Journal @-Sound and Vibration (1992) l%(3),

413-441

NON-LINEAR

PHENOMENA IN FORCED VIBRATIONS OF A NEARLY SQUARE PLATE: ANTISYMMETRIC CASE

X. L. YANG AND P. R. SETHNA

Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, Minnesota 55455. U.S.A. (Received 19 June 1990, and in jinal form 27 February 199 1)

Non-linear flexural vibrations of a nearly square plate when excited periodically with forces normal to the mid-plane of the plate are studied when the excitation frequency is near that of one of the antisymmetric modes. It is shown that there are two distinct cases, depending on whether the loading is antisymmetric or symmetric. The present work is concerned with the former case. The physical phenomena are due to a I :I resonance of the modes. The motions can be in one or the other of the antisymmetric modes or in mixed modes and can be in the form of travelling waves or pseudo-standing waves, which are travelling waves with jerky motions. The presence of Hopf bifurcations leads to amplitudemodulated travelling waves as well as period-doubling bifurcations to chaos. A global analysis for the undamped case shows global chaotic phenomena similar to those observed in the case of water waves.

1. INTRODUCTION Studies of non-linear motions of thin elastic plates include the study of free motions, forced motions with the force normal to the mid-plane of the plate and parametrically forced motions with forces in the plane of the plate. For a survey of the literature, we refer to Nayfeh and Mook [I], Chia [2] and Sathyamoorthy [3,4]. Among the studies concerned with excitations normal to the plate, most are concerned with cases in which only one mode is strongly excited; this is the case, for instance, in the works of Yamaki [5], Eisley [6], Huang and Sandman [7], and Kung and Pao [8]. Among the studies of forced motions that include the effect of internal resonance, and thus involve the motion of more than one mode, are the works of Sridhar, Mook and Nayfeh [9, lo]. In such studies the natural frequencies satisfy special relationships. The present work is in this category for the case in which two modal frequencies are nearly equal. Specifically, we study the motions of nearly square plates where the excitation frequency is approximately equal to the linear natural frequency of one of the antisymmetric modes; for instance, the mode with mode numbers (m, n), m #n. Since the plate is nearly square, the mode with mode numbers (n, m) is also excited. This study is concerned with the complex phenomena associated with the interaction of two such modes. Our analysis is based on the dynamic analog of the von K&rrnhn plate equations as given in Chu and Herrmann [ll]. We derive from these equations a set of four first order non-linear ordinary differential equations in normal form, which represent the time evolution of the amplitudes and phases of the two modes. The derivation is similar to that in Yang and Sethna [ 121, where the corresponding problem with parametric excitations is discussed. The equations are very similar to those that describe the motion of square
413 0022-460X/92/120413+29 $03.00/O 8 1992 Academic Press Limited

414

X. L. YANG AND P. R. SETHNA

membranes as in Yasuda and Torii [ 131.When the restriction of O(2) symmetry is imposed, they occur in the study of a spherical pendulum (Miles [ 141) stretched string (Miles [15], Johnson and Bajaj [ 16]), surface waves in cylindrical containers (Miles [17]) and forced response of axisymmetric shells and beams (Maewal [ 18, 193). Our analysis is more general than that given in these references, in that it includes the effect of the detuning of the natural frequencies, with the result that our analysis depends on two parameters and codimension two phenomena [20] can occur. Furthermore, we give analytical results for chaotic behavior. On the other hand, it is more limited because all our results are only valid when the energy dissipation can be considered to be very small, a limitation that is not too serious in the case of metallic plates that are properly supported at the edges. As will be apparent, the entire range of phenomena can be divided into three separate cases, depending on the excitation frequency, the nature of the distribution of the loading, and the mode numbers of the modes that are excited. If the excitation frequency is near that of any symmetric mode (m =n), the analysis can involve only one mode, We cite references [5-81 for this case. If the excitation frequency is near that of an antisymmetric mode (m#n), two modes become excited and, depending on the loading and the mode number, there are two distinct cases. One, which we will call the antisymmetric case, is the one in which it is possible for one of the modes to have no motion. This case is analogous to the ones discussed in references [ 13-191. The other case, which we call the symmetric case, is the one in which it is impossible for either of the two modes to have no motion. This terminology is suggested by the fact that the former and the latter are usually excited by asymmetric and symmetric load distributions, respectively. The present study is concerned with the former case, and should be considered as a portion of a twopart study. In a future study we hope to give a similar treatment of the symmetric case. Before we proceed, among references that discuss chaotic phenomena in plates, but in cases different from the one treated here, may be mentioned the work of Lee [21], who discusses free vibrations, and the work of Dowel1 [22], who discusses flutter due to fluid flow passing the plate. The treatment given in the main body of this work is for a plate that is simply supported and with an external load normal to the neutral surface. The treatment of the boundary conditions can easily be modified for other conditions. With regard to the loading, the forces normal to the mid-plane of the plate may arise also from accelerations if the plate is mounted on a vibrating reference frame. In this case the excitation terms, in their dependence on the space variables, take a form as given in the Appendix, which is different from that given in the body of the paper. However, the basic analysis is the same for either form.

2. FORMULATION OF THE PROBLEM Consider a flat rectangular plate of thickness h and edge lengths a and 6, with a= b. The edges are assumed to be hinged. Let Oxyz be a Cartesian co-ordinate system, with Oxy in the middle plane of the plate and the origin 0 at a corner. We base our results on von Karman-type equations governing the motions of the plate, as derived by Chu and Herrmann [ 1I].

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sph

EiJ

F(x,

y,

t)

cp2(iw,

fey

iq,

(1)

where u and B are the displacements of a particle in the mid-plane of the plate in the x and y directions, respectively, W is the displacement of the particle normal to the midplane, v is the Poisson ratio, c,,= {E/[p( 1 - v~)])~, where E and p are Young s modulus and the density of the plate material, respectively, C is the coefficient of lateral viscous damping and F(x, y, t) is the excitation force normal to the plate. Dots indicate differentiation with respect to time t and the subscripts x and y denote spatial derivatives. The boundary conditions are x = 0, a :
W= W,, = ii = 0, y=O, b: w=$,.=fi=O. (2)

Our study is concerned with motions that are near the equilibrium configuration, but sufficiently large to include first order non-linear effects. To make our assumptions explicit, we introduce a small parameter E and scale various quantities in terms of E. Specifically, let
/(a ), E= h
t =

5 = x/a,

t7= y/b,

ill = a/b, u=ii/(~~a), F= 12a(lE3Eh

w=*/(Ea),

_cCPf,
12 a

+~L
EP

(3)
v2)
F

0 =

fi/( .s2a),

a:= 1+ &(Y/2),

where the aspect ratio, ill, is near one, and y is a parameter. Substituting equation (3) into equation (1) we obtain the non-dimensional
UC< + wp55 +

equations: (4a)

v(q,l+ wi?wsJ +

+wqwsrl) =&ii + 0( F ), +hf,+h+wln

ue,, + w,+v~~+ wcw5,,) = &ii+ 0(

Ed), (4b)

w5e5e+ 2wcerts+ w,,,,,,,,+ ti + E{2c ti~ + y(wserIe + w,,,,,,,,)- 12ugwEr - 6w;wse - 12v(orlw5<f ;w:~w<~)- 121),7w9,,-6~wf,w,,,l-12v(Ug VV,I + $H $V9J
). - 12(1 - v)(u,wca + Dgw<s + <w,wgrl)} + O( E2)= &F(Lj, rj, I

(4c)

where the dots indicate differentiations are :

5=0, 1, w=wg=u=o,

with respect to t , and the boundary conditions

?j=o, 1, w=w,,=u=o.

(5)

We assume the lowest frequency of waves in the x and y directions to be much greater than the frequency of flexural vibration under consideration; i.e., if the flexural frequency of the mode with mode numbers (m, n) is w,,~,,,then we assume that w,,,,~c,,/a, where c,, is the wave speed. In view of this, we can neglect the terms containing ii and ij in equation (4).

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YANG AND P. 3%.SETHNA

As mentioned in the introduction, when the excitation frequency is approximately equal to that of one of the symmetric modes, an analysis based on the motion of a single mode is possible. We discuss here the case in which the excitation frequency is nearly equal to that of one of the non-symmetric modes. It then becomes necessary to study the interaction of at least two modes. We assume that there is no internal resonance with any additional modes and thus the transverse motion of the plate has the form w( 5, q, 1 )= T,,,,(t )S,,, + r, ,tt )&m + O(E).

