S. A.

Hall
Oscillations of a Self-Excited,
Research Staff Member,
International Business Machines Corporation,
Nonlinear System
Yorktown Heights, N.Y. 10598
Mem. ASME A system of self-excited, nonlinear differential equations exhibiting frequency
entrainment is studied. Although similar equations describe electrical oscillators
and machine-tool chattering, the results presented herein apply specifically to a
W. D. Iwan model for the vortex-induced oscillation of linear structures. The equations are
Professor, treated analytically by an approximate method, and two cases — partial nonlinear
Department of Applied Mechanics, coupling and full nonlinear coupling — are identified. As applied to vortex-induced
California Institute of Technology, oscillations, the partially coupled case describes a structure having a single mode of
Pasadena, Calif. oscillations, while the fully coupled case approximates continuous systems, such as
Mem. ASME
undersea cables. Solutions for each case are examined for stability, and the results
reveal several new types of behavior.

1 Introduction
A wide variety of physical systems may be classified as self-
excited oscillators since they exhibit continuous, well-defined
periodic oscillation without any "external" periodic ex-
citation. Examples include many musical instruments, certain
electrical circuits, machine-tool chattering, and the vortex-
induced oscillations of structural components. Often, the self-
excited oscillator is coupled to other oscillatory elements that
possess their own distinct natural frequencies. In such a
system, the frequency of the self-excited oscillator may be
captured by the system resonance, a phenomenon called
entrainment, or lock-in. The vortex-induced oscillation of
elastic structural elements is an important example of this
phenomenon.
There have been a number of experimental and analytical
studies of self-excited systems, most relating to the problem of
vortex-induced oscillation [1-8]. Analytically, it has become
customary [4] to model the system by a single-mode, damped
linear oscillator coupled to a self-excited oscillator of the van-
der-Pol type [8]. By appropriate selection of model
parameters, this approach has produced results that agree
reasonably well with experimental observations, provided that
the natural frequencies of the system are well separated.
However, when the natural frequencies of the system are
closely spaced, as in certain large marine systems, the
customary, single-mode analysis is no longer valid. In such a
case, distinct lock-in may or may not occur depending on the
system parameters [3].
To gain further insight into the behavior of self-excited
systems with closely spaced natural frequencies, a two-mode
Contributed by the Applied Mechanics Division and presented at the Winter
Annual Meeting, New Orleans, La., December 9-14, 1984 of THE AMERICAN
SOCIETY OF MECHANICAL ENGINEERS.
Discussion on this paper should be addressed to the Editorial Department,
ASME, United Engineering Center, 345 East 47th Street, New York, N.Y.
10017, and will be accepted, until two months after final publication of the
paper itself in the JOURNAL OF APPLIED MECHANICS. Manuscript received by
ASME Applied Mechanics Division, February, 1983; final revision, December,
1983. Paper No. 84-WA/APM-24.
Copies will be available until August, 1985.
system is considered herein. It may be shown [3] that an
important class of physical systems of this type may be
modeled mathematically by a set of two damped linear
oscillators coupled to two van-der-Pol oscillators. Such is the
problem addressed in this paper. An approximate analysis
reveals several new types of response behavior.
2 Formulation
Consider a linear two-mode system with natural frequencies
0, and fi2 both close to unity. Let these two modes be coupled
to two self-excited, van-der-Pol-type oscillators with unit
frequency. Consistent with physical arguments for the vortex-
shedding problem [1, 3], it will be assumed that the self-
excited oscillators are coupled in a nonlinear fashion through
the velocity-dependent terms. The coupling between the self-
excited oscillators and the linear oscillators will be assumed to
be linear in velocity and displacement terms. The coupling
assumed is the simplest form possible that retains the basic
physics of the problem.
Under the foregoing assumptions, the equations governing
the response will be
xx +axX\ + 0 ] * ! = ax3 + fiXj (la)
X2+a2X2+Q22X2 = ax4 + &x4 (lb)
x3 + (px\ + qx\ - b) x3 +x} = yxx + bxx (lc)
x4 + (px\ + qx\ - b)x4 +xA = yx2 + 8x2, (Id)
where dots denote differentiation with respect to time t.
Equations (la) and (lb) describe the modal characteristics of
the system, while equations (lc) and (Id) specify the self-
excited components associated with these modes. For the
problem of vortex-induced oscillation of a cable, equations
(la) and (lb) would represent the response of two adjacent
modes of the cable, while equations (lc) and (Id) would
represent the influence of the shed vortices coupled to the two
modes. It will be assumed that all coefficients are of order
e (e < < 1), with the exception of U^ and fl2> which are
assumed to differ from unity by quantities of order e. The

