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0 1990 Pqmma pm. plc

PARAMETRIC INSTABILITY OF AN ELASTICALLY

RESTRAINED CANTILEVER BEAM
R. C. KAR and T. SUJATA
Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur 721 302, India

(Received 10 January 1989)

Abstract-The dynamic stability of a beam elastically restrained at one end and free at the other subjected
to pulsating uniaxial and follower forces has been studied. The effects of the tangency coefficient of the
applied force, and the rotational and translational end-flexibilities of the beam on the regions of parametric
instability of simple and combination resonances have been investigated. The results reveal that these
parameters have significant influence on the dynamic stability of the system.

1. INTRODUCTION instability regions have been studied through the use

of graphs.
Vibration and stability of elastically restrained beams
have been studied by many researchers. Abbas [l]
investigated the effects of translational and rotational 2. FORMULATIONOF THE PROBLEM
end-flexibilities on the natural frequencies of free
vibration of Timoshenko beams using a finite element Figure 1 shows a uniform beam of length L
method. Cortinez and Laura [2] dealt with the vib- elastically restrained against translation and rotation
ration and buckling of non-uniform beams with a at the end X, = 0 by springs of stiffness K, and K.
rotational restraint at one end and a concentrated respectively. A pulsating force p(t) = PO+ P, cos wt
mass at the other. Maurizi et al. [3] studied the free with a tangency coefficient a acts on the beam at the
and forced vibrations of elastically restrained beams. end X, = L. Euler-Bernoulli theory, with the aid of a
They observed the effects of both translational and conservation law, yields the equation of motion as
rotational flexibilities on the displacement, bending
moments and shear force amplitudes. In a recent
work, Liu [4] presented approximate expressions for
the fundamental natural frequency of a restrained, 0 < X, < L, t > 0, (1)
slender cantilever beam of uniform cross-section for
various combinations of rotational and translational and the boundary conditions as
end-flexibilities. GiirgGze [5] considered a simply-
supported vertical beam carrying a concentrated K, WO, t) + EZW,,,,(O, r) + Z’(r)W’,,(O, t) = 0
mass, restrained at one end and subjected to a
periodic axial displacement excitation at the other. & w,,(t), 1) - EZW,,, (0, t) = 0
He investigated the effects of various parameters such
as mass-ratio, spring-stiffness and damping on the EZW,,,(L,f)=O
boundaries of the main parametric instability zones
as well as on the dynamic response. In an earlier (a - l)P(t)W,,(L, t) - EZW,,,,(L, 1) = 0, (2)
paper, the present authors [6] reported the regions of
instability for simple parametric resonance of a non- where W(X,, t) is the transverse deflection, E is the
uniform beam with an elastic end support and Young’s modulus, p is the density, A is the area of
thermal gradient under a pulsating axial load. cross-section, Z is the moment of inertia, D, is the
The purpose of the present work is to investigate external damping coefficient, and W,, = 8 W/at,
the dynamic stability of a uniform beam elastically w,, = aw/ax,, etc.
restrained at one end and free at the other, subjected Introducing the dimensionless parameters
to a directionally controlled pulsating longitudinal ?l = W/L, { = X,/L, T = ct (where c2 = EZ/pAL4),
force. The first-, second- and third-order regions of 8 =w/c,p,=P,L2/EZ,po = P,, L2/EZ, d, = D, L4c/EZ,
parametric instability of simple and combination 8, = EZ/K,L’ and PO= EZ/K,L, eqns (1) and (2) re-
resonance are determined simultaneously by an duce to
eigensolution approach. The effects of end-flexibilities
and tangency coefficient of the applied force on the tf”‘+p(r)q”+d,i+tj’=O, O<<<l, r>O (3)
469
470 R. C. KAR and T. SUJATA

P(t)

* x,

L w

Fig. 1. Configuration of the system.

