Chapter 13 Nonlinear Vibration s t a 2 2 (8) grote, = 3 , 8+ Or = Be @ Use @= 1+ O, in &- (Er): 2 oo 2 2 3 2 2 2 A+ Bt H+ We, = F+ Bolt 2 + & oer Zoe Lest hand side is not egual te the right hand side. Thus superpositron principle is not valid. (2) T= kinetic energy ot time zero = 4 (Xo) Let x, = maximum displacement on right side. Ve pointal +m in Apting ok displacement Xy= bayxd ( 24 zero ok ™ Sime T=V, aye S fae FH Let x)= maximum displacement fo heft side V= ahi ™ T=V_ gives «> [EGS = ce % (@) Snce k< K,, maximum deflection = == he (by Period of vibration for a oe matt pytlimn i Ty=ae FE In the pruent case, = (hime form t go te x=) from xz0 ond nelle te x=0) + : (time form t go t x= x from 5 (EE) x0 amd netinn & x= 0) 783(=) Restoring force = F= ne 3 ofnex, Ten 4x, Lhe + (R= 6) 5 x? %o te Fe fae 30s x< xe * Bex- kx; x>%0 7 ED Equation of motion is mi + F=Psinut uhere F is given by (E)), Let R= tension in wire after displacement of masses P= initial tension in wire Bz = length of 2% segment of wire apter displacement of masses transverse displacement of mass £ (¢= 1,2) hele faa Vie Geen. fee Vhis b+heh wha f-ts) hit he ty New tension in wire = P= (Peace) Where As cross-sectional area of wire amd E= Young's medulus, Equations of motion of masses: mii + B sino + P sin Oz, =0 (e) ©) m % +(PHAE ES oe ( Vie +x" tr + Cxy- JFs at) =e (F) ™21+ (PHAEe) ( zi= = fra er) (8)] (&) E= Strain in wire = ( ©) oe B sin Op + P Sina, = with x roe Gy -Eh(GYT = 784x Te x Flr ae) ] ©) Similarly, (emmy ~ amd . foto Vien? 8 2 U0red (B)]-424 herbie V+ (ny he $e en* &) 2 (4+ Lat fs) Substitution of Eys- (Eg) to (Ey) inte Eps. (Ey)and (Es) yields the nonlinear eguations of motion of the masses mand im. Using x and @ as the coordinates, the kinetic and potential energies of the system can be expressed as T imt+t si @) where Jo =m (¢ +x)? and Valk (+h)? mg (+x) e080 () where = =. Equations (1) and (2) give otras oe lems a ‘a lal 4 k(x+6)—mgcost ; Baomge+x)sind ‘The equations of motion can be derived using Lagrange’s equations, Eq. (6.44), as: mi-m(C+x)0 +kx+mg—mgcos 9=0 (3) m (04x) 64+2m(¢+x)xd+mg (+x) sin =0 (4) 785Using, sind~6, cos6~1, and neglecting nonlinear terms —_ involving x? 6, &, x 8, and x 4, Eqs. (3) and (4) can be reduced (linearized) to obtain: mk+kx=0 (5) mé@6+mge0=0 (6) Equations (5) and (6) correspond to the natural frequencies: \ on =k @ (tes) eos 9! | | i | ko zme DM =I 8 - soe [2 wal [2£ 24 seme or fae B+ 4 e sin 60050 =¢ cos OF(t) () Eq, (1) can be approximated using g sino & and oe eo which yields 786[gn0 b+ fue e-Syu-S-ca-Ayry or pme544 420-2 a -¢-Fyry @) Neglecting the nonlinear term, Eq. a can be reduced to fmtb+tne ener) (3) L © eae Extension of ke: OB — PB = VBP? + PO? ~PB=Vh? +x? —h 1 Poy 1x) 1x shits) ~hehQt+> oy) het b B in 0 = = , BO 44h 2b DF=ms or mi=—kyx— Aly sin 9+ F(t) Sahil pe 1 ky or m¥+k,x+|—~ A] nFO () btoy Note that rk, Sk, xk, (2) ax, 2b ant thee mi +k, x+— > —-—= =F(t) (3) 787Neglecting the terms involving x°, Eq, (3) can be reduced to ky mith xt oye =F) () Xp =xtésin O ; % =x+6 Deco 0 yn =l cos ; jg=—Cbsind teime+ing +i) 2 2 12,1 [. 4, , =yM:z thm [fi +e bcos 9? +(—8sin OF] =P Oem +i me P+ meiicess ly VaF kx? tmge (1 —cosd) Q. = F(t) 5 Qe = M(t) Equations of motion: (M+m)i+mebcos0—meF sind +kx=F(t) () mé§4+méX cos @—méx8sin0+mg ¢ sin 8 =M,(t) (2) 788a Using the approximations cos —~£ j sing Eqs. (1) and (2) can be expressed as Mtmje+med-t met i-meoe +i mee dt +kx=Ft) (3) mOb+mez-FmePi-mesdisi mee ix tmgl0-L img eP M(t) (4) By neglecting the nonlinear terms, the linearized equations of motion can be written as (M+m)¥+meG4kx =F(t) (3) m@6+méi+mgéo=M,(t) (8) --- (e1) ut fe, 3 Ey: (E1) con be rewritten as = 6 se + Tire =0 Integrating thissve get (5 og Oe 8k. (Ex) . 7 At t=0, 6=0 ad 9= 6 > c= -(¥~) aso, + 7 #9) &- (Ex) gives (2)x6 =2(c+ he do . do (c+ Beso) ft E(ae- ote) --- (8s) t do f [+ ¥ (cto — ct &) at) e os 8 — oh O = (1-2 win 8) - (1-2 But = + Oe =2 tin (t- % me 4 9 Hie Q ~ ——t = hing where * * tp. dpp dow HAE AS A ae ) 7 “ti gee + we. do 4 ADT = 789Gy (Ex) 4 (Es) give fete A leclsg I ites 7 = periods 4 EE a ag here 2 Kn 2. 0 f1- was The integral im % is the complete elliptic integral of the First ind. Hence the numerical value of T corresponding to any a can be obtained from the elliptic integral tables. + endulum length 0.8 m da 2 auation of motion: 8 + F sinO=0 or 5 (09+ =# sina=0 H nl Porat A (op 2g = Faro=aar Shea J gq eo aos | 7 sine de=0 ie, (03 + 28 (cos 08-9, ie, (8%) = (cos ® — cos 8,) 2¢ wa [cos 6 — cos 8) \¢ do ie, dt=+,- \2¢ [cos 0 — cos 0) ‘Time taken by pendulum to reach vertical position can be found as =_ je ae) (E,) t= J- — (E,) 6, 0 Let a=sin “P and sin =a sin 6 s0 that when 0 = 0, @= 0 and when 0= 0,9 = 7 790acosg-do, da=|2808e do cos = 2 % sin? — — sin? 2 a? sin? 9 = a? cos? Eq, (E,) becomes ote yi -a®sin?o fe of 4) it pla, = eB &) where F is called the incomplete elliptic integral of the first kind. fe | 0 Here |= = ,|28 = 0.2857 and a = sin % = gin 40° = 0.6428, Ve Vos 2 From CRC Standard Mathematical Tables, we find for F (a 2) 0, = 80°, F = 1.7868 t = 0.2857 (1.7868) = 0.5105 second .8 m/s? Alternatively, ¢ = 0.8 m, 0, = 80° = 1.3963 rad and g= ‘Time taken by pendulum to reach vertical position (one-quarter of the time period) can be found from Eq. (E,,) in solution of problem 13.11 as ) = 3.5, 0, = 1.3968 rad, _1.9496 12 (0.8375) = 0.1940 = (0.4405)? = (sin 26.1358")? F ( 2) = 1.6490 from CRC Standard Mathematical Tables. t= oe = 0.5626 sec (8.5)(0.8876) , 1 Note that this result is only approximately due to the approximation sin 0 = 0 ~ = 0 used in the solution of problem 13.11 791@) 5+u2(e-t 0) =0 This eguation is similar to Eg. (13-9) with X=6, w=% , F(z) = F(e)= o-te’. &-(&) can be rewritten as £6) +20, (@-¢ 0°) =o which upon integration gives . 