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Gong Cheng
Research Fellow
Jean W. Zu
Associate Professor
Department of Mechanical & Industrial
Engineering,
Universit of !oronto,
" #ing$s %ollege Road,
!oronto, &ntario, %anada, M"' ()*
Two-Frequency Oscillation With
Combined Coulomb and Viscous
Frictions
In this paper, a mass-spring-friction oscillator subjected to two harmonic disturbing
forces with different frequencies is studied for the first time. The friction in the system has
combined Coulomb dry friction and viscous damping. Two kinds of steady-state vibrations
of the systemnon-stop and one-stop motionsare considered. The e!istence conditions
for each steady-state motion are provided. "sing analytical analysis, the steady-state
responses are derived for the two-frequency oscillating system undergoing both the non-
stop and one-stop motions. The focus of the paper is to study the influence of the Coulomb
dry friction in combination with the two frequency e!citations on the dynamic behavior of
the system. #rom the numerical simulations, it is found that near the resonance, the
dynamic response due to the two-frequency e!citation demonstrates characteristics sig-
nificantly different from those due to a single frequency e!citation. #urthermore, the
one-stop motion demonstrates peculiar characteristics, different from those in the non-
stop motion. @ DOI: 10.1115/1.1502670#
1 !ntroduction
Coulomb damping and viscous damping are te t!o most im"
portant sources o# energ$ dissipation in mecanical s$stems. %eir
#re&uent occurrence in practical engineering as long aroused te
interest o# man$ researcers in te vibration #ield.
's earl$ as 1()1* Den +artog @ 1 # presented an e,act
solution #or te stead$"state vibration o# a armonicall$ e,cited
oscillator damped b$ combined dr$ and viscous #riction. +e
per#ormed sev" eral e,perimental tests to veri#$ is solutions.
-ince ten* muc researc as been carried out on tis vibration
issue. Cauge$ and .i/a$aragavan @ 2 # studied #ree and #orced
vibration o# a s$stem !it linear $steretic damping caracteri0ed
b$ a resistant #orce !ic is proportional to displacement but in
pase !it velocit$. -clesinger @ ) # discussed te vibration
isolation o# an oscillator due to te presence o# Coulomb
#riction. 1ater* 2erri and Do!ell
@ 3*5 # investigated te vibration response o# bot single and
multi" degree"o#"#reedom s$stems !it combined dr$ #riction and
vis" cous damping. -a! @ 6 # determined te stabilit$ o# periodic
orbits o# a s$stem !it dr$ #riction. -ubse&uentl$* several
researcers suc as 'nderson* 4a5ris and 2erri @ 76 10# ave
considered vi" bration s$stems !it dr$ #rictions o# di##erent
#orms* suc as #ric" tion dependent on displacement and velocit$*
#riction !ere te normal #orce increases linearl$ !it te slip
displacement* and #riction generated #rom active and passive
structural /oints. Inter" estingl$* 7#ei##er and +a/e5 @ 1 1 # directl$
studied te dr$ #riction in turbo"maciner$ !ere te stic5"slip
motion !as sougt a#ter. 2een$ and 4oon @ 12 # studied
e,perimentall$ as !ell as numeri" call$ te caotic d$namics o# a
armonicall$ #orced spring"mass s$stem !it dr$ #riction. In teir
stud$* tree #riction la!s !ere e,amined in numerical modeling:
a discontinuous Coulomb model* a continuous model o# te
Coulomb #riction* and a state" variable #riction la!. %an and
8ogers @ 1) # proposed a metod #or modeling #riction in multi"
degree"o#"#reedom s$stems. %e$ ana" l$0ed te #riction energ$
dissipated b$ eac mode and derived several models o# e&uivalent
#riction modal damping. -ubse" &uentl$* -anlitur5 and 9!ins
@ 13 # proposed a ne! approac to te modeling o# t!o"
dimensional beavior o# a point #riction contact !ic permits te
computation o# te nonlinear d$namic response o# a structure
!it /oints constrained b$ #riction inter#aces. %eir
Contributed b$ te %ecnical Committee on .ibration and -ound #or publication
in te :O;8<'1 O2 .I=8'%IO< '<D 'CO;-%IC-. 4anuscript received 'ugust 2001>
revised 4a$ 2002. 'ssociate 9ditor: 8. 7. -. +an.
metod can be used to optimi0e blade dampers in turbo dose
maciner$. 2or a beam"li5e structure damped !it a displacement
dependent Coulomb #riction #orce* ?iteman and 2erri @ 15 #
#ound tat due to te geometr$ o# te dr$ #riction element* te
#riction #orce gro!s linearl$ !it te transverse displacement o#
te beam. Oancea and 1aursen @ 16 # investigated dr$ #rictional
contact be" t!een t!o steel sur#aces in a armonicall$ #orced
spring"mass s$stem using bot e,perimental and numerical
metods. In a re" cent paper o# +ong and 1iu @ 17 # !ere a
mass"spring oscillator under per#ect dr$ contact Coulomb #riction
!as studied* te$ re" #ined te model #ormulation o# te #riction
#orce and so!ed tat te e&uation o# motion o# te oscillator is a
t!o"pase linear s$s" tem !it a slide"stic5 s!itc rater tan te
usual tree"pase e&uations.
In all o# te researc reported so #ar on vibrations o# Coulomb"
damped mecanical s$stems* a single armonic e,citation as al"
!a$s been assumed. In practice* o!ever* multi"e,citations can
e,ist in various vibration s$stems* and te$ ma$ ave a dramatic
e##ect on te s$stem@s d$namic caracteristics.