and where

rl(O,7)lBI+rl”‘(O,7)+p(7)?‘(0,7)=0

VW 7)//30- r1”(0,7) = 0

s”(l, 7) = 0
D,=d, Vi(thj(5) d5
S’0
(a - I)p(z)rl’(l, 7) - ~“‘(1,7) = 0, (4)

respectively, where ( . ) = a( )/at, ( )’ = c?( )/at,

etc.
A series solution of eqn (3) is sought in the form
Ku= ‘111’(5hj’(t)dt +~:‘(O)~~(O)-~~(O)~j(O)
I0

rl(r, 7) = i f,(T)rl,(t;)> (9
r=l
i,j=l,2 ,..., n. (9)

where the f,(r)s are unknown functions of time and

the ~(5)s are the co-ordinate functions chosen so as 3. DETERMINATION OF THE INSTABILITY REGIONS
to satisfy as many or as much of the boundary
conditions in eqn (4) as possible. It is further assumed The solution of eqn (8) is sought in the form

that q,(t) can be written as

(f(7)) = eW/2{bo) + $, (&Jsin k@7
%(5)=sin1,5 +A,sinh1,5 +B,cos&<

+ C, cash A,<, (6) + {b,}cos ker)], (10)

where {b,}, {a,}, {bk} (k = 1,2,.
. .) are vectors in-
where A,, A,, B, and C, are determined using the dependent of time. Substitution of eqn
(10) in eqn (8)
boundary conditions and application of harmonic balance method yields
the quadratic eigenvalue problem in 1
tl,(O)/S,+rt:“(O)=O, rl;(Wso-~:(o)=o
(cupful+ W,l + PfoWJ = v% (11)
q:(l)=o, r]:“(l)=0 (7)
where
which, in turn, are obtained from those given in eqns
(4) by deleting the terms containing the load parame- {X} = [{bo}, {b, 1, . . . , {a, 1, . . Jr.
ter p(7).
Substituting eqns (5) and (6) in eqn (3) and using By introducing the new variable {Y} =1(X}, eqn
the extended Galerkin method, one obtains (11) can be reduced to a standard eigenvalue problem
of the double-size matrix

-PI Wlcos @7){f(7)1 = P>? (8)

 Instability of an elastically restrained cantilever beam

In eqn (1 l), if all the eigenvalues have negative real

parts, the corresponding basic solution is bounded as
z -+ 00 and the solution is stable. On the other hand,
if any of the eigenvalues has a positive real part, the
solution is unstable. Thus the problem of determi-
nation of the stability of the non-trivial solutions
becomes that of finding the signs of the eigenvaiues 4
of a real non-symmet~c matrix.

4. RESULTS AND DISCUSSION

The numerical calculations have been carried out

on a CYBER 180~8~A computer system for a beam
with static load parameter pa = 0.5 and external
damping coefficient d,= 0.01.The natural frequen- 6
cies obtained have been compared with those given
Fig. 3. Regions of instability for /3,= 0.0, be = 0.1, u = 0.5.
by Abbas [l] and Liu [4] and the static buckling loads Key as for Fig. 2.
with those obtained analytically. In both cases, the
results were found to be in good agreement. More-
over, the instability regions for the special case of a neighbourhoods of 2w,, wj and 20~ J3. The only
cantilever beam (i.e. 8, = 0, & = 0) agree well with unstable region of simple resonance with the first
those of Takahashi [7]. natural frequency appears at 0 N 201,. The first-,
In Figs 2-13 the regions of instability have been second- and third-order unstable regions of combi-
plotted for uniaxial (a = 0) and follower nation resonance of sum-type occur near
(a = OS,1.O, 2.0) forces for representative values of fl, @= (WI + w,), tw, + a,)/29 (WI + %)/3, (% f W),
and &. The resonances which are obtained for (co3+ w, ). Combination resonances of difference-type
5 e 5.0 are omitted. The kth order simple parametric do not exist in the present case. The first-order
resonances in the vicinities of 2tq/k (i= 1,2,3, regions of simple resonance at 6 = 2wz,2w, are wider
k = 1,2,3) and the sum- and difference-type combi- than the other regions for all values of p,. Figure 3
nation resonances in the neighbourhoods of depicts the instability regions occurring due to a
(wj + o,)/k(i>j,i = 1,2,3,j = 1,2, k = 1,2,3) are subtangential force with a = 0.5.Combination reso-
obtained simultaneously, where wi is the ith natural nances of sum- and difference-type appear in the
frequency of the unloaded beam with associated vicinities of (w2 + 03) and (wz -w,), (q - 0,)/2,
boundary conditions. (w3 - CD,), respectively. Regions of simple resonance
Figures 2-5 show the stability diagrams for a = 0, of the first-order, which were observed in Fig. 2,
0.5, 1 and 2, respectively, with b, = 0 and f10= 0.1. continue to exist at 0 * 20,, 20,, 20,, while the
For a = 0 (Fig. 2), the unstable regions of simple second-order regions in the neighbourhoods of o2
parametric resonance with the second natural fre- and w3 are found to have been suppressed. The
quency are obtained in the vicinities of 2w, and W, first-order simple resonance regions of second and
and those with the third natural frequency in the third modes are more important than the other