8, 8 Baer Mec) dg = 208 Crd) ° , 2 2 1 pt \% aha, he 4 22a (E1351 )g = B(S-hel- ork") = OF (e-0*) {1-4 (ote oD} Since the maximum value of @ is @, WE assume ® sin B e+e = of (1+ sine) and 6 = A wor 6 BI we = a? = eg -e si'B = 0f cos" Substitution of Ege. (Ec) ts (Eg) into (Ey) gives & ase (AB)? = co oF cxt'p [1 - ey #) y= 8 (1-8) Ft - = Defining Ee “2 (gee) &%- (Eo) can be used te express (ei peritive root) : 48 2 (1 & ey (1- & sin 7e)* at od int ; 2A-%e L gtvt a Ce(iv ry B= ST ae Integration of (E2) yields (1-4 eb )* (t- t= { 792 a fel (iv sie) j @) ©) €:) ,) &) ©) (1) (€2) >») (€.) Cn) E12) (E13)Using the initial conditions Py =0 at t,20, Ey. (Ez) can be reduced to @(1- kez t= {> = Fp) Gn) where F(a.) is an incomplete ser integral of the First kind - Using A= E when = 05 ond f= when e=0, we get for one-guarter ported. zx 4 Sets ———- FoF €, * alah FOE) 8) Thus the time period of the pendulum is given by €) ) B(t)s A, sin ot + Ay tin 309 @) H(t) = — Ag asin oot - Ay (30) sin gest Assumed solution: Be AD alot o AF ob aat (neglecting car product tern) = sineot (2% a J+ sin sat (-Zad + DAZ) + 4m 9t(% A?) This gives E=€[%] = -A,e' sin wt - Ay (20) sin set + Ag Ber Sin tat + Axo! sin 1WE- + oa al sin ot : \ ; + re O (Al 3A} ) sin set +g Wo AY sin 2st = B, Sint + 5, Sin aut + By sin gust (és) 2 Where B= Ao® + Asay - LA aS 204 3 ot B= 94504 AsO + de hows -— FASS : Ba= a AR we In Ritz- Galerkin method, [ve cE ut =o @) fe bane om)e Jf (By sin wot + B, sin 5198 +8, sin ocrt)(B, tin UE +B, tin 20t)dt wo 2 22 20, and By= The With By = -0*+ 03. 3 rey 7 Ses Sin*eot 4 ByBy sink sin 209t + 3,8, sinot sin est + By By sinwt sinacot + BpBs sint2ust + B,B, sin st sin gest dt=0 es B, By + B,B8s =0 €&) and Ey. (Es) leads to x So, Sin wt + By sin 30t + B, sin Te9t)(Bg sin 309 +B, sin rot) de =0 22 ° with B= 90740 -Z Ar wy amd Bea PAS eo. ee B, Bg + B, By =o (€,) Egs (Eg) amd (E7) can be rewritten as (-Ay 07+ Ayo, Aas) (- 0+ OF - 3 ag a2 ) + (-As 90" 4 As we at Ae ws bay we (FE Av w@e)=0 (Ee) and Car 90+ Aare Ad wt A? 2) Cries 0 -F Ase) + (BA O)(F4 oF) =0 5) The solution of Ege. (Ey) and (Eg) gives the values of A,and As: Note that (E,) ond (Ey) ere tio simultaneous algebraic Cguations in Ay amd Ay for which general chsed- form Solution is not possible. (E) yields s 2 est 2 92 teat 2 atest) 4b aces Ao (- 8+ 5-5 AQ Gan )(-O"+ Bo - F Ao We )* zg 40 % ae Note Aa) p =e te, Aofate 0" (2095+ EAS) + oH (1 Since Ap #0, we get 4 03*(2092- 4 Ad oe) + 08 (1- $AZ tA *) 20 (0) Which can be seen to be identical to &.(E6) of ee 124, 794Equation: X44 xtra x20 ) We assume RR) = H(t) + & x(t) + *xA(4) 2) oma Os Ft x OCA) + <* (Ad s) or WS = est we (Ac) — «* 0%(As) (Eg) Where Ag= amplitude and w= tre fundamental Freguency. Substitution of (E2) amd (Eq) info (Er) gives Sy tt Ky 4a ky tO Xe — a W, Xp ~ KW, Xe +O mb 2G8 y= dg Ry 4 OS™ My— 7D, Xa — KN, Hy 4 He patie pa age 3a Ks x, + 30? KKH Be Ke He Ayo x,%, =0 (Es) Neglecting terms involving 7, &4,..., (Es) can be rewritten ar 2 2 $B a xg xe 4 3 of x, Xe 43K o x, ae 46m ope ; a (Xo + Xo) + x! (1-5 %o + HL + KO) + (Ry x9 - 8, 2) +O ma 49x54) =O (Ee) Setting the coefficient of ° to Zero in (Ee), we get Xt WX =0 (ey whose solution is x(t) = Dy wos ast + Pz sinast (e) amd hence Z(t) = -D,w Sin aot + D, a cos cot (Es) Let the initial conditions of the system be %e(t=0) =Aco amd %(t=0) =0 €.) Egs- (Ee) & (Fie) yield D,=Ao amd 2,=0 so that Holt) = Ao cos wt Cn) thus, if X=0, the solution becomes x(t) = A, coswt , w= WW (E12) By setting the coefficient of at te zero in (Es), we get + wrx = 0, Xe x2 ns) Substituting Ey. (Ey) for x0, (Eis) leads toK+ wh xy = (03, Ao- 2 AZ) eosot - Lar cos sot Ew) The complete solution of (€,4) can be expressed of (can be Verified by substitution) : x(E) = Dy cost + DZ sinwt + (~, ho-% Aa) get. sin @ E 143 7 + ag ge he wos sat (is) Note that the third term onthe rhs: of (yg) is @ Secular term which can be eliminated by setting 3 @,Ao-% Ao =0 Since A, #0, we have Using the initial conditions we get 2 ber Apso or W=Z Ao Ge) Ao v7) K\(E=0) =o in (Eis)> (Eis) 4 3 3a@e Ao » Hence the first-order correction is given by 3 x(t) = - Ae 32092 (cos wt — cos est) 5 = 2 AS (Eis) Finally, by setting the coefficient of «7 in (Ee) t gero, we get Gee aot ete ots G2) Substituting for x9, %, amd 0, &. (E20) leads to ” 5 s Xt OR, = (8. Ag- Ae) cos ext +(2 Ao a Ba Az) cos st 5 + Ae (costwt - costewt cos 20st) x) 2 igs Here costeot = Z wos wt + Z cos 309k (E12) ard costeat -cosrest = d cocwst +t cos 30tet at Sot (E,:) fy. (Ex) & (Es) lead to 5 Atta = (a, Me tag Be) oe ot - Since the first term on the rh-s- of (Ezy) leads t& the Secular term, we eliminate it by setting Sees) 0, Ao + Ge fo wr 5 2 fe cos set (Epa) a 3 AS 2-3. fe Eps or Gs, faabae (E25) 796with this, the total solution of (Egy) » aSter applying the initial conditions x, (t=0) =0 amd %2(t=0) =0, can be obtained as 5 4 = Ao A x(t) = meat (cos st — cof Set); w= Baal fg x) Thus the total solution becomes x(t)= Ao cos ots Se Ae X (cos ust — oS 3u5t) Ag? “et Cert wt - es seat) 2 2 é Bipseqg ~-2..A (Co) ote AM — a S (ax) Equation: xeck +,x+ kx cos set — a, sin swt = (Es) Assume X(t) = A cos Oty B es3ut 4+ C sin 2et 2) so that = X(t) = -WA sin ast -209B sin 3t +309C cosaust (Es) K(E)= =A cos cot — 109° B ot 209t —GeS"C sim test (Ex) =A? chest + B cos? aut + C? sin? 300t + 3A™B coset cos Ut + 3AB™ cosest coS* 300 + 3A cos*e9t tm 309t 4 3Aa> cs ot 4c Ut + 3B7C cos* 30st sin zest + 3BC* cs aest ect su9t +GABC oS wt CoS3qt snr dut = wt(F A? ten BtaAe T+ EAci)+rmet (EAC) +t sit (4p? +ie? +2a*a +2807) + hin 30t (Bc? + Fatcss pe cob ve-k Ba*) + cos set (£8) + sim oat CAC+ive -£ 5c) + cof Sat GF AB + das*-2act) +t Tet (Fas - act) + sin swt (Zatoe asc) + tin yet (2 ABC) (es) Fer convenience, we use the notation 797Qs ut swthat z= de = de do dz y dt eo fe de ant with this, Egs.