ARTICLE IN PRESS

JOURNAL OF
SOUND AND
VIBRATION
Journal of Sound and Vibration 306 (2007) 111
www.elsevier.com/locate/jsvi

Multidimensional LindstedtPoincare method for nonlinear

vibration of axially moving beams
S.H. Chena, J.L. Huanga, K.Y. Szeb,
a

Department of Applied Mechanics and Engineering, Sun Yat-sen University, Guangzhou 510275, PR China
Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong SAR, PR China

Received 26 March 2007; received in revised form 21 May 2007; accepted 27 May 2007
Available online 3 July 2007

Abstract
The multidimensional LindstedtPoincare (MDLP) method is extended to the nonlinear vibration analysis of axially
moving systems. Galerkin method is used to discretize the governing equations. The forced response of an axially moving
beam with internal resonance between the rst two transverse modes is studied. The fundamental harmonic resonance is
studied. The response curves exhibit the same internal resonance characteristics as that of non-transferring thin plates and
beams because all these systems possess cubic nonlinearity and similar frequency distribution. The examples show that the
results of the MDLP method agree reasonably well with that obtained by the incremental harmonic balance (IHB) method.
However, the former is more straightforward and efcient for obtaining the solution.
r 2007 Elsevier Ltd. All rights reserved.

1. Introduction
Magnetic tapes, power transmission belts, band saws, aerial cable tramways and pipes conveying uid can
be considered as axially moving systems. Investigations have been conducted on the linear and nonlinear
responses of axially moving strings and beams. Among them, Ulsoy et al. [1] and Wickert and Mote [2]
presented comprehensive reviews on the subject area up to 1978 and 1988, respectively. More recently,
Wickert [3] analyzed the nonlinear vibration and bifurcation of axially moving beams through the
KrylovBogoliubovMitropolsky asymptotic method. Pellicano and Vestroni [4,5] studied the bifurcation, the
post-bifurcations velocity with viscous damping and external harmonic excitation. Pellicano et al. [6] also
studied the stability of parametrically excited axially moving systems by experimental and theoretical means.
Chen and his co-workers [79] investigated the bifurcations and chaos of an axially moving viscoelastic and
geometric nonlinear string/beam. They studied the nonlinear dynamics behavior of the traveling system with
time-dependent axial velocity and tension. Zhang and Zu [10,11] used the method of multiple scales to study
the dynamic response and stability parametrically for viscoelastic and geometric nonlinear moving belts. Fung
and Chang [12] employed the nite difference method with variable grid for numerical computation of the
string/slider nonlinear coupling system with time-dependent boundary condition. Oz et al. [13,14] also applied
Corresponding author. Tel.: +852 2859 2637; fax: +852 2858 5415.

E-mail address: kysze@hku.hk (K.Y. Sze).

0022-460X/$ - see front matter r 2007 Elsevier Ltd. All rights reserved.
doi:10.1016/j.jsv.2007.05.038

ARTICLE IN PRESS
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S.H. Chen et al. / Journal of Sound and Vibration 306 (2007) 111

the method of multiple scales to study the nonlinear vibrations and stability of axially moving beams and
tensioned pipes conveying uid at harmonically varying speeds. Suweken and Horssen [1517] used a two
time-scale perturbation method to approximate the solutions of a conveyor belt moving at low and timevarying velocities. Cao and Zhang [18] obtained the quasi-periodic solutions of the coupled string-beam
system subjected to a harmonic axial load by the method of multiple scales.
Complex dynamic behavior of the axially moving system occurs when the excitation frequency O is the sum,
difference and small multiples of its natural frequencies. Pellicano et al. [19] considered the primary resonance
and the parametric resonance that occur when O is near the rst natural frequency o1 and 2o1, respectively.
Chen et al. [20] studied the dynamic stability of an axially accelerating beam. Sub-harmonic and combination
resonances were considered. On the contrary, only a few studies have been devoted to the internal resonance of
the axially moving system [21]. In this aspect, Riedel and Tan [22] studied the forced responses of an axially
moving strip with internal resonance when O is near o1. The method of multiple scales is used to conduct the
perturbation analysis and to determine the frequency response numerically at low and high axial velocities.
Suweken and Van Horssen [17] investigated the complicated dynamical behavior for sum-type and differencetype of internal resonances on the transverse vibrations of a conveyor belt with time-varying velocity. The
stability properties of the belt system were demonstrated. The present authors [23] have studied the forced
response of an axially moving strip with internal resonance by using the incremental harmonic balance (IHB)
method developed by Lau et al. [2426].
Note worthily, Lau et al. [27] and Chen et al. [28] developed an alternative perturbation procedure of
multiple scales for the nonlinear vibration analysis of multi-degree-of-freedom systems. In this paper, the
method is extended to the analysis of nonlinear vibration of axially moving beams which belong to the
gyroscopic system. The method can be considered as a generalization of the LindstedtPoincare method to
multidimensional systems and will be termed as the multidimensional LindstedtPoincare (MDLP) method.
This paper starts with a brief description on the governing equation of the axially moving system followed by
an introduction on the essence of the MDLP method. Typical cases of the axially moving beam problem will
be investigated. Results will be presented and compared with that obtained by the IHB method.