%o address te lac5 o# researc on tis issue* tis paper studies
a mass"spring oscillator damped b$ bot Coulomb and viscous
#riction and sub/ected to t!o armonic e,citations !it di##erent
#re&uencies. =$ emplo$ing an anal$tical approac* closed #orm
solutions #or stead$"state response are derived #or bot non"stop
and one"stop motions. %e paper is #ocused on stud$ing te e##ect
o# te t!o"#re&uenc$ e,citation along !it te Coulomb damping
on d$namical beavior o# te oscillator. It is #ound tat due to te
t!o #re&uenc$ e,citations* te amplitude"#re&uenc$ curve o# te
s$stem appears ver$ di##erent near te resonance. 2or te one"stop
motion* te amplitude does not pea5 near te natural #re&uenc$*
instead it pea5s at suc a #re&uenc$ !ere bot e,citation #re"
&uencies are muc less tan te natural #re&uenc$. %e one"stop
motion e,ists onl$ at relativel$ iger #riction #orce values and in
te #re&uenc$ range !ere te larger e,citation #re&uenc$ is less
tan te natural #re&uenc$.
2 "#stem Description
Consider a mass"spring s$stem so!n in 2ig. 1* !ere a mass
m is suspended #rom a spring !it sti##ness k and a viscous
damper !it damping coe##icient c. %e mass is sub/ected to t!o
armonic e,citations !it di##erent #re&uencies* $
1
cosAv
1
t1w
1
B and $
2
cosAv
2
t1w
2
B. In te meantime* !en in
motion* te mass rubs against a solid !all tat e,erts a
#rictional #orce # on te
Journal o Vibration and !coustics
Co"yright $ #$$# by !%&' &%!&+ER ,--,, .ol/ 0,1 C ()*
+
2
'
i
D
+
'
n
t 5 0> ! 5 !
0
* !% 5 0
t 5 p / v : ! 52 !
0
* !% 5 0
A3B
!ere !
0
is te amplitude o# te vibration. Introducing te #ollo!"
ing parameters
2
k # $
1
$
2
v
n
5
m
* !
f
5
k
* a
1
5
k
* a
2
5
k
A5B
te e&uation o# motion* 9&. ~)!* can be re!ritten as
c
2 2
Fig. + ! mass-s"ring system
mass opposing te direction o# motion. 2or simplicit$* it is as"
sumed tat te t!o #orcing #re&uencies are proportional to eac
oter in suc a !a$ tat
&
v
1
5
'
v
2
A1B
!ere & and ' are integers* and te$ ave no common #actors ~I#
& / ' 5 1* te case degenerates to te single e,citation case!.
%us*
!( 1
m
%! 1 v
n
~ ! 2 !
f
! 5 v
n
@ a
1
cos~ v
1
t 1 w
1
!
1 a
2
cos~ v
2
t 1 w
1
1 D w ! #
A6B
%e general solution to 9&. ~6! is obtained
! 5 !
f
1 e
2 ct /2m
~ C
1
cos pt 1 C
2
sin pt !
1 a
1
b ~ s
1
! cos~ v
1
t 1 w
1
2 u
1
!
1 a
2
b ~ s
2
! cos~ v
2
t 1 w
1
1 D w 2 u
2
!A7B
!ere
c
2
c
p 5 v
n
2
3 m
2
* z 5
2 m v
*
v
i
1
te t!o e,ternal armonic e,citations can be regarded as a single
nonarmonic* but periodic e,citation !ose #re&uenc$ v is calcu"
s
i
5
v
n
* b ~ s
i
! 5 *
~ 1 2 s
i
! 1 ~ 2 z s
i
!
lated as te greater common divisor o# te t!o original armonic
#re&uencies
2 2 2
2 z s
i
u 5 tan
2 1
i
1 2 s
2
~ i 5 1*2! AEB
v
2
v 5
'
A2B
-ince te stud$ is #ocused on te stead$"state vibration* te
#ollo!ing conditions are satis#ied:
1. %e #re&uenc$ o# te motion is te same as tat o# te dis"
turbing #orces.
2. -ince te motion is periodic* it can be assumed tat te
te up!ard al#"c$cle. %ere#ore* onl$ te up!ard al#"c$cle
and C
1
and C
2
are t!o integration constants. %e #our conditions
in 9&. ~3! !ill be used to determine te t!o constants: te un"
5no!n amplitude !
0
and te pase angle w
1
. =$ appl$ing te
t!o conditions at t 5 0 in 9&. ~3!* te constants C
1
and C
2
can be e,pressed in terms o# !
0
and w
1
as
C
1
5 !
0
2 !
f
2 b
1
cos~ w
1
2 u
1
! 2 b
2
cos~ w
1
1 D w
2 u
2
! A(B
C
2
5 p
2
2 2 m cos~ w
1
2 u
1
! 2 2 m cos~ w
1
1 D w 2 u
2
! do!n!ard al#"c$cle o# te motion #ollo!s te same la! as 1 cb
1
cb
2
!ill be discussed in te #uture anal$sis.
%!o t$pes o# stead$"state vibrations are considered in tis pa"
per: non"stop motion and one"stop motion. In te non"stop mo"
tion* te mass never comes to a dead stop* !ile in te one"stop
motion* te mass moves during 0 * t * t
0
and is at a
standstill during t
0
* t * T /2* !ere T is te period o# te
motion.
!ere
1 v
1
b
1
sin~ w
1
2 u
1
! 1 v
2
b
2
sin~ w
1
1 D w 2 u
2
!
c
1
2 m
~ !
