Ijcseierd - Torsional Vibrations of Doubly PDF

International Journal of Civil, Structural,
Environmental and Infrastructure Engineering

Research and Development(IJCSEIERD)
ISSN(P): 2249-6866; ISSN(E): 2249-7978
Vol. 6, Issue 1, Feb 2016, 31-50
TJPRC Pvt. Ltd.
TORSIONAL VIBRATIONS OF DOUBLY-SYMMETRIC THIN-WALLED

I-BEAMS RESTING ON WINKLER-PASTERNAK FOUNDATION
USING DYNAMIC MATRIX METHOD
A. SAI KUMAR1 & K. SRINIVASA RAO2
1
Research Scholar, Department of Mechanical Engineering, Vasavi College of Engineering (Autonomous),

Ibrahimbagh, Hyderabad, Telangana, India
Associate Professor, Department of Mechanical Engineering, Vasavi College of Engineering (Autonomous),

Ibrahimbagh, Hyderabad, Telangana, India
ABSTRACT
The present work deals with Dynamic Stiffness Analysis of free torsional vibration of doubly
symmetric thin-walled beams of open section and resting on Winkler-Pasternak elastic foundation. A new
dynamic stiffness matrix is developed in this paper which includes the effects of warping and Winkler-
all classical and various special boundary conditions are solved for thin-walled beams of open cross section
for varying values of warping Winkler and Pasternak foundation parameters on its frequencies of
vibration.
A new MATLAB computer program has been developed based on the dynamic stiffness matrix
approach to solve the highly transcendental frequency equations and to accurately determine the torsional
Original Article
Pasternak foundation on its frequencies of vibration. The resulting transcendental frequency equations for
natural frequencies for all classical and various special boundary conditions. The MATLAB code
developed consists of a master program based on modified BISECTION method and to call specific
subroutines to set up the dynamic stiffness matrix to perform various parametric calculations. Numerical
results for natural frequencies for various values of warping and Winkler and Pasternak foundation
parameters are obtained and presented in graphical form showing their parametric influence clearly.
KEYWORDS: Warping, Dynamic Stiffness Matrix, Winkler-Pasternak Foundation, MATLAB, Bisection
Method
Received: Dec 29, 2015; Accepted: Jan 07, 2016; Published: Jan 19, 2016; Paper Id.: IJCSEIERDFEB20164
INTRODUCTION
The problem of a beam (or plate) on an elastic foundation is important in both the civil and mechanical
engineering fields, since it constitutes a practical idealization for many problems (e.g. the behavior of a shaft
within a hydro-dynamically lubricated bearing, a floating body on the water, etc.). The concept of beams and slabs
on elastic foundations has been extensively used by geotechnical, pavement and railroad engineers for foundation
design and analysis.
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A. Sai Kumar & K. Srinivasa Rao
Figure a: Grillage Foundation
Figure b: Mat Foundation under Large Storage Tanks
The analysis of structures resting on elastic foundations is usually based on a relatively simple model of the
foundations response to applied loads. A simple representation of elastic foundation was introduced
introduc by Winkler in 1867
[1]. The Winkler model (one parameter model), which has been originally developed for the analysis of railroad tracks, is
very simple but does not accurately represents the characteristics of many practical foundations.
Figure 1:: Deflections of Winkler Foundation under Uniform Pressure q

In order to eliminate the deficiency of Winkler model, improved theories have been introduced on refinement of
Winklers model, by visualizing various types of interconnections
interconnections such as shear layers and beams along the Winkler
springs [1] (Filonenko-Borodich
Borodich (1940) [2]; Hetnyi (1946) [3]; Pasternak (1954) [4]; Kerr (1964) [5]). These theories
have been attempted to find an applicable and simple model of representation of foundation
foundation medium. To overcome the
Winkler model shortcomings improved versions [6] [7] have been developed. A shear layer is introduced in the Winkler
foundation and the spring constants above and below this layer is assumed to be different as per this formulation.
formula
The
following figure shows the physical representation of the Winkler-Pasternak
Winkler
model.
Figure 2: Winkler-Pasternak Model

The vibrations of continuously-supported
continuously supported finite and infinite beams on elastic foundation has wide applications in
the design of aircraft structures, base frames for rotating machinery, railroad tracks, etc. Quite a good amount of literature
literatur
exists on this topic, and valuable practical methods for the analysis of beams on elastic foundation have been suggested.
su
[811]. Kameswara Rao et al [12-14]
14] studied the problem of torsional vibration of long, thin-walled
thin walled beams of open sections
resting on Winkler-type
type elastic foundations using exact, finite element and approximate expressions for torsional frequency
of a thin-walled
walled beams and subjected to a time-invariant
time
axial compressive force.
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Torsional Vibrations of Doubly-Symmetric Thin-Walled I-Beams Resting on

