Professional Documents
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ON AN ELASTIC STRUCTURE
PROEFSCHRIFT
Samenstelling promotiecommissie:
Rector Magnificus
Prof. dr.ir. J. Blaauwendraad
Prof. dr.ir. A. Verruijt
Prof. dr.ir. D.J. Rixen
Prof. dr.ir. C. Esveld
Prof. dr.ir. G. Degrande
Prof. Dr.Sc., Ph.D. L. Frba
Ph.D., Dr.Sc. A.V. Metrikine
Voorzitter
Technische Universiteit Delft, promotor
Technische Universiteit Delft
Technische Universiteit Delft
Technische Universiteit Delft
Katholieke Universiteit Leuven, Belgium
Institute of Theoretical and Applied
Mechanics, Prague, Czech Republic
Technische Universiteit Delft
ACKNOWLEDGMENTS
The research presented in this thesis has been carried out in the
context of doctoral studies at Mechanical Engineering Institute RAS and
Delft University of Technology.
First of all, here I would like to thank professor J. Blaauwendraad who
has given me a possibility to become a member of Research School
Structural Engineering (2001-2002) and to work at Delft University of
Technology. Most results of this thesis are obtained exactly at this time
period. Also I have acquired some experience, which for sure will help me in
my further research.
My decision to start research in wave dynamics appeared after I have
attended the course Wave dynamics of machines, which was given by the
late professor A.I. Vesnitskii at the Radiophysics Faculty of University of
Nizhny Novgorod. That time I was in the last year of my master course. I
had some certain plans concerned with my future and could not imagine
this future concerned with scientific research. But these plans were
changed after communication with A.I. Vesnitskii. To say that Alexander
Ivanovich was a very interesting and unusual man means to say nothing.
He has opened for us another dimension in life and in science. He was full
of scientific ideas, he told us that there are a lot of unresolved questions in
mechanics, especially in dynamics of robots and space ships, in biology
(dynamics of vessels) and even in dynamics of the wheel(!). He told us about
pipelines and high-speed trains, about humanity, which is just waiting for
our discoveries. He has organised seminars in Mechanical Engineering
Institute RAS that nowadays are still going on. Of course, I have decided to
start postgraduate research under his supervision. I made all documents
and passed exams, I was almost started but his sudden death almost
stroked out all my plans and hopes. Fortunately, that time dr.sc. Andrei
Metrikine, one of the former students of A.I. Vesnitskii, was visiting Russia.
He told me that we could start working together. Actually, we were three
classmates who primarily wanted to work with A.I. Vesnitskii and finally
who have been inherited by Andrei.
Actually, I graduated at the Department of Theory of Oscillations and
before the Ph.D. course I was busy with investigation of LJJ (Long
Josephson Junctions) by phase space method, bifurcation theory etc. From
the title of this thesis it could seem (instability, vibrations) that I just
have proceeded investigations at the same field of science. But this is
absolutely not the case. When I have started working with Andrei I was
even not a` beginner, but just a blank page which had to be filled in. I am
really grateful to him for his patience, because he spent a lot of time
teaching me new analytical methods, programming and even English. He
has rendered me not only moral but even financial support at some difficult
times and I will never forget this. Approximately the same time I started
participating in a series of conferences. Andrei taught me how to make
This work was partly supported by the Russian Foundation for Basic
Research, grant 00-01-00344. This support is highly appreciated.
SUMMARY
Vibrations of a vehicle that moves on a long elastic structure can
become unstable because of elastic waves that the vehicle generates in the
structure. A typical example of the vehicle that can experience such
instability is a high-speed train. Moving with a sufficiently high speed, this
train could generate in the railway track elastic waves, whose reaction
might destabilise vibrations of the train. Such instability could increase the
level of vibrations of both the train and the railway track, significantly
worsening the comfort of passengers and increasing the probability of the
track deterioration and the train derailment.
Instability of a moving vehicle on an elastic structure can be classified
as one of the moving load problems. This class of problems has been
drawing attention of researches for more than a century, being a
fundamental issue in dynamics of bridges and railway tracks. Recently, the
classical moving load problem has attracted researchers once again
because of the rapid development of high-speed railways. The necessity to
take a fresh look at this old problem is based on the fact that in earlier
studies it was usually assumed that the load speed is much smaller than
the wave velocity in the elastic structure, which the load moves on.
Nowadays, this assumption is no longer acceptable, since modern highspeed trains are able to move with a speed that is comparable with the
wave velocity in a railway track.
The main objective of this thesis is to study the stability of the traintrack system at high speeds. The practical aim behind this objective is to
develop an accurate and efficient method that would allow for choosing
parameters of the train-track system so that the stability is guaranteed at
operational train speeds. Having such a method developed, this thesis aims
to
study the effect of physical parameters of a train vehicle on the stability
of the train-track system;
analyse the effect of a periodical inhomogeneity of the track that is
caused by sleepers and rail corrugation;
investigate the effect of waves in the track subsoil.
To investigate the effect of physical parameters of a train vehicle, a
simplified model for a railway track, namely a one-dimensional,
homogeneous, elastically-supported Timoshenko beam is considered. The
study gets started with the analysis of the beam reaction in a moving
contact point. This reaction is characterised by the dynamic stiffness of the
beam, which is a complex-valued function of the frequency of vibrations of
the contact point, its velocity and parameters of the beam and the
foundation. For this development, the most important is the dependence of
the dynamic stiffness on the velocity of the contact point. Therefore, this
dependence is investigated thoroughly for the Timoshenko beam and then
compared to that of an Euler-Bernoulli beam. It is shown that the
imaginary part of the dynamic stiffness becomes negative (in a low7
CONTENTS
Summary .................................................................................. 7
Introduction .................................................................................... 11
General ................................................................................................ 11
Aims and Scope.................................................................................... 14
Outline................................................................................................. 15
Output ................................................................................................. 18
Chapter 1. Phenomenon of Instability .............................................. 21
1.1 Instability of One-Mass Oscillator Moving on a Beam ................... 23
1.2 The Physical Background of the Instability................................... 31
1.3 Anomalous Doppler Effect and Instability of a Moving Object in
Physics ....................................................................................... 35
1.4 Mathematical Procedure for Studying Instability of a Vehicle,
Moving on an Elastic Structure ................................................... 41
Chapter 2. Instability of a Vehicle Moving on Elastically Supported
Timoshenko Beam ............................................................ 49
2.1 Equivalent Stiffness of a Beam in a Moving Contact Point ............ 51
2.1.1 Model and Expression for the Equivalent Stiffness .................... 51
2.1.2. Parametric Analysis of the Equivalent Stiffness ........................ 55
2.2 Instability of a Two-Mass Oscillator Moving on a Flexibly
Supported Timoshenko Beam...................................................... 63
2.2.1 The Model and the Characteristic Equation............................... 63
2.2.2 Instability of the Single Mass .................................................... 66
2.2.3 Instability of the Oscillator ........................................................ 69
2.3 Instability of a Bogie Moving on a Flexibly Supported Timoshenko
Beam .......................................................................................... 73
2.3.1 The Model and the Characteristic Equation............................... 73
2.3.2 Analysis of Roots of the Characteristic Equation ....................... 77
2.3.3 Parametric Study of the Stability Domain.................................. 81
2.3.4 Comparison with Simpler Models .............................................. 84
Conclusions ......................................................................................... 87
Chapter 3. Effect of Periodic Inhomogeneity of Elastic Structure on
Stability of a Moving Vehicle ............................................ 89
3.1 Beam on Inhomogeneous Foundation under a Moving Mass ........ 91
3.1.1 Solution to the Unperturbed Problem........................................ 93
3.1.2 Perturbation Analysis in the Non-Resonance Case .................... 97
3.2 Effect of the Dead Weight of a Vechicle....................................... 101
3.3 Instability of a Mass, Moving along a Beam on a Periodically
Inhomogeneous Foundation ...................................................... 113
3.3.1 Main Instability Zone .............................................................. 120
3.4 Instability of a Mass, Moving on a Beam with a Periodically
Inhomogeneous Cross-Sectional Area ........................................ 125
Conclusions ....................................................................................... 135
9
10
INTRODUCTION
GENERAL
Vibrations of a vehicle that moves on a long elastic structure can
become unstable because of elastic waves that the vehicle generates in the
structure [9,11,24,91,92,94,95,143,152,156,171]. A typical example of the
vehicle that can experience such instability is a high-speed train. Moving
with a sufficiently high speed, this train could generate in the rails and in
the track subsoil elastic waves, whose reaction might destabilise vibrations
of the train. Such instability could increase the level of vibrations of both
the train and the railway track, significantly worsening the comfort of
passengers and increasing probability of the track deterioration and the
train derailment (Fig.1, 2).
11
One of the first works on the moving load problem has been published
by Timoshenko [127] in 1911. In this paper, a load moving on a simply
supported beam has been considered. Later, in 1926, Timoshenko [129]
has posed and solved a problem of a load moving on a beam on elastic
foundation, thereby beginning a long chain of papers devoted to dynamics
of railways under moving trains.
With respect to the type of elastic structure, papers devoted to the
moving load problem can be subdivided into two large groups. The first
group is concerned with analysis of finite-length structures (see [32] and
references in this book), that may be exemplified by railway bridges. In
papers of the second group, attention is focused on the dynamic behaviour
of infinitely long structures like open-field railway tracks [25,37,67,102]
and overhead power lines [6,83].
Moving load problem
finite-length
structures
infinitely long
structures
Limiting the discussion to the case of infinitely long structures, one can
provide a further subdivision of papers on the topic, sorting them by the
model chosen to describe the moving vehicle. Globally, two approaches in
modelling the moving load are known. In the framework of the first
approach, internal degrees of freedom of the load are neglected and an
elastic structure is considered to be subjected to a moving force, whose
magnitude is prescribed in a certain manner. The second approach is more
adequate and assumes that the load has its own degrees of freedom and is
modelled as a mass, an oscillator, a bogie or as any other multi-degrees of
freedom lumped system. In this case the contact force between the moving
12
13
14
OUTLINE
This thesis consists of introduction, four chapters and conclusions. The
outline of the chapters is given below.
The objective of the first chapter is to acquaint the reader with the
phenomenon of instability of a vehicle that moves on an elastic structure.
To this end, first, a simple model is presented to define the instability
mathematically. Then, the physical background of the phenomenon is
discussed followed by examples from different fields of physics that expose
this physically common effect. The chapter is finalised with mathematical
methods that make the study of the instability possible.
In the first paragraph of this chapter ( 1.1), an oscillator that moves
uniformly on an Euler-Bernoulli beam is considered. This model is
employed to demonstrate the effect of instability since it allows for an analytical solution. By analysing the characteristic equation for the oscillator
vibrations, it is shown that these vibrations may become unstable [89].
In the second paragraph ( 1.2), the energy and momentum variation
laws for a lumped object that moves along a one-dimensional elastic system
are presented. On the basis of these laws it is shown that the instability
occurs because of generation of elastic waves, the phase velocity of which
exceeds the velocity of motion of the object. These waves are known in
physics as anomalous Doppler waves [41].
In 1.3, a definition of the anomalous Doppler effect is given and
examples from electrodynamics and hydrodynamics are presented that
demonstrate the destabilising effect of the anomalous Doppler waves [24,
36].
The last paragraph ( 1.4) presents an overview of mathematical
methods that are useful for studying the instability of a mechanical object
that moves on an elastic system.
The second chapter deals with stability of vibrations of a vehicle
moving on a Timoshenko beam that rests on a visco-elastic foundation The
supported beam is used as a simplified model for a railway track [3,11,18,
19,65,94,104,105,129,148,149].
In the first paragraph of this chapter ( 2.1), a so-called equivalent
stiffness of the Timoshenko beam in a moving contact point is introduced
and studied. This stiffness is a complex-valued function that depends on
the frequency of vibrations of the contact point, its velocity and parameters
of the beam and foundation. It represents the dynamic stiffness of the
contact point subjected to a moving harmonic load. For this development,
the most important is the dependence of the equivalent stiffness on the
velocity of the contact point. Therefore, this dependence is investigated
thoroughly and then compared to that of an Euler-Bernoulli beam.
In 2.2, the vehicle is modelled with the help of a two-mass oscillator
that has a single contact point with the beam. It is shown that vertical
vibrations of this oscillator as it moves along the beam may become
15
16
17
OUTPUT
Main results of this thesis are published in the following journal
papers:
S.N. Verichev, A.V. Metrikine Dynamic rigidity of a beam in a moving
contact // Journal of Applied Mechanics and Technical Physics, Vol. 41, No.
6, 1111-1117, 2000.
S.N. Verichev, A.V. Metrikine Instability of vibration of a moving twomass oscillator on a flexibly supported Timoshenko beam // Archive of
Applied Mechanics, 71(9), 613-624, 2001.
S.N. Verichev, A.V. Metrikine Instability of a bogie moving on a flexibly
supported Timoshenko beam // Journal of Sound and Vibration, 253(3),
653-668, 2002.
S.N. Verichev, A.V. Metrikine Instability of vibrations of a mass that
uniformly moves along a beam on a periodically inhomogeneous
foundation // Journal of Sound and Vibration, 2002 (accepted for
publication).
and reported at the following conferences:
International Conference of Young Researches XXV Gagarins Readings
(Moscow, Russia, 1999), Third and Fourth Scientific Conferences on
18
Radiophysics (N. Novgorod, Russia, 1999, 2000), Fourth and Fifth Sessions
of Young Scientists (N. Novgorod, Russia, 1999, 2000), Fifth International
Conference Nonlinear Oscillations of Mechanical Systems (N. Novgorod,
Russia, 1999), Actual Problems in Mechanics (St. Petersburg, Russia,
2000), 4th Euromech Solids Mechanics Conference (France, Metz, 2000),
International Conference Testing of Materials and Constructions (N. Novgorod, Russia, 2001), 5th Symposium of the Research School Structural
Engineering (Netherlands, Zeist, 2002).
19
21
u(x,t), u0(t)
k0
x = Vt
utt + 2u xxxx = 0, 2 = EI F ,
u 0 (t ) = u (Vt , t ),
(1.1.1)
d 2u 0
lim u ( x, t ) <
x Vt
i jt k j x
u 0 (t ) = Aeit
(1.1.2)
This form of the solution implies that the oscillator vibrates harmonically,
while the motion of the beam is represented by a superposition of onedimensional plane waves. In expressions (1.1.2), C j is the complex
amplitude of the wave j , j and k j are the radial frequency and the
wavenumber of this wave, A is the complex amplitude of vibration of the
oscillator, is the radial frequency of this vibration. Hereinafter i = 1 .
Substituting expressions (1.1.2) into the first and the last equations of
system (1.1.1), we obtain a system of algebraic equations, which allows for
defining frequencies and wavenumbers of the waves that are perturbed by
the oscillator:
2j = 2 k 4j ,
(1.1.3)
j = k jV + .
) 2 ,
k = (V + V 4 ) 2 ,
k = (V V + 4 ) 2 ,
k = (V V 4 ) 2 ,
(
k1 = V + V 2 + 4
2
(1.1.4)
24
(1.1.5)
tan ( ) = V
4
2
Fig. 1.1.2 Graphical determination of the frequencies and wavenumbers of waves that
are perturbed in the beam by a load of frequency moving with velocity V .
The parabolas in this figure are referred to as the dispersion curves and
represent the solution to the dispersion equation. The straight line shows
the kinematic invariant. The slope of this line is equal to the velocity V of
25
motion of the oscillator while the crossing point between the frequency axis
and this line is defined by the frequency of vibrations of the oscillator.
The crossing points between the dispersion curves and the kinematic
invariant define the frequencies and wavenumbers of the waves in the
beam that are perturbed by the oscillator. Now, to apply the radiation
condition (1.1.5) we have to compare the velocity of the oscillator and the
group velocity of the perturbed waves. Graphically, this implies that the
slope of the kinematic invariant should be compared to the slope of the
dispersion curves in the crossing points (by definition, the group velocity
V group = d dk is defined by this slope). Carrying out this comparison, it is
easy to conclude that the waves with wavenumbers k1 and k2 propagate in
front of the oscillator, whereas the waves with k3 and k4 travel behind it.
Thus, the problem of sorting out the propagating waves has been solved.
Let us now deal with the decaying waves. These waves can be perturbed
by the oscillator in the case that its frequency is either real (but smaller
than V 2 4 ) or complex. In both cases, it is necessary to fix the branch of
the square roots in (1.1.4). We will do it with the help of the following
inequalities (actually, the branch can be fixed arbitrarily):
Im
Im
(V
(V
)
4 ) > 0
+ 4 < 0
for Im < 0.
(1.1.6)
The chosen branches, as it can be seen from expressions (1.1.4), lead to the
following inequalities:
Im (k1 , k2 ) < 0
Im (k3 , k4 ) > 0
for Im < 0.
