IJ ST, Transactions of Mechanical Engineering, Vol. 36, No.

M2, pp 107-116
Printed in The Islamic Republic of Iran, 2012
Shiraz University




ASYMPTOTIC INVESTIGATION OF BUCKLED
BEAM NONLINEAR VIBRATION
*



H. M. SEDIGHI
1**
,

K. H. SHIRAZI
1
, A. R. NOGHREHABADI
1
AND A. YILDIRIM
2,3

1
Dept. of Mechanical Engineering, Shahid Chamran University, Ahvaz, I. R. of Iran
2
Dept. of Mathematics and Statistics, University of South Florida Tampa, Tampa, United States
3
Department of Mathematics, Ege University, 35100, Izmir, Turkey
Email: h-msedighi@phdstu.scu.ac.ir

Abstract This article presents the application of a modern analytical approach on the nonlinear
vibration of buckled beam with generalized deadzone discontinuity and proposes a novel identical
function (IF) for the nonlinearity. The powerful analytical method called Parameter Expansion
Method (PEM) is used to obtain the exact solution of dynamic behavior of the mentioned system.
It is demonstrated that two terms in series expansions of the method are sufficient to result in a
highly accurate solution. A comparison with numerical methods is performed to show the
soundness of the results.

Keywords Identical function, Deadzone discontinuity, buckled beam, parameter expansion method

1. INTRODUCTION

Common structures such as aircraft arms, bridges, buildings and etc. can be modeled as beams. Their
significant applications make the study of their dynamic behavior at large amplitudes. During the past
decades, several researchers have studied nonlinear vibration of beams [1-22]. These researches predict
the nonlinear frequency of the beams which are very important for the design of many engineering
structures. An exact formulation of the beamproblem was investigated firstly in terms of general elasticity
equations [23].
As it is reported in many research papers, the dead-zone nonlinearity is a non-differentiable function.
This input characteristic is ubiquitous in a wide range of mechanical and electrical components such as
valves, gear vibration, DC servo motors, and other devices. Marcio and Leandro [24] used the error
function as an approximation of deadzone-type nonlinearity in deriving analytical models for the Least
Mean Square (LMS) adaptive algorithm. Chengwu and Rajendra [25] used the arctangent function to
approximate the non-analytical deadzone relationship in preloaded spring in a mechanical oscillator.
Hakimi and Moradi [26] modeled contact between the drillstring and formation wall by a series of springs
with dead band gap using DQM. However, approximation of this nonlinear condition to obtain analytical
solution of behavior of the mentioned systems is always the major difficulty of engineering computations.
Lately, substantial concentration has been directed towards analytical solutions for nonlinear
equations without small parameters. Many new techniques have been used to solve nonlinear problems in
the literature such as Parameter Lindstedt-Poincar Method [27, 28], Min-Max method [29, 30],
perturbation analysis [31], Variational Iteration Method [32], Homotopy Analysis Method [33-35],
Generalized Finite Integral Transform[36], Meshless Analysis Method [37], Blocked-Off Method [38],

-
Received by the editors November 1, 2011; Accepted May 7, 2012.
--
Corresponding author


H. M. Sedighi et al.

IJST, Transactions of Mechanical Engineering, Volume 36, Number M2 October 2012
108
Harmonic Balance Method [39], Hes Improved Amplitude-Formulation [40] and Homotopy Perturbation
Method [41]. Parameter Expansion Method (PEM) is the most effective and convenient method to solve
nonlinear differential equations analytically. The method was developed firstly by He [42] and the
effectiveness and accuracy of the PEM have been demonstrated in the analysis of some nonlinear
problems [43-46].
In this article, the nonlinear ordinary differential equation of buckled beam vibration with deadzone
nonlinear boundary condition is extracted from partial differential equation using the novel and efficient
IF. The results presented in this paper exhibit that the asymptotic approach is very effective and
convenient for nonlinear beamvibration for which the highly nonlinear governing equations exist. The
proposed analytical method demonstrates that two terms in series expansions are sufficient to obtain a
highly accurate solution of beamvibration.

2. GOVERNING EQUATION

Consider a cantilever beamof length L , mass per unit length m, moment of inertia I , cross-sectional
area A and modulus of elasticity E subjected to an axial force of magnitude
0
P as shown in Fig.1.
Linear spring with constant K is in contact at the free end of the cantilever beam with a dead-band
clearance .