Winkler-Pasternak Foundation Using Dynamic Matrix Method
33
It is well known that a dynamic stiffness matrix is mostly formed by frequency-dependent shape functions which
are exact solutions of the governing differential equations. It overcomes the discretization errors and is capable of
predicting an infinite number of natural modes by means of a finite number of degrees of freedom. This method has been
applied successfully for many dynamic problems including natural vibration. A general dynamic-stiffness matrix of a
Timoshenko beam for transverse vibrations was derived including the effects of rotary inertia of the mass, shear distortion,
structural damping, axial force, elastic spring and dashpot foundation [15]. Analytical expressions were derived for the
coupled bending-torsional dynamic stiffness matrix terms of an axially loaded uniform Timoshenko beam element [16-20]
and also a dynamic stiffness matrix is derived based on BernoulliEuler beam theory for determining natural frequencies
and mode shapes of the coupled bending-torsion vibration of axially loaded thin-walled beams with mono-symmetrical
cross sections, by using a general solution of the governing differential equations of motion including the effect of warping
stiffness and axial force [21] and [22]. Using the technical computing program Mathematica, a new dynamic stiffness
matrix was derived based on the power series method for the spatially coupled free vibration analysis of thin-walled curved
beam with non-symmetric cross-section on Winkler and also Pasternak types of elastic foundation [23] and [24]. The free
vibration frequencies of a beam were also derived with flexible ends resting on Pasternak soil, in the presence of a
concentrated mass at an arbitrary intermediate abscissa [25]. The static and dynamic behaviors of tapered beams were
studied using the differential quadrature method (DQM) [26] and also a finite element procedure was developed for
analyzing the flexural vibrations of a uniform Timoshenko beam-column on a two-parameter elastic foundation [27].
Though many interesting studies are reported in the literature [8-27], the case of doubly-symmetric thin-walled
open section beams resting on WinklerPasternak foundation is not dealt sufficiently in the available literature to the best
of the authors knowledge.
In view of the above, the present work deals with dynamic stiffness analysis of free torsional vibration of doubly
symmetric thin-walled beams of open section and resting on Winkler-Pasternak elastic foundation. A new dynamic stiffness
matrix (DSM) is developed which includes the effects of warping and Winkler-Pasternak foundation on its frequencies of
vibration. The resulting transcendental frequency equations for all classical and various special boundary conditions are
solved for thin-walled beams of open cross section for varying values of warping and Winkler, Pasternak foundation
parameters on its frequencies of vibration.
A new MATLAB computer program is developed based on the dynamic stiffness matrix approach to solve the
highly transcendental frequency equations for all classical and various special boundary conditions. The MATLAB code
developed consists of a master program based on modified BISECTION method and to call specific subroutines to set up
the dynamic stiffness matrix to perform various parametric calculations. Numerical results for natural frequencies for
various values of warping and Winkler and Pasternak foundation parameters are obtained and presented in graphical form
showing their parametric influence clearly.
NOMENCLATURE
Table 1
T
T
k
P
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St. Venants torsion

warping torsion
Total Non-Uniform Torsion
Modulus Of Subgrade Reaction
Pressure
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Table 1: Contd.,
Shear Modulus
Angle Of Twist
Modulus Of Rigidity
Shear Constant
Twisting Moment In Each Flange
Distance Between The Center Lines Of The Flanges
Moment Of Inertia Of Flange About Its Strong Axis
Lateral Displacement Of The Flange Centerline
Warping Constant
Youngs Modulus
Mass Density Of The Material Of The Beam
Polar Moment Of Inertia
Winkler Foundation Stiffness
Pasternak Layer Stiffness
Distance Along The Length Of The Beam
Torsional Natural Frequency
Non-Dimensional Warping Parameter
Non-Dimensional Pasternak Foundation Parameter
Non-Dimensional Winkler Foundation Parameter
Non-dimensional frequency parameter
Variation Of Angle Of Twist
M
h
u
E
Z
K
( )
FORMULATION AND ANALYSIS
Consider a long doubly-symmetric thin-walled beam of open-section of length L and resting on a WinklerPasternak type elastic foundation of Winkler torsional stiffness (
)and Pasternak layer stiffness(
undergoing free torsional vibrations. The corresponding differential equation of motion can be written as:
!
!
"!
). The beam is
=0
(1)
For free torsional vibrations, the angle of twist ( , &) can be expressed in the form,
( , &) = '( )( )*"
In which '( ) is the modal shape function corresponding to each beam torsional natural frequency .
The expression for '( ) which satisfies Eq. (1) can be written as
'( ) = , -./ 01 + 2 /34 01 +
-./ 61 + 7 /34 61
In which 61 849 01 are the positive, real quantities given by
(2)
(3)
01, 61
=:
E
(< ! =>? ! )=@(< ! =>? ! )! =A(B! C>D ! )
=F
GHI J!
KHD
=:
(4)
<? J!
KHD
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=:
=F
35
<D J
KHD
MN? *! J
KHD
(5)
From Eq. (4) we have the following relation between 61 849 01

(01)E = (61)E +
(6)
Knowing 6 849 0, the frequency parameter can be evaluated using the relation
E
= (61)(01) +
(7)
The four arbitrary constants A, B, C and D in Eq. (3) can be determined from the boundary conditions of the
beam. For any single-span beam, there will be two boundary conditions at each end and these four conditions then
determine the corresponding frequency and mode shape expressions.
DYNAMIC STIFFNESS MATRIX
In order to proceed further, we must first introduce the following nomenclature. The variation of angle of twist
with respect to z is denoted by ( ). The flange bending moment and the total twisting moment are given by O( ) and
P( ). Considering clockwise rotations and moments to be positive, we have
( ) = 99 , O( ) =
P(T) =
Where E
=
UV
WU
9 E 9
(8)
(9)
is termed as the warping rigidity of the section,
NY Z !
E
(10)
Consider a uniform thin-walled I-beam element of length L as shown in the Figure. 3. By combining the Eq. (3)
and Eq. (8), the end displacements, (0)and (0) and end forces O(0) and P(0), of the beam at
as
(0)
(0)
[
\
O(0)
P(0)
=]
1
0
6E
0
6
0
60 E
1
0
0E
0
0
0
Eq. (3.28) can be abbreviated as follows

