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Bouc-Wen model of hysteretic damping

Article  in  Procedia Engineering · December 2017

DOI: 10.1016/j.proeng.2017.09.605

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Procedia Engineering 201 (2017) 549–555

3rd International Conference “Information Technology and Nanotechnology”, ITNT-2017, 25-27

April 2017, Samara, Russia

Bouc-Wen model of hysteretic damping

A.M. Solovyova*, M.E. Semenova,b,c, P.A. Meleshenkoa,b, A.I. Barsukovc
a
Voronezh State University, Universitetskaya sq.1, 394006 Voronezh, Russia
b
Zhukovsky-Gagarin Air Force Academy, Starykh Bolshevikov st.54“A”, 394064 Voronezh, Russia
c
Voronezh State Technical University, Dvadtsatiletiya Oktyabrya st.84, 394006 Voronezh, Russia

Abstract

In this work we consider the dynamics of a mechanical system under external force with a damping part taking into account the
hysteretic nature of the damper. As a mathematical base of the hysteretic damper we use the Bouc-Wen model. The simulation
results in the form of the force-transfer function and demonstrates the “efficiency” of the hysteretic damper in comparison with
the nonlinear viscous damper.
© 2017 The Authors. Published by Elsevier Ltd.
© 2017 The Authors.
Peer-review Published by
under responsibility ofElsevier Ltd. committee of the 3rd International Conference “Information Technology and
the scientific
Peer-review under responsibility of the scientific committee of the 3rd International Conference “Information Technology and
Nanotechnology.
Nanotechnology”.
Keywords: linear and nonlinear viscous damper; hysteretic damper; Bouc-Wen model; force transfer function

1. Introduction

Dampers and damping processes have a long history and have their relevance (both from the fundamental and
applied points of view), especially in the present days due to the development of modern impact-vibrational systems
(see, e.g., [1]). The damper is a device which can be applied for damping the mechanical, electrical and other modes
of vibration arising in the machines and mechanical systems during their operation. The problem of damping is
important and has a wide range of applications. In the general case, damping is a process whereby the energy is
taken from the vibrating system and absorbed by the surroundings. Examples of damping include:

* Corresponding author. Tel.: +7-908-131-4174.

E-mail address: darkzite@yandex.ru

1877-7058 © 2017 The Authors. Published by Elsevier Ltd.

Peer-review under responsibility of the scientific committee of the 3rd International Conference “Information Technology and Nanotechnology.

1877-7058 © 2017 The Authors. Published by Elsevier Ltd.

Peer-review under responsibility of the scientific committee of the 3rd International Conference “Information Technology and
­Nanotechnology".
10.1016/j.proeng.2017.09.605
550 A.M. Solovyov et al. / Procedia Engineering 201 (2017) 549–555
2 A.M. Solovyov et al. / Procedia Engineering 00 (2017) 000–000

 internal forces of a spring;

 viscous force in a fluid;
 shock absorber in a car;
 anti-seismic damping devices in buildings.

It should also be noted that damping devices are widely used in modern avionics (e.g. the damper of aero-elastic
vibrations; such damper is an electronic system for automatic cancelation of short aircraft vibrations that inevitably
arise when the flight modes change).
It is well known that for a wide range of oscillations of mechanical systems the model of linear viscous damping
(which is based on the energy dissipation due to viscous friction) is widely used. However, this type of damping has
low “efficiency” (this efficiency can be understood in terms of the observable mechanical characteristics such as a
force-transfer function) outside the region of resonance of the system. One of the way to solve this problem is to use
a nonlinear viscous damper [2,3,4,5,6,7] or a damper with hysteretic properties [8,9].
The main purpose of the present work is to study the dynamics of a mechanical system under various external
perturbations (forced oscillations) in the case of the presence of a damping block. We would be particularly
interested in a damper with hysteretic properties. As a mathematical model of such hysteretic damper we consider
the phenomenological Bouc-Wen model [10,11,12].

2. Physical system: equation of motion

In this section we consider a mechanical system under an external force in the presence of the damping part fd(t)
as shown in Fig. 1. This system can be presented as a cylinder with mass M under external force f(t) of harmonic
nature. In the cylinder there is a car of mass m (moving without friction in the horizontal plane) connected to the
border by a spring with stiffness k.

