International Journal of Mechanical Sciences 100 (2015) 298–311

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International Journal of Mechanical Sciences

journal homepage: www.elsevier.com/locate/ijmecsci

Parametric instability of twisted Timoshenko beams

with localized damage
Wei-Ren Chen a,n, Chun-Sheng Chen b
a
Department of Mechanical Engineering, Chinese Culture University, Taipei 11114, Taiwan, ROC
b
Department of Mechanical Engineering, Lunghwa University of Science and Technology, Guishan Shiang 33306, Taiwan, ROC

art ic l e i nf o a b s t r a c t

Article history: The parametric instability of twisted Timoshenko beams with localized damage under an axial pulsating
Received 19 October 2014 force is studied. The bending vibration equations of motion in the twisted frame are established using
Received in revised form the Hamilton's principle. The partial differential equations of motion are then discretized into a set of
15 June 2015
second-order ordinary differential equations with periodic coefficients of Mathieu–Hill type by using a
Accepted 8 July 2015
finite element approach. An eigenvalue problem is formulated to determine the instability regions of the
Available online 17 July 2015
twisted Timoshenko beams with localized damage based on Bolotin's method. The effects of the twist
Keywords: angle, the damage location, the extent of the damage, the static component of axial force and boundary
parametric instability conditions on the instability regions of the damaged twisted beam are investigated. Two parameters
Timoshenko beam
associated with the parametric instability are used to assess the destabilizing effect of damage location
localized damage
and extent of damage on the parametric resonance of twisted beams with localized damage.
instability region
& 2015 Elsevier Ltd. All rights reserved.

1. Introduction bending vibrations of cracked Timoshenko beams were studied

by Loya et al. [11]. The crack is modeled by the extensional and
The vibration based structural health monitoring of damaged rotational massless spring. The effects of crack on the natural
beam structures has been frequently studied in many engineering frequencies and mode shapes of cracked Euler–Bernoulli beams
fields as it is crucial to the design of machines and structures. were presented by Christides et al. [12], Chondros et al. [13], Wang
Basically, it can be divided into the direct problem and inverse and Qiao [14] and Whalen [15] based on flexural rigidity models of
problem. The former mainly studies the effects of the damage on crack. Compared to the spring model of crack, the problem size is
the dynamic behaviors of the structures, and the latter deals with the reduced by using the continuous model of crack. Exact closed-
identification of the damage parameters for characterizing the form solutions for the vibration modes of the Euler–Bernoulli
damage behaviors using the dynamic characteristics. A general review beam with multiple concentrated cracks were presented by
of the dynamic aspects of the damaged structures can be found in the Caddemi and Caliò [16]. The multiple cracks are modeled as a
review papers [1–4]. To find the solution for identifying the damage sequence of Dirac's delta generalized functions in the flexural
characteristics of the damaged beam structures, one has to better stiffness of the beam. The effects of number, position, and intensity
understand the influence of the damage on the dynamic character- of the cracks on the dynamic behaviors of the Euler–Bernoulli
istics of the beams. Hence, only the work associated with the direct beam with various boundary conditions were investigated. The
problem will be discussed next. free vibration of a non-uniform free–free Euler–Bernoulli beam
Based on Euler–Bernoulli beam theory and rotational spring was investigated by Sarkar and Ganguli [17] based on an inverse
model of crack, the effect of the crack parameters on the natural problem approach. The proposed method can be used to design
frequencies and mode shapes of the beams with crack has been non-uniform free–free beams with tailored mode shapes and
studied by Khiem and Lien [5], Krawczuk [6], and Aydin [7]. specified nodal locations. The stability behavior of multi-cracked
Treating the beam as a Timoshenko beam and applying rotational cantilever Euler beam-column under conservative or nonconser-
spring model of crack, the vibration behaviors of the beam with vative axial loads was studied by Caddemi et al. [18]. The exact
crack were investigated using different techniques by Lele and flutter and divergence critical loads were obtained using the exact
Maiti [8], Li [9] and Khaji et al. [10]. Natural frequencies for closed-form solution of the multi-cracked beam [16]. The effect of
the crack intensities and distribution on the flutter and divergence
instability of cantilever beams was investigated. These studies
n
Corresponding author. Tel.: þ 886 228610511; fax: þ886 228615241. concentrated mainly on the vibration behaviors of the beam
E-mail address: [email protected] (W.-R. Chen). structures with a concentrated damage.

http://dx.doi.org/10.1016/j.ijmecsci.2015.07.009
0020-7403/& 2015 Elsevier Ltd. All rights reserved.
 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311 299

