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n=1
(f
n
cos nt +g
n
sin nt ),
where f
0
, f
n
and g
n
(n =1, 2, . . . , N) are force component amplitudes of the corresponding harmonic terms.
By letting a new time scale = t , frequency ratio =
k
0
/m
, damping ratio =
c
0
2
mk
0
, and noting that
H(
dx
d
) =H(
dx
d
), Eq. (1) is transformed into
(6)
2
d
2
x
d
2
+2
dx
d
+x +2 H
_
dx
d
_
=
1
k
0
q().
Fig. 1. Oscillator with piecewise-linear damping.
68 L. Xu et al. / Physics Letters A 301 (2002) 6573
3. IHB scheme
With regard to the piecewise-linear differential system (6), by a NewtonRaphson procedure, assuming that
x
0
() stands for an initially approximated vibrating state corresponding to the excitation parameters
0
and q
0
,
a neighboring state may be denoted by
(7) x() =x
0
() +x(), q() =q
0
() +q(), =
0
+,
where x(), q() and are small increments.
Correspondingly, the piecewise-linear function H(
dx
d
) may be expressed by a rst order Taylor expansion as
(8) H
_
dx
d
_
= H
_
dx
0
d
_
+H
_
dx
0
d
_
dx
d
.
By substituting expressions (7), (8) into Eq. (6) and neglecting the nonlinear terms of the small increments, (6)
becomes linearized as
(9)
2
0
d
2
x
d
2
+2
0
dx
d
+x +2
0
H
_
dx
0
d
_
dx
d
=R +S +Q,
where
R =
_
2
0
d
2
x
0
d
2
+2
0
dx
0
d
+x
0
+2
0
H
_
dx
0
d
_
1
k
0
q
0
_
,
(10) S =2
0
d
2
x
0
d
2
2
dx
0
d
2 H
_
dx
0
d
_
, Q= q/k
0
.
R is the corrective term which goes to zero when the solution is reached.
Though Eq. (9) is linear, there are variable coefcients due to piecewise linearity of the damping force and
thus does not seem feasible to be solved directly, hence a Galerkin procedure is carried out as follows. Both the
approximate initial periodic solution and its small increment may be expressed as
(11) x
0
=
a
0
2
+
N
n=1
(a
n
cos n +b
n
sin n), x =
a
0
2
+
N
n=1
(a
n
cos n +b
n
sinn ),
where N is the number of harmonic terms taken in the limited Fourier series, as in (5). By taking a
n
s, b
n
s as
the generalized coordinates, it is derived from Eq. (9) that
(12)
2
_
0
_
2
0
d
2
x
d
2
+2
0
dx
d
+x +2
0
H
_
dx
0
d
_
dx
d
_
(x) d =
2
_
0
(R +S +Q)(x) d,
which is equivalent to a system of 2N +1 linearized equations with the a
n
s and b
n
s being variables
(13) Ca =R+S +Q
where
a = [a
0
, a
1
, . . . , a
N
, b
1
, b
2
, . . . , b
N
]
T
, a =[a
0
, a
1
, . . . , a
N
, b
1
, b
2
, . . . , b
N
]
T
,
(14) C=
_
C
11
C
12
C
21
C
22
_
, R=
_
R
1
R
2
_
, S =
_
S
1
S
2
_
, Q =
_
Q
1
Q
2
_
.
