Strength of Materials, VoL 27. No.

3, 1995

RESONANCE OF SECOND ORDER I N V I B R A T I O N S OF A B E A M

CONTAINING A TRANSVERSE CRACK

N. P. Plakhtienko and S. A. Yasinskii UDC 534

The article deals with the resonance of n-th order in forced transverse vibrations of a beam containing a crack
situated perpendicularly to the middle line of the beam over its entire width and having a certain depth. The
Ostrogradsky-Hamilton and Ritz methods are used to construct a system of ordinary, nonlinear differential
equations describing the dynamic behavior of a cracking beam. By the method of averaging a system of
differential equations with slow variables is constructed for determining the amplitude and phase characteristics
in subharmonic resonance of second order. A formula is obtained correlating the parameter of crack depth with
the second harmonic of the forced perfodic vibration process. The results of modeling on a P C are presented.

We deal with the problem of resonance of second order in vibrations of a beam containing a transverse crack. The
crack is assumed to be plane, situated perpendicularly to the middle line of the beam, extending over its entire width and to
the depth cr (Fig. 1). With such a position of the crack the flexural rigidity depends on the sign of the curvature of the beam
axis in the vicinity of the crack. In case of flexural vibrations the crack opens and closes periodically. When the crack is closed,
the flexural rigidity does not change; when it is open, rigidity is impaired. The impairment of rigidity can be interpreted as
local reduction of the effective cross section of the beam in a limited region approximated by some triangular prism with right
angle at the crack tip [1]. We denote by l, b, a the length, width, and thickness, respectively, of a beam with rectangular cross
section, and we adopt x c as the coordinate of the crack. Then we represent the flexural rigidity of the beam with open crack
in the form of a function of the coordinate of the cross section

Eba3/12, 0<x_<xc--a, l~x>_.xc+o;

E./(x) = Eb(x c - x - cr + a)3/12, X c ~ <7 ~ x --~ Xc; (1)

Eb(x - xe + a - o)3112, ~c< x < . , ~ + o ".

With closed crack we have

Eba 3
EJ(x) = const = ~ = F_do, 0 _< x -< l. (2)

To construct equations of transverse vibrations of the beam we use the Hamilton-Ostrogradsky principle. By Ritz'
method we minimize the effect of S = T -- 1I according to this principle:

s +:(x.,) (3)

where g(x), p(x) are the running mass and the moment of inertia, respectively, of the beam; fix, 0 is the distributed external
load:

Institute of Mechanics, Academy of Sciences of the Ukraine, Kiev, Ukraine. Translated from Problemy Prochnosti,
No. 3, pp. 56-63, March, 1995. Original article submitted April 15, 1993.

146 0039-2316195/2703-0146512.50 9 Plenum Publishing Corporation

 E,/Cx, y"(x~)) = gI/, + (J(x) - Jo)~(y"(x:))l; (4)

~(y"(xc)) = I/~(I - - sign(y"(Xc))) is a discontinuous function. In formula (4) J(x) - - J0 will be regarded as small according
to the valuation of the function, which corresponds to the physical content of the problem for cracks that are not very deep.
We therefore introduce the small parameter e and represent the mentioned difference in the form

J ( x ) - Io = ~t~,(x). (5)

In accordance with Ritz' method the class of functions on which the minimal effect S is sought is specified by the
formula
/l

y(x, "t) = .~. ai(t)'VJi(x). (6)

i= 1

where ~i(x) are coordinate functions chosen such that the geometric conditions at the ends of the beam are satisfied; in
particular, they can be chosen as eigenfunctions of an undistorted linear autonomous problem of vibrations of a rod, i.e., for
e = 0, f(x, t) = 0; cq(t) is a function that has to be determined.
We substitute (6), (5) into (3) and vary the function S. In the varied expression we express the derivative 0UOy" in
/'1

terms of a generalized function of the first kind which becomes co for ~ ai V'i" = 0. In accordance with the property of the
i= 1

generalized function ~ fa = 5(x)x n = 0 the term of the integrand which is proportional to 0(/0y" vanishes in integration. The
equations of second order for determining the function (xi(t) therefore assume the form

l~=lmi/dj+ q(e)+elqsign kO/k"(xc) cti=Ei(t), (7)

where
l
,-~j = f O,(x)g,Xx)V,j<x) + p(x)~/(xXoj<x)l dx;
o

l
1
~j = eI o
Vo + ~-~a,(x)Iv,i rt (x)u,~et (x)ax;
! l (8)
lit = - I E [ a,(x~i(X)v,,<x)dx, Ei(t) = f /(x,t)Wi(x)dx.
o