The dynamic analysis of the beam structures with a localized was analyzed by Liao and Huang [39]. The parametric instability of
damage segment has also attracted researchers' attention. The spinning twisted Euler beams under sinusoidal compressive axial
natural frequencies of lateral vibration of Euler–Bernoulli beams loads was investigated by Tan et al. [40] using the multiple scale
with a damaged segment were investigated by Cerri and Vestroni method. The dynamic stability of a twisted cantilever Euler beam
[19]. The effects of the position, extension and degree of the with a time-varying spinning speed and under an axial random
damaged zone on the natural frequencies of the beam of con- force was studied by Young and Gau [41]. Based on a finite element
cerned were discussed. The influence of localized zone of damage model and Bolotin's method, the dynamic stability of a rotating
on the parametric instability of a bar was studied by Parekh and twisted Timoshenko beam subjected to an axial periodic load was
Carlson [20]. The location, size and amount of damage were used presented by Sabuncu and Evran [28]. The dynamic stability of a
to characterize the damaged zone. Based on the damage model by spinning twisted Timoshenko beam under a periodic compressive
Parekh and Carlson [20], the dynamic instability of a tapered axial load was analyzed by Chen [42] to examine the effects of
Euler–Bernoulli bar with localized damage and supported on an twist angle, spinning speed, static axial load, geometric aspects
elastic foundation was analyzed by Datta and Nagraj [21] by a and boundary conditions on the instability regions. Bending
finite element approach. The effects of axial loads, foundation vibrations of an axially loaded twisted Timoshenko beam with
stiffness, location and extent of damage on the dynamic instability locally distributed Kelvin–Voigt damping were presented by Chen
behavior were studied. The parametric instability of a Timoshenko [43] to study the effects of the twist angle, damping amount, size
beam with localized damage and different boundary conditions and location of damped segment, axial load and restraint types on
was studied by Mohanty [22] based on a finite element analysis. the eigenfrequency of the damped twisted beams.
The effects of damage parameters, boundary conditions and static Based on Euler–Bernoulli beam theory and spring model of
components of axial load on the instability regions were discussed. crack, the effects of number of blades and distribution of cracks on
The aforementioned studies mainly focused on the vibration the vibration localization in a cracked twisted blade system were
and stability of untwisted beam structures. It is well-known that investigated by Huang [44]. The effect of low cycle fatigue damage
vibration and stability analyses of the twisted beam structures on the rotating frequency of a turbine blade was investigated by
play important roles in the design of turbine blades, helicopter Kumar et al. [45] based on a finite element method and continuum
blades, drillbits and end-milling cutters. The effect of the twist damage mechanics model. The blade was modeled as a rotating
angle on the natural frequencies and mode shapes of the canti- tapered and twisted Timoshenko beam. The influences of local
lever turbine blade was dealt with by Sabuncu [23] based on crack, twist angle, rotational speed and thrust force on the
Euler–Bernoulli beam theory. The bending vibration behavior of vibration characteristics of a drill were studied by Huang et al.
the twisted blade was studied by Lin et al. [24], Banerjee [25], and [46]. The twisted Euler–Bernoulli beam with the rotating spring
Yardimoglu and Yildirim [26] to examine the influence of geo- model of crack was used to simulate the drill with local crack. The
metric aspects, rotary inertia and shear deformation on the lateral dynamic stability of a cantilever twisted Euler beam with localized
frequencies using Timoshenko beam theory. The dynamic beha- damage was studied by Mohanty [47] by a finite element method.
vior of a twisted Timoshenko beam rotating about an axis normal The effects of twist angle, location of damage segment, extent of
to its longitudinal axis was analyzed by Rao and Gupta [27], and damage and static load factor on the parametric instability regions
Sabuncu and Evran [28] to study the effect of rotational speed on of the damaged twisted beams were discussed.
the natural frequency and stability of the blade. The effects of Despite the aforementioned huge amount of studies on the vibration
rotational speed, twisted angle and aspect ratio on the natural and stability of beam structures, the parametric instability of an axially
frequencies and dynamic stability of axially spinning twisted loaded twisted Timoshenko beam with localized damage and under
Euler–Bernoulli beams were studied by Tekinalp and Ulsoy [29], various boundary conditions has not yet been reported as the authors
and Lee [30], respectively. The vibration and stability behaviors of know. The bending vibration equations of a twisted Timoshenko beam
a spinning twisted Timoshenko beam were analyzed by Liao and with localized damage under a periodic axial force are derived in the
Dang [31], Chen and Keer [32] and Chen [33,34] by a finite element twist coordinate system based on Hamilton's principle. Then, the finite
method. The influences of twist angles and spinning speed on the element method is utilized to reduce the partial differential equations of
natural frequencies and buckling loads were discussed. The motion into linear second-order ordinary differential equations with
twisted Euler beam and Timoshenko beam element model were periodic coefficients of Mathieu–Hill type. Based on Bolotin's method, an
proposed by Chen et al. [35] to analyze the twisted beam by the eigenvalue problem of a parametrically excited system is formulated for
traditional mechanical model of straight beam element. The evaluating the disturbing frequencies defining the boundaries of instabil-
results reveal that the proposed twisted Timoshenko beam ele- ity regions for the twisted beam of concern. To validate the accuracy of
ment model has good accuracy. The free vibration of a functionally the present model, some results are compared with those in the
graded cantilevered twisted Timoshenko beam was presented by published literature. The influences of the twist angle, position of
Mohanty [36] to study the influence of twist angle and power law damage, extent of damage, static component of axial force and boundary
index of material on the first two frequencies based on finite conditions on the instability regimes of the damaged twisted beam are
element method combined with static equilibrium approach. investigated. Two parameters are then used as measures for assessing
The vibration and stability of axially-loaded twisted beams the effects of twist angle, location of damage, extent of damage and
have been frequently investigated because the beam structures are restraint type on the parametric instability behaviors of twisted
usually subjected to axial forces. Based on Euler beam theory, the Timoshenko beams with localized damage.
effect of axial load on the natural frequencies of the drill bit was
also investigated by Tekinalp and Ulsoy [29]. The bending vibra-
tion behavior of a spinning twisted Timoshenko beam under a 2. Parametric stability analysis
constant axial load was presented by Liao and Dang [31], Chen and
Keer [32], and Ho and Chen [37] to study the effects of the axial A twisted Timoshenko beam with one damaged segment under
force and Coriolis force on the natural frequencies. The dynamic a time varying axial load is considered, as shown in Fig. 1. Z1 and Z2
stability of spinning twisted Euler beams under pulsating axial are coordinates of the damaged segment, which are used to define
loads was studied by Lee [38] based on Bolotin's method. By using the size Ld ¼Z2  Z1 and the location Lg ¼(Z1 þ Z2)/2 of the damaged
the Euler beam theory and perturbation technique, the parametric portion. The equations of motion of the twisted beam are derived
instability of spinning twisted beams under a periodic axial force in twisted coordinates so two coordinate frames are used.
300 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311

o Z
1 Z2
þ ðu0η þ β o uξ  φξ Þ2  dZ þ fðζ b  1ÞEI ξ ðφ0ξ þ β o φη Þ2
2 Z1
þ ðζ b 1ÞEI η ðφ0η  βo φξ Þ2 þ κ ðζ s  1ÞGA½ðu0ξ  βo uη  φη Þ2
þ ðu0η þ β o uξ  φξ Þ2 gdZ ð3Þ

Z L
1
W¼ F Z ðtÞ½ðu0ξ  β o uη Þ2 þ ðu0η þ βo uξ Þ2 dZ ð4Þ
2 0

The transformation relationships [34] between the inertial and

twist coordinates are used to derive Eqs. (2)–(4). Here m is the
beam mass per unit length; Jξ and Jη are the principal mass
moments of inertia per unit length in frame ξηZ; κ, E, G, A and
Fz are the shear correction factor, Young's modulus, shear modulus,
cross-sectional area and axial load, respectively; Iξ and Iη are the
principal area moments of inertia in frame ξηZ; βo is the twist
angle per unit length; uξ, uη, φξ and φη are transverse displace-
ments and angles of rotation in frame ξηZ, respectively.
Following the procedure, previously introduced by the first
author [34] for the undamaged twisted beam, the system equa-
tions for a twisted Timoshenko beam with localized damage under
a time-dependent axial load in the twist frame throughout the
domain and the associated boundary conditions (at Z ¼0, L) are
obtained as follows:

