Lecture Notes in Applied

and Computational Mechanics

Volume 43

Series Editors

Prof. Dr.-Ing. Friedrich Pfeiffer

Prof. Dr.-Ing. Peter Wriggers
Lecture Notes in Applied and Computational Mechanics
Edited by F. Pfeiffer and P. Wriggers
Further volumes of this series found on our homepage: springer.com

Vol.43: Ibrahim, R.A. Vol. 31: Lehmann, L. (Ed.)

Vibro-Impact Dynamics Wave Propagation in Infinite Domains
312 p. 2009 [978-3-642-00274-8] 186 p. 2007 [978-3-540-71108-7]
Vol. 42: Hashiguchi, K.
Vol. 30: Stupkiewicz, S. (Ed.)
Elastoplasticity Theory
Micromechanics of Contact and Interphase Layers
432 p. 2009 [978-3-642-00272-4]
206 p. 2006 [978-3-540-49716-5]
Vol. 41: Browand, F., Ross, J., McCallen, R. (Eds.)
Aerodynamics of Heavy Vehicles II: Trucks, Buses, Vol. 29: Schanz, M.; Steinbach, O. (Eds.)
and Trains Boundary Element Analysis
486 p. 2009 [978-3-540-85069-4] 571 p. 2006 [978-3-540-47465-4]

Vol. 40: Pfeiffer, F. Vol. 28: Helmig, R.; Mielke, A.; Wohlmuth, B.I. (Eds.)
Mechanical System Dynamics Multifield Problems in Solid and Fluid Mechanics
578 p. 2008 [978-3-540-79435-6] 571 p. 2006 [978-3-540-34959-4]
Vol. 39: Lucchesi, M., Padovani, C., Pasquinelli, G., Zani, N.
Vol. 27: Wriggers P., Nackenhorst U. (Eds.)
Masonry Constructions: Mechanical
Analysis and Simulation of Contact Problems
Models and Numerical Applications
395 p. 2006 [978-3-540-31760-9]
176 p. 2008 [978-3-540-79110-2

Vol. 38: Marynowski, K. Vol. 26: Nowacki, J.P.

Dynamics of the Axially Moving Orthotropic Web Static and Dynamic Coupled Fields in Bodies
140 p. 2008 [978-3-540-78988-8] with Piezoeffects or Polarization Gradient
209 p. 2006 [978-3-540-31668-8]
Vol. 37: Chaudhary, H., Saha, S.K.
Dynamics and Balancing of Multibody Systems Vol. 25: Chen C.-N.
200 p. 2008 [978-3-540-78178-3] Discrete Element Analysis Methods
of Generic Differential Quadratures
Vol. 36: Leine, R.I.; van de Wouw, N. 282 p. 2006 [978-3-540-28947-0]
Stability and Convergence of Mechanical Systems
with Unilateral Constraints Vol. 24: Schenk, C.A., Schuëller. G
250 p. 2008 [978-3-540-76974-3] Uncertainty Assessment of Large
Finite Element Systems
Vol. 35: Acary, V.; Brogliato, B. 165 p. 2006 [978-3-540-25343-3]
Numerical Methods for Nonsmooth Dynamical Systems:
Applications in Mechanics and Electronics Vol. 23: Frémond M., Maceri F. (Eds.)
545 p. 2008 [978-3-540-75391-9] Mechanical Modelling and Computational Issues
in Civil Engineering
Vol. 34: Flores, P.; Ambrósio, J.; Pimenta Claro, J.C.;
400 p. 2005 [978-3-540-25567-3]
Lankarani Hamid M.
Kinematics and Dynamics of Multibody Systems
with Imperfect Joints: Models and Case Studies Vol. 22: Chang C.H.
186 p. 2008 [978-3-540-74359-0] Mechanics of Elastic Structures with Inclined Members:
Analysis of Vibration, Buckling and Bending of X-Braced
V ol. 33: Nies ony, A.; Macha, E. Frames and Conical Shells
Spectral Method in Multiaxial Random Fatigue 190 p. 2004 [978-3-540-24384-7]
146 p. 2007 [978-3-540-73822-0]
Vol. 21: Hinkelmann R.
Vol. 32: Bardzokas, D.I.; Filshtinsky, M.L.; Filshtinsky, L.A. Efficient Numerical Methods and Information-Processing
(Eds.) Techniques for Modeling Hydro- and Environmental
Mathematical Methods in Electro-Magneto-Elasticity Systems
530 p. 2007 [978-3-540-71030-1] 305 p. 2005 [978-3-540-24146-1]
Vibro-Impact Dynamics
Modeling, Mapping and Applications

Raouf A. Ibrahim

123
Raouf A. Ibrahim
Department of Mechanical Engineering
Wayne State University
5050 Anthony Wayne Dr.
Room 2119 Engineering Bldg
Detroit, MI 48202
USA
E-Mail: [email protected]

ISBN: 978-3-642-00274-8 e-ISBN: 978-3-642-00275-5

DOI 10.1007/978-3-642-00275-5

Lecture Notes in Applied and Computational Mechanics ISSN 1613-7736

e-ISSN 1860-0816
Library of Congress Control Number: 2009920692

© Springer-Verlag Berlin Heidelberg 2009

This work is subject to copyright. All rights are reserved, whether the whole or part of the material is
concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,
broadcasting, reproduction on microfilm or in any other ways, and storage in data banks.
Duplication of this publication or parts thereof is permitted only under the provisions of the German
Copyright Law of September 9, 1965, in its current version, and permission for use must always be
obtained from Springer. Violations are liable for prosecution under the German Copyright Law.