L. Xu et al. / Physics Letters A 301 (2002) 6573 69
The explicit expressions for elements of the above matrices are worked out as follows:
C
11ij
=
j
ij
_
1 j
2
2
0
_
+C
NL
11ij
(i =0, 1, . . . , N, j = 0, 1, . . . , N),
C
12ij
= 2j
ij
0
+C
NL
12ij
(i =0, 1, . . . , N, j = 1, . . . , N),
C
21ij
= 2j
ij
0
+C
NL
21ij
(i =1, 2, . . . , N, j = 0, 1, . . . , N),
C
22ij
=
ij
_
1 j
2
2
0
_
+C
NL
22ij
(i =1, 2, . . . , N, j = 1, . . . , N),
R
1i
=
i
_
_
1 i
2
2
0
_
a
i
+2i
0
b
i
f
i
k
0
_
+R
NL
1i
(i =0, 1, . . . , N),
R
2i
=
_
_
1 i
2
2
0
_
b
i
2i
0
a
i
g
i
k
0
_
+R
NL
2i
(i =1, 2, . . . , N),
S
1i
=2i(i
0
a
i
b
i
) +S
NL
1i
(i =0, 1, . . . , N),
S
2i
=2i(i
0
b
i
+ a
i
) +S
NL
2i
(i =1, 2, . . . , N),
Q
1i
=
1
k
0
i
f
i
(i =0, 1, . . . , N), Q
2i
=
1
k
0
g
i
(i =1, 2, . . . , N),
where
n
=
_
1, n =0,
1/2, n =0,
ij
=
_
1, i =j,
0, i =j.
It can be seen that the linear parts of the elements of C, R and S are roughly the same as in [18], while their
nonlinear parts are, respectively, expressed by:
C
NL
11ij
= 2j
i
0
2
_
0
H
_
dx
0
d
_
cos i sin j d, C
NL
12ij
=2j
i
0
2
_
0
H
_
dx
0
d
_
cos i cos j d,
C
NL
21ij
= 2j
0
2
_
0
H
_
dx
0
d
_
sin i sinj d, C
NL
22ij
=2j
0
2
_
0
H
_
dx
0
d
_
sin i cos j d,
R
NL
1i
=2
i
0
2
_
0
H
_
dx
0
d
_
cos i d, R
NL
2i
=2
0
2
_
0
H
_
dx
0
d
_
sin i d,
S
NL
1i
=2
i
2
_
0
H
_
dx
0
d
_
cos id, S
NL
2i
=2
2
_
0
H
_
dx
0
d
_
sini d.
The evaluation of these piecewise-linear integrals in programming can be achieved explicitly by a procedure using
bisection and interpolation method, which has been well expounded in [18]. Alternatively, powerful function of
modern mathematics software as MATLAB renders the direct integration of these integrals fast and precise enough
to serve the need.
Generally, in the study of forced vibration of dynamical systems, the excitation level is kept as constant, thus
Q =0, and scheme (13) is reduced to
(15) Ca =R+S.
As noted in [18], the -incrementation procedure for obtaining the frequency response curve of a dynamical
system may be carried out by incrementing from point to point, which implies that =0 though the iteration
70 L. Xu et al. / Physics Letters A 301 (2002) 6573
process at every point, leading to the following equations
(16) C
(i)
a
(i+1)
=R
(i)
, a
(i+1)
=a
(i)
+a
(i+1)
.
Being reevaluated in terms of the (i +1)th amplitude vector a
(i+1)
, the matrices C
(i+1)
, R
(i+1)
are updated at
every increment.
From the derivation of the IHB computation scheme, it can be seen that N, that is, number of harmonics taken
in the limited Fouries series, is incorporated into the iteration process as an independent parameter, thus can be
conveniently varied according to the required precision, facilitating programming in computer simulation.
4. Numerical simulation
Taking the simple nonlinear oscillator shown in Fig. 1 as a numerical example, with stiffness k
0
=5.0 N/m, and
damping coefcients c
0
=c
1
=0.2 Ns/m xed, the IHB scheme as derived above for analyzing periodic motions
of a class of dynamical systems with a general form of piece-wise linear viscous damping is tested and evaluated
here by some revealing numerical simulations.
One of the distinctive advantages of the IHB method over classical approaches is that it can be used with no
difculty to obtain the response property of the considered dynamical system over a wide range of varying system
control parameter. The amplitudes of vibration may be expressed either as peak amplitudes per cycle or as the
norm of the harmonic components which is indicative of the total energy of the motion. The effect of various
system parameters, such as the inuence of force amplitude, viscous damping and number of harmonics included
in the IHB scheme, on frequency response curves of the considered system with the clearance d
1
= 0.8 m and
d
2
=1.0 m can be systematically studied. By using peak amplitude and taking ve harmonics, Fig. 2(a) shows the
dependence of the frequency response at the force level F =10 N on viscous damping =0.05, 0.1 and 0.3, and
that at a viscous damping ratio of = 0.1 on various levels of force F =2.0, 5.0 and 8.0 N is shown in Fig. 2(b).
