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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- system is considered herein. It may be shown [3] that an
excited oscillators since they exhibit continuous, well-defined important class of physical systems of this type may be
periodic oscillation without any "external" periodic ex- modeled mathematically by a set of two damped linear
citation. Examples include many musical instruments, certain oscillators coupled to two van-der-Pol oscillators. Such is the
electrical circuits, machine-tool chattering, and the vortex- problem addressed in this paper. An approximate analysis
induced oscillations of structural components. Often, the self- reveals several new types of response behavior.
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 2 Formulation
captured by the system resonance, a phenomenon called Consider a linear two-mode system with natural frequencies
entrainment, or lock-in. The vortex-induced oscillation of 0, and fi2 both close to unity. Let these two modes be coupled
elastic structural elements is an important example of this to two self-excited, van-der-Pol-type oscillators with unit
phenomenon. frequency. Consistent with physical arguments for the vortex-
There have been a number of experimental and analytical shedding problem [1, 3], it will be assumed that the self-
studies of self-excited systems, most relating to the problem of excited oscillators are coupled in a nonlinear fashion through
vortex-induced oscillation [1-8]. Analytically, it has become the velocity-dependent terms. The coupling between the self-
customary [4] to model the system by a single-mode, damped excited oscillators and the linear oscillators will be assumed to
linear oscillator coupled to a self-excited oscillator of the van- be linear in velocity and displacement terms. The coupling
der-Pol type [8]. By appropriate selection of model assumed is the simplest form possible that retains the basic
parameters, this approach has produced results that agree physics of the problem.
reasonably well with experimental observations, provided that Under the foregoing assumptions, the equations governing
the natural frequencies of the system are well separated. the response will be
However, when the natural frequencies of the system are xx +axX\ + 0 ] * ! = ax3 + fiXj (la)
closely spaced, as in certain large marine systems, the
customary, single-mode analysis is no longer valid. In such a X2+a2X2+Q22X2 = ax4 + &x4 (lb)
case, distinct lock-in may or may not occur depending on the x3 + (px\ + qx\ - b) x3 +x} = yxx + bxx (lc)
system parameters [3].
To gain further insight into the behavior of self-excited x4 + (px\ + qx\ - b)x4 +xA = yx2 + 8x2, (Id)
systems with closely spaced natural frequencies, a two-mode 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-
Contributed by the Applied Mechanics Division and presented at the Winter excited components associated with these modes. For the
Annual Meeting, New Orleans, La., December 9-14, 1984 of THE AMERICAN problem of vortex-induced oscillation of a cable, equations
SOCIETY OF MECHANICAL ENGINEERS.
Discussion on this paper should be addressed to the Editorial Department,
(la) and (lb) would represent the response of two adjacent
ASME, United Engineering Center, 345 East 47th Street, New York, N.Y. modes of the cable, while equations (lc) and (Id) would
10017, and will be accepted, until two months after final publication of the represent the influence of the shed vortices coupled to the two
paper itself in the JOURNAL OF APPLIED MECHANICS. Manuscript received by modes. It will be assumed that all coefficients are of order
ASME Applied Mechanics Division, February, 1983; final revision, December,
1983. Paper No. 84-WA/APM-24.
e (e < < 1), with the exception of U^ and fl2> which are
Copies will be available until August, 1985. assumed to differ from unity by quantities of order e. The
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)
1r Qj + Qf-j Q, +fl,
(27)
A=-(n|-Q?)«Q2-fi, (28) 15 P. 30
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.-------,-------,------------,
.15
.10
a 500 1000 1500
Non- DIII9111neratlll the fluid-flow velocity. The general trends of Figs. 1 and 2
o 0.2 agree with the observed, vortex-induced oscillations of single-
d mode structures. To illustrate this point, data from the
Fig. 6 Composite solution map
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
4.1 Partially Coupled Oscillations. The results for the experiment (at lower values of the damping constant GI) do
partially coupled case are shown in Figs. 1 and 2. Portions of display such hysteresis, a phenomenon that has not been
the frequency response curve d(D) which generate imaginary simulated by previous nonlinear models of vortex-induced
amplitudes (A 3, A I) are shown as short-dashed lines. oscillation.
Solutions that are real but unstable are shown as long-dashed
lines, while solutions that are real and stable - the only ones 4.2 Fully Coupled Oscillations. The results for a
of physical interest - are shown as solid lines. coupled two-mode system with .:l = 0.1 are shown in Figs. 3
Figure 1 illustrates that when the natural frequency (0 1 ) of and 4. Figure 3 shows the nature of the nondegenerate
the linear oscillator XI is sufficiently greater than the natural solution and Fig. 4 that of the degenerate solution. Solid lines
frequency (unity) of the self-excited oscillator X3 (d <0), the denote real, stable solutions, long-dashed lines denote real,
response frequency w closely approaches that of the self- unstable solutions, and short-dashed lines denote frequency
excited oscillator (D "" d). However, when 0 1 is only slightly solutions that generate nonreal amplitudes. In Figure 3, the
less than unity (0<d<0.16), the self-excited oscillator is "plus" and "minus" frequency solutions - which correspond
entrained by the resonance of the linear oscillator, and the to the two solutions of the quadratic equation (29) - are
response frequency approaches 0 1 (D "" 0). This is "lock-in." plotted separately for clarity. However, for the parameters
For sufficiently small values of 0 1 (d>0.16), the response under consideration, the "plus" solution is never real and
again approaches the frequency of the self-excited oscillator stable, so the corresponding amplitude plots are omitted. For
(D""d). The transition from one type of response to the other the set of parameters under consideration, nondegenerate
occurs abruptly, and is characterized by hysteretic jumps solutions do not exhibit lock-in to any great degree. For other
(CDD' C' in the figure). The precise point of transition sets of parameters, nondegenerate, locked-in solutions have
depends on whether the detuning is being increased or been found, which are real and stable, but such solutions do
decreased. not appear to have physical meaning. At point B, the upper-
As indicated in Fig. 2, the amplitude response shows a mode amplitudes vanish, so this point must represent the
definite peak for detuning d between 0 and 0.16, boundary between nondegenerate solutions and degenerate
corresponding to the region of lock-in. Amplitude jumps are solutions of Type 1.
also present, corresponding to the frequency jumps of Fig. 1. From Fig. 4 it is observed that real, stable solutions for the
In the case of vo~tex-induced oscillation, the frequency of degenerate case occur only in the locked-in segments B' G and
the self-excited oscillator - and hence d - is proportional to D' H. These lock-in bands are suppressed as the modal
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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
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