ARTICLE IN PRESS

JOURNAL OF
SOUND AND
VIBRATION
Journal of Sound and Vibration 320 (2009) 10781099
www.elsevier.com/locate/jsvi

Nonlinear vibrations of axially moving Timoshenko beams

under weak and strong external excitations
You-Qi Tanga, Li-Qun Chena,b,, Xiao-Dong Yangc
a

Shanghai Institute of Applied Mathematics and Mechanics, Shanghai 200072, China

b
Department of Mechanics, Shanghai University, Shanghai 200444, China
c
Department of Engineering Mechanics, Shenyang Institute of Aeronautical Engineering, Shenyang 110034, China
Received 1 June 2008; received in revised form 17 August 2008; accepted 26 August 2008
Handling Editor: L.G. Tham
Available online 19 October 2008

Abstract
In this paper, nonlinear vibrations under weak and strong external excitations of axially moving beams are analyzed
based on the Timoshenko model. The governing nonlinear partial-differential equation of motion is derived from
Newtons second law, accounting for the geometric nonlinearity caused by nite stretching of the beams. The complex
mode approach is applied to obtain the transverse vibration modes and the natural frequencies of the linear equation. The
method of multiple scales is employed to investigate primary resonances, nonsyntonic excitations, superharmonic
resonances, and subharmonic resonances. Some numerical examples are presented to demonstrate the effects of a varying
parameter, such as axial speed, external excitation amplitudes, and nonlinearity, on the response amplitudes for the rst
and second modes, when other parameters are xed. The stability of the response amplitudes is investigated and the
boundary of instability is located.
r 2008 Elsevier Ltd. All rights reserved.

1. Introduction
Many real-life engineering devices, such as band saws, power transmission chains, aerial cableways, and
serpentine belts, involve the transverse vibration of axially moving beams. Despite its wide applications, these
devices suffer from the occurrence of large transverse vibrations due to initial excitations. Transverse
vibrations of these devices have been investigated to avoid possible resulting fatigue, failure, and low quality.
For example, the vibration of the blade of band saws causes poor cutting quality. The vibration of the belt
leads to noise and accelerated wear of the belt in belt drive systems. Therefore, vibration analysis of axially
moving beams is important for the design of the devices.
There are many researches that have been carried out on axially moving systems in literatures. Mote [1] rst
investigated the effect of tension in an axially moving band and computed numerically the rst three
frequencies and modes for simply supported boundary conditions. Wu and Mote [2] studied the linear
Corresponding author at: Department of Mechanics, Shanghai University, Shanghai 200444, China.

E-mail address: lqchen@staff.shu.edu.cn (L.-Q. Chen).

0022-460X/$ - see front matter r 2008 Elsevier Ltd. All rights reserved.
doi:10.1016/j.jsv.2008.08.024

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1079

problem of parametric excitation of an axially moving band by periodic edge loading with different
assumptions. Wickert and Mote [3] presented a classical vibration theory, comprised of a modal analysis and a
Greens function method, for the traveling string and the traveling beam, where natural frequencies and modes
associated with free vibration serve as a basis for analysis. Oz and Pakdemirli [4] and Oz [5] calculated the rst
two natural frequency values for different exural stiffnesses in the cases of pinnedpinned ends and
clampedclamped ends, respectively. Ghayesh and Khadem [6] investigated free nonlinear transverse vibration
of an axially moving beam in which rotary inertia and temperature variation effects have been considered and
they gave natural frequency versus the mean velocity and rotary inertia, critical speed versus the rotary inertia,
and natural frequency versus the mean velocity and temperature for the rst two modes. Lee and Jang [7]
investigated the effects of continuously incoming and outgoing semi-innite beam parts on dynamic
characteristics and stability of an axially moving beam by using the spectral element method. In all of the
above literatures, either simple support or xed support is researched. Yang and Chen [8] studied axially
moving elastic beams, and Chen and Yang [9] studied viscoelastic beams, on simple supports with torsion
springs and gave the rst two frequencies and modes.
Lee et al. [10] used exact dynamic-stiffness matrix in structural dynamics to provide very accurate solutions,
while reducing the number of degrees of freedom to resolve the computational and cost problems. Chakraborty
and Mallik [11] used wave propagation in a simply supported traveling beam to derive forced responses. Zhang
and Zu [12] investigated the nonlinear forced vibration of viscoelastic moving belts excited by the eccentricity of
pulleys. Pellicano and Vestroni [13] investigated the dynamic response of a simply supported traveling beam
subjected to a transverse load in the super-critical speed range. Yang and Chen [14] studied the nonlinear forced
vibration of axially moving viscoelastic beams excited by vibration of the supporting foundation.
The axially moving beam has been traditionally represented by the EulerBernoulli beam theory by
assuming that the beam is relatively thin compared to its length. It appears that, to the authors knowledge,
there have been very few studies on the axially moving beam for the Timoshenko model. Simpson [15] was
probably the rst to derive equations of motion for the moving thick beam on the basis of the Timoshenko
beam theory, but no numerical results were given and he did not consider axial tension in his equations.
Chonan [16] studied the steady-state response of a moving Timoshenko beam by applying the Laplace
transform method. Arboleda-Monsalve et al. [17] presented the dynamic-stiffness matrix and load vector of a
Timoshenko beam column resting on a two-parameter elastic foundation with generalized end conditions. Mei
et al. [18] presented wave vibration analysis of an axially loaded cracked Timoshenko beam.
The present paper is organized as follows. Section 2 derives the governing nonlinear partial-differential
equation of motion. Section 3 employs the method of multiple scales to investigate nonlinear vibrations under
weak and strong external excitations. Section 4 ends the paper with concluding remarks.
2. The governing equation
Uniform axially moving Timoshenko beams, with density r, cross-sectional area A, area moment of inertia
of the cross-section about the neutral axis J, initial tension P, shape factor k, modulus of elasticity E, axial
tension N, beam shearing modulus G, travel at the constant axial transport speed G between two simple
supports separated by distance L under the distributed external excitation F in the transverse direction. The
bending vibration can be described by two variables dependent on axial coordinate X and time T, namely,
transverse displacement Y(X, T) and angle of rotation of the beam cross-section C(X, T) due to the bending
moment.
Because shear deformations are considered, the angle of the beam y depends not only on the angle C but
also on the shear angle g:
yx; t cx; t  gx; t

(1)

The bending moment M(x, t) and shear force Q(x, t) are related to the corresponding deformations:
M EJc;x ,
AG
AG
c  y
c  Y ;x
Q M;x
k
k

(2)

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Coupled governing equations are obtained according to Newtons second law:

 Q;X dX cos y  rAY ;TT 2GY ;XT cos y G2 Y ;XX cos y dX
N sin y N;X dX sin y F dX 0,
rJc;TT  M;X Q 0

(3)

where F is the external transverse excitation. The axial tension N is composed of the initial tension and the
tension due to the transverse displacement:
N P 12EAY ;X 2