(€,) + Es) become x" 4 cox! + ket x = a, 40 - ay Hn 30 (e.) X(0)= A eh O+ Bol I04¢ au30 (7) xX0)= 7S = -Atme-3B 39430 830 (2) x") = ¥fs* = — A cS O-98 cS 30-90 tin 30 (€s) (0) = (fared A*B+ 2 AB*+2AC*) wos 0 +(Fare) sin @ +--+ + (ZABC ) tem 70 (Ee) Terms containing cS 50, Sin SO, cof 70, Sin 70,.cof 90 and Ain 90 in Be. (Ei) Cam be nughectid for the present analyst. Then the substitution of Egs-(E7) ts (Bio) inte (Eg) and ing the coefficients of cos @, sin@, cos 30 Sin 39 on both sides gives Ce) + 2, (At AB + 2874 207) =0 Gu) -t@ +24, AC =0 €) Cki-9@")B + 3cC tbe (Ae CA Bea + 3pc°)=a, (Ej3) (41-907) -3c09 B+d 40(c*+2A"4 8") = ay Gu) Ey (Ev) & (Ey) represent four simultaneous nonlinear algebraic eguations in A,B,C and 69 - For omy ‘apectpie Cate, these epyotions pRowlh yeold non-zero ruol voluce for A,B amd Co for the existence of subharmonic oscillations of order 3. w= kit By (A+ ABE B+ 2 C*) (es) c= 4c aval (x) 798&- (Eis) can be solved to obtain {4 (oo? #)- 78-207}? (E15) ~ 2k. s 24th As-34 This eguation gives the condition for the existence of Subharmonic of order 3 (nonzero A) as 16 2 2 3K -k)-7B?-80% zo ie, wr > y+ pr (787+ 8c*) (eis) (aid) Eesti: Ree +k xt kX = @ cos 20t «) As in the solution of problem 13.14, we introduce erat, 22 x and Zaestx” vith x= 22- &- (E1) becomes x" + cere + kX + eX =o Cor 20 (e2) The solution of (E,) must contain terms involving cos @ and/or sin ® in order te include subharmenies of order 2. tg the nonlinear term x7 is assumed te he small with k,>0, We cam express cand a as c= € &2 amd os ay ty Thus (&) becomes wx 4 Co KE xe + kt ext Kz Q, cos 20 (es) Using perturbation method, we assume H(E)= Xo(E) + kp (ED + KZ x CE) +e (4) = Wy + Kr + KT Od, +e s) Substituting (Eq) and CEs) inte (23), ve get 2 (Wot Ka + KE OY (m9 + ke xy + KP xe) + © KE ( Oot 1 , ri , + 4E Oe) (Ho + tar + KE aL) 4 ki (Xo tet KE xD + ki (Rot Katt kr 2) = tk, a, of 20 ie. Ke (xo Bet Kye) 4 tet (x) + 20,0, 2664 K+ x5 -a, 0426) + deg (xft ob + x21 92+ 209003, Xi + 2 Wr Kol + € WyXS +k, %2 + 2% %) + te )te = 0 ic) By setting the coefficients of various powers of kz egual to ero in (Ee), we get the following. 799Coefficient of Ky : Xe Wt Kx = 0 (&) Selution of (Ey) is x(t) = Ay of O+ A, sin @ (€9) E and =k (Es) coefficient of #2: Ky OF + kX) =~ 20,0, % x2 4 a, cos 26 Cex) Substituting (Eg) and (Eg), &y- (Ei) becomes XY Wy + 4p xy = - 20969, (A, HO Ay sino) — AP cor -APSin“@ _A\Ag 4in 20 4 Oe Cos 20 or, ” = (2O1Ar 2A) 6, At x boxy = (FA) coro + at s ort + Bae) core ~ (Sit) an 20 = (Al Ay @ Ze Since the first two terms on the rhs: of (Ev) lead to secular terms, we should have (3, =0 (En) to avoid those terms. thus (&,) reduces to xem = (A At AD AE +e) cor 20- SAE sin 2 Aten (Es) the Feuealed integral of (E13) can be Neteten os x,(0) = - (Act AR At: is At ) + As e820 + Ay sin 20 uw) where Ay and Ay can be found by substituting (Eu) into CE): -ar AtAz Ay= Anas - = Atte E 3 ae ( a) » Ay Se Gs) coefficient of Ki: 7 " ” ” ’ Ce Xe + ey tg = — o8F x4! — 2.8, 08, 2) 209,02 Xo — CWI KS —2 Xe Er or, We 4 € , ape ee ee .) since 9,0 and os = 4. By substituting (Eg) and (E14) on the rhs. of (Eig), we get “ 2 * AYA Xe + Xe OA EO + Ar)- "3 0 22Ar cA (GR + hes ” xy + Xe ay) coso * A Ba teat) + AeA? ee sin @ 1 800+ (4 AAD aM cos 30 4 (— AAs _ aot) sinto (Ev) Kr % Te aveid ae oe the coefficients of cos @ and Sin @ in (E;7) must be be gere- This gives 2@e Ar An, AL cgay aby AAD _ een) ° (Eve) eo @e «1 1 20, Ar CAL ba pt, gry), Arla — A AY (s) Sot + Bicateaty + Se a, + “Be face 2) er ch Thus (E\7) reduces to é 1 sin E, cT x +4, = (Anat Anaad 2 ces 30.- (Aras Miu) 2 sin 30 ze) Substituting ate into (Eig) and (E\9). we get 23 Ar €Ar Mee o + Tee OM CAE are AD -2Ar)e = a ot Sk, 36 te.) 20, Ar EA Ar @e loa ne Ay = we at ae GAP+ GAD + Az 2-2 *y- ras om) Dividing (Egi) amd i) by Arand Az , respectively, we get 22 € Ap Ss eo EB ew Ree ate =o ©.) aa eA, A) - G Gta h Eats Fe) Fat =e (Exe) Addition od subtraction of (E_3) and (Ezy) give fa AL 5. = 5(# - he ee AE + AZ) 2s) ond ng T=P (26) 2a. where r= Ar/, and pa GS = Eh) 23) fon o: iss z Solution of (E,¢) is re +t Vpoe x) 2 This i, becomes (Ep. (rep)! w,= + @-7e ke) _ ECAP ATY (ess) CK, a, 12 &, Oe The solution of &. (E20) can be determined at Ay x2@)= (Aras As) cor 30 + (A93""5) sin 30 (Es0) thas Eps: (Eg) and (CEs) eatin 2 HE) = xO(E) + a(t) + RF (CE) 5 = Ht Ky 0, + KPO, along with Eps- (Ee), (E9)» (Fiz), (Ei), (Eg) and (E30)- 801Eg. (13-82) can be rewritten as 3 ast 2 3 2 GY - oF (wt) 2a Aor) + AFA (6°) - Ze XF? zo (E) Differentiation of (E1) gives do (204-20 a? 24 Ato*+ bx FA) +k (-F x o4tA4 Za F wt) =0 &) Setting do* _ - ‘3 Ta 7°? &-(E2) gives Act & (>) With this E.(E3), &-(&.) becomes © os? cst WW - 0 os" = Bw F274 2 23 apt 2 B e ag

-[o-t (xt-1) 224 xy] = Alen 2) For epuilibrium , from Ey. (13-129), 130 2 X50 35 E}. (13-132) becomes bet x= x x fr0 > 20 fade [2 where a, = Fx [(10) = O72 = Fal (0) aes o,, = Fa = = (02x, £ =c-t, “ pee ie ances Veever = he = [ot (xt- = ot one Fe ley 7 7 Lot Olay =? From &- (13-135), we find pros, y= 4 Mis dne £ (OL t oor ) = complex Since pro, the (%*) =(,0)+ Hence the phase-plane trajectory in the neighborhood of the epuilibrium position x Qppears a3 thoun inthe Figure. ) R404 408% =0 Let x= x, with positive real parts system is unstable at the epuilibrium point x initial conditions: x(o)=2. ylo)=4 = Alope of the trajectory R=}, FR og pn-osn dy | -0-4¥y-orx rr Equation of isocline is -o-4 y-orFx= cy of 4: s eto This eguation is plotted for different values of ¢. then Amall Line segments are drawn and slopes are used for extrapolation. =4 vale f Ye | 05 0°3077 02222 9-053 © or 0?52 — 01818 Angle 126-5651 12-53) -M56° -75-96° 3227? 90° 42.87% 75-96" 8054 02353 09333 05714 08-10 19193 = 2-0 13-24? 19-43" 29-74" ~ 98-65" 45° 5343 -6 3-43" -75.96" Pr ee 75:96" 63-43" 53-03" 45° 39.699 26,57" 38-66 4500-5017" =57-99" —c3.qs” Eguation of motion: Xtot xe xz = tin de Letting fe=y, jis Sx oly we obtain 806 (&) ©) >)Instead of integrating (Ex) directly, we find the solution of (Er) using the procedures of chapter 4- Noting that m=t, czo1, n= 1, an =—< = ot . fand Fas = St coos Hence the solutvon of (€)), with the initial conditions X(e) = X(e)=0, ts given by [see Example 4.6] ; i -TO,t a(t - t- (= Ef ie cos (yt -#)] where 3, = Vin 5* = 1 [i=or0s* = 0-9987 . ¥ Ht (208 ° and f= tan ( Ea) = tes (2255) = ascn . soos t 5 x)= 5[1- 100 € 7 * cos (99874 -2-868t")] (Es) Velocity is given by (differentiating Ee (Ex)) + E(E) = 02503 g 7OFE OU, (e-9987¢ —2-8681") + 510 T°" sino. son7 t — 2-868") Gs) The trajectory in the phase- plane (x-% plane) appears as thown beleur : we find ord + 2 (x2) where os His? (> Multiplying by 2% and integrating ,(E, pend (E3) yield Beh (nee) = Bo fr 2 >O0 (5) Peed lnat = hn Bt <0 (e) 807where Rj and Rj, are integration constants which ore te be computed ak each switching of sign of x. We can plot the trajectories of a representative point whese coordinates are H=We » Mek (©) ys (Es) amd (Eg) show that the trajectory is made of semicircles whose centers are located at x= —a (or %)>-a0,) Ry can be cbtained from the initial conditions using Ey. (Be) af: =o arf Fx2 oft . _ of «, Re oe on (SE - EY A(SEY + re E (Ss) Notice that the radii of the circles Ri, R2,--- decrease according to the relation Rp= Ryn 2 On 5 ZF =h2,.