6
IT3 Simple resonance hz9 ~bina~ion resortonce

Fig. 2. Regions of instability for /I, = 0.0, Be= 0.1, a = 0.0.

472 R. C. KAR and T. SUJATA
115
8 Key as for Fig. 2.
Fig. 4. Regions of instability for 1, = 0.0, fis = 0.1, a = 1.O.
Key as for Fig. 2.
simple and combination resonance regions. A subtan-
gential force with a = 0.5 has caused a reduction in
the width of all the instability regions as compared to
those in Fig. 2. The stability diagram for tangential
force (i.e. a = 1.0) is shown in Fig. 4. Simple reso-
nance regions occur at 0 2: 2w,, 2w,, w2, 2w, and w,,
while combination resonances of sum- and difference-
type are obtained in the vicinities of (u+ + q), and
(0~~- q), (q - 0,)/2, (wj - q), respectively. It is
interesting to note that the (w2 - w,), 2w, and 20,
regions are wider than the other instability regions.
An increase in the value of c( from 0.5 to 1.0 has
increased the width of the (w2 - w, ) region and
reduced the width of all other first-order regions. A
value of a = 2.0 (Fig. 5) is found to have given rise
to second-order combination resonances at
0 = (0, + 0,)/2, (w2 + w,)/2 and (q + w,)/2 in addi-
tion to the first-order combination resonances in the
vicinities of (w, + q), (q + We) and (We+ w,). Also,
simple resonances are observed in the neighbour-
hoods of 21~0,)2w,, wz, 2w,, 03, 2w,/3. No difference-
type combination resonance regions appear at this
value of IX.While the unstable regions near 0 = 20,~
0
5 10 20 30
Fig. 5. Regions of instability for j, = 0.0, /$ = 0.1, a = 2.0. Key as for Fig. 2.
Fig. 6. Regions of instability for /3,= 1.0, & = 0.0, a = 0.0.
w2, w, and (q + wl) have become wider, those at
0 N 2w, and 2w, have reduced in width as a result of
increase in the value of M:from 1.0 to 2.0. The
parametric resonance regions in the vicinities of 2w,,
(w, + q) and (wj + w,) are much wider and hence
more important than those at 6 N 2w,, 2w, and
(% + 0,).
The regions of parametric instability for four
different values of tl with /?, = 1.0 and PO= 0 are
shown in Figs 69. From Fig. 6 it is seen that, for
u = 0, first-order regions of combination resonance
exist near 0 = (w, + w,), (q +o,) and (w, + w,),
while second-order combination resonance of the
sum-type is observed in the vicinity of (q + wj)/2.
Simple resonances occur at 6 N 20,) 20, and oj . The
20, region is the widest of all the instability regions.
At do= 0.5 (Fig. 7), first-order sum- and difference-
type combination resonances appear in the neigh-
bourhoods of (q + q) and (q - w,), respectively,
and no second-order combination resonances are
seen. While the region at 0 E (q + wj)/2 is sup-
pressed, the instability regions near 0 = 2w,,
(w2 + wj) and 2w, have reduced in width due to an
increase in the value of a from 0 to 0.5. For a value
of a = 1.0, only sum-type combination resonances
40 60 75 115
 Ins~bility of an elastically restrained cantilever beam