(4)

Substituting Eqs. (2) and (4) into Eq. (3) and using the approximate expressions cos y 1 and sin y y,x yield
the governing equation for the transverse vibration of axially moving Timoshenko beams:




kP kE
kP
3

rJ 1
Y ;XXTT  EJ 1
Y ;XXXX PY ;XX EAY ;2X Y ;XX
AG
G
AG
2
2
r Jk
3rEJk
Y ;TTTT G2 Y ;XXTT 2GY ;XTTT
Y ;2X Y ;XXTT 4Y ;X Y ;XT Y ;XXT

G
2G
rEJk
3E 2 Jk
2GY ;XXXT G2 Y ;XXXX 
Y ;2X Y ;XXXX
2Y ;X Y ;XX Y ;XTT 2Y ;2XT Y ;XX
G
2G
6Y ;X Y ;XX Y ;XXX 2Y ;3XX  rAY ;TT 2GY ;XT G2 Y ;XX F 0
(5)
The boundary conditions for the simple supports at both ends are

Y jX 0 0; Y jX L 0; EJc;X X 0 0;


EJc;X X L 0

(6)

It is assumed that the external transverse excitation is a spatially uniformly distributed periodic force as
F F1 cos(OT), where F1 is the excitation amplitude and O the excitation frequency.
Introduce the dimensionless variables and parameters
s
r
Y
X
P
rA
kJP
kJE
; k0
; vG
; k1
,
y 0:5 ; x ; t T
2
2
2
 L
L
P
rAL
GAL2
GA L
s
EA
J
EJ
rAL2
LF 1
; k3
; b 0:5r
(7)
;
k

;
o

O
k2
4
2
2
P
P

P
AL
PL
where e, a dimensionless small number, denotes the small but nite transverse deformation of beams.
Dimensionless parameter k0 associated with k1 accounts for the effects of shear distortion, parameter k2
represents the effect of nonlinearity, parameter k3 represents the effects of rotary inertia, and parameter k4
denotes the stiffness of the beam. Integer r indicates the order of the external excitation. For weak external
excitations, F1 is of order ey, and r 1; for strong external excitations, F1 is of order y, and r 0.
Substituting Eq. (7) into Eqs. (5) and (6) yields the dimensionless form:
y;tt 2vy;xt v2  1y;xx  k0 k1 k3  k0 v2 y;xxtt k1 k4  k1 v2 y;xxxx
k0 y;tttt 2vy;xttt  2k1 vy;xxxt
3 
 k2 y;2x y;xx k1 y;2x y;xxtt 4y;x y;xt y;xxt 2y;x y;xx y;xtt 2y;2xt y;xx
2

 k1 k2 y;2x y;xxxx 6y;x y;xx y;xxx 2y;3xx r b cosoT 0




0; y
0; y;xx 
0; y;xx 
0
y
x0

x1

x0

x1

(8)
(9)

Lee and Jang [7] proposed a set of governing equations for axially moving EulerBernoulli beams to
account for the momentum transport through both of the end boundaries. For the transverse vibration, their
equation differs from the traditional one with an additional y,xxtt term. However, the present investigation still
adopts the traditional formulation. It should be noticed that Eq. (8) contains term y,xxtt. Therefore, the
following analysis may be valid for models developed by Lee and Jangs approach.

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3. The multi-scale analysis

The method of multiple scales will be employed to Eq. (8). One assumes an expansion of dimensionless
displacement and its time derivatives
yx; t;  y0 x; T 0 ; T 1 ; T 2 y1 x; T 0 ; T 1 ; T 2 2 y2 x; T 0 ; T 1 ; T 2   
d
q
q
q


2
,
dt qT 0
qT 1
qT 2
 2

d2
q2
q2
q
q2
2

2

2
,
dt2 qT 20
qT 0 qT 1
qT 0 qT 2
qT 21
!
d3
q3
q3
q3
q3
2

3 2
3

,
dt3 qT 30
qT 0 qT 1
qT 0 qT 21 qT 20 qT 2
!
d4
q4
q4
q4
q4
2

4 3
 6 2 24 3

dt4 qT 40
qT 0 qT 1
qT 0 qT 1
qT 0 qT 2

(10)

(11)

3.1. Nonlinear vibrations under external excitations

First, we consider nonlinear vibrations under weak external excitations of axially moving beams on simple
supports based on the Timoshenko beam model. At r 1, substituting Eq. (10) into Eq. (8), and then
equalizing the coefcients e0 and e1 in the resulting equation, one obtains

0 :

q2 y 0
q4 y
q2 y0
q4 y0
q2 y
q4 y
k0 40 2v
2k0 v
v2  1 20  2k1 v 3 0
2
3
qx qT 0
qx
qx qT 0
qT 0
qT 0
qx qT 0
k0 k1 k3  k0 v2

4
q4 y0
2 q y0

k

k
v

0
1
4
1
qx4
qx2 qT 20

(12)

q 2 y1
q4 y
q2 y1
q4 y1
q2 y
q4 y
k0 41 2v
2k0 v
v2  1 21  2k1 v 3 1
2
3
qx qT 0
qx
qx qT 0
qT 0
qT 0
qx qT 0
k0 k1 k3  k0 v2

1 :

4
q4 y1
2 q y1

k

k
v

1
4
1
qx4
qx2 qT 20

 2 2
q2 y0
q4 y0
q2 y0
q4 y0
3
qy0 q y0
2
 4k0 3
 2v
 6k0 v
k2
2
qT 0 qT 1
qx qT 1
qx qx2
qT 0 qT 1
qx qT 0 qT 1 2
 2 2 2


3
q y0
q y0
qy0 q3 y0 q2 y0
q2 y0
3k1

3k

3k
k
1
1
2
qx qT 0 qx2
qx qx qT 20 qx2
qx2

(13)

qy0 q2 y0 q3 y0
q4 y0
2

2k

k

k
v

0
1
3
0
qx qx qT 0 qx2 qT 0
qx2 qT 0 qT 1
 2 4
2
3
3
qy0
q y0
qy0 q y0 q y0
q4 y0
k1

9k
k

2k
v
1
2
1
2
qx qx2 qT 20
qx qx2 qx3
qx3 qT 1
 2 4
3
qy0 q y0
 k1 k2
b cosot
2
qx qx4
6k1

The solution to Eq. (12) can be assumed as

n xA
n T 1 ; T 2 eion T 0
y0 fn xAn T 1 ; T 2 eion T 0 f

(14)

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Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

where fn and on denote the nth mode function and natural frequency and overbar represents complex
conjugate. Substituting Eq. (14) into Eqs. (12) and (9) yields


k0 fn o4n  2ik0 vf0n o3n k0 k1 k3  k0 v2 f00n  fn o2n 2ivf0n  k1 f000
n on
v2  1f00n k1 k4  k1 v2 f0000
n 0
fn 0 0;

fn 1 0;