2. Governing equation for axially moving beam

A beam passing through two simple supports at constant axial or transport velocity V is considered.
Properties of the beam include its cross-sectional area A, mass density r and exural rigidity EI. The beam is
tensioned by a force P and oscillates in the X Z-plane with the transverse displacement W(X, T) where T
denotes time, see the sketch in Fig. 1. From previous studies, the natural frequencies of the transverse
vibration are much larger than that of the longitudinal vibration [23]. Their coupled effect is weak and we will
focus on the forced transverse vibrations with the longitudinal ones neglected. The material transverse velocity
of the beam is
dW qW qW qX

W ;T VW ;X .
dT
qT
qX qT

Fig. 1. Schematic diagram for an axially moving beam.

(1)

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S.H. Chen et al. / Journal of Sound and Vibration 306 (2007) 111

The pertinent kinetic energy Tk and potential energy Up of the beam are

Z
Z L
rA L
1
1
Tk
W ;T VW ;X 2 dX ; U p
PX EA 2X EI W ;2XX dX ,
2 0
2
2
0

(2)

where the von Karman approximation is employed for the nonlinear axial strain, i.e., ex (W,x)2/2. The
Hamilton Principle states
Z T2
d
T k  U p dT 0.
(3)
T1

By virtue of Eq. (2), the Principle can be expressed as

Z T2 Z L
d
F T; X ; W ;T ; W ;X ; W ;XX dX dT 0,
T1

where
F

(4)



rA
1
1
W ;T VW ;X 2  PX EA 2X EI W 2;XX .
2
2
2

Further manipulation yields:







Z T 2 Z L
q
qF
q
qF
q2
qF



dW dX dT 0.
qX qW ;X
qT qW ;T
qX 2 qW ;XX
0
T1

(5)

Hence, the Euler equation is







q
qF
q
qF
q2
qF


0.
qT qW ;T
qX qW ;X
qX 2 qW ;XX

(6)

After some differential operations, the governing equation can be derived to be

rAW ;TT 2rAV W ;XT rAV 2 W ;XX  P 32 EA W 2;X W ;XX EI W ;XXXX 0.
For simplicity, the following parameters are introduced:
q
p p q
w; x; t; v; v1 ; vf W =L; X =L; T P=rAL2 ; V = P=rA; EA=P; EI=PL2 ,

(7)

(8)

where w(x, t), v, v1 and vf are respectively the dimensionless lateral deection, constant transport velocity,
longitudinal stiffness parameter and exural stiffness parameter, respectively. With these parameters, Eq. (7)
can be expressed non-dimensionally as
w;tt 2vw;xt v2  1w;xx  32v21 w2;x w;xx v2f w;xxxx 0,

(9)

where w,tt, 2vw,xt and v w,xx are respectively the local, Coriolis and centripetal accelerations. The supporting
conditions are
w0; t w1; t 0;

w;xx 0; t w;xx 1; t 0.

(10)

The following separable solution in terms of admissible functions can be assumed as

wx; t

N
X

qj t sinjpx.

