal characteristic parameter. On the contrary,
the stress-driven nonlocal integral model exhibits an acceptable increasing treatment for all boundary conditions.
According to Table 4, the result of stress-driven nonlocal integral model for nonlinear vibration exhibits a hardening re-
sponse for an increasing, dimensionless, nonlocal characteristic parameter for selected boundary conditions while the Erin-
gen differential model exhibits a softening response.
A FG nano-beam with squared cross-section (b = h = 0.05L) is considered as a case study to illustrate the general behavior
of functionally graded nano-beams. The nano-beam is assumed to be made of Si3 N4 − SuS3 O4 whose material properties are
listed in Table 5 [44]. As mentioned earlier, in Eringen differential model the parameter μ (nm) is a small-scale parameter
revealing a small-scale effect on the responses of nano-size structures. In the present study, a conservative estimate of the
small-scale parameter (μ) is considered to be in the range of 0–2 nm [6].
 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315 311

Table 4
Nonlinear dimensionless natural frequencies of a homogeneous nano-beam with different boundary conditions based on SDM
and EDM for various dimensionless nonlocal characteristic parameter (a0 /r = 2).

λ SDM EDM

S–S C–S C–C S–S C–S C–C

0.00+ 13.00629 17.99132 24.29003 13.00629 17.99132 24.29003

0.01 14.31143 19.72876 25.67107 13.00258 17.98599 24.28267
0.02 14.33529 19.97072 26.27835 12.99145 17.97005 24.26068
0.03 14.37389 20.24795 26.96187 12.97303 17.94369 24.22431
0.04 14.42612 20.55631 27.69920 12.94751 17.90718 24.17398
0.05 14.49069 20.89384 28.51340 12.91511 17.86093 24.11027
0.06 14.56614 21.25809 29.40240 12.87617 17.80542 24.03387
0.07 14.65092 21.64927 30.33976 12.83103 17.74123 23.94561
0.08 14.74342 22.05489 31.34657 12.78009 17.66898 23.84641
0.09 14.84205 22.48415 32.40979 12.72383 17.58936 23.73725
0.10 14.94529 22.92075 33.52504 12.66268 17.50311 23.61917

Table 5
Material properties of FG nano-beam.

Material Young modulus (GPa) Poisson’s ratio Mass density (kg/m3 ) Thermal expansion coefficient1/K°

SuS3 04 207.8 0.3178 8166 12.33 × 10 − 6

Si3 N4 322.3 0.24 2370 5.87 × 10 − 6

Table 6
Nonlinear dimensionless natural frequencies of a homogeneous nano-beam resting on elastic foundation with different boundary conditions
based on SDM for various amplitude ratio ( T = 0).
a0
(KL = 50) (KL = 100) (KL = 200)
r
S−S C−S C−C S−S C−S C−C S−S C−S C−C

0.0 12.45523 19.44636 30.65747 14.32245 20.69205 31.46237 17.46805 22.98175 33.01334
0.3 12.56389 19.56187 30.74396 14.41707 20.80065 31.54665 17.54572 23.07959 33.09369
0.6 12.88353 19.90376 31.00172 14.69668 21.12257 31.79795 17.77637 23.37025 33.33338
0.9 13.39698 20.45901 31.42589 15.14957 21.64688 32.21174 18.15330 23.84561 33.72848
1.2 14.08067 21.20875 32.00889 15.75897 22.35749 32.78096 18.66644 24.49345 34.27281
1.5 14.90922 22.13117 32.74112 16.50584 23.23543 33.49663 19.30367 25.29896 34.95846
1.8 15.85868 23.20405 33.61167 17.37116 24.26099 34.34851 20.05202 26.24621 35.77631
2.1 16.90801 24.40645 34.60908 18.33734 25.41514 35.32574 20.89869 27.31932 36.71657
2.4 18.03957 25.71954 35.72185 19.38887 26.68048 36.41738 21.83162 28.50328 37.76929
2.7 19.23883 27.12695 36.93887 20.51243 28.04157 37.61277 22.83985 29.78435 38.92466
3.0 20.49401 28.61467 38.24971 21.69684 29.48497 38.90185 23.91365 31.15027 40.17329