(15)

f00n 0 0;

f00n 1 0

(16)

The solution to ordinary differential Eq. (15) can be expressed by

fn x C 1n eib1n x C 2n eib2n x C 3n eib3n x C 4n eib4n x

(17)

Substituting Eq. (17) into Eqs. (15) and (16) yields

k1 k4  k1 v2 b4in  2vk1 on b3in  k0 k1 k3 k0 v2 o2n 1  v2 b2in
2k0 vo3n  2von bin k0 o4n  o2n 0
0

B
2
B b1n
B ib
B e 1n
@
b21n eib1n

b22n

b23n

eib2n
2 ib2n
b2n e

eib3n
2 ib3n
b3n e

(18)
10

1
1
C
C
b24n CB
B C 2n C
C
B
CC 1n 0
eib4n C
A@ C 3n A
b24n eib4n
C 4n
1

For the nontrivial solution of Eq. (19), the determinant of the coefcient matrix must be zero:
 ib b

e 1n 2n eib3n b4n b21n  b22n b23n  b24n


eib1n b3n eib2n b4n b23n  b21n b22n  b24n


eib1n b3n eib1n b4n b22n  b23n b21n  b24n 0

(19)

(20)

Using Eqs. (19) and (20), one can obtain the modal function of the simply supported beam as follows:
(
b2  b21n eib3n  eib1n ib2n x b24n  b21n eib2n  eib1n ib3 x
e
e
 2
fx c1 eib1n x  4n
b24n  b22n eib3n  eib2n
b4n  b23n eib2n  eib3n
)
!
b24n  b21n eib3n  eib1n b24n  b21n eib2n  eib1n ib4n x
 1 2

(21)
e
b4n  b22n eib3n  eib2n b24n  b23n eib2n  eib3n
The nth eigenvalues bjn (j 1, 2, 3, 4) and the corresponding natural frequency can be calculated
numerically considering boundary conditions (9). Fig. 1 presents the natural frequencies for the rst and
second modes. It has been found that the natural frequencies decrease with increasing axial speed. The exact
value at which the rst natural frequency vanishes is called the critical speed and afterwards the system is
unstable about the zero equilibrium.
If the axial speed variation frequency approaches any natural frequency of the system (12), primary
response may occur. A detuning parameter s is introduced to quantify the deviation of o from on and o is
described by
o on s

(22)

where on denote the nth natural frequency of free vibration described by Eq. (12). To investigate the primary
response with the possible contributions of modes not involved in the resonance, the solution to Eq. (13) can
be expressed as
y0 fn xAn T 1 ; T 2 eion T 0 fm xAm T 1 ; T 2 eiom T 0 cc

(23)

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Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

10

1083

35

25

k4 = 0.64

k4 = 0.64

20

k4 = 0.36

2

k4 = 0.36

1

k4 = 1

30

k4 = 1

15

k4 = 0.16

k4 = 0.04

0.5

k4 = 0.16

10

k4 = 0.04

1.5

2.5

3.5

0.5

1.5


2.5

Fig. 1. Natural frequency diagram: (a) the rst mode and (b) the second mode.

where man. Substituting Eqs. (22) and (23) into Eq. (13) yields
q2 y1
q4 y1
q2 y1
q4 y1
q2 y1
q4 y1
2

2v

2k
v

v

1

2k
v
0
0
1
qx qT 0
qx2
qx3 qT 0
qT 20
qT 40
qx qT 30
q4 y
q4 y
 k0 k1 k3  k0 v2 2 1 2 k1 k4  k1 v2 41
qx
qx qT 0

qAn
2ion fn  2ik0 o3n fn vf0n  3k0 vo2n f0n  ik0 k1 k3  k0 v2 on f00n  k1 vf000
n
qT 1
3
0
00 2 00
2 0 2 00
0 f00 k2 f0 2 f
00
0 00 000
2k2 f0n f n f00n  2k1 o2n f0n f
n n  k 1 on f n fn  6k1 k2 f n fn  6k1 k2 fn fn fn
n n
2
0 0 0000
0 2 0000
0 0
00
00
2
2 0 0
00 f000  6k1 k2 f0 f00 f
000
 6k1 k2 f0n f
n n n  2k1 k2 fn fn fn  k 1 k2 f n fn An An 3k 2 fn fm fm  k 1 on fn fm fm
n n
0 f00  k1 o2 f0 f
0 f00 k2 f0 f0 f
00  k1 o2 f0 f0 f
00  6k1 k2 f00 f00 f
00  3k1 k2 f 0 f00 f000
k2 f0 f
m

m n
00 f000
3k1 k2 f0n f
m m

m n
0 f00 f000
3k1 k2 f
m m n
n

m n m
m n m
n m n m
0
0 00 000
0 00 000
0
00 000
3k1 k2 fm fm fn  3k1 k2 fn fm fm  3k1 k2 fm fn fm  k1 k2 f0n f m f0000
m
m

1 isT 1 ion T 0
0 f0000  k1 k2 f0 f0 f 0000 Am An A

b
e
k1 k2 f0m f

e
m
m n m
m n
2

2iom fm  2ik0 o3m fm vf0m  3k0 vo2m f0m  ik0 k1 k3  k0 v2 om f00m  k1 vf000
m

qAm
qT 1

3
0 2 00
00 2 00
2 0 2 00
0 00 000
0 f00  2k1 o2 f0 f
0 00
2k2 f0m f
m m
m m m fm k 2 f m fm  k 1 om f m fm  6k1 k2 f m fn  6k 1 k2 f m fm fm
2
0 0 00
2 0 0 00
00 f000  6k1 k2 f0 f00 f 000  2k1 k2 f0 f 0 f0000  k1 k2 f0 2 f
0000 2
 6k1 k2 f0m f
m m m
m m m
m m Am Am 3k2 fm fn fn  k 1 om fm fn fn
m m
0
0
00
00  6k1 k2 f00 f00 f
00  3k1 k2 f 0 f00 f000
k2 f0 f f00  k1 o2 f0 f f00 k2 f0 f0 f  k1 o2 f0 f0 f
n

0
00 000
0 00 000
0 0 0000
00 f000  3k1 k2 f
0 f00 f000  3k1 k2 f0 f
00 000
 3k1 k2 f0m f
n n fm  3k1 k2 fm fn fn  3k1 k2 fn fm fn  k 1 k2 fm fn fn
n n
n n m
0 f0000  k1 k2 f0 f0 f
0000
iom T 0 cc NST
 k1 k2 f0n f
(24)
n m n An Am An  e
n m

where the prime denotes derivation with respect to the dimensionless spatial variable x, cc stands for complex
conjugate of the proceeding terms, NST for non-secular terms, and h.o.t. for high orders of e.