M d€ þK 1 ðtÞd″ þ ðK 2 ðtÞ þ K 3 ðtÞÞd þ K 4 ðtÞd ¼ 0

0
ð5Þ

0
ðK 1 ðtÞd þ K 2 ðtÞdÞ ¼ 0 or d ¼ 0 ð6Þ
Here, M and K i ðtÞ are coefficient matrices relating to the system
characteristics of the twisted beam structure with localized
damage; d¼[uξ, uη, φξ, φη]T is the displacement matrix of the
twisted beam in the twisted frame. The explicit form for M and
equivalent form for K i ðtÞ can be found in Appendix B of [34]. By
Fig. 1. Beam configuration and coordinate systems.
replacing E, G and Fz in K i [34] with [1 þ(ζb  1)(H(Z Z1)  H
(Z  Z2))]E, [1 þ(ζs  1)(H(Z  Z1) H(Z Z2))]G and Fz(t), respec-
Coordinate system XYZ denotes the inertial system and coordinate
tively, the matrix K i ðtÞ for the damaged twisted beam can be
system ξηZ represents the twist coordinate frame whose axes ξ
obtained. H(Z) is the Heaviside function.
and η are in the principal directions of the beam cross-section. The
In the next, a finite element method [34] is used to reduce the
damage model proposed by Mohanty [22] is used to simulate the
governing partial differential equations into a set of ordinary
deterioration in the region Z1 oZoZ2. Parameters lg ¼(Z1 þZ2)/2L
differential equations by using the Mindlin-type linear beam
and ld ¼ (Z2 Z1)/L represent the dimensionless position and length
element with eight degrees of freedom. The displacement function
of the damaged portion. ζb ¼EID/EIU and ζs ¼GAD/GAU denote the
of the beam element assumes the following form
extent of damage of the beam in bending and shearing, respec-
ðeÞ
tively; EIU and GAU are the respective effective bending and d ðZ; tÞ ¼ NðZÞpðeÞ ðtÞ ð7Þ
shearing stiffness of the undamaged beam, and EID and GAD are
where
the respective effective bending and shearing stiffness of the
damaged segment. d
ðeÞ
¼ ½ uξ ; uη ; φξ ; φη  T
¼ ½ uξ1 ; uη1 ; φξ1 ; φη1 ; uξ2 uη2 ; φξ2 ; φη2 T
The bending vibration equations of motion of such a twisted ðeÞ
p
Timoshenko beam are derived by applying Hamilton's principle to 2 3
the Lagrangian (L) of the beam system, which leads to N1 0 0 0 N2 0 0 0
6 0 N1 0 0 0 N2 0 0 7
Z Z 6 7
t1 t1 N¼6 7
δ Ldt ¼ δ ðT  V þ WÞdt ¼ 0 ð1Þ 4 0 0 N1 0 0 0 N2 0 5
t0 t0 0 0 0 N1 0 0 0 N2
Here, T is the total kinetic energy of the beam vibrating in Here N(Z) is the transformation matrix between displacement
combined bending–bending including the rotating inertia effects; function and nodal displacements; shape functions N1 ¼1 Z/Le
V is the potential energy of the locally damaged beam due to the and N2 ¼Z/Le, where Le is the length of the twisted beam element;
shear and bending deformations; and W is the work produced by uξ1, uη2, φξ1, φη1 and uξ2, uη2, φξ2, φη2 are the nodal displacements
the time-dependent axial force. In the present study, it is assumed of the twisted beam element.
that the damage does not produce any loss of mass of the beam. Substituting Eq. (7) into the weak form of the equations of
They can be expressed in twist coordinate system ξηZ as follows: motion, (5) and (6), and applying Galerkin's criterion leads to the
Z L resulting element equations as follows:
1
T¼ ½mðu_ 2ξ þ u_ 2η Þ þ J ξ φ
_ 2ξ þ J η φ
_ 2η dZ ð2Þ ðeÞ
2 0 M ðeÞ p€ þ ðK ðeÞ ðeÞ
B þK F ðtÞÞp
ðeÞ
¼0 ð8Þ
Z L where
1
V¼ fEI ξ ðφ0ξ þ β o φ
_ η Þ2 þ EI η ðφ0η  β o φξ Þ2 þ κ GA½ðu0ξ  β o uη  φη Þ2 R Le
2 0 MðeÞ ¼ 0 NT MNdz
 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311 301

Z Le Z Le taking k¼ 1 in Eq. (12) as follows:

KðeÞ
B ¼  BT K1B Bdz  BT K2B Ndz
0 0 Ωt Ωt
Z Le Z Le
p ¼ a1 sin þb1 cos ð13Þ
2 2
þ NT K3B Bdz þ NT K4B Ndz
0 0 Substituting Eq. (13) into Eq. (11) and equating the sums of the
Z Le Z Le coefficients of sin(Ωt/2) and cos(Ωt/2) to zero yields a set of
KðeÞ
F ¼ T
B K1F Bdz  T
B K2F Ndz homogenous linear algebraic equations in terms of a1 and b1 in
0 0
Z Le Z Le
matrix form as follows:
þ NT K3F Bdz þ NT K4F Ndz ("   # "M #)( )
K B  α  12β P cr F 0 2 4
0 a1
0 0    Ω ¼0
B ¼ N0 ðZÞ 0 K B  α þ 12β P cr F 0 M
4
b1
ð14Þ
Here, M(e) denotes the element inertia matrices; KðeÞ B and
KðeÞ
F ¼  F z ðtÞFðeÞ are the element stiffness matrices due to bending The conditions for the non-trivial solutions are given by
and shear effects and axial pulsating force, respectively. The ("   # "M #)
K B  α  12β P cr F 0 2 4
0
selective reduced integration method proposed by Hughes [48] det   Ω ¼0
is used to derive the element stiffness of a C0-order Timoshenko 0 K B  α þ 12β P cr F 0 M
4
beam element to alleviate shear locking. The stiffness matrix due ð15Þ
to the bending effect is evaluated by the normal quadrature rule,
Here, the eigenvalues of the above equation are the disturbing
but the stiffness matrix due to the shear effect is computed with a
frequencies Ω defining the boundaries between the stable and
one-point quadrature scheme. By directly assembling these ele-
unstable regions, which can be calculated easily using any avail-
ment matrices and imposing the essential boundary conditions,
able eigenvalue package. LAPACK [50] generalized nonsymmetrical
the global system equations of the twisted Timoshenko beam with
eigenvalue routines are used and implemented into a finite
damaged portion are obtained as follows:
element program to solve the eigenvalue problems afore-
M p€ þ ðK B  F z ðtÞFÞp ¼ 0 ð9Þ mentioned.
where the matrices M, KB and F are the corresponding global
matrices.
3. Results and discussions
In the present study, the periodic axial force assumes the
following expression
3.1. Verification of model
F z ðtÞ ¼ P cr ðα þ β cos ΩtÞ ð10Þ
To validate the accuracy of the present model, some numerical
where Pcr is the critical static buckling load of the corresponding results are calculated and compared with available results in the
undamaged straight beam; Ω is the disturbing frequency; α and β are published literature. The dimensionless boundary frequency
the static and dynamic load factor, respectively. Substituting Eq. (10) ϖ ¼ Ω=ωcr is used throughout the dynamic instability study. ωcr
into Eq. (9) yields a second-order ordinary differential equation with is the fundamental natural frequency of the corresponding unda-
periodic coefficients of Mathieu–Hill type as follows: maged straight beam. First, the parametric instability of an
M p€ þ ðK B  αP cr F  βP cr cos ΩtFÞp ¼ 0: ð11Þ untwisted damaged Timoshenko beam with properties of
E¼ 207 Gpa, ν ¼0.3, ρ ¼ 7860 kg m  3, L¼ 50 cm, b¼20 mm,
According to Bolotin's method [49], the boundaries between h¼6 mm and κ ¼0.85 [22] is considered. The damage parameters
dynamically stable and unstable regions of a parametrically of the damaged portion are ld ¼ 0.2, lg ¼0.5 and ζb ¼ ζs ¼0.5. The
excited system can be formed by periodic solutions of periods T dimensionless boundary frequencies of first two instability regions
and 2T, where T¼ 2π/Ω. The boundaries of the primary instability for the respective clamped-free and pinned–pinned damaged
region with period 2T are usually much larger than those of the beam with static load factor α ¼ 0 obtained by the present model
secondary instability region with period T, and are therefore of and those by Mohanty [22] are given in Fig. 2(a) and (b),
greater practical importance. Hence, only the stability boundaries respectively. As can be seen, the present finite element results
with period 2T will be given in this study. The periodic solutions agree well with those by Mohanty [22].
with period 2T can be expressed in Fourier series as follows: Finally, a damaged twisted beam with geometric and material
X   properties of L¼15.2 cm, b¼ 25.4 mm, h¼4.6 mm, ϕ ¼90o, ld ¼0.2,
1
kΩt kΩt
pðtÞ ¼ ak sin þ bk cos ð12Þ ζb ¼ ζs ¼0.5, E¼ 207 Gpa, ν ¼ 0.3, ρ ¼ 8000 kg/m3 [47] is considered for
2 2
k ¼ 1;3;5:::
the dynamic stability analysis. The shear correction factor κ is assumed
where ak and bk are arbitrary time-invariant vectors. Substituting to be 0.85. The dimensionless boundary frequencies of the first two
series expansions (12) into Eq. (11) and separating the sine and instability regions for the cantilevered twisted beam with respective
cosine terms will lead to infinite system of homogeneous linear damage location lg ¼0.1 and 0.5, and static load factor α ¼0 are
algebraic equations for coefficients ak and bk. Then the disturbing calculated. The finite element results are presented in Fig. 3(a) and
frequencies defining the boundaries of instability regions can be (b), and are compared with those obtained by Mohanty [47]. From the
found from the condition that the determinants of the coefficient comparison, a good agreement is observed.
matrices of infinite dimension are zero. However, different orders
can be used to obtain results that are close approximations of the 3.2. Parametric instability regions
infinite eigenvalue problem. Furthermore, it has been shown in
[46] that a sufficiently close approximation of the infinite eigen- In this section, the first four parametric instability regions of
value problem can be obtained by taking k¼1 in Eq. (12) and twisted Timoshenko beams with various localized damage and
setting the determinant of the coefficient matrices of the first known values of α, β and Pcr will be examined. The effects of the
order equal to zero. twist angle, damage location, extent of damage, and static load
As the first-order approximation, the periodic solutions of p factor on the boundary frequencies defining the instability regions
with period 2T can be sought in the one-term Fourier series by are investigated. The material and geometric properties used in
302 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311

