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Analytical solution for large deflections of a cantilever beam under nonconservative load based on homotopy analysis method
1. 2. 3. 4. 5. A. Kimiaeifar1, G. Domairry2,* , S. R. Mohebpour3, A. R. Sohouli2, A. G. Davodi4

Article first published online: 6 NOV 2009 DOI: 10.1002/num.20538 2009 Wiley Periodicals, Inc. Issue

Numerical Methods for Partial Differential Equations

Volume 27, Issue 3, (/doi/10.1002/num.v27.3/issuetoc) pages 541553, May 2011 Additional Information How to Cite Kimiaeifar, A., Domairry, G., Mohebpour, S. R., Sohouli, A. R. and Davodi, A. G. (2011), Analytical solution for large deflections of a cantilever beam under nonconservative load based on homotopy analysis method. Numer. Methods Partial Differential Eq., 27: 541553. doi: 10.1002/num.20538 Author Information
1

Department of Mechanical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran

2 3 4

Department of Mechanical and Civil Engineering, Babol University of Technology, Babol, Iran Department of Mechanical Engineering, Persian Gulf University, Bushehr, Iran Department of Civil Engineering, Shahrood University of Technology, Shahrood, Iran

Email: G. Domairry (amirganga111@yahoo.com)

* Department of Mechanical and

Civil Engineering, Babol University of Technology, Babol, Iran

Publication History 1. 2. 3. 4. Issue published online: 6 NOV 2009 Article first published online: 6 NOV 2009 Manuscript Accepted: 18 MAY 2009 Manuscript Received: 16 FEB 2009 Abstract (/doi/10.1002/num.20538/abstract) Article References (/doi/10.1002/num.20538/references) Cited By (/doi/10.1002/num.20538/citedby) Enhanced Article (HTML) (http://onlinelibrary.wiley.com/enhanced/doi/10.1002/num.20538) Get PDF (267K) (/doi/10.1002/num.20538/pdf)

Keywords:
homotopy analysis method; nonconservative load; large deformation; nonlinear differential equation

Abstract
1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References
In this article, large deflection and rotation of a nonlinear beam subjected to a coplanar follower static loading is studied. It is assumed that the angle of inclination of the force with respect to the deformed axis of the beam remains unchanged during deformation. The governing equation of this problem is solved analytically for the first

time using a new kind of analytic technique for nonlinear problems, namely, the homotopy analysis method (HAM). The present solution can be used in wide range of load and length for beams under large deformations. The results obtained from HAM are compared with those results obtained by fourth order Range Kutta method. Finally, the load-displacement characteristics of a uniform cantilever under a follower force normal to the deformed beam axis are presented. 2009 Wiley Periodicals, Inc. Numer Methods Partial Differential Eq 27:541553, 2011

I. INTRODUCTION
1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References
Most scientific problems in solid mechanics are inherently nonlinearity. Except a limited number of these problems, most of them do not have analytical solution. Nonconservative forces are associated with theoretically interesting and from the practical point of view, are very important problems in aerospace engineering, also in other fields of modern applied mechanics and engineering such as fluid, and aerodynamics, aeroelasticity, and electrical engineering [115]. This type of loading cannot, in general, be associated with a stationary single-valued function dependent only on the generalized displacements, as standard gravitational loads. Therefore, for nonconservative systems, the nature of instability requires a special investigation for each problem [1, 4, 6, 7]. To understand the behavior of such flexible structures and to evaluate their elastic limits many different formulations and numerical procedures for the displacement and rotation analysis of large deformations have been proposed [1, 8]. Therefore, these nonlinear equations should be solved using other methods. Some of them are solved using numerical techniques and some are solved using the analytical method of perturbation [9]. In the numerical method, stability and convergence should be considered so as to avoid divergence or inappropriate results. In the analytical perturbation method, we should exert the small parameter in the equation. Therefore, finding the small parameter and exerting it into the equation are deficiencies of this method.

