Comparing the sets of e q u a c i o ~ (8) ai~ (17), we note the following.

~ e r e a s the first
equations of these sets exactly coincide, the second differ in insofar as the second equa-
tion of the set (17) is rendered more complicated by the increment 6~ which characterizes
the difference between the resonance and antiresonance frequencies.
Table 1 compares the results of calculations of the admittances according to the ap-
proximate expressions (8) and (17) with the exact values of Ym, Yn, Yr, and Ya obtained from
the rigorous equation
( 1 - - id31M) ~
r
~c r -
(i ~ GM) 1- ~]~ (1 --iGM)
(1 --is~M)

+ (I -- is~m) (I -- is~) • Vf-- i s ~ M ] (18)

for the following data of the piezoceramic: electromechanical coupling coefficient k31 =
0.3; dielectric, mechanical, and piezoelectric Q factors: Qe = 32, QM = 64, QEM = 20. It
is evident from the comparison of the calculations according to the exact equation (18) with
the calculations according to the approximate expressions (8) for Ym and Yn and (17) for
Yr and Ya that the errors of the approximate expressions (8) are 3.18% and 2.79% and those
of expressions (17) are 2.14% and 2.64%.
Thus, the mechanical, dielectric, and piezoelectric losses can be determined either
from the values of the maximum and minimum admittances or from the values of the admit-
tances at resonance and antiresonance along with the corresponding frequencies. However,
the determination of the losses according to expressions (17) will be more accurate than ac-
cording to (8).

LITERATURE CITED
i. W . P . Mason (ed.), Physical Acoustics, Vol. IA: Methods and Devices~ Academic Press,
New York (1964).
2. R. Holland, "Representation of dielectric, elastic, and piezoelectric losses by complex
coefficients," IEEE Trans. Sonics Ultrason., SU-14, No. i, 18-20 (1967).
3. G . E . Martin, "Dielectric, elastic, and piezoelectric losses in piezoelectric mate-
rials," in: Ultrasonics Symposium Proceedings, Milwaukee (1974), pp. 613-617~

DYNAMICS OF CONTINUOUS MULTISP~N BEAMS UNDER A MOVING FORCE

A. S. Dmitriev UDC 624.072.2..042.8.044

Unlike the theory of vibrations of single-span beam systems, on which an extensive bib-
liography is available, the dynamic behavior of continuous beam structures under a moving
load has been studied less thoroughly and evidently so because the solution of the problem
becomes more difficult as the number of beam spans increases [1-4]. In view of the known
advantages which continuous beam systems offer, however, additional studies of their inter-
action with a moving load are necessary.
In this study will be presented a general method of determining the dynamic deflections
of multispan beams with an arbitrary number of spans under a uniformly moving constant
force (Fig. i).
We will use the notation EI for the flexural stiffness of the beam, m for the mass per
unit length, I for the length of a span~ s for the number of spans, P for the moving force,
v for the velocity of the load, e << ~ for the length of the beam segment over which the
force is distributed, and z(x, t) for the dynamic deflection of the beam at section x at
time t.

Leningrad Institute of Railroad Transportation Engineers. Translated from Prikladnaya

Mekhanika~ Vol. 18, No. 2, pp. i09-I16, February, 1982. Original article submitted October
29, 1979.

0038-5298/82/1802-0179507.50 9 1982 Plenum Publishing Corporation 179

 v~
? v -- COnst
i p~

I
!~zfx.t }
Fig. i

The differential equation of flexural vibrations for this beam in the absence of resis-
tance forces, with rotational inertia and with the shearing effect disregarded, is

E 1 0 ~ z (x, t) O2z ~, 0
..... Ox~ "+ m ~2 = O,
when

O < x < ~ v t - - - ~ , vt + ~ <~ x < sl; (i)

O"z (x, t) 02z (x, t) P -- O,

E1 Ox 4 + m Ot2
when
S g
v t - - - f <<x <~ vt + ~ .
We now expand the deflections of the n-th span into a series of natural vibration modes

Zn(x,t)-~ 2 [in(t) X~n(x) (t'--= ii, i 2.... k,r .... oo), (2)

where i is the frequency number determined from the equation for the frequencies of beam vi-
bration, fin(t) is the i-th generalized coordinate, and Xin(X) is the corresponding vibra-
tion mode.
The function Xin(X) can generally be represented as the sum
. . i'~x 2_~ + iux (3)
X~,-. (x) = 7 _I_' O~nsm ---[-- + ct~ ch
a~. cos i~x din sh l

where ain , bin , Cin , din are some constant quantities.