We represent the system of equations (7) in matrix form:

M gt + K a = E ( t ) - e (l)(a) sign(z, (9)

where M = [mij], K = [kij] are symmetric positively determined n-matrices;

eT(t) = (e,(t) ..... •(t)); ~T(~,) = (~,(,~) ..... %(a));

(10)
~i(a) =]~=1"=lq a/; signa = sign 1(zk VJk"(x:) ;

T
CI = ((~1 . . . . . an)

(the superscript T denotes transposition).

By linear regular transformation of the coordinates

a = Au. u~ = ( u , ..... u,)

(11)

147
 Y
I~O COS9T

.~ XT"

b
X
Fig. 1. Diagram of taking into account the reduced rigidity of a beam with
a transverse crack.

the system of equations (9) is transformed into the quasinormal coordinates

#k"k + ~'kuk = ek(t) -- ~k(u) s i g n ( u ) (k -- 1, n), (12)

where/~k, 3'k are elements of the diagonal matrices;

p = ArMA; ~ = ArKA; (13)

ek, ~Pk are components of the n-dimensional vectors;

! er = (e, .... ;e,,); ~o'(u) = (~,(u) ..... ~n(u));

(14)
e = ArE; ~(u) = A r ~ ( A u ) .

The square n-matrix A = [aik] is composed of the column vectors A k (k = 1. . . . . n) satisfying the condition

( - M . , I - XaA, = 0+ a e t ( - M~.I + ~ = 0, ~'k = ,-,~,k. (15)

It is assumed that cok # qo~i, k ;e i, q is an integer. We are interested mainly in the reaction of a cracking rod to
harmonic distortion.
Let at the point x = x b a concentrated transverse force changing sinusoidally with frequency s be applied to the rod:
f(x, t) = foS(X - - xb)sin st. Then in Eq. (12)
R

ek(t) = ~ aik ~~ (16)

i= 1

Integrating the system of Eqs. (12), (16) numerically, we cart evaluate the reaction of a cracking rod to harmonic
excitation at any frequency.
The aim of the present work is to obtain some analytical regularities concerning resonance of second order. In
resonance situations small nonlinearities manifest themselves; it is therefore of interest to obtain resonance solutions of Eqs.
(12). In resonance situations, when between the frequency of the external force s and the k-th natural frequency cok a resonance
relation in the form ps - - qr k = 0 obtains, where p, q are integers, the system under consideration carries out vibrations close
to single-mode ones (vibrations with the participation of one form of flexure of the beam), and the mathematical model of such
vibrations can be represented by one equation of type (13), (16), e.g., for k = 1. In that case the vibrations on nortresonance
coordinates are regarded as small: u k + e (k = 2 . . . . . n). Therefore the equation of motion of a cracking beam in resonance
form can be written in the form

lzl"fil + )hiLt + 2osigni~l + ylul + er~signul = f, cosst, (17)

14.8
 where

rI = all lqa]l sign v/k"(xe)akt ; ~'l = ~

id

II It

u, = Y~ mq a,~ %; /, = X "zl v/~(xo)/o;

idffi 1

}'1, Xo are formally introduced coefficients of viscous and Coulomb friction, respectively, referred to one form of vibrations.
The parameter r will be called the reduced depth of the transverse crack of the rod.
Since for rods with constant cross section the coordinate functions ffi(x) are orthogonat on the segment [0,/], the matrix
of inertia M = [mij], according to formula (9), is diagonal, the matrix of rigidities K = [kij] becomes quasidiagonal, i.e., such
that the nondiagonal terms have the order g. On account of the continuous dependence of the solutions of Eqs. (15) on the
parameter e, the modal matrix A is also quasidiagonal with single elements on the main diagonal A = e + cx(z), cx(e) is a
square matrix with elements equal to zero on the main diagonal and with nondiagonal elements - e. It can be shown that the
replacement of the exact expression