One of the semiexact methods which does not need small/large parameters is homotopy analysis method (HAM), first proposed by Liao in 1992 [9, 10]. This method has already been applied successfully to solve many problems in solid mechanics such as large deformation of a cantilever beam, KdV equations, solitary wave, etc. [1113] and in fluid mechanics [1426]. In this method, we can adjust and control the convergent region and it is the most important feature of this technique in comparison with other techniques [3133]. In this study, HAM has been applied to find the analytical solutions of nonlinear ordinary differential equation governing large deflections of a cantilever beam. The numerical solution based on shooting method and fourth order Runge Kutta method developed by these authors. The results obtained from HAM are compared with the results obtained from numerical methods. Finally, the load-displacement characteristics of a uniform cantilever under a follower force normal to the deformed beam axis are presented.

II. GOVERNING EQUATION

1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References
The cantilever OA is subjected to a coplanar terminal loading consisting of a bending moment MA, of an axial compressive force PA and of a transverse force QA (Fig. 1).

Figure 1. The geometry and boundary conditions of a beam under nonconservative load. Download figure to PowerPoint (/doi/10.1002/num.20538/figure.pptx? figureAssetHref=image_n/nfig001.jpg)

PA and QA are follower forces, i.e., after the deformation rotate with the end section, A, of the bar and at all times, remains, respectively, tangential and perpendicular to its deformed axis. Therefore, at any point of coordinates x (s), y(s) the external moment M is [27]:

(1)
where x A , yA , and A denote the coordinates and the normal slope at the end section. The classical Euler-Bernoulli hypothesis assumes that the bending moment at any point of the beam is proportional to the corresponding curvature,

(2)
Substituting Eq. (1) into Eq. (2), differentiating with respect to the arc length and using the relations:

(3)
Nonlinear differential equation governing the problem has been obtained as follow:

(4)
where

(5)
The boundary conditions associated to (4) are

(6)
where m = MA /EA . After introducing the following position,

(7)
as a consequence (4) becomes:

(8)
And the boundary conditions:

(9)
For , Eq. (8) together with the boundary conditions of Eq. (9) describes the Beck cantilever problem [2, 28, 29]. In the corresponding conservative case (a straight cantilever subjected to a vertical compressive load ; ) Eqs. (4, 6) yield:

(10)

As is well/known [28, 29] (Kirchhoff kinetic analogy) previous relations represent also the steady oscillations of a rigid pendulum as solved by Liao using HAM [30].

III. APPLICATION OF HOMOTOPY ANALYSIS METHOD

1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References
According to Eq. (8), a nonlinear operator has been defined as follows:

(11)
Using the Taylor's series expansion for and , yields:

(12)

(13)
Substituting Eq. (12) and Eq. (13) into Eq. (11), result in

(14)
where q [0,1] is the embedding parameter, is a nonzero auxiliary parameter. As the embedding parameter increases from 0 to 1, (s;q) varies from the initial guess 0(s) to the exact solution (s);

(15)
Expanding (s;q) in Taylor's series with respect to q yields:

(16)
where

(17)
Homotopy analysis method can be expressed by many different base functions10, according to the governing equation; it is straightforward to use a set of base function:

(18)
In the form

(19)
That bn is a coefficient to be determined. Besides determining a set of base function, the auxiliary function H(s), initial approximation 0(s), and the auxiliary linear operator must be chosen in such a way that all solutions of the corresponding high-order deformation equations exist and can be express by this set of the base function and the other expressions such as sn sin(ms) must be avoided. This provides us with the so-called rule of solution expression [10]. We choose linear operator, as:

(20)
With the property

(21)
where c1, c2 are integral constant. Under the rule of solution expression and initial condition it is straightforward to choose

(22)
The zero order deformation equation is:

(23)
According to the rule of solution expression denoted by Eq. (19) and from Eq. (23), the auxiliary function H(s) can be chosen as follows:

(24)
Differentiating Eq. (23), m times with respect to the embedding parameter q and then setting q = 0 and finally dividing them by m! and From Eq. (14) and (19) the so-called mth-order deformation equation for m 1 is obtained:

(25)

where

(26)
and

(27)
It's time to choose H(s) uniquely under the rule of solution expression and rule of coefficient ergodicity. It can be shown that when (k = 2n|n = 1, 2, 3, ), the terms s5 up to s2n + 1 always disappear in the solution expression of m(s), so that the coefficients of the terms s5 up to s2n + 1 are always zero and cannot be modified even if the order of approximation tends to infinity. This disobeys the so-called rule of coefficient ergodicity, which was expressed by Liao [10], if we choose (k = 2n + 1|n = 1, 2, 3, ), bases like s2m + 1 will disappear which disobey rule of solution expression and rule of coefficient ergodicity, on the other hand when k = 1, 2, 3, the terms slns, lns would appear that clearly disobey rule of solution expression, and finally when we take (k = 1 n|n = 5, 6, 7, . there will be terms like in the solution expression of m(s) which disobey the rule of solution expression. So we have to choose k = 0. Consequently the corresponding auxiliary function was determined uniquely H(s) = 1. Now the answer is obtained successively as follows:

(28)
The solution has been developed up to 14th order of approximation of (s) (see Figs. 2, 3 and Tables I and II).

Table I. Comparison between present HAM solution, numerical solution for (0.5) by 12th/order of approximation of (s) with = 0.3 and 0.8 for various value of . HAM solution 0.3 0.3 0.3 0.3 0.3 0.4955 0.9678 1.3983 1.7727 2.1028 0.8 0.8 0.8 0.8 0.8 HAM solution 0.4959 0.9682 1.3984 1.7731 2.0981 Numerical solution 0.4959 0.9682 1.3987 1.7764 2.0982

Table II. Comparison between HAM solution and numerical solution for (s) with 12th-order approximation, L = 1 and = 0.8. (Relative error define as |(HAM numeric)/numeric|). , m = 0, s 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 h 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 HAM 2.99832 2.77151 2.45800 2.06828 1.63178 1.18918 0.78296 0.44669 0.19947 0.04989 Numeric 2.99272 2.77169 2.45826 2.06849 1.63200 1.18955 0.78346 0.44699 0.19973 0.05000 Relative error 0.00187 0.00006 0.00010 0.00010 0.00013 0.00031 0.00064 0.00069 0.00133 0.00202

0.9 1.0

0.8 0.8

0.04989 0.00000

0.05000 0.00000

0.00202 0.00000

Figure 2. Comparison of convergence for different orders, (a) (0.5), (b) , and (c) . Download figure to PowerPoint (/doi/10.1002/num.20538/figure.pptx? figureAssetHref=image_n/nfig002.jpg)

Figure 3. The curve, (a) 5, , (c) approximation. , m = 5,

, m = 0,

, (b)

,m=

. The 12th -order

Download figure to PowerPoint (/doi/10.1002/num.20538/figure.pptx? figureAssetHref=image_n/nfig003.jpg)

IV. CONVERGENCE OF HAM SOLUTION

1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References
The series in Eq. (14) is the solutions for the position parameter, , if one guarantees the convergence of these series. The convergence region and rate of solution series can be adjusted and controlled by means of the auxiliary parameter . In general, by means of the so-called -curve, it is straightforward to choose an appropriate range for which ensure the convergence of the solution series, as pointed out by Liao [10]. To influence of on the convergence of solution, the so-called -curve of (0.5) and by 12th-order approximation of solution are

plotted, as shown in Figures 2 and 3. it is easy to find out the valid region of , for example from Figure (3b) it is clear that the acceptable region of is 1.5 0.5 and from Figure (3c), the range for the acceptable values of is 1.4 0.6. Moreover, increasing the order of approximation, the range for the acceptable values of increases (see Fig. 2 and I).

V. RESULT AND DISCUSSION

1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References
In Tables IIIV we make a comparison for the rotation of beam obtained using HAM and numerical solutions under different loads. It is quite clear that the rotation of the free end of the beam increases with an increase in the shearing force. The results obtained from the HAM method are quite consistent with this result, as shown in the Tables 1 and 2.