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1084

The solvability condition, which demands orthogonal relationships, has been presented by Nayfeh [19]:


qAn
2ion fn  2ik0 o3n fn vf0n  3k0 vo2n f0n  ik0 k1 k3  k0 v2 on f00n  k1 vf000
n
qT 1
3
0 2 00
00 2 00
2 0 2 00
0 f00  2k1 o2 f0 f
0 00
0 00 000
2k2 f0n f
n n
n n n fn k 2 f n fn  k 1 on f n fn  6k1 k2 f n fn  6k1 k2 fn fn fn
2
0 00 000
0 0 0000
0 2 0000
2
 6k1 k2 f0n f00 n f000
n  6k 1 k2 fn fn f n  2k1 k2 fn fn fn  k 1 k2 f n fn An An
0
0
0 f00  k1 o2 f0 f 0 f00 k2 f0 f0 f 00  k1 o2 f0 f0 f 00
3k2 f0n f m f00m  k1 o2n f0n f m f00m k2 f0m f
m n m
n m m n
n m n m
m n
0
0
00 00 00
00 000
0 00 000
00 000
0 00 000

 6k1 k2 f f f  3k1 k2 f f f  3k1 k2 f f f  3k1 k2 f f f  3k1 k2 f f f

m n m
3k1 k2 f0n f00m f000 m

1
b eisT 1 ; fn
2

n m
0
3k1 k2 fm f00n f000 m

m m
0 0
k1 k2 fn fm f0000
m

m m n
0 f0000
k1 k2 f0m f
m n

m m n
0000 jAm j2 An
k1 k2 f0m f0n f
m

(25)

qAm
qT 1

2iom fm  2ik0 o3m fm vf0m  3k0 vo2m f0m  ik0 k1 k3  k0 v2 om f00m  k1 vf000
m

3
0 2 00
00 2 00
2 0 2 00
0 f00  2k1 o2 f0 f
0 00
0 00 000
2k2 f0m f
m m m fm k 2 f m fm  k 1 om f m fm  6k1 k2 f m fn  6k1 k2 fm fm fm
m m
2
00
0
00 000
0 0
0000
0 2 0000
0 0 00
2
 6k1 k2 f0m f m f000
m  6k1 k2 fm fm f m  2k1 k2 fm fm fm  k 1 k2 f m fm Am Am 3k2 fm fn fn
0
0 f00  k1 o2 f0 f
0 f00 k2 f0 f0 f
00  k1 o2 f0 f0 f
00  6k1 k2 f00 f00 f
00
 k1 o2 f0 f f00 k2 f0 f
m

m
0

00

m
0

00

000

0
000
0
000
0
00
00 000
 3k1 k2 f n f00m f000
n  3k1 k2 fm fn fn  3k1 k2 fn fn fm  3k1 k2 fn fn fm  3k1 k2 fm fn fn


0
0 0 0000
0 0 0000
2
3k1 k2 f0n f00m f000 n  k1 k2 f0m f n f0000
0
n  k 1 k2 fn fn fm  k 1 k2 fn fm fn jAn j Am ; fm

(26)

where the inner product is dened for complex functions on [0,1] as

Z
hf ; gi

f g dx

(27)

Application of the distributive law of the inner product to Eqs. (25) and (26) leads to
qAn
n mnm jAm j2 An bwn eisT 1 0
kn A2n A
qT 1

(28)

qAm
m mmn jAn j2 Am 0
km A2m A
qT 1

(29)

where

Z 1
Z 1
Z 1
Z 1
3
2
0 0 00
0 0 00
0 2 00
2
2
n dx
2k2
kn 
fn fn fn fn dx  2k1 on
fn fn fn fn dx k2
f n f n fn dx  k1 on
f0 n f00 n f
2
0
0
0
0
Z 1
Z 1
Z 1
Z 1
00 2 00
0
00 000
0 00
000

 6k1 k2
f n f n fn dx  6k1 k2
fn f n fn fn dx  6k1 k2
f0n f00n f000 n f n dx
f n fn fn fn dx  6k1 k2
0
0
0
0
 
Z 1
Z 1
Z 1
Z 1
0 0
0000
0 2 0000
n dx  2ik0 o3
n dx
2k1 k2
fn f n fn fn dx  k1 k2
f n fn fn dx
2 ion
fn f
fn f
n
0

v
0

n dx  3k0 vo2
f0n f
n

Z
0

f0n f n dx  ik0 k1 k3  k0 v2 on

Z
0

f00n f n dx  k1 v

Z
0

f000
n fn dx


(30a)

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Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

 Z
mnm  3 k2
 k1 o2n

0
1

n dx k2
f0m f 0 m f00n f

 6k1 k2
0

f0n f 0 m f00m f n dx  k1 o2n

 3k1 k2
0

n
f00m f00n f00 m f

n dx k2
f0n f 0 m f00m f

0
1

f0m f0n f00 m f n dx  k1 o2n

Z

dx  3k1 k2

f
0

f 0 m f00m f000
n fn dx  3k1 k2

0
1

n dx
f0m f 0 m f00n f
f0m f0n f00 m f n dx
Z

 3k1 k2
0

f0m f00 m f000

n fn dx  3k1 k2
Z

3k0 vo2n
Z

wn 
0

f n dx

f0n f 0 m f0000
m fn

f0n f00 m f000

m fn dx

n dx
f0n f00m f000 m f

0
1

 k1 k2
dx  k1 k2
f0m f 0 m f0000
n fn dx
0
0
0
 
Z 1
Z 1
Z 1
Z 1
0
0 0000
k1 k2
fm fn fm fn dx
2 ion
fn f n dx  2ik0 o3n
fn f n dx v
f0n f n dx
 3k1 k2

f0m f00n f000 m f n dx

00 000
m fn fm fn dx

1085

f0n f n dx  ik0 k1 k3  k0 v2 on

 
Z
4 ion
0

n dx  2ik0 o3
fn f
n

ik0 k1 k3  k0 v2 on

n dx  k1 v
f00 n f

Z
0

n dx v
fn f

f00n f n dx  k1 v

f000
n fn dx

n dx  3k0 vo2
f nf
n
0


000
f n fn dx


(30b)

f0 n f n dx

(30c)

Express the solution to Eqs. (28) and (29) in polar form

An an T 1 ; T 2 eibn T 1 ;T 2 ,
Am am T 1 ; T 2 eibm T 1 ;T 2

(31)

Substituting Eq. (31) into Eq. (29) yields

qam
Rekm b3m  Remmn jAn j2 bm ,
qT 1
qb
am m Imkm b3m  Immmn jAn j2 bm
qT 1

(32)

For steady-state solutions, the amplitude am and the new phase bm angle in Eq. (32) should be constant.
Setting a0m 0 and b0m 0 gives
0 Rekm b3m  Remmn jAn j2 bm ,
0 Imkm b3m  Immmn jAn j2 bm

(33)

Eq. (33) obviously has a zero solution. If we assume that there is a non-zero solution, Eq. (33) yields
0 Rekm b2m  Remmn jAn j2 ,
0 Imkm b2m  Immmn jAn j2