(1.1.7)
uj ~ e
ik j x
=e
( )
( )
i Re k j x Im k j x
26
should have a positive one. From this it follows that the waves with
wavenumbers k1 and k2 propagate in front of the oscillator ( x > Vt ), whereas
the waves with k3 and k4 travel behind it ( x < Vt ). This conclusion follows
from the requirement that the beam displacement must vanish as
x Vt + .
Thus, the displacement of the beam in front of the oscillator (u + ) and
that behind it
(u )
complex):
u + ( x, t ) = C1e (
i 1t k1 x )
+ C2 e (
u ( x, t ) = C3e (
+ C4 e (
i 3t k3 x )
i 2 t k2 x )
(1.1.8)
i 4 t k4 x )
(1.1.9)
The first equation in (1.1.9) has been obtained from the condition of
continuity of the beam in the contact point, the second follows from the
continuity of the beam slope in the contact point, the third reflects the
absence of the external moment in the loading point, the fourth originates
from the balance of vertical forces in the contact point, and the fifth
ensures that the beam and the oscillator are always in contact.
System (1.1.9) has a non-trivial solution if and only if its determinant is
equal to zero. Calculating this determinant and setting it to zero the
following characteristic equation for the vertical vibrations of the oscillator
on the beam is obtained:
k0 m 2 iEI (k1 k3 )(k1 k4 )(k2 k3 )(k2 k4 ) 2 (k1 + k2 ) = 0.
27
(1.1.10)
2
2
2
2
2
EI V + 4 V 4 V + V + 4 V 4
i 3
= 0,
2 m
V 2 + 4 V 2 4
2
0
(1.1.11)
EI V 2 + 40 40 V 2
(V
16 m
2
for V > 4 0 :
),
+ 40 (V 2 20 ) + i 40 V 2 (V 2 + 20 )
2
0
0 i
EI V 2 + 40 V 2 40
( V + 4 + V 4 )(V + V + 4
2
V 2 40
322m02
).
(1.1.12)
Expressions (1.1.12) show that if the oscillator moves slowly, with the
velocity V < 4 0 , then the natural frequency of the oscillator has a
positive imaginary part, i.e. this vibration is stable (since u0 ~ eit ).
On the contrary, if the oscillator moves fast, with the velocity
V > 4 0 , its natural frequency has a negative imaginary part. This means
that the frequency of the oscillator has the form = 0 i , > 0 , which,
being substituted into the expression for the oscillator motion, yields
(1.1.13)
Expression (1.1.13) shows that for a small coupling between the beam and
the oscillator, vibrations of the system become exponentially unstable if
V > 4 0 .
If the coupling between the beam and the oscillator is not small, then
the condition for the instability to occur ( V > 4 0 ) remains the same. This
28
k EI
0 < V 4 V > 2 0
m F
2
(1.1.14)
To find out the reasons causing this instability and to reveal the energy
source that provides the amplification of vibrations, it is necessary to
analyse the energy variation law in the system "beam - moving oscillator".
This is accomplished in the next paragraph.
29
x =l (t )
dP0 dt = T lp
x = l (t )
,
Lt + lR
(1.2.1)
Ll + R.
Here, R (t ) is the force maintaining the motion of the object according to the
law x = l (t ) ,
S ( x, t ) = ut , u x u xx u xt + u xt , u xx
x
t
) (
h ( x, t ) = ut , ut + u xt , u xt
T ( x, t ) = u x , u x u xx u xt + (u xx , u xt )
x
t
) (
p ( x, t ) = u x , ut u xx , u xt
is the wave momentum. In the above given expressions, (A, B ) is the scalar
product of the vectors A and B ; the square brackets indicate the difference
between the bracketed quantities on either side of the limit x = Vt , for
example: f ( x ) x =l (t ) = f (l (t ) + 0 ) + f (l (t ) 0 ) .
31
x =l (t )
x = l (t )
(1.2.2)
u0 (t ) = A exp (it )
(1.2.3)
i i t ki x )
(1.2.4)
Due to the continuity of the contact between the object and elastic system,
the frequencies and wavenumbers of radiated waves i and ki , and the
frequency of vibrations of the object satisfy the expression (kinematic
invariant, see Eq.(1.1.3))
i = kiV + 1 V Vi phase = i
(1.2.5)
32
x =Vt
(1.2.6)
(1.2.7)
(S Vh )
i
i x =Vt
(T Vp )
i
i x =Vt
x =Vt
x =Vt
(1.2.8)
33
the reaction of this wave increases the energy of the vertical vibrations
of the object;
2) If the phase velocity of a radiated wave is negative or exceeds the
velocity of the object ( V phase < 0 or Vi phase > V V Vi phase < 1 ), then this wave
causes a decrease of the energy of the object vibrations.
Thus, we can conclude that the instability of the vertical vibrations of
the object is associated with radiation of waves whose phase velocity is
smaller than the object velocity.
In physics, these waves are commonly referred to as anomalous
Doppler waves [41]. Because of deceive importance of these waves for the
instability of a moving object in the next paragraph the definition of such
waves is given in connection to the Doppler effect and examples are
presented that demonstrate destabilising effect of these waves in
electrodynamics and hydrodynamics.
Finalising this chapter, let us underline the importance of equation
(1.2.8). This equation not only provided us with an insight into the physical
background of instability but also helped to define a sufficient condition
that ensures that the vertical vibrations of the object are stable.
This condition can be formulated as follows: the object can not lose its
stability as long as the anomalous Doppler waves are not radiated. Taking
into account that these waves can be radiated only if the object velocity
exceeds the minimum phase velocity of waves in the elastic system, we
arrive to the final form of the sufficient condition of stability: the vertical
vibrations of the object are unconditionally stable if the object velocity is
smaller than the minimum phase velocity of waves in the elastic system.
34
V
= T0 1
v
v
(1.3.1)
0
1V v
(1.3.2)
0
V
1 cos
v
(1.3.3)
35
1 (V v )
is
0
V
1 cos
v
(1.3.4)
V
v
cos < 0
(1.3.5)
region of
normal
Doppler
effect ( > 0 )
0 = arccos (v V )
region of
anomalous
Doppler
effect ( < 0 )
36
= ( ) =
W1 W0
,
1 (V c ) n ( )cos
(1.3.6)
where W0 + mc 2 (with m the mass of the atom at rest) is the total energy of
the atom before the emission and W1 + mc 2 is the total energy of the atom
the atom moves, is the angle between the direction of motion of the atom
and the direction of the photon motion.
Obviously, the energy of a photon must be positive. Therefore, it follows
from the relation (1.3.6) that in the case of emission of the photon into the
region of normal Doppler effect, that is, when
V
n ( )cos < 1,
c
(1.3.7)
37
the atom passes from the upper energy level W1 to the lower one W0
(W1 > W0 ) .
effect, e.g. if
V
n ( )cos > 1,
c
(1.3.8)
1
Atom levels
0
(b)
k
0
k
v
38
the liquids. These waves cause the so-called radiation reaction that
opposes the motion of the sphere. This reaction has both a constant
component F0 (balanced by the tension in the spring) and an oscillatory
component F .
z
y
1
2
x
h
V
39
41
42
0
u (t ) = u (Vt , t ),
(1.4.9)
lim u ( x, t ) <
x Vt
with the same notations as in Eqs. (1.1.1) and () the Dirac deltafunction. Notice that the partial derivatives in the first equation of (1.4.9)
are now the generalised derivatives [147].
Introducing a moving reference system { = x Vt , t = t}, Eqs.(1.4.9) can
be rewritten in the form
d 2u (0, t )
lim u ( , t ) <
(1.4.10)
(1.4.11)
2
2
s
du s
d 4u s
2 d u
+V
+ EI
= ( )(ms 2u s + k0us )
F s us 2Vs
2
4
d
d
d
lim u ( , s ) <
43
(1.4.12)
uk , s (k , s ) =
u ( , s )exp (ik )d
(1.4.13)
( F (s
(1.4.14)
D (k , s ) = F (s 2 2iksV V 2 k 2 ) + EIk 4 ,
(1.4.15)
To come to an equation with respect to us (0, s ) only, the inverse Fourier
transform is applied to Eq.(1.4.15). This yields
1
us ( , s ) = us (0, s )(ms + k0 )
2
2
exp (ik )
D (k , s ) dk
(1.4.16)
Assuming in (1.4.16) that = 0 (we put the oscillator into the origin of
moving reference system) we find
1
us (0, s )1 + (ms 2 + k0 )
2
dk
dk
D (k , s ) = 0 .
(1.4.17)
44
1
ms + k0 +
2
2
dk
D(k , s) = 0
(1.4.18)
1
k0 = m
2
2
dk
D(k , ) .
(1.4.19)
The resulting D-decomposition curves are shown in Figure 1.4.1 for two
different velocities of the oscillator. Figure 1.4.1a is plotted for the subcritical case, in which V < 4 0 . As it was discussed in the first section of
this chapter, in this case the oscillator does not perturb anomalous
Doppler waves in the beam. Figure 1.4.1b is plotted for the super-critical
45
+0
Im (k0)
Im (k0)
Re (k0)
+
N +1
N +2
N +1
k0*
Re (k0)
+
(a)
(b)
Fig. 1.4.1 D-decomposition on the complex parameter (k0 ) plane;
(a): V < 4 0
, (b): V > 4 0 .
1
P (s ) = ms + k +
2
2
dk
D(k , s) .
(1.4.20)
46
Re (s )
Fig. 1.4.2 Contour in the complex (s ) -plane that is used to apply the principle of the
argument.
Mapped onto the complex ( P ) plane, this contour assumes the shape that
(
(
(
(
Im(P(s))
Im(P(s))
is shown in Figure 1.4.3. This Figure is plotted for the supercritical case
and for the oscillator stiffness belonging to the interval 0 < k0 < k0* .
(
(
(
(
(
( ( (
(
(
(
(
(
(
(
Re(P(s))
Re(P(s))
Fig. 1.4.3 Result of the mapping of the contour depicted in Figure 1.4.2 in the
"supercritical" case for the oscillator stiffness 0 < k0 < k0* .
47
Figure 1.4.3 shows that the mapped contour encircles the origin of the
(P ) plane twice. Therefore, since function P (s ) has no poles, the number
of the unstable eigenvalues in the case at hand is equal to two. Now, we
should correspond this information with Figure 1.4.1b. As shown in this
figure, the number of unstable eigenvalues in the interval 0 < k0 < k0* is equal
to N + 2 . Thus, in Figure 1.4.1b, N = 0 . Physically this implies that if
0 < k0 < k0* , then vibrations of the oscillator on the beam are unstable. On
the contrary, if k0 > k0* then these vibrations are stable. It can be shown that
V 4m F
, which makes results of this section to be in perfect
16 EI
correspondence with those obtained in 1.1, see Eq. (1.1.14).
The principle of the argument, applied in the sub-critical case shows
that the contour in the complex ( P ) plane does not encircle the origin.
k0* =
This result, combined with Figure 1.4.1a allows us to conclude that in this
figure N = 0 and, therefore, vibrations of the system are unconditionally
stable.
Thus, in this paragraph we have demonstrated the procedure that
permits the stability analysis of a vehicle moving on an elastic structure.
This procedure will be applied in the following chapters of this development
to more sophisticated models of the vehicle-structure interaction.
48
49
51
V = const
u ( x, t )
eq ( ,V )
kf
x
(b)
Fig. 2.1.1 (a) Moving mass on supported Timoshenko beam; (b) equivalent model.
Futt GFu xx + GF x + k f u + f ut = ( x Vt ) m
I tt EI xx + GF ( u x ) = 0
d 2u 0
dt 2
(2.1.1)
u (t ) = u (Vt , t )
0
x Vt
x Vt
cross-section of the beam [2], E and G the Youngs modulus and the shear
modulus of the beam material; and I the mass density of the beam
material and the moment of inertia of the beam cross-section; F the crosssectional area of the beam, 0.82 the Timoshenko factor; k f and f the
stiffness and the viscosity of the foundation per unit length and () the
Dirac delta-function.
Introducing dimensionless variables and parameters in accordance
with the following definitions
c2 F
,
02 I
t = 0 t ,
cp2
c
y=x 0,
c
with c p = E
f
,
F 0
U 0 ( ) = u 0 (t ) 0 ,
c
and cS
V
,
c
M=
U ( y , )
m 0
,
Fc
= u ( x, t ) 0 ,
c
(2.1.2)
52
d U
U tt U yy + y + U + U t = M ( y t )
dt 2
tt yy + ( U y ) = 0
(2.1.3)
U (t ) = U ( t , t )
0
lim U ( y , t ) <
y t
2 + ( 2 ) + ( U ) = 0
(2.1.4)
lim U ( , ) <
Applying to (2.1.4) the Laplace and Fourier transforms that are defined
by the following equations
U s ( , s ) U ( , )
=
exp( s )d ,
s ( , s ) 0 ( , )
U (k , s ) U ( , s )
k ,s
s
=
exp( ik )d ,
k , s (k , s ) s ( , s )
(2.1.5)
k ,s
k ,s
latter, we obtain
U k ,s DT (k , s ) = Ms 2U s (0, s ),
DT ( k , s ) =
A(k , s ) B (k , s ) k 2
,
A(k , s )
A(k , s ) = s 2 2i ks k 2 ( 2 ) + ,
(2.1.6)
B(k , s ) = s 2 2 iks k 2 ( 2 1) + (s ik ) + 1
(hereinafter denotation T means Timoshenko).
Now Eq.(2.1.6) should be divided by DT (k , s ) and the inverse Fourier
transform should be applied to the result of this division. This leads to the
following equation
exp (ik ) dk
Ms
U s ( , s ) =
U (0, s )
D (k , s )
2
(2.1.7)
53
dk
D (k , s ) = 0
(2.1.8)
(2.1.9)
with K the stiffness of the oscillators spring, it becomes clear that the
equivalent stiffness of the beam in the moving contact point is given by
1
eq (s,V ) =
2
dk
D (k , s )
(2.1.10)
sufficient.
Thus, in the remainder of this paragraph we will study the following
function
1
dk
( ,V ) =
,
2 D (k , )
A(k , ) B(k , ) k 2
DT ( k , ) =
,
A(k , )
T
eq
(2.1.11)
A(k , ) = 2 + 2 k k 2 ( 2 ) + ,
B(k , ) = 2 + 2 k k 2 ( 2 1) + i ( k ) + 1
54
(2.1.12)
dk
( ,V ) =
,
EB
2 D (k , )
D E B (k , ) = k 4 2 k 2 + (2 i ) k + i 2 + 1
E B
eq
(2.1.13)
A ( , k j )
4
T
eq ( , V ) = i
2
j =1 k ( A(k , ) B(k , ) k ) k = k
j
4
1
E -B
eq ( ,V ) = i
E -B
n =1 k D ( , k ) k = k
with
E -B
kj
and
( , k ) = 0 ,
kn
(2.1.14)
(2.1.15)
A( k , ) B( k , ) k 2 = 0
and
55
(2.1.16)
= 3.12,
= 1239,
= 0.05 .
(2.1.17)
In Figure 2.1.2 the real and the imaginary parts of eqT ( ) and eqE - B ( )
are plotted in the case that the contact point does not move, e.g. = . The
stiffness of the Euler-Bernoulli beam is distinguished by number 1,
whereas that of the Timoshenko beam is accompanied by number 2.
160
10
120
Imeq
Reeq
0
2
-10
-20
80
40
0
2
-40
-30
0
20
40
60
20
40
60
( )
(b)
Fig. 2.1.2 Real and imaginary parts of eqT ( ) and eqE - B ( ) as functions of the frequency
(curves 1 are related to the Euler-Bernoulli model and curves 2 are related to the
Timoshenko model) in the case = 0 .
The figure shows that there are two critical frequencies, denoted in the
figure as 1 and 2 , at which the equivalent stiffness eqT ( ) changes its
56
W kV =
(2.1.18)
(2.1.19)
(2.1.20)
In the case = , the dispersion curves for the Euler-Bernoulli beam (1)
and for the Timoshenko beam (2) are shown in Figure 2.1.3 along with
straight lines, which correspond to the kinematic invariant in three cases:
= 1 , 1 < < 2 , = 2 . In the first case, the kinematic invariant is
tangential to the dispersion curve for both the Euler-Bernoulli beam and
Timoshenko beam. In the last case, the tangency takes place with the
second branch of the Timoshenko beam dispersion curve.
60
2
45
frequency W
30
1
2
15
0
-15
-30
-45
-60
-27
-18
-9
18
27
wavenumber k
Fig. 2.1.3 Dispersion curves for the Euler-Bernoulli beam (curve 1) and Timoshenko beam
(curves 2) and kinematic invariants for = .
