515

Calculationofresponsesofanonlinearfractionalderivativemodelofimpulse
motionforviscoelasticmaterialsusingRunge-Kutta-Nystrmmethod
Nguyen Van Khang1, Nobuyuki Shimizu2, Mataka fukunaga3, Duong Van Lac1, Bui Thi Thuy4
1

Hanoi University of Science and Technology, Vietnam

Iwaki Meisei University, Japan, 3Nihon University, Japan
4
Hanoi University of Mining and Geology, Vietnam
Email: khang.nguyenvan2@hust.edu.vn

Abstract.
Generally,aforcecanbedescribedas afunctionofdisplacementin themechanicalmodel.FromFukunaga,Shimizuand
Nasuno [16], a nonlinear fractional derivative model with respect to displacementis proposed to describethe force for a
viscoelasticmaterialbasedonthemeasureddataofimpulsivemotion.UsingtheRunge-Kutta-Nystrmmethod,thispaper
presents a numerical method to calculate nonlinear responses of fractional derivative model of impulse motion for
viscoelasticmaterials.
Key work: fractional derivative, impulse motion, viscoelastic material, Runge-Kutta-Nystrm

1. Introduction
The concepts of fractional derivatives appeared many years ago and were introduced by famous
mathematicianslikeRiemann,Liouville,Grunewald,Letnikov,Caputo[1-3].Theconceptoffractionaloperators
in engineering applications is now increasingly attractive in the formulation of constitutive laws for some
viscoelasticmaterials.
Itiswellknownthatmanyviscoelasticmaterialsshowthefractionalpower-lawdependenceonfrequency
overthewiderange.Suchresponsescanbetransformedintotherelationbetweenthestress andthestrain ,
whichincludesthefractionalderivative[4-8]:

(1)
0 D p (t )
Where D p isthefractionaldifferentialoperatordefinedby,for 0 p 1 ,[1-3]:
t

D p x (t )

1
d
(t ) p x ( ) d (2)
(1 p ) dt a

Where ( s ) isthegammafunction.ThisdefinitionisknownastheRiemann-Liouvillefractionaldifferentiation.
When the deformation of viscoelastic material is large, the material shows nonlinear responses to the
appliedforce.Anumberofmodelsareproposedinordertoexplainthenonlinearresponses.Onepossiblemodel
is that the right hand-side of Eq. (1) is added by a nonlinear elastic term [7, 8]. The models with multiple
fractional derivative terms are proposed by Lee and Rodgers [9] and Rossikin and Shitikova [10]. The timedependentorderoffractionalderivativesisemployedbyIngmanetal[11,12].However,acomplextreatmentis
necessaryinthesemodelsinordertofitexperimentaldata.
From the experimental analysis by Fukunaga, Shimizu and Nasuno [13-17], a nonlinear fractional
derivativemodelisproposedtodescribetherelationbetweentheappliedforcef andthedisplacementxduring
thecompressionasfollows:
f t 0 c x D p xb x (3)
Where 0 isaconstant,c(x)andb(x)arethenonlinearfunctions.

2. A new numerical algorithm for fractional dynamic system

2.1. Equation of a nonlinear fractional derivative model of impulse motion for viscoelastic materials
We consider the motion of a rigid body of mass m0 that collides at time t 0 with the viscoelastic
material fixed on a wall or a plate (figure 1). The material is assumed to obey Eq. (3). If the two bodies

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Nguyen Van Khang, Nobuyuki Shimizu, Mataka fukunaga, Duong Van Lac, Bui Thi Thuy

identically move togetherafterthe collision,therelevantnonlinear fractionaldifferential equation (NFE) after

thecollision t 0 isgivenby:

mx t 0 c x t D p x t b x t kx t f t , t 0, T , (0 p 1). (4)

m0

m0

m1

m1

, ( ), ( ),

, ( ), ( ),

Beforecollision

Aftercollision

Figure 1.Thehead-oncollisionofthetwobodies.
Where x t is the displacement of the contact surface between the rigid body and the viscoelastic material,
D d dt isthedifferentialoperator,m1themassoftheviscoelasticmaterialand f t theappliedforceand
m m0 m1 .TheinitialconditionsforEq.(4)aregivenby:
m0
2 gh (5)
m0 m1
Considernowthemotiondifferentialequationinvolvingfractionalderivativeoforderp
mx t 0c x t D p x t b x t kx t f t , t 0, T , (0 p 1) (6)
Withtheinitialconditions
x(0) x0 , x (0) x0 v0 (7)

x 0 x0 , x (0) x0 v 0

2.2. Numerical scheme of Runge-Kutta-Nystrm method

Denote: z t x t b x t

(8)

Wehavethefirstorderandthesecondorderderivativeof z t
z t x t b x t x t bx x t (9)
x t b x t x t bx x t x 2 t 2bx x t x t bx x t (10)
z t

x t representstheacceleration.
Where x t Dx t representsthevelocityand
TheLiouvilleRiemannsfractionalderivativeisdefinedas[1-3]
1 d
D z t D D u z t

u dt
p

t 1u d , (11)
0

where u 1 p, 0 u 1 .