(6)

where S,,= sin (IX<) sin(sltn) and T&t ) represent the time evolution of the modal amplitudes. Now consider the system of equations (4) with ii and ii equal to zero. The first two equations relate u and tr as functions of 5 and Q to w. Following reference [12], we can show that, with w as in equation (6) u( 4, r7, t ) and v( 5, n, t ) take the forms
2 u=:

Ti,,(t )
i

Cos2naq-

1-i-r

v sin 2rnz5

sin2nn{-t-u*, !

v=z

Tf,,(t ) cos 2mrt5-- I +7 v sin 2naq n

2 +mz TQt') cos

2nkg - 1 +r v sin rnkr + I)*, m

(7)

where U* and tr* are

v*

ar,,,,(t')T,,,,(t')(c,S~,,5S,,5S,,lrlC,lrl +

c2&,;S,&n$n,,

+c3C,,~C,,S,,,,C,,+C4~n5Cn4C,lisSnrt)r

(8)

and where Sne =sin (mn{),

n

C,,=cos(nnn),

. . . , and

cl=-----4(1 -v)

n2 + m2 2-- 2n2v -_----v +1 I n2 - m2 n2-k2 1 mn2v

c3=

m cz = - --v-_ 4(1 -v) m2n v

c4=

m2+n2
( m2-n*

2m2v +1 in2 - nz
i

(9)

2(n2-m )

2(m2 - n2) f

Let F( 4, 9, t) =g( 5, q) cos (pt ), where p is the excitation frequency. The linear natural frequency of the (m, n)th mode, as is well known, is CO,,,,,= (m2+n2fn2, and we let ol , =p2( I- ECQ,),so that the natural frequency is nearly equal to the excitation frequency and o. represents the detuning parameter for the external excitation. Substituting equations (6) and (7) into equation (4c), and multiplying successively by sin (ma<) sin (nnq)

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and sin (no{) sin (mlrq), and integrating, we obtain two ordinary differential equations for T,,,,(i) and T,,,@) :

d2T,,n ---+22E-di2

w,,,

c dT,,, ---+
di

T ,,,+ ~[-a~+

yn2x2+ (bT:,,,+

bTE,,)]T,,,,= + bT&,)lT,,,,,=

&fnl,,cos i, (10) ~fn,,, cos f.

+ T ,,,+ ~[-a~ + ym2a2 + (hz,,,

where i=pr and r4+ 1 (3-v+----+2(9-7v)-.2-(I +r2)2 1 )* (1 +r (1 +2v-v2)

1 g( 5, t7) sin(in5 1 sin WI) d5 dr7,

r+ I -----+4(2(1 +r2)2 v2) $+ I ,

(11)

and where Y= m/n. Let T,,,,= Z,(i) eii and T,,,,,=Z2(i) e, where Z, is complex. Using a variation of the constants procedure and the method of averaging, we have -2~--2~~Z,+isyn*a Z,-iscr~Z~ W,,?H +ic(3BZ:Z, + 2DZ,Z2Z2 + BZ,Z,2) - i fj;,,H = 0,
L

k= 1,2;

(12)
-2$-2E/Z2+icynz2n2Z,-isooZz @WI +ie(3BZiZ2 + 28Z2Z,Z, + DZ,Z?) - i tfn,n = 0, Using a slow time, and redefining the parameters as
k= 1, 2.

61=LlW),
C=2c /(~,w,,v,B),

62 =Mw3),

z=(.d,B/2)i,

~=(l/(S,B))(~,-5m,,,,) B= 38/( 6,) x =

62/61,

(13)

P=r(n2-,n2)lr2/(2~,B),

n=B/s,,

K = D/B,

gives our basic equations in the complex variables Z, and Z2,

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X. L. YANG

AND P. R. SETHNA

If we substitute ZI =a~ eieand Z, = a2 eie2into equation (14), we have four real equations in double polar co-ordinates with al and a2 as radii and 0, and e2 as angles: &, = - cal -sin 8, + KQU: sin (28, -2e2), ~4, = - (o - P)u, cos 8, + U: + Kulu:[2+ c0s(2e, - ze,)],

(15a)
(15b)

b2 = - cu2- x
~~fj,=-(~+p)~~-x

sin e2 -tKU,U: sin (2e2 - 2e,),

cos e,+~:+

(15c)
(154

K-a2a:[2+c0s(2e2-2e,)1.

We note that in general f;nn#fn,,, and neither of them is zero. For instance, J,,,,=fn,,, #O, when the loading is uniformly distributed and neither m nor n is even. On the other hand, there are many important cases when one (both) of them is (are) zero depending on the spatial distribution of the loading and the mode numbers. Ifg(c, q) is symmetric about 4 = l/2 and n = l/2, then&, =fn,,, = 0 if either m or n is even. If g( 4, 7) is symmetric, say, about 4 = l/2 and not symmetric about n = l/2, then J;n#O and j& = 0 if m is odd and n is even, and f;,,,,= 0 and fn,,, # 0 if m is even and n is odd, andI;,, = 0, f",,, = 0 if )II and n are both even. In the case in which bothf;,,, and fn,, are zero, no resonance phenomena are possible in a first order theory. In this study we discuss the antisymmetric case in which one of them, = 0, and thus 6, = 0 and x = 0. (If J;,,= 0, we have the same results as given here, say fn,,* with the sign of p reversed.) The non-symmetric loading required for this case is also likely to occur when the plate is mounted on a non-inertial reference frame, and when the reference frame has angular acceleration about an axis parallel to one or the other of the axes of symmetry, as discussed in the Appendix.

3. ANALYSIS OF LOCAL BIFURCATIONS Equations (15) depend on four parameters o, p, c and K. For a given forcing amplitude, depends on the ratio of mode numbers and Poisson ratio. For a Poisson ratio v =0.3, K does not change much, varying from O-173 to 0.181 as r, the ratio of the mode numbers, goes from zero to one. We will see that the nature of the bifurcations does not depend very strongly on this ratio, and thus the bifurcations are not strongly dependent on the mode numbers. The actual physical phenomena of the waves, on the other hand, are strongly dependent on the mode numbers. The remaining parameters c, o and /? have the following physical meanings. For a given mode number and forcing amplitude, c is a measure of energy dissipation, o is proportional to the difference between the detuning of the external excitation frequency and the deviation of the aspect ratio from one, and /I is proportional to the deviation of the aspect ratio from one. The parameter p can also be interpreted as a measure of internal detuning. The different solutions of equations (15) can be interpreted in terms of the transverse motion of the plate. Constant solutions represent periodic waves at approximately the linear modal frequency. There are values of system parameters when there are waves in a single linear mode, which occurs when a2 is zero. We denote these latter modal motions, which are one mode motions, by OM. There are mixed mode motions when al and a2 are both constants other than zero. These latter motions, in the case when damping is zero, can be either standing waves (SW) or travelling waves (TW). When damping is not zero, in contrast to the case of parametrically excited plates, these motions are exclusively travelling waves. In both cases, with or without dissipation, the mixed mode motion, as we will show, can develop a peculiar wave motion in limiting cases which we will call pseudo-standing wave motion.
K

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The analytical approach given here is similar to that in reference [ 121, but the details and the results are, however, entirely different. The basic equations (15) are not valid when ~1,is zero. To study such motions, let x2 = a2 cos e2, y2 = a2 sin 62 and when x = 0, we have U, = -ca, -sin 8, + Ku,[(x:-y$) sin 28, -2x2y2 sin 28,],

u,8,=-(a-~)u,-COSe,+u:+KU,[2(x:+y:)+(x:-y:)cos2e,+2x~y,sin2e,], ~2=--~~2+(~+~)y2-(~~+y~)y2-Ku~[(2-~~~28,)y2+xzsin28,],
j2=-cy2-(0 + P)

x2+(x~+y~)~2-Ku~[(2+cos26,)x2+y2sin26,]. (16)

Regarding c and K as fixed, we discuss the local bifurcation phenomena in terms of the parameters B and j?. We use the terms local and global bifurcations in the same sense as used in Guckenheimer and Holmes [20]. By local bifurcations we mean phenomena that occur when D and jJ takes values such that the phenomena occur in a small neighborhood of ufixedpoint or aperiodic orbit in the state space. In most cases they will be neighborhoods of fixed points. On the other hand, by global bifurcation we mean phenomena that can be understood only by considering global aspects of the flow. In our case, they are the bifurcations that occur when global heteroclinic cycles break under perturbation. We give results in terms of bifurcation sets as graphs in the (o, p) plane on which the system equations become degenerate and in terms of bifurcation diagrams which, for simplicity, we present with amplitudes a, and u2 as co-ordinates (ignoring the 8, and I32 variables) as a function of the detuning 0 for fixed values of p_ We will see that there are eight intervals of the parameter /I, in each of which the birfurcation diagrams are qualitatively different. We show that the bifurcation sets are either straight lines or curves as in Figure 1. In most cases, the points at which they intersect have no special significance, since the intersecting lines or curves represent bifurcations of different solutions. However,

Figure 1. Bifurcation set for k=O, 179 (v =0.3, m/n=O.S) and c=O.O258. Types of bifurcations: --, pitchfork; --, saddle-node; - - -, Hopf. (a) The whole picture; (b) an enlargement of the region marked in (a).

