MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Nonlinear Vibrations

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

LINEAR v/s NONLINEAR SYSTEMS

1. The behavior of a nonlinear system

is
governed
by
a
nonlinear
differential equation. Exact solutions
do not exist for many nonlinear
differential equations.
2. A nonlinear system may have more
than one equilibrium point. An
equilibrium point may be stable or
unstable.
3. Steady state behavior, if it exists
for a nonlinear system,
is dependent
Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

4. The period of free vibration of a

nonlinear system is dependent upon initial
conditions. This implies that the frequency
of free vibration is dependent upon the free
vibration amplitude.
5. A nonlinear system exhibits resonance at
excitation frequencies different from the
system's linear natural frequency. A superharmonic resonance exists in a system with
a cubic nonlinearity when the excitation
frequency is one third of the system's
linear natural frequency. A sub-harmonic
Dr. S. P. Harsha
resonance exists when
the excitation

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

6. The principle of linear superposition

cannot be used to analyze a nonlinear
system subject to a multi-frequency
excitation. A combination resonance can
exist for appropriate combinations of
excitation frequencies.
7. Internal resonances can exist in multidegree-of-freedom and continuous systems
for appropriate combinations of natural
frequencies.
8. A periodic excitation may lead to a nonperiodic response in a nonlinear system.
P. Harsha
Such chaotic motionDr. S.occurs
in many

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Motivation

Every engineering system is nonlinear

Linearization is not robust and global
Increasing demand for refinement, accuracy &
performance
Nonlinear phenomena cannot be predicted even
qualitatively by linear analysis
Need optimized solutions low cost & high
performance
Nonlinear Analysis

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

System Response

Linear systems have one equilibrium position.

Input

Linear
system

Output

Nonlinear systems can have more than one equilibrium

positions..Geometrical nonlinearity.
nonlinearity
Output

Periodic, QuasiPeriodic

Input

Nonlinear
system

Subharmonic
Chaotic

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Nonlinear systems can display behaviors that

linear systems cannot. These include:
(a)multiple steady state solutions, some stable and
some unstable, in response to the same inputs,
(b)jump phenomena, involving discontinuous and
significant changes in the response of the
system as some forcing parameter is slowly
varied,
(c) response at frequencies other than the forcing
frequency,
(d) internal resonances, involving different parts
of the system vibrating at different frequencies,
all with steady amplitudes (the frequencies are
usually in rational ratios, such as 1:2, 1:3, 3:5,
etc.),
(e) self sustained oscillations in the absence of
explicit external periodic forcing, and
Dr. S. P. Harsha
(f) complex, irregular motions
that are extremely

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Analysis techniques
Three broad categories of techniques for
analyzing nonlinear systems are:
(a) heuristic techniques like Galerkin
methods, including harmonic balance
(b) asymptotic techniques, including the
methods of averaging and multiple
scales, and
(c) rigorous mathematical results about
dynamical systems

(d) Numerical tech.,Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

STIFFNESS NON LINEARITY

The restoring force from a nonlinear spring which
can be mathematically written as

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

STIFFNESS NON LINEARITY

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

STIFFNESS NON LINEARITY

For nonlinear stiffness systems, the free vibratory
response contains higher harmonics.
For hardening systems, > 0, the frequency
increases with the amplitude of vibration, i.e., the
time period for one free swing decreases with
amplitude of vibration.
For softening systems, < 0, the frequency
decreases with the amplitude of vibration, i.e., the
time period for one free swing increases with
amplitude of vibration.
Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Graphical method: The phase plane

The state plane or phase plane is a plot of
velocity versus displacement during the history of
motion.
The nature and stability of equilibrium points can
be examined from linearizing the governing
differential equation in the vicinity of the
equilibrium point.

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

The phase plane

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

The phase plane

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Duffing Equations:
is a non-dimensional equation that serves
as a model for systems with cubic
nonlinearities.
If is positive, it models the response of a
system with a hardening spring whereas
if is negative, Duffing's equation models
the response of a system with a softening
spring.
For
free
vibrations
the
frequency
amplitude relation forDr.aS. P.system
governed
Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

where is the non-dimensional

natural frequency ( = 1 for a linear
system) and A is the amplitude. The
forced response of Duffing's equation
is analyzed near resonance by
assuming

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Undamped, Unforced Linear Oscillator

No transient ,
constant sine
wave Period
independent of
amplitude

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Undamped, Unforced Non-Linear Oscillator

No transient , nonsinusoidal
waveform with
constant waveform
and period

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Damped, Unforced Linear Oscillator

Transient to stable point
attractor at x= X =0;
structural damping ( <1)
exponentially
damped
sine wave, structural

damping
(>1)
oscillatory decay

non-

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Damped, Unforced Non-Linear Oscillator

Transient to stable
point attractor at x=0;
initial
divergence
from adjacent starts,
point attractor at
x=x'=0

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

The non-dimensional form of the nonlinear equation governing the motion

of a pendulum is

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

The non-dimensional form of the nonlinear equation governing the motion

of a pendulum is

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

The non-dimensional form of the nonlinear equation governing the motion

of a pendulum is

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Q. 1 Develop the general equation for the trajectory in the phase plane for
a system governed by

Dr. S. P. Harsha

MECHANICAL & INDUSTRIAL ENGINEERING DEPARTMENT

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Dr. S. P. Harsha