57
If the kinematic invariant were plotted for < 1 , then it would have no
crossing points with the dispersion curves. This implies that a standing
(not moving) load radiates no waves into the beams. With the damping in
the beam foundation equal to zero, therefore, there would be no energy
consumed by the beam in the contact point and the beam reaction would
be purely elastic. Consequently, the equivalent stiffness would be purely
real and positive. Introduction of a small viscosity in the foundation leads
to a slight energy loss during vibrations. Accordingly, the beam reaction
becomes visco-elastic, which corresponds to what Figure 2.1.2 shows in the
frequency band < 1 .
If 1 , resonance occurs in the system. Without damping, this
resonance would occur at = 1 and the beam would vibrate as a rigid
body, having infinite amplitude. The equivalent stiffness of the beam in this
case would be zero. The damping limits the resonance amplitude and
slightly reduces the resonance frequency.
If 1 < < 2 , the kinematic invariant crosses the dispersion curves
twice. This implies that two waves are perturbed in the beam, which
transfer energy away from the loading point. Consequently, the equivalent
stiffness gains a significant imaginary part.
Further increase of the frequency does not change the equivalent
stiffness of the Euler-Bernoulli beam qualitatively. On the contrary, for the
Timoshenko beam the second critical frequency 2 exists, at which
resonance occurs in the system. For frequencies higher than 2 , four
waves are perturbed in the Timoshenko beam. No other types of the beam
motion (like vibrations, attenuating in the vicinity of the contact point) are
then present. Consequently, the real part of eqT vanishes and the beam
response becomes purely viscous.
Thus far, we have studied and explained the behaviour of the
equivalent stiffness in the case that the contact point does not move. Let us
consider what happens to the equivalent stiffness once this point moves.
In Figure 2.1.4 the real and the imaginary parts of eqT ( ) and eqE - B ( )
are plotted for = 0.15 using parameter set (2.1.16). This figure looks very
similar to Figure 2.1.2. The only slight (hardly noticeable) difference with
the previous case is concerned with the real part of eqT ( ) as it approaches
the second critical frequency 2 . A narrow frequency band arises to the left
from 2 , in which the real part of eqT ( ) is positive and, accordingly, the
beam reaction has a visco-elastic (not visco-inertial, as in the previous
case) character. Note, that quantitatively 1 and 2 differ from the
previous case (both frequencies become larger). The notations of these
frequencies are kept unchanged to underline that these frequencies still
bound qualitatively different wave formations in the beam: for < 1 there
are no waves radiated, for 1 < < 2 there are two waves radiated and for
> 2 there are four waves radiated (only in the Timoshenko beam).
58
10
160
120
2
Imeq
Reeq
-10
80
40
-20
20
40
60
-30
20
(a)
40
60
(b)
Fig. 2.1.4 Real and imaginary parts of eqT ( ) and eqE - B ( ) versus frequency (curves 1
and 2 are related to the Euler-Bernoulli and Timoshenko model, respectively) in the case
= 0.15 .
In Figure 2.1.5 the equivalent stiffnesses are plotted for = 0.4 . There is
a crucial difference between this case and the previously considered ones.
This difference is concerned with the imaginary part of the equivalent
stiffness. As Figure 2.1.5(b) shows, in the low frequency range, there is a
frequency band, in which the imaginary part of the equivalent stiffness is
negative. This implies that in this frequency band the beam reaction is
equivalent to that of a frequency-dependent dashpot that has a negative
damping coefficient. Obviously, such a reaction should be a destabilization
factor once a vehicle contacts with the beam.
10
Imeq
Reeq
2
-10
0
-20
-30
0
20
40
-4
0
60
(a)
(b)
Fig. 2.1.5 Real and imaginary parts of eqT ( ) and eqE - B ( ) versus frequency (curves 1
and 2 are related to the Euler-Bernoulli and Timoshenko model, respectively) in the case
= 0.4 .
59
( 1)
* = 2 + 2 + 1
(2.1.21)
60
60
2
45
30
15
frequency W
frequency W
30
45
0
-15
-30
15
0
-15
-30
-45
-45
-60
-60
-27
-18
-9
18
27
-27
wavewnumber k
-18
-9
18
27
wavewnumber k
(a)
(b)
Fig. 2.1.6 Dispersion curves for the Euler-Bernoulli beam (curve 1) and Timoshenko beam
(curves 2) and a kinematic invariant (a) for = 0.4, (b) for = 1.24.
60
At velocities of the contact point that are even higher and exceed the
value = 1.77 that corresponds to the compressional wave velocity on
the beam, the difference between eqT and eqE - B becomes crucial. As analysis
shows, the stiffness of the Euler-Bernoulli beam keeps the shape that is
shown in Figure 2.1.5, whereas the stiffness of the Timoshenko beam
becomes infinite. The latter is because of velocity of the contact point,
which is so high that no waves can propagate in front of this point and,
therefore, the deflection of the beam at the contact point is always zero.
Thus, whatever force is applied to the contact point, the latter does not
comply, thereby exhibiting infinitely high stiffness.
200
200
Imeq
Reeq
1
0
1
-200
10
20
-200
2
0
30
10
20
30
(a)
(b)
Fig. 2.1.7 Real and imaginary parts of eqT ( ) and eqE - B ( ) versus frequency (curves 1
and 2 are related to the Euler-Bernoulli and Timoshenko model, respectively) in the case
= 1.24 .
61
Re eq
Im eq
Re eq
Im eq
!0
!0
0
0
!0
0
=0
!0
0
!0
=0
0
Model
Table 2.1.1
62
Model
the beam with such a velocity may become unstable. In other words,
phase
condition V > Vmin
serves as a necessary condition of the instability.
Whether the instability would occur or not, even so a vehicle moves
phase
, depends on physical parameters of the vehicle. To study the
with V > Vmin
effect of these parameters on the stability, in this paragraph, we consider a
two-mass oscillator as a simple model for a vehicle
u02(t)
V
M
k0
m
kf
x
63
2u
2u
GF
+ GF
+ k f u + f
=
2
2
t
x
x
t
d 2u 01
du 01 du 02
01
02
= ( x Vt ) m
+ k0 (u u ) + 0
dt 2
dt
dt
2
2
u
I 2 EI 2 + GF = 0
t
x
x
(2.2.1)
du 02 du 01
d 2u 02
02
01
+ k0 (u u ) + 0
M
=0
dt 2
dt
dt
u 01 (t ) = u (Vt , t ), lim u ( x, t ) = 0, lim ( x, t ) = 0.
x Vt
x Vt
16
16
the vertical displacements of the lower and the upper mass of the oscillator
respectively, m and M the lower and the upper mass of the oscillator, k 0
and 0 the stiffness and damping coefficient of the oscillator.
Employing the following dimensionless variables and parameters
U = u 0 c , U 01 = u 01 0 c , U 02 = u 02 0 c , t = 0t ,
y = x 0 c ,
= V c , M L = (m 0 ) ( Fc ), M U = (M 0 ) ( Fc ), K = k0 ( F 0 c ),
= 0 ( Fc ), = c p c 2 , = (c 2 F ) ( 02 I ), = f
2
where c p = E and cS
( F 0 ),
(2.2.2)
c = cS .
( F )
U
2U
2U
2U
U
2
2
+ ( 1) 2 +
+ U +
=
2
dU 01 dU 02
d 2U 01
01
02
( ) M L
+
+
K
U
U
(
) d d ,
2
2
2
2
U
2
+
(
)
= 0,
2
2
dU 02 dU 01
d 2U 02
02
01
MU
K
U
U
+
(
)
= 0,
d 2
d
d
U 01 ( ) = U (0, ),
lim U ( , ) = 0,
lim ( , ) = 0.
64
(2.2.3)
U s ( , s ) = U ( , ) exp( s )d ,
s ( , s) = ( , ) exp( s )d ,
U k , s (k , s ) =
k , s (k , s) =
U s ( , s) exp( ik )d ,
By
assuming
1 6 1 , 6
,0
the
0
trivial
0,
( , s) exp( ik )d .
s
initial
16
1 6
U ,0
conditions
16
U 01 0 = U 02 0 = dU 01 d
=0
1 6
U ,
= dU 02 d
=0
=0
0,
(the
(M
(2.2.4)
with
this system the inverse Fourier transform with respect to k and, finally, to
assume 0. This yields
U s01 (M L s 2 + K + s + eq (s, V )) U s02 (K + s ) = 0,
U s02 (M U s 2 + K + s ) U s01 ( K + s ) = 0.
65
(2.2.5)
eq ( s,V )
1 dk
2 I D(k , s)
1
A( k , s) B( k , s) k 2
.
A( k , s)
, D( k , s )
(2.2.6)
3M s
L
1 682 M s
K s eq s,V
7 1
K s K s
0.
(2.2.7)
M L = eq (s,V ) s 2 .
(2.2.8)
To map the imaginary axis of the ( s ) -plane onto the plane of complex
parameter M L (for a while we neglect the physical meaning of this
parameter), one has to substitute s = i into equation (2.2.8) and then,
using this equation as the mapping rule, vary from minus to plus
66
infinity. Using expression (2.1.14) for the equivalent stiffness, the mapping
can be accomplished straightforwardly.
The parametric analysis shows that the D-decomposition curves may
have two qualitatively different shapes, which are depicted in Figure 2.2.2a
and Figure 2.2.2b.
0
+0
Im (ML)
Im (ML)
N =0
Re (ML)
N =1
N =2
N =0
ML
Re (ML)
0
+0
(a)
(b)
, (b)
! *
3Re1 M 6 = M
L
1 M 6 = 08
*
L , Im
part of the real axis. Existence of this point implies that the number N of
unstable roots (roots with a positive real part) for M M L* differs from that
for M ! M L* .
To determine the number N of unstable roots, one can make use of
the following information. First, the D-decomposition curves depicted in
Figure 2.2.2 have one side shaded. This side is related to the right-hand
side of the imaginary axis of the ( s ) -plane. Therefore, by crossing the Ddecomposition curve in the direction of shading, the number N of the
unstable roots increases by one. Second, the system is for sure stable
when M L 0 , since in this case the beam performs free vibrations.
Therefore, in the domain of the complex
point
<Im1 M 6
L
1 6
(M L ) -plane,
(M L ) -plane,
where N
1 6
Analyzing Figure 2.2.2, one can conclude that the mass vibration is
always stable in the sub-critical case * . Unlikely, in the super-critical
case > * , there is a critical magnitude M L* of the mass that, being
exceeded, leads to instability. This is in qualitative agreement with the
results obtained in [91] by Metrikine and Dieterman on the hand of the
Euler-Bernoulli model of the beam.
Employing the set of parameters (2.1.16), dependence of the critical
mass M L* on the velocity is shown in Figure 2.2.3 by the bold solid line,
which divides the plane into two domains. The shaded domain is the
instability domain. Once the system parameters belong to this domain, the
vertical vibration of the mass on the beam becomes unstable.
4E+3
3E+3
Timoshenko
beam
2E+3
Euler-Bernoulli
beam
1E+3
0E+0
0.00
0.20
0.40
0.60
dimensionless velocity
Fig. 2.2.3 The instability domain (shaded) for the single mass
The dashed line in Figure 2.2.3 presents the critical mass - velocity
dependence for the Euler-Bernoulli model of the beam. One can see that
the difference between two models of the beam is negligible in the
considered range of mass velocities.
It has to be noticed that it is the foundation damping that moves the
instability domain towards higher velocities. If this damping were zero, the
instability domain would occupy the quadrant laying to the right from the
dashed straight line.
68
Thus, it has been shown that the vertical vibration of the single mass
that uniformly moves on the beam becomes unstable as soon as the
velocity of the mass exceeds a certain critical value. This value is always
larger than that leading to the equivalent negative viscosity in the contact
point (the velocity, starting from which the imaginary part of the equivalent
stiffness is negative in the low frequency band). Thus, as it is to be
expected, the equivalent negative viscosity plays a role of the necessary
condition of instability but not the sufficient one.
In the next section the effect of the oscillator parameters on the
instability will be studied. Only the supercritical regime of motion will be
analyzed, since one can be sure that the vibration of a sub-critically moving
oscillator is always stable.
2.2.3 INSTABILITY OF THE OSCILLATOR
It is customary to study the oscillator stability by D-decomposing the
K -plane ( K is the stiffness of the oscillator). According to Eq.(2.2.7), the
mapping rule onto this plane reads
K = (i + M U 2 )( eq M L 2 ) ( eq M U 2 M L 2 ).
(2.2.9)
To avoid studying the effect of all parameters at once, let us first consider
two particular cases of Eq.(2.2.9).
Case 1: M L 0 . In this case the lower mass and the damping in the
oscillator are assumed to be negligible. Equation (2.2.9) then reduces to
K = M U 2 eq
eq
M U 2 ).
(2.2.10)
magnitude of the upper mass describes a realistic axle load by a train car.
Figure 2.2.5 shows that the D-decomposition curves do not cross the
positive semi-axes Re K > 0 . This implies that for the chosen set of
1 6
parameters the system stability does not depend on the magnitude of the
oscillator stiffness K . To find whether the system is stable or unstable, the
following kind of reasoning may be used. It is clear that in the limiting case
K the oscillator reduces to the single mass that was considered in the
previous section. Therefore, in this limiting case one can employ Figure
2.2.3, which clearly shows that the point M = 2 104 , = 0.4 belongs to the
instability domain (the number N of the unstable roots equals to two in
69
N=1
N=2
Re (K)
K -plane for M L
0 , = 0.4 > *
eq
M U 2 ).
(2.2.11)
and the D-decomposition curves assume the form depicted in Figure 2.2.6.
To plot Figure 2.2.6 the same parameters as in the previous case have
been used and, additionally, 0 = 103 [Ns m ] . Figure 2.2.6 shows that in
contrast to the Case 1, the D-decomposition curves cross the real semi-axis
at the point K * . By using the same reasoning as in the Case 1, one may
conclude that in the interval 0 < K < K * the number N of the unstable
roots is zero. This implies that by introducing the damping in the oscillator,
one can stabilize the oscillator vibration, but for relatively small oscillator
stiffness K only. To figure out the order of magnitude of this small
stiffness, in Figure 2.2.7 the critical stiffness K * is plotted versus the
oscillator velocity for three different values of the damping .
70
1 6
Im K
N =1
N =2
1 6
Re K
K*
+
+
N =0
3.00
0 = 104 [Ns/m]
2.00
0 = 103 [Ns/m]
1.00
0 = 102 [Ns/m]
0.16
0.00
0
0.2
0.4
dimensionless velocity
0.6
dimensionless velocity
Fig. 2.2.7 Critical stiffness of the one-mass oscillator versus velocity for three different
magnitudes of the damping
16
Each curve K *
The domain located above the curve is the instability domain. The figure
shows that the effect of the damping is quite significant. Even relatively
small damping 0 = 100 [Ns m ] ensures that the oscillator vibration is stable
for k0 < 1.6 106 [N m ] . By increasing the damping this lower limit grows.
Thus, taking into account that the stiffness of a realistic train bogie is
about 105 107 N m , one may conclude that the damping in the bogie must
be included into a model if the train stability is analyzed.
71
Two-mass oscillator. In the general case, when both masses are taken
into account, the D-decomposition curves assume a more complicated
shape than that in the previous cases. Depending on the velocity, these
curves may have either none, one or two crossing points with the semi-axes
Im ( K ) = 0, Re (K ) > 0 . Analyzing the curves and employing the same ideas
that have been used in the particular cases considered earlier, one may
find the critical oscillator stiffness. The dependence of this critical stiffness
on the velocity is presented in Figure 2.2.8 for two different magnitudes of
the lower mass. The solid line is plotted for m = 1000[kg] and the dashed line
is related to m = 2000[kg] . All the other parameters are taken the same as in
the previous case with 0 = 103 [N s m] . The instability domain is shaded for
m = 1000[kg] .
1.20
0.80
m = 2000 [kg]
0.40
m = 1000 [kg]
0.00
0
0.2
0.4
0.6
dimensionless velocity
dimensionless
velocity
dimensionless velocity
Fig. 2.2.8 Critical stiffness and instability domain (shaded) of the two-mass oscillator for
two different values of the lower mass.
Comparing Figure 2.2.7 to Figure 2.2.8, one can clearly see that even a
relatively small lower mass (m < 0.1 M ) influences the instability domain
crucially. This influence shows itself at higher velocities, at which the lower
mass destabilizes the system vibration. Concerning the effect of the lower
mass magnitude, Figure 2.2.8 shows that the larger the mass, the smaller
the velocity is after which the system is unstable independently of the
oscillator stiffness. On the other hand, at velocities close to the critical one,
the lower mass increases the critical value of the stiffness and, therefore,
stabilizes the system.