b(0) = c(0)d
6 E0
= 0, can be expressed
,
2
_` a
7
(11)
In a similar manner, the end displacements, (1)and (1) and end forces O(1) and P(1), of the beam at
can be expressed as
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(12)
= 1,
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b(1) = c(1)d
(13)
1
1
c(1) = [
\
5O 1
P 1
(14)
Where
edfg # e,
hc 1 i
l
#k
k
j
In which
6/
6 E60 E /
7f
(15)
/
66 E/
60 E -
- # -./ 01, / # /34 01,
0c
0E
6 E 0c
c
0
p
o
0Ec o
6 E0 n
-./ 61, c # /345 61

# -./5
(16)
(17)
Figure 3:
3 Differential Element of Thin wall I Section Beam
The equation relating the end forces and displacements can be written as
P 0
5O 0
[
\
P 1
5O 1
l
# kk
k
j
6E
60 E /
6 E-
0
0
hdi [
\
1
1
60 E
0
60 E 6 E/
0E
6 E 0c
0E
6 E0
0
6 E0
0Ec
p
o
o
o
n
(18)
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By eliminating the integration constant vector U and designating the left end element as I and the right end as j,
the final equation relating the end forces and displacements can be written as
t P)
r5Ou
s Pu
r5O
q u
yzz
yEz
#]
yRz
w
r
yAz
v
yzE
yEE
yRE
yAE
x
r
yzA {)
yEA
)
_[ \
yRA {u
yAA
u
yzR
yER
yRR
yAR
(19)
Eq. (19) is symbolically written as

e|f # hyiedf
(20)
In the Eq. (20) the matrix hyiis the exact element dynamic stiffness matrix (DSM), which is also a square matrix.
The elements of hyiare
yzz # } 6 E + 0 E 6c- + 0 /
yzE #
}h 6 E
yzA #
} 6 E + 0E
yzR #
yEE #
0E 1
- + 260c/i
} 6 E + 0 E 6/ + 0c
-
} 60 6 E + 0 E 6c-
yEA # } 60 6 E + 0 E 6c
yER #
yzA
yRA #
yzE
0/
0 /
yRR # yzz
yAA # yEE
and
} # 60 h260 1
- + 0E
6 E c/i
(21)
Using the element dynamic stiffness matrix defined by Eq. (20), one can easily set up the general equilibrium
equations for multi-span thin-walled beams, adopting the usual finite element assembly methods. Introducing the boundary
conditions, the final set of equations can be solved for eigenvalues by setting up the determinant of their matrix to zero
METHOD OF SOLUTION
Denoting the modified dynamic stiffness matrix as [J], we state that
9(&|y| # 0
(22)
The above equation yields the frequency equation of continuous thin-walled beams in torsion resting on WinklerPasternak type foundation. It can be noted that above equation is highly transcendental, the roots of equation can, therefore,
be obtained by applying the bisection method using MATLAB code on a high-speed digital computer.
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A new MATLAB code [ANNEX A] was developed based on bisection method, which consists of master program
i.e. (code.m [ANNEX A]) and to call specific subroutines i.e. (FCT.m [ANNEX A]) to perform various parametric
calculations and was published in MATLAB Central official online library [29] which was cited and referred by few
researchers.
These are some of the key highlights of the new MATLAB code
Primarily, it solves almost any given linear, non-linear & highly-transcendental equations.
Additional key highlight of this code is, the equation whose roots are to be found, can be defined separately in an
.m file, which facilitates to solve multi-variable (example' E + E + /34 ' + -./ # 0) highly-transcendental
equations of any size, where the existing MATLAB codes fail to compute.
This code is made robust in such a manner that it can automatically save and write the detailed informationsuch as
no. of iterations; the corresponding values of the variables and the computing time are automatically saved, into a
(.txt) file format, in a systematic tabular form.
This code has been tested on MATLAB 7.14 (R2012a) [30] for all possible types of equations and proved to be
accurate.
Exact values of the frequency parameter for various boundary conditions of thin-walled open section beam are
obtained and the results are presented both in tabular and graphical form in this paper for varying values of warping,
Winkler foundation and Pasternak foundation parameters.
RESULTS AND DISCUSSIONS

The approach developed in this paper can be applied to the calculation of natural torsional frequencies and mode
shapes of multi-span doubly symmetric thin-walled beams of open section such as beams of I-section. Beams with nonuniform cross-sections also can be handled very easily as the present approach is almost similar to the finite element
method of analysis but with exact displacement shape functions. All classical and non-classical (elastic restraints) boundary
conditions can be incorporated in the present model without any difficulty.
In the following, six common type and four new types of beams will be identified by a compound objective which
describes the end conditions at (z = 0 and z = L). They are
Simply-supported beam
The boundary conditions for this problem can be written as
= 0 8& ' = 0 = 0 8& ' = 1
O=0
O=0
(23)
Figure 4: Simply-Supported Beam resting on Winkler-Pasternak Foundation

