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M. Bocian *, M. Kulisiewicz
Wroclaw University of Technology, Institute of Materials Science and Applied Mechanics, Smoluchowskiego 25 Str.,
50-370 Wroclaw, Poland
Article history: A method of determining the shape of the vibration damping characteristic in systems with
Received 15 May 2013 one degree of freedom in the case when the characteristic depends not only on the velocity
Accepted 13 November 2013 but also in an unknown way depends on the displacement has been developed. The method
Available online 15 December 2013 is intended for determining the specific form of the mathematical function describing this
dependence. The method utilizes an appropriate analysis of experimentally determined
Keywords: traces of free vibrations of the system. The method has been verified on a few selected
Nonlinear mechanical systems computer systems.
Dynamics # 2013 Politechnika Wrocławska. Published by Elsevier Urban & Partner Sp. z o.o. All
Vibrations rights reserved.
was adopted in this paper. A scheme of the model is shown in a certain set of data xi, vi is experimentally determined (by
Fig. 2. measurement) for values sufficiently densely filling the
The aim of the method described below is to determine given interval of variable x,
constant k and function k(x) for arbitrarily nonlinear elasticity function fs(x) is known (e.g. has been determined by static
characteristic fs(x) describing pure elastic interactions. Eq. (4) measurements) in the given interval of variable x.
356 archives of civil and mechanical engineering 14 (2014) 354–359
Fig. 3 – Illustration of method of determining values xi, vi from free vibration diagrams.
archives of civil and mechanical engineering 14 (2014) 354–359 357
Fig. 4 – (a) Exemplary free vibration diagrams for System 1: x0 = 1.5, c3 = 0. (b) Exemplary free vibration diagrams for System 2:
x0 = 1.5, c3 = 10,000. (c) Exemplary free vibration diagrams for System 3: x0 = 1.5, c3 = 0, ABS(kappa). (d) Exemplary free
vibration diagrams for System 4: x0 = 1.5, c3 = 10,000, ABS(kappa).
2 3
y1 x1
6y x2 7
Ec ¼ 6 2
4...
7 ¼ ½y ; xi ði ¼ 1; 2; . . . ; sÞ (16)
...5 i 4. Computer verification of the method
ys xs
Examining relation yi(xi) in the form of a two-dimensional The practical functioning of the above method was tested on
diagram of dependent variable y versus independent variable four dynamic systems described by Eq. (4). The verification
x one should: tests for the systems were carried out for both linear and
nonlinear functions fs(x), k(x) and the numerical data are
a. select a particular shape of function k(x), shown in Table 1.
b. calculate the constant parameters of the selected function For the tests it was assumed that the elasticity character-
(including parameter k), using the well-known methods of istics for all the systems were precisely determined. The aim of
parametric optimization (e.g. nonlinear regression analysis the tests was to determine constant k and function k(x). The
[12]). systems were built using the Matlab Simulink software.
Fig. 5 – Relations yi(xi) for tested systems and their approximations (continuous lines).
Different initial conditions for displacement x0 in the systems obtained results. Such synchronization can be difficult in the
were set at v0 = 0 and p(t) = 0. In total, 15 different initial case of real measurements performed on real objects, which
conditions for x0 ranging from x0 = 0.01 to x0 = 0.15 at a step of requires further research. It would be also interesting to
0.01 were set for each of the systems. Exemplary time extend the developed method for the so-called degenerated
diagrams for selected initial conditions for all the tested systems which are used, among other things, in the process of
systems are shown in Fig. 4. piercing ballistic shields [13].
Four values of xi in instants ti determined in the previous
section of this paper were selected for each of the initial
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values xi (i = 1, 2, . . ., 60) and extreme velocity values vi were
obtained for which the corresponding values of yi were
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