0
2 !
f
! A10B
b
i
5 a
i
b ~ s
i
! ~ i 5 1*2! A11B
% &on'"top (ibration
%e e&uation o# motion o# te oscillator is given b$
m !( 1 c !% 1 k! 5 # 1 $
1
cos~ v
1
t 1 w
1
! 1 $
2
cos~ v
2
t
1 w
1
1 D w !
A)B
-ubstituting 9&s. ~(! and ~10! into 9&. ~7! and ma5ing use o#
te t!o conditions at t 5 p / v in 9&. ~3! result in t!o
nonlinear alge" braic e&uations #or te t!o un5no!ns* namel$* !
0
and w
1
. %e t!o nonlinear e&uations can be rearranged in te
#ollo!ing #orm
!ere ! is te position coordinate* and Dw is te pase di##erence
bet!een te t!o armonic e,citations* i.e.* D w 5 w
2
2 w
1
.
?ile te pases o# te t!o armonic e,citations can be
e,pressed b$ using te pase angles w
1
and w
2
* it is ard to
e,press te un" 5no!n pase angle o# te response since te
motion ! is not
!ere
) cos w
1
1 * sin w
1
1 C
5 0
$ cos w
1
1 + sin w
1
1 ,
5 0
p p
A12B
armonic due to te t!o"#re&uenc$ e,citation. %o overcome tis
di##icult$* instead o# directl$ #inding te un5no!n pase o# te
) 52 e
2 c p /2m v
cos
v
@

b


1
cos u
1
1 b
2
cos~ D w 2 u
2
!
#
2
D
response* te tric5 ere is to ma5e te pase angle w
1
o# te
#irst e,citation as an un5no!n !ile 5eeping te response pase
#i,ed in suc a !a$ tat te response al!a$s starts A t 5 0 B at
ma,imum
1
2
p
e
2 c p /2m
v
p p
sin
v
cb
1
2 m
cos u
1
1 v
1
b
1
sin u
1
value. 's a result* te pase di##erence bet!een te #irst armonic
e,citation and te motion is uni&uel$ determined b$ te un5no!n
pase angle w
1
. Correspondingl$* te time boundar$ conditions
o# 9&. ~)! ta5e on te #ollo!ing simple #orm:
cb
2
2 v
2
b
2
sin~ D w 2 u
2
! 1
2 m
cos~ D w 2 u
2
!
1 ~ 2 1 !
&
b
1
cos u
1
1 ~ 2 1 !
'
b
2
cos~ D w 2 u
2
!
A1)B
(), C .ol/ 0,1, &%!&+ER ,--, Transactions o the !%&'
D
- D
D
D
- D
- D
-
v
p p
* 5 e
2 c p /2m v
cos
v
@ 2 b
1
sin u
1
1 b
2
sin~ D w
2 u
2
! #
a 5 1 1 e
2 c p /2m v
cos
p
p
1
v
c
2 mp
sin
p p
*
v
1
p
e
sin v
2
2 2 m sin u
1
1 v
1
b
1
cos
u
1
b 5 !
2
1 2
e
-
cos 1
sin
D D
*
1 p p
2 c p /2m v
cb
1
2 c p /2m
v
f
p p c p p
v 2 mp v
cb
2
1 v
2
b
2
cos~ D w 2 u
2
! 1
2 m
sin~ D
w 2 u
2
!
d 52 e
2 c p /2m v
-
c p p p p
D
2 m
cos
v
1 p sin
v
1 ~ 2 1 !
&
b
1
sin u
1
2 ~ 2 1 !
'
b
2
sin~ D w 2 u
2
!
A13B
c
1
2 mp
e
2 c p /2m v
2
c
2 m
p p
sin
v
1 p cos
p p
*
v
C 5 !
0
1 !
f
1 e
2 c p /2m v
~ !
0
2 !
f
!
-
cos 1
sin
D e 5 ! e
2 c p /2m v
p p c
v 2 mp
p p
v
A15B
p p
f
sin
v
c
2
p 1
3 m
2
p
. A22B
$ 5 e
2 c p /2m v
-
c p p p p
-ubstituting 9&. ~21! into ~20!* te #ollo!ing &uadratic
e&uation
#or !
0
is obtained
a F!
2
1 b F!
0
1 c F5 0 A2)B
2 m
cos
v
1 p sin
v
D
) @ b
1
cos u
1
1 b
2
cos~ D w
2 u
2
! #
!ere
0
a F5 ~ a$ 2 d) !
2
1 ~ d* 2 a+ !
2
*
1
2
p
e 2 c p /2m v
2
c
2 m
p p
sin
v
1 p cos
p p
D 2
cb
1
2 m
cos u
1
b F5 2 ~ a$ 2 d) ! ~ b$ 2 e) ! 1 2 ~ d* 2 a+ ! ~ e* 2
b+ ! *
2 2 2
cb
2
1 v
1
b
1
sin u
1
2 v
2
b
2
sin~ D w 2 u
2
! 1
2 m
cos~ D
w 2 u
2
!
1 ~ 2 1 !
&
b
1
v
1
sin u
1
2 ~ 2 1 !
'
b
2
v
2
sin~ D w 2 u
2
! A16B
c F5 ~ b$ 2 e) ! 1 ~ e* 2 b+ ! 2 ~ )+ 2 *$ ! .
A23B
%ere#ore* te amplitude !
0
o# te stead$"state vibration #or non"
stop motion is obtained #rom 9&. ~2)! as
2 b F1 'b F
2
2 3 a Fc F
+ 5 e
2 c p /2m v
-
c p p p p
!