(34)

The two equations in Eq. (34) cannot come into existence at the same time. Thus, the assumption is wrong.
The solution to Eq. (29) has only zero stationary solution and decays to zero exponentially. Therefore, the mth
mode has actually no effect on the stability.
Substituting Eq. (31) into Eq. (28) and eliminating the mth mode yields
qan
b Rewn cos yn b Imwn sin yn ,
qT 1
qyn
an
an s Imkn a3n b Rewn sin yn b Imwn cos yn
qT 1

(35)

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Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

where
yn sT 1  bn

(36)

For steady-state solutions, the amplitude an and the new phase yn angle in Eq. (35) should be constant. Setting
a0n 0 and y0n 0 leads to
s Imkn a2n 

b
jw j
an n

(37)

ana0 in Eq. (35) yields

qan
b Rewn cos yn b Imwn sin yn ,
qT 1
qyn
b
b
s Imkn a2n Rewn sin yn Imwn cos yn
an
an
qT 1

(38)

The stability of the nontrivial state can be obtained by perturbing these polar modulation equations and
checking the eigenvalues of the resulting Jacobian matrix.
To determine the stability of the nontrivial state, these equations are perturbed to obtain


qan
qyn T
D
;D
JfDan ; Dyn gT
(39)
qT 1 qT 1
where T denotes transpose.
The Jacobian matrix whose eigenvalues determine the stability and bifurcations of the system is
0
1
0
san  Imkn a3n
A
J@s
3 Imkn an
0
an

(40)

The J-matrix characteristic function




l2 s Imkn a2n s 3Imkn a2n 0

(41)

where l is an eigenvalue of the system. Based on RouthHurwitz theorem, the boundary of instability yields



s Imkn a2n s 3 Imkn a2n 0
(42)
Consider an axially moving beam with k4 0.64 and v 2.0. The response amplitudes at exact resonance
for the rst two natural frequencies are shown in Fig. 2. The rst two natural frequencies of the unperturbed
system are o1 4.7393 and o2 23.7017. In the rst-mode response, the coefcients are b 0.04,
k2 100,000, and in the second-mode response, the coefcients are b 0.1, k2 100,000.
Fig. 3 shows the effects of a different parameter k2. With an increase of k2, response under the same
conditions decreases. In the rst-mode response, the coefcient is b 0.04, and in the second-mode response,
the coefcient is b 0.1. The solid lines are for coefcient k2 50,000, the dashed for coefcient
k2 100,000, and the dotted lines for coefcient k2 150,000.
The effects of the foundation vibration amplitude on the response amplitudes are illustrated in Fig. 4. From
the response diagrams, it is clear that the excitation amplitudes increase the amplitude of the excited system.
The coefcient is k2 100,000. In the rst-mode response, the solid lines are for coefcient b 0.02, the
dashed for coefcient b 0.04, and the dotted lines for coefcient b 0.06. In the second-mode response, the
solid lines are for coefcient b 0.05, the dashed are for coefcient b 0.1, and the dotted lines for coefcient
b 0.15.
The stability of the response amplitudes is illustrated in Fig. 5. In the rst-mode response, the coefcients
are b 0.04 and k2 100,000. In the second-mode response, the coefcients are b 0.1 and k2 100,000.
The solid lines denote the response amplitudes and the dashed denote the boundary of instability.

ARTICLE IN PRESS
Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

10-3

1087

10-4

0.8

5
0.6
an

an

4
3

0.4

2
0.2
1
0
-10

-5

0


0
-10

10

-5

0


10

10

Fig. 2. Response amplitudes diagram: (a) the rst mode and (b) the second mode.

10-3

10-4

6
0.8
5
0.6
an

an

4
3

0.4

2
0.2
1
0
-10

-5

0


10

0
-10

-5

0


Fig. 3. Comparison of response amplitudes of a different parameter k2: (a) the rst mode and (b) the second mode.

The inner region of the boundary of instability is unstable and the outer is stable. Thus a jump phenomenon
appears.
3.2. Nonlinear vibrations under strong external excitations
Next, we consider nonlinear vibrations under strong external excitations of axially moving beams on simple
supports based on the Timoshenko beam model. At r 0, substituting Eq. (10) into Eq. (8), and then

ARTICLE IN PRESS
Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

1088

10-3

10-4

6
0.8
5
0.6
an

an

4
3

0.4

2
0.2

-10

-5

0


10

-10

-5

0


10

Fig. 4. Comparison of response amplitudes of different excitation amplitudes b: (a) the rst mode and (b) the second mode.

10-3

10-4

0.8

5
0.6
an

an

4
3

0.4

2
0.2

0
-10

-5

0


10

0
-10

-5

0


10

Fig. 5. Stability of the response amplitudes: (a) the rst mode and (b) the second mode.

equalizing the coefcients e0 and e1 in the resulting equation, one obtains

0 :

q2 y0
q4 y0
q2 y0
q4 y0
q2 y0
q4 y0
2

2v

2k
v

v

1

2k
v
0
0
1
qx qT 0
qx2
qx3 qT 0
qT 20
qT 40
qx qT 30
q4 y
q4 y
k0 k1 k3  k0 v2 2 0 2 k1 k4  k1 v2 40 b cosoT 0
qx
qx qT 0

(43)

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Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

1089

q2 y1
q4 y1
q2 y1
q4 y1
q2 y1
q4 y1
2

2v

2k
v

v

1

2k
v
0
0
1
qx qT 0
qx2
qx3 qT 0
qT 20
qT 40
qx qT 30
k0 k1 k3  k0 v2

1 :

4
q4 y1
2 q y1

k

k
v

1
4
1
qx4
qx2 qT 20

 2 2
q2 y0
q4 y0
q2 y0
q4 y0
3
qy0 q y0
k
2
 4k0 3
 2v
 6k0 v
2
qT 0 qT 1
qx qT 1
qx qx2
qT 0 qT 1
qx qT 20 qT 1 2
 2 2 2
 2 3
q y0
q y0
qy0 q3 y0 q2 y0
q y0
3k1
3k1
 3k1 k2
qx qT 0 qx2
qx qx qT 20 qx2
qx2

(44)

qy0 q2 y0 q3 y0
q4 y0
2

2k

k

k
v

0
1
3
0
qx qx qT 0 qx2 qT 0
qx2 qT 0 qT 1
 2 4
 2 4
3
qy0
q y0
qy0 q2 y0 q3 y0
q4 y0
3
qy0 q y0
k
k1

