Nonlinear Dynamics 5: 3-23, 1994. @ 1994 KluwerAcademic Publishers. Printed in the Netherlands.

Nonlinear Flexural-Flexural-Torsional Interactions in Beams Including the Effect of Torsional Dynamics. I: Primary Resonance
M. R. M. CRESPO DA SILVA and C. L. ZARETZKY
Department of Mechanical Engineering Aeronautical Engineering and Mechanics, Rensselaer Polytechnic Institute, Troy, NY 12180-3590, U.S.A.
(Received: 9 March 1992; accepted: 22 June 1992)

Abstract. Nonlinear coupling between torsional and both in-plane and out-of-plane flexural motion is examined
for inextensional beams (or beam-like structures) whose torsional and flexural eigenfrequencles are of the same order. The analysis presented here is based on a consistent set of nonlinear differential equations which contain both curvature and inertia nonlinearities, and account for torsional dynamics. Response characteristics, including stability, are determined for cantilever beams subjected to a lateral periodic excitation. The beam's response in the presence of a one-to-one internal resonance involving a torsional frequency and an in-plane bending frequency is investigated in detail.

Key words: Beams, nonlinear oscillations, flexural-torsional dynamics, torsional response, nonlinear resonance.

1. Introduction

To date, the analyses of nonlinear dynamics of beams that have been presented in the literature have dealt with the case where the torsional frequencies of the beam are much higher than its bending frequencies. For such a case, the torsional inertia has no significant effect on the motion of the beam and, thus, the torsional deformation is determined directly by the nonlinear coupling between in-plane and out-of-plane bending. Many applications involving the dynamics of structural elements fall into this important class of problems. Analytical and experimental investigations for such cases are exemplified by the works reported in [1-8]. For beams having a cross section with high aspect ratio, for example, the first torsional natural frequency is of the order of a lower bending natural frequency. This may also be observed in long structural members that may be modeled as a beam, such as components of space structures or satellites. In this case, the nonlinear coupling between torsional and bending motions may cause an exchange of energy between such motions. There are two myths which are common among engineers whose training has not included nonlinear analysis techniques; (1) "keep the amplitudes of excitation small, and a linear analysis should be sufficient"; (2) "amplitudes of nonlinear motions are so large in beam structures that the structure would be destroyed long before its amplitude grows that large. Thus, a study of nonlinear phenomena in such structures is unneeded". The results presented in Parts I and II of this work, and in several other papers that have been published in the technical literature, clearly serve to dispel such myths. In this paper, nonlinear coupling between torsional and flexural motions in inextensional beams is examined by taking into account the torsional dynamics of the beam. Here, torsional and flexural natural frequencies are of the same order, thus allowing for the occurrence of a number of nonlinear phenomena that involves such motions. The differential equations formulated in [2, 3] and in [4] are used for such investigation. Those equations contain all the geometric nonlinearities that arise when an inextensional beam is deforming in three-

M.R.M. Crespo da Silva and C. L. Zaretzky

dimensional space. The beam is subjected to a lateral periodic excitation with frequency near a bending natural frequency which, in turn, is near the first torsional natural frequency of the beam. In Part II of this work, a combination resonance where a torsional natural frequency is near the sum of two bending natural frequencies is addressed.

2. Equations of Motion
The system analyzed here is shown in Figure 1. It consists of a cantilever of length L and specific (i.e., per unit length) mass re(s), subjected to a distributed periodic force Qv (s, t) = qv(s) cos(f~t), or to a base displacement qv cos(f~t), applied in the inertial y-direction. The independent variable s is the arc length measured along the beam, and t denotes time. The small effects due to extensionality, which are taken into account in [4, 9, 10], and shear deformation are neglected. The differential equations, and the boundary conditions, that govern the flexuralflexural-torsional motions for inextensional beams were first formulated in [2]. Further details of the formulation are also given in [4]. The expanded version of those equations, which are amenable to a perturbation analysis of the motion, are given below for the case when the beam is subjected to the distributed force indicated above. The first two equations below are Equations (46b) and (47b) in [4], while the third equation is Equation (1 ld) in [2].

m4) + c~,i~+(D(v")"= {-D~w"(O" +v"w')+w'Qo~-v'[D(v'v" + (D n - D)w'v'tw" +

[(D,-

+ w'w")]'

D)(O~w"-02v")] '

+ 3~w'(o~ + ~0',~')+ 3U( ,/~' + w'~')

[0~ - ~,)(oS - e>' + w',/w') -

~,~']
(la)

vl S m S
, / v ,

f f(~,2 2
L 0

wt2)..d8 d8

~1
J

-}- qv(s)cOs(~t).

mg,

+ c~(v+(D,Tw")"= {D~v"(O" + v"w')-w' [D,Tv'v"+ Dnw'w"]'

+ [(D, 7 -

V)(O.v" + O~w")]'- 3~i/(0~ + i/w')

+ w'(3J,z' + a ~ ' ~ ' ) -

[(3~ ds

3~)(o~' + o~,z') - 3 J ]
.

S
2
L

/(8
0

"vt2 Jr- w " 2 ) " d 8

If

(lb)

(j~ - j~) [(+'2 - ~'~)o~

~'~']

Qo~.

(lc)

In the above equations, ( )' and ( ) denote, respectively, partial differentiation with respect to s and t. The quantities D~(s) and D((s) are the principal flexural stiffnesses of the beam,

Torsional-Flexural Dynamics: Primary Resonance

^

. . . . . . . . . . . . . .
s + u(s,t)

_1,'

w(s,t)

Fig. 1, Coordinate systems and elastic deflections for the beam.

while D~(s) is the torsional stiffness; 3o(s), 3~ (s) and j{(s) = 3o(s) +3g(s) are the distributed mass moments of inertia. The principal axes of the beam's cross section at location s, % ~ and ~, are shown in Figure 1 (where carets (^) are used to indicate unit vectors). The quantities v(s, t) and w(s, t) are the beam's deflections along two inertial directions, as shown in Figure 1, while 0=(s, t) is an orientation angle that was introduced to describe the orientation of the cross section at location s. The expanded form of the beam's torsion is equal to "7' = 0" + v"w', where 7(s) is the angle of torsion of the beam. The quantities c~ and cw in Equations (la, b) are viscous damping coefficients that are introduced to model flexural damping in the structure. The boundary conditions for the above equations are
v(o,0 = = = w'(O,t) = 3(o,t) = o

(2a) (2b)

v"(L,t) = v'"(L,t) = w"(L,t) = w'"(L,t) = 7'(L,t) = O.