0
5
2 a F
A25B
2 m
cos
v
1 p sin
v
D
) @ b
1
sin u
1
2 b
2
sin~ D w 2
u
2
! #
?it !
0
solved* te pase angle w
1
can be determined via 9&.
~1(!* and ten te integration constants C
1
and C
2
via 9&s.
~(!
and ~10!* respectivel$.
-ince !
0
and w
1
ave been derived under te assumption tat
1
p
e
-
2 2 m sin v 1 p cos v
D 2
2 2 m sin
u
1
validit$ o# te solution #or ! and sould be cec5ed. 2or
1
2 c p /2m v
c p p
p p cb
1 te mass never comes to a dead stop in te up!ard al#"c$cle* te
0
w
1
cb
2
1 v
1
b
1
cos u
1
1 v
2
b
2
cos~ D w 2 u
2
! 1
2 m
sin~
D w 2 u
2
!
vibration not to come to a dead stop* it is implied tat te velocit$
#or te up!ard vibration is al!a$s negative* i.e.*
-
2 ~ 2 1 !
&
b
1
v
1
cos u
1
2 ~ 2 1 !
'
b
2
v
2
cos~ D w 2
u
2
! A17B
!ere
!% *
0
p
0 * t *
v
D
A26B
p p
, 52 e
2 c p /2m v
~ !
0
2 !
f
!
sin
v
-
p
1
c
2
3 m
2
p
D
A1EB
c
!% 52

e
2 ct /2m
2 m
~ C
1
cos pt 1 C
2
sin pt !
D
2rom 9&. ~12!* it is derived tat
C$ 2 ),
*, 2
C+
1 e
2 ct /2m
~ 2 C
1
p sin pt 1 C
2
p cos pt !
2 b
1
v
1
sin~ v
1
t 1 w
1
2 u
1
! 2 b
2
v
2
sin~ v
2
t 1 w
1
1 D w 2 u
2
!
A27B
sin w
1
5
)+ 2 *$
* cos w
1
5
)+ 2 *$
A1(B
It is obvious #rom te above e&uation tat
~ C$ 2 ), !
2
1 ~ *, 2 C+ !
2
5 ~ )+ 2 *$ !
2
A20B
4 )ne'"top (ibration
One"stop motion ma$ appen !en te #riction #orce is large
enoug. It is assumed tat te s$stem is in motion during te time
interval 0 * t * t
0
* and is at a standstill during t
0
* t * p /
v at !ic te velocit$ o# te mass becomes 0ero.
Conse&uentl$* te e&uation o# motion is as #ollo!s
c
2 2
2urtermore* #rom 9&s. ~15! and ~1E!* it is seen tat C and ,
are linear #unctions o# !
0
* !ic can be !ritten as
!(
1
m
%! 1 v
n
A ! 2 !
f
B 5 v
n
G a
1
cosA v
1
t 1 w
1
B
1 a
2
cosA v
2
t 1 w
1
1 D w BH ~ 0 < t
* t
0
B*
C 5 a!
0
1 b * , 5 d!
0
1 e A21B
!% 5 0
-
t
0
<
t <
p
A2EB
v
!ere
!ere a
1
* a
2
* v
n
* and !
f
are de#ined in 9&. ~5!* and te
time boundar$ conditions are given b$
Journal o Vibration and !coustics &%!&+ER ,--,, .ol/ 0,1 C ()-
p
m
0 0 D D 1 1 1 0 1 1
0
-
-
c
t 5 0: ! 5 !
0
* !% 5 0 A2(aB
C F5 2 !
f
A)7B
t 5 t
0
: ! 52 !
0
* !% 5 0 A2(bB
$ F5 e
2 ct 0 /2m
-
c
0
D
1 2 1 1
Obviousl$* during te interval 0 < t * t
0
* te general solution
#or te non"stop motion given in 9&. ~7! still olds true #or te
one"
2 m
cos pt 1 p sin
pt
1
@ a 1
a
c
cos D w 2
b
cos u
stop motion* and tere are #our un5no!ns to be solved #or: te
t!o integration constants* te amplitude !
0
* and te pase angle
w 1 . +o!ever* di##erent #rom te non"stop motion solution* tere
2 b
2
cos~ D w 2 u
2
!
# 1
p
e
2 ct
0
/2m
2 m
sin pt
0
2 p cos pt
0 D
is a #i#t un5no!n &uantit$* t
0
* #or te one"stop motion. %ere"
)2
ca
1
1
ca
2
cos D w 2
cb
1
cos u 2
cb
2
cos~ D w 2 u
!
#ore* an additional condition is needed to determine t
0
along !it
te #our un5no!ns. Considering tat te sum o# all #orces acting
2 m 2 m 2 m
1
2 m
2
on te mass sould be 0ero at t 5 0 since te mass is in te state
o# rest* and considering tat te amount o# te dr$ #riction at t 5
0 is
2 v
1
b
1
sin u
1
1 v
2
b
2
sin~ D w 2 u
2
!
D
#* te additional condition comes #rom te e&uilibrium at t 5 0 as
1 b
v
sin~ v t 2 u ! 1
b v
sin~ v t 1 D w 2 u ! A)EB
$
1
cos w
1
1 $
2
cos~ w
1
1 D w ! 2 k!
0
1 # 5 0
A)0B
2rom 9&. ~)0!* !
0
is given b$
1
+ F5 e
2
1 1 0 1
ct 0 /2m
-
c
2 2 2 0 2
D
!
0
5 a
1
cos w
1
1 a
2
cos~ w
1
1 D w ! 1 !
f
A)1B
%e #our conditions in 9&s. ~2(! and te condition in 9&. ~)1!
are
su##icient to determine te #ive un5no!n &uantities C
1
* C
2
* !