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Considering a one element solution and applying these boundary conditions to Eq. (19) gives
| yEE yAA yEA yAE | = 0
(24)
(} 60)(6 E + 0 E )E /34(01) /34(61) = 0
(25)
This gives,
As H and (6 E + 0 E )E are in general, non-zero. The frequency equation for the simply supported beam can,
therefore, be written as,
/34(01) /34(61) = 0
(26)
Fixed-end beam
= 0 8& ' = 0
= 0 8& ' = 1
=0
=0
(27)
Figure 5: Fixed-end Beam Resting on Winkler-Pasternak Foundation

(1 -./(61) -./(01)) +
( ! C ! )
E
/34(61) /34(1) = 0
(28)
Beam free at both the ends

P = 0 8& ' = 0 P = 0 8& ' = 1
O=0
O=0
(29)
Figure 6: Beam Free at Both ends and resting on Winkler-Pasternak Foundation

|y| = 0
(30)
This gives,
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-./5 61 -./ 01
E UU
/34(61) /34(01) = 0
(31)
Beam fixed at one end, simply-supported at other end

= 0 8& ' = 0 = 0 8& ' = 1

=0
O=0
(32)
Figure 7: Beam Fixed at one end, Simply-Supported at Other End

and Resting on Winkler-Pasternak Foundation
| yEE | = 0
(33)
(} 60)(6 E + 0 E ) (6c- 0 /) = 0
(34)
This gives,
As H and (6 E + 0 E ) are in general non-zero. The frequency equation for the simply supported beam can,
6 &84(01) 0 &84(61) = 0
(35)
Beam fixed at one end, free at other end

= 0 8& ' = 0 P = 0 8& ' = 1

O=0
=0
(36)
Figure 8: Beam Fixed at One End, Free at Other End and Resting on Winkler-Pasternak Foundation
| yRR yAA yRA yAR | =
(37)
This gives,
( = )
!!
-./(61) -./(01) +
( ! C ! )
/34(61) /34(01) + 2 = 0
(38)
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Beam simply-supported at one end, free at other end

= 0 8& ' = 0 P = 0 8& ' = L
O=0
O=0
(39)
Figure 9: Beam Simply-Supported at one end, Free at Other End

and Resting on Winkler-Pasternak Foundation
|yEE (yRR yAA yRA yAR ) yER (yRE yAA yRA yER ) + yEA (yRE yAR yRR yAE )| = 0
(40)
0 R &84(01) 6 R &84(61) = 0
(41)
This gives,
Guided-end beam

= 0 8& ' = 0 = 0 8& ' = 1
P=0
P=0
(42)
Figure 10: Beam Guided at both the ends and resting on Winkler-Pasternak Foundation
| yRR yzz yzR yRz | = 0
(43)
(})(60)(/34(01) /34(61) = 0
(44)
This gives,
As H and (6 E + 0 E )E are in general, non-zero. The frequency equation for the simply supported beam can,
(/34(01) /34(61) = 0
(45)
Beam guided at one end, free at other end

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# 0 8& ' = 0 P = 0 8& ' = 1

P=0
O=0
(46)
Figure 11: Beam Guided at One End, Free at Other End and Resting on Winkler-Pasternak Foundation
|yzz (yRR yAA yRA yAR ) yzR (yRz yAA yRA yAz ) + yzA (yRz yAR yRR yAz )| = 0
(47)
6 R &84(01) + 0 R &84(61) = 0
(48)
This gives,
Beam guided at one end, simply supported at one end

= 0 8& ' = 0 = 0 8& ' = 1
P=0
O=0
(49)
Figure 12: Beam Guided at One End, Simply Supported at other

End and Resting on Winkler-Pasternak Foundation
| yAA yzz yzA yAz | = 0
(50)
This gives,
E ! !
( = )
-./(61) -./(01) + 1 = 0
(51)
Beam guided at one end, clamped at other end

= 0 8& ' = 0
= 0 8& ' = 1
P=0
=0
(52)
Figure 13: Beam Guided at One and, fixed at Other End and Resting on Winkler-Pasternak Foundation
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|yzz | # 0
(53)
0 &84(01) + 6 &84(61) = 0
(54)
This gives,
The general dynamic stiffness matrix defined by Eq. (33) and Eq. (47) of Ref. [15], for Euler-Bernoulli beam is
observed to be same as Eq. (19) and Eq. (21), but for only difference that the axial force was included in the Eq. (33) and
Eq. (47) of Ref. [15], in defining the roots 6 849 0 where as in the present paper the axial force was not included in the
Eq. (19) and Eq. (21).
The first order approximation equations (Eq. 11, Eq. 18, Eq. 22, Eq. 25, Eq. 27, and Eq. 30) of Ref. [31], for
torsional vibrations of uniform doubly symmetric thin walled open cross section are observed to be same as equations (Eq.
(25), Eq. (28), Eq. (31), Eq. (35), Eq. (38) and Eq. 41)).
The transcendental frequency equations (Eq. (4a), Eq. (4b), Eq. (4e) and Eq. (4f)) of Ref. [32], for generally
restrained beams are observed to be same as equations (Eq. (45), Eq. (48), Eq. (51) and Eq. (54)) of the present paper, but
for only difference that the roots 6 849 0 are considered to be equal and have same sign and defined as .
0
The equations for the fixed-end beam and simply supported beam are solved for values of warping parameter
20 and for various values of Winkler foundation parameter 0
foundation parameter 0
,
2.5.
10 000 000 and values of Pasternak
Table 1: Numerical Comparisons Frequency Parameters for a