9k
k

2k
v

k
1 2
1
1 2
2
qx qx2 qT 20
qx qx2 qx3
qx3 qT 1 2
qx qx4
6k1

Express the solution to Eq. (43) in the following form:

y0 x; T 0 ; T 1 ; T 2 fxqT 0 ; T 1 ; T 2 cc

(45)

where f(x) is the complex mode function satisfying the boundary condition. The mode function has been
calculated above in Eq. (21).
Substituting Eq. (45) into Eq. (43), multiplying both sides by f(x), and integrating on [0,1] gives
___

q4 a1 q a2 q a3 q_ a4 q h cosoT 0

(46)

where
R1
R1
R1
R1 2
00
2
2v 0 ff0 dx
b 0 f dx
0 f dx  k0 k 1 k 3  k 0 v 0 ff dx
a1 R 1 2
; a2
; h R1 2 ,
R1
k0 0 f2 dx
k0 0 f dx
0 f dx
R

R1
1
R
R1
0
000
1
2v 0 ff dx  k1 0 ff dx
v2  1 0 ff00 dx k1 k4  k1 v2 0 ff0000 dx
; a4
a3
R1
R1
k0 0 f2 dx
k0 0 f2 dx

(47)

Express the solution to Eq. (46) in polar form

q AT 1 ; T 2 eio0 T 0 B eioT 0

(48)

h
2o4  ia1 o3  a2 o2 ia3 o a4

(49)

Substituting Eq. (48) into (46) yields

B
The solution of Eq. (43) is
y0 x; T 0 ; T 1 ; T 2 fxAT 1 ; T 2 eio0 T 0 B eioT 0 cc
Substituting Eq. (50) into Eq. (44) yields
q2 y1
q4 y1
q2 y1
q4 y1
q2 y1
q4 y1
2

2v

2k
v

v

1

2k
v
0
0
1
qx qT 0
qx2
qx3 qT 0
qT 20
qT 40
qx qT 30
 k0 k1 k3  k0 v2

4
q4 y1
2 q y1

k

k
v

1
4
1
qx4
qx2 qT 20

3
2
3
2
 9k1 o20  k2 f0 f00 2k1 k2 f00 6k1 k2 f0 f00 f000 k1 k2 f0 f0000 A3 e3io0 T 0
2

(50)

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Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

3
2
3
2
 9k1 o2  k2 f0 f00 2k1 k2 f00 6k1 k2 f0 f00 f000 k1 k2 f0 f0000 B3 e3ioT 0
2
9
2
3
 k2 k1 o2 4k1 oo0 4k1 o20 f0 f00 2k1 k2 f00 6k1 k2 f0 f00 f000
2
2
k1 k2 f0 f0000 A2 B eio2o0 T 0
2
2
3
 k2 k1 o2  4k1 oo0 4k1 o20 f 0 f00 2f0 f 0 f00 6k1 k2 f00 f00
2
2
0000 A
2 B eio2o0 T 0
6k1 k2 f 0 f00 f000 f 0 f00 f000 f0 f00 f000 k1 k2 f0 f0000 2f0 f 0 f
9
2
3
 k2 k1 o20 4k1 oo0 4k1 o2 f0 f00 2k1 k2 f00 6k1 k2 f0 f00 f000
2
2
k1 k2 f0 f0000 AB2 eio0 2oT 0
2
2
3
 k2 k1 o20  4k1 oo0 4k1 o2 f 0 f00 2f0 f 0 f00 6k1 k2 f00 f00
2
2
0000 AB 2 eio0 2oT 0
6k1 k2 f 0 f00 f000 f 0 f00 f000 f0 f00 f000 k1 k2 f 0 f0000 2f0 f 0 f
2
2
 f3k1 o2  k2 f0 f00 2f0 f 0 f00 6k1 k2 f00 f00 f 0 f00 f000 f0 f00 f000 f0 f00 f000

0 f0000 k1 k2 f0 2 f
0000 ABA

2k1 k2 f0 f
3
2
2
k1 o2  k2 f0 f00 2f0 f 0 f00 6k1 k2 f00 f00 f 0 f00 f000 f0 f00 f000 f0 f00 f000
2
0 f0000 k1 k2 f0 2 f
0000 B2 Bg
eioT 0
2k1 k2 f0 f

2
2
 3k1 o20  k2 f0 f00 2f0 f 0 f00 6k1 k2 f00 f00 f 0 f00 f000 f0 f00 f000 f0 f00 f000
0 f0000 k1 k2 f0 2 f
0000 ABB

2k1 k2 f0 f
3
2
2
k1 o20  k2 f0 f00 2f0 f 0 f00 6k1 k2 f00 f00 f 0 f00 f000 f0 f00 f000 f0 f00 f000
2
0 f0000 k1 k2 f0 2 f
0000 A2 A

2k1 k2 f0 f
2io0 1  2k0 o20 f v1  3k0 o20 f0  io0 k0 k1 k3  k0 v2 f00

000 qA
k1 vf 
eio0 T 0 cc NST h:o:t:
qT 1

(51)

where the prime denotes derivation with respect to dimensionless spatial variable x, cc stands for complex
conjugate of the proceeding terms, NST for non-secular terms, and h.o.t. for high orders of e.
3.2.1. Nonsyntonic excitations
When the frequency o is far from 0, o0, o0/3, and 3o0, the solvability condition demands the orthogonal
relationship

2
2
3k1 o20  k2 f0 f00 2f0 f 0 f00 6k1 k2 f00 f00 f 0 f00 f000 f0 f00 f000 f0 f00 f000
2 0000
2k1 k2 f0 f 0 f0000 k1 k2 f0 f
ABB
3
2
2
k1 o20  k2 f0 f00 2f0 f 0 f00 6k1 k2 f00 f00 f 0 f00 f000 f0 f00 f000 f0 f00 f000
2
2 0000 2
2k1 k2 f0 f 0 f0000 k1 k2 f0 f
A A

2io0 1  2k0 o20 f v1  3k0 o20 f0  io0 k0 k1 k3  k0 v2 f00


qA
k1 vf000 
;f 0
qT 1

(52)

ARTICLE IN PRESS
Y.-Q. Tang et al. / Journal of Sound and Vibration 320 (2009) 10781099

where the inner product is dened for complex functions on [0,1] as

Z 1
hf ; gi
f g dx

1091

(53)

Application of the distributive law of inner product to Eq. (52) leads to

kA2 A
wABB

qA
0
qT 1

(54)

where



Z 1
0 0 00

00 2 f00 dx
w3
 k2
ff f f dx 6k1 k2
ff
0
0
0

Z 1
Z 1
Z 1
f 0 f00 f000 dx
0 f00 f000 dx
0 f00 f000 dx 2k1 k2

f
ff
ff
k1 o20

0
1

Z

0 2 f00 dx 2
ff

0 f 0 f0000 dx k1 k2
ff

0
1

0 dx  io0 k0 k1 k3  k0 v2
ff
0
0

Z 1
Z 1
00
000


ff dx  k1 v
ff dx


dx v1  3k0 o2
ff
0

 
0 2 f 0000 dx
ff
2 io0 1  2k0 o20

(55a)

1
k w
2

(55b)