Equations (1 a-c) are nonlinear partial integro-differential equations describing the coupled flexural-flexural-torsional response of an initially straight inextensional beam possessing both varying cross sectional dimensions and nonuniform material properties. This includes tapered and stepped beams and long slender structures that may be approximated as a beam. By accounting for the torsional distributed mass moment of inertia in these equations, responses involving dynamic coupling between torsional and flexural motions may be addressed. Equations (la--c) will be specialized to a uniform homogeneous cantilever beam from this point forward. For convenience, Equations (1 a-c) are written in terms of nondimensional quantities defined as s* = s/L, v* = v/L, w* = w/L, t* : t v / D , / ( m L 4 ) , ~* = F~L2v/m/D,,

/3y = Dg/D~, /3~ = De/D~, a~ = 3o/(mL2), 3"~ = 3/(mL2), c*~ = cvLa/v/--mD~ and c~ = cwL2/x/--mD~. By making use of the angle of torsion for the beam, which is determined as [3, 4] ~,(s, t) = 0x(s, t) + fo v"w'ds = 0,~(s, t) + v'w' - f~ v'w"ds,
and by introducing a small damping term in Equation (lc), which is approximated as

= -c0x0x = a -3~c-yOx ~ -3{cTVy, the normalized form of Equations (la-c) may be written as given below. The superscripts are dropped for convenience in notation

o
_ +

M.R.M. Crespo da Silva and C. L. Zaretzky + V ! [--~yVtV ttt

-

WIW tt! + 3~)lvI +

3OibtwI - ~

1//
. .

(v 12 +

wl2)"ds ds

+ 3~ ~/+

-[-

(i) [ (
0 (3~? -- 3C)

(v'w")'ds- v'(v' (v~

8

i)t7 2 -- (V'7 -- (V' v' w" ds + 3~i/

0

+ v' (3~5'2 + 3~@'2' -

3~cTw'~/}'+ qv(S)COS(f~t).

(3a)

@
0
-

WI(V It2 -Jv W It2)

+ W t --flyVtV ttt

--

WtW m + 3~?Jtv t + 3Tl~)tW t

--

-~

' iJ
1 0

(V t2 + wt2)"d8 ds

3~ ~

(J)
+

(v'w")ds

v'(v'

~'

--[(30--3()

((vt"Y2 -t- i~t'~ - i/ i vttwtd8) - 3~?(vt] "

(3b)

+ Wt(f~iJ t2 + 3,q/bt2)} t .

J~

3~-

9~7" = - ( 1 - my)[~(v "2 _ ~ , , 2 ) _ (v'~") d~ - ~'~'

,~,,]

- 3~

I;
1.0

+ (3~ - 3~) [(~'~ - ~'2)~ - ~'w']

(3c)

In the next section the eigenfunctions associated with the linearized counterpart of the above equations are determined. Equations (3a--c) are then transformed into a set of ordinary differential equations which are used to analyze the coupled motions with a perturbation technique.

Torsional-Flexural Dynamics: Primary Resonance

3. Eigenfunctions Associated with the Linearized Equations

The solution to the undamped linearized differential equations of motion will be used as the starting point for a perturbation analysis based on Equations (3a-c). Those solutions are of the form v=F~(s)vt(t) w = Fw(s)wt(t) 7 = F~(s)'yt(t) (4a) (4b) (4c)

with vt(t) = cos(tort + By), wt(t) = cos(wwt + Bw) and 7tt = cos(w.yt + B.~). In general, the eigenfunctions F~(s), Fw(s) and F.~(s) are determined by solving the linearized counterpart to Equations (3a-c) numerically. For a beam with constant distributed properties, the eigenfunctions Fv (s) and F.~ (s) satisfy the differential equations
ptttt v* v

- cGF~ + 3(cGr ~ = 0

2r.tt

(5a)

9~F4, + 3~co.yF. 2 r= 0

(Sb)

with the boundary condition Fv(0) = F'(0) = F.y(0) = 0 and F~'(1) = F~(1) = 0. The eigenfunction associated with the linearized part of w(s, t), Fw(s), is obtained by setting fly = 1, ~o~ = ~w and3 = 3,7 in the expression obtained for F~(s). The solutions to Equations (5a, b) are obtained as

cos, 2 , 1 2]
where n= 1,2,...

(6a)

(6b)

1%=
and

r~coshrl + r ~ c o s r 2 r 2 sinh rl + fir2 sin r2

(6c)

(6d)

T2 =

(6e)

~ = (2~-1)7~.

(60

M.R.M. Crespo da Silva and C. L. Zaretzky

TABLE I Natural frequencies ~w versus 3n 3~ 0 0.0025 0.005 w~ (first mode) 1.8752 ~ 3.516 3.5198 3.5236 w~ (second mode) 4.6952 ~ 22.043 21.676 21.331 w~ (third mode) 7.8552 ~ 61.7 58.432 55.633

The quantities rl and 9" 2 satisfy the characteristic equation given below, which is obtained by imposing the condition F~"(1) = 0 on the function F~.

r~ + r 4 + 2r~r~(coshrl)cosr2 + r l r z ( r ~ - r2)(sinhrl)sinr2 = 0.