Fig. 1. Considered physical system.

Let us assume that force f(t) is described by the relation (harmonic force):

2
f (t )  Y  sin(t ), (1)

where Yω2 is the amplitude and ω is the frequency of the force. The equation of motion can be written as (we
consider a one-dimensional motion of the car along x axis)

 My  kz  f d (t )  f (t ),

 mx  kz  fd (t )  0, (2)
 2
t ) Y  sin(t ) , z
 f ( (t ) y (t ) x(t ) .
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A.M. Solovyov et al. / Procedia Engineering 00 (2017) 000–000 3

Here the overdot is used for the time derivative and z(t) is the relative displacement.

3. Damping: linear and nonlinear viscous damping

Let us consider the case of viscous damping. In the general case, the viscous friction can be described as follows:

n
fd (t ) c 1 z (t ) z , n0, (3)

where c is the damping coefficient. The case n=0 corresponds to a linear viscous friction. For n>0 the nonlinear
viscous friction takes place [4,7].
Remembering (3), the equation of motion for relative displacement z(t) becomes

M m Y 2
z (t ) 
Mm
c[1  z(t )]n z(t )  kz(t ) 
M
 sin(t ). (4)

We introduce the dimensionless variables

 mM Y
  , ,A ,
0 mM M
(5)
k c
,  0t , 
u z
 0 
,, .
 0 

Using these variables, the final equation of motion for the mechanical system under consideration, taking into
account the nonlinear viscous friction, has the form:

2
d u n du 2
  (1  u )  u  A sin( ). (6)
2 d
d

4. Hysteretic damping: Bouc-Wen model

In this section we consider the nonlinear hysteretic damper based on the Bouc-Wen model. Bouc-Wen model has
been widely used to describe the nonlinear hysteretic systems and can be formulated in the form of a nonlinear
differential equation which describes the dependence of the output on the local history via introducing an extra state
variable. Using appropriate choices of parameters in this model, allows us to represent a wide variety of softening or
hardening of smoothly varying or nearly bilinear hysteretic behavior. This model has been generalized to include the
hysteresis pinching and stiffness/strength degradation.
The Bouc-Wen model can be described by the following differential equation

g (t )  
u (t ) B    sign  g (t )u (t )     g (t )
p
, (7)

where B, β>0, γ and p are dimensionless quantities controlling the behavior of the model (p=∞ refers to an
elastoplastic hysteresis). It should be noted that the Bouc-Wen model has pure phenomenological nature.
For small values of the positive exponential parameter p, the transition from elastic to the post-elastic branch is
smooth, while for large values of this parameter this transition is abrupt. Parameters B, β and γ control the size and
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shape of the hysteretic loop. Wen assumed that p are integer while in fact any real positive values of p could be
used. Parameter β is positive by definition, while the range of possible values of γ, [-β,β], can be derived from
thermodynamics analysis [13].
We consider the hysteretic damper based on the phenomenological Bouc-Wen model. In this case (using the
notations introduced above) the damping force can be presented as:

 fd ( )  kb g ( ),

(8)

  
u ( ) B   sign  g ( )u ( )     g ( ) .
g ( ) 
p

In this case the equation of motion for the mechanical system under consideration becomes:

u  kb g  u  2
  k   A sin    ,
(9)
 

u B    sign  g u     g
p
 g    ,


where kb is the stiffness of the damper.

5. Mechanical characteristics: transmission function

Let us consider the main observable characteristics describing the “efficiency” of the damper in the resonance
and beyond. These characteristics are force transmission function and “force-displacement” transmission function.
The force transmission function is determined by the ratio of the force applied to the cylinder M and the force
applied to the car m (Fig. 1). This function reflects the “efficiency” of suppression of the external perturbations by
the force transmission from an external source to the load. This characteristic is described as:

2
1 2d x
T ff  max m0 . (10)
2 2
Y d

The “force-displacement” transmission function is determined by the motion of car m relative to the cylinder M
and the force applied to the cylinder. It reflects the “efficiency” of vibration absorption by ability of the damper to
reduce the relative motion of the car under external forces. This characteristic is described as

max x ( )
T fd  . (11)
2
Y

In order to compare the linear viscous, nonlinear viscous and hysteretic dampers, based on Bouc-Wen model,
these characteristics will be used in our simulations.

