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Supercomputer Technologies in Mathematical Modelling IOP Publishing
Journal of Physics: Conference Series 1392 (2019) 012015 doi:10.1088/1742-6596/1392/1/012015

Solution of model boundary value problems on oscillations of

mechanical systems with moving boundaries by the duhamel
method

Vladislav L. Litvinov
Samara State Technical University, 45, Sovetskaya str., Syzran’, 446001, Russian
Federation

vladlitvinov@rambler.ru
Abstract. The Kantorovich – Galerkin method in conjunction with the Duhamel method is
considered as applied to solving problems describing the oscillations of visco–elastic objects
with conditions on moving boundaries. The mathematical formulation of the problem includes
an inhomogeneous partial differential equation with respect to the desired displacement func-
tion, inhomogeneous boundary and initial conditions. By introducing a new function into the
problem, the boundary and initial conditions are reduced to homogeneous. The solution is
made in dimensionless variables with an accuracy of the second order of smallness with re-
spect to small parameters characterizing the velocity of the boundary and viscoelasticity. Using
the Kantorovich – Galerkin method and the Duhamel method, an approximate solution of the
problem of forced longitudinal oscillations of a viscoelastic rod of variable length is found.

1. Introduction
Systems whose boundaries are moving are widely distributed in the technique (cables of cargo–lifting
installations [1, 2, 9, 14–19, 21, 22], flexible links of transmission [3, 7, 9], etc.). The presence of
moving boundaries causes considerable difficulties in describing such systems. Exact methods of solu-
tion are limited to the wave equation and relatively simple boundary conditions [2, 3, 8, 9, 11, 12, 15].
Of the approximate methods, the Kantorovich – Galerkin method, described in [2, 10, 14–19, 21, 22],
is most effective. However, the Kantorovich – Galerkin method in conjunction with the Duhamel
method can also be applied in more complex cases when solving a completely inhomogeneous initial –
boundary value problem, taking into account the effect on the system of viscoelastic properties of an
oscillating object [14, 16, 22].

2. Problem statement
Suppose you want to get a solution to a hyperbolic equation
U  ( , )  L[U ( , )]   1 L1[U ( , )]   ( , ); (1)
under initial conditions
U ( , 0)   0 ( ); U  ( , 0)  1 ( ) (2)
and boundary conditions
Y ji U  j ( ),    F ji ( ); (3)
i  1, m; j  1, 2,

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Supercomputer Technologies in Mathematical Modelling IOP Publishing
Journal of Physics: Conference Series 1392 (2019) 012015 doi:10.1088/1742-6596/1392/1/012015

where L – is a linear homogeneous differential operator  in order of 2m; L1  linear differential

operator (its order is  equal to one, but  does not exceed 2m); Y ji  linear homogeneous differen-
tial operators on  ;  ( , ) – given class function C 1 ; 0 ( ), 1 ( ), Fji ( ) – specified class func-
tions С 2 ;  ,  1  small parameters (   V / a , V  border speed, a – the speed of propagation of
oscillations).
Record of the laws of movement of boundaries in the form j ( ) corresponds to the slow
motion mode.

3. The solution of the problem

To reduce the problem (1) – (3) to the problem with homogeneous boundary conditions, a new smooth
function u  ,  is introduced that satisfies the boundary conditions (3).
By virtue of the linearity L, L1 , Y ji of the operators for the difference
U  ,   U  ,   u  ,  we get
U   ,   L U   ,     1L1 U  ,      ,  ; (4)
U ( ,0)  0 ( ); U ( ,0)  1 ( ); (5)
Y ji U  j ( ),    0; (6)
i  1, m; j  1, 2,
where
   ,      ,   u  ,   L u  ,     1L1 u  ,   ;
 0 ( )   0 ( )  u  ,0  ; 1 ( )  1 ( )  u  ,0  .
To obtain problems with a single in homogeneity, either in the equation or in the initial condi-
tion, we introduce into the problem (4) – (6) a new function
U  ,   V  ,   H  ,  , (7)
where

V   ,   L V   ,     1L1 V  ,    0; (8)

V  ,0    0 ( ); V  ,0   1 ( ); (9)
Y ji V  j ( ),    0; (10)

i  1, m; j  1, 2,
and the function H  ,  is found as a solution to the following problem:
H   ,   L  H   ,     1L1  H  ,      ,  ; (11)
H  ,0   0; H  ,0   0; (12)
Y ji  H  j ( ),    0; (13)

i  1, m; j  1, 2.
According to the Duhamel method [26], the solution to problem (11) – (13) is