(7)

The constants C~, Cw and C-r that appear in the expressions for Fv, Fw and F.~, respectively, are arbitrary. For later convenience, these constants are chosen so that
1

0
1 1

The effect of the distributed mass moments of inertia on the natural frequencies ~ow (or ~v/x/~u) is illustrated in Table I for several values of 3~ (or 30. For a homogeneous beam with a square cross section, for example, one has 3~ = (b/L)2/12, where b is a cross section dimension. Even though the effect of the distributed mass moments of inertia on the frequencies ~ , and ~w is more pronounced for the higher modes, such effect is negligible for typical values of 3,7 and 3~. For a homogeneous rectangular cross section beam of length L and cross section dimensions a and b for example, one has 3~ = (b/L)2/12. This gives 3,7 ~ 0.001 if Lib = 9. Values of 3,1 and 3~ smaller than 0.001 are typical in practice. The distributed mass moments of inertia also contribute to a number of nonlinear terms in Equations (3a-c). To estimate their contributions, and compare them to those arising from the stiffness terms, Galerkin's method is applied to Equations (3a--c) with v(s, t), w(s, t) and "y(s, t) approximated as at = F~(s)at(t) with at(t) = cos[w~t + B~] (a = v, w, 7). The terms associated with the distributed mass moments of inertia and the stiffness terms produce similar Galerkin coefficients. As an example, the terms/3uv~2v m and 3~v~2~) ~produce a similar vt3 term in the reduced equations. The Galerkin coefficients for such terms were evaluated using first bending and torsion modes, as well as third bending and first torsion modes. The numerical values of the coefficients associated with the distributed mass moment of inertia were found to be negligible when compared to the values for the coefficients of the similar terms associated with the distributed stiffnesses. For these reasons, the 3n, 3~ and 34 -----3n + 3~ terms in Equations (3a, b) and the 3,~ and 3 terms in Equation (3c) will be neglected, thus simplifying the analysis. When the natural frequency ~7 is commensurable with the bending natural frequencies, the term 3~;~ in Equation (3c) is associated with the linearized counterpart

Torsional-Flexural Dynamics: Primary Resonance

of that equation and, thus cannot be neglected. In such a case, energy may be exchanged between torsional and bending motions. Such motions are investigated in this paper.
4. P e r t u r b a t i o n A n a l y s i s o f t h e M o t i o n

Approximate solutions for the motion may be obtained by using Galerkin's method to reduce the expanded differential equations of motion, Equations (3a-c), to a set of ordinary differential equations. Here, a one mode approximation is used, and nonlinear interactions in the coupled v(s,t) ~ F~(s)vt(t), w ( s , t ) ~ F~(s)wt(t) and 7 ( s , t ) ~ FT(s)"/t(t) motions are then investigated. A one mode approximation is justified when the frequencies associated with other modes that are not near the excitation frequency are not commensurable. In this case those modes "die out" due to damping in the system [11]. When the distributed mass moments of inertia terms are neglected, as discussed in the previous section, the following ordinary differential equations of motion are obtained for the quantities vt (t), wt (t) and 7t (t):
+ + : + + +

-~- f[~V5('02)"Vt~- O{v6(W2)"'Ot "~- Iv COS(fit)

~iJt + Cw@t q-C02Wt = Olw1"TtVt q-O~w2Wt"/2 q- Ogw3Wtv2 -1-Ctw4w3 q- O~ws(W2)"Wt

(8a)

q- Ogw6(~U2t )"Wt

(8b)
(8C)

5t q- CT;yt q- O32,yt = O@ ~/t?)2 -.}-O@2~/t w2 -t- Ct73~tll)t -~- [O@4(~3tWt)" q- Ct75Vt~3t]" .

In the above equations, fv A f l Fv(s)qv(t) ds, and the coefficients av~, aw~ and a-r~ (i = 1, 2, .. ) are listed in Appendix A. To analyze the motion governed by the three coupled nonlinear ordinary differential Equations (Sa-c), the method of multiple time scales [11] will be used. Three time scales to = t, tl = et and t2 = 62t are introduced, and vt, wt and 7t are expanded in terms of e as

at(to, tl,t2;e) = eat~(to, tl,t2) + e2at2(to,tl,t2) + e3at3(to, tl,t2)

a = v,w,'y. (9)

The case when the excitation frequency, f~, is near one of the eigenfrequencies of the undamped motion, Wv, and when wv is near w7 is addressed. In this case the beam exhibits a nonlinear primary resonance, and there is energy exchange between the vt and "Yt motions caused by near-integer commensurability between the natural frequencies of the system By transferring the damping and the excitation terms out of the O(e) approximation as

c~ = e2Cv2,

cw = e2 cw2 ,

c-r ~-- f2C72,

f v = e3f v,

(10a-d)

the following differential equations are obtained for each order of approximation when the expansions defined by Equation (9) are substituted into Equations (8a--c):

dgvt, + W2vVtl = O.'.vtl = A~(tl, t2) cos [Wvto + Bv(tl, t2)] & Av cos qSv d2wtl + C O w W t 2
=

(1 la) (llb) (1 lc)

O.'.wt, = Aw(tl,t2)cos [WwtO + B,~(tl,t2)] =A Awcosq3w

2 , = 0.'.% = A-y(tl, t2) cos [co-~to+ B.y(tl, t2)] =~ A~ cos qS.~ d27t, + co.yTt

10

M. R. M. Crespo da Silva and C. L. Zaretzky

2)
d2vt2 + co2vt2 = -2dod,vt, + a.,"/t, wt, = 2w~ [(d,Av)sin~ + A~(d,Bv)cOs.] + av~AvoA 7 [cos( 7 + ~) + cos( 7 - ~ , ) ] / 2
(12a)

d2wta + co2wtz = -2dodlwt~ + aw,"/tlVt, = 2Ww [(dlAw)sinew + Aw(d, Bw)cosew]

+ awlAvA7 [cos( 7 + Cv) + cos( 7 - C v ) ] / 2
(125)

d2"yt2 + co2%2 = -2dodlTt, + a73vt, wt , + a74d~(vt, wt,) + o[~/sdo(VtldO~tl )

= 2w.r [(dlA.r) sin 'r + A~(dlBT) cos 'r] + [a.~3 - (w~ + z~)a74 - w~aT, ] [cos(~ + ~) + cos(v - ,1,)] A . A ~ / 2 (12c)
2 2

+ w.cow(2a74 + a.r, ) [cos(v - ew) - cos(. + ew)] ArAb~2

o(, 3)
d2vt3 + co2vt3 -2dodlvt2 - (d 2 + 2dod2)vtl + av~(Tt2wt, + wtz'Yt,)
-~ OLV2 tt'fftl -~- OLV3 tlqJ)$1 ~ Ogv4Vtl "3V

- cv2dovt~ + fv3 cos(Qt0)

(13a)

dgWt3 "Jl-wgwt3 :