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 nonlinearity, damping, and coupling are therefore assumed to + (iy + 5)Hm_2=0, m = 3,4- (9)
be small.
These equations are satisfied by the following solution form
Without loss of generality, equations (1) may be written in for the complex amplitudes Hm
vector form as
x + x = ef(x,x) (2) Hm{T) = ^Am{T)efn,i-nt m=\, . . . ,4. (10)
where x = (x ,xA) and the definition of f (x, x) follows By substituting equation (10) into equation (5), the unknown
directly. An approximate analysis of this system of equations real quantities A„, (T) and 6m(T) may be identified,
may be carried out using a variation of the method of multiple respectively, as slowly varying amplitudes and phases:
time scales [6]. To this end, let the solution x be expanded as a
power series in e, xffl=A„ cos (t + 6m), m = l, . . . ,4. (11)
1
x = x<°>(/,7) + ex< >(?,r), (3) Substituting equations (10) and (11) into equations (9), and
separating real and imaginary parts gives, upon
truncated here to two terms, each of which depends on time t rearrangement, the following set of eight, first-order,
as well as the "slow time" et, denoted hereafter as T. Then, nonlinear differential equations in the amplitudes and phases:
defining D0 and Dx as the partial derivatives with respect to /
and T, respectively, substituting equation (3) into equation Am = - -amAm+~Am + 2(a cos iin-p sin n„,), m = l,2
(2), and equating coefficients of like powers of e gives the
following two equations for x(0) and x (1) : 1 A
e°: £>;Sx<0>+x<0> = 0 K = - , ( l - f i » , ) - - ^ 7 J ; i ( / 3 c o s /x,„ + a s i n /x,„), w = l,2
e1: e(A)X ( 1 ) +x ( 1 ) ) = -2eZ>0Z>,x<0>+ ef(x«",A)X (0) ). (4)
1 3 1
Denoting complex conjugation by overscoring, the e° Am = - bAm--pAl-~qA2nAm(2 +cos 24>)
equation is satisfied by
xffl=Hm (T)e"+H„, ( D « - " , m = 1, . . . A (5) + 2 ^ - 2 ( 7 cos M,„_2 + 5sin^,„_ 2 ), m = 3,4