(11)

j1

By substituting Eq. (11) into Eq. (9), multiplying all the terms with sin(jpx) and integrating the
resulting equation from x 0 to x 1, the following second-order ordinary differential equations can be
obtained as
N
X
j1

M ij q j

N
X
j1

Gij q_ j

N
X
j1

K ij qj

N X
N X
N
X
j1 k1 l1

K ijkl ql qk qj 0;

i 1; 2; . . . ; N,

(12)

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where q_ j dqj =dt and q j d2 qj =dt2 . Moreover, Mij, Gij, Kij and Kijkl are respectively the mass, gyroscopic,
linear stiffness and cubic stiffness coefcients. In particular,
Z 1
sin ipx sin jpx dx 12dij ,
M ij
0

h
iZ
K ij v2f j 4 p4  v2  1j 2 p2

sin ipx sin jpx dx,

(
Z 1
4ijv=i2  j 2 for iaj and even i j;
G ij 2vjp
sin ipx cos jpx dx
0
otherwise;
0
Z 1
sin ipx sin jpx cos kpx cos lpx dx 32v21 j 2 klp4 I sscc i; j; k; l,
K ijkl 32v21 j 2 klp4
0

I sscc i; j; k; l 14I cc i  j; k l; I cc i  j;
8
0
>
>
Z 1
<
I cc i; j
cos ipx cos jpx dx 1=2
>
0
>
:1

k  l  I cc i j; k l  I cc i j; k  l,
for

iaj;

for

i ja0;

for

i j 0:

If two transverse modes are considered, we let N 2 and Eq. (12) would yield:
q 1  m12 q_ 2 k11 q1 k 12 q1 q22 k 13 q31 0;

q 2 m21 q_ 1 k21 q2 k 22 q2 q21 k 23 q32 0,

(13)

where
k11 v2f p2  v2 1p2 ; k 12 3v21 p4 ;
44v2f p2  v2 1p2 ; k 22 3v21 p4 ; k 23 6v21 p4 .

m12 m21 16v=3;

k21

k 13 3v21 p4 =8,

The associated autonomous linear conservation system is governed by the following gyroscopic equations:
q 1  m12 q_ 2 k11 q1 0;

q 2 m21 q_ 1 k21 q2 0.

(14)

On the other hand, the natural frequencies o10 and o20 can be solved from
o4  k11 k21 m12 m21 o2 k11 k21 0.

(15)

3. Multidimensional LindstedtPoincare method

Lau et al. [27] and Chen et al. [28] developed an alternative perturbation procedure of multiple scales for
nonlinear analysis of multi-degree-of-freedom vibrating systems. In this section, the method is extended to
nonlinear vibration analysis of axially moving beams which belong to the gyroscopic system. The method is
indeed a generalization of the LindstedtPoincare method to multidimensional systems and it will be termed
as the MDLP method in this paper.
For the forced response of the system under consideration, modal damping terms (m 11 and m 22 ) and
excitation terms (f 11 and f 21 ) can be incorporated into Eq. (13), i.e.
q 1 m 11 q_ 1  m12 q_ 2 k11 q1 k 12 q1 q22 k 13 q31 f 11 cos Ot,

(16)

q 2 m21 q_ 1 m 22 q_ 2 k21 q2 k 22 q2 q21 k 23 q32 f 21 cos Ot.

(17)

It should be remarked that m12 and m21 are the gyroscopic coefcients which provide an internal damping effect
to the system whilst m 11 and m 22 arise from the external viscous damping.
For the perturbation procedure, a small parameter 51 is introduced to the last two equations which would
become
q 1  m12 q_ 2 k11 q1 m11 q_ 1 k12 q1 q22 k13 q31 f 11 cos T,

(18)

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q 2 m21 q_ 2 k21 q2 m22 q_ 2 k22 q2 q21 k23 q32 f 21 cos T,

(19)

kij k ij ;

(20)

where
mii m ii ;

f i1 f i1

for

i 1; 2 and j 2; 3

and T Ot. Other time variables are introduced as

tn on t n 1; 2

(21)

in which on (n 1,2) are the nonlinear frequency of the response to be sought and variables qn (n 1,2) can
be regarded as functions of the independent variables tn. Let qn and on be expanded in power series of e, i.e.
X
X
qnk k ; on
onk k ,
(22)
qn
k0

k0

where onk (k 1,2,y) and qnk are unknowns to be determined. Thus, the derivatives of qn with respect to t
can be expressed as
dqn X qqn X X kl

oi

 Dk qnl ;
dt
qti
i1
k0 l0

XXX
d2 qn X X
q2 qn

o
o

klm D2kl qnm ,

i
j
dt2
qti qtj k0 l0 m0
i1 j1

(23)

where
Dk

X
i1

oik

q
;
qti

D2kl Dk Dl

XX
i1 j1

oik ojl

q2
.
qti qtj

After substituting Eqs. (22) and (23) into Eqs. (18) and (19), equating the coefcients of e0 and e1 yields the
relations below.
Order e0:
D200 q10 k11 q10  m12 D0 q20 0;

D200 q20 k21 q20 m21 D0 q10 0.