H   ,    z   ,   0 , 0  d 0 ,
0

where z  , , 0   is the solution of the impulse problem

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Journal of Physics: Conference Series 1392 (2019) 012015 doi:10.1088/1742-6596/1392/1/012015

z   ,   L  z   ,     1L1  z  ,    0; (14)

z  ,0   0; z  ,0     , 0  ; (15)
Y ji  z  j ( ),    0. (16)

4. The problem of longitudinal vibrations of a viscoelastic rod

As an example, consider the forced longitudinal oscillations of a viscoelastic rod, the change in the
length of which occurs at the free end (for example, the rod extends at a speed v0 ). If the attenuation
of transverse oscillations is mainly due to the action of external damping forces, then in the case of
longitudinal oscillations, the main influence on the damping is provided by the elastic imperfections of
the material of the oscillating object.
The differential equation (viscoelasticity is taken into account based on the Voig–t hypothesis),
has the form [1]
Ztt ( x, t )  a 2 [ Z xx ( x, t )   Z xxt ( x, t )]  f  х, t  . (17)
Initial conditions
Z ( х, 0)   0 ( х ); Z t ( х, 0)   1 ( х ). (18)
System boundary conditions
Z (0, t )  f1 (t ); Z x (l0 (v0t ), t )  f 2 (t ). (19)
In problem (17) – (19), the following is indicated: Z ( x, t ) – the longitudinal displacement of a
point with a coordinate x at time t; a  E /  – speed of propagation of longitudinal waves in the
rod; E – long–term modulus of elasticity of the material of the rod;  – linear mass density;  – small
parameter, taking into account the viscoelasticity; l0 (v0t )  L0  v0t – the law of movement of the
border; f  х, t  – given class function C 1 ;  0 ( х ),  1 ( х ), f1 (t ), f 2 (t ) – specified class functions С 2 .
Let us introduce dimensionless variables into the problem (17) – (19):
0  0 L0  a
 x;    0t   0 ;  0   ; Z ( x, t )  U ( , ),
a v0
where  0 – is a constant value.
After the transformations we get:
U ( , )  U ( , )  1U ( , )   ( , ); (20)
U ( , 0)   0 ( ); U  ( , 0)   1 ( ); (21)
U (0, )  F1 ( ); U (l ( 0 ), )  F2 ( ), (22)
where

 a   0 
1
 1  0 ; l ( 0 )  1   0 ;  0   v0 / a;  ( , ) f  ; ;
  0 2
00 
 a   a     0     0 
 0 ( )   0    ; 1 ( )   1    ; F1 ( )  f1   ; F2 ( )  f 2  .
 0   0   0   0 

Following the method described above, we get

U  ,   U   ,   1U  ,     ,  ; (23)
U ( ,0)   0 ( ); U ( ,0)  1 ( ); (24)
U (0, )  0; U  (l ( 0 ), )  0, (25)

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Supercomputer Technologies in Mathematical Modelling IOP Publishing
Journal of Physics: Conference Series 1392 (2019) 012015 doi:10.1088/1742-6596/1392/1/012015

where the function U  ,  has the form (7).

The function V   ,  is found as a solution to the following problem:
V ( , )  V ( , )  1V ( , )  0; (26)
V  ,0    0 ( ); V  ,0   1 ( ); (27)
V (0, )  0; V (l ( 0 ), )  0. (28)
To solve problem (26) – (28), we use the Kantorovich – Galerkin method [9, 10, 15, 19, 23].
The solution will be sought in the form

V ( , )   f n ( ) X n ( ,  0 ). (29)
n 1

n  / 2
Here are X n ( ,  0 )  sin 0 n ( 0 )  ,  0 n ( 0 )  – the eigenfunctions and eigenfre-
l ( 0 )
quencies of the problem:
X n ( ,  0 )  02n ( 0 ) X n ( ,  0 )  0; (30)
X n (0,  0 )  0; X n (l ( 0 ),  0 )  0. (31)
Substituting the n – th term of series (29) into equation (26) we get:
 f n ( ) X n ( ,  0 )  02n ( 0 ) f n ( ) X n ( ,  0 )  102n ( 0 ) f n( ) X n ( ,  0 )  0. (32)
As in [23], the function f n ( ) will be determined from the condition of orthogonality of the
left–hand side of equation (32) with a function X n ( ,  0 ) on the interval [0, l ( 0 )]. In this case we
will have:
l (  0 )

 f n ( ) X n ( ,  0 )  X n ( ,  0 ) d  
(33)
0

 A1n ( 0 )02n ( 0 ) f n ( )   1 A1n ( 0 ) 02n ( 0 ) f n( )  0,

l (  0 )
l ( 0 )
where A1n ( 0 )   X n2 ( ,  0 ) d  
2
.
0

Equation (33) with an accuracy of values of the order of smallness  02 will have the form
f n( )  2 An ( 0 ) f n( )  02n ( 0 ) f n ( )  0, (34)
where
 0 A2 n ( 0 )  1 ( n   / 2) 2
An ( 0 )   , (35)
A1n ( 0 ) 2 l 2 ( 0 )
l (  0 )
 0l ( 0 )
 0 A2 n ( 0 )   X n ( ,  0 ) X n ( ,  0 ) d   
4
. (36)
0