The use of general descriptive names, registered names, trademarks, etc. in this publication does not
imply, even in the absence of a specific statement, that such names are exempt from the relevant
protective laws and regulations and therefore free for general use.

Typeset & Cover Design: Scientific Publishing Services Pvt. Ltd., Chennai, India.

Printed on acid-free paper

9876543210

springer.com
In Memory of my parents.
Preface

Vibro-impact dynamics has occupied a wide spectrum of studies by dynam-

icists, physicists, and mathematicians. These studies may be classified into
three main categories: modeling, mapping and applications. The main tech-
niques used in modeling of vibro-impact systems include phenomenological
modelings, Hertzian models, and non-smooth coordinate transformations de-
veloped by Zhuravlev and Ivanov. One of the most critical situations impeded
in vibro-impact systems is the grazing bifurcation. Grazing bifurcation is usu-
ally studied through discontinuity mapping techniques, which are very useful
to uncover the rich dynamics in the process of impact interaction. Note the
available mappings are valid only in the absence of non-impact nonlinearities.
Complex dynamic phenomena of vibro-impact systems include subharmonic
oscillations, chaotic motion, and coexistence of different attractors for the
same excitation and system parameters but under different initial conditions.
Selected applications of vibro-impact dynamics. These include lumped and
continuous systems. Lumped systems cover a bouncing ball on an oscillating
barrier, mass-spring-dashpot systems, normal and inverted pendulums, the
spherical pendulum, the ship roll motion against icebergs, joints with free-
play, rotor-stator rubbing in rotating machinery, vocal folds, microactuators,
strings, beams, pipes conveying fluids with end-restraints, nuclear reactors
and heat exchangers, and plates. These applications are discussed within the
framework of the deterministic theory. Under random excitation the treat-
ment requires special tools. The techniques of equivalent linearization and
stochastic averaging have been applied to limited number of problems. One
of the most beneficial outcomes of vibro-impact dynamics is the development
of impact dampers, which have witnessed significant activities over the last
four decades and have been used in several applications. On the other hand,
vibro-impact has detrimental effects on the operations of mechanical systems
and damage of pipes and rods in nuclear reactors. Each Chapter includes ex-
tensive literature review for its major sections followed by analytical descrip-
tion and main results. The book is supported by an extensive bibliography
VIII Preface

which exceeds 1,100 references of technical journal papers, technical reports,

research monographs, MS and Ph.D. theses, and conference proceedings.
Some of the presented results were the outcome of research grants from the
National Science Foundation (NSF) and the USA Office of Naval Research
(ONR). I like to express my gratitude to the Program Directors, particu-
larly Dr. Devendra Garg (NSF) and Dr. Kelly Cooper (ONR). I like to thank
Dr. Valery Pilipchuk, Dr. Mohamed El-Sayad, and Mr. Ihab Grace who col-
laborated with me in conducting these research projects. The original brief
form of this book was in the form of a review article citing about 550 ref-
erences. In view of its length, Professor Freidrich Pfeiffer, of the Technical
University of Munich and the Editor of the Springer series of Lecture Notes
in Applied and Computational Mechanics, suggested that I should modify it
as a research monograph. For that reason, I am indebted to Professor Pfeiffer
and would like to thank him for his encouragement. During the course of
modifications, I encountered some problems in presenting the derivations of
Zhuravlev non-smooth coordinate transformation and Nordmark discontinu-
ity mapping in a format suitable for the beginners. I am indebted to Professor
Victor Bedichevsky of Wayne State University, Professor Harry Dankowicz of
the University of Illinois, Urbana-Champaign, and Professor Xiaopeng Zhao
of University of Tennessee who provided me a lot of help.
It was my wife, Sohair, who has been always supporting and encouraging
me to accept the challenge and to complete the task on my own pace. I thank
her so deeply for her patience and long-suffering during writing this book.
Indeed without her support I could not complete this book.

