A numerical method for constructing non-linear normal modes (NNMs) for piecewise linear autonomous systems is presented. These NNMs are based on the concept of invariant manifolds, and are obtained using a Galerkin-based solution of the invariant manifold's non-linear partial differential equations. The accuracy of the constructed non-linear modes is checked by the comparison of the motion on the invariant manifold to the exact solution, in both time and frequency domains. It is found that thisconstruction approach can accurately capture the NNMs over a wide range of amplitudes, including those with strong non-linear effects. Several interesting dynamic characteristics of the non-linear modal motion are found and compared to those of linear modes. A two-degree-offreedom example is used to illustrate the technique. The existence, stability and bifurcations of the NNMs for this example are investigated.
A numerical method, based on the invariant manifold approach, is presented for constructing non-linear normal modes for systems with internal resonances. In order to parameterize the non-linear normal modes of interest, multiple pairs of system state variables involved in the internal resonance are kept as 'seeds' for the construction of the multi-mode invariant manifold. All the remaining degrees of freedom are then constrained to these 'seed', or master, variables, resulting in a system of non-linear partial differential equations that govern the constraint relationships, and these are solved numerically. The computationally-intensive solution procedure uses a combination of finite difference schemes and Galerkin-based expansion approaches. It is illustrated using two examples, both of which focus on the construction of two-mode models. The first example is based on the analysis of a simple three-degree-of-freedom example system, and is used to demonstrate the approach. An invariant manifold that captures two non-linear normal modes is constructed, resulting in a reduced order model that accurately captures the system dynamics. The methodology is then applied to a larger order system, specifically, an 18-degree-of-freedom rotating beam model that features a three-to-one internal resonance between the first two flapping modes. The accuracy of the non-linear two-mode reduced order model is verified by comparing time-domain simulations of the two DOF model and the full system equations of motion. IntroductionIn order to obtain accurate reduced order models for non-linear systems, "non-linear modal analysis" has been proposed as an analogy to its linear counterpart. The concept of non-linear normal modes (NNM) was initiated by Rosenberg [1] and subsequently considered by a number of other investigators and their co-workers, including Rand [2,3], Nayfeh [4][5][6], and Vakakais [7][8][9], who have studied the existence, construction, stability, and bifurcations of NNMs. The definition of NNMs was generalized by Shaw and Pierre [10,11] A NNM invariant manifold is a two-dimensional surface in the system phase space that is tangent to the corresponding linear modal eigenspace at the equilibrium point [10]. In order to parameterize these manifolds for vibratory systems, a single pair of state variables in linear modal coordinates (typically a modal displacement-velocity pair, or a modal amplitude and phase) are chosen as master coordinates for an individual NNM. Then, all the remaining degrees of freedom (DOF), the so-called slave coordinates, are constrained to these master coordinates in a particular manner, dictated by the equations of motion. The nonlinear partial differential equations (PDEs) describing the geometry of the manifold are produced using an approach that follows center manifold construction. Based on this methodology, a numerical framework for constructing NNMs, namely a Galerkin projection method [15], has been proposed and effectively applied to a variety of non-linear systems, including systems wit...
A nonlinear one-dimensional finite-element model representing the axial and transverse motions of a cantilevered rotating beam is reduced to a single nonlinear normal mode using invariant manifold techniques. This system is an idealized representation for large-amplitude vibrations of a rotorcraft blade. Although this model is relatively simple, it possesses the essential nonlinear coupling effects between the axial and transverse degrees of freedom. The nature of this coupling leads to the fact that we must use many degrees of freedom, whether based on finite elements or modal expansions, in order to accurately represent the beam vibrations. In this work, the slow modal convergence problem is overcome by nonlinear modal reduction that makes use of invariant manifold based nonlinear modes. This reduction procedure generates a single-degree-of-freedom reduced-order model that systematically accounts for the dynamics of all the linear modes, or finite elements, considered in the original model. The approach is used to study the dynamic characteristics of the finite-element model over a wide range of vibration amplitudes. Using extensive simulations, it is shown that the response of the reduced-order model is nearly identical to a reference system which is based on a large-scale representation of the finite-element model, and to a reduced-order Rayleigh-Ritz model. All of the procedures presented here have been computationally automated. Hence, in this study we demonstrate that it is feasible and practical to interface nonlinear finite-element methods with nonlinear modal reduction.
Recent progress in the area of nonlinear modal analysis for structural systems is reported. Systematic methods are developed for generating minimally sized reduced-order models that accurately describe the vibrations of large-scale nonlinear engineering structures. The general approach makes use of nonlinear normal modes that are defined in terms of invariant manifolds in the phase space of the system model. An efficient Galerkin projection method is developed, which allows for the construction of nonlinear modes that are accurate out to large amplitudes of vibration. This approach is successfully extended to the generation of nonlinear modes for systems that are internally resonant and for systems subject to external excitation. The effectiveness of the Galerkin-based construction of the nonlinear normal modes is also demonstrated for a realistic model of a rotating beam.
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