(24)

Order e1:
D200 q11 k11 q11  m12 D0 q21 m11 D0 q10 m12 D1 q20  2D201 q10  k12 q10 q220  k13 q310 f 11 cos O t,

(25)

D200 q21 k21 q21 m21 D0 q11 m22 D0 q20  m21 D1 q10  2D201 q20  k22 q210 q20  k23 q320 f 21 cos O t.

(26)

To show the essential features of the MDLP method, the fundamental harmonic resonance will be studied.
For reference purpose, predictions of the IHB method have also been computed by the procedure in Ref. [23].
As a generalization of LindstedtPoincare method from single degree-of-freedom systems to multiple degreeof-freedom systems, it will be seen that the MDLP procedure is inheritably straightforward and convenient for
studying the steady-state responses including fundamental resonance, super-harmonic and sub-harmonic
resonance under the inuence of internal or combination resonances.
With the forcing frequency O close to the rst natural frequency o10, fundamental resonance will occur. In
this light, one can take f21 0 in Eq. (17) and O o1, i.e.
T t1 .

(27)

When the second natural frequency o20 is nearly three times of the rst natural frequency o10, the internal
resonance is likely to occur. By letting o2 3o1, i.e.
t2 3t1 ,

(28)

the solutions to Eq. (24) can be solved to be

q10 a10 cost1 j1 a20 cost2 j2 ;

q20 p1 a10 sint1 j1 p2 a20 sint2 j2

(29)

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S.H. Chen et al. / Journal of Sound and Vibration 306 (2007) 111

in which j1 and j2 are phase angles and

p1

o210 k11
m12 o10

;
m21 o10
o210 k21

p2

o220 k11
m21 o20

.
m12 o20
o220 k21

(30)

In the gyroscopic system, q10 and q20 are not independent of each other. Substitution of Eq. (29) into Eqs. (25)
and (26) gives
D200 q11 k11 q11  m12 D0 q21 R11 cost1 j1 R12 cost2 j2
R13 sint1 j1 R14 sint2 j2 NST,

31

D200 q21 k21 q21 m21 D0 q11 R21 sint1 j1 R22 sint2 j2
R23 cost1 j1 R24 cost2 j2 NST,

32

where NST denotes non-secular terms. Moreover,

R11 2o10 o11 a10 m12 p1 o11 a10 143k13 a310  6k13 a10 a220  k12 p21 a310  2k12 p22 a10 a220
143k13 a210 a20 k12 p21 a210 a20 cos s1  2k12 p1 p2 a210 a20 cos s1 f 11 cos j1 ,
R12 2o20 o21 a20 m12 p2 o21 a20 146k13 a210 a20  3k13 a320  2k12 p21 a210 a20  k12 p22 a320
14k13 a310 k12 p21 a310 cos s1 ,
R13 m11 o10 a10  143k13 a210 a20 k12 p21 a210 a20  2k12 p1 p2 a210 a20 sin s1 f 11 sin j1 ,
R14 m11 o20 a20 14k13 a310 k12 p21 a310 sin s1 ,
R21 2p1 o10 o11 a10 m21 o11 a10 14k22 p1 a310  2k22 p1 a10 a220  3k23 p31 a310  6k23 p1 p22 a10 a220
142k22 p1 a210 a20  k22 p2 a210 a20 3k23 p21 p2 a210 a20 cos s1 ,
R22 2p2 o20 o21 a20 m21 o21 a20 142k22 p2 a210 a20  k22 p2 a320  6k23 p21 p2 a210 a20  3k23 p32 a320
14k22 p1 a310 k23 p31 a310 cos s1 ,
R23  m22 p1 a10 o10 142k22 p1 a210 a20  k22 p2 a210 a20 3k23 p21 p2 a210 a20 sin s1 ,
R24  m22 p2 a20 o20  14k22 p1 a310 k23 p31 a310 sin s1

and

s1 j2  3j1 .