1 1

0.8 Mohanty [22] 0.8

present results
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 2 4 6 8 10 12 0 5 10 15 20 25 30 35

1 1
Mohanty [22]
0.8
present results 0.8
0.6
0.6
0.4
0.4
0.2
0.2
0
0 2 4 6 8 10 12 0
0 5 10 15 20 25 30 35

Fig. 2. Comparison of dimensionless boundary frequencies of instability regions for

an untwist beam with ld ¼ 0.2, lg ¼ 0.5 and ζ ¼0.5; (a) clamped-free, (b) pinned–
1
pinned.
0.8
0.6
1
0.4
Mohanty [47]
0.8
present results 0.2
0.6
0
0.4 0 5 10 15 20 25 30 35

0.2
Fig. 4. Effect of twist angle on instability regions of clamped-free twisted beams of
0 ζ¼ 0.5 and lg ¼ 0.5; (a) ϕ ¼301, (b) ϕ¼ 60o, (c) ϕ¼ 901.
0 1 2 3 4 5 6 7 8

Likewise, as the twist angle increases, the first and third

1 instability regions are shifted to the right with a higher boundary
Mohanty [47]
0.8 frequency ratio, but the second and fourth instability regions have
present results
0.6 the opposite trend for the corresponding pinned–pinned,
clamped–pinned and clamped–clamped twisted beams. For the
0.4
pinned–pinned beam, only the second instability region enlarges
0.2 with the increasing twist angle. The effect is much more signifi-
0 cant on the second and third instability regions than on the first
0 1 2 3 4 5 6 7 8
region. For the clamped–pinned beam, the increasing twist angle
has a great impact on the reduction of width of the second and
Fig. 3. Comparison of dimensionless boundary frequencies of instability regions for
a cantilever twisted beam with ϕ¼ 90o, ld ¼ 0.2, and ζ¼ 0.5; (a) lg ¼ 0.1, (b) lg ¼ 0.5. fourth instability region. For clamped–clamped beam, only the
third instability region widens with the increase in the twist angle
but another three have the opposite tendency. The first zone is
the following examples are E ¼207 Gpa, ν ¼0.3, ρ ¼7860 kg m  3, mostly influenced by the increasing twist angle, followed by the
L¼ 50 cm, b¼20 mm, h¼6 mm, ld ¼0.2, κ ¼ 0.85 and ζb ¼ ζs ¼ ζ. The third and second ones.
value of static load factor α is set to zero in all the presented
results except that in Figs. 7–9. To help the reader to understand
the difference in the instability behavior of the damaged beam 3.2.2. Effect of damage location
with respect to the healthy one, the results of the corresponding The influence of damage location on the first four instability
undamaged beam are also reported and displayed with a dashed regions for clamped-free Timoshenko beams with ϕ ¼30o and
line in the associated figures. ζ ¼0.5 are given in Fig. 5. When the damage location moves from
the fixed end to the free end, the first and second instability region
tends to shift to higher disturbing frequency. Both the regions have
3.2.1. Effect of twist angle the smallest width as the damage location is close to the free end.
The effects of twist angle on the first four instability regions for However, the first and second one possesses the largest width
clamped-free Timoshenko beams with ζ ¼ 0.5 and lg ¼0.5 are when the damage segment is located near to the fixed end and in
presented in Fig. 4. The first (or next) two instability regions move the middle, respectively. The third instability region occurs at
close to each other as the twist angle increases. The first and third lowest disturbing frequency as the damage portion is in the
instability regions tend to move to higher disturbing frequencies, middle and at highest disturbing frequency as the damage location
but the second and fourth instability regions shift to lower ones. is near to the free end. The third region has the largest and
With the increasing twist angle, the first and third instability smallest width when the damage position is in between the
regions become more and more narrow, but the other two middle and free end, and in between the middle and fixed end,
instability regions are enlarged. However, only the second and respectively. For the fourth instability region, it occurs at mini-
third instability regions are significantly affected by the increasing mum and maximum disturbing frequency as the damage position
twist angle. is in between the middle and fixed end, and close to the fixed end,
 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311 303

pinned–pinned beam, in between the middle and pinned end for

1 the clamped–pinned beam, and in between the middle and fixed
0.8 end for the clamped–clamped beam; its width is the largest as the
0.6 damage location is near the pinned end for the pinned–pinned
0.4 and clamped–pinned beam, and in between the middle and fixed
end for the clamped–clamped beam. For the third instability zone,
0.2
it occurs at minimum disturbing frequency when the damage
0
0 5 10 15 20 25 30 35 location is in between the middle and pinned end for the pinned–
pinned and clamped–pinned beam, and in the middle for the
clamped–clamped beam. However, it has maximum width as the
1 damage is positioned near the middle for the pinned–pinned
beam, in between the middle and pinned end for the clamped–
0.8
pinned beam, and in the middle for the clamped–clamped beam.
0.6 As the fourth instability zone is concerned, it occurs at the lowest
0.4 disturbing frequency with the largest width when the damage is
0.2 located near the pinned end for the pinned–pinned and clamped–
pinned beam, and in the middle for the clamped–clamped beam.
0
0 5 10 15 20 25 30 35