- and the system will stop uhen Ry S 2% Oy 7s 2 sf Here Bee uo G. R= Rs = 2§ £ 5 25 Ry= Rs- ZF = 3F , Re= Ry - wb, and the motion stops at this point (after five half — cycles) since Ro < 2a@,= 28, Bn 8086+¢6 + sino =0 or 6 =-cé —sne ft de “wd, 4% 2 -cy — sin E a Z cg - Sin x (e)) Epuilibrium or critical point (where dx system iS (x=0, ¥=0) eguilibriam ene 42 0) of this » Linearization of Eys- (E,) about the int (origin) leads te de ey, dy * (bL G] & The eigenvalues of this system are given by 3 JeL fe. be [=> l [7° nen M+ het 1 SN HPATE HO Pal are te Age - $3 f(E ) TF cso! poosgats Mae t EP The oriyin will be a center. TE o03 d,,= complex conjugates. The ongin will be an unstable focal joint C4piral point). Eguation of motion: SG tosé+sin eo so8 ,) Let x29 omd y= day o te oy, ra asin x -05 4 40-8 €:) . 809ag 1 cSin Mm os e+ oe (>) ax ¥ At (x= sin“'og, $20), 42 =$ amd fence tt will be on Cppilibrcum point. Te investigate the nature of singularity, we rewrite Es: (E2) in Jinearized form of oa = (ox +(4)¥ } 4) 44 = (oe -05 % de thus the eigenvalues of the system are given by IE kek ee = Mosh = A+ plage I-A ' » Ags negative Here pe positive, Zao, and z= negative: Thus the epuilibrium point falls on the border of saddle points and stable nodal points as thoum in the adjacent figure. S) 4 2 x4 My e 4 = ux ey +@D2” ©) ee (ej; ond (Ez) are zero at (x=0, y=0)- Hence the origin (0,0) will be eguslibrium point (singularity). The Saeeles are given by JE: LJefe se le tale Mele tt = + party = 810For c>o and c< 2: pro, Br0 ond d= complex conjugates. Hence the origin will be a stable focus (or spiral point). For c22: fro, YrO5 Ay,= Negative real. Hence the origin will be a Stable nedal point - -vi (tex) 4x50 2 «>O () This eguatfon can be rewritten as dee = ¥ @) Wik = -x + 4% (t-x*) ag 5 =x 4+ 4x (1-2*) dx = ¥ i) Thus the system has Singularity at (x=0, ¥=0)- Near the origin, the nature of singularity can be investigated by considering the finearized eguatrons = dxf, = 24+ d } (&) Yak = I) + («YE The eigenvalues corresponding to Ey: (E4) are given by IB JeE ele ale fey Pw A414 = AH paeD =O ber Aue = © Veted 2 Here pert BF t and Di2 = complex conjugates bor X>0 amd = Small, Hence the origin will be an unstable focus (spiral point). Ss Roe x (14 «7 x?) =0 @) Let dxf =Y, dy fae = = On x 88? x? 2) ne is at (xz0, y=0), Eigenvalues are given by a ‘ (ez 6) 790% “J = -ot =A 811ter Mee = Ae plty so fer Mg = ti Wn Here poo; ga wr = positive 5 Ay, = imaginary (cnjugates) Eguilibrium point is o center. %+ohx (1- #727) 0 @) Uith dye = ¥ WY) yy = — On x tos a? x? (&2) Singularity of (x=0, y=). Linearized eguations about origin are bye y, Yip s -a2x @) Eigenvalues are given by [3 wel. |< Meo s Ve pr ty =e tes Mya E On oo peos ge positive = 3 Ane = Conjugates (imaginary) Hence epuilibrium point is w center. 6 +02 sino = (E,) Using x=, Ey-(E1) can be expressed as dye= Yay = -ah sim x ) Singularity is at (x=0, y=0), Linearized eguations about origin yield Wye = 9, Wa = - oR Eigenvalues ore given by [es 2)-afs rfl ter Mae eoy N+ grtgsos A =o o On Here $=03%=> w= positive 5 d,,= imaginary (conjugates) “ Eguilibrium point is @ center. 812x -# Gy Fr2t Assuming the selution as % } {*} of , we get the following eigenvalue problem (2 sh dRde Eh ce) The eigenvalues are given by "> a |= HW 4At 4 =0 1 3-A ten na = 42a _ 2 Taya es Both eigenvalues are same. Using \,=2 in the first epuatin of (€,), we get =X. 2,2 a) Letting x=1 arbitrarily, we get xy ={4 } foo Mz 2 Since the substitution of hae 2 gives the (2) Same eigenvector af in (E,), we Seek a ‘ second solution inthe form ¢x x 2 (e : 3 ihe fyhee > Substitution of (Es) inte the original epuations gives {rpetaaf*peet —[) al cme eae) Tk can be seen that the only wey (£,) can be satisfied for all Values of £ is to have he {o}- This implies that solution Of the form of &.(E3) cannot exist. Hence we seek a solution of the form Fl-fypes tebe et &) where pay and {et are to be determined» Substitution of (Es) inte original eguations gives aepe d+ (beefy pet -[i “Te Fl) By eppating the coefficients of tet® ond ot on both side of (Ee), we get efepe 0 Sith 9) 813ot {eee b= L TUES te) It can be seen that (Ez) will be satisfied sf fepekt ae {!, } = eigenvector corresponding ty y= 2+ &s- (Ez) can be rewritten in scalar form ar Kp t2X%,= Ky -¥, Xt =-X B % 3 or, wh 2 ) Yat 2¥) = Xy43Y) -Xi-Y, =-Y2 Thus Ser Xget amd Y2=-1, (Es) give x, any constant ape Lee po f} &.) “The solution of (Es) becomes ° + fe}. {pettsefi pets Eipee (c,) We can ignore the middle term on the th-s-of (Ey) Since it is 0 same 4 fay + thes the second Aclution of original eguakins Fh ipe Lipa dk e) by) z= x+3 (b) 3 wd . (> Assuming the solution af {3 y = fy} e ) &ys-(Er) give 1-) 1 x ° (es) PUMP gy Eigenvalues are given by tA 2 co CE 4 mt Vo ah-az0 (4) Fe ee a wo Substitution of A, 2-1 in (Ex) gives 2% red ee 4x4 2? Te Ae zt, arbitrarily, the first eigenvector becomes = ia} © vet substituting Ag=3 im (Es), we get - 2x47 y= 2x. By choosing x@=4 arbitrarily, the second eigenvector becomes ie ial 7 {! $ ; 2 or 814be x-2¥ dy 4x-5% pe gxesy tl? a xa2y () fey are defined by [Cs S100 TE} “ This gives | '-A 2 = Ag3= 4 ar re #43 ee Eigenvectors: For Ay Ey.