InordertomakeuseofLiouvilleRiemannsformulatodeduceournumericalschemeandtopresentthe
problemsmentionedabove,weapplythecompositionruleto D p z t [1-3],thatis
z 0 u 1
z 0 p
1
D z t D D u z t
t
D u z t
t

u
1 p
1 p
p

WeintegratebypartsthesecondtermofEq.(12)

t p d , (12)
0

Calculation of responses of a nonlinear fractional derivative model of impulse motion

for viscoelastic materials using Runge-Kutta-Nystrm method
z

1
1 p
1 p

z
0
t

z t d . (13)

1 p

Afterintegratingbyparts,theintegration
0

d isderivedtoadefiniteintegral

t
1 p

I t
z t

517

d yt ( ) d (14)
0

Bysubstitutingequations(13)and(14)intoEq.(12),weobtain

z 0 t 1 p I t
1
p

D p z t
z 0 t
(15)
1 p
1 p

Then,bysubstitutingEq.(15)intoEq.(4)weobtainthefollowingequation

z 0 t 1 p I t
1
1
p

x t f t kx t 0 c x t
z 0 t
(16)
m
1 p
1 p

ti

ti
1 p

z ti
Weapproximatetheintegral I ti

d yti ( )d foreveryinstance ti bytrapezoid

numericalintegrationasfollows:
0 t0 t1 ... t n T , h ti 1 ti , ti t0 ih, j t0 jh, yti ti 0 (17)

yti
yt h
i

2
yti j
yt h j

h
h
yti (ti1 )
y h (ti )

2
4 ti 2

0
0
0 1 ... j ... i 2 i 1 i
0 1 ... j ... i 1 i i h 2

I ti
I ti h

Figure 2.Approximatingtheintegralbytrapezoidnumericalintegration

i 1

I ti

j 0

h
yt j yti j 1

2 i

i 2

h2 yt j yt j 1 2h yt ti 1 ,
i

i 1 (18)

j 0

i 1

I ti h

h
h y

y
y

,
2 2 t h /2 j t h /2 j 1 4 t h /2 i
i

i 0 (19)

j 0

z ti attime t i .Hence,Eq.(16)becomes
Thus,integral I t isindependentof

xi g ti , xi (20)

xi
x ti withsubscriptidenotethedisplacementandaccelerationattime ti
Where xi x ti and
respectively,

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Nguyen Van Khang, Nobuyuki Shimizu, Mataka fukunaga, Duong Van Lac, Bui Thi Thuy

z 0 ti1 p I ti
1
1
p
f
t

k
x

c
x
z
0
t

i
(21)
i
i
0 i
m
1 p
1 p

WehaveRKNnumericalalgorithmforEq.(20)as[18]:
h
xi 1 xi hxi k1 k 2 k3
3
1
xi 1 xi k1 2k 2 2k3 k4 (22)
3

xi 1 g ti h, xi 1 ,
i n 1

g ti , xi

Where

h
g ti , xi ;
2
h
h
h
h
k2 g ti , xi xi k1 ;
2
2
2
4 (23)

k3 k 2 ;
k1

h
g ti h, xi hxi hk3 .
2
Wefinallyobtainnumericalsolution xi ofthedifferentialequationofmotionaccordingtoEq.(6).Wesuppose
k4

thatformulas x 0 , x 0 and x 0 aregiven.

3. Numerical example
We have tried out thealgorithm forr someexamples. For the first example,the differential equation of
motionhasthefollowingform:

x t 2 1 3 x 4 t D 0,5 x t x t 1 (24)
Wehavechosen:

f 1, b x 1, m 1, 0 2, c( x ) 1 3x 4 ,

Andtheinitialconditions:
x 0 0, x 0 3.

p 0.5, k 1 ,

Fig.3 showstheresults by using Runge-Kutta-Nystrm method.The symbol atthe ordinateis defined by

D 2 x t .
Inthesecondexample,thedifferentialequationofmotionofthesysteminthiscasetakesthefollowingform
x t
0,17 D 2 x t 616 D 0,39
1043x t 0. (25)
1 342 x (t )
Thenumericalcomputationsarecarriedoutusingthefollowingparameters
1
c ( x) 1, b( x )
, f (t ) 0, c1h 1.71, h 0.005
1

c1 x

m m0 m1 0.17, p 0.39, k 1043, 0 616, c1 342

Theinitialconditionsarechosenasbelow:
x 0 0, x 0 0.64 .
SomecalculatedresultsofEq.(25)areshowninFig.4.Thecalculatedresultsareingoodagreementwiththe
experimentalonesin[16,17].

Calculation of responses of a nonlinear fractional derivative model of impulse motion

for viscoelastic materials using Runge-Kutta-Nystrm method

519

Figure 3.TheimpulseresponseofEq.(24)

Figure 4.TheimpulseresponseofEq.(25).

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Nguyen Van Khang, Nobuyuki Shimizu, Mataka fukunaga, Duong Van Lac, Bui Thi Thuy

4. Conclusion
BasedontheideaoftheRunge-Kutta-Nystrmmethod,theapproximationformulasfordynamicsystems
aredevelopedinthispaper.Then,usingtheLiouville-RiemansdefinitionoffractionalderivativesandtheRKN
algorithm,we calculatednonlinearvibrationsof fractionalderivativemodel ofimpulsemotionforviscoelastic
materials.Accordingtothisalgorithm,acomputerprogramisdevelopedusingMATLABsoftware.
We also compared the results calculated by the Newmark method [13] and Runge-Kutta-Nystrm
method. The computation time with Runge-Kutta-Nystrm method is greatly reduced in comparison with
Newmarkmethod.
TheRKNalgorithmpresentedhereforfractionalordersystemsiseffectiveandsuccessful.

5. Acknowledgment
ThispaperwascompletedwiththefinancialsupportbytheVietnamNationalFoundationforScienceand
TechnologyDevelopment(NAFOSTED).

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