It can be seen that R11R24 are functions of the frequencies (o11, o21), amplitudes (a10, a20) and phase angles
(j1, j2). Let a particular solution set of q11 and q21 assume the following form:
q11 P11 cost1 j1 P12 cost2 j2 P13 sint1 j1 P14 sint2 j2 ,

(33)

q21 P21 sint1 j1 P22 sint2 j2 P23 cost1 j1 P24 cost2 j2 .

(34)

By substituting the last two equations into Eqs. (31) and (32), equating the coefcients of cos(tn+jn) and
sin(tn+jn) in each of the equations gives
"
#(
) "
# "
#(
) "
#
k11  o210 m12 o10
k11  o220 m12 o20
P11
P12
R11
R12

,
m21 o10 k21  o210
m21 o20 k21  o220
P21
R21
P22
R22
#(
"
#(
) "
# "
) "
#
k11  o220 m12 o20
k11  o210 m12 o10
P13
R13
P14
R14

.
m21 o10
k21  o210
m21 o20
k21  o220
P23
R23
P24
R24
With reference to Eq. (15) on the natural frequency, one can write




 k11  o2 m o10 
 k11  o2 m o20 
12
12
10
20




 0; 
 0.

 m21 o10 k21  o210 
 m21 o20 k21  o220 

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S.H. Chen et al. / Journal of Sound and Vibration 306 (2007) 111

Existence of the non-trivial



 k11  o2 R11 
10


 0;

 m21 o10 R21 

solutions requires


 k11  o2 R12 
20


 0;

 m21 o20 R22 


 k11  o2
10


 m21 o10


R13 
 0;
R23 


 k11  o2
20


 m21 o20


R14 
 0.
R24 

(35)

Eqs. (35) constitutes the solvability conditions which contain six unknown variables, namely, the two
frequencies (o11, o21), the two amplitudes (a10, a20) and the two phase angles (j1, j2). One can choose one of
the six unknowns as an independent variable and the remaining ve variables expressed in terms of the
independent variable from the above solvability conditions and Eq. (15).
It is worth pointing out that the entire MDLP procedure can be easily and efciently conducted by Matlab.
This level of convenience is not equally enjoyed by other perturbation methods such as the method of multiple
scales and the KrylovBogoliubovMitropolsky method.

15
c4

Present Method
IHB Method

c7

c2

a10103

10

(1)

c3

10

c6
c1

0
2.0

2.5

3.0


(2)
10

c5

3.5

4.0

c3

Present Method
IHB Method

p2a10103

3
c4
c2

c7
c6

1
(1)

0
2.0

(2)

20

c1

2.5

20

3.0


3.5

c5

4.0

Fig. 2. Frequency response curves when O near o10 with f11 0.0055 and m11 m22 0.04.

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S.H. Chen et al. / Journal of Sound and Vibration 306 (2007) 111

Riedel and Tan [22] investigated the internal resonance response of an axially moving strip. Following their
chosen system parameters which are typical for the belt drive system,
v21 1124;

v2f 0:03 and

v 0:6

will be employed throughout this section. From the parameters, one can get
o10 2:82232;

o20 9:13980;

k21 72:0226;

k22 3372p4 ;

m12 m21 3:2;

k23 6744p4 ;

k12 3372p4 ;

k11 9:23882;

p1 0:14099

k13 421:5p4 ,

p2 2:5403.

and

With them, the second natural frequency of the system is nearly three times of the rst natural frequency and
therefore internal resonance will occur.
Fig. 2 shows the frequency response curves of the systems with f11 0.0055, m11 m22 0.04 and OEo10.
Fig. 2(a) shows the Oa10 curve and Fig. 2(b) shows the Op2a20 curve where a10 and p2a20 dened in Eq.
(29) are the amplitudes of the rst harmonic terms of the rst variable q1 and the third harmonic terms of the
second variable q2, respectively. In the gures, the solid lines and small circles represent the results of the

15
Present Method
IHB Method

(2)

10

a10103

a10
(1)

a10

-5
(3)

a10

-10

-15
2.0

2.5

3.0


3.5

4.0

10
Present Method
IHB Method
(2)

a 20

p2 a10103

0
(3)

a 20
-5

(1)

a 20

-10
2.0

2.5

3.0


3.5

4.0

Fig. 3. Frequency response curves when O near o10 with f11 0.0055 and m11 m22 0.