Table III. Comparison between HAM solution and numerical solution for (s) with 12th-order approximation, L = 1 and = 1.3. (Relative error define as |(HAM numeric)/numeric|). , m = 5, s 0.0 0.1 0.2 0.3 0.4 0.5 h 1.3 1.3 1.3 1.3 1.3 1.3 HAM 1.81189 1.77015 1.63888 1.43753 1.19023 0.91863 Numeric 1.81126 1.77123 1.64060 1.43929 1.19087 0.91876 Relative error 0.00035 0.00061 0.00105 0.00122 0.00053 0.00014

0.6 0.7 0.8 0.9 1.0

1.3 1.3 1.3 1.3 1.3

0.64564 0.39405 0.18733 0.04913 0.00000

0.64560 0.39399 0.18726 0.04908 0.00000

0.00007 0.00015 0.00037 0.00092 0.00000

Table IV. Comparison between HAM solution and numerical solution for (s) with 12th-order approximation, L = 1 and = 1. (Relative error define as |(HAM numeric)/numeric|). , m = 1, s 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 h 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 HAM 1.26003 1.09738 0.93876 0.78085 0.62395 0.46853 0.32380 0.19480 0.09177 0.02411 0.00000 Numeric 1.26044 1.09807 0.93946 0.78133 0.62350 0.46888 0.32321 0.19440 0.09160 0.02405 0.00000 Relative error 0.00032 0.00063 0.00075 0.00061 0.00073 0.00074 0.00182 0.00206 0.00188 0.00262 0.00000

It should be noticed that as the load increases, i.e., means , and take larger numbers, the angle of the tip of beam approaches and 2. For example, if takes the number 10, angle of tip of beam will be 2.99. It should also be mentioned that in this article the term cos( + m(s l)) has been approximated by Taylor's series which causes some small negligible errors. If loads take large numbers, the nonlinear term in Eq. (13) will increase, but even in this case HAM will give a very accurate solution. As shown in Tables IIIV the obtained solution, as compared with the numerical ones, represents a remarkable accuracy even for large values of the loads. HAM formulations can be successfully employed to provide analytical solutions for large deflections static problems for beams loaded by circulatory forces. By using of this method and confidence of results(see Tables IIIV) effects of load-displacement and load-slope are investigated. The effect of shear force on the slope is presented in Fig. 4 and effects of compressive, tensile, and shear forces on the slope are shown in Fig. 5. Effects of external force and moment are shown in Figs. 6 and 7.

Figure 4. Effects of on the slope, L = 1. Download figure to PowerPoint (/doi/10.1002/num.20538/figure.pptx? figureAssetHref=image_n/nfig004.jpg)

Figure 5. Effects of on the slope, L = 1 and Download figure to PowerPoint (/doi/10.1002/num.20538/figure.pptx? figureAssetHref=image_n/nfig005.jpg)

Figure 6. Effects of on the position of beam, L = 1. Download figure to PowerPoint (/doi/10.1002/num.20538/figure.pptx? figureAssetHref=image_n/nfig006.jpg)

Figure 7. Effects of s on the position of beam, L = 1 and Download figure to PowerPoint (/doi/10.1002/num.20538/figure.pptx? figureAssetHref=image_n/nfig007.jpg)

VI. CONCLUSIONS

1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References
In this article the HAM is given for analysis of a cantilever beam under nonconservative load. Converging, accurate results with few iterations are obtained, thus reducing the computational cost. An excellent rate of convergence has been demonstrated and the results are in good agreement with the solution of numerical results. It can be concluded that the presented method is a convenient and efficient method for the nonlinear analysis of beam problems and can be used in a wide range of load and length for beams under large deformations.

NOMENCLATURE
1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References

Table . Eb H(s) Young's modulus Auxiliary function Auxiliary parameter

I L xA

Moment of inertia Undeformed length Cartesian coordinate Reminder term

MA PA QA s A yA

External moment Compressive force Transverse force Independent dimensionless parameter Normal slope at the end section Cartesian coordinate

References
1. Top of page 2. Abstract 3. I. INTRODUCTION 4. II. GOVERNING EQUATION 5. III. APPLICATION OF HOMOTOPY ANALYSIS METHOD 6. IV. CONVERGENCE OF HAM SOLUTION 7. V. RESULT AND DISCUSSION 8. VI. CONCLUSIONS 9. NOMENCLATURE 10. References
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