0
*
2 m
cos pt
0
1 p sin
pt
0
1
1 b
2
sin~ D w 2 u
2
! # 1

e
2 ct
0
/2m
@ 2 a
2
sin D w 2 b
1
sin
u
1
w
1
and t
0
. %e integration constants* C
1
and C
2
* can be deter" c
mined #rom 9&. ~2(a!. It turns out tat teir solution e,pressions
)
D 2
ca
2
cb
1
are identical to 9&s. ~(! and ~10!* and tus !ill not be
repeated
2 m
sin pt
0
2 p cos
pt
0
2
2 m
sin D w 2
2 m
sin u
1
ere. %e t!o conditions in 9&. ~2(b! can be !ritten as
2 !
0
5 e
2 ct
0
/2m
~ C
1
cos pt
0
1 C
2
sin pt
0
! 1 b
1
cos~ v
1
t
0
1 w
1
2 u
1
!
cb
2
1
2
m
sin~ D w 2 u
2
! 1 v
1
b
1
cos u
1
1 v
2
b
2
cos~ D
w 2 u
2
!
D
1 b
2
cos~ v
2
t
0
1 w
1
1 D w 2 u
2
! 1 !
f
A)2B
0 5 e
2 ct
0
/2m
2
C
1 - 0 0 D
2 m
cos pt 1 p sin pt
1 b
1
v
1
cos~ v
1
t
0
2 u
1
! 1 b
2
v
2
cos~ v
2
t
0
1 D w
2 u
2
! A)(B
, F5 0 A30B
2rom 9&. ~)3!* te #ollo!ing relations are derived
1 C
2 -
c
sin pt 2 p cos pt 1 b v sin~ v t 1 w 2
u !
2
sin w
1
5
C F $ F2 )
F, F
) F+ F2 * F
$ F
* cos w
1
5
* F, F2 C F+
F
) F+ F2 * F
$ F
A31B
1 b
2
v
2
sin~ v
2
t
0
1 w
1
1 D w 2 u
2
! A))B
-ubstituting 9&s. ~(!* ~10! and ~)1! into 9&s. ~)2! and ~))!
$ields
t!o nonlinear algebraic e&uations !ic can be !ritten in te
#orm
) F cos w
1
1 * F sin w
1
1 C F5 0
$ F cos w
1
1 + F sin w
1
1 , F5 0 A)3B
!ere
) F5 a
1
1 a
2
cos D w 1 e
2 ct
0
/2m
cos p t
0
@ a
1
1 a
2
cos D
w
1
2 ct
0
/2m
9&uation ~31! leads to te #ollo!ing nonlinear algebraic
e&uation to determine t
0
:
~ C F $ F2 ) F, F !
2
1 ~ * F, F2 C F+ F !
2
5 ~ ) F+ F2
* F $ F !
2
A32B
-ince 9&. ~32! is transcendental and an e,plicit solution #or t
0
is impossible* a numerical procedure is needed to solve #or t
0
.
Once t
0
is obtained via a numerical metod* w
1
can be
obtained #rom 9&. ~31!* and ten !
0
#rom 9&. ~)1!. 2inall$* C
1
and C
2
can be determined in terms o# w
1
and !
0
using 9&s.
~(! and ~10!.
8emember tat te above solution is derived under te assump"
tion tat in a al#"c$cle o# te one"stop motion* te mass moves
2 b
1
cos u
1
2 b
2
cos~ D w 2 u
2
!
# 1
p
e
sin pt
0
during te interval o# time 0 * t * t
0
and is at a standstill
during
t
0
* t * T /2. %ere#ore* it is necessar$ to consider !eter te
so"
)
2
ca
1
ca
2
cb
1
cb
2
lution satis#ies te assumption. -ince a al#"c$cle in te one"stop
2 m
1
2 m
cos D w 2
2 m
cos u
1
2
2 m
cos~ D w
2 u
2
!
2 v
1
b
1
sin u
1
1 v
2
b
2
sin~ D w 2 u
2
!
D
- D
1 b
1
cos~ v
1
t
0
2 u
1
! 1 b
2
cos~ v
2
t
0
1 D w 2 u
2
!
A)5B
* F52 a
2
sin D w 1 e
2 ct
0
/2m
cos p t
0
@ 2 a
2
sin D w
1
2 ct
0
/2m
motion is made up o# t!o distinct time intervals* a condition to
cec5 te validit$ o# te solution #or eac interval sould be pro"
vided. During te period 0 * t * t
0
!en te motion is
continuous* te condition is
!% * 0 ~ 0 * t * t
0
! A3)B
During te period t
0
* t * p / v !en te mass is at rest* te
con"
dition is tat te absolute value o# all e,ternal #orces acting on te
mass* i.e.* te sum o# disturbing #orces and te spring #orce must
be smaller tan or e&ual to te #riction #orce* i.e.* 2 b
1
sin u
1
1 b
2
sin~ D w 2 u
2
!
# 1
p
e
sin pt
0
)
2
2
ca
2 cb
1
cb
2
p
u $
1
cos~ v
1
t 1 w
1
! 1 $
2
cos~ v
2
t 1 w
1
1 D w ! 1 k!
0
u <
# t
0
* t *
2 m
sin D w 2
2 m
sin u
1
1
2 m
sin~ D w
2 u
2
!
1 v
1
b
1
cos u
1
1 v
2
b
2
cos~ D w 2 u
2
!