--Cw2do~lJt 1 -- 2dodlwt2 -- ( d2 -~- 2dod2)wt, + a~, ("Yt2Vtl -}- Vt2"~tl)

2 3 q- aw2 Wtl ~t21 -q- aw3 Vtl Wtl -k- aw4 Wtl

-~- Olw5Wtl d2 (W21) -~- OLw6Wtld20 (V~I)

(13b)

d2o,t3 q- w 2

+ a.r3 (vtlwt2 + wqvt2) + a-r, (2dodl(vqwtt) + d2[vt2wtl + wtzvtl]) +oe-rs{dl(vttdowtl)+do[vt2dowt ~ +vt~(dlwt~ + dowt2)]}
(13c)

In the above equations, the notation d~( ) = O( )/Otn (n = 0. l, 2) is used. The solutions to the O(e) differential equations, which are also given in Equations ( l l a - c ) , were used in Equations (1 2a-c). The O(e 2) differential equations exhibit the combination resonances co~ ~-. leo7 w,,.]. w~, ,-~ ]w7 q-w, ] and w 7 ~ tw~ :kw, I. Here, the case where the values of the natural frequencies

Torsional-Flexural Dynamics: Primary Resonance

11

are "away" from these resonances is considered. Instead, the motion when Wv ~ co7, which is a resonance condition exhibited at th e O(e 3) level, is investigated. The case when ~7 is near Wv + ww is analyzed in [12]. For the case considered in this paper, the following conditions for elimination of secular terms at the O(e 2) level, and solutions to Equations (12a-c), are obtained:
dlA~ = 0; dlB~ = 0 (a = v, w, @
-

(14a, b) (15a)

c%A,rAw [ cos(7 + Cw) cos(qS-r Cw) ] vt22 [col: (-7~,~-77) 2 + c o ~ - - - ~ -7~-~)2J ctwlATAv [ C0S(7 + Cv)
Wt2 - -

cos(~ - ~)
CO2 - - (CO,), - - Cdv) 2

(15b)

7t2 = A~A~ [kv~ cos(~ + era) + k-~2cos(v - Cm)]

(15c)

where
OZ3,3 - - O@4(CO v q- COw) 2 - - OZ,,/SCOw(COw + COy)

kVl =

(16a)

2[w2-(COv+Wm) 2]

(16b) Note that the second order torsional component of the beam response is only dependent on the first order in-plane and out-of-plane bending motions.

With the O(e) and O(e2) solutions given by Equations (11a-c) and (15a-c), the 0@ 3)
differential equations, Equations (13a-c), take the following forms:
dgvt3 + a)2vt3 = fv3 cos(~to) -b wv(ZdzAv + cv2Av)sinCv ~ 3 + k3AvA 2 + klAvA 7 2 cos(v - 27 ) + [2wvA, d2B~ + k2Av 7 + k6AvA2] cos ~ + AvA 2 a~ 1k72 + ~c~3 - w~a,6

+ high frequency terms

(1 7a)

2 3 7-g~w~3 -Jr- CdwWt

w~o(2d2Am + cmzAm) sin Om

. 2 2 + Am [2cvwdzBm + k7A 2 + ksA~ + k9Av] cos w

+ AmAav ~mlk~2 + ~w~ -~vam~

+
~m2 (~m - ~ v
- ~)(<~ + ~v - ~ )

+ high frequency terms

(17b)

12

M. R. M. Crespo da Silva and C. L. Zaretzky

d2~t3 +

027~t3 2 =

coT(2d2A,r + c72A7) sin 95"r

2 k4ATA 2 cos(295~ - 95.y)+ [2coTA.rd2B7 - ksATA 2 - kmA,rA~]cos7

+ a

-72 -5g(

71o-/-b-7)

@ 0:72}
(17c)

x ATA~ cos(2~o - 7) + high frequency terms.

Equations (17a-c) exhibit the internal resonant condition w7 ~ Wv. The coupled motions in the presence of this resonance condition, and with f~ ~ a~v, are now investigated with the objective of determining how the flexural and torsional motions interact. Toward this end, two detuning parameters e2a2 and e2A2 are introduced as ft = wv(1 + ~20"2) Wv = co7(1 + e2A2). By defining the following quantities # = 2Azwut2 + 2(B~ - B.~) ~ 2A2w~t2 + 2(B~ - BT)
A

(lga) (18b)

(19a) (19b)

Cf ~ COv~r2t2-- Bv

and by noticing that ~2t0 = 95~ + 95I, 295v - q57 + # and 2957 - 95~ = 95~ - #, the following conditions for elimination of secular terms at the O (e3) level are obtained from Equations (1 7ac): 2 2w~d2A~ + Wvcv2Av + klA~A 7 sin # - f~3 sin 95y = 0 (20a)
2

2wvAvd2Bv + k l A v A 7 cos # + k2A v + k3AvA 7 + k6AvA w + 2d2Aw + cw2Aw = 0 Aw[2wwd2Bw + k7 A2 + k8A2v + k9 A2] = 0 2wTdzA7 + CTzWTA~ + k4ATA2~ sin # = 0 Av[2wvd2B 7 - k4 A2 cos I x - k5A2v - kloA2w] = 0.

fv3 COS 95f =

(20b) (20c) (20d) (20e) (20f)

The expressions for the coefficients kl through ks are listed below, while those for k 6 through kl0 are listed in Appendix B.

1[

owl]l

(21 a)

k2 = -~O~v4-- WvOivs

(21b)

Torsional-Flexural Dynamics: Primary Resonance

13
(21c) (21d)

O/'v2 ---------~OgvlOgwl [-'-~w+ 13= -~-co2 -4co2

k4 = ~w'(cov2~74- oL%) 4co2 oe71 4

'1
OL-y, 2

k5 = CtWl[W2(2Oz75 + OL.y4) -- Og,-),3] -}- OgWl[OLT4(.a. )2 -- OL,T3 ] 4o:2 - 4co2 4o:2

(21e)

Equations (20a-f) are coupled nonautonomous ordinary differential equations in terms of the variables A~, A~,, A-r, Bv, Bw and B. r. Since d2B~ = cov0-2 - d2/ and d2B.r = (o-2 + A2)cov - d2I - d2#/2, those equations are autonomous in terms of the variables Av, A~o, A. r, I, # and B,o. The autonomous equations admit the equilibrium solution A~ = constant = A~, (c~ = v, w, % with Aw~ = 0 and fl = constant = fie (/3 = Cy, p). As disclosed by Equation (20c), A~ -4 0 as t --+ oc. It should be noted that the conclusion Aw = 0 indicates that the out-of-plane bending component of the response is of higher order. The same conclusion may also be obtained from the expression for the ~ component of the beam's curvature vector which is given as [2, 4]

pv = Tv" -

w'

1+

+ 72w '' + O(e4).