These coefcients in Eq. (55) can be determined by the natural frequencies and the modal functions calculated
from Eq. (12) with the boundary condition. Consider the transformation
A a1 T 1 ; T 2 eia2 T 1 ;T 2 ,
B b1 eib2

(56)

Substituting Eq. (56) into Eq. (54) yields

qa1
a31 kR  a1 b21 wR
qT 1

(57a)

qa2
a21 kI  b21 wI
qT 1

(57b)

y0 a1 coso0 t a2 B cosot O

(58)

The rst approximate solution is

These coefcients a1 and a2 can be determined from Eqs. (57a) and (57b). The amplitude of the free-vibration
term will be attenuated. Steady-state response will be only forced vibration term.
3.2.2. Superharmonic resonances and response amplitudes
To study the superharmonic resonances, a detuning parameter s is introduced to quantify the deviation and
o is described by
3o o0 s

(59)

Solvability requires
zB3 eisT 1
kA2 A
wABB

qA
0
qT 1

(60)

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1092

where

w3

k1 o20
Z

0
1

Z

 k2

0 2 f00 dx 2
ff

f 0 f00 f000 dx
f

00 2 f00 dx
ff


0 00 000

ff f f dx 2k1 k2

0 f 0 f0000 dx k1 k2
ff

0
1


Z
ff0 f 0 f00 dx 6k1 k2

0 f00 f000 dx
ff

0
1

0 dx  io0 k0 k1 k3  k0 v2
ff
0
0

Z 1
Z 1
00
000


ff dxk1 v
ff dx


dx v1  3k0 o2
ff
0

 
0 2 f 0000 dx
ff
2 io0 1  2k0 o20

(61a)

1
k w
2

(61b)


Z 1
Z 1
Z 1
3
0 2 00
00 3
2

0 f00 f000 dx
k1 o0  k2
z
ff f dx 2k1 k2
ff dx 6k1 k2
ff
2
0
0
0
 
Z 1
Z 1
Z 1
0 2 f0000 dx
dx v1  3k0 o2
0 dx
k1 k2
ff
ff
ff
2 io0 1  2k0 o20
0
0

io0 k0 k1 k3  k0 v2

00 dx  k1 v
ff

0
1


000 dx
ff

(61c)

Consider the transformation

A a1 T 1 ; T 2 eia2 T 1 ;T 2 ;

B b1 eib2

(62)

Substituting Eq. (62) into Eq. (60) yields

qa1
a31 kR  a1 b21 wR  b31 zR cos3b2 sT 1  a2  zI sin3b2 sT 1  a2 
qT 1
a1

qa2
a31 kI  a1 b21 wI  b31 zR sin3b2 sT 1  a2 zI cos3b2 sT 1  a2 
qT 1

(63a)

(63b)

Then, we change Eq. (63) into an autonomous system

qa1
a31 kR  a1 b21 wR  b31 zR cosg  zI sing
qT 1

(64a)

qg
b3
s a21 kI b21 wI 1 zR sing zI cosg
qT 1
a1

(64b)

g 3b2 sT 1  a2

(65)

where

For steady-state solutions, the amplitude a1 and the new phase g angle in Eq. (64) should be constant. Setting
a01 0 and g0 0 and then eliminating from Eq. (64) leads to
q
b61 zI 2 zR2  a21 a21 kR b21 wR 2
2 I
2 I
s a1 k b1 w 
(66)
a1

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1093

When a1a0 in Eq. (64), the Jacobian matrix characteristic function of the balanced solution on the right
hand,
l2 22a21 kR b21 wR l 3a21 kR b21 wR a21 kR b21 wR
s a21 kI b21 wI s 3a21 kI b21 wI 0

(67)

where l is an eigenvalue of the system. Based on RouthHurwitz theorem, the boundary of instability yields
3a21 kR b21 wR a21 kR b21 wR s a21 kI b21 wI s 3a21 kI b21 wI 0

10-3

0.8

(68)

10-4

an

an

0.6
2

0.4
1

0.2

0
-10

-5

0


10

-5

0


Fig. 6. Response amplitude diagram: (a) the rst mode and (b) the second mode.

10-3

0.8

10-4

an

an

0.6
2

0.4
1

0.2

0
-10

-5

0


10

-5

0


Fig. 7. Comparison of response amplitudes of a different parameter k2: (a) the rst mode and (b) the second mode.

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1094

10-3

0.8

10-4

an

an

0.6
2

0.4
1

0.2

0
-10

-5

0


10

-5

0


Fig. 8. Comparison of response amplitudes of different excitation amplitudes b: (a) the rst mode and (b) the second mode.

Consider an axially moving beam with k4 0.64 and v 2.0. The response amplitudes at exact resonance
for the rst two natural frequencies are shown in Fig. 6. The rst two natural frequencies of the unperturbed
system are o1 4.7393 and o2 23.7017. In the rst-mode response, the coefcients are b 0.03,
k2 100,000, and in the second-mode response, the coefcients are b 0.5, k2 100,000.
Fig. 7 indicates the effects of a different parameter k2. With an increase of k2, response under the same
conditions decreases. In the rst-mode response, the coefcient is b 0.03, and in the second-mode response,
the coefcient is b 0.5. The dotted lines are for coefcient k2 50,000, the dashed for coefcient
k2 100,000, and the solid lines for coefcient k2 150,000.
The effects of the external excitation amplitudes on the response amplitudes are illustrated in Fig. 8. From
the response diagrams, it is clear that the external excitation amplitudes increase the amplitude of the excited
system. The coefcient here is k2 100,000. In the rst-mode response, the solid lines are for coefcient
b 0.05, the dotted lines for coefcient b 0.04, and the dashed for coefcient b 0.03. In the second-mode
response, the solid lines are for coefcient b 0.7, the dotted lines for coefcient b 0.5, and the dashed for
coefcient b 0.3.
The stability of the response amplitudes is illustrated in Fig. 9. In the rst-mode response, the coefcients
are b 0.03 and k2 100,000. In the second-mode response, the coefcients are b 0.7 and k2 100,000.
The solid lines denote the response amplitudes and the dashed denote the boundary of instability.
The inner region of the boundary of instability is unstable and the outer is stable. Thus a jump phenomenon
appears.
3.2.3. Subharmonic resonances and responses amplitudes
To study the subharmonic resonances, a detuning parameter s is introduced to quantify the deviation and o
is described by
o 3o0 s

(69)

zA
2 B eisT 1 qA 0
wABB kA2 A
qT 1

(70)

Solvability requires

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10-3

10-4

0.8

1095

an

an

0.6
2

0.4
1

0.2

-5

10

-5

0


Fig. 9. Stability of the response amplitudes: (a) the rst mode and (b) the second mode.