D
2 b
1
sin~ v
1
t
0
2 u
1
! 2 b
2
sin~ v
2
t
0
1 D w 2 u
2
! A)6B
v
A33B
Compared !it a single armonic e,citation !it dr$ #riction*
it is clear tat te anal$sis and solution procedures #or te
t!o"#re&uenc$ oscillation !it dr$ #riction are muc more
complicated.
(.$ C .ol/ 0,1, &%!&+ER ,--, Transactions o the !%&'
Fig. # /hase angle res"onse to two-requency e0citation with
requency ratio as "arameter in non-sto" 1ibration
Fig. . /hase angle res"onse to two-requency e0citation with
Coulomb riction as "arameter in non-sto" 1ibration
* &umerical +,amples
In tis section* numerical simulations are carried out to illus"
trate te in#luence o# te s$stem@s parameters on te vibration
beavior. %e t!o parameters used are: te ratio bet!een te Cou"
lomb #riction and te amplitude o# one e,ternal #orce* i.e.* # / $
1
* and te ratio bet!een te t!o circular #re&uencies o# te disturb"
ing #orces* namel$ & / ' . =ot te non"stop and one"stop
motions are simulated. %e #ollo!ing plots so! te pase angle
w
1
and te amplitude ratio !
0
/ a
1
o# te stead$"state response
versus te e,citation #re&uenc$ ratio v
2
/ v
n
under di##erent
values o# te parameters.
%e plots #or te non"stop motion are so!n in 2igs. 2 6
7* !ere te #ollo!ing parameters are used ~e,cept #or $
2
5 0
in 2ig. 6!
m 5 10* k 5 0.3* c 5 0.1* $
1
5 2* $
2
5 )* D w 5 0.5
A35B
2igures 2 and ) so! te in#luence o# te parameter & / ' on
te pase angle and te amplitude response ratio !ile te param"
eter # / $
1
is set to 0.25. %e parameter & / ' ta5es te values
o#
5/1* )/1* 1/1* 1/) and 1/5. It is #ound tat te resonance appens
near te smaller e,citation #re&uenc$ o# te t!o armonic e,"
citations* as so!n in 2ig. ). %is is e,pected because te smal"
ler e,citation #re&uenc$ is te #re&uenc$ o# te t!o combined
e,citations.
2igure 3 so!s te pase angle w
1
versus te e,citation #re"
&uenc$. ?ile & / ' e&uals 1/)* te parameter # / $
1
ta5es
si, values according to Den +artog ~1()1!: 0.10* 0.25* 0.50*
0.60*
0.6E and 0.75. %ese values indicate tat te #riction #orce
canges #rom smaller values to larger ones. 's # / $
1
approaces
1* te magnitude o# te #riction is nearl$ as large as tat o# te #irst
e,citation. It is so!n tat !it te increase o# te #riction* te
s$stem becomes more sensitive to te #riction value variation.
%ere#ore* a smaller parameter interval* suc as te interval be"
t!een 0.60 and 0.6E* is needed. It is observed tat te pase angle
increases as te Coulomb #riction increases be#ore te resonance
#re&uenc$. +o!ever* te e##ect is /ust te opposite a#ter te reso"
nance #re&uenc$.
?it te same parameters as in 2ig. 3* te amplitude ratio ver"
sus v
2
/ v
n
is so!n in 2ig. 5. It can be easil$ seen tat
te Coulomb #riction reduces te amplitude o# te oscillator.
4ore" over* !en # / $
1
ta5es te values o# 0.60* 0.6E and
0.75* in an" oter !ord* as te Coulomb #riction gets larger* te
pea5 ampli" tude ta5es a local minimum at te resonance
#re&uenc$* and tere are t!o amplitude local ma,imums be#ore
and a#ter te resonance #re&uenc$* respectivel$. %is is similar
to te vibration o# a
Fig. ) !m"litude res"onse to two-requency e0citation with
requency ratio as "arameter in non-sto" 1ibration
Fig. ( !m"litude res"onse to two-requency e0citation with
Coulomb riction as "arameter in non-sto" 1ibration
Journal o Vibration and !coustics &%!&+ER ,--,, .ol/ 0,1 C (.+
Fig. 2 !m"litude res"onse to single requency e0citation with
Coulomb riction as "arameter in non-sto" 1ibration
viscous"damped oscillator* !ere te increase o# viscous damping
!ill eventuall$ lead to an over"damped situation under !ic te
amplitude becomes a minimum value at te resonance #re&uenc$.
2or comparison* 2ig. 6 so!s te amplitude response o# te
oscillator due to a single #re&uenc$ e,citation !it # / $
1
as
a parameter. %e parameter # / $
1
ta5es te same values as in 2ig.
5. =$ comparing 2ig. 5 !it 2ig. 6* it can be seen tat !en
te #riction ratio # / $
1
is relativel$ small* te amplitude
response reaces a ma,imum value at te resonance #re&uenc$ in
bot te single as !ell as te t!o"#re&uenc$ e,citation cases.
+o!ever* as te Coulomb #riction increases* te beavior o# te
response curve near te resonance #re&uenc$ in te t!o"#re&uenc$
e,citation case is &uite di##erent #rom tat in te single #re&uenc$
e,citation case. In te t!o"#re&uenc$ e,citation case* te
amplitude ta5es a local minimum at te resonance #re&uenc$ and
tere are t!o amplitude local ma,imums be#ore and a#ter te
resonance #re&uenc$* as so!n in 2ig. 5 !it # / $
1
5 0.60*
0.6E* 0.75. In comparison* #or te single #re&uenc$ e,citation
case in 2ig. 6* te amplitude still ta5es a local ma,imum at te
resonance #re&uenc$ as te #riction
ratio increases.