5.2.1. Influence of elastic foundation parameter on the nonlinear frequency

The effects of the elastic foundation parameter on nonlinear free vibration behavior of FG nano-beams based on stress-
driven nonlocal integral model and Eringen differential model have been investigated in this study. Tables 6 and 7 demon-
strate the effects of the elastic foundation parameter on nonlinear frequency of simply supported, clamped–simply and
clamped–clamped nano-beam when the length scale parameters are ls = 2 nm, μ = 2 nm, and L = 20 nm, L/h = 20. The fol-
lowing dimensionless foundation parameter KL L4 /D∗ is used in the plot of Fig. 2 and Tables 6 and 7.
It can be seen from Tables 6 and 7 that increase in the value of the linear elastic foundation parameter leads to increase
in the nonlinear frequencies at a constant amplitude ratio for the S–S, C–S and C–C boundary condition and for both stress-
driven nonlocal integral model and Eringen differential model. The linear elastic foundation parameter increases nano-beam
stiffness. In Fig. 2, the trend of Eringen differential model is compared with the stress-driven nonlocal integral model theory.
It can be observed from Fig. 2 that increase in the values of the linear elastic foundation parameter according to SDM leads
to decrease in the nonlinear frequency ratios at a constant amplitude ratio for the simply supported nano-beam. Also, the
EDM will cause increase in the frequency ratios. It was found that the length scale parameters ls and μ have an opposite
effect on frequency ratios.

5.2.2. Influence of temperature rise on the nonlinear frequency

Verification was carried out for the nonlinear vibration problem of a uniformly heated simply supported, clamped–simply
and clamped–clamped FG nano-beam based on stress-driven nonlocal integral model and Eringen differential model. The
dependencies of frequency ratios on temperature rise are plotted in Fig. 3, in which T = 0 implies an unheated FG nano-
beam.
312 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315

Table 7
Nonlinear dimensionless natural frequencies of a homogeneous nano-beam resting on elastic foundation with different boundary conditions
based on EDM for various amplitude ratio ( T = 0).
a0
(KL = 50) (KL = 100) (KL = 200)
r
S−S C−S C−C S−S C−S C−C S−S C−S C−C

0.0 11.77535 16.22149 22.26188 13.73531 17.69568 23.35789 16.98996 20.32577 25.40849
0.3 11.84491 16.28683 22.31901 13.79499 17.75559 23.41236 17.03826 20.37796 25.45857
0.6 12.05079 16.48104 22.48941 13.97228 17.93394 23.57486 17.18219 20.53359 25.60811
0.9 12.38521 16.79895 22.77011 14.26212 18.22671 23.84285 17.41904 20.78999 25.85513
1.2 12.83685 17.23279 23.15653 14.65692 18.62774 24.21231 17.74451 21.14293 26.19643
1.5 13.39261 17.77306 23.64277 15.14751 19.12936 24.67804 18.15323 21.58706 26.62789
1.8 14.03916 18.40942 24.22211 15.72407 19.72306 25.23405 18.63909 22.11620 27.14465
2.1 14.76389 19.13154 24.88736 16.37684 20.40 0 07 25.87389 19.19563 22.72382 27.74138
2.4 15.55549 19.92953 25.63125 17.09659 21.15185 26.59096 19.81642 23.40325 28.41254
2.7 16.40409 20.79429 26.44667 17.87494 21.97029 27.37871 20.49526 24.14801 29.15254
3.0 17.30124 21.71762 27.32687 18.70441 22.84796 28.23087 21.22628 24.95193 29.95591

Fig. 2. Variations of the frequency ratio versus the amplitude ratio for various foundation parameter values for the FG nano-beam. Comparison between
SDM and EDM for S–S boundary condition ( T = 100, P = 2, L = 20 nm, ls = μ = 2 nm).

Fig. 3. Variations of the frequency ratio versus the amplitude ratio for various temperature raise values for the FG nano-beam. Comparison between
nonlinear frequency ratio of SDM and EDM for S–S boundary condition (KL = 50, P = 2, L = 20 nm, ls = μ = 2 nm).

It is found from Tables 8 and 9 that the increment in temperature rise leads to a decrement of the nonlinear frequencies
for stress-driven nonlocal integral model and Eringen differential model in S–S, C–S and C–C boundary condition. Temper-
ature rise decreases nano-beam stiffness. It can be seen from Fig. 3 that increase in the temperature rise leads to decrease
in the nonlinear frequency ratios in Eringen differential model, but the stress-driven nonlocal integral model will cause
increase in the frequency ratios.

5.2.3. Influence of length scale parameters on the nonlinear frequency

In order to investigate the effect of the length scale parameters on the natural frequency of the FG nano-beam, a curve
has been plotted as a function of the dimensionless nonlocal characteristic parameter.
It can be observed from Fig. 4 that by increasing the dimensionless nonlocal characteristic parameter, the nonlinear
frequency and frequency ratio of stress-driven nonlocal integral model has an increasing trend, while the Eringen differential
 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315 313

Table 8
Nonlinear dimensionless natural frequencies of a homogeneous nano-beam in thermal environment with different boundary conditions based
on SDM for various amplitude ratio (KL = 0).
a0
( T = 50) ( T = 100) ( T = 200)
r
S−S C−S C−C S−S C−S C−C S−S C−S C−C