(Ex) gives 4x=2Y For = "& (Ee) Fives 2x=2¥ 2 -{% oe {4} are -{% p- {4} @) this the seltions are: 300, {0 (ht ane {ep est General solution is 2. xe 2, 2 ' ae {he 26 8 by 4% are afters ati fe where cy and c, are arbitrary constants. The solution can be represented in the xy plane for Various values of c,amd c,, First, we consider ¢=0 se that -3t —3t x=cqe > gs2r0e 2%) Eliminating t between these, we Sind that the solution lies v on the straight line y= 2x. The solution x'(t) approaches arigin along the Line yz2x. larly, x(t) approaches origin along the tine yo - As treo, x" ey is negligible compared te x%e)> Hence X(t) of (Es) approaches origin tangential to Line yee The trajectories © 815REK-y, Yo xtsy (,) xt ay a” xny @:) The eigenvalues and eigenvectors of this system were found in Problem 13-30(@) a Mea Meee, RPS LI } sonly one independent eigenvector = tet Hcey={! jet? » ef Teeth fo} et (€3) The general solution of ()) is 7 = efi peteaLipte a fetet ) Te drow the trajectories given by (E%), we Fiest observe the following behavior. As t-roo, Z(t) becomes unbounded amd og t>-@, R(t) SF. Also, as t +o, the. solutions approach the origin aa tangentially to the Line ¥=-* (which denotes the eigenvector, X°)- Further, at t—> =, the trajectories will lie asymptotic to the line y=-%- the origin will be a node in this cate. The trajectories are shown ‘below- Eases (ey | ee (e) xe ; ; 2 + osx ° Eigenvalue problem is: IL: {jo ale = (o} ©) Eigenvalues are given by ley ' | 2 = N-1l =o =3 nan Mert, Apel (5) 816Eigenvectors> For Xyz=-t3 @-A)X 4+Y 20 > Y=-3X For Ap= 45 (2-42) x +y20 > Y=-X =O = eESP, FP LD >, —t ' Hence the general solution ts: x(t) = ¢ ies e safer het (es) where ¢y amd Cy are arbitrary constants. % plot the trajectories, first consider the case of ¢,=0- RCE = FP) cen xttaqe’> #(t)=-Ge® (&) Eliminating ¢ from (Ec), we get y=-z. this Line denotes the ergenvector XK. ry we consider the trajectory of ~ representative point, the particle moves away from ortgin af t increases. Next, we consider ps0. &.(E5) gives xteye gg e@* . gtt)= -ae* (ey This leads te the eguatron y=-3x , which represents the eigenvector, XA representative point in this case goer to origin of t-> co- 5 Im the general solution of (Es), the term ¢2 2” (t) dominates for large values of t. thus the Solutions with ¢, #0 will be asymptotic to the fine = -3x as t—roo. Similarly, all solutions with co will be asymptotic t the Line ¥=-3x as t+» -o. The trajectories are shown below, with origin denoting a saddle pomt- Van der Pol’s eguation: Z-x(i-w)E+" 20, “>0 (a) Assume xcky a x(t) +x x)(t) + a® X(t) ) Oss = or - <0,- x0, s) 817where coefficient of x in Ey. (Ey). Substitution of (Ez) and (£3) into (£1) gives a [et xo] + at [Hy —xet te 0-4, x04 0" HJ tre os lt 2 DE, Hy 4k, xO + 2 Xo Xo My — 2 Xo — ALF x, + 2 Fit XX 1 Oz Perens eee ©) Setting coefficient of &° im (E,) to Zero, we obtain Rt or x =o + ft xalt) =A, ws ot + Apsinot (Es) Assuming the initial conditions x(0)= A amd £(0) =o, WE get A\zA amt Azo. thus (6s) reduces to %(t) = A cos ot &) Setting coefficient of at to zero, in &. (Ey), K+" x) = Ky — Hy Xo t+ 08, %0 HAG Sin ot 4 AP eo rust. cosa +0, A cor OF Caw +b Are) fin wt +0, A eos ut + NE sin sot ef ficien in oe ms (2) To a cine ach gst mt ee gas A=+t2, were (se) thus the particular solution of (E,) can be expressed as x(t) = Ay sin 30t + Ay cos sext (Es) Substitution of (Ep) amd (Es) inte Ey dives Aiz $A ond Ay wo Ee) ths act) s a Sin set En) Finally, setting coefficient of 7 in (Ey) ts gero, we get Sgt OF xy = Fk, Rae He 8 + Wy Hy +, % (Ez) Substitution of (Ey), (Ee) amd (6%) into (£,,) leads to yt OF x = 52 A? cos sut - (Se A? cos sat) A? catot 3 = 2(A ces at)(Aw sinewt) (SAX sin 2098) 4 oo A cos ot 3 Le = Cae + GN + nw) cswt + (Fb AZ AF) cot sot +(-a* wat) et sot (1s) 818To avoid secular terms , the coefficient of coscot in (E13) must be gero. This gives (y= at (Em) With this, and using A=2, Ey. (Eia) reduces to H+ Ox = -2 eos set - § es Sut (Eis) Assuming x, (t) = As coh ast + Ag cot St (Ee) We Sind, from Ep. (Eis) > As= ger Ae fu (7) aye) = wt cos 3u0t 4 at cos sat (Eg) thus the complete Aolufion , Eps. (Ea) and (3), become x(t)= 2 os wt + Fo seats 2 ersut + & Sa cos suxt oma at sit 3: With k 3.25, the sequence of values generated oscillate between two distinct values. With k = 3.5, the sequence of values generated oscillate between four distinct values. With k = 3.75, the sequence of values generated do not show any apparent periodicity (ie., exhibit chaotic behavior). The resulting plots are shown below. eee. Ka 3.25 (2 distinct values) (NR ke 3:50 (4 distinct values) reeset By taking two different initial values of x, which apparently do not differ much from one another, completely different sequences of values are generated. The sequences are shown plotted in the following figure. 819bo03 $ 13_37.m § This progran will use the function dfuncl_a.m, dfuncl_b.m and dfunt_c.m % they should be in the sane folder, two different initial conditions tspan = (0: 0.1: 100); x0 = (0.01; 0.017 1 = (0.01; 10.0}; ‘berxal = ode23("dfuncl_a’, tspan, x0); ftixb] = ode23(‘dfunci_b', tepan, x0); (t,xe)] = ode23(*dfuncl_c', tspan, x0); (e1,xal] = ode23('dfuncl_a', tepan, x0_1); (t2;xb1] = ode23(*dfuncl_b', tspan, x01); (t3,xel] = ode23(‘dfuncl_e’, tspan, x01); subplot (212 plot (t, xa(z,1))7 ylabel ('Theta(t): i.e. = [0.017 0.0)"; xlabel (*t") title. ("Function hold on; plot (t, xb hold on: Blot (t,xo(2 1), 12); Subplot (212); hold off; plot (t1, xa (:/1))7 ylabel("Theta(t): i.e. = (0-01; 10.0]")7 xlabel('t"); title... (Function a: solid line, Function b: dashed line, Function ¢: dotted line‘): hold on: plot (£2, xb1(:/1), hold on? plot (t3,xe1(:,1), solid line, Function b: dashed line, Function c: dotted line"); a 8204 dfuncl_a.m function £ = dfuncl_a(t,x); w0 = 0.1; f£ = zeros(2,1); £(L) = «(207 £(2) = -wor2 * x(1)7 3 dfuncl_b.m function £ = dfuncl_b(t,x); wo = 0.1; £ = zeros(2,1)7 £) = x(2)5 £(2) = wO2 * ((m(1))73) / 6.0 - wOr2 * x (1); 4 dfuncl_c.m function £ = dfuncl_e(t,x); w0 = 0.17 £ = zeros(2,1); £(1) = x(2); £(2) = -w0°2 * sin(x(1)); Function a: olin, Function b: dashed ne, Function c: dotted tne 001, 7 2 OO Function 2 Slt ine, Function b: dashed ne, Function c: dotted ine 821& Ex13_38.m % This program will use the function dfuncl3_38.m, % they should be in the same folder tspan = (0: 0.001: 8); x0 = (0.57 1.0]; (t,x) = ode23(*dfunci3_38', tspan, x0); plot (tyx(:/2))7 title ("theta (t)")? xlabel ('t"); 4 dfuncl3_38.m function £ = dfuncl3_38(t,x); £0 = 200; m= 10; = 0.1; k = 4000; w= 207 f£ = zeros(2,1)7 £(1) = x12); £(2) = £0*sin(w*t) /m - ct x(2)*2 * sign(x(2))/m - k*x(1) /m Theta) 25; 15 0s} 05 4 4% Ex13_39.m 4 This program will use the function dfuncl3_39.m, 4 they should be in the same folder tspan = [0: 0.01: 10]; x0 = (0.05; 5 1 {t-x] = ode23(*dfuncl3_39", tspan, x0); plot (t,x(:,1) ylabel (*x(t)")7 xlabel('t!'); 8224 dfuncl3_39.m function # = dfuncl3_39(t,x) £0 = 1000; n= 10; k1 = 4000; #2 = 1000; FF = £0* ( stepfun(t, 0.0)-stepfun(t, 5.0) )s £ = zeros(2,1); £() = x(2); £(2) = FE/m = kAte(1) /m = k2*x(1)73/m5 06, oa| 02] xy) 02} 04] 08) os! ° 10 Results of £x13_40 » programlé Solution of nonlinear vibration problem by fourth order Runge-kutta method Data: ym = 1.000000e+000 ye = $.000000e-001 yk = 1,00000000e+000 yks = 1.20000000e+000 Results 4 time (i) x(i,1) (1,2) 1 5.000000e-002 2.230824e-003 8. 884132e-002 2 1:000000e-001 8.843311e-003 —1.752342e-001 3 1.500000e-001 1.971028e-002 2.589902e-001 4 2.000000e-001 3.469540e-002 3. 399312e-001 5 21500000e-001 5.365366e-002 4.178885e-001 6 — 3,000000e-002 7,643182e-002 4.927007e-001 823xa) -500000e-001 1000000e-001 £500000e-002 '900000e-001 +500000e-001 000000e-002 "500000e-001 +000000e-003 :$00000e-001 4,050000e+000 4,100000e+000 41150000e+000 41200000e+000 41250000e+000 300000e+000 £350000e+000 41400000e+000 4,450000e+000 41500000e+000 4.550000e+000 4,600000e+000 416500002+000 4: 700000e+000 4.750000e+000 4.800000e+000 4.850000e+000 4.900000e+000 4,950000e+000 5:000000e+000 1.028687e-001 1.32795ie-001 1.660341e-001 2.023999e-001 2.416976e-001 2.837219e-001, 31282553e-001 3.750665e-001 4.239083e-001 71.175452e-001 -1.328833e-001 =1:478152e-001 -1.623999e-001 1.766983e-001 =11907578e-001 -2.046423e-001, -2.184017e-001 -2.320873e-001 -2.457478e-001, -2.594301e-001 -2.731783e-001 -2.870341e-001 -3.010365e-001 ~3.152213e-001 -3.296215e-001 -3.442666e-001, -3.591928e-001 3.743928e-001 -31899154e-001 -642099e-001 :322582e-001, 966810e-001 :573016e-001, 1139235e-001 1663231e-001 :142430e-001 $.573844e-001 9.954025e-001 -112257e-001 025009e-001 :949702e-001 1886102e-001 +833937e-001 :792902e-001 :762657e-001 :742829e-001, +733010e-001 +732763e-001 -2.741616e-001 -2.759064e-001 -2.784572e-001 -2.817569e-001, -2.857454e-001 -2.903593e-001 -2.955318e-001 -31011930e-001 -3.072695e-001 -3.136849e-001 os| 05 os 1 15 2 28 3 38 4 45 os 1 15 2 28 9 38 4 45 tine 824& Results of Bd3_41 >> programl8 Solution of nonlinear vibration problem by fourth order Runge-Kutta method 1.000000e+000 0:000000e+000 5.00000000e-001 yks = -8.33333333e-002 Results, 1 6 a 16 2 26 31 36 a1 45 51 an. 376 381, 386 391 396 x) xe) x1) (4,2) : 7.8495780-001 -1.761378e-002 31 000000e-002 71695847e-001 -110514760-002 51500000e-001, 713257728-001 —-11903594e-002 8 000000e-001, 6.747684e-001 _-2.7120578-001, 1!050000e+000, 51975204e-001 -314549500-002, 1!300000e+000 Toa7éo1e-001 —-4.109125e-001 11550000e+000, 3192998¢e-001 -4.6512460-001, 1!800000e+000 21713140e-001 “5 1059555e-001 21050000e+000 11412872e-001 5 .316073e-001 21300000e+000 6.877705e-003 5. 408763e-001 21550000e+000 -1.277459e-001_-5.333127e-002 1.855000e+002, 7.8498760-001 —-1.700658e-002 1!8a0000e+001 71697655e-001 -11045496e-002 1!905000e+002, 7329043e-001-1.897843e-001 1!930000e+002, 61752355e-001 2. 706680e-002 11955000e+001, 51981157e-001 -3.450103e-001 1!980000e+001, 51034682e-001 -4104971e-001 1 os Ql 05] 5 10 18 20 05 aa 2] q 02 0a] 06] 89 3 70 18 20 ‘me 825Results of Ex13_42 >> programa Solution of nonlinear vibration problem by fourth order Runge-kutta method 1.000000e+001. 8:00000000e+005 yks = 6.00000000e+003 Results i time (4) xb) x42) 1 2.000000e-002 1.973319¢-003 —_1.946638¢-002 & — 1!2000008-001 4[3411e3e-002 —3.375669e-001 11 2/200000e-002 3!2666516-002 — -a.754773e-001 16 3!200000e-002 2/1457226-004 _5.8883140-002 21 4!200000e-002, 3i00d41e-002 4. 259926e-001 26 5!200000e-002, 31ag8710e-002 ~a.145664e-001 31 6.200000e-001, 31953964e-008 | -7.910512e-002 36 7200000e-001 3:170805e-002 4.804600e-002 41 81200000e-002 41394a67e-002 —-3.234886e-001 461 9.220000e+000 3.3978700-002_ ~4,512661e-001 465 9:320000e+000 11308378e-003 4.378072¢-002 471 91420000e+000 3:7766516-002 4 106881e-001 476 §1520000e+000 315921160-002 -a.211170e-001 4e1 _9.620000e+000 112787736-003—=2!287464e-002 436 91720000e+000 3:4923140-002 4. 41903¢e-001 431 91820000e+000 3:953430e-002 -3.843744e-001 436 5'520000e+000 15673648e-003 -8.686608e-002 os oe 009 & oo oot ro 2 3. 4 8 6 7 8 8 05; Zo 8 1 2 3 4 5 6 7 8 9 10 tineProgranl8.m Main program for solving a nonlinear vibration problem using the subroutine RK4 % s ® 8 8 Run "Programl@" in MATLAB comand window. Progrmlé.m, fun.m, and rk4.m should be in the same folder,and set the Matalb path to this folder following 8 lines contain problem-dependent data wee [0 0}; nstep=500; yks=6000; end of problem-dependent data fprint£(’Solution of nonlinear vibration problen\n’); fprint£ (‘by fourth order Runge-kutta method\n\n’); fprint£(‘Data:\n'); fprint£ (‘yc = %8.6e\n‘,yc) fprint£ (‘yk = %10.8e\n’ yk) fprinté(‘yks = $10.8e\n\n‘,yks); fprint£(/Results\n\n’ fprintt(’ i time (i) x(i,2) x(i,2)\a\n") 5 for for fprintf ("83.06 $8.6e 8.62 $8.6e\n",4, time (i), x(i,1).x( end subplot (211) ; plot (time, x(1:nstep,1)); ylabel (*X(1)"); ‘subplot (212); plot (time, x(1:nstep, 2)); xdabel (‘time’ ylabel ((2)"); 2 8 ¥ Function rk4.m * function [x«,£,t] (xi) =fun (200, 0, €) for i=in uu (i) sr0c(i) +. Stated (4); end tnst+0.5*at; (j}=€un(wu,n, tn); 827wai) =s0e() +. 