Note that in [2], equation (34) has a similar form:

l 2 ( ) f k( )   l ( ) f k( )  ( R  1/ 2) 2  2 f k ( )  0.
Substituting (36) into (35) we get
 0 l ( 0 )  1 ( n   / 2) 2
An ( 0 )    .
2l ( 0 ) 2 l 2 ( 0 )
If we introduce in equation (34) a new function
f n ( )  A0 n ( 0 ) yn ( ),
where

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Journal of Physics: Conference Series 1392 (2019) 012015 doi:10.1088/1742-6596/1392/1/012015

      1 ( n   / 2) 2 
A0 n ( 0 )  exp    An ( 0  ) d    l ( 0 ) exp    d  ,
 0   0 2 l ( 0 )
2

then the equation can be transformed so that it will not contain a member with yn ( ) :
yn( )  02n ( 0 ) yn ( )  0.
Performing transformations similar to transformations [23], for the amplitude of oscillations
corresponding to the n–th dynamic mode, we obtain the following expression:

 ( n  /2) 2
l ( 0 )   21 l 2 (  0 )
d
An ( )  e 0

n  / 2
 n  / 2   n  / 2  (37)
  Dn cos  ln(1   0 )   E n sin  ln(1   0 )  
 0 0 
    
The solution to problem (26) – (28) is

 ( n  /2) 2

l ( 0 )   21 d
V ( , )   sin  0 n ( 0 )  
l 2 (  0 )
e 0

n 1 n  / 2
  n  / 2   n  / 2 
  Dn cos  ln(1   0 )   En sin  ln(1   0 )   ,
 0 0 
    
where the constants Dn , En are determined from the initial conditions (27).

The exact solution of problem (26) – (28) without regard to viscoelasticity, obtained in [11], has
the form:

k 
V ( , )   cos  n  (   )   (   )  *
n 1 2 
 k  k 
*  An* cos  n  (   )   (   )   Bn* sin  n  (   )   (   )   ;
 2  2 
0 0

An*  4  r ( ) cos( kn ) d  ; Bn*  4  r ( ) sin( kn ) d  .

1 1

The function H  ,  is found as a solution to the following problem:

H ( , )  H ( , )  1H ( , )   ( , ); (38)

H  ,0   0; H  ,0   0; (39)
H (0, )  0; H (l ( 0 ), )  0, (40)

According to the Duhamel method [26], the solution to problem (38) – (40) is

 
 
 (  n  / 2) 2
0
   1 d
    
H   ,      sin   0 n ( 0 (   0 ))  
1 ( ) 2 (1  0 ) 2
0 0
e 0 
 n  / 2
0  n 1

  n  / 2   n  / 2 
  Fn cos  ln(1   0 (   0 ))   Gn sin  ln(1   0 (   0 ))    d 0 ,
 
  0   0   

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Journal of Physics: Conference Series 1392 (2019) 012015 doi:10.1088/1742-6596/1392/1/012015

where  0 n ( 0 (   0 ))   n   / 2 , and the constants Fn , G n are determined from the initial condi-
1   0 (   0 )
tions (15).

The general solution of problem (23) – (25) is


1 (  n  / 2) 2

l ( 0 )  2 d
U ( , )   sin   0 n ( 0 )  
l 2 (  0 )
e 0

n 1 n  / 2
  n  / 2    n  / 2 
  Dn cos  ln(1   0 )   En sin  ln(1   0 )   
 0 0 
    
 
 
1 (  n  / 2) 2
0

1   0 (   0 )  0 2 (1  0 )2 d 


   sin   0 n ( 0 (   0 ))   e 
 n  / 2
0  n 1

  n  / 2    n  / 2 
  Fn cos  ln(1   0 (   0 ))   Gn sin  ln(1   0 (   0 ))    d 0 .
 
  0   0   
In conclusion, we note that the results presented here make it possible to study oscillations for
systems that are described by problem (1) – (3).

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