where H,„(T) is a slowly varying complex function. Con- (—1)'" Am 2

sequently, the e1 equation becomes 6m = — - — q A 2 n s m 2 0 - ~ (5 cos /*ffl_2
S 2Am
dH„, dHm
e{Dlx^ +x®)=- li (e -Ysin^„,_2), m = 3,4 (12)
dT dT -)
where the phases differences fix, ix2» anc> 4> are defined as
+ e/„,(x<0>,JD0x<0>). (6)
m-fli-»3, ^^^2-04. ^e4-d3. (13)
To proceed further, the functions e/,„ in the system (2) must
be specified. First-order differential equations for the Hm are 3 Steady-State, Monofrequency Solutions
then generated by substituting equation (5) into equation (6), For steady-state, monofrequency oscillations at some
and requiring that the sum of the secular terms in equation (6) unknown frequency co, assumed to differ from unity by a
vanish. quantity of order e, the amplitudes Am in equations (12) must
Writing the functions efm appropriate to equations (1) be constant, while the phases 0,„ must drift at the same, slow,
yields constant rate co—1. Thus, approximate, steady-state,
monofrequency oscillations of the system (1) are described by
e(D2x^ +*£>) = ( [ / m -2*e^y+c.c, m=\,2
-amAm+Am+2(a cos /*„,-/? sin /*„,) = 0 , w=l,2
(2o3-\-ttl,)Am+Am+2(Pcos ^ , „ + a s i n ix,„) = Q, m = \,2
e(23§41,)+4!)) 3 1
bA, -pA3m--gA2nAm(2+ cos 20)
= Wme3i' + (v,„-2ie^^ei' +c.c, m = 3,4
+ ^W,-2(YCOS /^„,_2 + Ssin /t m _ 2 ) = 0, m = 3A
(7) (-1)'"
2(a>-l)Am — q A \ A m sin 20
where " c . c . " denotes the complex conjugate of all preceding
terms, and +A,„_2(5 cos nm_2-y sin /*m_2) = 0, m = 3A
Um = (l-a2m-iam)Hm + Va + P)Hm+2, m=l,2 (14)
Vm = (iy + d)Hm_2+ibHm-3ipHjnHm-2iqHmH„H„ This system comprises eight, nonlinear algebraic equations
~iqHmHt„ m = 3,4 (8) for the eight unknowns (Au . . . , A4, /ilt /x2, 0, co). The
method of solution depends strongly on whether the coupling
Wm = iHm(qH2n+pH%), m = 3A. parameter q is zero or nonzero.
In the latter equations, and henceforth, n = 4 when m = 3, 3.1 Partially Coupled Oscillations (q = 0). It is apparent
and n = 3 when m = 4. from equations (1) that if q = 0, the pair of oscillators (Xi, x 3 )
The requirement that secular terms vanish on the right side is uncoupled from the pair {x2, xA). Consequently the system
of equations (7) gives of eight equations (14) resolves into two identical, uncoupled
sets of four equations. For specificity, consider the set in-
dH„, volving xt and x3. The first pair of equations (14) may then be
-In + (1 -Q% -iam)H„ + (ia + (3)Hm+2 = 0 , m = l,2
dT solved for cos /X] and sin ^ . Squaring and adding gives an
expression for Ai/AJ. Substituting these results into the
dH„, second pair of equations (14) produces a frequency equation
-2ie-£ + ibH,„ -3ipH%Hm -2iqHmH„H„ -iqH.M
and an amplitude equation of the form

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 F » =0, j = \ (15)
G,(co) = Aj+1, j = 1, (16)
where the functions Fj and G/ are defined as
4
P, * Ul * ^(2C0-1-Ql) + M y ] nT)
F 2(1 w) 2 (17)
>^3^l - --(2l7-l-fil) + «) i
w£K -A: g (2faj-l-flj)+My
(2w-l-fi?)2+a) )
(18)

and
ka=a5 + l3y, kb^ay-p5. (19)
The form of the solution to equations (15) and (16) may be
simplified by replacing the pair of frequency variables (co, fii)
appearing in equations (17) and (18) with "frequency
detuning" variables D and d, defined as
1 -.25 -.2 -.15 -.1 -.05 0. .05 .1 .15 .2 .25
D = - ( 2 a > - l - 0 2 ) = co-0, d
Fig. 1 Partially coupled oscillations: typical frequency response
.25
d - -(1-0?)«1-Q,. (20)

where the indicated approximations hold to order e. D is the

detuning between the response frequency u and the natural .2
frequency of the oscillator xx, while d is the detuning between c/^~\
the natural frequencies of the two oscillators x3 and x{.
Substituting into equation (15) yields A, .15 D
/
/ •'•+++
1 C2kbD+kaan
d=D + (21) +; ++
I 42?2+a? r /
/ + •
.1 +
For each value of D, the amplitude A3 is given by equation + * ;
+ . i
(16). The boundaries of real amplitude may be found by
setting G1(ui) = 0. '• i *
++ : i
.05
To investigate stability of the preceding solutions, it is By +
+
necessary to return to equations (12), prior to assumption of
the steady state. Using these equations together with + + /+ +
++ +
equations (13), expressions for A j , A3, and jx{ may be written (1
.25 -.2 -.15 -.1 -.05 0. .05 .1. .15 .2 .25
in the form
d
X = J(X), (22) Fig. 2 Partially coupled oscillations: amplitude response
corresponding to Fig. 1
where X = (Ait A3, jii). The steady-state solution X 0
satisfies J(X 0 ) = O, so if X is perturbed slightly away from
X 0 , the perturbation X satisfies, to first order,
x raj-i
x X. (23)
=[ax]
The eigenvalues of the Jacobian matrix are found to satisfy a
cubic equation whose coefficients are polynomial functions of
the independent variable D. The Routh conditions may then
be applied to determine which solutions are stable.
3.2 Fully Coupled Oscillations (q*0). When g^O, all
four oscillators xm in equations (1) are coupled together.
Upon inspection of these equations, it is clear that two en-
tirely different brands of nontrivial solution are possible:
Case 1: Nondegenerate solutions, for which all four x,„
are nonzero.
Case 2: Degenerate solutions, which are of two types: 1.3D -0.15 -0.30 -0.15 >.]5 0.30