We will transform Eq. (i) according to the Bubnov-Galerkin method, taking into account
the relation
d~Xi,, (x) i~
dx'* = ~ X ~ (x)

and the condition of orthogonality of beam vibration modes

s 9 nt

.t X~. (x) dx = F,t,

= (n.-1)l n=l (n--l)/

where F i is some constant quantity,

Then passing to the limit at ~ = 0 yields

(4)
dF" ~ X,,~ (t),

where ~ == --fi- is the i-th frequency of beam vibrations.

Introducing the variable

vt (5)

180
and the notation

iaV (6)

we rewrite Eq. (4) as

dT ~ (~) i~a ~ Pl ~
X~ (~). (7)

S i n c e to each of t h e s spans of t h e beam g e n e r a l l y corresponds its own a n a l y t i c a l form

of function Xin(X), for solving the problem it is necessary to integrate s equations of the
(7) kind. ~x~en considering the vibrations of the system during motion of the force along
the n-th span, moreover, one must take into account the effect of nonzero initial conditions
established by action of tbis force on all spans over which it has already moved, i.eo, on
the spans to the left of the n-th one.
If the beam prior to becoming loaded has been at static equilibrium, which corresponds
to zero initial conditions, then the solution to Eq. (7) will be the function

/,t~)-- i F ~ E i ~ ~ X~t ( J sin ~i~ (.~__~)d~

i ~ a ~Pta (0~<~-/1).
~ (8~.
0

while the force is moving along the first span and the function

P13 Xi~-! ( J sin i ~ (~ _ .~) d'~

+ j" X~ (J sin ~rc (g __ ~) (1 ~ ~ ~ n) (9)

n--I

while the force is moving along the n-th span.

After the load has left the beam (~ > s), the latter vibrates freely. For the i-th
generalized coordinate we have the relation

$ n

fu~ (~) -- iaaao:iFiEi Xu~ (~) sin ta~ (g _ x) dx (~ 2> s). (lO)
n=l n--I

To illustrate this method, we will determine the dynamic deflections of a five-span

beam. Utilizing the symmetry of the system, we first determine the mode and frequency spec-
trum of its antisymmetric vibrations. For this purpose we represent the deflections in the
three first spans of the beam in the form
Xl (xd -- a~cos uxl + b~sin uxl + clch ux~ + d~shux~ (0 ~< x~ ~< i);
X~ (xj ----azcosux2 q- Ozsin ux 2 q- 02 ch ux z q- d~ sh ux 2 (0 <~ x~ ~< O; (!l)

X 3 (xa) = aacos ux a + b a sin uxa + cach ux a + dash ux a

In expressions (ii) xl is read from support ! to the right, x2 is read from support 2
to the right, and xa is read from the center of the third span to the left.
The boundary conditions which represent zero deflections of the beam at its support
sections, zero bending moments at the first support and at the center of the third span,
also equal moments and equal shears at both second and third supports are

I a~X3(x~)[ =

X~(xdl.,=z=O; Xl(xJl.,=o=O; Xz(xl)j.~=~=o; Xa(x~)l ~=0;

181
 dXi (&) l dXa(x~) t ' d~X~(x~)_I d~X~(x~_) I .
,,:., := ,,.o'

aXe(x; I dX' (x') I 9 d~X~ (x~) d~X~ (x~) ]

dxa ..... x,=~ x,=.g

Inserting functions X~ (x~), Xa(xa), and Xa(xa) into these boundary conditions results
in the determinant
sin ul sh ul 0 0 0 0 0 0
0 0 1 0 1 0 0 0
0 0 cos ul sin ul ch ul sh ul 0 0