3.2.3. Effect of extent of damage

Fig. 6 shows the effect of extent of damage on the first four
1
instability regions for clamped-free Timoshenko beams with
0.8
ϕ ¼60o and lg ¼0.1. When the value of extent of damage increases,
0.6 all the instability regions tend to move to higher disturbing
0.4 frequency and become narrower. However, the extent of damage
0.2 has a major impact on the first and third instability region.
0 Likewise, all the instability regions tend to shift to higher disturb-
0 5 10 15 20 25 30 35 ing frequency and become narrower with the increasing value of
extent of damage for the corresponding twisted beam with the
pinned–pinned, clamped–pinned and clamped–clamped end con-
1
dition, respectively. However, the extent of damage has a profound
0.8 effect on the second and fourth instability region for the pinned–
0.6 pinned beam, and on the first instability region for the clamped–
pinned and clamped–clamped pinned.
0.4

0.2

0
0 5 10 15 20 25 30 35 1

0.8
1 0.6
0.8 0.4
0.6 0.2
0.4 0
0 5 10 15 20 25 30 35
0.2

0
0 5 10 15 20 25 30 35
1
Fig. 5. Effect of damage location on instability regions of clamped-free twisted 0.8
beams of ϕ¼ 30o and ζ¼ 0.5; (a) lg ¼0.1, (b) lg ¼0.3, (c) lg ¼ 0.5, (d) lg ¼0.7, (e) lg ¼ 0.9.
0.6
0.4
respectively. The width of the fourth region is smallest when the 0.2
damage segment is positioned in the middle and is largest when 0
the damage portion is near to the fixed end. 0 5 10 15 20 25 30 35
For the corresponding pinned–pinned, clamped–pinned and
clamped–clamped twisted beams, the onsets of disturbing fre-
1
quency and widths of the four instability zones vary differently
with the change of damage location. As the first instability region 0.8
is considered, it occurs at minimum disturbing frequency when 0.6
the damage location is in the middle for the pinned–pinned beam, 0.4
and closed to the fixed end for the clamped–pinned and clamped–
0.2
clamped beam; it has the largest width as the damage location is
in the middle for the pinned–pinned and clamped–clamped beam, 0
0 5 10 15 20 25 30 35
and in between the middle and pinned end for the clamped–
pinned beam. The second instability region occurs at the lowest Fig. 6. Effect of extent of damage on instability regions of clamped-free twisted
disturbing frequency when the damage is located in the middle for beams of ϕ¼ 60o and lg ¼0.1; (a) ζ ¼ 0.5, (b) ζ ¼ 0.75, (c) ζ ¼1.0.
304 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35

Fig. 7. Effect of static load factor on instability regions of clamped-free twisted

beams of ϕ ¼60o, ζ¼ 0.5 and lg ¼ 0.1; (a) α¼ 0.0, (b) α¼ 0.2, (c) α ¼ 0.4, (d) α¼ 0.6.

As can be seen from above examples, the instability regions of

an undamaged twisted beam (ζ ¼ 1.0) occur at higher disturbing
frequencies and are narrower compared to the corresponding
damaged twisted beams with different extents of damage. This Fig. 8. 3D diagram of instability regions as a function of static and dynamic load
indicates that the existence of localized damage enhances the factors for clamped-free twisted beams with various damage locations; (a) first
zone, (b) second zone.
parametric instability of the twisted beam.

instability region. The increasing static load also has a destabilizing

3.2.4. Effect of static load factor effect on the parametric stability of the damaged twisted beam
Fig. 7 shows the effect of static component of axial load for α ¼0, regardless of the restraint condition.
0.2, 0.4, 0.6 on the instability regions for a clamped-free twisted To summarize the results reported in Figs. 5–7, three dimensional
Timoshenko beam with ϕ ¼ 60o, ζ ¼ 0.5 and lg ¼0.1. With the increase diagrams reporting the instability regions as a function of static and
in static component of axial load, the instability regions move to lower dynamic load factors are presented in Figs. 8 and 9. Fig. 8 shows the
disturbing frequencies and become wider. It shows a destabilizing first and second instability regions for clamped-free twisted beams of
effect on the dynamic stability behavior of the damaged twisted beam. ϕ ¼ 60o and ζ ¼ 0.5 with location of damage lg ¼0.1, 0.5 and 0.9. Fig. 9
This indicates that the damaged beam is more dynamically unstable as presents the first and second instability regions for clamped-free
it is subjected to a higher static load. As can be seen, the increasing twisted beams of ϕ ¼60o and lg ¼ 0.1 with extent of damage ζ ¼ 0.5,
static load significantly affects the first instability region, but has a 0.75 and 1.0. The comprehensive three dimensional diagrams would
minor effect on the other ones. provide a good insight towards the understanding of the instability
Similar to the previous example, the instability regions shift to phenomena in such a kind of beam structures.
lower disturbing frequencies and become wider when the static
load factor increases for the corresponding pinned–pinned, 3.3. Analysis of instability
clamped–pinned and clamped–clamped twisted beam, respec-
tively. Meanwhile, the first instability region is most significantly In this section, two parameters ϖoi and ΔIi (i¼1–4) are used as
affected by the increasing static load, followed by the second measures for the effects of twist angle, location of the damaged
 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311 305

