In this work we apply and compare two algorithms for setting up Harmonic Balance equations and numerical continuation of the solution path for harmonically driven mechanical systems. The first algorithm relies on a predictor-corrector scheme and an Alternating Frequency-Time approach (AFT-PreCo). The second algorithm relies on a high-order Taylor series expansion of the solution path (asymptotic numerical method) and classical Harmonic Balance formulated entirely in the frequency domain (cHB-ANM). We conclude that the cHB-ANM is suited for smooth nonlinearities, for instance geometrically nonlinear finite element models. Here, cHB-ANM avoids aliasing errors and convinces with a numerically robust adjustment of the continuation step length and a continuous representation of the solution path. For non-smooth nonlinearities such as stick-slip friction or unilateral constraints, AFT-PreCo is better suited, and convinces with high numerical robustness and efficiency.

Abstract In standard design practice, it is often necessary to assemble engineered structures from individually manufactured parts. Ideally, the assembled system should perform as if the connections between the components were perfect, that is, as if the system were a single monolithic piece. However, the fasteners used in those connections, such as mechanical lap joints, are imperfect and highly nonlinear. In particular, these jointed connections dissipate energy, often through friction over highly localized microscale regions near connection points, and are known to exhibit history dependent, or hysteretic behavior. As a result, while mechanical joints are one of the most common elements in structural dynamics problems, their presence implies that assembled structural systems are difficult to model and analyze. Through rigorous experimental, analytical, and numerical work over the past century, researchers from several different disciplines have developed numerous damping models that give rise to the dynamical behavior attributed to joints. The present work seeks to review, compare, and contrast several linear and nonlinear damping models that are known to be relevant to modeling assembled structural systems. These models are presented and categorized to place them in the proper historical and mathematical context as well as presenting numerous examples of their applications. General properties of hysteretic friction damping models are also studied and compared analytically. Connections are drawn between the different models so as to not only identify differences between models, but also highlight commonalities not normally seen to be in association.

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In this paper we develop two new approaches for directly assessing stability of nonlinear wave-based solutions, with application to jointed elastic bars. In the first stability approach, we strain a stiffness parameter and construct analytical stability boundaries using a wave-based method. Not only does this accurately determine stability of the periodic solutions found in the example case of two bars connected by a nonlinear joint, but it directly governs the response and stability of parametrically-forced continuous systems without resorting to discretization, a new development in of itself. In the second stability approach, we pose a perturbation eigenproblem residue (PER) and show that changes in the sign of the PER locate critical points where stability changes from stable to unstable, and vice-versa. Lastly, we discuss follow-on research using the developed stability approaches. In particular, we identify an opportunity to study stability around internal resonance, and then identify a need to further develop and interpret the PER approach to directly predict stability.

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