420

X. L. YANG

AND

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there are three points, marked A, B and C, which represent more complicated phenomena of more than one co-dimension. The bifurcation diagrams are given in Figures 2-4. 3. I. ONE-MODE MOTIONS (OM Equation (16) has constant solutions when -car -sin 8, =O, -(d-_)a, -cos 8, +a:=o, x2 = y2 = 0. The first two equations give a bifurcation diagram (response curves) for the mode that is excited, which is identical to that for Duffing s equation. Although this case can be analyzed easily for all values of c, since it becomes necessary to perform the rest of the analysis in the limit as c+O, for uniformity of treatment, we also treat equation (17) in this limit. If c -+ 0, unless 0, N a/2 at resonance, 0 can be assumed to be very near 0 or K. We then have (p-o)a,+a~fl=o, (18) (17)

with the plus and minus signs corresponding to 19,= n and 0, respectively. The former branch of the bifurcation diagram has a turning point when equation (18), with plus sign, has a double root for a,. This occurs when ~~c?.o=~+& where 0: = 3(2-2 ), (19)

with a:=&=4- /, which is independent of Q and j?. Expression (19) represents a saddlenode bifurcation, which we will show to occur at a zero eigenvalue. The graph of equation (19) and all other bifurcation sets are shown in Figure 1 and the bifurcation diagrams in Figures 2-4.
01 t

Figure 2. Bifurcation diagram for fl =0 (not to scale). The branches are: --, pure one-mode; - - -, travelling wave; _ _, pseudo-standing wave.Heavy lines denote stable motions and light lines unstable motions. Dots indicate intersection points.

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-p&----1 ~
a2,/

my-_--
--_

i./ -+ /O F .---..-/ 02J

;.

Figure 3. Bifurcation diagram for (a) Pz,< p <PIs, (b) ~JS< P < BIS and (cl PIT<: fi =C plS (not to scale). The branches are: -, pure one-mode; - - -, travelling wave; -. -, pseudo-standing wave. Heavy lines denote stable motions and light lines unstable motions. Dots indicate intersection points.

When 0, = 7r/2 we have resonance and at = c-l, and we have a saddle-node bifurcation with
0S()=@-tCP. (20)

Since the value of co is very large for small E it is not shown in Figure 1.. The rest of the analysis is for mixed motions when neither al nor a2 is zero. We carry out this analysis in two steps when c=O and when c#O but small. What is remarkable is that in many instances, these two cases give physically different phenomena. 3.2. CASES WHEN c=o A mentioned earlier, we take x =0 throughout, and when c=O we have from equation (15~) when 8, =0, sin (2~9~ -20,) =O. This leads to two important cases when 8, = &

422

X. L. YANG

AND P. R. SETHNA

Figure 4. Bifurcation diagram for (a) &~p</3,~, (b) /3.11<p<p ZTand (c) p<p,,. (not to scale). The branches are: -, pure one-mode; - - -, travelling wave; - . -, pseudo-standing wave. Heavy lines denote stable motions and light lines unstable motions. Dots indicate intersection points.

and when &= 8, + 7r/2, which can be shown to represent standing and travelling waves, respectively. The constant solutions of equations (15) then satisfy

-(o--j+,

+U:+jlKU,&

1 =o,

-(fY+p)+/lKKa:+a:=o,

@a,b)

where the plus and minus signs refer to 0, = z or 0, respectively, and Jo= 3 and 1 for standing and travelling waves, respectively.

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3.3. STANDING WAVES (SW) (&=&) In this case equations (21) with p = 3, can be written as
(1 -9K*)+[(1 -3K)O-(1 U:=.(D+P-~KCZ:)>~. +3K)P]a,i1 =O, Wa) (22b)

Equation (22a) has a branch structure similar to that of the undamped Duffing s equation and a turning point occurs in the three-dimensional (a, , u2, cr.) space at a saddle-node bifurcation, that is, at a double root of (22a) when
fJ=Os= with 8. = 3(1 - 9K*) A. 4(1 -3K)

(23)

The amplitude of al when o = os is independent of o and j? and is

U,q,j =

2-9

1 -9K*)-j.

(24)

The turning point on the lower branch of the bifurcation diagram touches, for critical values of the parameters, the plane a2 =O. This occurs, however, without the solution of equations (21) becoming tangential to this plane. This point is common to a bifurcation diagram for standing waves and one-mode motions and occurs at 5, + p = 3 KU&), from equation (21b). Thus we have 3(6K*+K-1)
P=P*s= 253 1 _ gK*)*/3.

(25)

Other bifurcation points common to SW and OM waves are also of interest. Consider equations (21) at u2=0. Eliminating aI between equations (21a) and (21b), we have Fs(o, /_?)=(o+j?)[(l
-3K)D+(1+3K)P]*-227K3=0. (26)

For each /I, equation (26) has one or three real roots, o=oIs, or o=ols, cr2s and 03s, respectively (see Figure 3). (A rotation of the co-ordinate axes (p, o) -+ (p , o ) with ,/@ = (p + o), Go = -/I + o, makes the geometry of the bifurcation set clear (Figure l).) We now look for the turning point on the bifurcation set at which crIs and cr3s coalesce. If dp/da=O we have aF,/aa=O. This condition along with equation (26) gives

p=p,,=_2 l-3K
2i 4 1

li3.

(27)

We note that we have three roots only when /? <j?, ; furthermore, it can be shown that ors, 02s and 03~ are pitchfork bifurcations. We show these bifurcations in Figure 1. They appear similar to the response of an undamped Duffing s equation with the axes rotated by 7r/4 in the counter-clockwise direction. 3.4. TRAVELLING WAVES (TW) 8, - 82= K/2 In this case equation (21), with ,U= 1, takes the form
(l-K )u~ -[(l-K)CT--(I+K)/?]u,.I~=O,
U:=(C+jh-KU:)>&

(2f9

where the plus and minus sign refer to 8, = K and 0, respectively.

424

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In this case, the analysis is very similar to that for standing waves. Using the same numbering scheme as in that case and denoting the corresponding bifurcations with a subscript T, we have where e,= 3(1 - K2) 3 4 7 1 - K) a,r(,)=2-3(1 -K 2 ) l/3 , 2rc2+rc-3
P=P27= 25/3( 1 _ K2)2/3

(29)

The points common to the OM and TW bifurcation diagrams are obtained from the roots of
f+(O+j?)[(1-K)O+(~+K)~]2-K3=o,

(30)

and again we can have one real root oIT or three real roots crIT, crZTand 03T (see Figure 4), and the turning point of the bifurcation set occurs at
l/3 p+,,=_gq .

(31) it can be

We note that the roots crzT and 03T occur only when p <PI T and, furthermore, shown that oIT, ozT and cr3r are pitchfork bifurcations.