0 0 0 0 0 0 sin ~ut sh - ul
-~

cosul c h u l 0 --I 0 --I 0 0 = o. 0-2)

- - sin ul sh ut t 0 -- 1 0 0 0
ul ul
0 0 --sinul cosul s h u t c h u l cos~ ch

0 0 --cosul --sinul chul shul sin u12 sh~-Ul

Explication of this determinant yields, after a few transformations, the frequency equa-
tion for antis~mmetric beam vibrations
[2 (cos ul sh u[ - - sin ul ch ul) (sin ul - - sh ul) - - 4 (cos ul sh ul - - sin ul ch ul) ~

+ (sin ul - - sh ul)~ sin ~

ul = O. (13)

The roots of this equation are

t~ (i = 1.05; 1.32; 2; 2,05; 2,32; 4; oo). (14)
/r :z.=: T ' "9

Even integers i correspond to sinusoidal vibration modes

X~i (xO -:= sin iax~ . i~x2 . t-2
Xiz (x~) == sin - - - T - - ' Xia (x3) =" ( - - 1)-~- sin iaxa (15)
l ' 1

The other values of i correspond to modes

i~xz
X a (xO = sin - iaxi
- / - - - a,a sh - i~x~
- - 7 - - ,. X n (xa) = a~ cos 1

(i6)
iv~x2 i~xz iaxx3 _ , i~x~
-}- b~ sin ---7-- -t-di~ sh ~ ; Xia(xa) = bia sin - - 7 - - - - a~a sn - - T 9

Here

sin i~ 2 sin ire ch ir~--sin i~ cos ir~--cos i a s h i=

da = ~ , a~2 = sin i~; @' --= sin ia - - sh i~

(2 cos i~ sh ir~ ~ sh i~ ch ir~ -- sin ia ch irQ d u .

d~2 := sin i~ ~ sh irl '

4 (sin ix ch ir~ - - cos i a c h ix) cos --ff- bm sin J ~ -

bia = sin i~ - - sh ir~ ; dia =
sh i_._~_~
2

For the sinusoidal modes we have, after changing to the x-coordinate, the equation
i~tx (0 ~ x G 5 1 ~ , (17)
X~ (x) = sin

182
applicable to each span of the beam.
For the nonsinusoidal antisymanetric modes in spans 1-5 successively we have

X u(x)=sln~-a ash (O~.~x~l); Xiz(x) = a i z cosia T - - 1

--chi~(~--1)]+b~zsinir~(/--1)q-d~shi~x(/--1) (l~x~2f);

(18)
X~4 (x) [
%, tcos ire \ l

-]-d msh ix 7 - --

--dashin(~-- 5) (4l<x~5l).

We w i l l .now d e t e r m i n e t h e dynamic c h a r a c t e r i s t i c s , n a m e l y f r e q u e n c i e s and modes, o f sym-

m e t r i c deformations of the system. The boundary conditions here are the same as for anti-
symmetric vibrations, except the third one and the fifth one, which in this case will be

dX3 (x3). J = O; d 3X~ (x~) I = 0

corresponding to a zero rotation angle and a zero transverse force at the center of the
third span of the beam.
Explication of the determinant
s i n ut sh ul 0 0 0 0 0 0
0 0 1 0 1 0 0 0
0 0 cos ul sin ul ch ul sh ul 0 0
ut ul
0 0 0 0 0 0 cos - ~ ch T
eosul c h u l 0 --1 0 --1 0 0 =0, (19)
--sinul shut 1 0 --1 0 0 0
9 ul ul
0 0 --sin ul cos ul sh ul ch ul - - sln-~ sh ~ -

ul
0 0 - - cos ul - - sin ul ch ul sh ul cos - ~ - --

which has been set up taking into account the boundary conditions, yields the frequency equa ~
tion

[2 (cos ui sh ul - - sin ul ch ul) (sh ul - - sin ul)

-- 4 (cos ul sh ul -- sin ul ch ul) ~ + (sh ul - - sin ul) 2] cos - ul

~ - = O. (20)