58a tx5 (4); end [xk] =fun(u,n, tm) 5 for is tu (4) =s00( 4) +dteeaek (1) ¢ end tneteat; fun (uu,n, tn); (4) =x) (4); poe) 0c (4) + (aed (4) +2 ¢2ej (4) +2 Arde (4) tae] (1) ) db /6 = end function [£]=fun(x,n,t) ym= (2000 - 10*t)*( stepfun(t,0) - stepfun(t,200) ); ye=10; yk=Be5 yks=6000, (2) 0*2000*( stepfun(t,0) - stepfun(t,100) )/ym. = (ye/ym)*x(2) = (20/ym)* x(2)*2 = (yk/ym)*x(2) - (yks/ym) *(x0(2)73) 5 SOLUTION OF NONLINEAR VIBRATION PROBLEM BY FOURTH ORDER RUNGE-KUTTA METHOD 000000 500000 000000 ‘200000 x mm (2) x(L) X(T,2) 1 0.05000000 0.00223082 0.08884132 2 9:10000000 0:00884331, 0117523421 3 9115000000 0.01971028 0.25899017 a 0:20000000 0.03469540 0.33993117 5 9:25000000 0.05365366 0.41788851 6 9:30000000 0.07643182 0149270065 7 9.35000000 0:10286867 0156420995 8 0:40000000 0.13279513 0.63225817 9 0.45000000 016603407 0169668101 10 0.50000000 0.20239986 0:75730159 Fey 0:55000000 0.24169759 0.81392345 2 9.60000000 0.28372185 0186632314 13 0.65000000 0.32825526 0.91424296 1a 9:70000000 0.37506653 0.95738436 45, 0.75000000 0142390833 0:99540253, 828s1 455000000 --0.25943007 —-0.27416160 92 4260000000 = -0.27317830 —-0.27590643 93 4165000000 -0.28703415 © -0.27845716 34 4.70000000 —«--0.30103650 —-0.28175687 95, 4175000000 -0.31522132-0.28574539 96 4280000000 © -0.32962147 —-0.29035928 37 4295000000 © -0.34426656 © -0.29553181 98 419000000 = -0.35918279—-0. 30119299 99 4295000000 -0.37439279 -0. 30726955 100 5100000000 -0.38991540 —-0.31368495 Results of Exl3_44 SOLUTION OF NONLINEAR VIBRATION PROBLEM BY FOURTH ORDER RUNGE-KUTTA METHOD DATA: yM = 1.000000 ye = 0.000000 YR = 0.500000 YES = ~0.083333 RESULTS: x TIME (1) x(I,1) (2,2) 1 0.000000 0.78495777--0.01761378 ‘6 0.30000000 0176958469 © -0.10514758 11 0.55000000 073257718 = 0119035941 16 80000000 0167476835 -0.27120566 21 105000000 0159752039 © 034549495 26 1130000000 0.50276011 041091248 31. 155000000 0.39299837 0, 46512455 36 1180000000 0:27131399 © -0. 50595545 a1 205000000 0114128723 © -0,$3160732 46 2130000000 0.00687770 0. 54087626 51. 2:55000000 = -0.12774587 —-0.53331264 56 2:e0000000 = -0.25840436 © -0.50928396 61 3l0soo0000 = -0. 38110846 © -0. 46992334 65 3:30000000 = -0.49223282—-0. 41697757 72 3155000000 -0.58864363 _-0 35259431. 16 3180000000 = -0.66777078 ——-0.27910032 aL ‘4105000000 © -0.72762849 © -0. 19881842 86 4130000000 -0. 75679863 111395498 91 4:55000000 = -0.78439597 —-0. 02656762 96 4.200000 © -0. 78003441. 0.06139708 201, 5.05000000 —-0. 75380896 0114802117 106 53130000000 -0. 70630037 0.23132208 nu. 5185000000 063860072 0.30918427 331 —16.55000000 0.19315002 052342652, 336 © 16.80000000 032035201 0.49162680 341 1705000000 043775099 0144529523 346 17:30000000 054195230 0138640534 381 1755000000 0163009547 0131721971, 356 17.80000000 0.69989971 0.24008210 361 1805000000 0.74966380 0.15726679, 365 18.30000000 0.77823802 0:07090574 371 —-18.55000000 0.78498761 —--0.01700659 376 —-18.80000000 0176976545 © -0 10454959 381 1905000000 0.73290488 «= -0.18978427 386 © 19-30000000 0.67523547 —-0.27066796 391 1955000000 0159811564 © -0.34501030 396 © 19.80000000 0:50346820 © -0. 41049707 829Results of Ex13_45 SOLYTION OF NONLINEAR VIBRATION PROBLEM BY FOURTH ORDER RUNGE-KUTTA METHOD DATA: Ye = 10.000000 YK = 800000.000000 YRS = 6000.000000 RESULTS: zr 1 6 1 16 21 26 31 36 an. 476 481 486, 491 496 ‘TIME(I) 02000000 12000000 '22000000 32000000 "42000000 52000000 "62000000 '72000000 -42000000 "52000000 62000000 '72000000 182000000 92000000 XID (E,2) 00197333 0.19466640 v0a34z811 0133766449 103267008 © -0.47558080 00021457 0:05888324 ‘03800922 0.42610043 03889213 © -0.41467399 100039540 -007910520 103171139 0.48056153 03777123 0.41079244 103692556 -0.42122285 100127875 -0.02297349 03492726 0144201314 03953938 -0.38447832 100167363 © -0.08686515 (3.4) Eguations of motion: The main program which calls RK4 and subrout Hoe {85 Jf alongwith the output are given below: MAIN PROGRAM FOR CALLING THE SUBROUTINE RK4 matt) - [1-8 cos 0.4t-0.5 Zp }F 7] -x,- ine FUN 22} THE FOLLOWING 7 LINES NEED TO BE CHANGED FOR A DIFFERENT PROBLEM 10 20 30 2 DIMENSION TIME(100), X(100, 2), XX(2)+F (2). VIC2)s YICZ), YKCZ), Vd vue) XX€1)=0. 0 XX(2)=0. 0 NEG=2 NSTEP=100 DT=0. 05 T=0.0 PRINT 10 FORMAT (/ DO 40 I= 1+ 3Xs SH »NSTEP 1 10H CALL RK4_(T, DT. NEG, XX, F ¥Iy Yur Vy YL» UU) TIMECI)=T Do 20 X(T, DEKX, PRINT 30, CONTINUE, STOP END EQ ( I, TIME(T), (X(1, J), Jet, NEQ) FORMAT (2X, 15, F10. 4, 2x, E15, 8, 2X, E15. 8) 830 TIME CT)» 7X» SH X(1), 12K. SH X20)nace SUBROUTINE FUN FOR USE IN TH | SUBROUTINE RK4 THIS SUBROUTINE CHANGES FROM PROBLEM TO PROBLEM SUBROUTINE FUN (X,F,N,T) DIMENSION X(N), F(ND FCD= F2 42) RETURN END Be 387 38 a9 1 2 93 4 95 % 7 8 9 100 4. 4, 4a 4. 4 4, 4 4 4. 4 4 4 4 a 4 rocpssesses99990990909 TIME (LD 0500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 4500 7000 7500 8000 8500 9000 9500 9000 2999 3499 3999 4499 4999 5399 3999 6499 6999 7499 7999 8499 8999 9499 9999 0. 22308242E-02 . 88433102E-02 19710280E-01 . 34495994E-01 . 53659665E-01 76431811E-01 0. 0. 0. 0. 0. 0. 10286868E+00 0. 13279516£+00 0. 16603410&+00 0. 202397991E+00 0. 0. 0. 9. °. 0. °. 9. 9. 0. 24169767E+00 ). 28372198E+00 |. 3282554 1E+00 |. 37506670E+00 42370853E+00 47451508E+00 ). $2659953E+00 . 579B5157E+00 6339351 5E+00 68848470E+00 pooeoeeseesp990909009090 B¥COS(O. 4¥T)-0, 5#X(2)-K(1)—1, 24(K1) 843) . 8884 1519E-01 . 17523426E+00 . 25899023E+00 33999125E+00 . 41788858E+00 49270076E+00 $6421006E+00 63225830E+00 . 6966811 4E+00 75730175E+90 . 81 392360E+90 (86632329E+00 91424310E+00 99738453E+00 99540269E+00 10279036E+01 . 10544405E+01 . L0745211E+01 . 10876102E+01 . 10931 435E+01 19073796E+00 -0. 27927017E+00 20462143E+00 -0. 27624547E+00 . 218379B6E+00 -0. 27426249E+00 . 23206497E+00 -0. 27328062E+00 . 24572590E+00 -0. 27925594E+00 . 25940514E+00 -0. 27414125E+00 27315235E+00 -0. 27588624E+00 . 28700721E+00 -0. 27843720E+00 3010085BE+00 -0. 28173721E+00 21519240E+00 -0. 28572619E+00 32959157E+00 -0. 27034048E+00 .34423572E+00 -0. 29551363E+00 35915107E+00 -0. 30117553E+00 37436020E+00 -0. 30725288E+00 BE9SE203E+00 -0. 