3.5. CASES IN WHICH C-+0 External resonance conditions may be defined to occur when 13,= 7c/2 and al and a2 both become very large as c+O. It is clear that in the absence of external resonance we obtain from equation (15c), with &=O, the result that the phase angle difference &- 8, is either near zero or near n/2 when c is small. When the difference is near a/2 there is little difference in the wave motions in the damped and undamped cases. These motions are shown as dashed lines in Figures 2-4. When the difference is near zero, as contrasted to the case when it is equal to zero, it is impossible to have standing wave motions. As we will show later, the motion is a very jerky travelling wave, which appears more like a standing wave. We will call such motion pseudo-standing waves. They are shown on branches of the bifurcation diagrams in Figures 2-4 as chain lines. By eliminating aI, a2 and f32 from equations (15) with & =d2= dr = f&=0 and x =O, when we have external resonance, i.e., when 8, = a/2 and sin (2& - 28,) -+ 0, we obtain the bifurcation set for saddle node bifurcations at the turning point
us=1+3K -3K)C2 (1 -3Kf[(l -3K)2-16(1 -3K)cj?] }

8(1

(32)

for the case of pseudo-standing o= os, and

0 7l+K

waves, with al = 2cos/( I+ 3k) at the bifurcation point

{1-~f[(1-K)~-16(bK)C*p] ~~}

8(1 -K)c*

(33)

for the case of travelling waves, with a, =2coT/( 1 + K) at the bifurcation point cr=oT. Note that when p =O, crs= (1 + 3~)/(4c~), 07.= (1 + K)/(~c~) and al = 1/(2c) in both cases. Since the values of crs and o r are very large for small c, they are not shown in Figure 1. In addition to the turning points of the mixed-mode motion at crs, as, oT and 6~ there is one more turning point that is unique to this problem. Consider Figure 2 and the chain line with negative slope, representing pseudo-standing waves, starting at the turning point

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OS. When c=O as o-+a3, a,+0 and a2-,co with 8,=&=1r. The same is true for the dashed line with negative slope (but with or= r and &=3n/2), representing travelling waves, starting at Or when c= 0. It is shown, in section 4, that when a,/az + 0, independently of the difference in the phase angles, the wave motions have the characteristics of pseudo-standing waves. Now consider the bifurcation diagram in Figure 2 when c + 0. Starting at or and OS as o increases there occur stable and unstable mixed-mode periodic motions, respectively. As (T becomes large, ur/u~ +O. and since @I- &#O or x in the damped case, they both have the characteristic of pseudo-standing waves. Furthermore, it can be shown that they connect at a saddle-node bifurcation denoted by crsT in Figure 2. The bifurcation occurs, of course, with one eigenvalue becoming zero. In principle, an expression for this bifurcation relating cr and p can be obtained analytically, but the task is totally unwieldy. What is remarkable is that O2-+ 5~14, as c + 0 independently of j3, while 0, + 7r when p =0 and is in the neighborhood of 9~18 depending on /I at this bifurcation point. These conclusions are based on careful calculation with aid of the program AUTO [23] and were verified when /? =O, &0.5 and *I. This bifurcation is now shown in Figure 1, since its value is large for small c.

3.6.

STABILITY

OF THE SOLUTIONS

We now study the stability of the solutions in one mode and mixed modes. In the case of the one-mode solutions which are determined by equation (17) the eigenvalues il satisfy (a2+2ca+A,)(a2+2c~+~A,)=0, where A,=C2+(cr-p-a:)(o-~-3u:), , fz= C*- K2U:+(,+/?2KfZ32,

(34)

(35)

and where al satisfies equation (18). The condition for the real parts of the roots to be non-positive is that A, > 0 and Az > 0. At the turning point with cr = O,, as in equation (19), as c +O, A, 40 and we have a zero eigenvalue. At the bifurcation points oIs,2s,3s and crIT,ZT,3T it can be shown that as c + 0, AZ-+ 0 and we again have zero eigenvalues. The stability of the solutions is shown in Figures 2-4. We consider the stability of the mixed modes again in the limit as c -+ 0. The analysis is facilitated by the basic structure of equations (14). If Z, =_yl + iy, and Z2=x2+ iy2 in equation (14) then the vector field in equation (14) can be shown [27] to be the sum of the gradient of -( 1/2)c(s: + y: + x: + y$) and a vector field derived from the Hamiltonian H=-x,+y,+~c(x:+y:+X22+y:)-~B(X:+y:-.~:-y:)-$[(X:+y~)2+(X:+y:)2] - K[(x:+.Y:)+(x:+.Y:)~(X,XZ+Y,Y~)~-(X,~ ~-~,X~)~].

We first note that constant solutions are continuous in the parameters, and thus solutions for c = 0 and c + 0 approach each other. Furthermore, because of the above-mentioned structure, it can be shown that if i is a simple eigenvalue for the variational equation for any constant solution when c=O, then the eigenvalue il when c#O but small is A= &cfO(c ). Explicit computations show that the quartic polynomial for the eigenvalues /I has a factor c in the coefficient of the linear and cubic terms and thus the eigenvalues when c= 0 satisfy
i4+2U2i2+aos0. (36)

426

X. L. YANG

AND

P. R. SETHNA

The condition for the zero eigenvalue for the damped system is (x0= 0 + O(Z) and for pure imaginary eigenvalues the conditions are

a:-ao=O+U(c2)
and a*<O+

(37)

U(c2).

(38) and travelling

If al and u2 satisfy equations (22) and (28) in the case of pseudo-standing waves, respectively, then detailed calculation shows that fZo=[f](F)4Ka,(o+p-&)[-(1 -pK)o+(l
+jlK)P+3(1

-jl*K*)U:], (39)

(f)2K[U;(O+p-%+/fKU:)+U:(C-p-%Z:-/lKU:)].

(40)

In equations (39) and (40) the upper and lower signs in the square brackets apply to top and bottom branches of the bifurcation diagrams, respectively, the upper and lower signs in the round brackets apply to the case of pseudo-standing and travelling waves, respectively, and the parameter p takes the value three and one in the case of pseudo-standing and travelling waves, respectively. It is clear from equation (22b) and the second of equation (28), that when a2 = 0, cr + p = ~1 KU: and we have a0 = 0, which is the condition for a zero eigenvalue. Thus ~1s,2.y,3s and CTI~.~~.~~ occur with a zero eigenvalue and it can be shown that pitchfork bifurcations occur. For iiS and cYr, which represent turning points on the response curves for the standing and travelling wave bifurcation diagrams, respectively, it can be shown that the second bracket in the expression for a0 is zero. Therefore, we again have a zero eigenvalue. In this case the bifurcation is a saddle-node bifurcation. For the study of Hopf bifurcations, it is necessary to resort to numerical calculations. The quantity ai- a0 was computed for different o and p for the combination of mode numbers (1,2) and (2, 1) and v=O.3 with a value of K= 0.179. The zeroes of the implicit function a$ - a0 = 0 give the curves for Hopf bifurcation in the o-p plane of the bifurcation set provided that the condition (38) is satisfied. It was found that there are no solutions, for reasonable values of o and p, in the case of pseudo-standing waves. On the other hand, there are two branches on which Hopf bifurcations are possible in the case of travelling waves and they are indicated as oHI and oH2. Although these results are computed for the particular mode numbers (I, 2) and (2, I), as stated before, since the parameter K is almost a constant for all mode numbers the curves given are close approximations to the curves for any combination of mode numbers. It should be mentioned that Miles [14, 15, 171 and Johnson and Bajaj in [ 161 also found Hopf bifurcations under similar circumstances. 3.7. CO-DIMENSION TWO POINTS Points A, B and C in Figure I(b) are co-dimension two points where two eigenvalues become degenerate simultaneously. The situation at A and B, where the line do tangents

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cjT and ojS, respectively, is similar. We note that 50 occurs when a2 = 0, and if c + 0 at

&, we have
o-p=3a:. (41)

From equation (21b) we have, for cr37,

o+/?=Ka:,

(42)

and, for 03S,

a+p=3Ka:.

(43)

We note from equation (35), that if c + 0 both A, and AZ go to zero, and from equation (36), that we have the four eigenvalues (0, 0, -2c, -2~). Thus we have co-dimension two points and the two zero eigenvalues have linearly independent eigenvectors. The values of p at which they occur can be obtained by eliminating cr and Q: between equations (41) and (42), with a: =~?:=4-~, to obtain p = &-= 2-5 3( K - 3), and between equations (41) and (43), also with a: = ci: = 4-3, to obtain p=P,,=$#1) (45) (44)

for points A and B, respectively. As is well known, the flow near the co-dimensional two fixed points lies on a twodimensional manifold. We give below the equations that describe the flow on this manifold for points A and B, compare them with those for standard cases of co-dimension two bifurcations as given in reference [20], and draw the appropriate conclusions. The details of the steps are very tedious and we therefore give them briefly. First we consider the system of equation (16) when o and p take their values at point A or B, respectively. We then introduce a local co-ordinate system with the origin at (a,, 6,) x2, y2) = (a,,,, lJlo, 0,0),the values of the variables corresponding to point A or B. We then do the necessary computations to transform these local co-ordinates to those on the two-dimensional center manifold, and if the latter are uI , u2 then the truncated forms of the equations that determine the flow on the center manifold are zi, =/flu1 +au,U2, where the co-ordinate transformation is
u2= az,(a, --a> + a22(81 -hJ,

tiz=p2+bu:-u;,

(46)

~l=~II~2+~12y2,

(47)

with a = - e3/er and b = - sgn[ere2], with el and e2 as defined below, and where the parameters transform according to
~I=I,[(a-ao)-(P-Po)l, ~2=c2[(a-bo)-(P-P0)1.