This equation is satisfied by

u---- - 1 - ( / = 1; 1.18; 1A5; 2.18; 2,45; 3; ... oo). (2i)

Odd i n t e g e r s i correspond to sinusoidal modes

i~xt . ir~x2 . ~-l
.Xn(xO = sin - - 7 - - ; Xtz(xa) = - - s l n - - - ~ , X~3(x3) = (-- l) -~-- cos/~x3 (22)
t "
The other values of i correspond to relations for the two first spans which are identi-
cal to the first two of relations (16) and the relation

183
 TABLE 1

Spans I 2
II
Z max 1,05 1,25 1,39 1,56 1,87

X~3 (xs) = bis cos "nx----2-s;- - d~sc h ' ~ 9- , (23)

1
for the third span, with
in
4 (sin in ch in --cos in sh in) sin ~- bi3 COS i ~
2
bi3 = sin in - - sh in '
ch ...~ ..
2
After changing to the x-coordinate, we have for the sinusoidal modes
inx
X~(x)=sin--- T- (O~.x~5/), (24)

and for the other modes

Xit(x) = s m ~ (O~x~l); Xv2(x)---a/z cosin -- 1

--chi~(/--1)]+bnsinin(@--1)-q-d~zshin(+--1) (l<~x<~21);

Xis(x) = biscosin . x
l
_diachin (. 5
2
x
l
/ (2l<~x~3l); (25)

Xi,(x)=a,z[cos;n(4--+)--chiz(4--1)]+b,~sinin(4--@)

It is quite e v i d e n t t h a t r e l a t i o n s (17) and ( 2 4 ) , w h i c h d e s c r i b e a n t i s y m m e t r i c and sym-

metric vibration modes r e s p e c t i v e l y , are identical. I n a s m u c h a s f o r t h e s e modes
5l
~ x~ (x) dx = 5t
2 '
0
the differential e q u a t i o n for the i-th generalized coordinate will be

d~fi (~) i2n2 pl3

dg2 + ~ f~(~)-- 5izn%~Ei sinin~ tO~<~5). (26)

For nonsinusoidal modes o f a n t i s y m m e t r i c vibrations* we h a v e

d2[i (~) i~n z pl 3

d~2 .-}---~i f/(~) = i2n2a~F/EI (sin i~t~--d/tshin~) ( 0 ~ 1);

pl s
= i~n~a~FiE1 {aiz [cos iz (~ - - 1) - - ch in (g - - 1)] --}-biz sin in (.~ - - 1)

+d/zshlz(~-- 1)} ( 1 ~ < ~ 2 ) ; -- i~z2a~FiEl bissinin -- ~ --

*As in original Russian -- Consultants Bureau.

184
 -- d~a sh in ~ - --
(5 ~)](2<~<~3); - i~n~FiE
P~ I {ai~ [cos ig (~ -- 4)

- - ch in (~ - - 4)] + bn sin in (~ - - 4) q- d~z sh in (~ - - 4)} (3 <~ ~ ~-~4);

P l ~ t s i n i n ( ~ - - 5) - - d a s h in (~ --5)1 ( 4 ~ 5 ) , (27)
i~n=a.~F~EI

where

Fi= 2{(sininchia--c~ sin~ i~ ]

(sin in - - sh in)" 3 q- 2 cos i~ - - (3 q_ 2 ch in) ~ ] + 2 sin ~in}.

For nonsinusoidal modes of antisymmetric vibrations* we have

d,h (g) i~z ' Pt~

~,. t- ~ f, (0 = i.,n2a~FiEl (sin iag - - d , sh in~) (0 ~ ~ ~. 1);

Pla {ai2[cos i z ( ~ - - 1)-- c h i n ( ~ - - 1)].-{-bizsinin(~-- I)

+ die sh i~ (~ - - 1)} (1 ~< ~ ~.~ 2); = i~.n,r I b~, cos in ,~- - -

I ) (28)

--dizchin ~ - - - ~ (2<.~<3); = i~n,.a2F,Ei {a/~ [cos in (4 -- ~)

- - ch in (4 - - ~)i + b,z sin ia t4 - - ~) -k d,~ sh in (4 -- ~)} (3 ~< ~ <~ 4);

PP
-- i~r~x~F~EI [ s i n i n ( 5 - - ~ ) - - d ~ s h i n ( 5 - - ~ ) l (4~. 5),

where
2 / (sin in ch in - - cos insh in) 2 [3 - - 2 cos in
Fi --- [ (sin in - - sh in)" '~
sin 2 in ] in}
- - (3 - - 2 ch in) ~ j + 2 sin ~ .