3.3.1. Clamped-free twisted beam

Figs. 10–13 present the variations of ϖoi and ΔIi of the first four
instability regions against the damage location lg for the clamped-
free twisted beams with various twist angles. As shown in Fig. 10,
with the increase in lg, ϖo1 enlarges firstly and when lg 40.7 it
starts to increase slightly, but ΔI1 increases firstly and then
decreases when lg ¼0.3. As the twist angle increases, ϖo1 increases
but ΔI1 decreases regardless of the damage location. Thus, the
higher the damage location, namely near to the free end, and the
greater the twist angle, the more dynamically stable is the
clamped-free twisted beam when the first instability region is
concerned. For the second instability region, see Fig. 11, ϖo2
increases with the increasing lg, but ΔI2 increases firstly and
reaches a peak at lg ¼0.6, and then reduces continuously. With
the increasing twist angle, ϖo2 decreases but ΔI2 enlarges. The
results show that the twisted beam with ϕ ¼30o and damage close
to the free end is less susceptible to dynamic instability, but that
with ϕ ¼ 90o and damage located in between the middle and fixed
end and close to the middle is more dynamically unstable.
When the third instability zone is concerned, see Fig. 12, with
the increasing lg, ϖo3 increases firstly and attains a maximum, and
reduces and reaches a minimum, and thereafter continues to
increase, but ΔI3 shows the opposite trend. When the twist angle
increases, ϖo3 increases but ΔI3 reduces. The results indicate that
the third instability region occurs at a minimum disturbing
frequency when the damage is located close to the middle, but
has a maximum area as the damage position is in between the
middle and fixed end. As can be seen in Fig. 13, ϖo4 and ΔI4 of the
fourth instability region increases and decreases alternatively with
the increasing lg. However, the variation of ϖo4 shows a two-peak
and two-valley structure, but that of ΔI4 gives a two-peak and one-
valley structure. With the increase in twist angle, ϖo4 decreases
and ΔI4 also reduces except for that of the beam with 0.4 olg o 0.6.
It can be seen that the fourth instability zone occurs at a lowest
disturbing frequency as the damage is located in between the
middle and fixed end, but possesses the largest area when the
damage position is in between the fixed end and middle, and close
to the fixed end.
Table 1 presents the influence of extent of damage on ϖoi and
ΔIi of the first four instability regions for the clamped-free twisted
beams of ϕ ¼ 30o with different damage locations. With the
increase in ζ, ϖoi increases and ΔIi decreases regardless of the
damage location except that ΔI4 of the beam with lg ¼0.5 enlarges.
Basically, the instability regions for an undamaged twisted beam
Fig. 9. 3D diagram of instability regions as a function of static and dynamic load occur at higher disturbing frequencies and have smaller instability
factors for clamped-free twisted beams with various extents of damage; (a) first areas compared to the corresponding damaged beams with
zone, (b) second zone. different extents of damage at any position. Hence, the presence
of extent of damage has a destabilizing effect on the stability of the
segment, extent of damage and restraint types on the parametric twisted beam because the instability zones occur at lower dis-
instability behaviors of twisted beams with localized damage. ϖoi turbing frequencies as the localized damage is more severe.
is the initial disturbing frequency of the ith instability region
associated with β ¼ 0. The parameter ΔIi denoting the area of the
ith instability region is defined as follows: 3.3.2. Pinned–pinned twisted beam
Figs. 14 and 15 present the effects of the damage location and twist
ΔIi ¼ 0:5ðϖ Ui ð1Þ  ϖ Li ð1ÞÞ angle on ϖoi and ΔIi of the first two instability regions of the pinned–
pinned twisted beams. Fig. 14 shows that ϖo1 decreases and reaches a
Here ϖLi(1) and ϖUi(1) are the dimensionless lower and upper minimum at lg ¼ 0.5 and then continues to increase when lg increases,
boundary frequency at β ¼1, respectively. Thus, the lower the but ΔI1 has the opposite tendency. ϖo1 increases but ΔI1 decreases with
initial disturbing frequency, and the larger the instability zone, the the increasing twist angle. As can be observed, when the first instability
more dynamically unstable is the twisted Timoshenko beam. In region is concerned, the pinned–pinned twisted beam with damage
Figs. 10–19 the variations of instability parameters for damaged position near to the pinned end is the most dynamically stable because
twisted beams with various damage locations are presented along the instability region occurs at a lowest disturbing frequency and has
with those for the corresponding undamaged beam for the four the minimum area. Depending on the twist angle, the change of ϖo2 of
boundary conditions. An open symbol is used for the data set of the second instability region varies with the increasing lg, see Fig. 15.
the damaged beam. The data of the undamaged one is displayed When the damage position shifts from the pinned-end to the middle,
with a solid symbol on the right vertical axis. ϖo2 decreases gradually and attains a minimum at lg ¼ 0.5 for the beam
306 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311

2.2 0.65
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg
2.06 0.6

1.92 0.55

1.78 0.5

1.64 0.45

1.5 0.4
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 10. Effect of damage location on instability parameters of first instability region for clamped-free twisted beams with various twist angles; (a) ϖo1; (b) ΔI1.

7.5 0.5
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg
6.5 0.4

5.5 0.3

4.5 0.2

3.5 0.1
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 11. Effect of damage location on instability parameters of second instability region for clamped-free twisted beams with various twist angles; (a) ϖo2; (b) ΔI2.

18 0.7
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg

16 0.6

14 0.5

12 0.4

10 0.3
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 12. Effect of damage location on instability parameters of third instability region for clamped-free twisted beams with various twist angles; (a) ϖo3; (b) ΔI3.

with ϕ ¼ 30o, but decreases firstly and attains a minimum, and then middle. With the increase in twist angle, ϖo2 reduces but ΔI2 increases.
increases and reaches a peak at lg ¼0.5 for other twisted beams. ΔI2 The pinned–pinned twisted beam is more susceptible to dynamic
enlarges firstly and reaches a maximum, and thereafter continues to instability when the damage location is near to the pinned end as the
reduce as the damage location moves from the pinned-end to the second instability region is concerned.
 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311 307

36 0.55
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg

32 0.5

28 0.45

24 0.4

20 0.35
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 13. Effect of damage location on instability parameters of fourth instability region for clamped-free twisted beams with various twist angles; (a) ϖo4; (b) ΔI4.

2.2 0.68
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg
2.08
0.63

1.96

0.58

1.84

0.53
1.72

1.6 0.48
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 14. Effect of damage location on instability parameters of first instability region for pinned–pinned twisted beams with various twist angles; (a) ϖo1; (b) ΔI1.

7 0.45
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg
0.4
6

0.35

5
0.3

4
0.25

3 0.2
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 15. Effect of damage location on instability parameters of second instability region for pinned–pinned twisted beams with various twist angles; (a) ϖo2; (b) ΔI2.

The variation of ϖo3 and ΔI3 of the third instability zone is region occurs at a lower disturbing frequency for the beam with
presented next. When the damage position moves from the damage in the middle compared to the beam with higher twist
pinned-end to the middle, ϖo3 decreases firstly and attains a angles and damage in the pinned-end. However, ΔI3 increases
minimum, and increases and reaches a maximum. The instability firstly and starts to decrease slightly as the damage location
308 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311

3.5 0.65
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg
0.6
3
0.55

2.5 0.5

0.45
2
0.4

1.5 0.35
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 16. Effect of damage location on instability parameters of first instability region for clamped–pinned twisted beams with various twist angles; (a) ϖo1; (b) ΔI1.

6 0.5
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg
5.5
0.46
5

4.5 0.42

4
0.38
3.5

3 0.34
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 17. Effect of damage location on instability parameters of second instability region for clamped–pinned twisted beams with various twist angles; (a) ϖo2; (b) ΔI2.

3.5 0.6
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg
0.55
3
0.5

2.5 0.45

0.4
2
0.35

1.5 0.3
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 18. Effect of damage location on instability parameters of first instability region for clamped–clamped twisted beams with various twist angles; (a) ϖo1; (b) ΔI1.

approaches to the middle. When the twist angle increases, ϖo3 the fourth instability region is concerned, ϖo4 decreases firstly and
increases but ΔI3 reduces. Therefore, as the third instability zone is reaches a minimum, and increases and attains a maximum, and
concerned, the twisted beam is more dynamically unstable when then starts to reduce, but ΔI4 has the opposite trend when the
its damage is located in between the middle and pinned-end. As damage position moves from the pinned-end to the middle. Both
 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311 309

5.5 0.7
deg30 deg45 deg60 30 deg 45 deg 60 deg
deg75 deg90 75 deg 90 deg
5
0.6

4.5

0.5

0.4
3.5

3 0.3
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
lg lg
Fig. 19. Effect of damage location on instability parameters of second instability region for clamped–clamped twisted beams with various twist angles; (a) ϖo2; (b) ΔI2.