(48)

In equation (48), o. and PO are values of o and p at point A or point B. The several new symbols introduced in equation (47) and (48) have the following definitions :
a I I = JiaR4/(2CR2),
a21 = R,I( ho&), a12=-ml(2c), a22 = Q/W),

(49)

II= - (&/(2cR,))(R,

+ R4),

l2=-e1/Vc),

428 and e, = - c2 sin 0,0/(4a,oR,)

X. L. YANG

AND

P. R. SETHNA

- ( l/(2c))[R~(ao--

&) - c* cos 0,0/(2a,o)

-CR,

sin 6,,/(a,,)],

e2=(1/(2u,oR2))[R~~a,o

sin 2Q,,,- KU,~R: sin 28,,,+21ca,~R~R~

~~,,,)-!-KR:(~-cos 28,,,)-2rcR2R3

cos 28,0]

-(1/(2c))[~R:(2+cos
e3=(R4/2cR2)[2K&R,R2
- 2c~a:R~

sin 28,&
2&)

sin

26,0-2~a~oR,R3(2-cos

cos 28, + 2c~u:,,R~ Sin 2&] 28,,,)+2~&R,R~ ~cK&R~ cos 28,& 2&) - o. - PO,

+(~/~c)[-~Ku:,,R,R~(~+cos

sin 28,,,

~cK&R~

sin 28,0 -

R, =U:o-n,+Bo, R3 = KU:~

R2 = K&(2-cm

sm 28,0 + c,

Rq = K&

sm 2810 - c.

Equations (46) are of the same form as those considered in section 7.4 of reference [20] in the discussion of the case of co-dimension two bifurcations when a pair of pure imaginary eigenvalues and a zero eigenvalue occur simultaneously. In the case considered in reference [20], U, corresponds to a radius and is thus positive, while in our case uI does not have this restriction. In all other respects, their analysis of equations similar to equations (46) applies to our case. In the case of point A, numerical calculations for the case with mode numbers (1,2) and (2, 1) show that b = - 1 and a > 0 as c -+ 0, and thus we have case III in reference [20]. Again, since the value of K is nearly constant, this conclusion applies to the cases with any other mode numbers. Our bifurcation set O. and 03T corresponds in the case of point A to the line P2 = 0 and the parabola ,U2=,U:/u2 in Figure 7.4.5 of reference [20]. We note that in Figure 1 an additional bifurcation oH2 also appears at point A. Its occurrence is justified, as shown in reference [20], because a heteroclinic loop in the u,, u2 space, when equation (46) is restricted to quadratic terms, breaks in a global bifurcation (although still in the neighborhood of the co-dimension two point), by the introduction of cubic terms in the analysis, with a pair of periodic orbits which are depicted in our diagram by (THY.For details, see Figure 7.4.10 and the associated analyses in the corrected 1986 edition of reference [20]. It is the occurrence of such global bifurcations at bifurcation points of co-dimension higher than one that makes it necessary to go through the detailed analysis as given above at these points. In the case of point B it can be shown that as c + 0, h = - 1 and - 1 <a < 0 and here we have case IV in reference [20], as shown in Figure 7.4.6, where the lines ,Q2=0 and the parabola p2 = u:/u2 correspond to our a0 and oJS, respectively, in Figure 1. The situation in this case does not entail a global bifurcation and no new insight is gained from the analysis. In the case of point C, the analysis is even more complicated than that for points A and B and we omit all the details here. In this case, it can be shown that the bifurcation is what is called a Takens Bogdanoff bifurcation, which occurs when the system has a nonsimple double zero. We can show that the flow on the center manifold is described by equation (7.3.4) in reference [20] and the bifurcation sets are as shown in Figures 7.3.1 and 7.3.3 of this reference, with our bifurcation line 0~ and (TH2 corresponding to p, =O and the parabola fi = - /.i: in Figure 7.3.1, respectively. There is one similarity between point C and point A in that at point C, again, we have a heteroclinic cycle, when the equations are restricted to quadratic terms, which breaks in

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the presence of cubic terms, leading to a periodic orbit that is the source of the Hopf bifurcation line cHl .

4. DISCUSSION OF THE BIFURCATION DIAGRAMS AND PHYSICAL INTERPRETATION OF LOCAL BIFURCATIONS The bifurcation diagrams are given in Figures 2-4. In fact, they are response curves since they give amplitudes of the periodic motions as a function of the detuning of the external frequency, for a given detuning of the internal frequencies. Due to the symmetry about the plane a2 = 0, only those curves with a2> 0 are shown. Figure 2 is for p = 0 and is given on a scale large enough to demonstrate the full variety of phenomena. Figures 3 and 4 are drawn merely to show these parts in Figure 2 that change qualitatively with the change in p. We have shown that there are seven critical values of /? which give rise to eight open intervals in p where the phenomena are qualitatively different. The bifurcation diagrams in the more interesting of these intervals are given in Figures 3 and 4. Referring again to Figure 2 for p = 0, the single-mode motion (a2 = 0), drawn as a solid line, is the familiar response curve of Duffing s equation with the usual behavior regarding stability, except when o is in the interval (a IT, als) where the motion is unstable. We note that there is an unbroken curve connecting (rlr and crIs which represents the mixedmode motions. There are turning points on this curve at crs, es, crST, dr and at crT and, counting o. and b. for the single-mode motions, we have a total of seven turning points and the potential for jump phenomena at five of these, at no, crT, ao, 5, and os7. There are as many as four stable periodic motions for some values of cr, two corresponding to single-mode motions and two corresponding to travelling wave motions, and thus jumps will occur to one of these, depending on the basins of attraction. The effect of internal detuning of p, when negative, is to tend to move in a complicated manner the wavy curve connecting oI T and 0 Is towards the plane u2=0. In Figures 3 and 4 is shown the behavior as p becomes more and more negative, as it lies in the several open intervals as indicated. The overall behavior is that as p becomes negative, first the mixed-mode curve for the pseudo-standing wave hits the a2= 0 plane and part of it disappears as a2 becomes negative. Since there are no stable pseudo-standing wave motions, the effects shown in Figures 3(a) and 3(b) do not qualitatively change the nature of the phenomena. In Figure 3(c), however, as cr3s moves down the lower branch of the onemode motion, that motion becomes unstable past the turning point ao. In Figure 4 is shown the effects as /l becomes even more negative and parts of the travelling wave curves hit the a2=0 plane and disappear. Here we have the additional effects of the two Hopf bifurcations and, in fact, it is not travelling waves but quasi-periodic travelling waves that disappear. The effect of the disappearance of the curve connecting ols and fl,, in Figure 2 is to generate separate loops until p < jj3r. In Figure 4(c) we have three loops, connecting cls and c72s, 01~ and ozT, and ojs and (r7T. We note the physical significance of the saddle-node bifurcation oST.. If this bifurcation did not occur we would have, when the damping is small, stable travelling waves for quit.: large detuning of the external excitation (large cr) which is counlerintuilive in this case of asymmetric excitation. With the occurrence of (r ST the mixed-mode solutions jump, most probably, to the stable one-mode branch with negative slope starting at tie, which is what one would expect. As mentioned earlier, the bifurcations that occur are quite insensitive to mode numbers, since K is nearly a constant. On the other hand, for o and /? in some open set in Figure 1, and the indicated phenomenon in the corresponding bifurcation diagram, the actual physical phenomena, as can be expected, are strongly dependent on the mode numbers.

430

X. L. YANG

AND

P. R. SETHNA

This dependence is discussed in some detail in reference [ 121 for parametrically excited plates. It has been shown in reference [ 121 that if the mode numbers M and n are not relatively prime but have a constant factor 1, then all the phenomena occur in I2 distinct cells, the phenomena being similar in each cell, and they are the same as those in the case of a plate with dimensions (m/l, n/f). If V/E e2 - 19,is zero, we have standing waves and thus fixed nodal lines. If v#O, then we have fixed nodal points and they are of two kinds, with co-ordinates
50 =

ilk,

qo=j/k,

i,j=l,Z

,...,

k,

k=m,n.

In the neighborhoods of the nodal points are nodal curves, passing through these points, which rotate with angular velocities that are different for the two kinds of fixed points. Limiting the discussion to the second kind of fixed points (the discussion for the first kind is similar), the angular velocity of the nodal lines near the fixed point can be shown to be b;=
-(a21WLnij sin v + O(E), W)

sin2 r f (u~/cz~)~D~~~~ sin2 (r + w)

where r is the dimensionless time that goes through 27r for each period of excitation and v/ = e2 - f?, . The constant D,,,,ii depends on the mode numbers m and n, and on the location of the fixed point determined by i and j [ 121. The angular velocity 4 has an interesting behavior when w --) 0, u2/ul + 0 and u,/uz + 0. First consider the case in which v -+ 0. Here we take I(u~/u,)D,~,,,J = 1 for simplicity. As is shown in reference [ 121, D,,,, is often plus or minus one. Furthermore, we let al =u2, which is often the case. It is then easy to show that

l&,1=

1 -cos 27

+ 4 WI ) + O(E),
z=nn.

z #m.