We will now derive expressions for the generalized coordinates corresponding to motion
of the force, say, within the second span. Inasmuch as Eq. (26) for sinusoidal deformation
modes appears in the same form regardless of the location of the load force along the beam~
we have for the function fi(~)

2Pla ~ si n inx sin i n (~ _ ~) d~.

[i (~) = 5iana~ o ai
0

Integration yields
in
2Pla sin in~ -- ai sin ~ -
h (~) = 5i~n~E] --1 --~
In order to determine fi(~) for nonsinusoidal antisymmetric vibrations during motion
of the force along the second span, it is necessary to integrate the second of Eqs. (27)
with displacements of the system due to motion of the load along the first span also taken
into account, namely,

Pl~
~ ~_) = .izrOaiFiEl .f (sin in~ -- d~i sh in~) sin ia
~-7 (~- ~) dr §
0

*As in Russian original. It does not seen correct that both Eqs. (27) and (28) refer to non-
sinusoidal modes of antisymmetric vibraDion; one of them should probably be either sinusoidal
or symmetric. -- Consultants Bureau.

185
 Pl3 S {a~ [cos in (x - -
-1" i~nso~tF~gl 1) - - ch in (~ - - l)l + b~2 sin in (~; -- I) + dt2 sh iz~ (1; - - 1)} sin ~ (~ - - ~) d~.
I

Such an integration yields

f~ (~) = i4n~FiE-1 ~zi (cos in -- b~=) sin tzrzi (~ __ 1) -- (z~ sin, i~=t [

-q- sin ia cos i:~ (~.- - I ) - b~2 sin in (~ - - l) ] 1 +1 [~ ~x'(d'ichir~+d'~)

M sin ~i'~ (~ _ 1) - - %d~1 sin ~ _ + sin in ch izt (~. - - 1) + d m sh in (~ - - 1) .

The analytical expression for fi(~) is the same for nonsinusoidal symmetric modes,
since the relations for the vibration modes in the two first spans are identical to the cor-
responding relations which describe nonsinusoidal antisymmetric deformations of the beam.
The deformations of the structure at any section x due to motion of the force within
the|~2 segment are calculated as the sums of products of generalized coordinates by cor-
responding modes at this section.
As a numerical example were determined the maximum positive deformations at the center
of each span of a five-span beam under a force moving at a velocity

~ - ~ /E--7 = 0,8,

T[/ -~
The deflections of the beam were calculated for several values of the variable 6, the
latter being varied in A~ = 0.i steps. The resulting values were compared and the highest
for each span selected for entry into the table.
The calculations were performed on a model BESM-4 high-speed computer according to a
program written in the ALGOL-60 input language. They were carried out accurately to the
tenth mode of beam vibration. The data in Table 1 indicate that in the given example the
maximum deflection occurs within the fifth span of the structure.

LITERATURE CITED
i. A . S . Dmitriev, "Transverse vibrations of three-span beam under moving force," Prikl.
Mekh., i0, No. ii, 131-135 (1974).
2. A . P . Filippov, S. S. Kokhmanyuk, and E. G. Yanyutin, Deformation of Structural Com-
ponents under Impact and Pulse Loads [in Russian], Naukova Dumka, Kiev (1978).
3. R . S . Ayre, G. Ford, and L. S. Jacobsen, "Transverse vibration of a two-span beam under
the action of a moving constant force," J. Appl. Mech., 17, No. i, 1-12 (1950).
4. L. Fryba, Vibration of Solids and Structures under Moving Loads, Acadmic Press, Prague,
Czechoslovakia (1972).

186