6. Simulation results

In order to compare viscous and hysteretic dampers we focus on the numerical results for two characteristics of
the system: the force transmission function and “force-displacement” transmission function. For the nonlinear
viscous damper we use the following set n={0,2,4}.
For the hysteretic damper we use the following values of parameters kb=100, B=1, β=0.7, γ=0.3, p=6 (as follows
from numerical experiments, the characteristics with these values of parameters correspond to the optimal operation
 A.M. Solovyov et al. / Procedia Engineering 201 (2017) 549–555 553
A.M. Solovyov et al. / Procedia Engineering 00 (2017) 000–000 5

of the hysteresis model). The following dimensionless characteristics of the mechanical system will be used: M=1,
m=1, ζ=0.8, ω0=10; the external force will be described by dimensionless parameters A=1, ω=0,…,30 (with a step
0.2).
The simulation results are shown in Fig 2. As can be seen from these figures, the linear viscous damper has high
“efficiency” in the resonance region of the system. However outside the resonance region the damping properties
sharply decrease. At the same time, although the nonlinear viscous damper can be applied for a wide range of
parameters, it turned out to be less “efficient” than the linear damper in the resonance region of the system.

Fig. 2. Force (left) and “Force-displacement” (right) transmision functions.

The hysteretic damper based on the Bouc-Wen model is highly “efficient” both in and outside the resonance
region. The disadvantage of the hysteretic damper lies in the fact that its ability to dump the relative motion of the
car under external forces is reduced outside the resonance region of the system.
Let us now consider the phase portraits for the system for viscous and hysteretic dampers. As the origin of the
phase plane we use the instantaneous values of the car's coordinate inside the cylinder x(τ) and its relative speed
x   . The phase portraits of the system under consideration are presented in the figures 3-6.

Fig. 3. Phase portraits of the system in the case of linear viscous damper n=0 at Ω=3 (left) and Ω =30 (right).
6554 A.M. Solovyov et al. / Procedia
A.M. Solovyov Engineering
et al. / Procedia 00 (2017)
Engineering 201000–000
(2017) 549–555

Fig. 4. Phase portraits of the system in the case of nonlinear viscous damper n=2 at Ω=3 (left) and Ω =30 (right).

Fig. 5. Phase portraits of the system in the case of nonlinear viscous damper n=4 at Ω=3 (left) and Ω =30 (right).

Fig. 6. Phase portraits of the system in the case of hysteretic damper at Ω=3 (left) and Ω =30 (right).

Figures 3-6 show phase portraits of the system with viscous (linear and nonlinear) and hysteretic damping. The
left panels show phase portraits in the resonance region, the right panels refer to high frequency regions. As follows
 A.M. Solovyov et al. / Procedia Engineering 201 (2017) 549–555 555
A.M. Solovyov et al. / Procedia Engineering 00 (2017) 000–000 7

from these figures, the hysteretic damper has greater “efficiency” than linear and nonlinear viscous dampers in and
outside the resonance region.

7. Conclusions

We have considered various damping processes occurring in the oscillations of real mechanical systems with
damping parts. Particular attention have been paid on the hysteretic damper based on the phenomenological Bouc-
Wen model. We have presented the numerical results for the observable characteristics of the system under
consideration such as force transmission function and "force-displacement" transmission function both for the cases
of hysteretic and viscous (linear and nonlinear) dampers. The phase portraits for the mechanical system with various
kinds of damping have been analyzed. The results allow us to compare the various types of viscous dampers (linear
and nonlinear) and the hysteretic damper. Based on the numerical results we can conclude that:

 Linear viscous damper has high efficiency in the resonance region of the system, while outside the resonance
region its damping properties sharply decrease.
 Nonlinear viscous damping can be efficient ina wide range of parameters, but loses its efficiency to in the
resonance region of the system.
 Hysteretic damper, based on the Bouc-Wen model, has high efficiency both in and outside the resonance region.
The disadvantage of the hysteretic damper lies in the fact that its ability to dump the relative motion of the car
under external forces is reduced outside the resonance region of the system.

Acknowledgements

This work has been supported by the RFBR grant No 16-08-00312, 17-01-00251.

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