Fig. 1. Cantilever beamwith deadzone nonlinear boundary condition

Assume that the beam considered here is the EulerBernoulli beam. The symbol v denotes the
displacement of a point in the middle plane of the flexible beam in y direction. The governing equation
of motion of an initially straight buckled beamshown in Fig. 1 is given by [47]:

2
1 1 2 4 2 2 2
2
2 4 2 2 2
0 0
2 1 1 2 2
2 2
0 0
1
2
1
2
c
v v v v v
P b dx b dx
t x x x x x x x
v v v v
b dx dx
x x x x x

c c c c c c c c | |
+ + + =
|
c c c c c c c c
\ .
c c c c c | |
+ +
|
c c c c c
\ .
} }
} }
(1.1)

Asymptotic investigation of buckled beam

October 2012 IJST, Transactions of Mechanical Engineering, Volume 36, Number M2
109
Equation (1.1) has been non-dimensionalized with the spatial and temporal variables by letting:

4

, ,
x v EI
x v t t
L r mL
= = = (1.2)

where ( )
2 2
0
4
c
b P P = ,
0 0

/ P P EA = ,
c
P and represent the nth Euler critical load and buckling
mode shape, respectively. For a clamped-free beam, the first buckling load and mode shape which satisfy
the associated boundary conditions are given by

( )
2
2
2 2
, 1 cos
2
c
x EI EI
P x
L L


| |
| | | |
= = =
| | |
\ . \ .
\ .
(2)

which is subjected to the following boundary conditions

( ) ( ) ( ) ( )
( )
2 3
2 3
1,
0, 0, 0, 1, 0, 1,
dz
F t v v v
v t t t t
x x x rEI
c c c
= = = =
c c c
(3)

where ( ) 1,
dz
F t is described by the following nonlinear deadzone formula

( )
( ) ( ) ( )
( )
( ) ( ) ( )
1, 1,
1, 0 1,
1, 1,
dz
K rv t rv t
F t rv t
K rv t rv t

>

= s s

+ <

(4)

where r I A = , assuming ( ) ( ) ( ) , v x t q t x = , where ( ) x is the first eigenmode of the clamped-free
beamand can be expressed as:

( ) ( ) ( )
( ) ( )
( ) ( )
( ) ( ) ( )
cosh cos
cosh cos sinh sin
sinh sin
L L
x x x x x
L L



+
=
+
(5)

where 1.875 = is the root of characteristic equation for the first eigenmode. Applying the Bubnov-
Galerkin method yields:

( )
2
1 1 1 2 4 2 2 2
2
2 4 2 2 2
0 0 0
2 1 1 2 2
2 2
0 0
1
2
1
0
2
c
v v v v v
P b dx b dx
t x x x x x x x
v v v v
b dx dx x dx
x x x x x

|
c c c c c c c c | |
+ + +
|

c c c c c c c c
\ .
\
|
c c c c c | |
=
|
|
|
c c c c c
\ .
.
} } }
} }
(6)
to implement the end nonlinear boundary condition, applying integration by part on Eq. (6), it is converted
to the following

( ) ( )
2
1 1 1 2 2 2 2
2
2 2 2 2
0 0 0
2 1 1 1 2 2 4
2 2 4
0 0 0
1
2
1
0
2
c
v v v v
P b dx b dx
t x x x x x x
v v v v v
b dx dx x dx x dx
x x x x x x

|
c c c c c c c | |
+ +
|

c c c c c c c
\ .
\
|
c c c c c c | |
+ =
|
|
|
c c c c c c
\ .
.
} } }
} } }
(7)

H. M. Sedighi et al.

IJST, Transactions of Mechanical Engineering, Volume 36, Number M2 October 2012
110
( ) ( ) ( ) ( )
2
1 1 1 2 2 2 2
2
2 2 2 2
0 0 0
1
2 1 1 1 2 2 3 3
2 2 3 3
0 0 0 0
1
2
1
0
2
c
v v v v
P b dx b dx
t x x x x x x
v v v v v v
b dx dx x dx d x x
x x x x x x x

|
c c c c c c c | |
+ +
|

c c c c c c c
\ .
\
|
c c c c c c c | |
+ = |
|
|
c c c c c c c
\ .
.
} } }
} } }
(8)

and the nonlinear equation of motion about its first buckling mode can be written as