where

Z
w 3 k1 o20  k2
Z

0
1

Z


0 2 f00 dx 2
ff

f 0 f00 f000 dx
f

Z
0


0
Z 1

0 f 0 f0000 dx k1 k2
ff

00 2 f00 dx
ff


0 00 000

ff f f dx 2k1 k2

1
0

dx v1  3k0 o2
ff
0
00 dxk1 v
ff


Z
0 f 0 f00 dx 6k1 k2
ff

0 f00 f000 dx
ff

0
1

0
1

 
ff0 2 f dx
2 io0 1  2k0 o20
0000

0 dx  io0 k0 k1 k3  k0 v2
ff


000 dx
ff

(71a)

1
k w
2

Z 1

Z 1
Z 1
2
3
0 f 0 f00 dx 6k1 k2
00 f00 2 dx
z
k1 o20  k2
f f 0 f00 dx 2
ff
ff
2
0
0
0
Z 1

Z 1
Z 1
0
00
000
0
00
000
0
00
000

6k1 k2
ff f f dx
ff f f dx
ff f f dx
Z
k1 k2

0
1

02

f f f0000 dx 2

Z


Z
0

0
1

  
Z
2
ff0 f 0 f 0000 dx
2 io0 1  2k0 o0

0 dxio0 k0 k1 k3  k0 v2
ff

(71b)

00 dx  k1 v
ff

000 dx
ff

dx v1  3k0 o2
ff
0


(71c)

Consider the transformation

A a1 T 1 ; T 2 eia2 T 1 ;T 2 ;

B b1 eib2

(72)

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Substituting Eq. (72) into Eq. (70) yields



qa1
a31 kR  a1 b21 wR  a21 b1 zR cosb2 sT 1  3a2  zI sinb2 sT 1  3a2
qT 1

(73a)



qa2
a21 kI  b21 wI  a1 b1 zR sinb2 sT 1  3a2 zI cosb2 sT 1  3a2
qT 1

(73b)

Then, we change Eq. (73) into an autonomous system

qa1
a31 kR  a1 b21 wR  a21 b1 zR cos g  zI sin g
qT 1

(74a)

qg
s 3a21 kI 3b21 wI 3a1 b1 zR sing zI cos g
qT 1

(74b)

g b2 sT 1  3a2

(75)

where

For steady-state solutions, the amplitude a1 and the new phase g angle in Eq. (74) should be constant. Setting
a01 0 and g0 0 and then eliminating from Eq. (74) leads to
q
s 3a21 kI b21 wI  3 a21 b21 zI 2 zR2  a21 kR b21 wR 2
(76)
When a1a0 in Eqs. (74), the J-matrix characteristic function of balanced solution on the right hand,
l2 22a21 kR b21 wR l 3a21 kR b21 wR a21 kR  b21 wR
s
s

 a21 kI b21 wI 0
 3 a21 kI b21 wI
(77)
3
3
where l is an eigenvalue of the system. Based on RouthHurwitz theorem, the boundary of instability yields
s
s

a21 kI b21 wI
 a21 kI b21 wI 0
a21 kR b21 wR a21 kR  b21 wR 
(78)
3
3
Consider an axially moving beam with k4 0.64 and v 2.0. The response amplitudes at frequencies three
times those of exact resonance for the rst two natural frequencies are shown in Fig. 10. The rst two natural

10-3

10-3

0.8

0.6

0.6
an

an

0.8

0.4

0.4

0.2

0.2

10

15

20

25

20

40


Fig. 10. Response amplitude diagram: (a) the rst mode and (b) the second mode.

60

80

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1097

frequencies of the unperturbed system are o1 4.7393 and o2 23.7017. In the rst-mode response, the
coefcients are b 0.03, k2 100,000, and in the second-mode response, the coefcients are b 5,
k2 100,000.
Fig. 11 shows the effects of a different parameter k2. In the rst-mode response, the coefcient is b 0.03,
and in the second-mode response, the coefcient is b 5. The dotted lines are for coefcient k2 50,000, the
dashed for coefcient k2 100,000, and the solid lines for coefcient k2 150,000.
The effects of the external excitation amplitudes on the response amplitudes are illustrated in Fig. 12. From
the response diagrams, it is clear that the excitation amplitudes increase the amplitude of the excited system.
The coefcient is k2 100,000. In the rst-mode response, the solid lines are for coefcient b 0.1, the dotted

10-3

0.8

0.6

0.6
an

an

0.8

10-3

0.4

0.4

0.2

0.2

10

20


30

40

20

40

60

80

100

Fig. 11. Comparison of response amplitudes of a different parameter k2: (a) the rst mode and (b) the second mode.

10-3

10-3
1

0.8

0.6

0.6
an

an

0.8

0.4

0.4

0.2

0.2

10

15

20

25

20

40


60

80

Fig. 12. Comparison of response amplitudes of different excitation amplitudes b: (a) the rst mode and (b) the second mode.

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10-3

0.6

0.6
an

0.8

an

0.8

10-3

0.4

0.4

0.2

0.2

10

15

20

25

20

40


60

80

Fig. 13. Stability of the response amplitudes: (a) the rst mode and (b) the second mode.

lines for coefcient b 0.06, and the dashed for coefcient b 0.03. In the second-mode response, the solid
lines are for coefcient b 5.5, the dotted lines for coefcient b 5, and the dashed for coefcient b 4.5.
The stability of the response amplitudes is illustrated in Fig. 13. In the rst-mode response, the coefcients
are b 0.03 and k2 100,000. In the second-mode response, the coefcients are b 5 and k2 100,000. The
solid lines denote the response amplitudes and the dashed denote the boundary of instability. The inner region
of the boundary of instability is unstable and the outer is stable. Thus a jump phenomenon appears.
4. Conclusions
In this investigation, nonlinear vibrations under weak and strong external excitations of axially moving
beam on simple supports are studied based on the Timoshenko beam model. A partial-differential nonlinear
equation is derived from Newtons second law. The multiple-scale method is used to discuss nonsyntonic
excitations, superharmonic resonances, and subharmonic resonances. The nontrivial steady-state response and
its existence conditions are presented. The system shows a typical muti-valued nonlinear phenomenon. The
numerical examples investigated reveal the following.
The natural frequencies decrease with an increase in the axial speed for simple supports. The rst natural
frequency vanishes at the critical speed and afterwards the system is unstable about the zero equilibrium.
The assumption that the primary response with the possible contributions of modes does not involve
resonance is wrong. The modes have only zero stationary solution, which decays to zero exponentially.
Therefore, the modes have actually no effect on the stability.
For the efforts of different parameters about nonlinear vibrations under weak and strong external
excitations, the response amplitudes increase with decreasing nonlinear effects, and with increasing external
excitation amplitudes.
Acknowledgements
This work was supported by the National Outstanding Young Scientists Fund of China (Project no.
10725209), the National Natural Science Foundation of China (Project no. 10672092), Shanghai Municipal
Education Commission Scientic Research Project (no. 07ZZ07), Innovation Foundation for Graduates of
Shanghai University (Project no. A.16-0101-07-011), and Shanghai Leading Academic Discipline Project
(no. Y0103).

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