2inall$* so!n in 2ig. 7 is te in#luence o# strong Coulomb
#riction A # / $
1
5 0.60* 0.6E* 0.75B on te amplitude response
o#
Fig. * !m"litude res"onse to two-requency e0citation under
strong Coulomb riction in non-sto" 1ibration
Fig. , /hase angle res"onse to two-requency e0citation with
requency ratio as "arameter in one-sto" 1ibration
te oscillator due to te t!o"#re&uenc$ e,citation !it & /
'
5 1/) and 1/5. =esides te uni&ue caracteristics in te t!o"
#re&uenc$ oscillation discussed previousl$* tere e,ists anoter
interesting penomenon. It is seen in 2ig. 7 tat te gradient o# te
amplitude"#re&uenc$ curve can be negative on bot sides o# te
resonance point and discontinues at te resonance point* as so!n
in 2ig. 7 !ere & / ' 5 1/5 and # / $
1
5 0.6E. It is also noticed
tat te curve !ere & / ' 5 1/5 and # / $
1
5 0.75 is cut o##
since te motion is eliminated due to #riction. -uc penomenon
also e,ists in some curves in 2ig. 6* !ere # / $
1
5 0.60* 0.6E
and 0.75.
-imilar to te plots #or te non"stop motion* 2igs. E 6 11
so! simulation results #or te one"stop motion !it te
#ollo!ing parameters
m 5 10* k 5 0.3* c 5 0.1* $
1
5 2* $
2
5 )* D w 5 0.5
A36B
In 2igs. E and (* te pase angle w
1
and te amplitude ratio
!
0
/ a
1
versus te e,citation #re&uenc$ ratio v
2
/ v
n
are
displa$ed* respectivel$. %e parameter # / $
1
is set to 2.25* and
te parameter & / ' ta5es te values o# 5/1* )/1* 1/1* 1/) and 1/3.
<ote tat 1/3 is ta5en instead o# 1/5 because in te e,ample* no
numerical solution
Fig. - !m"litude res"onse to two-requency e0citation with
requency ratio as "arameter in one-sto" 1ibration
(.# C .ol/ 0,1, &%!&+ER ,--, Transactions o the !%&'
Fig. +$ /hase angle res"onse to two-requency e0citation
with Coulomb riction as "arameter in one-sto" 1ibration
#or te one"stop motion e,ists #or te case o# & / ' 5 1/5.
Interest" ingl$* it is seen tat te amplitude pea5 appens !en
bot e,ci" tation #re&uencies are muc less tan te natural
#re&uenc$ v
n
. %is is ver$ di##erent #rom te non"stop motion
case !ere tere e,ists resonance near te smaller e,citation
#re&uenc$. 'noter interesting penomenon is tat regardless
!at #re&uenc$ ratio values are* one"stop motions e,ist onl$ in
te #re&uenc$ range !ere te larger e,citation #re&uenc$ is
less tan v
n
. %is is again a uni&ue caracter o# te one"stop
motion in comparison to te non"stop motion.
2igures 10 and 11 so! te in#luence o# te parameter # / $
1
on te pase angle and te amplitude response o# te oscillator.
%e parameter # / $
1
ta5es #ive values: 1.50* 1.62* 1.75* 2.00 and
2.25* !ile & / ' e&uals 1/). It is clear tat te Coulomb
#riction re" duces te amplitude o# te oscillator. 2urtermore* it
is #ound tat !en # / $
1
ta5es relativel$ small values* tat is*
1.50 and 1.62* te solution curves are not continuous* !ic
means tat #or some e,citation #re&uencies* te one"stop motion
does not e,ist. In #act* i# # / $
1
gets even smaller* no solutions
e,ist at all. 9ven #or tose larger # / $
1
values !ere tere e,ist
one"stop motion solutions*
Fig. ++ !m"litude res"onse to two-requency e0citation with
Coulomb riction as "arameter in one-sto" 1ibration
te one"stop motion e,ists onl$ in te #re&uenc$ range !ere te
larger e,citation #re&uenc$ is less tan v
n
* as so!n in 2igs. E
and (.
- .onclusions
' mass"spring"#riction oscillator sub/ected to t!o armonic dis"
turbing #orces is studied in te present paper. %e #riction in te
s$stem as combined Coulomb dr$ #riction and viscous damping.
%!o 5inds o# stead$"state vibrations o# te s$stemInon"stop and
one"stop motionsIare discussed. %e e,istence conditions #or
eac stead$"state motion are provided. ;sing anal$tical anal$sis*
te stead$"state responses o# te s$stem #or bot te non"stop and
one"stop motion are derived. %e #ollo!ing conclusions can be
dra!n #rom te stud$:
~1! 2or te non"stop motion* tere e,ists a /ump penomenon
at te resonance #re&uenc$ #or te pase angle response o# te
oscil" lator due to te t!o"#re&uenc$ e,citation.
~2! In te non"stop motion* as te Coulomb #riction gets large
enoug* te pea5 amplitude becomes a local minimum at te reso"
nance #re&uenc$.
~)! Di##erent #rom te non"stop motion* te one"stop
motion e,ists onl$ at large values o# #riction #orce and in te
#re&uenc$ range !ere te larger e,citation #re&uenc$ is less tan
te natural #re&uenc$.
~3! 2or te one"stop motion* te amplitude pea5s at suc a
#re&uenc$ value !ere bot e,citation #re&uencies are muc less
tan te natural #re&uenc$.