( ) ( ) ( ) ( ) ( )
2
2 3
1 2 4 2 3
0
dz
F d q
q t q t q t
dt rEIL
+ + + + = (9)

where

2 2 2
1
2
2 4
24.725 0.858 +2.0455 0.183 ,
2.0455 0.17853 , 1.994,
b b
b b


= + +
= =
(10)

The deadzone condition
dz
F should be formulated to solve nonlinear ordinary differential Eq. (9)
analytically. We introduce an effective and novel exact identical function for the nonlinearity which has
been expressed in Eq. (11.1). Note that this methodology can be applied to nonsymmetrical deadzone
nonlinearity by Eq. (11.2).

( ) ( ) ( ) ( )
2 1, 1, 1,
2
dz
K
F rv t rv t rv t = + + (11.1)

( ) ( ) ( )
1 2
1 1 1 1
2 2 2 2
dz
rv rv
F v f v f v
rv rv


| | | + |
= + +
| |
+
\ . \ .
(11.2)
Using this new definition of
dz
F , Eq. (9) is written as follows:

( ) ( ) ( ) ( ) ( ) ( ) ( ) { }
2
2 3
1 2 4 3 2
2 2 0
d q
q t q t q t rq t rq t
dt

( '
+ + + + + =

(12)

where

3 3
1 1 3
4 , K rEIL K rEIL
'
= + = (13)


Fig. 2. Plot of linear deadzone and generalized deadzone nonlinearities

Asymptotic investigation of buckled beam

October 2012 IJST, Transactions of Mechanical Engineering, Volume 36, Number M2
111
3. OVERVIEW OF THE ANALYTICAL PROCEDURE

Consider the Eq. (12) for the vibration of a cantilever Euler-Bernoulli beamwith the following general
initial conditions

( ) ( ) 0 , 0 0 q A q = = (14)

Free oscillation of a system without damping is a periodic motion and can be expressed by the following
base functions

( ) cos , 1,2,3,... m t m = (15)

We denote the angular frequency of oscillation by and note that one of our major tasks is to determine
( ) A ,i.e., the functional behavior of as a function of the initial amplitude A. In the PEM, an artificial
perturbation equation is constructed by embedding an artificial parameter | | 0,1 pe , which is used as an
expanding parameter.
According to PEM the solution of Eq. (12) is expanded into a series of p in the form

( ) ( ) ( ) ( )
2
0 1 2
... q t q t pq t p q t = + + + (16)

The coefficients 1 and
1

'
in the Eq. (12) are expanded in a similar way

2
1 2
2 2
1 1 2
2
1 2
1 1 ...
...
1 ...
pa p a
pb p b
pc p c

= + + +
'
= +
= + +
(17)

where , ,
i i i
a b c ( ) 1,2,3,... i = are to be determined. When 0 p = , Eq. (12) becomes a linear differential
equation for which an exact solution can be calculated for 1 p = . Substituting Eqs. (16) and (17) into Eq.
(12)

( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
2 2
1 0 1 1 0 1 2
2 3
2
1 2 2 0 1 4 0 1 3 0 1
1
0
dz
pa q pq pb q pq p q
pc p c q pq q pq f q pq

+ + + + +
(
+ + + + + + + =


(18)

Where
( ) ( ) ( ) ( )
3
2 2
dz
rEIL f q t rq t rq t = + (19)

in Eq. (19) we have taken into account the following expression

( ) ( )
( ) ( ) ( ) ( ) ( )
2
0 1 2
2 2 3
0 1 0 2 0 1 0
... ...
1
...
2
dz dz
dz dz dz dz
f q f q pq p q
f q pq f q p q f q q f q O p
= + + + =
(
' ' '' + + + +
(

(20)
where
( )
( )
( )
( )
( )
2 2
2 2
2 2
dz
dz
rq t rq t
df
f q r r
dq rq t rq t


+
' = =
+
and ( ) ( ) ... 0
dz dz
f q f q '' ''' = = = (21)
collecting the terms of the same power of p in Eq. (18), we obtain a series of linear equations of which
the first equation is

H. M. Sedighi et al.

IJST, Transactions of Mechanical Engineering, Volume 36, Number M2 October 2012
112
( ) ( ) ( ) ( )
2
0 0 0 0
0, 0 , 0 0 q t q t q A q + = = = (22)

with the solution
( ) ( )
0
cos , q t A t = (23)

substitution of this result into the right-hand side of the second equation gives

( ) ( ) ( )
( ) ( )
2 3 2
1 1 1 1 4 1 3 1
2 3 2 1 3
1 2 1 4 1 2
3
4 cos
4
16 1 1 1
cos 2 cos 3 ,
3 2 4 2
q t q t b A c A c Ar a A t
c rA
c A t c A t c A

| |
+ = + +
|
\ .
| |
+
|
\ .