x, , x 3 ^ 0 and x2=xA=0 (Type 1)

Fig. 3 Fully coupled oscillations: typical nondegenerate solutions (A
x2,x4^0 and x,=xi=0 (Type2) (24) = 0.1)

For any given set of parameters (a, /3, 7, 5, p, q, etc.) it is not

clear a priori which type of steady-state solution (if any) will for,/ = 1 , 2 . Further elimination gives, in place of equation
prevail. (15),
Case 1: Nondegenerate solutions. Consider first the (*? - H ) 2 + [(Fi G, + F G ) - f - (F, G + F G,)] '
2 2 2 2
nondegenerate case. Initially, solution of the eight steady-
state equations (14) in the eight unknowns (Ax, . . . , A4, nlt
H2, <t>< ") proceeds in direct analogy to the solution of the = (^)2(F1G2+F2G,)2 (25)
partially coupled system, yielding the amplitude equation (16)

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 where Fj and Gy are defined fory = 1,2 by equations (17) and
(18).
As in the foregoing, detuning variables may be introduced
here to recast the frequency equation in simpler form. Let
Q? + fii
2 1.
1
2
}-. (26)

1r Qj + Qf-j Q, +fl,
(27)

A=-(n|-Q?)«Q2-fi, (28) 15 P. 30

The quantities 5 and d, based on the mean of Q{ andfi2,are

directly analogous to D and d, introduced earlier for the
partially coupled case. The additional variable A is necessary
here to measure the difference between 02 and Q[. Writing
equation (25) in terms of the detuning variables gives Fig. 4 Fully coupled oscillations: typical degenerate solutions (A
0.1)
K2d2+Kld+K0=0, (29)
where K2, Ku and K0 are algebraic functions of the system
parameters and the independent variable D. Hence, for each first order in e yields two pairs of perturbational equations
value of D there are two possible solutions d, which are either which are completely uncoupled from each other, one pair for
both real or both nonreal, depending on the sign of the the nondegenerating degrees of freedom, and another pair for
discriminant. For each real frequency solution d, the am- the degenerating degrees of freedom. The degenerate, steady-
plitudes and phases (Ax, . . . , A4, nu fx2, 4>) may be state solution to equations (1) will be stable if and only if the
recovered by back substitution. The amplitude solution is real solutions to both pairs of perturbational equations decay with
if and only if both functions Gj are positive. time. For the nondegenerating degrees of freedom, the
stability characteristics may be determined as for the partially
As for the case of partially coupled oscillations, if a coupled case. Thus, independent of the difference between flj
solution is real, stability may then be investigated using and Q , (as measured by the parameter A), solutions that are
2
equations (12), which yield a set of seven first-order dif- unstable in the partially coupled case are also unstable in the
ferential equations in the four amplitudes and three phase fully coupled case.
differences. Unlike the previous case, the seven-by-seven
Jacobian of the present case is too large to permit a con- Additional stability bounds are imposed on the fully
venient, analytical determination of stability conditions. The coupled solution by the degenerating degrees of freedom, the
stability results given in Section 4 were obtained by analytical stability characteristics of which cannot be inferred from
differentiation to obtain the Jacobian matrix, followed by previous work. However, if the exact parametric excitation is
numerical determination of the eigenvalues. replaced by the approximate value given by the asymptotic
method, the stability characteristics may be deduced using
Case 2: Degenerate Solutions. As specified by equations Floquet theory. In the present investigation, a set of principle