72
u0
02
u, u ,u
M
0
m
k0
0
m
k0
kf
x=Vt
x=Vt+d
73
2u
2u
u
F 2 GF 2 + GF
+ k f u + f
=
t
x
x
t
d 2u 01
d
= ( x Vt d ) m
+ k0 + 0 (u 01 u 0 d 2 )
2
dt
dt
d 2u 02
d
( x Vt ) m
+ k0 + 0 (u 02 u 0 + d 2 ) ,
2
dt
dt
2
2
u
EI
+ GF = 0,
2
2
t
x
x
(2.3.1)
d 2u 0
d
+ k0 + 0 (2u 0 u 01 u 02 ) = 0,
2
dt
dt
2
d d
d
J 2 + k0 + 0 (d u 01 + u 02 ) = 0,
dt
2
dt
u 01 (t ) = u (Vt + d , t ), u 02 (t ) = u (Vt , t ),
lim u ( x, t ) = 0,
x Vt
lim ( x, t ) = 0.
x Vt
= c 2 F 0 I , = c p c 2 , = f
K = k0
( F0c ),
U 02 = u 020 c ,
( F0 ),
M L = m0
t = 0 t , y = x0 c ,
( Fc ),
= 0 ( Fc ), D = d0 c , J1 = 2 J0 2 ( Fdc 2 ),
74
MU = M 0 ( Fc ),
=V c,
{ = y t,
c = cs .
= t}, the
U
2U
2U
2U
U
2
2
1
+
+ U +
(
)
=
2
2
d 2U 01
d 01
0
= ( D ) M L
+K +
(U U D / 2 )
2
d
d
d 2U 02
d 02
0
( ) M L
+K +
(U U + D / 2 ) ,
2
d
d
2
2
2
U
2
+ ( 2 ) 2 +
= 0,
2
d
d 2U 0
0
01
02
+K +
(2U U U ) = 0,
2
d
d
2
d
d
01
02
+K +
J1
(D U + U ) = 0,
2
d
d
(2.3.2)
MU
lim U ( , ) = 0,
U ( D , ) = U 01 ( ), U (0, ) = U 02 ( ),
lim ( , ) = 0.
(s) = ( ) exp( s )d ,
U s01,02 (s) = U 01,02 ( )exp( s )d , U s0 (s) = U 0 ( )exp( s )d ,
s
U s ( , s) = U ( , )exp( s )d ,
0
s ( , s) = ( , ) exp( s )d ,
0
U k ,s (k , s) = U s ( , s)exp( ik )d ,
k ,s (k , s) = s ( , s)exp( ik )d .
and assuming the trivial initial conditions, we obtain the following system
of algebraic equations:
s
1
(
)
+ DK + D s ) (U ( D, s ) U (0, s ) )( K + s ) = 0,
F (k , s) =
A(k , s ) B(k , s ) k 2
, A(k , s ) = s 2 2 iks k 2 ( 2 ) + ,
A(k , s )
B(k , s ) = s 2 2 iks k 2 ( 2 1) + s ik + 1,
75
(2.3.3)
2
F (k , s)
F (k , s )
U s0 (ik ( D))dk
exp(ik )dk
+
( K + s)
2
F (k , s )
F (k , s)
( K + s ),
4
F (k , s)
F (k , s)
U s0 ( M U s 2 + 2 K + 2 s ) U s ( D, s ) + U s (0, s ) ( K + s ) = 0,
+
(J s2
1
s
(2.3.4)
(
)
+ DK + D s ) (U ( D, s ) U (0, s ) )( K + s ) = 0.
s
+
+
Z
I
Z
I
I
Z
I
I
Z
I
Z
I
I
Z
I
I
1
U
D
s
,
(
)
(
)
(
)
(
)
(
)
0
+
1
0
+
2
0
+
0
0
1
0
+
2
0
+
s
(2.3.5)
with
(K + s )
(K + s )
Z 0 = M L s + K + s, Z1 =
2
M U s 2 + 2 K + 2 s
I0 =
1
2
dk
1
, I+ =
2
F (k , s )
, Z2 =
2 ( J1s 2 + DK + D s )
exp (ikD ) dk
1
, I =
2
F (k , s )
exp (ikD ) dk
.
F (k , s )
,
(2.3.6)
1
1
1
1
(I I0 ) R + C3 I0 (I0 + I+ ) (I0 I+ )
R + C3 I0 (I + I0 ) +
C1
C1
2C2
2C2
1
1
1
1
C3 I+ (I0 + I+ ) +
(I0 I+ )C3 I (I + I0 ) (I I0 ) = 0,
C1
C1
2C2
2C2
76
(2.3.7)
where
C1 = M U s 2 R + 2, C2 = J1s 2 R / D + 1, C3 = M L s 2 R + 1, R =
1
.
(K + s )
(2.3.8)
1
i.
R ( )
(2.3.9)
(Q ( ) + Q ( ) R ( ) + Q ( ) R ( )) = 0
(M s R ( ) + 2 )(J s R ( ) / D + 1)
2
(2.3.10)
with
Q0 ( ) = 4 + 2 J1 2 (2 I 0 I + I 2 M L I 02 ) D + 2 (M U (2 I 0 + I + + I ) + 8M L I 0 )
2 J1 4 2 M L I + I M U I 0 I + I
))
D 2 4 M L ( M U + 2 M L ) I 0 I + I
Q1 ( ) = 2 2 M L + 2 J1 D 2 I 0 2 (M L M U + J1 (M U + 2 M L ) D )
+ 2 M L J1 4 (M L + M U ) I 0 I + I
) D+M
Q2 ( ) = 2 4 M U J1 M L 2 2 I 0 M L 2 I 0 I + I
2
M L 4 I 0 I + I
2
)) 1)
))
and
1
I0 =
2
dk
1
, I+ =
F (k , )
2
( + 2k k (
F(k, ) =
2
exp (ikD ) dk
F (k , )
1
, I =
2
exp (ikD ) dk
F (k , )
( + 2k k (
2
77
) + )
The only relevant roots R ( ) of Eq.(2.3.10) are the ones of the equation
Q0 ( ) + Q1 ( ) R ( ) + Q2 ( ) R 2 ( ) = 0 ,
(2.3.11)
Q0 ( ),
Q1 ( ) and
A (kn , i )(k kn )
,
(k k1 )(k k2 )(k k3 )(k k4 ) k =k
n
I+ = i
n
(2.3.12)
I = i
m
Im (k )
Im (k )
Re (k )
Re (k )
for I0 and I +
78
bogie is smaller than the critical velocity * (see 2.2 and 2.3). The latter
figure is related to the super-critical case > * .
The fundamental difference between Figures 2.3.3a and 2.3.3b is that
Figure 2.3.3a shows no crossing points of the D-decomposition curves and
the positive part of the real axes, whereas Figure 2.3.3b exhibits two of
such points. This implies that in the sub-critical case ( < * , Figure 2.3.3a)
the number of unstable roots (roots with a positive real part) of the
characteristic equation does not vary with the stiffness K of the bogie
supports. On the contrary, in the super-critical case ( > * , Figure 2.3.3b)
the number of unstable roots changes once K passes the critical values K1*
and K 2* . Using the shading of the D-decomposition curves, which implies
that crossing a curve in the direction of shading one extra unstable root is
gained, it can be concluded that if the number of the unstable roots were
N = na for 0 < K < K1* , then for K1* < K < K 2* and K > K 2* it would be N = na + 2
and N = na + 4 , respectively.
0.40
0.30
(a)
0.20
Im(K)
Im(K)
0.15
0
0.00
0.00
(b)
K1*
K 2*
4
0
2
-0.20
-0.15
-0.40
0.00
-0.30
0.00
0.50
1.00
1.50
2. 0
0.10
0.20
0.30
Re(K)
Re(K)
(a)
(b)
Fig. 2.3.3 D-decomposition curves, (a) *, (b) ! *.
79
1
.
(K + s )
R
Re (s )
Fig. 2.3.4. Contour in the (s ) -plane that is used for the principle of the argument.
The distribution of the unstable roots over the K -plane that was
found by subsequent application of the D-decomposition method and the
principle of the argument is shown in Figure 2.3.3. As aforementioned, the
only physically relevant information in this figure is related to the positive
semi-axes Re (K ) > 0 , since K is the stiffness of the bogie support, which is
real and positive. Figure 2.3.3a shows that the bogie is always stable in the
sub-critical case * . On the contrary, in the super-critical case
80
(2.3.13)
Parameters of the beam and its foundation in (2.3.13) coincide with that
in (2.1.16).
Since K1* and K 2* exist only in the super-critical case, Figure 2.3.5
( , k0 ) plane for
K1* ( ) and K 2* ( ) form a
presents
domains with the number of unstable roots N equal to zero, two and four.
The stability domain corresponds to N = 0 and this is the boundary of this
domain that will be analysed in the following sections.
stiffness k0 [MN/m]
140
105
4
70
2
2
2
35
0
0
*
0.3 0.32
0.34
0.36
0.38
dimensionless velocity
Fig. 2.3.5 Separation of ( , k0 ) plane into domains with different number of unstable
roots.
81
Effect of the viscous damping in the supports of the bogie. In Figure 2.3.6
the boundary of the stability domain is depicted for three different
magnitudes of the damping factor 0 . This boundary divides the parameter
plane into two domains. In the domain below the boundary, the system is
stable, whereas in the domain that is located above the boundary it is
unstable. As it is to be expected, the figure shows that with increasing the
damping in the supports the stability domain expands. This expansion
mainly takes place along the k0 axis, which implies that a higher damping
factor allows to use stiffer supports keeping the system stable. The effect of
the damping in the supports on the velocity after which the model becomes
unconditionally unstable ( 0.37 ) is minor.
stiffness k0 [MN/m]
140
105
70
35
0
0.3
0.32
0.34
0.36
0.38
dimensionless velocity
Fig. 2.3.6 Boundaries of the stability domain for three different magnitudes of the
damping in the bogie supports.
Effect of the mass of the bogie bar. Figure 2.3.7 is plotted for three
different magnitudes of the mass M . Obviously, the effect of this mass is
negligible in the considered range.
Effect of the damping in the beam foundation. Two values for the viscous
damping f are considered to study the effect of the viscous damping in
the beam foundation. The result is presented in Figure 2.3.8. The figure
shows that this damping influences the stability domain crucially. The first
effect is that with decreasing f the stability domain visibly shrinks along
the velocity axes. This is related to the fact that the critical velocity *
becomes smaller as f decreases. The second effect is that the boundary of
the stability domain for the smaller magnitude of f
possesses well-
82
reflection plays a crucial role when the damping in the beam foundation is
small enough to allow standing waves to be formed between the supports.
stiffness k0 [MN/m]
0
0
0
>kg]
>NJ@
>NJ@
dimensionless velocity
Fig. 2.3.7 Effect of the mass of the bogie bar.
140
= 5000 [N s/m 2 ]
= 10000 [N s/m2 ]
f
stiffness k0 [MN/m]
105
70
35
0
0.3
0.32
0.34
0.36
0.38
dimensionless velocity
Fig. 2.3.8 Effect of the damping in the beam foundation.
Effect of the mass of the bogie supports. Figure 2.3.9 is plotted for three
different values of m . The figure shows an expansion of the stability
domain towards higher velocities as m decreases. Additionally, for the
lowest shown value of the mass the expansion takes place towards higher
values of the stiffness k0 . Thus, although the mass m of the supports is
much lower than the mass M of the bar (m M 0.05 ) , the former plays a
more important role in the system stability and, therefore, must be
included into the model.
Effect of the wheelbase. Figure 2.3.10 presents the stability domain for
three magnitudes of the wheelbase d . It is seen that for the chosen
parameters of the model the wheelbase influences the stability domain only
slightly. One should be aware, however, that if the damping in the beam
83
foundation were smaller, the effect of the wheelbase could become more
pronounced. This would be related to the possible formation of standing
waves between the bogie supports.
stiffness k0 [MN/m]
140
m = 500 [kg]
m = 1000 [kg]
m = 2000 [kg]
105
70
35
0
0.3
0.33
0.36
0.39
0.42
dimensionless velocity
Fig. 2.3.9 Effect of the mass of the bogie supports.
stiffness k0 [MN/m]
140
d = 10.7 [m]
d = 15.7 [m]
d = 20.7 [m]
105
70
35
0
0.3
0.32
0.34
0.36
0.38
dimensionless velocity
Fig. 2.3.10 Effect of the wheelbase.
Concluding the parametric study of the model stability, one can say
that among considered parameters the most influential ones are the
damping factors 0 (damping in the supports) and f (damping in the
foundation). The former can significantly change the critical stiffness of the
supports, whereas the latter is responsible for the critical velocity for the
instability to occur.
2.3.4 COMPARISON WITH SIMPLER MODELS
In this section, the stability domain for the bogie is compared with that
for simpler models, which have been analysed in 2.2 and [152].
84
stiffness k0 [MN/m]
140
bogie
two-mass
oscillator
105
70
35
0
0.3
0.32
0.34
0.36
dimensionless velocity
0.38
Fig. 2.3.11 Comparison of the stability domain for the bogie and a two-mass oscillator.
85
stiffness k0 [MN/m]
140
bogie
simplified
bogie
105
70
35
0
0.3
0.32
0.34
0.36
dimensionless velocity
0.38
Fig. 2.3.12 Comparison of the stability domain for the bogie and the model by Wolfert
et.al. (simplified bogie).
Figure 2.3.12 shows that the simplified bogie can be used for
estimation of the critical velocity after which the instability occurs
independently of stiffness of the bogie supports but not for estimation of
the critical stiffness.
86
CONCLUSIONS
In this chapter, the dynamic stiffness of a visco-elastically supported
infinitely long beam in a uniformly moving along the beam point has been
considered. It has been shown that the beam response to a harmonic
excitation applied to the contact point is equivalent to that of a spring
whose dynamic stiffness is a complex-valued function of the excitation
frequency and the velocity of the contact point. The real part of this
stiffness corresponds to the elastic and inertial properties of the beam
reaction, whereas the imaginary part of it is responsible for the viscous
properties. The most important result of this chapter is that the dynamic
stiffness of the beam can have a negative imaginary part that corresponds
to a so-called negative viscosity. Such a viscosity is a necessary condition
of instability of vehicle moving on a beam.
The vertical vibrations of a two-mass oscillator and a bogie that
uniformly move along a Timoshenko beam on a visco-elastic foundation
have been considered. It has been shown that the amplitude of these
vibrations may grow in time exponentially, thus the vibrations may become
unstable.
The instability zones for the two-mass oscillator have been found in the
parameter space of the system by employing the D-decomposition method.
It has been shown that the larger the oscillator mass, the smaller is the
velocity at which the instability starts. It has turned out that the damping
in the oscillator influences the instability zones significantly. With
increasing damping, the instability zones shift towards relatively large
magnitudes of the oscillator stiffness. Therefore, this damping is an
important stabilization factor.
Stability of the bogie has been studied employing the D-decomposition
method and the principle of the argument. The D-decomposition method
has been applied to divide the space of the model parameters into domains
with different number of unstable roots. Then, the principle of the
argument has been employed for a specific set of the model parameters to
define the number of unstable roots in one of these domains. The author
believes that combination of these two methods allows studying the
stability of much more complex models that include, for example, a set of
bogies or wagons and a three dimensional foundation of the beam.
Parametric study of stability of the bogie has been carried out with the
emphasis on the effect of a) damping in the bogie supports, b) mass of the
bogie bar, c) damping in the beam foundation, d) mass of the bogie
supports, e) bogie wheelbase. It has been shown that the stability of the
bogie depends mostly on the damping in the supports and the damping in
the foundation. The mass of the bogie bar has been found to be the least
influential factor.
87
The stability domain for the bogie has been compared to that for
simpler models of a moving vehicle, namely for a two-mass oscillator and
for a simplified bogie studied in [152]. It has been found that the twomass oscillator can be used for a pretty good estimation of the instability
domain, while the simplified bogie cannot be employed even for such
estimation.
The beam and the bogie considered in this chapter may serve as a
simple model of interaction of a railroad track and a train bogie. Because of
this, parameters employed in calculations have been chosen to describe a
realistic rail-bogie structure. As one could notice, however, stability
domains have not been analyzed in terms of the absolute oscillator velocity,
but using a ratio of this velocity and the minimal phase velocity of waves in
the beam. It has been done deliberately to underline that the realistic range
of velocities leading to instability can be found by analyzing a threedimensional model of the railroad track only. Such a model will be
considered in the last chapter of this study.
88
89
acts on the mass. Obviously, this external force may not influence the
system stability, since within linear statement of the problem stability is
defined by the natural vibrations only.
In 3.3, the second suspicious condition, 2 2 V l , is studied. It is
shown that under this condition, vibrations of the mass on the beam
become unstable indeed. A zone is found in the space of physical
parameters of the system, in which its vibrations are unstable. A
parametric study of this zone is carried out with the emphasis on the effect
of the foundation viscosity.