9 st
sign l tPk (xc)ak,u, + v / " ( x - r ) ~ akiui
k= 1 i= 2 ]

by the last term of the left-hand side of Eq. (17) leads to the error e 2.
In Eq. (17) we go over to the dimensionless time r = ~1 t, and we introduce a new independent function according
to the formula
u, = b c o s ( v r + ~ ) + ~,

b =/y- I I(1 - v2) 2 + 22v21 - 1/2; tg~ = 2 v ( v 2 - 1)- !, (18)

and also a slight detuning of the squares of the frequencies eA = n2~,2 - - 1. As a result we obtain equations in the form

y " + y = e ~ ( y , y', boost(r), b~in~o(z)), (19)

where

E@(.) = eA [3' + boos~o(r)l - eRfy + bcosg,(r))sign(y + bcos~p(r)) - n,y' -

(20)
r 2o 2, s
- n o s i g n ( y ' - b v sin~(,)); R = ~ ; no = ~-; n, = ~'7,; v = --'w,' ~o(Q = v r + ft.

We convert Eq. (20) to the standard form by introducing new variables specified by the formulas

y = a n c o s ( n v r + v/n); Y' = - a n y n sin(n v r + v/n), (21)

where a n = an(r), fin = ~bn(r) are functions that have to be determined.

With (21) taken into account, we write the equations of motion of the rod along the resonant coordinate in the form

1 c O n ( a n ' b, n v ~ + v/n , ~o(r)) sin(n v r + ~n);

v/'n = - e O n ( a n , b, n v 9 + v/n, ~o(r)) cos(n v 9 + v/n);

n v an (22)

edOn(" ) = e O [ancos(n v r + v/n), - a n n v sin(n v r + v/n), bcos~o(r), - by sin~o(r)].

149
 The equations not depending on the time are obtained by time averaging their right-hand sides. For actual calculations
we expand the nonlinear functions into double trigonometric series:

L
(ancosa + bcosfl) sign(acosa + bcosfl) = )~ Cpqcosp acosq fl;
p,q= 0

sign(a v n sina + b v sir~) = ~ (Umpinpcz cosqfl + Wpqcospa sinq~),

p,q= 0

Upq = 1 2~ /.= I sinpa cosqfl

Woq s'--~ : : sign(a v n sina + b v sinfl) [cos/~x sinqfl dad:;

zx 2.~
Coq = 1 2 : : (ancosa + bcosfl)sign(acosa + bcosi3)cospgz cosqfl dadfl,

where s = 4 when p = q = 0, s = 2 when one of the subscripts p or q is equal to zero, s = 1 when both p ~ 0 and q
0. When the right-hand sides of Eqs. (22) are averaged, the most significant coefficients of the trigonometric series are those
which satisfy one of the equalities (1 + p)n + q = 0 (n = 2), where p, q are positive, usually small integers. For the given
problem the coefficients Co2, C22, C m, W02, W22, U22 are also of interest.
The averaged equations of motion assume the form

eU~o n~oa eR
a 2' = - - + ~ - (2Coz - Cz2) sin(vr'z - 2/6);
4v 2

(23)
( 1 - l )
~,~' = ~eA + ~eR
-~
I
(2Co~ + c . ) cos(~o~ - 9 4 ~ ) - ~ - -~ w,2 + ~ ( u . - w ~ ) sin(~,~ - 7gD.

For weak resonance of second order, where n = 2, 2a 2 < b, we obtain with an error (2a2/b) 5 [2] that W22 = U22
= W02 = 0,

Z (2C0. +_ C . ) = -4Rb
~ - A • (a,,b), U,o(.,,,b) = ~n~ (1 + ~1 )a2~
;
(24)

9d IS4
a + (a~,b) = 1 - g ~-~ + 64 b4 - A,(a=,b),

(25)
3 a~ . 3 a4
a - (.,,b) = x - ~ ~ + ~ ~ = a~(.,,b).