(24), there are two types of degenerate solutions. However, solutions, which depend on the parameter A, is determined by
since the two types are completely analogous to each other, numerical integration. Next, the associated, one-period
only one of them need be considered explicitly. Considering transfer matrix and its eigenvalues are found numerically.
Type-1 solutions, the steady-state equations reduce, for the According to Floquet theory, the system will be stable if and
nondegenerating degrees of freedom (x,, x3), to equations only if all eigenvalues have complex moduli less than unity.
(14). The same equations reduce, for the degenerating degrees As a result of these additional stability conditions, solutions
of freedom (x2, x4), to the identity 0 = 0, since A2 = AA = 0. that are stable in the partially coupled case are not necessarily
Therefore, steady-state degenerate solutions are identical to stable in the fully coupled case. Moreover, these additional
those for the partially coupled case. conditions cause the stability of degenerate solutions to
It remains to investigate the stability of these solutions. The depend on the difference between Qj and Q2.
stability analysis is quite different from the partially coupled
case-even though the steady-state solutions are identical-
because, in the fully coupled context, arbitrary perturbations 4 Numerical Example
about the steady-state may include nonzero perturbed values The results presented in the following were obtained using
of the degenerating degrees of freedom. Thus the full system the following values of the parameters in equations (1):
of eight equations (12), involving all four amplitudes a = 0.000988, 0 = 0.00104, 7 = 0.740, 5=1.156,
(Ajt . . . , A4) and three phase differences 0^, /x2, 0) must be a, =a2 =0.00613, 6 = 0.126. In addition, for the case of
considered. partially coupled oscillations, p = 0.270 and q = 0, while for
However, a problem arises: since the steady-state am- the case of fully coupled oscillations,/? = 0.405 and q = 0.810.
plitudes of the degenerating degrees of freedom are zero, it is These values, appropriate to the vortex-induced oscillation of
meaningless to speak of the corresponding phases. Hence, for spring-supported cylinders and elastic cables in air, were
Type-1 solutions, the steady-state values of the phase dif- obtained by fitting a simplified mathematical model of vortex
ferences n2 and <t> are not well defined. Consequently, a shedding [3] to experimental data on harmonically forced,
stability analysis based on equations (12), which require well- rigid cylinders [5] as well as spring-supported cylinders [2].
defined A's, (it's, and </>, must be abandoned in the degenerate According to this model, spring-supported cylinders are
case. described by partially coupled oscillations of equations (1),
An alternative stability method is to perturb the original while elastic cables are approximated by fully coupled
differential equations (1) about the exact, degenerate steady- oscillations. Although the parameter values stated in the
state. In such an approach, the concept of phases for the foregoing are not all strictly in accordance with the order e
degenerating degrees of freedom is absent, so the problem approximations implied by equation (2), it will be shown in
discussed in the foregoing does not arise. Retaining terms to the following that accurate results are nevertheless obtained.

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 F

1
0

.,;

Non - degenerate

-
If) x1

~="""-J
E 0

c
D~ . -... ' L - - - _ - - - - - - . - L . -_ _
c:> 0

5 c:>
i! \ H .,;
. i \ Degenerate
B,......-..,--;-~!-..' Type ,2

If)
- - A 2 =0
B' \ G Degenerate
C" 1 Type 1
~L- L- -'----- ------'
""- Non-degenerate
g.-------,-------,------------,