60 65 5 15 30 35 60

8 &I

Fig. 7. Regions of instability for j?, = 1.0, & = 0.0, e = 0.5. Fig. 9. Regions of instability for p, = 1.0, /3s= 0.0, a = 2.0.
Key as for Fig. 2. Key as for Fig. 2.

occur near 19= (02 + o,) and (a+ + w,). Regions of parametric resonance regions. An increase in
simple resonance appear in the vicinities of 2w,, q, the value of 01from 0 to 0.5 (Fig. 11) has replaced the
Zw, and q. Analogous to the case of a = 0.5, no (wj + q) region by the (q - w,) region, while the
second-order combination resonances exist in Fig. 8. sum-type combination resonance region at
The first-order simple resonance regions are much @N (w2 + wX) continues to appear. Here, the 204
wider than those of combination resonance. All the
regions have become narrower with an increase in a 2

from 0.5 to 1.0. At a = 2.0 (Fig. 9), the combination

resonance region near f3 = (CL+ + w,) is more predom-
inant than all other instability regions. An increase in
the value of a from 1.0 to 2.0 has not only widened
the (CD* + Ok) region, but also reduced the width of
the 204 and 20, regions, besides giving rise to second- s
1
order combination resonances at 6 CC(w2 + 03)/2 and
(03 f 01 j/2.
Figures 10-13 show the stabihty diagrams for
a = 0, OS, 1 and 2, respectively, for p, = 1.O and
& = 0.1. At a = 0, sum-type combination resonances
appear in the vicinities of (w, + co*), (w2 + w,),
0
(or + 0+)/2 and (oj + w, ), but difference-type combi- 10 15 30 55
nation resonances are not observed. Regions of sim- 8
ple resonance exist near 8 = 204, 2~4 and wj. The
Fig. 10. Regions of instability for B, = 1.0, j& = 0.1, a = 0.0.
first-order region at 8 N 2~0, is the widest of all the Key as for Fig. 2.

4
1

Fig. 8. Regions of instability for /I, = 1.0, & = 0.0, do= 1.0. Fig. 1I. Regions of instability for & = 1.0, ,& = 0.1, a = 0.5.
Key as for Fig. 2. Key as for Fig. 2.
474 R. C. KAR and T. SUJATA

2 w) regions have become more prominent with

a = 2.0.
A comparison of Figs 2-5 with Figs 10-13, respec-
tively, reveals that all the parametric instability re-
gions have shifted towards lower excitation
frequencies due to an increase in the value of /I, from
PI 0 to 1.0. In addition, for t( = 0 and 0.5, whereas the
1
first-order combination resonance regions have re-
duced in width, the simple resonance regions near
0 = 2~4 and 204 have become more important. At
a = 1.O, an increase in the value of /I, to 1.0 has
caused the replacement of the difference-type combi-
nation resonance region at 0 N (We- wr) by a sum-
0 type one at 0 N (w2 + Ok). The simple resonance
5 10 30 55
8 regions in the vicinities of 2~~ and 20, have become
wider, thus signifying greater instability. On the other
Fig. 12. Regions of instability for /I, = 1.0, j?”= 0.1, a = 1.0. hand, for CI= 2.0, as seen in Figs 5 and 13, with
Key as for Fig. 2.
increase in /I, the regions at 0 E 204, (w, + w2) and
(oj + w,) have reduced in width while that near
region is observed to be the widest. Moreover, there 0 = (w2 + wj) has become wider.
is a reduction in the width of the regions near Again, by a comparison of Figs 69 with
0 = 2~4, 2~4, w, and (w2 + Ok) and suppression of Figs 10-13, it is observed that an increase in the value
the second-order combination resonance region at of f10from 0 to 0.1 has made the system more sensitive
0 N (w2 + w,)/2. At a = 1.0 (Fig. 12), only sum-type to periodic forces by shifting all the instability regions
combination resonance regions appear in the neigh- towards lower excitation frequencies. At t( = 0, 0.5
bourhoods of (co2+ wj) and (oj + o,), while simple and 1.0, most of the first-order instability regions in
resonances occur near 0 = 204,204 and wj . The 2w, Figs lo-12 are seen to have become wider than the
region is again observed to be the widest of all corresponding regions in Figs 68, respectively. From
the instability regions. Due to an increase in the Figs 9 and 13, for a = 2.0, it may be noted that an
value of a from 0.5 to 1.0, whereas the second-order increase in & has increased the width of the combi-
region of simple resonance at 0 = w, has become nation resonance regions at e N (co2 + oj), (co, + w,)
wider, those of the first-order have reduced in width. and the simple resonance region near 0 = 2w,. More-
With a further increase in the value of c( to 2.0 over, the second-order simple resonance region at
(Fig. 13), combination resonance regions appear near 0 N wj which did not exist in Fig. 9 has appeared at
0 = (w, + wq) and (wr + 04)/2 in addition to the /I0 = 0.1, while the combination resonance region
instability regions existing in Fig. 12. The (w2 + We) near 6’ = (wj + a,)/2 has been suppressed.
and (wj + w,) regions are wider than the other re-
gions shown in Fig. 13. As compared to the case of 5. CONCLUSIONS
c( = 1.0 (Fig. 12) the 204 and 204 regions have
reduced in width, while the (w2 + w,), (w, + w, ) and The regions of parametric instability have been
obtained for a beam elastically restrained at one end
and free at the other under the influence of pulsating