Table 1 Table 2
Effect of extent of damage on ϖoi and ΔIi of the first four instability regions for the Effect of extent of damage on ϖoi and ΔIi of the first four instability regions for the
clamped-free twisted beams of ϕ¼ 301 with different damage locations. pinned–pinned twisted beams of ϕ¼ 301 with different damage locations.

Instability parameter ζ Damage location lg Instability parameter ζ Damage location lg

0.1 0.3 0.5 0.7 0.9 0.1 0.3 0.5 0.7 0.9

ϖo1 0.5 1.5836 1.7689 1.9158 1.9894 2.0055 ϖo1 0.5 1.9611 1.7871 1.7025 1.7871 1.9611
0.75 1.8305 1.9169 1.9748 2.0005 2.0059 0.75 1.9921 1.9263 1.8888 1.9263 1.9921
1.0 2.0061 2.0061 2.0061 2.0061 2.0061 1.0 2.0079 2.0079 2.0079 2.0079 2.0079
ΔI1 0.5 0.5681 0.5878 0.5574 0.5084 0.4827 ΔI1 0.5 0.5325 0.6037 0.6394 0.6037 0.5325
0.75 0.5059 0.5155 0.5047 0.4889 0.4807 0.75 0.5211 0.5429 0.5554 0.5429 0.5211
1.0 0.4798 0.4798 0.4798 0.4798 0.4798 1.0 0.5161 0.5161 0.5161 0.5161 0.5161
ϖo2 0.5 5.1075 5.6744 6.0307 6.2822 6.3849 ϖo2 0.5 5.8372 5.4281 5.3448 5.4281 5.8372
0.75 5.8601 6.1223 6.2633 6.3549 6.3890 0.75 6.0014 5.8323 5.8148 5.8323 6.0014
1.0 6.3911 6.3911 6.3911 6.3911 6.3911 1.0 6.0871 6.0871 6.0871 6.0871 6.0871
ΔI2 0.5 0.1826 0.1907 0.2094 0.2011 0.1766 ΔI2 0.5 0.2900 0.2821 0.2322 0.2821 0.2900
0.75 0.1757 0.1789 0.1856 0.1818 0.1744 0.75 0.2623 0.2640 0.2389 0.2640 0.2623
1.0 0.1733 0.1733 0.1733 0.1733 0.1733 1.0 0.2497 0.2497 0.2497 0.2497 0.2497
ϖo3 0.5 11.880 12.491 11.412 11.927 13.012 ϖo3 0.5 8.3215 7.8117 8.2992 7.8117 8.3215
0.75 12.560 12.881 12.424 12.682 13.080 0.75 8.6212 8.3888 8.5898 8.3888 8.6212
1.0 13.114 13.114 13.114 13.114 13.114 1.0 8.7866 8.7866 8.7866 8.7866 8.7866
ΔI3 0.5 0.5141 0.4825 0.5316 0.5940 0.5074 ΔI3 0.5 0.4085 0.4510 0.4583 0.4510 0.4085
0.75 0.4955 0.4810 0.4999 0.5202 0.4899 0.75 0.4005 0.4154 0.4229 0.4154 0.4005
1.0 0.4816 0.4816 0.4816 0.4816 0.4816 1.0 0.3980 0.3980 0.3980 0.3980 0.3980
ϖo4 0.5 30.399 30.056 30.582 28.765 31.630 ϖo4 0.5 16.005 16.609 15.960 16.609 16.005
0.75 31.780 31.595 31.998 31.074 32.372 0.75 16.937 17.202 16.854 17.202 16.937
1.0 32.738 32.738 32.738 32.738 32.738 1.0 17.552 17.552 17.552 17.552 17.552
ΔI4 0.5 0.3917 0.4309 0.3579 0.4519 0.4630 ΔI4 0.5 0.5364 0.5044 0.5385 0.5044 0.5364
0.75 0.3883 0.4051 0.3767 0.4158 0.4108 0.75 0.4998 0.4875 0.5040 0.4875 0.4998
1.0 0.3876 0.3876 0.3876 0.3876 0.3876 1.0 0.4801 0.4801 0.4801 0.4801 0.4801

ϖo4 and ΔI4 decreases with the increasing twist angle. Thus, the increasing lg, ϖo1 increases and attains a peak, and reduced and
twisted beam with the damage near to the pinned-end is the most reaches a minimum, and then increases continuously, but ΔI1
dynamically unstable when the fourth instability zone is shows the opposite tendency. When the twist angle increases, ϖo1
concerned. enlarges but ΔI1 reduces. As the first instability region is con-
Table 2 shows the effect of extent of damage on ϖoi and ΔIi of cerned, the clamped–pinned twisted beam with damage location
the first four instability regions for the pinned–pinned twisted near to the pinned end or in between the fixed end and middle is
beams of ϕ ¼ 30o with damage at different locations. With the less susceptible to dynamic instability. Similar to the variation of
increasing ζ, ϖoi increases and ΔIi decreases regardless of the the fourth instability region of the clamped-free twisted beam, the
damage location except for ΔI2 of the beam with lg ¼0.5. Likewise, change of ϖo2 against lg shows a two-peak and two-valley
the presence of extent of damage has a destabilizing effect on the structure, but that of ΔI2 gives a two-peak and one-valley struc-
parametric stability for the pinned–pinned twisted beam. ture, as shown in Fig. 17. With the increase in twist angle, ϖo2
reduces but ΔI2 might decrease or increase depending on the
damage location. It shows that the clamped–pinned twisted beam
3.3.3. Clamped–pinned twisted beam is more dynamically unstable when the damage is located at
Figs. 16 and 17 show the variation of ϖoi and ΔIi of the first two lg ¼ 0.8 as the second instability region is concerned.
instability regions against the damage location for the clamped– As the third instability region is considered, with the increase
pinned twisted beams with different twist angles. With the in lg, ϖo3 increases and decreases alternatively regardless of the
310 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311