(22)

As this component of the curvature tends to zero, which implies that the bending stiffness D,~ is effectively infinite, one then obtains w" = v"'y, which also discloses that w = O(e2). The same conclusion may also be obtained when Equation (3b) is written in the following form in terms of dimensional time:
mL 4

/ O -D, -

cwwv-D~~ + w ml
7%" + 1- ~
STv W 0@3).

(23)

The above differential equation also discloses that w" -4 ~/'7 as D, 7 -4 oo. Thus, for the resonant motion corresponding to coo ~ w.r, and f~ ~ coy, the conclusion that the w-motion is of higher-order goes "hand-in-hand" with the conclusion that the 7) component of the curvature is small. Explicit expressions for the equilibrium values of the in-plane bending and torsional amplitudes as functions of the detuning parameters 620-2 and 62Z~2, damping parameters e2cv2 and e2c72 and the excitation strength e3fv3 can be obtained from Equations (20a-f). Those equations admit two equilibrium solutions. One equilibrium solution, referred to as El, corresponds to eA.r, = 0, while for the second equilibrium solution, referred to as E2, cA-r, is nonzero. The amplitude-frequency response characteristic for El is obtained as

-k2(eAv~ )3 5:: V/(e3 fv,) 2 --co2(e2cv2)2(eAv~)2

20"2 =

2w2eA~

(24)

This is the same as the amplitude-frequency response characteristic of a classical Duffing oscillator.

14

M. R. M. Crespo da Silva and C. L. Zaretzky

For equilibrium E2 the state variables #e and CA can be eliminated from Equations (20af) to obtain the following two expressions which implicitly relate the steady state in-plane bending and torsional amplitudes, eA~, and eATs, to the detuning and damping parameters, and to the excitation strength:

[2wvw,~(o2 + A2) - ksA2] 2 + [c-r2wT]2 -

[k4A2 12 =

(25a)

k4Av ~

-ksA2,}

2wZa2Av,

3 2] 2 + k2Av~ + k3AveAve

+ c,~2wvA~,

klC72WTA27~]2 ~ ] -f~23=0"

(25b)

Equilibrium E2 exists only when real solutions for both A.~ and A.y~ are obtained from Equations (25a, b). Equation (25a) discloses that for E2, the in-plane bending amplitude, Ave, is dependent only on the torsional damping, e2c72, and on the frequency detuning parameters e2(r2 and eZA2. That is, to first order, the in-plane motion is independent of both the excitation strength, ~3fv 3 and of the flexural damping coefficient, JCv2. Since the excitation strength has no effect on the amplitude of the directly excited in-plane bending component of the beam's response, this corresponds to a saturation phenomenon, as described in [11, 13]. The stability of the steady state motion for equilibrium E2 may be ascertained by perturbing the equilibrium state as z_(t) = z__ e + Z__s(t), where z__ = [ A v , AT, #, f]T. By linearizing Equations (20a, b, e, f) in the perturbation state z__ s, the stability of the perturbed motion can be determined by applying the Routh-Hurwitz stability criterion to the differential equations ?cs = e2d2z__s = Az__ s. The elements of the 4 x 4 matrix are readily obtained from Equations (20a, b, e, f). In the process of linearizing Equation (20f) about the equilibrium E2, the following equation for p, is also obtained. This provides a condition for the existence of E2 when the constraint [ cos #e [ -< 1 is imposed. cos #e = 2WVWT(Cr2+ A2) - k5A2v k4A2 ~ (26)

The steady state response is determined by equilibrium E1 outside the range where E2 exists.
5. Results and Discussion

The results obtained in the previous section are now presented in the form of several amplitudefrequency response plots. For this, a homogeneous cantilever with a rectangular cross section is used as an example in order to choose appropriate values for the nondimensional parameters /3v,/37 and 3~. For rectangular cross section beams the nondimensional torsional stiffness/37 may be expressed as [14]:

A GK

3G

Torsional-FlexuralDynamics: PrimaryResonance
TABLE II Values of kl through ks for co~, ~ co,r b -- 48 b ~ 16 kl -201.32 -203.08 k2 739.83 6658.9 k3 -401.41 -394.95 k4 196800 203870 ks 392440 397040

15

where h/b = v/~u is the ratio of the cross-sectional height to the width of the cross section, and G/E is the ratio of the shearing modulus to the extensional modulus of the beam material The normalized mass moment of inertia 3{ is determined as: 3e=]~ 1+ (28)

To exemplify the resonant motion for beams possessing a one-to-one internal resonance, a beam for which the third in-plane flexural eigenfrequency is near the fundamental torsional frequency is "designed" as indicated below. By equating the expressions for these two frequencies, as obtained from Equations (6d, f) and (7) as follows: co, r = -~

rr~

~ ~Ov = (7.8548) 2

(29)

and by choosing a value for G/E and for h/b = v/-~u, the corresponding values for L/b, 3.~ and 3~ are then determined by making use of the above equations. The value G/E = 0.4 will be used. Results will be shown for b/h = 48, and for b/h = 16. For b/h = 48 one obtains L/b ~ 9 and oar ~ co.r ~ 1.285, while for b/h = 16, L/b .~ 9.16 and cov ~ co.r ..~ 3.857 (for L/b = 9 one obtains coy ~ 3.857 and co.r ~ 3.787). The numerical values obtained for the constants kl through ks are listed in Table II. Figures 2 through 4 display the effect of varying the excitation strength on the frequency response for the beam with b/h = 48, and for which f~ is near the third in-plane bending eigenfrequency, coy3, with co~3 near the first fundamental torsion frequency. In these figures, both the planar response (equilibrium El) and the coupled response (equilibrium E2) are plotted for 6_2cv2 ~-- 0.0008, ~2c72 = 0.018 and e2A 2 = 0. It can be observed from Figure 2, for an excitation strength of e3fv3 = 2 x 10 -5, that below a critical value of detuning of approximately 0.01 only equilibrium El exists. As the driving frequency is increased from the region slightly below this critical value of detuning, the amplitude of the bending motion follows the planar response curve until point A where equilibrium E1 becomes unstable. At this point the motion is given by equilibrium E2, with the bending amplitude jumping down to point B and the torsional amplitude jumping from zero to point C. As the driving frequency is increased further, the bending amplitude follows the stable branch B-D to point D while the amplitude of the torsional motion proceeds from point C to point E. As the driving frequency is increased within the range where equilibrium E2 exists, both the bending and torsional amplitudes increase even though the detuning is increasing. As the detuning increases beyond point D on the bending response curve and point E on the torsional response curve, equilibrium