-0. IS 0.0 0.15 0.30

1
J
d
Fig. 5 Fully coupled oscillations: composite frequency solution (a =
0.1)

.15

.10
a 500 1000 1500

Fig. 7 Numerical solution versus analytic prediction for test point T1

ofFig.6
.05

Non- DIII9111neratlll
o 0.2
d mode structures. To illustrate this point, data from the
Fig. 6 Composite solution map
4.1 Partially Coupled Oscillations. The results for the
partially coupled case are shown in Figs. 1 and 2. Portions of
the frequency response curve d(D) which generate imaginary
amplitudes (A 3, A I) are shown as short-dashed lines.
Solutions that are real but unstable are shown as long-dashed
lines, while solutions that are real and stable - the only ones
of physical interest - are shown as solid lines.
Figure 1 illustrates that when the natural frequency (0 1 ) of
the linear oscillator XI is sufficiently greater than the natural
frequency (unity) of the self-excited oscillator X3 (d <0), the
response frequency w closely approaches that of the self-
excited oscillator (D "" d). However, when 0 1 is only slightly
less than unity (0<d<0.16), the self-excited oscillator is
entrained by the resonance of the linear oscillator, and the
response frequency approaches 0 1 (D "" 0). This is "lock-in."
For sufficiently small values of 0 1 (d>0.16), the response
again approaches the frequency of the self-excited oscillator
(D""d). The transition from one type of response to the other
occurs abruptly, and is characterized by hysteretic jumps
(CDD' C' in the figure). The precise point of transition
depends on whether the detuning is being increased or
decreased.
As indicated in Fig. 2, the amplitude response shows a
definite peak for detuning d between 0 and 0.16,
corresponding to the region of lock-in. Amplitude jumps are
also present, corresponding to the frequency jumps of Fig. 1.
In the case of vo~tex-induced oscillation, the frequency of
the self-excited oscillator - and hence d - is proportional to
the fluid-flow velocity. The general trends of Figs. 1 and 2
agree with the observed, vortex-induced oscillations of single-
aforementioned experimental study [2] of spring-supported
cylinders in air have been plotted on the figures. Although the
experimental results shown here do not display the hysteretic
jumps predicted by the model, other runs from the same
experiment (at lower values of the damping constant GI) do
display such hysteresis, a phenomenon that has not been
simulated by previous nonlinear models of vortex-induced
oscillation.
4.2 Fully Coupled Oscillations. The results for a
coupled two-mode system with .:l = 0.1 are shown in Figs. 3
and 4. Figure 3 shows the nature of the nondegenerate
solution and Fig. 4 that of the degenerate solution. Solid lines
denote real, stable solutions, long-dashed lines denote real,
unstable solutions, and short-dashed lines denote frequency
solutions that generate nonreal amplitudes. In Figure 3, the
"plus" and "minus" frequency solutions - which correspond
to the two solutions of the quadratic equation (29) - are
plotted separately for clarity. However, for the parameters
under consideration, the "plus" solution is never real and
stable, so the corresponding amplitude plots are omitted. For
the set of parameters under consideration, nondegenerate
solutions do not exhibit lock-in to any great degree. For other
sets of parameters, nondegenerate, locked-in solutions have
been found, which are real and stable, but such solutions do
not appear to have physical meaning. At point B, the upper-
mode amplitudes vanish, so this point must represent the
boundary between nondegenerate solutions and degenerate
solutions of Type 1.
From Fig. 4 it is observed that real, stable solutions for the
degenerate case occur only in the locked-in segments B' G and
D' H. These lock-in bands are suppressed as the modal

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 M , * J/lfM;^ 1 ,'!: 111 ,!,,

I/mil
1
1 I'V 1 ""' ' ill , u " ' i I , 1 h•••!•. Ji i,,!'••.ii:.',I,, 1,'" i i , J .
i
1
' il
' ,
,!, ,
1
| 2A 2 -
\"*J»VV.','JV .IIIUI)
i,: >
— 1 ! 11

1
,1 ' I V ' 'I I , | ' ' l ' | I A,= 0
,,'',"'. I ' I ' I I , 'i ! ''
. ,'ii! v ' ' ||'i i

Fig. 8 Numerical solution versus analytic prediction for test point T% Fig. 10 Numerical solution for test point T4 of Fig. 6
of Fig. 6