In 3.4, stability of a mass that moves on a supported Euler-Bernoulli
beam with a periodically inhomogeneous cross-section is considered.
Employing the mathematical procedure that was presented in 3.4, the
instability zone in the space of physical parameters of the system is found
and analyzed.
90
k ( x ) = k f (1 + cos ( x )), = 2 l
with k f
(3.1.1)
u ( x, t ), u0 (t )
V
m
x=Vt
2u
4u
u
+
EI
+ f
+ k ( x )u = 0
2
4
t
x
t
2u
u
[u ]x =Vt = = 2 = 0
x x =Vt x x =Vt
x =Vt
= u0
(3.1.2)
3u
d 2u0
EI 3
= m
mg
dt 2
x x =Vt
lim u = 0
x Vt
91
with u ( x, t ) and u0 (t ) the vertical deflections of the beam and the mass
relative to their equilibrium positions, E and the Youngs modulus and
the mass density of the beams material, F the cross-sectional area of the
beam, I the moment of inertia of the beams cross-section, f the small
viscosity of the foundation, g the gravity acceleration and the square
brackets indicate the difference between the bracketed quantities on either
side of the limit x = Vt , for example [u ]x =Vt = u ( x = Vt + 0, t ) u ( x = Vt 0, t ) .
First, the results are obtained for the undamped case f = 0 . The
viscosity is taken into account in 3.3 giving a generalisation of the
results.
The first equation of the system (3.1.2) gives the dynamic balance of
forces acting on a differential element of the beam. Equations [u ]x =Vt = 0 and
[u
x ]x =Vt = 0 ensure that the deflection of the beam and its slope are
where u (
0)
( x, t )
(3.1.3)
92
2u (0)
4u (0)
+ EI
+ k f u (0) = 0
F
2
4
t
x
(0)
u
2u (0)
u (0)
=
=
=0
2
x =Vt
x x =Vt x x =Vt
u (0)
x =Vt
= u0(0 )
(3.1.4)
3u (0)
d 2u0(0 )
=
mg
EI
m
3
dt 2
x x =Vt
lim u (0) = 0
x Vt
2u (1)
4u (1)
EI
+
+ k f u (1) = k f u (0) cos ( x )
2
4
t
x
(1)
u
2u (1)
u (1)
=
= 2
=0
x =Vt
x x =Vt x x =Vt
u (1)
x =Vt
= u0(1)
(3.1.5)
3u (1)
d 2u0(1)
EI 3
= m
dt 2
x x =Vt
lim u (1) = 0
x Vt
0)
( x, t )
93
k kn
m
=0
+ 4i
n (k k1 )(k k2 )(k k3 )(k k4 ) k = k
EI
n
(3.1.6)
with the natural frequency and kn , n = 1..4 the roots of the equation
F ( kV ) + EIk 4 + k f + i f ( kV ) = 0
2
(3.1.7)
F ( kV ) + EIk 4 + k f = 0
2
(3.1.8)
then the roots of the characteristic equation (3.1.6) are real. This implies
that the heave vibrations of the mass moving on the beam are harmonic in
this case.
Obviously, the mass can vibrate harmonically if and only if these
vibrations do not perturb waves in the beam (otherwise, the radiation
damping would cause vibrations to decay). Mathematically, this implies
that the wave numbers that are found as the roots of the dispersion
equation (3.1.8) may not be real. The system of inequalities that does not
permit the roots of equation (3.1.8) to be real can be found analytically to
give
< cut off =
cr
V < V ( ),
kf F
EI 2 F 2 4 + 20 Fk 2 + 8 k 2 F F 2 + 8 k
(
f
f
f
cr
V ( ) =
2
2
2k f F
3 2
14
(3.1.9)
bifurcation curve
m = 1000 [kg]
m = 2000 [kg]
velocity [m/s]
@F
P
>
\W
LF
R
OH
Y
IUHTXHQF\>+]@
Fig. 3.1.2 Bifurcation curve and the natural frequency of the mass versus velocity for two
different magnitudes of the mass.
Figure 3.1.2 clearly shows then if the velocity of the mass is smaller
phase
then the minimum phase velocity Vmin
of waves in the beam, which is
given by the crossing point of the bifurcation curve with the vertical axis
(approximately 900 [m s ]), then the natural vibrations of the mass are
harmonic. Of course, for the mass to start vibrating harmonically a certain
time is needed in order to have the transient oscillations related to the
initial conditions disappeared. As shown in [91], the constant force P = mg
causes a constant deflection of the beam in the contact point (in the
steady-state regime, that is when t ). Thus, it is possible to conclude
phase
that if V < Vmin
, then in the limit t , vibrations of the mass that
95
(3.1.11)
0)
u( ) ( x, t ) = CAn exp (it )exp (iknA (Vt x )) + CBn exp (it )exp (iknB (Vt x )) +
0
(3.1.12)
(
(
)
)
(
(
)
)
eit C+ eik1A (Vt x) + C + eik2A (Vt x) + eit C + eik1B (Vt x) + C+ eik2B (Vt x) + C + eik1C (Vt x) + C+ eik2C (Vt x) , x Vt
A1
A2
B1
B2
C1
C2
0
u( ) ( x, t ) =
A
A
B
B
C
C
eit CA1eik3 (Vt x) + CA2eik4 (Vt x) + eit CB1eik3 (Vt x) + CB2eik4 (Vt x) + CC1eik3 (Vt x) + CC2eik4 (Vt x) , x Vt
(3.1.13)
In
this
expression,
A , B ,C
Im (k1,2
)< 0,
A , B ,C
Im (k3,4
)> 0,
96
for x > Vt :
2u (1)
4u (1)
+ EI
+ k f u (1) =
2
4
t
x
ik1AVt ix (k1A + )
ik1AVt ix (k1A )
ik2AVt ix (k2A + )
ik2AVt ix (k2A )
+ C A+1e
+ C A+2 e
+ C A+2 e
eit C A+1e
+
2
k
ik1BVt ix (k1B + )
ik1BVt ix (k1B )
ik2BVt ix (k2B + )
ik2BVt ix (k2B )
f eit CB+1e
+ CB+1e
+ CB+2 e
+ CB+2 e
+
2
k
ik1CVt ix (k1C + )
ik1CVt ix (k1C )
ik2CVt ix (k2C + )
ik2BVt ix (k2C )
f CC+1e
+ CC+1e
+ CC+ 2 e
+ CC+ 2 e
kf
for x < Vt :
2 u (1)
4 u (1)
+
EI
+ k f u (1) =
t 2
x 4
(3.1.14)
ik3AVt ix (k 3A + )
ik 3AVt ix (k3A )
ik 4AVt ix (k 4A + )
ik 4AVt ix (k 4A )
e i t C A1e
+ C A1e
+ C A 2 e
+ C A 2 e
+
2
B
B
B
B
B
B
k f i t ik3BVt ix (k3B + )
ik
Vt
ix
k
ik
Vt
ix
k
i
k
Vt
ix
k
(3 )
(4 )
( 4 )
4
3
4
e
+ C B1e
+ C B 2 e
+ C B 2 e
C B 1e
+
2
C
C
C
C
B
C
k f ik3CVt ix (k3C + )
ik3 Vt ix (k3 )
ik 4 Vt ix (k 4 + )
ik 4 Vt ix (k 4 )
+ C C1e
+ C C 2 e
+ C C 2 e
C C 1e
kf
(3.1.15)
The boundary conditions at x = Vt remain unchanged:
u (1)
2 u (1)
u (1)
=
=
=0
2
x =Vt
x x =Vt x x =Vt
u (1)
x =Vt
= u0(1)
(3.1.16)
3u (1)
d 2u0(1)
EI
= m
3
dt 2
x x =Vt
(3.1.17)
97
with u (1)
forced the forced solution to equations (3.1.14) and (3.1.15). This forced
solution describes the effect of the inhomogeneity on the deflection field in
the beam that is generated by the moving and vibrating mass. Expression
for u (1)
forced can be found straightforwardly to give
for x > Vt :
it +
u (1)
C11e
forced = e
ik1AVt ix k1A +
+ eit C31+ e
ik1BVt ix k1B +
+ C51+ e
ik1CVt ix k1C +
+ C12+ e
ik1AVt ix k1A
ik1BVt ix k1B
+ C32+ e
+ C52+ e
ik1CVt ix k1C
+ C21+ e
+ C41+ e
+ C61+ e
ik2AVt ix k2A +
ik2BVt ix k2B +
ik2CVt ix k2C +
+ C22+ e
+ C42+ e
ik2AVt ix k2A
ik2BVt ix k2B
ik2BVt ix k2C
+ C62+ e
(3.1.18)
for x < Vt :
it
u (1)
C11e
forced = e
+ eit C31 e
+ C51 e
ik3AVt ix k3A +
ik3BVt ix k3B +
ik3CVt ix k3C +
+ C12 e
+ C32 e
+ C52 e
ik3AVt ix k3A
ik3BVt ix k3B
ik3CVt ix k3C
+ C21 e
+ C41 e
+ C61 e
ik4AVt ix k4A +
ik4BVt ix k4B +
ik4CVt ix k4C +
+ C22 e
+ C42 e
+ C62 e
ik4AVt ix k4A
ik4BVt ix k4B
ik4BVt ix k4C
(3.1.19)
)
4u (free
1
)
+ k f u (free
=0
t 2
x 4
1)
u (free
x =Vt = 0
(1)
it + V )
it V )
it V )
it + V )
= D11e (
+ D12e (
+ D13e (
+ D14e (
+ D15e V + D16e V
x u free
x =Vt
+ EI
2 (1)
it + Vt )
it V )
it V )
it + V )
= D21e (
+ D22e (
+ D23e (
+ D24e (
+ D25e V + D26 eV
2 u free
x
x =Vt
)
u (free
1
x =Vt
= u0(1) + D31e
it ( V )
+ D32e
it (+ V )
+ D33e
it (+ Vt )
+ D34e
it ( V )
+ D35e V + D36e V
3 (1)
m
it + V )
it V )
it V )
it + V )
= u0(1) + D41e (
+ D42e (
+ D43e (
+ D44e (
+ D45e V + D46 e V
x3 u free
EI
x =Vt
(3.1.20)
98
resonance u (free
1
equations is satisfied:
= ( V ),
(3.1.21)
= V
V = 2,
(3.1.22)
V =
(3.1.23)
Thus, if relations (3.1.22) and/or (3.1.23) were satisfied, then the solution
1)
u (free
would tend to infinity. This would imply that u (
0)
( x, t ) << u (1) ( x, t )
and,
(*)
99
2 79
x + 20 x 1 + cos pt = 0 ,
(3.1.24)
then the condition for the parametric resonance (more precisely, for its first
zone) is given as
2 0 p .
(3.1.25)
100
+
V
(3.2.1)
it (+ )
+ B ( t )e
it (+ )
+ C ( t ) + u0(1) (t ),
it (+ ) +
ik B Vt x
ik B Vt x
C B1 ( x, t )e 1 ( ) + C B+2 ( x, t )e 2 ( ) +
+e
C
C
+ CC+1 ( x, t ) eik1 (Vt x ) + CC+ 2 ( x, t )e ik2 (Vt x ) , x > Vt
u ( x, t ) = u (1) ( x, t ) +
it (+ )
ik A Vt x
ik A Vt x
C A1 ( x, t )e 3 ( ) + C A 2 ( x, t )e 4 ( ) +
e
B
B
+ e it (+ ) C B1 ( x, t )e ik3 (Vt x ) + C B2 ( x, t )e ik4 (Vt x ) +
ik3C (Vt x )
ik C Vt x
+ CC 2 ( x, t )e 4 ( ) , x < Vt
+ CC 1 ( x, t ) e
(3.2.2)
A , B ,C
1,2,3,4
with k
101
for x > Vt :
2 u (1)
4 u (1)
+
EI
+ k f u (1) =
t 2
x 4
= k f cos ( x )e
k f cos ( x )e
it (+ )
(C
(C
+
A1
it (+ )
( x, t )eik
+
B1
A
1
(Vt x )
( x, t ) eik
B
1
k f cos ( x ) CC+1 ( x, t ) e
ik1C (Vt x )
+ C A+ 2 ( x , t )e
(Vt x )
ik 2A (Vt x )
+ C B+ 2 ( x , t )e
+ CC+ 2 ( x, t )e
ik 2C (Vt x )
)+
)+
ik 2B (Vt x )
)+
C A+1
3 C
A
A1
2 F (Vk1A + ) i
C A+1 + 4iEI (k1A )
exp (ik1 (Vt x ) + it ( + )) +
( x )
( t )
C A+ 2
3 C
A
A2
2 F (Vk 2A + ) i
C A+ 2 + 4iEI (k 2A )
exp (ik 2 (Vt x ) + it ( + )) +
( x )
( t )
C B+1
3 C
B
B1
2 F (Vk1B ) i
+ C B+1 + 4iEI (k1B )
exp (ik1 (Vt x ) it ( + )) +
( x )
( t )
C B+ 2
3 C
B
B2
2 F (Vk 2B ) i
+ C B+ 2 + 4iEI (k 2B )
exp (ik 2 (Vt x ) it ( + )) +
x
(
)
(
)
3 C
CC+1
C
C1
2i FVk1C
+ 4iEI (k1C )
exp (ik1 (Vt x )) +
( t )
( x )
3 C
CC+2
C
C2
2i FVk2C
+ 4iEI (k2C )
exp (ik2 (Vt x ))
t
x
( )
( )
(3.2.3)
for x < Vt :
2u (1)
4u (1)
+
EI
+ k f u (1) =
2
4
t
x
= k f cos ( x )e
k f cos ( x )e
it (+ )
it (+ )
(C
(C
A1
( x, t )eik
B1
( x, t )eik
A
3
B
3
k f cos ( x ) CC1 ( x, t ) e
ik3C (Vt x )
(Vt x )
+ C A2 ( x, t )e
(Vt x )
+ CB2 ( x, t )e
+ CC 2 ( x, t )e
102
ik4C (Vt x )
ik4A (Vt x )
ik4B (Vt x )
)+
)+
)+
C A1
A
A 3 C A1
A
2 F (Vk3 + ) i
C A1 + 4iEI (k3 )
exp (ik3 (Vt x ) + it ( + )) +
( x )
( t )
C A2
3 C
A
A2
2 F (Vk4A + ) i
C A2 + 4iEI (k4A )
exp (ik4 (Vt x ) + it ( + )) +
( x )
( t )
CB1
3 C
B
B1
2 F (Vk3B ) i
+ CB1 + 4iEI (k3B )
exp (ik3 (Vt x ) it ( + )) +
x
t
( )
( )
CB2
B
B 3 CB 2
B
2 F (Vk4 ) i
+ CB 2 + 4iEI (k4 )
exp (ik4 (Vt x ) it ( + )) +
( x )
( t )
3 C
CC1
C
C1
2i FVk3C
+ 4iEI (k3C )
exp (ik3 (Vt x )) +
( t )
( x )
3 C
CC 2
C
C2
2i FVk4C
+ 4iEI (k4C )
exp (ik4 (Vt x ))
( t )
( x )
(3.2.4)
for x = Vt :
u (1)
= 0,
x =Vt
(3.2.5)
+
u (1)
C A+ 2
C A1
C A2
it (+ ) C A1
=
e
+
+
x
x
(
)
(
)
(
)
(
)
x =Vt
x =Vt
it (+ )
CB+1
CB+2
CB1
CB2
+
+
( x ) ( x ) ( x ) ( x ) x =Vt
(3.2.6)
CC+1
CC+ 2
CC1
CC 2
+
+
( x ) ( x ) ( x ) ( x ) x =Vt
+
+
2u (1)
it (+ ) A C A1
A C A 2
A C A1
A C A 2
=
2
ie
k
+
k
k
1
+
2
3
4
x 2
x
(
)
(
)
(
)
(
)
x =Vt
x =Vt
+ 2ie
it (+ )
B CB+1
B CB 2
B C B1
B C B 2
+ k2
k3
k4
+
k1
( x )
( x )
( x ) x =Vt
( x )
(3.2.7)
CC+1
CC+ 2
CC1
CC 2
+ 2i k1C
+ k2C
k3C
k4C
( x )
( x )
( x ) x =Vt
( x )
u (1) (Vt , t ) = u0
(1)
(t )
(3.2.8)
103
3u (1)
d 2u0(1)
EI 3
= m
+
dt 2
x x =Vt
+
+
2 C
2 C
2 C
2 C
A1
A2
A1
A2
A +3EI (k1A )
+ (k2A )
(k3A )
(k4A )
2m i
+
( x )
( x )
( x )
( x )
( t )
x =Vt
+e
it (+ )
+e
it (+ )
+
+
2 C
2 C
2 C
2 C
B1
B2
B1
B2
+ B +3EI (k1B )
+ (k2B )
(k3B )
(k4B )
+
2m i
( x )
( x )
( x )
( x )
( t )
x =Vt
+
+
2 C
2 C
2 C
2 C
C1
C2
C1
C2
+3EI (k1C )
+ (k2C )
(k3C )
(k4C )
( x )
( x )
( x )
( x ) x =Vt
(3.2.9)
For the perturbation method to be applicable, the perturbation terms
u ( x, t ) and u0(1) (t ) should be prohibited from growing in time. To achieve
(1)
this, all forces that act on the beam and on the mass and can cause
resonance must be set to zero. There are two types of forces that disturb
the system: the distributed ones that stay on the right hand side of
equations (3.2.3) and (3.2.4), and concentrated ones that enter the
boundary condition (3.2.9). Note that the external moment in the boundary
condition (3.2.7) can not activate the heave vibrations of the mass.