Table 3 ΔI2 enlarges firstly and reaches a peak, and thereafter decreases
Effect of extent of damage on ϖoi and ΔIi of the first four instability regions for the continuously. With the increasing twist angle, both ϖo2 and ΔI2
clamped–pinned twisted beams of ϕ ¼301 with different damage locations.
decreases. As the second instability region is concerned, the
Instability parameter ζ Damage location lg clamped–clamped twisted beam with the damage in between
the fixed end and middle is more dynamically unstable but that
0.1 0.3 0.5 0.7 0.9 with the damage located in the middle is more dynamically stable.
As the third instability zone is concerned, ϖo3 increases firstly
ϖo1 0.5 1.8824 2.0573 1.9057 1.8761 2.0481
0.75 2.0087 2.0912 2.0293 2.0203 2.0892
and attains a maximum, and decreases gradually for the beam
1.0 2.1103 2.1103 2.1103 2.1103 2.1103 with ϕ ¼30o, 45o and 60o, but decreases and then increases for the
ΔI1 0.5 0.5235 0.4907 0.5459 0.5924 0.5120 beam with ϕ ¼75o and 90o when the damage moves from the
0.75 0.4970 0.4831 0.5022 0.5164 0.4893 fixed-end to the middle. However, for the beam with ϕ ¼30o, 45o
1.0 0.4796 0.4796 0.4796 0.4796 0.4796
and 60o, ΔI3 decreases firstly and reaches a minimum, and then
ϖo2 0.5 5.1035 5.2121 5.2100 5.0084 5.2254
0.75 5.3698 5.4288 5.4352 5.3440 5.4487 starts to increase; for the beam with ϕ ¼ 75o and 90o, ΔI3 decreases
1.0 5.5717 5.5717 5.5717 5.5717 5.5717 and increases alternatively when the damage shifts toward the
ΔI2 0.5 0.3701 0.4605 0.3633 0.4016 0.4545 middle from the fixed end. Both ϖo3 and ΔI3 increase with the
0.75 0.3718 0.4094 0.3709 0.3894 0.4018 increasing twist angle. As the third instability zone is concerned,
1.0 0.3765 0.3765 0.3765 0.3765 0.3765
ϖo3 0.5 7.0694 7.3639 7.1494 6.8974 7.3266
the twisted beam is more dynamically stable when its damage is
0.75 7.4290 7.5685 7.4891 7.3855 7.5766 located in between the middle and fixed-end but is more suscep-
1.0 7.7154 7.7154 7.7154 7.7154 7.7154 tible to dynamic instability as the damage is located near to the
ΔI3 0.5 0.3690 0.3085 0.4041 0.3950 0.3382 middle or fixed end. For the fourth instability region, when the
0.75 0.3488 0.3203 0.3583 0.3520 0.3323
damage moves from the fixed-end to the middle, ϖo4 increases
1.0 0.3315 0.3315 0.3315 0.3315 0.3315
ϖo4 0.5 12.218 12.403 12.182 12.536 12.102 firstly and starts to decrease when the damage location is near to
0.75 12.863 12.896 12.788 13.002 12.785 the middle; ΔI4 increases gradually for the beam with ϕ ¼30o, 45o
1.0 13.258 13.258 13.258 13.258 13.258 and 60o, but increases and decreases alternatively for the beam
ΔI4 0.5 0.6050 0.6184 0.6299 0.6137 0.6384 with ϕ ¼75o and 90o. Both ϖo4 and ΔI4 decreases when the twist
0.75 0.5797 0.5899 0.5936 0.5825 0.5956
1.0 0.5700 0.5700 0.5700 0.5700 0.5700
angle increases. The clamped–clamped twisted beam with the
damage in the middle is more susceptible to dynamic instability as
the fourth instability zone is concerned.
twist angle, but ΔI3 varies differently depending on the twist Table 4 presents the variation of ϖoi and ΔIi of the first four
angle. As the twist angle increases, ϖo3 increases but ΔI3 might instability regions against the extent of damage for the clamped–
reduce or enlarge depending on the damage position. As the third clamped twisted beams of ϕ ¼30o with different damage posi-
instability zone is considered, the twisted beam of concern is more tions. With the increasing ζ, ϖoi increases and ΔIi decreases
dynamic stable when its damage location is in between the fixed regardless of the damage location except for ΔI2 of the beam with
end and middle. For the fourth instability zone, ϖo4 and ΔI4 of the lg ¼ 0.5, and ΔI3 of the beam with lg ¼ 0.3 and 0.7. Like the previous
fourth instability region increases and decreases alternatively with examples, the presence of extent of damage also shows a desta-
the increasing lg. However, the variation of ϖo4 and ΔI4 differs bilizing effect on the parametric stability for the clamped–clamped
depending on the twist angle, especially for those of the beam twisted beam.
with ϕ ¼90o. With the increase in twist angle, both ϖo4 and ΔI4
reduces. The clamped–pinned twisted beam with the damage
positioned in between the fixed end and middle, and close to Table 4
the middle is less susceptible to dynamic instability as the fourth Effect of extent of damage on ϖoi and ΔIi of the first four instability regions for the
clamped–clamped twisted beams of ϕ¼ 301 with different damage locations.
instability region is concerned.
Table 3 presents the effect of extent of damage on ϖoi and ΔIi of Instability parameter ζ Damage location lg
the first four instability regions for the clamped–pinned twisted
beams of ϕ ¼30o with various damage locations. Except for ΔI2 of 0.1 0.3 0.5 0.7 0.9
the beam with lg ¼ 0.1 and 0.5, and ΔI3 of the beam with lg ¼ 0.3,
ϖo1 0.5 1.9822 2.1104 1.9981 2.1104 1.9822
ϖoi enlarges and ΔIi reduces with the increasing ζ. Similarly, when 0.75 2.0935 2.1566 2.1075 2.1566 2.0935
the localized damage is more severe, the clamped–pinned twisted 1.0 2.1837 2.1837 2.1837 2.1837 2.1837
beam is more dynamically unstable. ΔI1 0.5 0.5043 0.4876 0.5473 0.4876 0.5043
0.75 0.4798 0.4701 0.4932 0.4701 0.4798
1.0 0.4624 0.4624 0.4624 0.4624 0.4624
ϖo2 0.5 4.6620 4.6386 4.7961 4.6386 4.6620
3.3.4. Clamped–clamped twisted beam 0.75 4.8810 4.8674 4.9490 4.8674 4.8810
Figs. 18 and 19 present the influences of the damage location 1.0 5.0354 5.0354 5.0354 5.0354 5.0354
and twist angle on ϖoi and ΔIi of the first two instability regions ΔI2 0.5 0.5404 0.6260 0.5212 0.6260 0.5404
for the clamped–clamped twisted beams. When the damage 0.75 0.5270 0.5657 0.5205 0.5657 0.5270
1.0 0.5242 0.5242 0.5242 0.5242 0.5242
location shifts from the fixed end to middle, ϖo1 increases firstly ϖo3 0.5 6.6335 6.8702 6.6134 6.8702 6.6335
and attains a maximum, and then continues to decrease, but ΔI1 0.75 6.9536 7.0715 6.9658 7.0715 6.9536
has the opposite trend except for that of the beam with ϕ ¼ 90o. 1.0 7.2073 7.2073 7.2073 7.2073 7.2073
When the twist angle increases, ϖo1 increases but ΔI1 decreases. ΔI3 0.5 0.3076 0.2767 0.3518 0.2767 0.3076
0.75 0.2929 0.2767 0.3065 0.2767 0.2929
As the first instability region is concerned, the clamped–clamped
1.0 0.2803 0.2803 0.2803 0.2803 0.2803
twisted beam is more susceptible to dynamic instability when its ϖo4 0.5 9.7735 9.9964 9.7672 9.9964 9.7735
damage position is near to the fixed end or in the middle, but is 0.75 10.310 10.386 10.250 10.386 10.310
more dynamically stable as its damage location is in between the 1.0 10.642 10.642 10.642 10.642 10.642
middle and fixed end. As the damage position moves from the ΔI4 0.5 0.7549 0.7629 0.7847 0.7629 0.7549
0.75 0.7153 0.7218 0.7352 0.7218 0.7153
clamped end to the middle, ϖo2 increases and reaches a peak, and 1.0 0.6994 0.6994 0.6994 0.6994 0.6994
reduces and attains a minimum, and then starts to increase, but
 W.-R. Chen, C.-S. Chen / International Journal of Mechanical Sciences 100 (2015) 298–311 311

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