Detroit, Michigan Raouf A. Ibrahim

Contents

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1 Modeling and Analytical Approaches . . . . . . . . . . . . . . . . . . . . 7

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Power-Law Phenomenological Modeling . . . . . . . . . . . . . . . . . . 7
1.3 Zhuravlev Non-smooth Coordinate Transformation . . . . . . . . 10
1.4 Ivanov Transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.5 Hertzian Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.5.1 Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.5.2 Contact Stiffness of Braking Systems . . . . . . . . . . . . . . 20
1.6 Point-Wise Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.7 Saw-Tooth-Time-Transformation . . . . . . . . . . . . . . . . . . . . . . . . 25
1.8 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

2 Mapping of Grazing and C–Bifurcations . . . . . . . . . . . . . . . . . 31

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.2 Grazing Bifurcation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.3 Discontinuity Mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.3.1 Nordmark Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.3.2 Molenaar et al Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.3.3 Further Developments . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2.4 Border–Collision or C–Bifurcation . . . . . . . . . . . . . . . . . . . . . . . 48
2.5 Border Bifurcation in Switching Circuits . . . . . . . . . . . . . . . . . 52
2.6 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

3 Single–Degree–of–Freedom Systems . . . . . . . . . . . . . . . . . . . . . . 55
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.2 Bouncing Ball on a Vibrating Platform and Pile Drivers . . . . 56
3.2.1 Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.2.2 Experimental and Simulation Results . . . . . . . . . . . . . . 60
3.2.3 Chattering Phenomenon . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.2.4 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
X Contents

3.3 Mass–Spring System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

3.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.3.2 Unperturbed Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.3.3 Perturbed Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.4 Pendulum Oscillating Against One– or Two–Sided
Barrier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
3.5 Ship Impact Interaction with Ice . . . . . . . . . . . . . . . . . . . . . . . . 82
3.5.1 Introduction and Modeling . . . . . . . . . . . . . . . . . . . . . . . 82
3.5.2 Unperturbed Ship Dynamics . . . . . . . . . . . . . . . . . . . . . . 84
3.5.3 Perturbed Ship Dynamics . . . . . . . . . . . . . . . . . . . . . . . . 87
3.5.4 Inelastic Impact Modeling . . . . . . . . . . . . . . . . . . . . . . . . 92
3.6 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

4 Two– and Multi–Degree–of–Freedom Systems . . . . . . . . . . . 97

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.2 Two–Degree–of–Freedom Systems . . . . . . . . . . . . . . . . . . . . . . . 97
4.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.2.2 Vibro–Impact Absorbers . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.2.3 Dynamic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4.3 Spherical Pendulum under Liquid Flow . . . . . . . . . . . . . . . . . . . 108
4.4 Pendulum Simulating Liquid Sloshing Impact . . . . . . . . . . . . . 112
4.4.1 Unperturbed System Dynamics . . . . . . . . . . . . . . . . . . . 116
4.4.2 Perturbed System Dynamics . . . . . . . . . . . . . . . . . . . . . . 118
4.4.3 Influence of Internal Resonance . . . . . . . . . . . . . . . . . . . 121
4.5 Multi–Degree–of–Freedom Systems . . . . . . . . . . . . . . . . . . . . . . 122
4.6 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

5 Non–Classical Lumped Systems . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
5.2 Mechanical Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
5.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
5.2.2 Free–Play in Aerospace Structures . . . . . . . . . . . . . . . . . 127
5.3 Rub–Impact Dynamics of Rotors . . . . . . . . . . . . . . . . . . . . . . . . 128
5.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
5.3.2 Case Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
5.4 Micro–Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
5.5 Vocal Folds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
5.6 Vibration Protection under Vibro–Impact . . . . . . . . . . . . . . . . 143
5.7 Other Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
5.7.1 Drill–Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
5.7.2 Machine Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
5.7.3 Printer Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
5.7.4 Gear Rattling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
5.7.5 Multi–Body Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
5.8 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Contents XI

6 Continuous Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
6.2 Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
6.3 Beams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
6.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
6.3.2 Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
6.4 Constrained Pipes Conveying Liquid . . . . . . . . . . . . . . . . . . . . . 162
6.4.1 Two–Dimensional Dynamics . . . . . . . . . . . . . . . . . . . . . . 162
6.4.2 Three–Dimensional Dynamics . . . . . . . . . . . . . . . . . . . . . 165
6.4.3 Modeling and Response Analysis . . . . . . . . . . . . . . . . . . 166
6.5 Nuclear Reactors and Heat Exchangers . . . . . . . . . . . . . . . . . . . 170
6.5.1 Fretting Wear Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
6.5.2 Computational Methods . . . . . . . . . . . . . . . . . . . . . . . . . . 172
6.5.3 Point Contact Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
6.5.4 Segment Contact Model . . . . . . . . . . . . . . . . . . . . . . . . . . 177
6.5.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
6.5.6 Case Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
6.6 Plates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
6.7 Slamming of Ocean Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
6.8 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

7 Stochastic Vibro–Impact Dynamics . . . . . . . . . . . . . . . . . . . . . . 193

7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
7.2 Beam–Stop under Random Excitation . . . . . . . . . . . . . . . . . . . . 195
7.3 Cantilever Beam with One–Sided Barrier . . . . . . . . . . . . . . . . . 201
7.4 Pre–Loaded Vibro–Impact Hertzian Contact . . . . . . . . . . . . . . 205
7.5 Random Impulsive Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
7.6 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

8 Impact Dampers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
8.2 Basic Concept and Applications . . . . . . . . . . . . . . . . . . . . . . . . . 217
8.3 Analogue Computer and Numerical Simulations . . . . . . . . . . . 220
8.4 Analytical Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
8.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
8.6 Random Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
8.7 Design Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
8.8 Semi–Active and Active Control of Impact Dampers . . . . . . . 231
8.9 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295