@I= -+0(E),
sin v In the case when u2/ul + 0 we have -2(4ar)D,,,,ti sin v + 1 -cos 22 ---+0(E), i (u2/a, )D,,,,,iisin v and in the case of al/u2 + 0 we have -1
0(la2142)

(51)

O(E),

rfnw,
(52)

d,=

r=n7r,

+ O(l~,hl ) -to(d, d = Q,,,,J 1- ~0s 2(7 + w)l - Drnnii t+ ty=nlr. +44,

(da21 sin v

-2(u,/u2)

sin v/

T+ yfnlr,

(53)

It is clear that the rotation rate is almost zero except when r =n~ in the case of equations (51) and (52) and 7 + ye =m in the case of equation (53). Thus the nodal lines in all these cases are nearly stationary all the time, except at two instants in each cycle when the waves go through an extremely rapid rotation by an angle rr. To the casual observer all such waves would appear to be standing waves and we therefore call them pseudo-standing

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+ 0,we note that the phenomenon is indepen+ 0 and al/a2 waves. In the cases when az/al dent of v and thus can occur on any mixed-mode branch, independently of the value of damping, provided that the amplitude ratios are such that the bifurcation diagram is near the (a,, a) and (a2, s) planes, respectively. The phenomena corresponding to equation (51) are indicated by chain line in Figures 2-4. Since all these motions are unstable they are not likely to be observed for long, if at all, in an experiment. The pseudo-standing waves corresponding to equation (52) occur on all the travelling waves indicated by dashed lines in Figures 2-4 when they are close to the plane a2= 0.Many of these represent stable solutions and they should be observable for cr near olr in Figure 2 and CT near crlr and 03T in Figures 4(b) and 4(c). The pseudo-standing waves corresponding to equation (53) occur near the saddle node bifurcation denoted by crsT, when the damping is small and o large, as is discussed in section 3. The other phenomena associated with local bifurcations occur in connection with the Hopf bifurcations, which lead to amplitude-modulated travelling waves with a modulation period much larger than the excitation period. Computer simulations, exhibiting wave shapes at a sequence of times, show the actual motion of the waves. Such studies were undertaken for low mode numbers, and hills and valleys are seen to collide and combine in patterns that are not intuitively obvious.

5. RESULTS

FROM NUMERICAL

SIMULATIONS

AND CHAOTIC

PHENOMENA

The computations are done with the aid of a subroutine package named AUTO by Doedel [23], which has the capacity to follow a sequence of bifurcations as a parameter is varied, and standard numerical computation techniques for ordinary differential equations. For parameter values c=O.O258, K =O. 179 (r=rn/n=O~Sand v =0.3), b =0 and with cr as a parameter, the fixed points given in the analysis in section 5 are verified, and show that rrHI =2.283078 is supercritical and o H2= 3.08538 is subcritical. In Figure 5 is given the global behavior of the periodic orbits generated by oHI and the values of cr at which period-doubling bifurcations are possible. The latter are difficult to compute, due at which periodto the proximity of the saddle node aT. We note that at each value of CT doubling occurs there is the potential for a sequence of period-doubling bifurcations leading to chaotic phenomena.
Period

4
40

Figure 5. Periodic orbit from CY,,, Heavy lines denote stable motions and light lines unstable motions. Perioddoubling bifurcations are indicated by ( ).

432

X. L. YANG AND P. R. SETHNA

With regard to crm, it is a subcritical Hopf bifurcation and generates a branch of unstable periodic orbits. No period-doubling bifurcations were observed during numerical simulation in this case. We note that all the phenomena associated with crHI and on2 occur for a2/al N 3. During the simulations two stable global periodic orbits, which we will call GPl and GP2, arising from saddle-node bifurcations of periodic orbits, were discovered. GPI is shown in Figure 6. Neither of them arise from any of the local bifurcations discussed in section 5. They both occur in approximately the same neighborhood of the state space but for different overlapping values of the parameters and, although GP2 has a period approximately three times that of GPI, the former does not bifurcate from the latter, Both GPl and GP2 were studied for these bifurcations for various values of the parameters. The behaviors were somewhat similar. We present here in some detail the observation for GPl only.
(GPl)@

UGS

l,
\ t_-_-___-___

L____-,---_

(0)

Figure 6. Global bifurcations to chaotic motions for (a) p -0 and (b) /I = - 0.93465. --, --* unstable orbits.

Stable orbits; - -

In Figure 6 is shown the global bifurcation to chaotic motions from GP1 with different values of /I. The phenomena when p =0 are shown in Figure 6(a). We see that at o = (7GS 2.057783 a global saddle-node bifurcation occurs. The stable periodic orbit grows in size with o until at o = oGp= 2.803955 a symmetry-breaking bifurcation occurs. This is a pitchfork bifurcation and occurs when one of the Floquet multipliers of GPl passes through + 1. This bifurcation leads to two stable asymmetric periodic orbits (only one of them is shown) which now begins period-doubling sequences (GPl) , (GPI) , . . . , with one of the Floquet multipliers going through - 1 each lime. The sequence appears to be a Feigenbaum sequence, and it indicates that the period-doubling sequence would terminate in chaotic motions at cr* = 2.825677, The case in which 0 = - 0.93465 is shown in Figure 6(b). in this case the sequence is similar to that when p = 0 except that there is no symmetry-breaking pitchfork bifurcation. We note that a2/ul -0-4 when jj = 0, and O-2< az/ag < 1 when p = - 0.93465, depending on (T, which will be significant later.

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6. GLOBAL

BIFURCATIONS

AND CHAOS

We note from the discussion in section 5 that there are two ways in which chaotic behavior can occur for (T and p approximately in the same intervals. One is related to local bifurcations, when after a Hopf bifurcation, a period-doubling sequence occurs which in turn leads to chaotic phenomena. In this case the phenomena occur in that part of the state space where the amplitude ratio ~/a, z 3. The other is related to observations about global periodic orbits GPI and GP2, which also lead to chaotic behavior. We emphasize that the latter phenomena do not start from local bifurcations, and occur in that part of the state space where the amplitude ratio u2/al is between 0.2 and I. The occurrence of such isolated global periodic orbits and their bifurcation to chaotic phenomena is not uncommon; see, for instance, reference [ 161 and Gu and Sethna [28]. There is a serious need for a theory to explain such global phenomena and, to the best of our knowledge, there is no mathematically rigorous theory available to study systems modelled by equations of the type of equation (14) in their full generality, for global bifurcations. However, there is a theory by Robinson [24] that is applicable to systems of equations which include equations (14), when the latter have the restrictions that dissipation is not present and the forcing terms are small compared to the non-linear terms, i.e., the theory gives the effect of small forcing terms on large free non-linear motions of the plate. We present this theory mainly because of its intrinsic interest. It gives a description of complex global phenomena similar to those observed in connection with water waves by Feng and Sethna [27]. The results from this theory are not applicable to the phenomena observed in connection with GPI and GP2 because of the presence of dissipation and the excitation being not small. However, the results from the theory do exhibit the occurrence of chaotic phenomena, different from those occurring from period-doubling bifurcations from Hopf bifurcations, in that the latter have the amplitude ratio Q/U, 23. while the results from the global theory do not occur when the amplitudes are near this ratio. In fact, many of the phenomena occur when the amplitude ~1~ is smaller than uI We incorporate the above-mentioned restrictions regarding the forcing terms by assumingf;,,,,/(2B) = p , where p is a new dimensionless parameter and by letting c and therefore c to be zero in equation (13). When cc = 0, the equations are for free undamped motions of the plate. Our analysis is based on a perturbation theory when p is small. In Yang and Sethna [ 121, a similar theory is given, when the excitations are parametric. This theory is again based on the perturbation of free undamped oscillations, and thus our results for the unperturbed system depend heavily on the results in reference [ 121, which in turn depend on reference [26]. The results given here, however, for the weakly nonparametrically forced system treated here, are entirely new and do not depend on either of these references. Under the above assumptions the basic system of equation (14) can be shown to be Hamiltonian. We now reduce this system into a more appropriate form by two canonical transformations as follows : Let ~~=(21,)~(sin 4,+i cos 4,) j= 1.2, (54)

where I, and 4/ are the action and angle variables respectively, so that 21,= UTand 4i= z/ 2 - Sj, and let II =p1 ,
12 =p2 -PI , ($1 -q&=41, +2=42,