&omenclature
a
i
A i 5 1*2B 5 spring elongation under $
i
A i 5 1*2B
* m
c 5 damping coe##icient* <Js/m
# 5 dr$ #riction #orce* <
k 5 spring sti##ness* </m
m 5 mass* 5g
& / ' 5 circular #re&uenc$ ratio
p 5 damped natural #re&uenc$* rad/s
$
i
A i 5 1*2B 5 amplitude o# e,citations*
<
T 5 period o# motion* s
!
0
5 amplitude o# vibration* m
!
f
5 spring elongation under #* m
Dw 5 pase angle di##erence* rad
w
i
A i 5 1*2B 5 pase angles*
rad
v 5 circular #re&uenc$ o# motion* rad/s
v
i
A i 5 1*2B 5 circular #re&uenc$ o# e,citations*
rad/s
v
n
5 undamped natural #re&uenc$*
rad/s
/eferences
@ 1 # Den +artog* :. 7.* 1()1* KK2orced .ibrations !it Combined Coulomb
and
.iscous 2riction*@@ %rans. '-49* *%* pp. 107 6 115.
@ 2 # Cauge$* %. L.* and .i/a$aragavan* '.* 1(70* KK2ree and 2orced
Oscillations o# a D$namic -$stem !it K1inear +$steretic Damping@
~<on"1inear %eor$!*@@ Int. :. <on"1inear 4ec.* ** pp. 5)) 6 555.
@ ) # -clesinger* '.* 1(7(* KK.ibration Isolation in te 7resence o# Coulomb
2ric" tion*@@ :. -ound .ib.* -%* pp. 21) 6 223.
@ 3 # 2erri* '. '.* and Do!ell* 9. +.* 1(E5* KK%e =eavior o# a 1inear* Damped
4odal -$stem !it a <on"1inear -pring"4ass"Dr$ 2riction Damper -$stem
'ttaced* 7art II*@@ :. -ound .ib.* 101* pp. 55 6 73.
@ 5 # 2erri* '. '.* and Do!ell* 9. +.* 1(EE* KK2re&uenc$ Domain -olutions to
4ulti" Degree"o#"2reedom* Dr$ 2riction Damped -$stems*@@ :. -ound .ib.*
124* pp.
207 6 223.
@ 6 # -a!* -. ?.* 1(E6* KKOn te D$namic 8esponse o# a -$stem !it Dr$ 2ric"
tion*@@ :. -ound .ib.* 100* pp. )05 6 )25.
@ 7 # 'nderson* :. 8.* and 2erri* '. '.* 1((0* KK=eavior o# a -ingle"Degree"o#"
2reedom -$stem !it a Denerali0ed 2riction 1a!*@@ :. -ound .ib.* 140* pp.
2E7 6 )03.
@ E # 4a5ris* <.* and Constantinou* 4. C.* 1((1* KK'nal$sis o# 4otion 8esisted
b$ 2riction. I. Constant Coulomb and 1inear/Coulomb 2riction*@@ 4ec.
-truct. 4ac. 11* pp. 377 6 500.
@ ( # 2erri* '. '.* and +ec5* =. -.* 1((2* KK'nal$tical Investigation o# Damping
9nancement ;sing 'ctive and 7assive -tructural :oints*@@ :. Duid. Control
D$n.* 1** pp. 125E 6 1263.
@10# 2erri* '. '.* 1((5* KK2riction Damping and Isolation -$stems*@@ '-49 :. .ibr.
'coust.* 112M3N* pp. 1(6 6 206.
Journal o Vibration and !coustics &%!&+ER ,--,, .ol/ 0,1 C (.)
@ 1 1 # 7#ei##er* 2.* and +a/e5* 4.* 1((2* KK-tic5"-lip 4otion o# %urbine =lade
Damp" ers*@@ 7ilos. %rans. 8. -oc. 1ondon* -er. '* %%0* pp. 50) 6 517.
@ 12 # 2een$* =. 2.* and 4oon* 2. C.* 1((3* KKCaos in a 2orced Oscillator !it
Dr$
2riction: 9,periments and <umerical 4odeling*@@ :. -ound .ib.* 120* pp. )0) 6
)2).
@ 1) # %an* O.* and 8ogers* 8. :.* 1((5* KK9&uivalent .iscous Damping 4odels o#
Coulomb 2riction in 4ulti"Degree"o#"2reedom .ibration -$stems*@@ :. -ound
.ib.* 10** pp. )) 6 50.
@ 13 # -anlitur5* L. P.* and 9!ins* D. :.* 1((6* KK4odelling %!o"Dimensional
2ric"
tion Contact and Its 'pplication ;sing +armonic =alance 4etod*@@ :. -ound
.ib.* 11%* pp. 511 6 52).
@ 15 # ?iteman* ?. 9.* and 2erri* '. '.* 1((6* KKDisplacement"Dependent Dr$
2ric" tion Damping o# a =eam"1i5e -tructure*@@ :. -ound .ib.* 110* pp. )1) 6
)2(.
@16# Oancea* .. D.* and 1aursen* %. '.* 1((E* KKInvestigations o# 1o!
2re&uenc$
-tic5"-lip 4otion: 9,periments and <umerical 4odelling*@@ :. -ound .ib.*
21%* pp. 577 6 600.
@ 17 # +ong* +. L.* and 1iu* C. -.* 2000* KKCoulomb 2riction Oscillator: 4odelling
and 8esponses to +armonic 1oads and =ase 9,citations*@@ :. -ound .ib.* 221*
pp. 1171 6 11(2.
(.. C .ol/ 0,1, &%!&+ER ,--, Transactions o the !%&'