Simply Supported Beam Fully Supported on a Winkler
0
0
0.5
0.5
1
1
2.5
Approx.
exact
Approx.
exact
Approx.
exact
Approx.
0
3.14159 3.1415930
3.4767
3.180679
3.7360
3.2183142
4.2970
1
3.1496
3.1496248 3.48267 3.1883879 3.74078 3.2257872 4.30016
100
3.74836 3.7483635
3.9608
3.7715736 4.10437 3.7943618 4.58239
10000
10.0244 10.0242642 10.036 10.0255880 10.048 10.0267120 10.084
1000000 31.6235 31.6235460 31.6239 31.6235850 31.624 31.6236240 31.625
-Pasternak foundation between finite element method [Ref. 25, 26, 27] and available results
2.5
exact
3.3240213
3.3308077
3.8603697
10.0303817
31.6237412
The above Table depicts a comparison between the finite element and exact results for the frequency parameters
of asimply-supported beam fully supported on a Winkler-Pasternak foundation. The results obtained by the dynamic
stiffness matrix approach agree very closely, with the solutions computed from the frequency equations reported in
References [25] [26] and [27].
Furthermore, the equations for all the BCs are also solved for values of warping parameter 0
various values of Winkler foundation parameter 0
20 and for
15 and values of Pasternak foundation parameter 0
and are presented in graphical form for the first three modes.
The following Figure 14 shows the variation of frequency parameter with foundation parameters
simply supported beam, one end fixed and other end free beam.
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849 , for
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Figure 14: Plot for Influence of Winkler Foundation Parameter on Frequency

Parameter for values of Pasternak Foundation Parameter for Various BCs
B
The influences of the foundation parameters
849
, on the stability parameter for different supporting
conditions is shown in the Figure 14, The figures indicate that the stability parameter increases as the overall stiffness of
the beam-foundation
foundation system increases. The overall stiffness of the beam-foundation
foundation system is an integrated resultant of the
support stiffness, the foundation stiffness and the flexural rigidity of the beam. It is known that the flexural rigidity of the
beam increases as
increases. It is obvious that the

the frequency parameter increases as the overall stiffness of the beam
foundation system increases.

Figure 15 shows the variation of frequency parameter with warping parameter K, for simply supported beam,
fixed-beam,
beam, one end fixed and other end free beam, one
one end fixed and other end simply supported beam.
beam
A close look at the results presented in Figure 15 clearly reveals that the effect of an increase in warping
parameter K is to drastically decrease the fundamental frequency . Furthermore, can be expected, the effect of elastic
foundation is found to increase the frequency of vibration especially for the first few modes. However, this influence is
seen to be quite negligible on the modes higher than the third.
Figure 15: Plot for Influence of Warping Parameter on Frequency Parameter for Values
of Pasternak Foundation Parameter and Winkler Foundation Parameter for Various BCs
Furthermore, the equations for guided end condition are also solved for values of warping parameter 0
and for various values of Winkler foundation parameter 0
0
20
15 and values of Pasternak foundation parameter
1 are presented in graphical form for the first three modes.

The influences of the foundation parameters
849
, on the stability
ity parameter for guided-end
guided
conditions is
shown in the Figure 16, The figure indicate that the stability parameter increases as the overall stiffness of the beambeam
foundation system increases. The overall stiffness of the beam-foundation
beam foundation system is an integrated
integr
resultant of the support
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Torsional Vibrations of Doubly-Symmetric

Symmetric Thin-Walled I-Beams Resting on
45
stiffness, the foundation stiffness and the flexural rigidity of the guided-end
guided end beam. It is obvious that the frequency
parameter increases as the overall stiffness of the beam foundation system increases.
The variation of frequency
uency parameter with foundation parameters
849
, for guided-clamped
guided
beam, guided
free beam, one end guided and other end simply supported beam are shown graphically.
The plots clearly show that while the Winkler foundation independently increases
increases the frequency for any mode of
vibration for constant values of warping and the Pasternak foundation parameters. Interestingly we can clearly observethat
observe
the effect of Pasternak foundation Parameter is to decrease the natural torsional frequency significantly
significa
for any mode of
vibration and for constant values of warping and Winkler foundation parameter.
Figure 16: Plot for Influence of Winkler Foundation Parameter on Frequency Parameter
Parame
for values of Pasternak Foundation Parameter for Guided-End BCs
A close look at the results presented in Figure 17 clearly reveals that the effect of an increase in warping
parameter K is to drastically decrease the fundamental frequency . Furthermore, it can be expected, the effect of elastic
foundation is found to increase the frequency of vibration especially for the first few modes. However, this influence is
seen to be quite negligible on the modes higher than the third.
Figure 17: Plot For influence