-r A
uniaxial and follower forces. The results reveal that
the unstable regions for uniaxial force (a = 0) are
wider than those for follower force in most of the
cases considered. Combination resonances of sum-
(w,+w,l
type occur for uniaxial as well as supertangential
2
force, but those of difference-type do not occur. In
contrast, combination resonances of difference-type
appear predominantly for subtangential and tangen-
tial force. Whereas most of the regions of simple
resonance are wider than those of combination reso-
nance for uniaxial and subtangential force, the com-
bination resonances are observed to have increasing
importance under tangential and supertangential
force. In the latter cases, some of the combination
0-
5 10 30 55 60 resonance regions are found to be wider than the
8 regions of simple resonance.
Fig. 13. Regions of instability for p, = 1.0, /?@= 0.1, a = 2.0. An increase in the value of either /I, or /I0 causes
Key as for Fig. 2. shifting of all the instability regions towards lower
 Instability of an elastically restrained cantilever beam
excitation frequencies, thus making the system more
sensitive to periodic forces. Moreover, in most of the
cases, the combination resonance regions experience
reduction in width while the regions of simple reso-
nance become wider with an increase in either j3, or
B0’
REFERENCES
I. B. A. H. Abbas, Vibrations of Timoshenko beams with
elastically restrained ends. J. Sound Vibr. 97, 541-548
(1984).
2. V. H. Cortinez and P. A. A. Laura. Vibrations and
buckling of a non-uniform beam elastically restrained
415
against rotation at one end and with concentrated mass
ai the other. J. Sound Vibr. 99, 144148 (1985).
3. M. J. Maurizi. D. V. Bambill de Rossit and P. A. A.
Laura, Free and forced vibrations of beams elastically
restrained against translation and rotation at the ends.
J. Sound Vibr. 120, 626-630 (1988).
4. W. H. Liu, Approximate formula for determining the
fundamental frequency of a restrained cantilever.
J. Sound Vibr. 124, 204-205 (1988).
5. M. Giirgiize, Parametric vibrations of a restrained beam
with an end mass under displacement excitation.
J. Sound Vibr. 108, 73-84 (1986).
6. R. C. Kar and T. Sujata, Parametric instability of a
non-uniform beam with thermal gradient and elastic
end support. J. Sound Vibr. 122, 209-215 (1988).
7. K. Takahashi, An approach to investigate the instability
of multiple-degree-of-freedom parametric dynamic
systems. J. Sound Vibr. 78, 519-529 (1981).