1 6

M. R. M. Crespo da Silva and C. L. Zaretzky

0.03
E
.~

~
. . . . . . . . . . . . .

slable
unstable

0.0025
E

0.002

0.02
EAT~

/'" ,;

..''""

0.0015
EAI,e

0.0 /
/ ./""
i; A

0.001
0.0005

-0.02 o

002

olo4

do8
E2 O" 2

0.08 ' o'.,

o'12

0.14

Fig. 2. Amplitude-frequency response for a beam with b/h e2A2 = 0 and 3fv 3 : 2 x 10 -5.
0 0 2 5 -

= 48 and for which ~:c, 2 = 0.0008, ~2c72 = 0.018,

stable ullstablt

0.0025

.............

0.02

"

0.002 0.0015

o.m~
EAT,
0.01

~ ~
/,," .'"....."""""
::" .".'iy A

E~
---4.-c

0.001
0.0005

0.005

0-I
-0.02 ;

0102
~2o" 2

0.'04

l 0.06

0
0.08

Fig. 3. Amplitude-frequency response for a beam with b/h c2A2 = 0 and e3fv3 = 1.45 x 10 -5.

= 48 and for which E2cv2 = 0.0008, e2c72 = 0.018,

E2 ceases to exist and the bending amplitude jumps to point F while the torsional amplitude jumps to zero as the driving frequency is increased further. Figure 3 shows the effect of lowering the excitation strength to 1.45 10 -5. In this case, the region where equilibrium E2 exists is now considerably reduced. The jump from point A to point B shown in Figure 2 disappears in this case. Instead, the bending response curves for the equilibrium solutions E1 and E2 are essentially tangent to one another at point A and the amplitude-frequency response curve for the torsional motion (i.e., the curve marked A 7 in Figure 3) is a closed loop. Depending on the initial conditions of the motion, the in-plane bending motion follows either branch A-C of the open line for equilibrium E2 or branch A - E of equilibrium E 1 as the driving frequency f~ is increased beyond the value corresponding to point A. The effect of a further decrease in the value o f 63fv3 is shown in Figure 4. The bending response corresponding to equilibrium E2 becomes detached from the response curve repre-

Torsional-FlexuraI Dynamics: Primary Resonance

0.02 0.0025

17

E
0.002 0.015 00015

eA.~e0.01
0.001 0.005
~
B

*A,,c

00005
F

-0 02 -0

O1

0.01

t 0.02

0~ 03

0.104

005

~2a 2

Fig. 4. Amplitude-frequency response for a beam with b/h ~2A2= 0 and e3fv 3 = 1.2 x 10 - 5 .
0.125

= 48

and for which e2cv 2 = 0 . 0 0 0 8 , E2c72 = 0 . 0 1 8 ,

0.008

"l
0.1 '1"
0.075

.............

unslable

.;-~

"

,~:~.:;:;;;;"A,s~ahte **"*'"

0.006

eA-re
0.05

0.004 eA,,

0.002 0.025 0 0.125

-0.025

0.025

0.08 ~202

0.075

0.1

Fig. 5. Amplitude-frequencyresponse for a beam with b/h e3f~,~ = 1.75 x 10 - 4 and E2A2 = 0.

= 16

and for which e2cv2

= 0.002, c~-c72 = 0.01,

senting the bending motion for equilibrium El. A further decrease in the excitation strength leads to the eventual disappearance of equilibrium E2. The sensitivity of the frequency response to the internal detuning e2A2 is illustrated in Figures 5 through 7 for a beam with b/h = 16. For these figures, e2cv2 -- 0.002, e2c72 -- 0.01 and Eafv3 -- 1.75 10 -4. For J A 2 -- 0, the frequency response shown in Figure 5 resembles that shown in Figure 2. The jump characteristics are identical to those in Figure 2 and only the shape of the response curves for equilibrium E2 is seen to be affected by the different shape parameters for this beam. As the value of e2A2 is increased to 0.02, however, the nature of the coupled response (equilibrium E2), shown in Figure 6, changes. The curves representing the bending component for equilibrium E2 now intersect the E1 planar response curve at four points. A jump phenomenon, which is now from El to El, can be observed at point A as the bending amplitude jumps from point A to point B when the detuning is increased past the value corresponding to point A. Jumps from E1 tO El, and from E2 to E2, are now predicted.

18

M. R. M. Crespo da Silva and C. L Zaretzky

0.125
O.'b ", 6 ............. slable unstable .$...;::. 0.006

0.008

0 075 eA~
0.05

.-';; fh. :::='"

E,

.-- .." ~'"" A

~ _ - - ~

, .... .............

0.004

cA,,
0.002

0.025

-oo2

)1o2

olo,

008

E2cr2
Fig. 6. Amplitude-frequency response for a beam with b/h = 16 and for which e2cv2 = 0.002, e2c.y~ = 0.01,
c3f~3 = 1.75 x 10 -4 and e2A2 = 0.02. 0.125 0.008

o.1

.,l
;

-.............

stable

unstable

.,,

0.006

0075 eA~, 0 0 5 ! / '

":~:'" . . . . . . . 0.004 eA,,~

0025 0

~.~ i 0 f 0.06 i 0.08

0.002 0

-0.02

0102

0.104
E202

0.10

Fig. 7.