(55)

434

X. L. YANG AND P. R. SETHNA

where qj are the co-ordinates and pj the corresponding conjugate momenta. Among the motivations for the change of variable (55) is the definition of ql , which is zero and 15/2 for standing waves and rotating waves, respectively. Note that p2 = I, + 12 is a measure of the total energy and, as seen below,.pz is a constant for ~1=O. Also note that for physical system p1 > 0, p2 > 0, p2 >pl 20. Substituting equations (54) and (55) in equation (14), we have
PI =-~KPI(PZ-PI) Sin 2qi +A--(2~~)~ cos (4, +q2)],

41=-2p

+2(2pi

-pz)K(-a

-tCOS 2ql)

+p (2pl)- sin

(q, +q2),

92=o+c1 [-(w2 -2Kp,

cos (q, +q2)], COS 2q, -

(56)

42 =

(T + p

2~2+

2Kap,,

where a = (1 - ~K)K- , which is a quantity that is greater than one. Equations (56) have a singularity in the set p, =0 in the four-dimensional space, and thus our analysis has to be restricted to keep the solutions out of this set. This is possible, as will be seen below, be perturbing only those heteroclinic cycles of equation (56) that are in the compliment of this set. Consider the unperturbed form of equation (56) with p =O:
$I= 4V1(p2-p1)

Ijz=O,

41=-2P+2(2p,-p2)K(-a+c0s2q,), Sin 2ql, 42 = 0 + p - 2Kp1 COS 2q, - 2~~+ 2Kap,

(57)

We note that p2=pzo is a constant and that the first two of equations (57) decouple. Furthermore, for physically meaningful results 0 <p, <p20 for all ql . The solutions of equations (57) describe the unforced undamped free motions of the plate and have a rich structure, as described in reference [ 121. It can be shown that there are qualitatively different kinds of solutions depending on whether quantity /?/(pZO~) lies in different intervals. Restricting the discussion to those cases in which the solution is not near the set p, =O, the intervals of interest (note a 2 I) are: (i) a-l>---- P >-(a-l),
p2oK

(ii)

-(a-l)>p+>-(a+l),

(iii)

-(a+l)>---

P
p2oK

In the case of (iii), the flow is simply monotonic, with 4, >O, and no phenomena leading to chaos occur. We therefore restrict the analysis to cases (i) and (ii). The actual flow of equation (57) is in a four-dimensional space with the variables ql and q2 being angular variables, and thus the phase space is R2 x T2. In the case of equation (57), sincepzo is a constant, the phase space can be represented by a solid torus in 3 space,

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shown in Figure 7. The cross-section of the torus has polar co-ordinates (pi, q,), and thus if 4r#O, the solutions of the first two equations of equation (57) may be regarded as inducing return maps on each cross-section q2 = constant. (We note that for lo] sufficiently large Q2# 0.)

Figure 7. Co-ordinates for the unperturbed system in section 6.

We now discuss case (i) when ]/?I, the internal detuning, is small. In Figure 8(a) is shown the cross-section of the torus in case (i). It can be shown that there are saddle points at (p:, 0) and (pf , n), where

and
(P:*,

thus O<p? -~p~~/2 when p >O and p2,,/2>p: >pzo and there x/2) and (p: , 3n/2), where
p PzoK(a + 1)

are centers

at

so that 0 <p? <pf* <plo/2 for /3 >O and O<p:* <pf ~~~~12 for /3 ~0. We now discuss the effect of the forcing terms on the heteroclinic loops surrounding tp:* >x/2) and (pf* , 3x/2). The method of analysis is based on reference [24], which is a generalization of the theory of Melnikov s method to a higher-dimensional Hamiltonian system. We use the form of this theory as described by Wiggins in reference [25]. According to this theory, if the integral M= lim
j-cc

[-&i

cos (4, +

qdl dr,

(58)

where the integrand is computed on the heteroclinic cycles, and where Tj and TI are judiciously chosen time sequences, can be shown to have simple zeros as a function of a parameter, then Smale horseshoes will occur. The occurrence of the horseshoes generates chaotic phenomena which may occur indefinitely, generating a strange attractor, or the solution may eventually go to another more conventional attractor generating what is called transient chaos. As mentioned earlier, the integral in equation (58) has to be computed on the heteroclinic loop for the system of equation (57). A very similar system is discussed in reference [26] and we take advantage of the results given in this reference. If we make the change of variables
{t,
CT, p, qi, pi} + {-f,

-0,

-P,

4i-

Pi/K}

(59)

436

X. t. YANG AND P. R. SETHNA

(b)

Figure 8. Flow for (a) case (i) and (b) case (ii).

in equation (57), then the unperturbed part of system (57) in the new variables is identical to the system of equation (3.1) in reference [26], with S=- 1, ~. We therefore can use equations (3.17-3.22) in reference [26] to obtain explicit expressions of p,(t), q,(t) and qz(t) on the heteroclinic cycle. They are:

P =3--2k (q,)

p2Q -J-[**Jpzgzp],

(40)

NON-LINEAR

ANTISYMMETRICALLY

FORCED

PLATE

431

where
k (q,)
c =-(p2o-P/(a -

= a - cos 2q, )
I)P)(p20+Pl(a1))1,

I))[--P+(Ca-

q,=-tan- (l/.x ), and where x= - E sinh (ht), E= IIand dfl) q2=ulDf+(l/ 2) cot- (coth (-h~)/ Let q2 = q20 + q2 in equation (58), then we have
h4=-JZcosq20

(61)

2&o(a- 1) 1+-----(a- 1)$Z0-P2

and

/,qJjTz,

- q, /2 + qzo.

(62)

G lim tpl cos (q1+ &)I j--r%s r;

T;

sin qzo lim

j-0

[pi j2 sin (q, + &)I dt. s -r;

(63)

Let

H,(f)Epy2COS(q,+~z)~[~,(~)-~l(~)l+~l(~),
G,(t) ~pi ~ sin (q, +Qz)=[G(t) where
h,(r)= A, cos (wbt), i A, cos (0&t+y y ),
I

-gl(t)l+gl(t)

<o

t>O;

g,(t) =

A, sin (uhf - y ),

t CO

i A,

sin (w ,f + y ),

t>O;

and where

According to Lemma (6.1.29) of reference [25], we pick the sequence of times as

T;=~((2j_l)a-2y -2qzoJ,

+&-[(2jn

l)n-2y +2q20].

(64)

h Then equation (63) becomes I M=JZcosq20

cc + JZ sin q20 is

[If,(t)--h,(t)]

dt+

is m-x

{G,(r)-gI(Ol df+ - ,T *

(65)

438

X. L. YANG AND P. R. SETHNA

Noting that G,(t) -g,(t) is an odd function oft, and rearranging the intervals of integration by letting k=2j- 1 in equations (64) and (65), we obtain rx)
M=--ficosq*~ [H,(r)-h,(t)

dt-2,/?zcosqz0sin

y ,
I

is -130

(66)

in which the integral has been shown to be convergent in case D of Appendix B in reference [26]. This gives us the anticipated result that Smale horseshoes occur in the small neighborhood of the heteroclinic cycle in Figure 8(a) when qzo= n/2 and 3x/2. We now discuss case (ii), when -(a - I) > /3/(pZOrr) > -(a + I), i.e., when the internal detuning p is negative and a little larger in absolute value. Referring to Figure H(b), we have fixed points (p:, 0) and (p:, n), where

pf&y [

,-

p
p20ea-1)

1
'

which now become centers and p: >pzo/2. There are also centers at (-pf*, (pT*, 3x/2) as in case (i) where

z/2)

and

In addition, we have fixed points (~20, qf) and (p 2o, K - qf), which can be shown to be saddles, with

Also shown are centers (p:, 0) and (p:, n), where pf =~~~/2[ I - P/(pzo~(a - I))]. Since pf >pzo, these points have no physical meaning and are given only to clarify the diagram. In this case it is necessary to do the computations for heteroclinic cycles surrounding , 3w/2) and their origin. These calculations are very similar to those for (P:* 7 n/2) (pf case (i), an d the conclusions are also similar.