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S.H. Chen et al. / Journal of Sound and Vibration 306 (2007) 111

15

a10103

10

a10

0
2.0

2.5

3.0


3.5

4.0

3.5

4.0

p2a10103

2
a20
1

0
2.0

2.5

3.0


Fig. 4. Frequency response curves when O near o10 with f11 0.0055 and m11 m22 0.15.

MDLP and IHB methods, respectively. Internal resonance can be noted from the amplitudes of the
responding modes.
1
Both a10 and a20 have two solutions. The rst solutions a1
10 and p2 a20 exhibit the characters of internal
resonance, which is similar to those of clamped-hinged beams computed with an alternative perturbation
procedure of multiple scales by Chen et al. [28], thin plates computed with IHB method by Lau et al. [29] and
frames computed with the combination of the IHB method and the nite element method by Leung and Fung
[30], respectively. These similarities are due to the common cubic nonlinearity and frequency distribution.
2
However, for the second solutions a2
10 and p2 a20 , there is no exchange of responding modes. Internal
resonance occurs in the rst solution only.
Fig. 3 shows the frequency response curves of the system for f11 0.0055 and zero external damping, i.e.,
m11 m22 0. One can note that the response curves also have loops which demonstrate the characteristic of
internal resonance. Fig. 4 shows the frequency response curves of the system for f11 0.0055 and
m11 m22 0.1. There is no loop in the response curves. The external damping coefcients are sufciently
large to annihilate any internal resonance.
It can be seen from Figs. 24 that the results of the MDLP method are almost identical to that obtained by
1
2
2
the IHB method for the rst solutions a1
10 and p2 a20 . For the second solutions a10 and p2 a20 , the result
obtained by IHB method and MDLP method are almost identical from the points c5s to turning points c6s.

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S.H. Chen et al. / Journal of Sound and Vibration 306 (2007) 111

After c6s, the results of two methods are only slightly different. This leads to the conclusion that the MDLP
method is a reliable analytic method for periodic solutions of multiple degree of freedom systems.
Comparing with the IHB method, the MDLP method can yield the solution more readily. In the IHB
method, it is difcult to choose the initial values for iteration. However, the IHB method can give more exact
solution especially for strongly nonlinear systems. Therefore, these two methods can complement each other.
The results of MDLP can be taken as the initial values of iteration in the IHB method such that one can obtain
the solution more easily and exactly.
Same as the afore-discussed fundamental resonance, other resonances such as sub-harmonic resonance,
super-harmonic resonance and combination resonance can also be studied by using the MDLP method.
4. Concluding remarks
The MDLP method is extended to analyze the nonlinear vibration of axially moving systems. The
considered typical example has illustrated that the MDLP method is more straightforward and efcient than
other perturbation methods for multiple degree-of-freedom systems such as the method of multiple scales and
the KrylovBogoliubovMitropolsky method.
The forced responses of an axially moving beam with the excitation frequency O near the rst natural
frequency o10 were investigated. When the damping is small, all the response curves exhibit the same internal
resonance characteristics as that of non-transferring thin plates and beams because all these systems possess
cubic nonlinearity and similar frequency distribution.
When the vibration amplitude is small, the predictions of the MDLP method are in good agreement with
those of the IHB method. Two methods can complement each other.
Acknowledgement
The nancial supports from the National Natural Science Foundation of China (10672193 and 10272117),
the Natural Science Foundation of Guangdong Province (04009738) and the University of Hong Kong
(CRGC Grant) are gratefully acknowledged.
References
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Werkstoff 36 (1978) 273280.
[2] J.A. Wickert, C.D. Mote Jr., Current research on the vibration and stability of axially-moving materials, Shock and Vibration Digest
20 (1988) 313.
[3] J.A. Wickert, Non-linear vibration of a traveling tensioned beam, International Journal of Non-Linear Mechanics 27 (1992) 503517.
[4] F. Pellicano, F. Vestroni, Nonlinear dynamics and bifuecations of an axially moving beam, Journal of Vibration and Acoustics 122
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