31366715E+00 83110 20 30 40 2 +mgli(e-pe)=o0 i i 205 {5 when x, “Be aw] Since the natural time period of the Linear system is ar = 89959, at is taxem as 0-25 in the present case. Using @(t=0)= 0-785 4 rad and G(t=0)=0, the Runge-Kutta, method is used to find the Solution. The main program which calls Rk4 amd the subroutine FUN alonguif® the output are given below. THE FOLLOWING 7 LINES NEED TO BE CHANGED FOR A DIFFERENT PROBLEM DIMENSION TIME(100) ,x(100,2) ,XX(2) oF C2) -¥IC2) ¢¥S(2) ¢YK(2) YL( 2), uuc2) XX(1)20,7854 XX(2)20,0 =100 DT=0,25 730.0 WRITE (15,10) FORMAT (//,3X,5H 1,108 DU 40 I=1,NSTEP CALL RK (T,DT,NEQ,AX,F, YT, YS, YK, YL, UU) TIME(1)=T DO 20 J=1,NEO X(T, J) =xX(0) WRITE (15,30) L,TIMECL), (X(1,J) ,J=1,NEQ) FORMAT (2X, 15,F10.4,2X,E15.8,2X,£15.8) CONTINUE STOP END TIME(L),7X,5H XC1),12X65H X(2)6/) 832aa: € SUBROUTINE FUN FOR USE IN THE SUBROUTINE RK4 EM TO PROBLEM SUBROUTINE FUN (X,F,N,T) DIMENSION X(N), FON) F(1)=X(2) F(2)20XC1)/2,04(%01)##3)/12.0 xt2y 0,77440965E+00 -0,87762989E-01 0,74167883E+00 +0,17359795E+00 0,68793911E+00 -0,25548738E+00 0,61444390E+00 -0.33127007E+00 0,52300471E+00 -0,39865014E+00 0,$1601548E+00 -0,45528558E+00 0.29644495E+00 -0,49895233E+00 0,16778104E+00 -0,52775872E+00 0,33919662E-01 =0,54036677E+00 =0,1009970BE+00 +0,53616732E+00 =0,232775B7E+00 0,51536494E+00 357274436400 7894892E+00 47108278E+00 -0,42855906E+00 -0,57066125E+00 -0,36628109E+00 -0,65342385E+00 -0,29442233E+00 70,71726823E+00 -0.21531790E+00 70,76066524E+00 =0,13120258E+00 =0.78262591E+00 -0.44162579E-01 70.78266639E+00 — 0,43838933E-01 =76078576E+00 — 0,13088597E+00 94 23,5000 -0.76101488E+00 —0,13025595E+00 95 23,7500 -0,71784961E+00 0, 21441360E+00 96 24.0000 -0.65422338E+00 —0.29358405E+00 97 24,2500 -0,57165933E+00 0, 36553413E+00 98 24,5000 -0,47225332E+00 —0,42792925E+00 99 24,7500 -0,35868505E+00 0,.47846088E+00 100 25,0000 -0.23418844E+00 — 0.51503974E+00 (@) Eguation of motion : s (homt) B+ 1k +208 + Bx e+ E000 x = iev (2000 wt) 2+ We tok + ZH x + Goo *” Geo =e) (2000) = 2x104 &) (b) uk x22, ape deo de at at Hoo me \ = = 3 xf ae (exe tox, - 20 x} = axio® x, - 6000 x1) z00e wet) Initial conditions: assume %(0) = x2(°) =O. The main program, which calls Rk4 ame subroutine FUN, alongwith the output are given below. 833,eooan THE FOLLOWING 7 LIWES NEED TO BE CHANGED FOR A DIFFERENT PROBLEM DIMENSION TIME (2OO?, X(200, 2). XK(B), FCQ). VECQ)s VIC2Is VRAD, VI CED, vue) XX41)=0.6 XX(2)=0.0 NEg=2 NSTEP=200 DT=0. 1 T=0.0 PRILT 10 FORr fk SH oT LOH | TIMECI), 7%. SH C1), 12K, SH X(2). 7) DO 40 I#1,NSTEP CALL RKA_(T, DT, NEG, XX, F, YT, Ys YG YL. OUD TIMECI)=T DO 20 J=i, NE 20 XC DEKE) PRINT 30. 1, TIME(T)+ (X(1) J), Jet, NEG) 30 FORMAT (2X, 15, F10. 4, 2X, E15. 8, 2X, E15. 8) 49 CONTINUE sToP END C SUBROUTINE FUN FOR USE IN THE SUBROUTINE RK4 : ¢ THIS SUBROUTINE CHANGES FROM PROBLEM TO PROBLEM c= = SUBROUTINE FUN (X,F, NT) DIMENSION X(N). F (ND Fu=x(2y F (2)=(20000. 0-10. 0#X(2)-20, 08 (X(2)4#2) 800000. O#X(1)-6000. OF (X61) ##3) )/ (2000. 0-10. ” o#T) RETURN, END I TIME( TD xD x2) 1 0.10000, 39320766E-01 0. 33907534E+00 2 0.2000 0.93306178E-01 -0. 22198296E+00 3 0.30000. 14845021E-01 -0. 36448002E-01 4 0.4000 6. 27181853E-01 0. 14729525E+00 5 0.5000 9, 29156089E-01 -0. 78316689E-01 & 0.6000 21012224E-01 -0. 29013485E-01 7 0.7000 0. 25375746E-01 0, 62707484E-01 @ 0.8000 0. 26947644E-01 -0. 26040495E-01 9 0.9000 0. 23485284E-01 -0, 17102212E-01 10 1.0000 0. 24944551E-01 0, 25843E96E-01 195 19. 5003 196 19, 6003 197 19. 7003 24999883E-01 0. 47695981E-097 24999883E-01 0, 54962495E-09 24999883E-01 0. 62293330E-07 200Ga Radraso, »_ at a 10 20 198 19.8003 0. 24999883E-01 0, 69908244E-09 199 19.9003 0. 24999883E-01 0. 76787199E-09 200 20.0003 0. 24999883E-01 0. 84070195E-0F Simpson’s rule 's used for integration ; note that one integral is tnpeddled inside a second integral in (E14). According to Simpson’s tule , () {fee , $froae Siar t4 Zh: + £(s)} where f= 25%. N= even number of epual intervals ond p= $(e= m2 w+ hf PEXF)- The program Listing and te nemlt ane given below. seeessessssessesssss AAZO. 8B=0.7854 nN=40 HH=(BB°AA) /FLOAT(NG) CALL FFINT (AA,FA) BB1=BB-(BB©AA)/100,0 CALL FFINT (8B1,FB) CC=BB=HH CALL FFINT (CC,FC) TAUSHH¥ (FASFB+4,04FC)/3.0 KK=NN/2 Ket DO 10 Ju=1,KKML KXSAAtHH*ELOAT(2#UJ=1) CALL FFINT (XX,FX) XXBH=XX+HH CALL FFINT (XXHH,FXH) TAUSTAUSHH# (4,08FX42,08FXH)/3,0 CONTINUE TAUS4.08TAU PRINT 20, TAU FORMAT (2X,E15.8) STOP END 835SUBROUTINE FFINT (X,Y) asx 820.7854 ns40 CALL SIM (A,ByN,FINT) Y¥21,0/SQRTCFINT) RETURN END SUBRUUTINE SIM SUBROUTINE SIM (A,B,N,FINT) H=(B=A)/FLOATON) FINTSHS (FCA) +F (B)+4.08F (B2H))/3.0 KEN/2 KAL=KeL, 00 10 Jst,KMI SA+H*FLOAT(2#J=1) PINTS LNT HH8(4,04F (X) 42.086 (X#H)) 73.0 40 CONTINUE RETURN END Func FUNCTIUN FOX) FX~(X##3)/6,0 KETURN £ND RESULT: naa ana @ = 87627392 scan be compared urth the value of t of a Linear pendulum which is egual t 2% = ft = 2m ee = 8-8B57867- 836van der Pol’s epuation: X-«(I-x*) i+ x0 (&) TBE Lig} “9 (@) Eguation for the phase plane trajectory is _ a(inx*)¥—x de 5 sos) eo % (&) The trajectories corresponding to y= Hl, L100 amd x= 10 are shown in Figs. Fi, Fz and Fy, respectively. It can be seen, from these figures, that irrespective of the ‘nitval pomt, the trajectories converge te closed curves. These closed curves denote periodic motions with constant amplitude. Thaddition, as the value of ¢ increases, the closed use deviates more and more from a circle. (b) xf (41) ts solved numerically, the variation of the solution x(t) can be plotted againt the +t-axis. The result will be as shown in Figs. Fy, Fe and Fe For X= 0-1, 10 amd 10, respectively. It cam be Seen from these figures, that as the value of y is increased, the variation of x with respect te t differs more and more from harmonic motion. 4-0 ™——— ab TAT For a= ot Pane ig Fy “4-2 ° 2 4(as) aster" of motion: mit (2-20) + Ki2(2- he) + t,, (x+y 0) + ,,(et £29) 20 Tb = ty xR O)R— Kia (2-NO) Ry + Kay (x4 fee de + kar (xt Le)? ha =0 Using xox, M= e, m2 = 2, amd x42 422%, the epuotions of motion can be expressed a% % a ; =H [eu Ger2iee) + ia (21-2) ; + kai(x)+ fox) + Kea (Z1+ L242) J Xs sla H2,%2)0) 4 ti (r- hs xh ai(%i4 RX) La fas (mr thames) Le) Data : m= 000 *7> = 2500 fg-m™ > Me tm, fe sm Ku= 40000 » £2 = (0000, #,,= 500005 k,,= 5000- Runge- Kutta method can be used to solve the eguations of motion using the initial conditvons x(0) = %(9)= 9 (0) = 6(0) =o. 839