7. PHYSICAL INTERPRETATION OF GLOBAL RESULTS The physical phenomena in general will be the same as those described in Yang and Sethna [ 121 for the case of parametrically excited plates. For completeness we give a brief description here. Consider first the free motion (p =O) in case (i) and consider an orbit just inside the heteroclinic loop surrounding the center (p?*, n/2). This orbit represents a travelling wave of varying amplitude and phase when the orbit is not near the saddles at (p?, 0) and (p:, n). When it approaches these saddles the rotation rate slows down until it almost stops, and the motion appears to be a standing wave, with the nodal line not parallel to any of the edges. After a while the rotation continues in the same direction, with the wave again having variable amplitudes and phase. This process repeats periodically with a period many hundreds of times the forcing period. The free motion corresponding to an orbit just outside the heteroclinic loop surrounding all these centers is similar, except that after slowing down to a standing wave the rotation is reversed in direction at each saddle. The same is true of an orbit just inside the heteroclinic loop surrounding the origin.

NON-LINEAR ANTISYMMETRICALLY FORCED PLATE

439

In the case in which the external force is present, the phenomena are similar to those described above but each time the travelling wave becomes almost a standing wave. It may proceed in the same or in the opposite direction in a random manner, and the number of rotations of the travelling wave that occurs before it becomes a standing wave is also random. When the internal detuning is larger in magnitude and we have case (ii), the phenomena are similar to those described above except that in this case the rotating wave, when it almost stops, becomes almost a one-mode motion in that it is a standing wave with the nodal lines parallel to one of the edges of the plate. Note also that in this case an orbit near the heteroclinic orbit that goes around all five centers (Figure 8(b)) cannot occur since it requires pI >p2. We note that the critical points at the origins in Figures 8(a) and (b) do not occur in the perturbed cases, and the remaining fixed points correspond to backbone curves since they represent periodic motions under conditions of zero damping and in the absence of external excitation. In most problems that have jump phenomena and small damping, jumps occur near these backbone curves. We note that the jump phenomenon occurring at osT is unique in that it does not have this characteristic. The kind of chaotic phenomena described above have been observed in experiments in reference [27] in the case of surface water waves in a nearly square container subjected to vertical periodic displacements. The observed phenomena are quite striking and go on almost indefinitely.

ACKNOWLEDGMENT The authors wish to acknowledge the support of the National Science Foundation, Grant #NSF/MSM-8701382, for support of this work. REFERENCES
1. A. H. NAYFEH and D. T. MOOK 1979 Nonlinear Oscillations. New York: John Wiley. 2. C.-Y. CF~IA 1980 Nonlinear Analysis of Plates. New York: McGraw-Hill. 3. M. SATHYAMOORTHY1983 The Shock and Vibration Digest 15, 3-16. Nonlinear vibration of plates-a review. 4. M. SATHYAMOORTHY 1987 Applied Mechanics Review 40, 1553-1561. Nonlinear vibration analysis of plates: a review and survey of current developments. 5. N. YAMAKI 1961 Zeitschrtft fur Angewandte Mathematik und Mechanik 41, 501-510. Influence of large amplitudes on flexural vibrations of elastic plates. 6. J. G. EISLEY 1964 Zeitschrifr fur Angewandte Mathematik und Mechanik 15, 167-175. 7. C.-L. HUANG and B.E. SANDMAN 1971 International Journal of Non-linear Mechanics 6, 451468. Large amplitude vibrations of a rigidly clamped circular plate. 8. G. C. KUNG and Y. H. PAO 1972 Journal of Applied Mechanics 39, 1050-1054. Nonlinear flexural vibrations of a clamped circular plate. 9. S. SRID~IAR, D. T. MOOK and A. H. NAYFEH 1975 Journal of Sound and Vibration 41, 359373. Nonlinear resonances in the forced responses of plates, part I: symmetric responses of circular plates. 10. S. SRIDIIAR, D. T. MOOK and A. H. NAYFEH 1978 Journal of Sound and Vibration 59, 159-170. Nonlinear resonances in the forced responses of plates, part 11: asymmetric responses of circular plates. I I. H. CHU and G. HERRMANN 1956 Journal of Applied Mechanics 23, 532-540. Influence of large amplitudes in free flexural vibrations of rectangular elastic plates, 12. X. L. YANG and P. R. SETHNA 1991 International Journal of Non-linear Mechanics 26, 199-220. Local and global bifurcations in parametrically excited vibrations of nearly square plates. 13. K. YASUDA and T. TORII 1987 Japan Society of Mechanical Engineers, International Journal 30, 963-969. Multi-mode response of a square membrane.

440

X. L. YANG AND P. R. SETHNA

14. J. W. MILES 1984 Physica llD, 309-323. Resonant motions of a spherical pendulum. 15. J. W. MILES 1984 Journal of the Acoustical Society of America 75, 1505-l 510. Resonant, nonlinear motion of a stretched string. 16. J. M. JOHNSON and A. K. BAJAJ 1989 Journal of Sound and Vibration 128, 87-107. Amplitude modulated and chaotic dynamics in resonant motion of strings. 17. J. W. MILES 1984 Journal of Fluid Mechanics 149, 15-31. Resonantly forced surface waves in a circular cylinder. 18. A. MAEWAL 1986 International Journal of Non-linear Mechanics 21, 433-438. Miles evolution equations for axisymmetric shells: simple strange attractors in structural dynamics. 19. A. MAEWAI. 1986 Journal of Applied Mechanics 53, 625-632. Chaos in a harmonically excited elastic beam. 20. J. GUCKENHEIMER and P. HOLMES 1986 Nonlinear Oscillations, Dynamical Systems, and Btfiircations of Vector Fields. New York: Springer-Verlag (1986 second reprinting, revised and corrected). 21. J. LEE 1986 Journal of Applied Mechanics 53, 633-640. Free vibration of a large-amplitude deflected plate---reexamination by the dynamical systems theory. 22. E. H. DOWELL 1982 Journal of Sound and Vibration 85, 333-334. Flutter of a buckled plate as an example of chaotic motion of a deterministic autonomous system. 23. E. DOEDEL 1986 AUTO: SofttMlare for Continuation and Bifurcation Problems in Ordinary Dt@erential Equations. California Institute of Technology, Pasadena. 24. C. ROBINSON 1988 Ergodic Theory and Dynamical Systems 8,395-409. Horseshoes for autonomous Hamiltonian systems using the Melnikov integral. 25. S. WIGGINS 1988 Global Btfurcations and Chaos-Analytical Methods. New York: SpringerVerlag. 26. Z. C. FENG and P. R. SE.THNA 1990 Dynamics and Stability of Systems. Global bifurcation and chaos in parametrically forced systems with one-one resonance (to appear). 27. Z. C. FENG and P. R. SnrHNA 1989 Journal of Fluid Mechanics 199, 495 518. Symmetrybreaking bifurcations in resonant square waves. 28. X. M. Gu and P. R. SETHNA 1987 Journal of Fluid Mechanics 183, 5433565. Resonant surface waves and chaotic phenomena.

APPENDIX:

EFFECTS

OF A MOVING

REFERENCE

FRAME

Suppose that the co-ordinate system O~JJZ is undergoing a small motion relative to an inertial co-ordinate system OX YZ, which is fixed in an inertial frame, such that X=-y, Y=y and Z=z+ EG (.Iz, 4 ) cospl . Then the displacements CJ, V and Win the X YZ system which is governed by equation (4) are

u-u,

v21v

and

W=

n + EG( 5,~) cos pt

where U, u and w are displacements in the _~JCsystem. The equations of motion (4) in the _VJQ system have on the right side of equation (4a)

-1_ (GSwos +w;G,,, +Gqwerl +nj,,GiV)] cospf ]

+ 0( c ),

of equation (4b)
+ v(Gpqrl + wSGiJ ~(ii- [G,,wo,, + w~G,,,~

+I-v y(G,

w55+ w,,G,,~< + G+J~~ + w~G~,~)Icosyt } + O(&*h

NON-LINEAR

ANTISYMMETRICALLY

FORCED

PLATE

441

and of equation (4~) E[-V*G + Gp2] cos pt , where V2=a4/(8t4) +2J4/(8{ dq*) +a/(LJq) and u, t, and w satisfy boundary conditions (5). Then w and u and u can still be assumed as in equation (6) and (7), and the corresponding Jnn and fn,,, in equation (IO) are [-V G( 5, 7)+ G( 5,

t71p21 sin 6x5) sin (.jnq) d5 drl

=-

I
2

G( 5, q)

sin (in{) sin (jnq) d< dq,

w,,,, ss0

which has the same form as in equation (11). It is obvious that G( 5, n) has the same symmetry properties as G( 5, n), since the derivatives are of even order in 5 and 17,and the symmetry considerations discussed in the main body of the text equally apply to this case.