Consider first the distributed forces in equations (3.2.3) and (3.2.4). It is
obvious that the last six terms on the right-hand side of these equations
would for sure cause the resonance response since they are proportional to
A, B
C
normal waves in the beam: exp (it )exp (ik1,2,3,4
(Vt x)) and exp (ik1,2,3,4
(Vt x )) .
Thus, it must be required that these terms vanish, which yields the
following 12 equations
+
C A+1
3 C
A1
2 F (Vk1A + ) i
C A+1 + 4iEI (k1A )
= 0,
(
)
(
)
+
+
C A 2
+
A
A 3 C A 2
2 F (Vk2 + ) i
C A2 + 4iEI (k2 )
= 0,
( x )
( t )
+
CB+1
+
B
B 3 C B1
2 F (Vk1 ) i
+ CB1 + 4iEI (k1 )
= 0,
( x )
( t )
+
CB+2
3 C
B2
2 F (Vk2B ) i
+ CB+2 + 4iEI (k2B )
= 0,
( x )
( t )
C A1
3 C
A1
2 F (Vk3A + ) i
C A1 + 4iEI (k3A )
= 0,
( x )
( t )
C A 2
A 3 C A 2
2 F (Vk + ) i
C A2 + 4iEI (k4 )
= 0,
( x )
( t )
A
4
104
CB1
3 C
B1
2 F (Vk3B ) i
+ CB1 + 4iEI (k3B )
= 0,
t
x
(
)
(
)
CB2
B 3 CB 2
+ CB 2 + 4iEI (k4 )
= 0,
2 F (Vk ) i
( x )
( t )
B
4
2i FVk1C
+
3 C
CC+1
C1
+ 4iEI (k1C )
= 0,
( t )
( x )
2i FVk2C
+
3 C
CC+ 2
C2
+ 4iEI (k2C )
= 0,
( t )
( x )
2i FVk3C
3 C
CC1
C1
+ 4iEI (k3C )
= 0,
( t )
( x )
CC 2
C 3 CC 2
2i FVk
+ 4iEI (k4 )
= 0.
( t )
( x )
C
4
(3.2.10)
Having Eqs.(3.2.10) fulfilled, some of distributed forces that would
cause u (1) to grow have been required to vanish. However, not all of them.
The remaining forces on the right-hand side of equations (3.2.3) and (3.2.4)
could also lead to resonance in the system. These are the forces whose
frequency equals to ( + ) in the contact point. The other forces can not
lead to resonance and, therefore, are not relevant for the further analysis
that is aimed at finding the conditions under which the perturbation terms
do not increase.
Considering relations (3.2.10) satisfied, and neglecting the nonresonance terms on the right-hand sides (the terms whose frequency is not
equal to ( + ) at x = Vt ), equations (3.2.3) and (3.2.4) are rewritten as
follows
for x > Vt :
2u (1)
4u (1)
+
EI
+ k f u (1) =
t 2
x 4
= k f cos ( x ) C
+
C1
( x, t ) e
ik1C (Vt x )
+
C2
+C
( x, t ) e
(3.2.11)
(3.2.12)
ik2C (Vt x )
for x < Vt :
2u (1)
4u (1)
F
+ EI
+ k f u (1) =
2
4
t
x
= k f cos ( x ) C
C1
( x, t ) e
ik3C (Vt x )
C2
+C
( x, t ) e
105
ik4C (Vt x )
(3.2.13)
with u (1)
forced the forced solution of equations (3.2.3) and (3.2.4) that describes
the effect of the foundation inhomogeneity on the deflection field, which the
mass perturbs in the beam. This solution reads
for x > Vt :
ik C Vt x
ik C Vt x
i x
u (1)
CC+11 ( x, t )e 1 ( ) + CC+ 21 ( x, t )e 2 ( ) +
forced = e
+e
i x
ik C Vt x
ik C Vt x
C C+12 ( x, t )e 1 ( ) + C C+ 22 ( x, t )e 2 ( )
(3.2.14)
for x < Vt :
ik C Vt x
ik C Vt x
i x
u (1)
CC11 ( x, t )e 3 ( ) + C C 21 ( x, t )e 4 ( ) +
forced = e
ik C Vt x
ik C Vt x
+ e i x C C12 ( x, t )e 3 ( ) + C C 22 ( x, t )e 4 ( )
(3.2.15)
3u (1)
d 2 u0(1)
it + )
free
EI
m
+
=e (
A +
2m i
3
2
dt
( t )
x x =Vt
+
+
2 C
2 C
2 C
2 C
A1
A2
A1
A2
+3 EI (k1A )
+ (k 2A )
(k3A )
(k 4A )
( x )
( x )
( x )
( x )
+e
it (+ )
+ B +
2m i
( t )
+
+
2 C
2 C
2 C
2 C
B2
B1
B2
B1
(k3B )
(k 4B )
+3 EI (k1B )
+ (k 2B )
( x )
( x )
( x )
( x )
+ iEIe i x
+ iEIe i x
+
x =Vt
{(k
{(k
x =Vt
C
1
3
3
3
3
+ ) C C+11 + (k 2C + ) C C+ 21 (k3C + ) C C11 (k 4C + ) C C 21
C
1
3
3
3
3
) C C+12 + (k 2C ) C C+ 22 (k3C ) C C12 (k 4C ) C C 22
}
}
x =Vt
x =Vt
(3.2.16)
106
All terms, which stay in the figure brackets on the right-hand side of
equation (3.2.16), should cause resonance in the system, since their
frequency is equal to the natural frequency of the mass. Thus, these terms
must be required to vanish, which yields the following two equations
+
+
2 C
2 C
2 C
2 C
A1
A2
A1
A2
A + 3EI (k1A )
+ (k2A )
(k3A )
(k4A )
+
2m i
( x )
( x )
( x )
( x )
( t )
+iEI
((k
C
1
3
3
3
3
+ ) C C+11 + (k2C + ) C C+ 21 (k3C + ) C C11 (k4C + ) CC 21
))
x =Vt
=0
B 2 CB+1
B 2 C B 2
B 2 C B1
B 2 CB 2
2
+
+
+
k
+
m
i
B
EI
k
k
(
)
(
)
(
)
(
)
1
2
3
4
( t )
x
x
x
(
)
(
)
(
)
(
)
+ iEI
((k
C
1
3
3
3
3
) C C+12 + (k2C ) C C+ 22 (k3C ) C C12 (k4C ) CC 22
))
x =Vt
=0
(3.2.17)
Equations (3.2.10) and (3.2.17) are the sufficient conditions for the
perturbed solutions terms u (1) ( x, t ) and u0(1) (t ) not to grow in time.
According to expression (C1), given in Appendix C the constants
C , i, j = 1, 2 are proportional to the constants CCj , j = 1, 2 . Taking this into
Cij
(
)
exp ( (q t p x )), C
exp ( (q t p x )), C
exp ( (q t p x )), C
exp ( (q t p x )), C
exp ( (q t p x )), C
(
)
exp ( (q t p x )),
exp ( (q t p x )),
exp ( (q t p x )),
exp ( (q t p x )),
exp ( (q t p x )),
C A+1 ( x, t ) = C A+10 exp (q1At p1A x ) , C A+2 ( x, t ) = C A+20 exp (q2At p2A x ) ,
CB+1 ( x, t ) = CB+10
CC+1 ( x, t ) = CC+10
C A1 ( x, t ) = C A10
CB1 ( x, t ) = CB10
CC1 ( x, t ) = CC10
B
1
B
1
+
B2
( x, t ) = CB+20
C
1
C
1
+
C2
( x, t ) = CC+ 20
A
3
A
3
A2
( x, t ) = C A20
B
3
B
3
B2
( x, t ) = CB20
B
2
B
2
C
2
C
2
A
4
A
4
B
4
B
4
C
( x, t ) = CC 20
4
A ( t ) = A0 exp ( st ), B ( t ) = B0 exp ( st ), C ( t ) = C0 exp ( st ).
C
3
C
3
C2
C
4
(3.2.18)
Stability of the system is determined by the eigenvalue s in these
expressions. Should one of the eigenvalues have a positive real part, the
system would become unstable.
To obtain the characteristic equation with respect to s , it is customary
to use equations (B3)-(B6). Substituting expressions (3.2.18) into these
equations, a set of relations is obtained that is presented in Appendix D
(see equations (D1)). Taking these relations into account and substituting
107
(3.2.19)
it (+ )
x =Vt
+ mg = 0
(3.2.20)
(3.2.21)
C0 = mgQ5
(3.2.22)
Q3C0
QC
, B0 = 4 0 , C0 = mgQ5
Q1
Q2
(3.2.23)
A ( t ) = A0 , B ( t ) = B0 , C ( t ) = C0 ,
108
which, being substituted into expressions (3.2.2) for the mass vertical
displacement, yield
u0 (t ) = A0 e
it (+ )
+ B0 e
it (+ )
+ C0 + u0(1) (t ).
(3.2.24)
Since the above-presented procedure ensures that the term u0(1) (t ) does not
grow in time, we may conclude that under the condition
+
, 0.
V
the mass performs harmonic vibrations that are superposed with the
constant displacement C0 and slightly perturbed by a small motion
determined by u0(1) (t ) . Obviously, these vibrations are stable.
The case = 0 , in which the natural frequency of the mass is equal
to the frequency V of the stiffness variation in the contact point, should
be considered separately. Indeed, in this case the above-applied procedure
is not valid since the amplitudes A0 and B0 become infinite.
To get rid of this infinity, the form in which the solution is sought in
the resonance case should be slightly modified. With respect to solution
(3.2.2), the modification contains in considering the system response to the
constant force P = mg as time independent:
u0 (t ) = A ( t ) eit + B ( t )e it + C + u0(1) (t ),
it +
ik B Vt x
ik B Vt x
C B1 ( x , t )e 1 ( ) + C B+ 2 ( x , t )e 2 ( ) +
+ e
C
C
+ CC+1e ik1 (Vt x ) + CC+ 2 e ik2 (Vt x ) , x > Vt
u ( x , t ) = u (1) ( x , t ) +
it
ik3A (Vt x )
ik A Vt x
+ C A 2 ( x, t ) e 4 ( ) +
e C A1 ( x , t )e
B
B
+ e it C B1 ( x, t )e ik3 (Vt x ) + C B 2 ( x, t )e ik4 (Vt x ) +
ik3C (Vt x )
ik C Vt x
+ CC 2 e 4 ( ) , x < Vt
+ CC 1e
(3.2.25)
As in the previous case, substituting expressions (3.2.25) into the system of
equations (3.1.2), we do the following steps:
1. Collect terms of the order 0 . So obtained system of equations is
satisfied automatically.
109
2 F (Vk1A + )i
+
3 C
C A+1
A1
+ 4 iEI (k1A )
= 0,
( t )
( x )
2 F (Vk 2A + )i
+
3 C
C A+ 2
A2
+ 4 iEI (k 2A )
= 0,
( t )
( x )
2 F (Vk1B )i
+
3 C
C B+1
B1
+ 4 iEI (k1B )
= 0,
( t )
( x )
2 F (Vk 2B )i
+
3 C
C B+ 2
B2
+ 4 iEI (k 2B )
= 0,
( t )
( x )
2 F (Vk3A + )i
3 C
C A1
A1
+ 4iEI (k3A )
= 0,
( t )
( x )
2 F (Vk4A + )i
3 C
C A2
A2
+ 4iEI (k4A )
= 0,
( t )
( x )
2 F (Vk3B )i
3 C
CB1
B1
+ 4iEI (k3B )
= 0,
( t )
( x )
2 F (Vk4B )i
3 C
CB2
B2
+ 4iEI (k4B )
= 0,
( t )
( x )
(3.2.26)
4. Search for the solution to the equation of motion of the beam in the form
(3.2.13), in which the forced term can be found easily.
5. Substitute this solution into the balance of vertical forces in the contact
point.
6. Require all terms on the right hand side of the obtained equation to
vanish. This yields
+
A 2 CA+1
A
A 2 C A2
A 2 C A1
A 2 C A2
+ 3EI (k1 )
+ (k2 )
(k3 )
(k4 )
+
2mi
(t )
( x )
( x )
( x )
( x )
3
3
3
3
+iEI (k1C + ) CC+11 + (k2C + ) CC+21 (k3C + ) CC11 (k4C + ) CC21
))
x =Vt
=0
+
+
2 C
2 C
2 C
2 C
B
B1
B2
B1
B2
+
+ 3EI (k1B )
+ (k2B )
(k3B )
(k4B )
2mi
( x )
(t )
( x )
( x )
( x )
3
3
3
3
+ iEI (k1C ) CC+12 + (k2C ) CC+ 22 (k3C ) CC12 (k4C ) CC22
110
))
x =Vt
=0
(3.2.27)
, i, j = 1, 2 defined in Appendix C.
with constants CCij
(
t exp ( (q t p
t exp ( (q t p
t exp ( (q t p
)
x )), C
x )), C
x )), C
(
)
t exp ( (q t p x )),
t exp ( (q t p x )),
t exp ( (q t p x )),
C A+1 ( x, t ) = C A+10 t exp (q1At p1A x ) , C A+2 ( x, t ) = C A+20 t exp (q2At p2A x ) ,
CB+1 ( x, t ) = CB+10
C A1 ( x, t ) = C A10
CB1 ( x, t ) = CB10
A ( t ) = A0 t , B ( t ) = B0 t.
B
1
B
1
A
3
A
3
B
3
B
3
+
B2
A2
B2
( x, t ) = CB+20
( x, t ) = C A20
( x, t ) = CB20
B
2
B
2
A
4
A
4
B
4
B
4
(3.2.28)
Substituting expressions (3.2.28) into the system of equations (3.2.26),
(3.2.27) and then solving it, we obtain
p Aj , B = q Aj , B = 0, j = 1, 4
A0 =
Q6C
QC
, B0 = 7
2m
2m
(3.2.29)
u0 (t ) = A0 teit + B0 te it + C0 + u0(1) (t ),
(3.2.30)
which shows that the vertical displacement of the mass grows in time
linearly, which means that resonance takes place in the system.
Thus, the dead weight of the mass does not influence stability of
vibrations, although can cause resonance. This result holds not only for the
mass but for any vehicle, provided that its vibrations are considered in the
frame of a linear formulation. The reason behind this is that an external
force (dead weight, wind loading, etc.) does not influence the natural
vibrations of the vehicle and, therefore, may not affect its stability.
111
2 ( + )
,
V
(3.3.1)
to give the condition under which vibrations of the system will be studied in
this paragraph.
The study is accomplished in the following manner. First, as in
paragraph 3.2, the undamped case f = 0 is considered. The viscosity is
taken into account later, giving a generalisation of the results. The dead
weight of the mass P = mg is omitted because, as shown in the previous
paragraph, it can not influence stability of the system.
As in the previous paragraph, solution to the original problem (3.1.2) is
sought for in the following form:
u0 (t ) = A ( t ) e
it (+ )
+ B ( t )e
it (+ )
+ u0(1) (t ),
it (+ ) +
ik B Vt x
ik B Vt x
C B1 ( x, t )e 1 ( ) + C B+ 2 ( x, t )e 2 ( ) , x > Vt
+e
u ( x, t ) = u (1) ( x, t ) +
it (+ )
ik A Vt x
ik A Vt x
C A1 ( x, t )e 3 ( ) + C A 2 ( x, t )e 4 ( ) +
e
B
B
+ e it (+ ) C B1 ( x, t )e ik3 (Vt x ) + C B 2 ( x, t )eik4 (Vt x ) , x < Vt
)
)
(3.3.2)
A, B
with k1,2,3,4
the roots of the dispersion equation (3.1.8). The only difference
between expressions (3.3.2) and (3.2.2) is that the former contains no terms
associated with the dead weight of the mass.
Thus, we again assume that the amplitudes of waves in the beam and
of vibrations of the mass have a weak dependence on time and the spatial
co-ordinate. As shown in the previous paragraph, this dependence helps to
avoid that the perturbation terms u0(1) (t ) and u (1) ( x, t ) become larger than
113
CBj .