influ
of Warping Parameter on Frequency Parameter for Values
of Pasternak Foundation Parameter and Winkler Foundation Parameter for Guided-end BCs
It can be finally concluded that for an appropriately designing the thin-walled
thin walled beams of open cross sections
sectio resting
on continuous elastic foundation, it is very much necessary to model the foundation appropriately considering the Winkler
and Pasternak foundation stiffness values as their combined influence on the natural torsional frequency is quite significant
significa
and hence cannot be ignored.
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46
CONCLUSIONS
In this paper, a dynamic stiffness matrix (DSM) approach has been developed for computing the natural torsion
frequencies of long, doubly-symmetric thin-walled beams of open section resting on continuous Winkler-Pasternak type
elastic foundation. The approach presented in this thesis is quite general and can be applied for treating beams with nonuniform cross-sections and also non-classical boundary conditions. A new MATLAB computer program has been
developed based on the dynamic stiffness matrix approach to solve the highly transcendental frequency equations and to
accurately determine the torsional natural frequencies for all classical and various special boundary conditions. Numerical
results for natural frequencies for various values of warping and Winkler and Pasternak-foundation parameters are obtained
and presented in both tabular as well as graphical form showing their parametric influence clearly. From the results
obtained following conclusions are drawn.
An attempt was made to validate the present formulation of the problem for various boundary conditions. There is
very good agreement between the results, the general dynamic stiffness matrix defined by Eq. (33) and Eq. (47) of
Yung-Hsiang Chen [15], for Euler-Bernoulli beam is observed to be same as Eq. (19) and Eq. (20) in this paper,
but for only difference that the axial force was not included in the present paper.
solved for values of various values of Winkler foundation parameter 0 10 000 000 and Pasternak
Further validation of the model was done by comparing the results obtained for simply supported beams and are
foundation parameter 0 2.5 and are presented in Table 1. The results compare very well with those from
De Rosa, M. A. and M. J. Maurizio [25] and Yokoyama [26]
The influences of the foundation parameters , and warping parameter K, on the stability parameter for
various supporting conditions are shown in the Figures (14-17). The second foundation parameter , tends to
increase the fundamental frequency for the same Winkler constant . The effect of , may be interpreted in the
following way: A simply supported beam, which is the weakest as far as stability ( = 3.66) is concerned,
acquires the stability of a beam which is clamped at both ends ( = 5.24), by increasing the shear parameter of
the foundation especially for the first mode. However, this influence is seen to be quite negligible on the modes
higher than the first. Also, it is found that the effect of an increase in warping parameter K is to drastically
decrease the stability parameter.
It can be finally concluded that for an appropriately designing the thin-walled beams of open cross sections resting
on continuous elastic foundation, it is very much necessary to model the foundation appropriately considering the Winkler
and Pasternak foundation stiffness values as their combined influence on the natural torsional frequency is quite significant
and hence cannot be ignored.
Future Work
The Dynamic Stiffness Matrix (DSM) approach could be implemented to multi span beams of open section
resting on various possible types of elastic foundations, including the effects of longitudinal inertia, axial compressive load,
time varying loads and shear deformation. This Dynamic Stiffness Matrix (DSM) approach could also be implemented not
only to beams but also to pipes conveying fluid and carbon Nano-tubes conveying fluid resting on visco-elastic foundation
and three parameter foundation models.
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47
REFERENCES
1.
Winkler, E. "Theory of elasticity and strength." Dominicus Prague, Czechoslovakia (1867).
2.
Filonenko-Borodich M. M., "Some approximate theories of the elastic foundation." Uchenyie Zapiski Moskovskogo
Gosudarstvennogo Universiteta Mekhanica 46 (1940): 3-18.
3.
Hetnyi, Mikls, and Miklbos Imre Hetbenyi., Beams on elastic foundation: theory with applications in the fields of civil and
mechanical engineering. Vol. 16. University of Michigan Press, 1946.
4.
Pasternak, P. L., "On a new method of analysis of an elastic foundation by means of two foundation constants."
Gosudarstvennoe Izdatelstvo Literaturi po Stroitelstvu i Arkhitekture, Moscow (1954).
5.
Kerr, Arnold D., "Elastic and viscoelastic foundation models." Journal of Applied Mechanics 31.3 (1964): 491-498.
6.
S. C. Dutta en, R. Rana, A critical review on idealization and modeling for interaction among soil-foundation-structure
system. Elsevier Science Ltd., pp. 1579-1594, April 2002.
7.
Y. H. Wang, L. G. Tham en Y. K. Cheung, Beams and Plates on Elastic Foundations: a review, Wiley Inter Science, pp. 174182, May 2005.
8.
Timoshenko, Stephen P., "Theory of bending, torsion and buckling of thin-walled members of open cross section." Journal of
the Franklin Institute 239.4 (1945): 249-268.
9.
Gere, JMt., "Torsional vibrations of beams of thin-walled open section." Journal of Applied Mechanics-Transactions of the
ASME 21.4 (1954): 381-387.
10. Christiano, Paul, and Larry Salmela., "Frequencies of beams with elastic warping restraint." Journal of the Structural
Division 97.6 (1971): 1835-1840.
11. E. J. Sapountzakis, Bars under Torsional loading: a generalized beam approach, ISRN Civil Engineering (2013) 1-39.
12. Rao, C. Kameswara, and S. Mirza, "Torsional vibrations and buckling of thin-walled beams on elastic foundation." Thinwalled structures 7.1 (1989): 73-82.
13. C. Kameswara Rao and Appala Satyam, "Torsional Vibrations and Stability of Thin-walled Beams on Continuous Elastic
Foundation", AIAA Journal, Vol. 13, 1975, pp. 232- 234.
14. C. Kameswara Rao and S. Mirza., Torsional vibrations and buckling of thin walled beams on Elastic foundation, ThinWalled Structures (1989) 73-82.
15. Yung-Hsiang Chen., General dynamic-stiffness matrix of a Timoshenko beam for transverse vibrations, Earthquake
Engineering and Structural dynamics (1987) 391-402
16. J.R. Banerjee., and F.W. Williams., Coupled bending-torsional dynamic stiffness matrix of an Axially loaded Timoshenko
beam element, Journal of Solids Structures, Elsevier science publishers 31 (1994) 749-762
17. P.O. Friberg, Coupled vibrations of beams-an exact dynamic element stiffness matrix, International Journal for Numerical
Methods in Engineering 19 (1983) 479-493
18. J.R. Banerjee, Coupled bending-torsional dynamic stiffness matrix for beam elements, International Journal for Numerical
Methods in Engineering 28 (1989)1283-1298.
19. Zongfen Zhang and Suhuan Chen, A new method for the vibration of thin-walled beams, Computers & Structures 39(6)
(1991) 597-601.
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editor@tjprc.org
48