0.0 9.551246 17.6321 29.51363 8.793176 17.13442 29.19269 7.036128 16.08976 28.53921
0.3 9.692475 17.76003 29.60356 8.946378 17.26669 29.28372 7.226584 16.22988 28.63256
0.6 10.10259 18.13754 29.87145 9.388841 17.65663 29.55486 7.766251 16.64206 28.91049
0.9 10.74709 18.74743 30.31187 10.07814 18.28544 30.0 0 046 8.583153 17.30420 29.36695
1.2 11.58352 19.56538 30.91635 10.96415 19.12682 30.61181 9.602965 18.18594 29.99263
1.5 12.57158 20.56424 31.67431 12.00149 20.15174 31.37797 10.76706 19.25460 30.7759
1.8 13.67762 21.71738 32.5738 13.15382 21.33207 32.28668 12.03373 20.47929 31.70377
2.1 14.87522 23.0 0 059 33.60237 14.39359 22.64256 33.32518 13.37424 21.83291 32.76286
2.4 16.14417 24.39286 34.74769 15.70034 24.06151 34.48085 14.76885 23.29268 33.93996
2.7 17.46916 25.87643 35.99792 17.05895 25.57076 35.74167 16.20386 24.83987 35.22259
3.0 18.83857 27.43653 37.34207 18.45817 27.15533 37.09644 17.66959 26.45928 36.59922

Table 9
Nonlinear dimensionless natural frequencies of a homogeneous nano-beam in thermal environment with different boundary conditions based
on EDM for various amplitude ratio (KL = 0).
a0
( T = 50) ( T = 100) ( T = 200)
r
S−S C−S C−C S−S C−S C−C S−S C−S C−C

0.0 8.646069 13.98299 20.58619 7.800654 13.33708 20.04912 5.748185 11.93614 18.92724
0.3 8.740528 14.05892 20.64804 7.905199 13.41687 20.11271 5.889157 12.02578 18.99478
0.6 9.017066 14.28388 20.83231 8.209666 13.65301 20.30208 6.290572 12.29014 19.19575
0.9 9.457627 14.65001 21.13529 8.690438 14.03645 20.61322 6.902549 12.71679 19.52539
1.2 10.03842 15.14574 21.55125 9.317739 14.55409 21.03996 7.671858 13.28828 19.97643
1.5 10.73510 15.75752 22.07298 10.06258 15.19079 21.57457 8.555115 13.98521 20.53989
1.8 11.52577 16.47134 22.69235 10.90017 15.93115 22.20837 9.520621 14.78869 21.20584
2.1 12.39209 17.27376 23.40086 11.81059 16.76068 22.93238 10.54606 15.68169 21.96416
2.4 13.31927 18.15256 24.19006 12.77836 17.66637 23.73772 11.61584 16.64947 22.80501
2.7 14.29555 19.09692 25.05187 13.79157 18.63692 24.61596 12.71899 17.67968 23.71918
3.0 15.31168 20.09753 25.97872 14.84106 19.66266 25.55925 13.84767 18.76207 24.69823

Fig. 4. Variations of the frequencies versus the dimensionless nonlocal characteristic parameter for the FG nano-beam: comparison between nonlinear
√
frequencies of SDM and EDM for S–S, C–S and C–C boundary condition (a0 /r = 0.1, KL = 50, T = 100, P = 1, L = 20 nm), ω∗ n = ωn L2 ρ c A/Ec I).

model exhibits a decreasing trend. This implies that the overall stiffness of the FG nano-beam based on Eringen differential
model gets significantly reduced due to the effects of the nonlocal characteristic parameter.

6. Conclusions

In this study, the nonlinear free vibration analysis of a FG nano-beam in thermal environment and resting on an elastic
foundation was investigated based upon stress-driven nonlocal integral model and Eringen differential model respectively.
The Bernoulli–Euler beam theory, including von Karman geometric nonlinearity, was employed to model the nonlinear vi-
bration of the FG nano-beam. Explicit formulas are proposed for the Bernoulli–Euler model relevant to stress-driven nonlocal
integral model and the Eringen differential model to evaluate the nonlinear natural frequencies of the FG nano-beam. The
analytical solution for natural frequencies is established using the Homotopy Analysis Method.
314 E. Mahmoudpour et al. / Applied Mathematical Modelling 57 (2018) 302–315

From the numerical results, it can be concluded that the frequency ratios predicted by HAM and the exact solution are
in good agreement. In stress-driven nonlocal integral model and the Eringen differential model, the nonlinear frequency ra-
tios have different numerical behaviors. The nonlinear frequency ratios obtained from stress-driven nonlocal integral model
decrease as the elastic foundation parameter and temperature rise values increase. However, nonlinear frequency ratios of
Eringen differential model work the opposite. It can be seen that increase in temperature rise and elastic foundation pa-
rameter leads to increase in the nonlinear frequency ratios in Eringen differential model. It appears that by increasing the
length scale parameters, the nonlinear frequency ratio of stress-driven nonlocal integral model implies an increasing trend,
but the Eringen differential model has a decreasing trend.

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