(24)

in the above equation, the possible following Fourier series expansion have been accomplished
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
0 1 2
1
0 1 2
1
cos cos cos cos 2 ...
cos cos cos cos 2 ...
dz dz n
n
dz dz n
n
f q f A t h n t h t h t
f q f A t v n t v t v t

=
= = = + +
' ' = = = + +

(25)
where

( ) ( ) ( ) ( )
2 2
2 2
2 2
cos cos , cos cos ,
n dz n dz
h f A n d v f A n d





' = =
} }
(26)

and the functions ,
dz dz
f f ' are substituted fromEqs. (19) and (21). The first terms of the expansion in Eq.
(26) are given by

( ) ( ) ( ) ( )
2 2
1 1
2 2
2 2 16
cos cos 4 , cos cos
dz dz
r
h f A d rA v f A d





' = = = =
} }
(27)

No secular terms in ( )
1
q t require eliminating contributions proportional to ( ) cos t on the right-hand
side of Eq. (22)

( )
3 2
1 1 4 1 3 1
3
4 0
4
c b A c A c Ar a A = + + = (28)

But Eq. (17) for one termapproximation of series with respect to p and for 1 p = yields

2
1 1 1 1
0, , 1 a b c
'
= = = (29)

FromEqs. (28) and (29) we can easily find that the solution is

( )
2
1 4 3
3
4
4
A A r
'
= + (30)

Replacing fromEq. (30) into Eq. (23) yields:

( )
2
0 1 4 3
3
cos 4
4
q t A A r t
| |
'
= +
|
|
\ .
(31)

Solving Eq. (24) for ( )
1
q t gives the following second order approximation for ( ) q t as:
Asymptotic investigation of buckled beam

October 2012 IJST, Transactions of Mechanical Engineering, Volume 36, Number M2
113
( ) ( ) ( ) ( )
( )
( )
( )
( ) ( )
2
3 2 4
0 1 2
3
3 2 4
2 2
32 16 3
cos cos
96
2 3
cos 2 cos 3
6 96
A A A
q t q t q t A t t
A A A
t t

+ +
= + =
+
+ +
(32)

As can be seen in Fig. 3, the obtained second order approximation of analytical results for non-
dimensional amplitude / A shows an excellent agreement with the numerical results using fourth-order
Runge-Kutta method. The exact analytical solution shows that two terms in series expansions is sufficient
to achieve a highly accurate solution of the problem.

Fig. 3. Comparison of the approximate second order periodic solution (continuous line)
with the numerical solution (symbols) for linear spring constant

To verify the accuracy of the IF for generalized deadzone nonlinearity, two cases of nonlinear functions
( )
1
f v and ( )
2
f v have been considered as follows:

Case 1: ( ) ( )
2 3
1 2
, , f v v f v v = =
Case 2: ( ) ( )
3 3
1 2
1, , f v v f v v v = + = +

The comparison between the analytical and numerical results for generalized deadzone nonlinearity in Fig.
4 shows that the second approximated analytical responses using PEM are in good agreement with the
numerical results for two case studies.


(a)

(b)
Fig. 4. Comparison of the approximate second order periodic solution (dash line) with the numerical solution
(continuous line) for general deadzone nonlinearity: a: Case 1, b: Case 2
H. M. Sedighi et al.

IJST, Transactions of Mechanical Engineering, Volume 36, Number M2 October 2012
114
4. CONCLUSION

In the present article, a modern powerful analytical method was employed to solve the governing equation
of nonlinear vibration of buckled beamwith deadzone boundary condition using new IF. The accuracy of
the obtained analytical solution is verified by numerical methods. It was demonstrated that the introduced
IF can make the analytical study of dynamic behavior of the nonlinear problems significantly easier. The
obtained results show that this approach can be potentially used for the analysis of strongly nonlinear
oscillation problems.

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