20. J.R. Banerjee and F.W. Williams, Coupled bending-torsional dynamic stiffness matrix for Timoshenko beam elements,
Computers & Structures 42(3) (1992)301-310.
21. J.R. Banerjee, Exact dynamic stiffness matrix of a bending-torsion coupled beam including warping, Computers &
Structures 59(4) (1996) 613-621.
22. Jun, Li, et al. "Coupled bending and torsional vibration of axially loaded BernoulliEuler beams including warping effects."
Applied Acoustics 65.2 (2004): 153-170.
23. Kim, Nam-Il, Chung C. Fu, and Moon-Young Kim. "Dynamic stiffness matrix of non-symmetric thin-walled curved beam on
Winkler and Pasternak type foundations." Advances in Engineering Software 38.3 (2007): 158-171.
24. Nam-Il Kim, Ji-Hun Lee, Moon-Young Kim, Exact dynamic stiffness matrix of non-symmetric thin-walled beamson elastic
foundation using power series method, Advances in Engineering Software 36 (2005) 518532.
25. De Rosa, M. A., and M. J. Maurizi,. "The Influence of Concentrated Masses and Pasternak Soil on the Free Vibrations of Euler
Beams-Exact Solution." Journal of Sound and Vibration 212.4 (1998): 573-581.
26. Yokoyama, T., "Vibrations of Timoshenko beamcolumns on twoparameter elastic foundations." Earthquake Engineering &
Structural Dynamics 20.4 (1991): 355-370.
27. Hassan, Mohamed Taha, and Mohamed Nassar., "Static and Dynamic Behavior of Tapered Beams on Two-Parameter
Foundation." Vol. 14.(2013): 176-182.
28. Ferreira, Antnio JM. MATLAB codes for finite element analysis, solids and structures. Vol. 157. Springer Science &
Business Media, 2008.
29. http://in.mathworks.com/matlabcentral/fileexchange/48107-roots-for-non-linear-highly-transcendental-equation
30. MATLAB 7.14 (R2012a)
31. Kameswara Rao, C. and Appa Rao, K., Effect of longitudinal Inertia and Shear Deformation on the torsional Frequency and
Normal Modes of thin-walled open section beams, journal of aeronautical society of India,1974., pp. 32-41.
32. Maurizi, M. J., R. E. Rossi, and J. A. Reyes., "Comments on a note of generally restrained beams, Journal of sound and
vibration 147.1 (1991): 167-171.
APPENDICES
ANNEX A
MATLAB CODE FOR SOLVING TORSIONAL FREQUENCY EQUATIONS
Main program
function code(a,b)
% This code finds a solution to f(x) = 0
%
% it finds a root given in the continuous function on the interval [a,b],
%
where f(a) and f(b) have opposite signs.
%
% INPUT:
%
a,b: define the interval over which the method is exercised
%
tol: is the solution tolerance
%
n: is the maximum number of iterations of the algorithm.
% FCT(TOL): deceleration of the function whose solution has to be found.
%
% OUTPUT:
%
value: is the approximate solution
%
%
%
%
%
%
%
%
%
%
%
%
%
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49
%
%
% USAGE:
%
%
[value] = code(...) to display a solution of the function
%
%
%
%-----------------------------BY: Kumar Sai-------------------------------if nargin < 2
error('Incorrect input!!! provide at least two input arguments')
end
tol=10^-6;
n=100;
if a > b
X = a;
a = b;
b = X;
end
if a==b
error('Input (a) cannot equal (b)')
end
TOL=a;
fa = FCT(TOL);
TOL=b;
fb = FCT(TOL);
if fa*fb > 0
error('f(a) and f(b) have the same sign')
end
if tol < 0
error('tolerance must be a positive number')
end
fileID = fopen('results.txt','w');
fprintf(fileID,'Solution of Non-Linear Transcendental Freq. Eq.\r\n');
fprintf(fileID,'-----------------By: Kumar Sai-----------------\r\n');
fprintf(fileID,'---------Number of Iterations obtained---------\r\n');
fprintf(fileID,'
I
a
b
c
p \r\n');
fprintf(fileID,'----------------------------------------------\r\n');
tic;
I = 1;
while I <= n
c = (b - a) / 2.0;
p = a + c;
TOL=p;
fp = FCT(TOL);
A = [I;a;b;c;p];
fprintf(fileID,'%3u: % 5.7f % 5.7f % 5.7f % 5.7f\r\n',A);
if I == 1
Result{1} = '--------------------------------------------------';
Result{2} = '--Solution of Non-Linear Transcendental Freq. Eq.-';
Result{3} = '--------------------------------------------------';
Result{4} = '-----The value of the Frequency parameter is------';
Result{5} = '--------------------------------------------------';
Result{6} = '----------time elapsed in milliseconds------------';
end
if abs(fp) < 1.0e-20 || c < tol
Result = char(Result);
disp(Result)
value = p;
t=toc;
fprintf(fileID,'--------------------------------------------\r\n');
fprintf(fileID,'---The value of the Frequency parameter is--\r\n');
fprintf(fileID,'..............>>> %5.7f <<<...........\r\n',value);
fprintf(fileID,'time elapsed in milliseconds: %-10.10f\r\n',t*10^3);
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editor@tjprc.org
50
fprintf('------------------ %-10.10f-------------------\n',t*10^3);
fprintf('------The value of the Frequency parameter is-----\r\n');
fprintf('.................>>> %5.7f <<<...............\r\n',value);
fclose(fileID);
msgbox('procedure completed successfully !!')
break
else
I = I+1;
if fa*fp > 0
a = p;
fa = fp;
else
b = p;
end
end
end
end
Sub program for simply supported beam
function [F] =FCT(TOL)
k2=0;
d2=0;
G1=0;
G2=0;
C=(k2+d2+G2);
B4=TOL^4;
ALP=(sqrt(-C+sqrt((C^2)+4*(B4-G1)))/sqrt(2));
BTA=(sqrt(C+sqrt((C^2)+4*(B4-G1)))/sqrt(2));
F=sinh(BTA)*sin(ALP);
end
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International Journal of Civil, Structural,