Amplitude-frequency response for a beam with e3f. 3 = 1.75 x 10 -4 and e2A2 = - 0 . 0 2 5 .

b/h

= 16 and for which e2c.2 = 0.002, e2c.r2 = 0.01,

Figure 7 shows the effect of reducing 2A2 to 2A2 = -0.025. The amplitude-frequency response curves now show isolated "islands", which eventually disappear as 62A2 is decreased further. The effect of varying the one-to-one internal resonance detuning parameter e2/k2 on the frequency response displayed in Figures 5 through 7 can be seen to be similar to the effect of varying the excitation strength in Figures 2 through 4. For negative values of this detuning parameter the frequency response is similar to that for small excitation strengths in that the response curves for the coupled motion are isolated and sometimes fragmented. For positive values of E2A2 the response is similar to that for higher excitation strengths in that the coupled response curves intersect the planar bending response curve which results in multiple jumps between the coupled and uncoupled responses. For certain values of e 2 A 2 ( a s in Figure 6) the "classical" jump point within the uncoupled in-plane response may be altered so that the

Torsional-Flexural Dynamics: Primary Resonance

005
.............

19

......
~lllble
unslable . .--"" _,"
-

0004

004

0.003
( .... .
............. --

003

0.002

eA,,e
0 02

0.001

001

o.

o.o6o14 o od02a 0.0d042 00d056

3fv:l

0.0007

Fig. 8. Variation

of the response amplitudes with 2c,y2 = 0.01, 2A2 = 0.02 and 2cr2 = 0.005.

3fv 3 for

a beam with

b/h

= 16 and for w h i c h

E2Cv2 ~- 0.002,

0.04

0.006

slable

-'"

................... ;iiiiiii ..... -"

cA-re 0.02
", A'

f?

.- ...........

....

0.004

,::>

eAo~

o.ol
A A j "" .................

~;~ ............

o f"
0

:,
0.00015

,
0.0003

,
000045

o
0.0006

63fv3

Fig. 9. Variationof the response amplitudeswith e3f.3 for a beam with b/h = 16 and for which e2c.2 = 0.002.
2Cy2 = 0 . 0 1 , 2 A 2 = 0 . 0 2

and 20- 2

= --0.005.

in-plane bending amplitude will experience a more pronounced jump than that predicted from an analysis that neglects the possibility of bending-torsional coupling. The circles that appear in Figure 5 represent the results of the numerical integration of Equations (8a-c) with the same parameter values used to generate the perturbation results. This figure was arbitrarily chosen to compare the results of the numerical integration with those obtained from the perturbation analysis. Since A.r = 0 is an equilibrium solution to Equations (20a-f), nonzero initial conditions for the torsional motion had to be chosen for the numerical integration for the beam to exhibit the coupled response given by equilibrium E2. Only the response corresponding to equilibrium El is exhibited if the torsional motion is identically zero. Thus, unless there is an initial condition involving torsion, the beam's steady state response will consist only of the directly excited in-plane bending motion. Figures 8 and 9 show the effect of varying the excitation strength, at a constant driving frequency, on the bending and torsional response of a beam for which b/h = 16. Both figures

20

M. R. M. Crespo da Silva and C. L. Zaretzky

show this effect for eaCv2 = 0.002, e2c72 = 0.01 and eZA2 = 0.02. Figure 8, which was generated for e2cr2 = 0.005, discloses that as the excitation strength is increased from zero, the bending amplitude increases steadily until it reaches a value corresponding to point A. This point represents a transition between stability and instability for equilibrium El. As the excitation strength is increased further, the bending amplitude remains at the constant value corresponding to point A while the torsional amplitude jumps from zero to point C and increases to the value corresponding to point E. This is clearly an example of saturation since at the excitation strength corresponding to point A, the bending amplitude "saturates" and any further energy pumped into the system is transferred to the torsional component via the internal one-to-one resonance. At the excitation strength corresponding to points B and E of the bending and torsional components of equilibrium E2, respectively, equilibrium El becomes stable again while equilibrium E2 becomes unstable. Thus, there is a jump in the bending amplitude from point B to point D while the torsional amplitude jumps down from point E to zero. For higher values of the excitation strength, only equilibrium El is stable. It is interesting to note that a portion of the response curve shown in Figure 8 that corresponds to saturation is unstable for the values of the parameters indicated in that figure. Only equilibrium E1 is stable in that region. Another jump phenomenon may be observed in Figure 8. This jump, which occurs when the excitation strength is lowered below the level at which equilibrium E2 exists, consists of a jump down of the bending amplitude from point G to point H while the torsional amplitude jumps down from point F to a value of zero. Figure 9 shows that for a value of detuning of 6202 ~- --0.005 equilibrium E2 is unstable within the range of excitation strengths shown. The branch A-C of the bending response corresponding to equilibrium E1 is also unstable which results in a jump of the bending amplitude from point A to point B as the excitation strength is increased from zero. If only in-plane bending had been considered in the response analysis, i.e., if the possibility of bending-torsion coupling had been neglected a priori, the response curve obtained for the planar bending amplitude would resemble that of the bending motion given by equilibrium E1 with the exception that section A-C of the response curve would be stable. In that case, the jump up of the bending amplitude would occur at point A', rather than at point A, as the excitation strength was increased. Thus, while equilibrium Ez is unstable throughout the region of excitation strengths shown in Figure 9, the effect of the nonlinear bending-torsion coupling still reflects itself on the jump phenomenon for the in-plane response.

6. Summary
The flexural-flexural-torsional response of beams, including the effect of torsional dynamics, was investigated by taking into account all the geometric nonlinearities in the differential equations of motion. The beam was subjected to an in-plane resonant bending excitation in the presence of a one-to-one internal resonance between an in-plane bending frequency and a torsional frequency. The response investigated here consists of single mode approximation for bending and for torsion, which is valid when there is no commensurability between the frequencies of other modes. Analytical expressions for the steady state response characteristics were obtained by a perturbation analysis. Numerical integration of the governing differential equations was also performed in order to verify the accuracy of the perturbation analysis. The sensitivity of the frequency response to both the excitation strength, and to the internal and external resonance detunings, has been analyzed in detail. The results obtained here show

Torsional-Flexural Dynamics." Primary Resonance

21

that the response of the beam exhibits various forms due to the different nonlinearities in the equations, each having associated with it a unique set of jump phenomena between the coupled and uncoupled steady state motions. Also, within certain regions of the excitation strength, the in-plane bending component of the coupled response saturates so that any further energy "pumped" into the system is transferred to the torsional motion "via" the internal resonance. When designing structural systems, the engineer should be aware of such phenomena, which are caused by the nonlinearities that are always present in the differential equations of motion for the structure.