Collecting terms of the order 1 , the following system of equations is
obtained:
for x > Vt :
2u (1)
4 u (1)
+
EI
+ k f u (1) =
2
4
t
x
= k f cos ( x ) e
k f cos ( x ) e
it (+ )
(C ( x, t )e
(C ( x, t )e
it (+ )
ik1A (Vt x )
+
A1
+
B1
+ C A+ 2 ( x, t ) e
ik1B (Vt x )
ik 2A (Vt x )
+ C B+ 2 ( x, t ) e
)+
)+
ik2B (Vt x )
C A+1
3 C
A
A1
2 F (Vk1A + ) i
C A+1 + 4iEI (k1A )
exp (ik1 (Vt x ) + it ( + )) +
( t )
( )
C A+2
3 C
A
A2
2 F (Vk 2A + ) i
C A+ 2 + 4iEI (k2A )
exp (ik2 (Vt x ) + it ( + )) +
( x )
( t )
C B+1
3 C
B
B1
2 F (Vk1B ) i
+ C B+1 + 4iEI (k1B )
exp (ik1 (Vt x ) it ( + )) +
( t )
( x )
C B+ 2
3 C
B
B2
2 F (Vk 2B ) i
+ C B+ 2 + 4iEI (k2B )
exp (ik2 (Vt x ) it ( + ))
( )
( )
(3.3.3)
for x < Vt :
2u (1)
4u (1)
+
EI
+ k f u (1) =
2
4
t
x
= k f cos ( x )e
k f cos ( x )e
it (+ )
it (+ )
(C
(C
A1
( x, t )eik
B1
( x, t )eik
A
3
B
3
(Vt x )
+ C A 2 ( x, t ) e
(Vt x )
+ C B 2 ( x, t )e
114
ik 4A (Vt x )
ik4B (Vt x )
)+
)+
C A1
3 C
A1
2 F (Vk3A + ) i
C A1 + 4iEI (k3A )
exp (ik3A (Vt x ) + it ( + )) +
( x )
( t )
C A2
3 C
A
A2
2 F (Vk 4A + ) i
C A 2 + 4iEI (k4A )
exp (ik4 (Vt x ) + it ( + )) +
( x )
( t )
C B1
3 C
B1
2 F (Vk3B ) i
+ C B1 + 4iEI (k3B )
exp (ik3B (Vt x ) it ( + )) +
t
x
(
)
(
)
C B 2
B
B 3 C B 2
B
2 F (Vk4 ) i
+ C B 2 + 4iEI (k 4 )
exp (ik 4 (Vt x ) it ( + ))
( x )
( t )
(3.3.4)
for x = Vt :
u (1)
= 0,
x =Vt
(3.3.5)
+
u (1)
C A+2
C A1
C A2
it (+ ) C A1
= e
+
+
x
x =Vt
( x ) ( x ) ( x ) ( x ) x =Vt
it (+ )
CB+1
CB+2
CB1
CB2
+
( x ) ( x ) ( x ) ( x ) x =Vt
+
+
2u (1)
it (+ ) A C A1
A C A 2
A C A1
A C A 2
ie
k
k
k
k
2
=
+
1
+
2
3
4
x 2
x
x
x
x
(
)
(
)
(
)
(
)
x =Vt
x =Vt
+ 2ie
u (1) (Vt , t ) = u0
it (+ )
(1)
B CB+1
CB+2
CB1
CB2
+ k2B
k3B
k4B
k1
( x )
( x )
( x ) x =Vt
( x )
(t )
(3.3.6)
(3.3.7)
(3.3.8)
3u (1)
d 2u0(1)
it (+ )
EI 3
e
= m
+
A +
2m i
2
dt
x x =Vt
( t )
A 2 C A+1
A 2 C A 2
A 2 C A1
A 2 C A 2
+3EI (k1 )
+ (k2 )
(k3 )
(k4 )
+
( x )
( x )
( x )
( x )
x =Vt
it + )
+e (
+ B +
2m i
( t )
+
+
2 C
2 C
2 C
2 C
B1
B2
B1
B2
(k3B )
(k4B )
+3EI (k1B )
+ (k2B )
x
x
x
(
)
(
)
(
)
(
)
x =Vt
115
(3.3.9)
(1)
(t )
do not grow in time. To obtain these conditions we should set to zero all
terms that may cause the resonance growth u0
(1)
(t )
explained in the previous paragraph, there are two types of forces that
disturb the system: the distributed ones that stay on the right hand side of
equations (3.3.3) and (3.3.4), and the concentrated ones that enter the
boundary condition (3.3.9). Note that the external moment in the boundary
condition (3.3.7) can not activate the heave vibrations of the mass.
Consider first the distributed forces in equations (3.3.3) and (3.3.4). It is
obvious that the last four terms on the right-hand side of these equations
would cause the resonance response since they are proportional to the
A, B
normal waves in the beam: exp (it )exp (ik1,2,3,4
(Vt x )) . Thus, it must be
3 C
A1
C A+1 + 4iEI (k1A )
= 0,
2 F (Vk1A + ) i
( x )
( t )
+
C A+ 2
3 C
A2
2 F (Vk 2A + ) i
C A+ 2 + 4iEI (k 2A )
= 0,
( t )
( x )
+
C B+1
3 C
B1
2 F (Vk1B ) i
+ C B+1 + 4iEI (k1B )
= 0,
( x )
( t )
+
C B+ 2
3 C
B2
2 F (Vk 2B ) i
= 0,
+ C B+ 2 + 4iEI (k 2B )
t
(
)
(
)
C A1
3 C
A1
2 F (Vk3A + ) i
C A1 + 4iEI (k 3A )
= 0,
( t )
( x )
C A 2
3 C
A2
2 F (Vk 4A + ) i
C A 2 + 4iEI (k 4A )
= 0,
( x )
( t )
C B1
3 C
B1
2 F (Vk 3B ) i
+ C B1 + 4iEI (k 3B )
= 0,
( t )
( x )
(3.3.10)
C B 2
3 C
B2
2 F (Vk 4B ) i
+ C B 2 + 4iEI (k 4B )
= 0.
( x )
( t )
116
Considering relations (3.3.10) satisfied, and neglecting the nonresonance terms on the right-hand sides (the terms whose frequency is not
equal to
( + )
follows
for x > Vt :
2 u (1)
4 u (1)
+
EI
+ k f u (1) =
2
4
t
x
kf
it + )
ik A Vt x
ik A Vt x
=
C A+1 ( x , t ) e 1 ( ) + C A+ 2 ( x , t ) e 2 ( ) +
exp ( i x ) e (
2
kf
it + )
ik B Vt x
ik B Vt x
C B+1 ( x , t ) e 1 ( ) + C B+ 2 ( x , t ) e 2 ( )
exp (i x ) e (
2
(
(
)
)
(3.3.11)
for x < Vt :
2 u (1)
4 u (1)
+
EI
+ k f u (1) =
t 2
x 4
kf
it + )
ik A Vt x
ik A Vt x
exp ( i x ) e (
=
C A1 ( x , t ) e 3 ( ) + C A 2 ( x , t ) e 4 ( ) +
2
kf
ik B Vt x
ik B Vt x
it + )
exp (i x ) e (
C B1 ( x , t ) e 3 ( ) + C B 2 ( x , t ) e 4 ( )
2
(3.3.12)
for x > Vt :
u (1)
forced = e
it (+ )i x
+e
(C ( x, t )e
(C ( x, t )e
ik1A (Vt x )
+
11
it (+ )+ i x
+
21
ik A Vt x
+ C12+ ( x, t )e 2 ( ) +
ik1B (Vt x )
ik B Vt x
+ C 22+ ( x, t )e 2 ( )
(3.3.13)
for x < Vt :
u (1)
forced = e
it (+ ) i x
+e
(C ( x, t )e
(C ( x, t )e
it (+ )+ i x
ik3A (Vt x )
11
21
+ C12 ( x, t )e
ik3B (Vt x )
ik4A (Vt x )
+ C 22 ( x, t )e
)+
)
ik4B (Vt x )
117
(3.3.14)
A
d 2 u 0(1)
it + )
+
=e (
A +
m
2 m i
2
dt
x =Vt
( t )
+
+
2 C
2 C
2 C
2 C
A1
A2
A1
A2
+ 3 EI (k1A )
+ (k 2A )
(k 3A )
(k 4A )
+
( x )
( x )
( x )
( x )
3
3
3
3
+
+
EI i (k1B ) C 21
+ i (k 2B ) C 22
i (k 3B ) C 21
i (k 4B ) C 22
+e
it ( +
)}
x =V t
+ B +
2 m i
( t )
+
+
2 C
2 C
2 C
2 C
B1
B2
B1
B2
+ 3 EI (k1B )
+ (k 2B )
(k 3B )
(k 4B )
+
( x )
( x )
( x )
( x )
3
3
3
3
EI i (k1A + ) C 11+ + i (k 2A + ) C 12+ i (k 3A + ) C 11 i (k 4A + ) C 12
)}
x = Vt
(3.3.15)
Both terms, which stay in the figure brackets on the right-hand side of
equation (3.3.15), should cause resonance in the system, since their
frequency is equal to the natural frequency of the mass. Thus, these terms
must be required to vanish, which yields the following two equations
+
A 2 C A+1
A 2 C A 2
A 2 C A1
A 2 C A 2
A + 3EI (k1 )
+ (k 2 )
(k3 )
(k 4 )
+
2m i
( x )
( x )
( x )
( x )
( t )
3
3
3
3
+
EI i (k1B ) C 21
+ i (k 2B ) C 22+ i (k3B ) C 21 i (k 4B ) C 22
))
x =Vt
=0
B 2 C B+1
B 2 C B 1
B 2 C B 2
B 2 C B 2
(k 4 )
+ B + 3EI (k1 )
+ (k 2 )
(k3 )
2 m i
+
( x )
( x )
( x )
( x )
( t )
3
3
3
3
EI i (k1A + ) C11+ + i (k 2A + ) C12+ i (k3A + ) C11 i (k 4A + ) C12
))
x =Vt
=0
(3.3.16)
Equations (3.3.10) and (3.3.16) are the sufficient conditions for the
perturbed solutions terms u (1) ( x, t ) and u0(1) (t ) not to grow in time.
Solution to these equations can be sought in the form
118
(
exp ( (q t p
exp ( (q t p
exp ( (q t p
)
x )), C
x )), C
x )), C
(
)
exp ( (q t p x )),
exp ( (q t p x )),
exp ( (q t p x )),
C A+1 ( x, t ) = C A+10 exp (q1At p1A x ) , C A+2 ( x, t ) = C A+20 exp (q2At p2A x ) ,
CB+1 ( x, t ) = CB+10
C A1 ( x, t ) = C A10
CB1 ( x, t ) = CB10
B
1
B
1
A
3
A
3
+
B2
A2
( x, t ) = CB+20
( x, t ) = C A20
( x, t ) = CB20
A ( t ) = A0 exp ( st ), B ( t ) = B0 exp ( st ).
B
3
B
3
B2
B
2
B
2
A
4
A
4
B
4
B
4
(3.3.17)
The eigenvalue s in these expressions determines whether the system is
stable. Should one of the eigenvalues have a positive real part, the system
would become unstable. To obtain the characteristic equation with respect
to s , it is customary to use equations (E3)-(E6). Substituting expressions
(3.3.17) into these equations, a set of relations (D1) is obtained that is
presented in Appendix D. Taking these relations into account and
substituting expressions (3.3.17) into equations (3.3.10) and (3.3.16), the
following system of two algebraic equations with respect to A0 and B0 can
be obtained:
(is )Q1 A0 + Q4 B0 = 0
Q3 A0 + Q2 (is + ) B0 = 0
(3.3.18)
Q3Q4
,
Q1Q2
(3.3.19)
It can be shown that the ratio (Q3Q4 ) (Q1Q2 ) is real and positive in the case
under consideration
(V < V
phase
min
).
Q3Q4
>0
Q1Q2
119
V 2 < 2
Q3Q4
Q1Q2
(3.3.20)
Q Q
Q Q
QQ QQ
s2 i 5 + 6 s 5 6 + 2 3 4 5 6 = 0
Q1Q2 Q1Q2
Q1 Q2
Q1 Q2
(3.3.21)
with the same expressions for Q1,2,3,4 that are used in equation (3.3.19) and
constants Q5,6 defined in Appendix G. The criterion for instability in this
case is that one of the roots of the characteristic equation has a positive
real part. It can be shown that this criterion leads to the following system of
inequalities, which, being satisfied, leads to vibrational instability:
Q2 2Q5 2 Q12Q6 2 + 2Q1Q2Q5Q6 + 4Q1Q2Q3Q4 4 ( Q1Q2 Q5Q2 + Q1Q6 ) > 0
2
2
2
2
Q
Q2 Q5 Q1 Q6 + 2Q1Q2Q5Q6 + 4Q1Q2Q3Q4 4 ( Q1Q2 Q5Q2 + Q1Q6 )
Q5
6
+
+
>0
2Q1Q2
2Q2 2Q1
(3.3.22)
Instability zones that correspond to conditions (3.3.20) and (3.3.22) are
studied in the next section. Before starting with this study, however, it is
important to note the following. The instability conditions (3.3.20) and
(3.3.22) determine the first (main) instability zone of the parametric
resonance. Thinking by analogy with the Mathieus equation, it is natural
to assume that there are more zones of instability, which should occur
under the condition V = 2 ( / n + ), n = 1, 2,... . To find these zones, one
should modify the form of solution (3.3.2). The idea for such a modification
should be taken from [74], where the approach is shown to the analysis of
the higher-order zones of parametric resonance in the Mathieus equation.
3.3.1 MAIN INSTABILITY ZONE
In this section, the main instability zone is studied. The study is
performed employing the following set of the system parameters:
120
(3.3.23)
V 2 = 2
Q3Q4
Q1Q2
(3.3.24)
(
(
) (
) (
Q3 V0 + V Q4 V0 + V
V0 + V 2 V0 + V
Q1 V0 + V Q2 V0 + V
2000
(3.3.25)
l = 0.7 [m]
l = 0.6 [m]
1600
mass [kg]
) = 0
)
1200
800
400
0
40
80
120
160
200
240
velocity [m/s]
Fig. 3.3.1 Centre of the instability zone in the undamped case for two periods of the
inhomogeneity.
121
can be expanded
V0 + V = (V0 ) +
V
V V0
(3.3.26)
2
.
V
(3.3.27)
2000
l = 0.7 [m]
l = 0.6 [m]
1600
mass [kg]
1200
800
400
0
0.002 0.004 0.006 0.008 0.01 0.012
y (m/s) [m/s]
Velocitdeviation
velocity
Fig. 3.3.2 Deviation of the boundaries of the instability zone from its centre.
2000
l = 0.7 [m]
l = 0.6 [m]
mass [kg]
1600
1200
800
400
0
40
80
120
160
200
240
velocity [m/s]
Fig.3.3.3 Centre of the instability zone for the damped case ( f =100 Ns m 2 ).
122
The deviation V
presented in Figure 3.3.2 as a function of the mass. This figure shows that
the instability zone is very narrow, which makes it relatively easy to avoid
the parametric instability in practice.
Now we consider the effect of the viscosity in the beam foundation on
the instability zone. The centre of the zone is shown in Figure 3.3.3 for
f =100 Ns m 2 and two periods of the inhomogeneity. From this figure, it
can be seen that, in contrast to the undamped case, the instability does not
arise if the mass is smaller than a critical value that is depicted with the
help of the bold (almost horizontal) segment. Thus, analogously to
parametric resonance that is described by the Mathieus equation, the
effect of viscosity contains in shifting of the instability zone in the space of
the system parameters.
Besides shifting the zone, the viscosity of foundation makes the zone to
shrink in the velocity direction. However, for the chosen magnitude of the
viscosity, this shrinkage is negligible.
Finalising paragraphs 3.1-3.3, we may say that the effect of periodical
inhomogeneity of the beam foundation is twofold. First, this inhomogeneity
can cause resonance in the system that is associated with the dead weight
of the vehicle. Resonance occurs under the condition that the natural
frequency of the mass on the beam coincides with the frequency of
variation of the foundation stiffness in the loading point. Second, instability
of the vehicle can occur. The main instability zone is defined by the
condition that the natural frequency of the mass, being doubled, coincides
with the frequency of variation of the foundation stiffness in the loading
point. However, the instability zone in the mass-velocity space is very
narrow.
123
V
m
x
d
Fig. 3.4.1 Uniform motion of a mass along a beam with a periodically inhomogeneous
cross-section.