Environmental and Infrastructure Engineering

TORSIONAL VIBRATIONS OF DOUBLY-SYMMETRIC THIN-WALLED

Research Scholar, Department of Mechanical Engineering, Vasavi College of Engineering (Autonomous),

Associate Professor, Department of Mechanical Engineering, Vasavi College of Engineering (Autonomous),

A. Sai Kumar & K. Srinivasa Rao

Figure a: Grillage Foundation

Figure b: Mat Foundation under Large Storage Tanks

Figure 1:: Deflections of Winkler Foundation under Uniform Pressure q

Figure 2: Winkler-Pasternak Model

Impact Factor (JCC): 5.9234

NAAS Rating: 3.01

Torsional Vibrations of Doubly-Symmetric Thin-Walled I-Beams Resting on

St. Venants torsion

A. Sai Kumar & K. Srinivasa Rao

FORMULATION AND ANALYSIS

)and Pasternak layer stiffness(

In which 61 849 01 are the positive, real quantities given by

(< ! =>? ! )=@(< ! =>? ! )! =A(B! C>D ! )

Impact Factor (JCC): 5.9234

NAAS Rating: 3.01

Torsional Vibrations of Doubly-Symmetric Thin-Walled I-Beams Resting on

From Eq. (4) we have the following relation between 61 849 01

DYNAMIC STIFFNESS MATRIX

is termed as the warping rigidity of the section,

Eq. (3.28) can be abbreviated as follows

A. Sai Kumar & K. Srinivasa Rao

- # -./ 01, / # /34 01,

-./ 61, c # /345 61

Impact Factor (JCC): 5.9234

NAAS Rating: 3.01

Torsional Vibrations of Doubly-Symmetric Thin-Walled I-Beams Resting on

Eq. (19) is symbolically written as

The elements of hyiare

A. Sai Kumar & K. Srinivasa Rao

RESULTS AND DISCUSSIONS

Figure 4: Simply-Supported Beam resting on Winkler-Pasternak Foundation

NAAS Rating: 3.01

Torsional Vibrations of Doubly-Symmetric Thin-Walled I-Beams Resting on

(} 60)(6 E + 0 E )E /34(01) /34(61) = 0

therefore, be written as,

The boundary conditions for this problem can be written as

Figure 5: Fixed-end Beam Resting on Winkler-Pasternak Foundation

Beam free at both the ends

Figure 6: Beam Free at Both ends and resting on Winkler-Pasternak Foundation

A. Sai Kumar & K. Srinivasa Rao

Beam fixed at one end, simply-supported at other end

= 0 8& ' = 0 = 0 8& ' = 1

Figure 7: Beam Fixed at one end, Simply-Supported at Other End

therefore, be written as,

Beam fixed at one end, free at other end

= 0 8& ' = 0 P = 0 8& ' = 1

Impact Factor (JCC): 5.9234

NAAS Rating: 3.01

Torsional Vibrations of Doubly-Symmetric Thin-Walled I-Beams Resting on

Beam simply-supported at one end, free at other end

Figure 9: Beam Simply-Supported at one end, Free at Other End

The boundary conditions for this problem can be written as

therefore, be written as,

Beam guided at one end, free at other end

A. Sai Kumar & K. Srinivasa Rao

# 0 8& ' = 0 P = 0 8& ' = 1