Specifying the initial values a2(0), ~2(0) and integrating Eqs. (23), (24), we can investigate numerically the process
of establishing the amplitude and phase of the second harmonic of vibrations with resonance of second order. The steady-state
values of the amplitude a 2 and of the phase ~2 are determined by equations obtained from (23) for a 2' = 0, ~2' = 0:

2v ne{(a2, b) At(az, b) (26)

tg(~ Z - 2t3) = 4v2 - I Az(a~, b) ;

nef =n, +'~---~v

..[ 14/
1 +-~-~).

nef is the reduced coefficient of viscous damping.

150
 TABLE I. Influence of Inaccuracy in the Determination of the Frequency of
Resonance of Second Order on the Error of Determining the Parameter of the Crack
Depth
v a~ 02 R
0,53 1,3 0,202 0,040
0.52" 1,28 0,238 0,045
0,51 1,27 0.255 0,050
0,50 1.25 0,235 0.045
0,49 1,23 1,97 0,035"

R
3

a~/b
Fig. 2. Dependence of the reduced depth
of the crack on the ratio of the second
harmonic to the first one.

The amplitude-frequency curve can be plotted by formula (26) by the iteration method, and as initial approximation
we take the value of a2/b determined for

AI(a 2, b).= Az(a2, b) = 1.

Of practical interest is the dependence of R on a.z/b with exact resonance of second order:

3 n ef as (27)
R =-~r A2(a21b) b"

On the axes R, a2/b the graph of the curve R(a 2, b), which is the curve of the positive curvature, intersects the axis
of abscissas at the origin of coordinates at the angle 0, and then tan O = 3/4~- nef (Fig. 2).
In the problem under consideration with no # 0 the Coulomb friction is viscous. This is yet another manifestation of
the effect of linearization of Coulomb friction in bifrequency vibrations that was first noticed by Plakhtienko [3].
Consequently, independently of the nature of the friction (viscous or structural), an increase of the transverse crack
entails an approximate correlation between the reduced parameter of the crack depth and the ratio of the second harmonic to
the first one a2/b. A graph coinciding qualitatively with the one shown in Fig. 2 was presented in [4]. The hypotheses and
simplifications adopted in the present work therefore do not change the fact that the mathematical model of vibrations of a beam
with a crack adequately represents the real dynamic behavior of the described object. More complex problems of the dynamics
of cracking unidimensional objects were dealt with in [5, 6].
Numerical modeling was carried out to check the range of application of formula (27), which makes it possible to
evaluate the parameter of the depth of the crack R. By the R u n g e - K u t t a method with a step h = 7r/(20~1) Eq. (17) was solved
numerically on a PC for the following values of the parameters: /zI ---- 1; )k0 -= 0; )k 1 = 0 . 1 ; 3/1 = 1 . 0 8 ; r 1 = 0.05 (R =
0.475). The exact value of the frequency of resonance of second order is u = 0.5119. The steady-state output process u1(t)
was expanded into a Fourier series. Table 1 presents the values of the near-resonance frequencies ,, and also of the first
harmonic a 1 = b and of the second harmonic a 2 of the process u(z). The value of R was calculated by formula (27) for b =
a 1. It can be seen that this formula works satisfactorily when the resonance frequency is determined with an error not exceeding
4%. This frequency can be determined as the frequency at which a2(~,) attains its maximum.

151
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II1-110 [sic] (1991).
3. N. P. Plakhtienko, "One effect of Coulomb friction in nonsteady forced vibrations," PriM. Mekh., 14, No. 2, 136-138
(1978).
4. S. L. Tsifanskii, M. A. Magone, and V. M. Ozhiganov, "Utilization of nonlinear effects for detecting cracks in rod
elements of structures," Defelaoskopiya, No. 3, 77-82 (91985).
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6. Y. Ishida, T. Ikeda, T. Yamamoto, and N. Masuda, "Vibration of a rotating shaft containing a transverse crack,"
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152