Acknowledgement
The authors are indebted to the reviewers for their constructive comments, which helped improve the quality of the presentation of this work.

Appendix A
The Galerkin coefficients first appearing in Equations (8a-c) are defined as follows:
1

ct~l = J [-/37F~(/r;F'+:)' + ( l 0
1

Jv)F~(F,~FT)"] as

(A1)

~v~ = -(1 - /3.) i F~(F;' F 4) 2 ,, a.

0

(A2)

~v3 =

/{
0
0

(1 - 9 y ) L

[/
F;~'

F~,F; ' " ds

0

1'
(a3)
(A4)

l It2 l l l Ill l -/3yF~(FDF;; ) - F,,(FDF;F; ) } ds

# # ;)] l/If ds C~v4 = - J y i F~ [FD(FvF

Olv 5

Fv = -- 1 [ 2J
0

t
1 0

t2 ds ds F~

ds

(A5)

O~v6= - 7

'i ( i i
F~ F~
0 1

F,~ ds ds
0

ds

(A6)

i [9...(.;/'/' + (,0

..

(A7)

22

M. R. M. Crespo da Silva and C. L. Zaretzky

1

/ ~ (ptt I~2]tt
0

(A8)

0:w 3

=-of

1{, is
1 -fy)F~
1 Fw

- p , ~ov ds ,t j f p,t
0

],
(Ag)
(A10)

t l/2 / +Fw(F;F; ) + fvFw(F,'F;F~v") '} ds

0:w4

=-f
0

i ' " ' [F~,(F;F~) ]' ds

aw, : - ~

'/
0 0

Fw
1 0

F~2 ds ds

ds

(All)

0:~6

= -~

1/

F,~
1 1 0

F "2 d, as

ds

(A12)

O:71 - -

(1-fy) 3~
1

f F~F 2 v "2 ds 0

(A13)

0:.2 - -

j
0 1

(A14)

05.3

--

(1 - ~y) f ~ ~,,~,, 3~ J * .*w*,o ds 0

1 $

(A15)

(A16)
0 1 0

0:., = f F.F'F" ds
0

(AI7)

Appendix B
The following are some of the ki coefficients first appearing in Equations (17a-c). The others are defined in the text. Note that, to the order of the equations in which these coefficients

Torsional-FlexuraIDynamics: Primary Resonance

appear, wv = w-r in the equations below.

23

k6 =

4COw(COw + 2COy)

-4- Ogvl [05T5GUW(GUW-- 0.3/)) "t- O~,),4(CO w -- CUr) 2 -- 0973] At- O{V 3 4ww(ww- 2wv) 2
3 2 k 7 = ~O~w4 -- CtwSa)w

(B1)

(B2)

OgW, [OL"/,WtO(O-JW "{- ~t)V) + Og',/4(COZy -~- COy)2 -- Og73]

4w~ (w~ + 2w~)

+ Ov) + _ + 033)

4cow(cow - 2COv)
k9~w2 ~vlO~wl

2 (B4)

2(w 2 - 4w 2)
2 0~.,/3)
+

Ct23)

4COw(COw - 2co~)

4cow(cow + 2coy)

(B5)

References
1. Haight, E. C. and King, W. W., 'Stability of nonlinear oscillations of an elastic rod', Journal of the Acoustical Society of America 52, 1971, 899-911. 2. Crespo da Silva, M. R. M. and Glynn, C. C., 'Nonlinear flexural-flexural-torsional dynamics ofinextensional beams. I: Equations of motion', Journal of Structural Mechanics 6, 1978, 437--448. 3. Crespo da Silva, M R. M. and Glynn, C. C., 'Nonlinear flexural-flexural-torsional dynamics of inextensional beams. II: Forced motions', Journal of Structural Mechanics 6, 1978, 449-461. 4. Crespo da Silva, M. R. M., 'Equations for nonlinear analysis of 3D motions of beams', Applied Mechanics Reviews 44, 1991, 51-59. 5. Crespo da Silva, M. R. M. and Zaretzky, C. L., 'Nonlinear modal coupling in planar and non-planar responses of inextensional beams', International Journal of Non-Linear Mechanics 25, 1990, 227-239. 6. Nayfeh, A. H., Mook, D. T., and Sridhar, S. 'Nonlinear analysis of the forced response of structural elements', Journal of the Acoustical Society of America 55, 1974, 281-291. 7. Nayfeh, A. H., Mook, D. T., and Lobitz, D. W., 'Numerical perturbation method for the nonlinear analysis of structural vibrations', AIAA Journal 12, 1974, 1222-1228. 8. Haddow, A. G., Barr, A. D. S., and Mook, D. T. 'Theoretical and experimental study of modal interaction in a two-degree-of-freedom structure', Journal of Sound and Vibration 97, 1984, 451-473. 9. Crespo da Silva, M. R. M., 'Nonlinear flexural-flexural-torsional-extensional dynamics of beams. I. Formulation', International Journal of Solids and Structures 24, 1988, 1225-1234. 10. Crespoda Silva, M. R. M., 'Nonlinear flexural-flexural-torsional-extensional dynamics of beams. II: Response analysis', International Journal of Solids and Structures 24, 1988, 1235-1242. 11. Nayfeh, A. H. and Mook, D. T., Nonlinear Oscillations, Wiley-Interscience, New York, NY, 1979. 12. Zaretzky, C. L. and Crespo da Silva, M. R. M., 'Nonlinear flexural-flexural-torsional interactions in beams including the effects of torsional dynamics. 11: Combination resonance', Nonlinear Dynamics 5, 1994 (forthcoming). 13. Nayfeh, A. H., Mook, D. T., and Marshall, L. R., 'Nonlinear coupling of pitch and roll modes in ship motions', Journal of Hydronautics 7, 1973, 145-152. 14. Roark, R. J. and Young, W. C., Formulas for Stress and Strain, McGraw-Hill, New York, NY, 1975.