In the generation of the above curves, the IHB method uses an initial guess of the amplitude vector and iterates
until convergence is achieved, and the following rate of convergence is then remarkably improved by choosing the
initial guess of the amplitude vector to be the already converged vector from a neighboring frequency.
(a) (b)
Fig. 2. Frequency response by the IHB method with different (a) damping ratio, (b) force level.
L. Xu et al. / Physics Letters A 301 (2002) 6573 71
Table 1
Amplitude components by the IHB method with different number of harmonics
NH a
0
a
1
a
2
a
3
a
4
a
5
b
1
b
2
b
3
b
4
b
5
1 0.0000 1.7769 2.5912
2 0.0000 1.7729 0.0103 0.0332 2.5998 0.0042 0.0533
3 0.0000 1.7719 0.0105 0.0325 0.0030 0.0165 2.6017 0.0043 0.0538 0.0004 0.0008
(a) (b)
(c) (d)
Fig. 3. Numerical results by the IHB method with different number of harmonics. (a) Time history of displacement and velocity. (b) Phase plane
with NH =1. (c) Phase plane with NH = 3. (d) Phase plane with NH= 5.
The accuracy of the IHBmethod is evaluated here by comparing the results against those of existing time domain
analysis. In this case, a fourth order RungeKutta numerical integration routine is used to provide an accurate
basis for comparison. By letting = 0.8, = 0.2 and F = 10.0 N, Table 1 shows the amplitude components
computed by the IHB scheme with different number of harmonics (NH = 1, 3, 5, respectively). The time history
of displacement and velocity generated by numerically integrating Eq. (3) until steady periodic state is achieved is
shown in Fig. 3(a), while Fig. 3(b)(d) compares the corresponding steady state solutions by the IHB scheme with
NH =1, 3, 5 denoted by the solid line with the result of numeric integration, which is dotted at some discrete points
in the same phase plane, showing the effect of varying the number of harmonics on the precision of the results.
72 L. Xu et al. / Physics Letters A 301 (2002) 6573
(a) (b)
Fig. 4. Frequency response and phase plane of the oscillator with multi-frequency external periodic excitation. (a) Frequency response. (b)
Phase plane.
The IHB result by taking only one harmonic as shown in Fig. 3(b) is exactly the solution that would have been
obtained by the rst order harmonic balance (HB) method or equivalent rst order frequency domain techniques.
More harmonics are necessary to approximate more precisely the periodic motion. It can be seen from Fig. 3(d)
that the IHB result by taking ve harmonics already provides a fairly accurate approximation in the case.
In the case of multi-frequency external periodic excitation, the IHB scheme also proves to be highly efcient.
With =0.02, d
1
=d
2
=1.0 m, Fig. 4(a) shows the frequency response of the considered system under excitation
5 cos t + 5 cos 2t + sin4t N. The steady state solution of the case at = 0.2 by the IHB scheme with ve
harmonics taken is plotted in Fig. 4(b), which is compared with the dotted points by the fourth order RungeKutta
numerical integration routine, showing great accuracy.
5. Conclusion
The incremental harmonic balance (IHB) method is successfully extended to a class of nonlinear dynamical
systems with a general form of piecewise-linear viscous damping characteristics for computing periodic solutions,
which is in many respects distinctively advantageous over classical approaches. Numerical simulation of a specic
periodically excited oscillator of the considered type is effectively carried out by the IHB scheme, with the effect
of various system parameters, such as the inuence of force amplitude, viscous damping and number of harmonic
included in the IHB scheme, on frequency response curves of the considered system being systematically studied,
and the results compare very well with direct numerical integration. The formulation derived here can readily
be combined with the already published IHB scheme designed for treating systems with only piecewise-linear
stiffness in analyzing complex dynamical behaviors as bifurcation and chaos [19,20] of more general piecewise-
linear systems.
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