2A,

2A3

Fig. 9 Numerical solution versus analytic prediction for test point T3

of Fig.6 Fig. 11 Analytic prediction for test point T 4 of Fig. 6

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 frequency separation A decreases; the presence of the upper
mode causes instability of the right end of the lower-mode
lock-in band, while the presence of the lower mode causes
instability of the left end of the upper-mode lock-in band.
By piecing together the real, stable solutions from Figs. 3
and 4, the composite frequency solution shown in Fig. 5 is
obtained. A similar composite could be constructed for the
response amplitude, if desired. Nondegenerate and degenerate
solutions "fit together" at the points B — B', and ideally,
these two points should coincide. The slight mismatch is
attributable to the fact that the stability analysis used to
obtain point B is entirely different from that used to obtain
point B', as discussed in Section 3.
The nature of the composite solution will depend greatly on
the value of the intermodal coupling parameter A. Figure 6 is
a map of the composite solutions obtained by computing the
various solution boundaries for a number of values of A.
Thus, the lettered points at A = 0.10 correspond to those of
Fig. 5. Nondegenerate solutions exist in the three shaded
regions while degenerate solutions exist in the hatched
regions. The narrow white gaps between the B — B' and
D—D' boundaries are artificial, as indicated in the preceding
paragraph. On the other hand, the large white area is genuine.
In this region, the differential equations fail to admit simple
harmonic solutions of any sort, as discussed earlier.
Overlapping regions indicate hysteretic behavior. In par-
ticular, lock-in overlap occurs in the region where Type-1 and
Type-2 degenerate solutions coexist.
The phenomenon of lock-in suppression - the inhibition of
degenerate solutions as A—0-is clearly displayed by the
solution map, particularly for the upper mode. Lock-in
suppression has two effects. First, it reduces the extent of
lock-in overlap, and second, it gives rise to the region of
complex solutions (the white region of the figure). Decom-
position of the two-mode problem into two one-mode
problems at large values of A is clearly indicated by the
solution map. The shaded, triangular wedge of nondegenerate
solutions near the center of the map represents the "dead"
area between modes where both modal response amplitudes
are relatively small. Thus, the two modes may be considered
well separated if A is sufficiently large that this wedge
separates the two types of degenerate solution.
The approximate analysis may be verified by numerical
integration of the equations (1). Results for four com-
binations of A and d are shown in Figs. 7-10. These test
points, denoted by Tt-T4 on Fig. 6, are selected to represent
the four types of solutions predicted analytically by the
solution map. On Figs. 7-9, the steady-state amplitudes
predicted by the asymptotic method are shown at the right of
each plot. Clearly, the analytical predictions are quite good-
qualitatively, each solution is of the type predicted, and
quantitatively, the amplitude predictions are accurate. As
predicted by the steady-state stability analysis, the solution
shown in Fig. 10 for point T4 is not simple harmonic.
Although the steady-state equations yield no further in-
formation for such a case, the asymptotic method itself does
yield such information. The equations for the amplitudes and
phases, equations (12), may be integrated numerically with
small initial conditions, yielding the results shown in Fig. 11.
A comparison of Fig. 11 and Fig. 10 indicates that the
asymptotic method does an acceptable job in predicting the
envelope of the response, even when the solution is not steady
state.
Acknowledgment
This research was sponsored in part by a grant from the
National Science Foundation. Any opinions, findings, and
conclusions presented are those of the authors, and do not
necessarily reflect the views of the Foundation.
References
1 Blevins, R. D., Flow-Induced Vibration, Van Nostrand Reinhold Co.,
New York, 1977.
2 Parkinson, G. V., Feng, C. C , and Ferguson, N., "Mechanics of Vortex-
Excited Oscillation of Bluff Cylinders," Proc. of Symposium on Wind Effects
on Buildings and Structures, Loughborough University of Technology, 1968,
pp. 27.1-27.18.
3 Hall, S. A., "Vortex-Induced Vibrations of Structures," Ph.D. Thesis,
California Institute of Technology, Pasadena, Calif., 1981.
4 Harden, R. T., and Currie, I. G., "Lift Oscillation Model for Vortex-
Induced Vibration," J. Eng. Mech. Div., Am. Soc. CivilEng., Vol. 96, 1970,
pp.577-591.
5 Koopman, G. H., "The Vortex Wakes of Vibrating Cylinders at Low
Reynolds Numbers," / . Fluid Mech., Vol. 28, Part 3, 1967, pp. 501-512.
6 Nayfeh, A. H., and Mook, D. T., Nonlinear Oscillations, Wiley, New
York, 1979.
7 Skop, R. A., and Griffin, O. M., "On a Theory for the Vortex-Excited
Oscillation of Flexible Cylindrical Structures," / . Sound and Vibration, Vol.
41, No. 3, 1975, pp. 263-274.
8 van der Pol, B., "Forced Oscillations in a Circuit with Non-linear
Resonance,"Phil. Mag., S. 7. Vol. 3, No. 13,1927, pp. 65-80.

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