F (x )
2u
2
2u
+
E
I
x
(
)
+ kfu = 0
t 2
x 2
x 2
2u
u
[u ]x =Vt = = 2 = 0
x x =Vt x x =Vt
u x =Vt = u0
(3.4.1)
2u
d 2u
= m 20
EI I ( x ) 2
x x =Vt
dt
x
lim u = 0
x Vt
with the same notations as in Eq. (3.1.2). Note that the dead weight of the
mass and the variation of the distance between the mass and the center
line of the beam are not accounted for in Eqs.(3.4.1), since they may not
influence stability of the system.
In what follows, it is assumed that the cross sectional area of the beam
varies along the beam periodically, in accordance with the following
representation
F ( x ) = F0 (1 + cos ( x )), = 2 l
(3.4.2)
125
I ( x ) = I 0 (1 + 3 cos ( x )) ,
(3.4.3)
2 ( + )
,
V
(3.4.4)
with << a small mistuning. The only difference between Eq.(3.4.4) and
Eq.(3.3.1) contains in the physical sense of the wavenumber . In the
former equation, this wavenumber corresponds to inhomogeneous crosssection, whereas in the latter equation it is the beam foundation that is
characterised by this wavenumber.
To find whether instability indeed occurs under condition (3.4.4), we
apply the modified perturbation technique that was introduced in 3.3. In
accordance with this technique, we will search for the solution of
Eqs.(3.4.1) in the form given by Eq.(3.3.2). Substituting this form of
solution into Eqs. (3.4.1) and collecting terms of the order 1 (terms of the
order 0 from a system of equations that is given in Appendix E and
satisfied automatically), we obtain
for x > Vt :
))
2
4
2
i (t (1A + ) xk1A )
(1)
+ k0u (1) = cos ( x ) F0 (1A ) 3EI 0 (k1A ) + (k1A ) CA+1e
+
F0utt(1) + EI 0uxxxx
2
4
2
i(t (2A + ) xk2A )
+ F0 ( 2A ) 3EI 0 (k2A ) + (k2A ) CA+2e
+
))
(
(
((
+ ( F ( ) 3EI ((k ) + (k ) ))C e
)
((
+ ( F ( ) 3EI ((k ) + (k ) ))C e
0
B 2
1
B 2
2
B 4
1
B 4
2
B 2
1
B 2
2
B
B
+ i t 1 + xk1
B1
B
B
+ i t 2 + xk2
B2
126
)+
)+
3
3
i (t (1A + ) xk1A )
i (t ( 2A + ) xk 2A )
+ (k1B ) CB+1e
3
((
i t 1B + xk1B
) + k B 3 C + ei(t (
( 2 ) B2
B
2 +
) xk )
B
2
+
+
3 C
A1
2 F01A i
C A+1 + 4iEI 0 (k1A )
+
e
t
x
(
)
(
)
+
+
3 C
A2
2 F0 2A i
C A+2 + 4iEI 0 (k2A )
+
e
( x )
( t )
CB+1
3 C
i (t (1B ) xk1B )
B1
2 F01B i
+ CB+1 + 4iEI 0 (k1B )
+
e
( x )
( t )
3 C
B2
2 F0 2B i
+ CB+2 + 4iEI 0 (k2B )
e
( x )
( t )
(3.4.5)
for x < Vt :
))
2
4
2
i (t ( 3A ) xk3A )
(1)
F0utt(1) + EI 0u xxxx
+ k0u (1) = cos ( x ) F0 ( 3A ) 3EI 0 (k3A ) + (k3A ) C A1e
+
2
4
2
i (t (4A ) xk4A )
+ F0 ( 4A ) 3EI 0 (k4A ) + (k4A ) C A2 e
+
))
(
(
((
+ ( F ( ) 3EI ((k ) + (k ) ))C e
((
+ ( F ( ) 3EI ((k ) + (k ) ))C e
)+
)+
B 2
3
B 4
3
B 2
3
B
B
i t 3 xk3
B1
B 2
4
B 4
4
B 2
4
B
B
i t 4 xk4
B2
3
3
i (t (3A ) xk3A )
i (t (4A ) xk4A )
3
3
i (t (3B ) xk3B )
i (t ( 4B ) xk 4B )
+ (k3B ) CB1e
+ (k4B ) CB2 e
+
C A1
3 C
i (t (3A + ) xk3A )
A1
2 F0 3A i
C A1 + 4iEI 0 (k3A )
+
e
( t )
( x )
3 C
A2
2 F0 4A i
C A2 + 4iEI 0 (k4A )
+
e
( x )
( t )
CB1
3 C
i (t (3B ) xk3B )
B1
+ CB1 + 4iEI 0 (k3B )
+
2 F0 3B i
e
( x )
( t )
3 C
B2
2 F0 4B i
+ CB2 + 4iEI 0 (k4B )
e
t
x
(
)
(
)
(3.4.6)
for x = Vt :
127
it + )
= mu0 (1) + e (
A +
EI 0 u xxx (1)
2 m i
x =Vt
( t )
+
+
2 C
2 C
2 C
2 C
A1
A2
A1
A2
+ 3 EI 0 (k1A )
+ (k 2A )
(k 3A )
(k 4A )
+
( x )
( x )
( x )
( x )
x =Vt
+e
it ( +
+ B +
2 m i
( t )
+
+
2 C
2 C
2 C
2 C
B1
B2
B1
B2
(k 4B )
+ 3 EI 0 (k1B )
+ (k 2B )
(k 3B )
( x )
( x )
( x )
( x )
((k ) C
sin ( Vt )3 EI ((k ) C
cos ( Vt )3iEI ((k ) C
cos ( Vt )3iEI ((k ) C
sin ( Vt )3 EI 0
0
)
)e
x =Vt
A
1
+
A1
+ (k 2A ) C A+ 2 (k 3A ) C A1 (k 4A ) C A 2 e
it ( + )
B
1
+
B1
+ (k 2B ) C B+ 2 (k 3B ) C B1 (k 4B ) C B 2
it ( + )
)
)e
A
1
+
A1
+ (k 2A ) C A+ 2 (k 3A ) C A1 (k 4A ) C A 2 e
it ( + )
B
1
+
B1
+ (k 2B ) C B+ 2 (k 3B ) C B1 (k 4B ) C B 2
it ( + )
+
+
(3.4.7)
with constants C Aj , CBj , j = 1, 2 defined in Appendix A. We did not write all
four boundary conditions at the loading point x = Vt but only the balance of
vertical forces. The other boundary conditions are skipped since they are
irrelevant for the further analysis, having no influence on the system
stability.
The remaining analysis is fully analogous to that presented in 3.3.
Therefore, we will describe it shortly, skipping extended explanations of
every step, which can be found in 3.3.
Thus, in accordance with the procedure described in 3.3, we first
require that all terms on the right-hand sides of Eqs.(3.4.5) and (3.4.6) that
are proportional to normal waves in the beam; that is to
((
i t 1A + xk1A
C A+1
3 C
A
A1
C A+1 + 4iEI 0 (k1A )
2 F01 i
= 0,
t
x
(
)
(
)
+
+
C A2
3 C
A
A2
C A+2 + 4iEI 0 (k2A )
2 F0 2 i
= 0,
( x )
( t )
CB+1
+
B
B 3 C B1
2
4
F
i
C
iEI
k
+
+
= 0,
0 1
0( 1 )
B1
( t )
(
)
CB+2
3 C
B
B2
+ CB+2 + 4iEI 0 (k2B )
2 F0 2 i
= 0,
(
)
(
)
128
C A1
A
A 3 C A1
F
i
C
iEI
k
+
= 0,
2
(
)
A
0 3
1
0
3
( t )
(
)
C A2
3 C
A
A2
C A2 + 4iEI 0 (k 4A )
2 F0 4 i
= 0,
t
x
(
)
(
)
C B1
3 C
B
B1
+ C B1 + 4iEI 0 (k3B )
2 F0 3 i
= 0,
( x )
( t )
(3.4.8)
C B2
3 C
B
B2
+ C B2 + 4iEI 0 (k4B )
2 F0 4 i
= 0.
(
)
(
)
for x > Vt
(1)
F0utt(1) + EI 0uxxxx
+ k0u (1) =
((k )
2
1
= F0 (1A ) 3EI 0
2
(
+ ( F (
+ ( F (
((k
) 3 EI ((k
) 3 EI ((k
B
2
)
)
) ) + 2 (k ) )C
) ) + 2 (k ) )C
((
) (
i t 1A + x k1A +
A
2
+ (k 2A ) + 2 (k 2A ) C A+ 2 e
3
i t 2A + x k 2A +
((
) (
))
+ (k1B
((
) (
))
B
1
B
2
+ (k 2B
((
) (
))
+ F0 ( 2A ) 3 EI 0
B
1
A 4
1
B
1
B
B
+ i t 1 + x k1 +
B1
B
2
i t 2B + x k 2B +
+
B2
))
+
+
(3.4.9)
for x < Vt
(1)
F0 u tt(1) + EI 0 u xxxx
+ k 0 u (1) =
1
A 2
F0 ( 3 ) 3 EI 0
2
(
+ ( F (
+ ( F (
B
3
B
4
A
3
+ (k 3A ) + 2 (k 3A ) C A1e
2
((k ) + (k ) ) + 2 (k ) )C e ( (
) 3 EI ((k ) + (k ) ) + 2 (k ) )C e ( (
) 3 EI ((k ) + (k ) ) + 2 (k ) )C e ( (
+ F0 ( 4A ) 3 EI 0
0
((k
A
4
A
4
A 3
4
((
) (
i t 3A x k3A
) (
i t 4A x k 4A
A2
))
) (
))
B
3
B
3
B
B
i t 3 x k 3
B1
B
4
B
4
B
4
i t 4B x k 4B
B2
) (
B
3
))
))
(3.4.10)
The balance of vertical forces of the loading point, e.g. Eq.(3.4.7), can be
simplified by neglecting the non-resonance terms and making use of Eqs.
(E6) and (E7) that are given in Appendix E. This yields
129
(1)
EI 0 u xxx
x =Vt
= mu0
(1)
+e
it ( + )
A
1
A + im 2 B +
2 m i
( t )
2
+
+
2 C
2 C
2 C
2 C
A1
A2
A1
A2
+ 3 EI 0 (k1A )
+ (k 2A )
(k 3A )
(k 4A )
+
( x )
( x )
( x )
( x )
x =Vt
(3.4.11)
B
1
it + )
+e (
+ B + im 2 A +
2 m i
( t )
2
x =Vt
+
+
2 C
2 C
2 C
2 C
B2
B1
B2
B1
+ 3 EI 0 (k1B )
+ (k 2B )
(k 3B )
(k 4B )
( x )
( x )
( x )
( x )
We seek for the solution of equations (3.4.9) and (3.4.10) in the form
(3.2.13). The forced part of this solution reads
for x > Vt :
+
u (1)
forced = C11 ( x, t ) e
+C
+
21
) (
) + C + x, t eit (
)
12 (
it 1A + i k1A + x
( x, t ) e
) (
A
2 +
)i(k
A
2 +
) (
) + C x, t eit (
)
12 (
)i(k
it 1B i k1B x
+C
+
22
( x, t ) e
)x +
(3.4.12)
it 2B i k2B x
for x < Vt :
u (1)
forced = C11 ( x, t ) e
+C
21
) (
it 3A + i k3A + x
( x, t ) e
) (
it 3B i k3B x
+C
22
( x, t ) e
A
4 +
A
4 +
)x +
) (
it 4B i k4B x
(3.4.13)
it + )
E I 0 u xx x (1 )
= m u0 (1 ) + e (
2m
x =V t
1
A
A + im 2 B +
i
( t )
2
2
2 C
2
2 C
C A+ 1
C A1
A2
A2
+ 3 E I 0 (k 1A )
+ (k 2A )
(k 3A )
(k 4A )
+
( x )
( x )
( x )
( x )
E I 0 i (k 1B
+e
it ( +
2m
+ 3 E I 0 (k 1B
EI0
C 2+1 + i (k 2B
C 2+2 i (k 3B
C 21 i (k 4B
C 22
)}
x =V t
1
B
+ B + im 2 A +
i
( t )
2
+
B1
+
B2
B1
B2
) (C x ) + (k ) (C x ) (k ) (C x ) (k ) (C x ) +
(i (k + ) C + i (k + ) C i (k + ) C i (k + ) C )}
A
1
+
11
B
2
A
2
B
3
+
12
A
3
B
4
11
A
4
12
x =V t
(3.4.14)
130
Both terms, which stay in the figure brackets on the right-hand side of
equation (3.4.14), would cause resonance in the system, since their
frequency equals to the natural frequency of the mass. Thus, these terms
must be required to vanish, which yields the following two equations
A
1
A + im 2 B +
2 m i
( t )
2
+
+
2 C
2 C
2 C
2 C
A1
A2
A1
A2
+3 EI 0 (k1A )
+ (k 2A )
(k3A )
(k 4A )
+
( x )
( x )
( x )
( x )
(3.4.15)
EI 0 i (k1B ) C21+ + i (k 2B ) C 22
i (k3B ) C21
i (k 4B ) C 22
3
)}
=0
x =Vt
B
1
+ B + im 2 A +
2m i
( t )
2
B 2 CB+1
B 2 C B 2
B 2 C B1
B 2 C B 2
+3EI 0 (k1 )
+ (k 2 )
(k3 )
(k 4 )
+
( x )
( x )
( x )
( x )
(3.4.16)
)}
x =Vt
=0
Equations (3.4.8), (3.4.15) and (3.4.16) are the sufficient conditions for
the perturbed solutions u (1) ( x, t ) and u0(1) (t ) not to grow in time.
Solution to these ten equations can be sought in the form
C A+1 ( x, t ) = C A+10 e q1 t p1 x , C A+2 ( x, t ) = C A+20 e q2 t p2 x ,
A
C A1 ( x, t ) = C A10 e q3 t p3 x , C A2 ( x, t ) = C A20 e q4 t p4 x ,
A
(3.4.17)
Q3 A0 + Q2 (is + ) B0 = 0
(3.4.18)
131
Q3Q4
,
Q1Q2
(3.4.19)
It can be shown that the ratio (Q3Q4 ) (Q1Q2 ) is real and positive in the case
under consideration
(V < V
phase
min
).
occur is that s 2 is real. Thus, the boundaries of instability zone are defined
by the following equations:
QQ
V 2 3 4 = 0
Q1Q2
(3.4.20)
2000
l = 20 [m]
l = 10 [m]
1600
mass [kg]
1600
mass [kg]
]g 1200
k[
ss
a
m
800
1200
800
400
400
0
640
l = 20 [m]
l = 10 [m]
680
840
0.4
0.8
1.2
1.6
(a)
(b)
Fig. 3.4.2 (a) Centre of the instability zone for two periods of the inhomogeneity;
(b) deviation of the boundaries of the instability zone from its centre.
The deviation of the border of instability zone from its centre is presented in
Figure 3.4.2b as a function of the mass.
132
Comparing Figures 3.3.1, 3.3.2 and 3.4.2 it can be concluded that the
rail corrugation (periodic cross-section) can cause instability at much
higher velocities than the sleepers (periodic foundation). This is explained
by a much higher spatial period of the corrugation compared to that of the
sleepers. On the other hand, the width of the instability zone is much
larger in the case of corrugation as can be seen comparing Figures 3.3.2
and 3.4.2b. This is in direct relation to the velocity of the vehicle at which
instability occurs. For the rest, the instability zone is still very narrow. The
phase
, the wider the instability zone should be.
closer this velocity is to Vmin
133
CONCLUSIONS
In this chapter, stability of vibrations of a mass that moves uniformly
on an elastically supported Euler-Bernoulli beam with a) periodically
inhomogeneous foundation, b) periodically inhomogeneous cross section
has been studied. It has been assumed that the inhomogeneity is small is
compared to its mean value in both cases. The dead weight of the mass has
been accounted for.
In has been shown that the dead weight can not influence the system
stability and, therefore can be omitted in the course of stability analysis.
This weight, however, can lead to resonance in the system, that is to the
linear growth of the vertical displacement of the mass in time.
Omitting the dead weight, the system stability has been studied. It has
been shown that a mass moving on a periodically inhomogeneous beam
can lose its stability because of parametric resonance that is known to
occur in systems with parameters that vary in time periodically.
The first zone of parametric resonance in the mass-velocity space has
been studied analytically by a newly developed perturbation technique. It
has been found that the centre of this zone takes place if the doubled
frequency of the mass vibrations on the homogeneous beam is close to the
frequency of variation of the beam parameters under the moving mass. This
condition is fully analogous to the condition of the parametric resonance in
a system that is described by the Mathieus equation.
It has been shown that the position of the instability zone in the space
of system parameters depends strongly on the magnitude of the moving
mass and the period of inhomogeneity. The higher this period is and/or the
smaller the mass is, the higher is the velocity at which instability occurs. It
is important to underline that, in principle, parametric instability can occur
at any non-zero velocity of the mass. This is in contrast to instability of a
moving vehicle on a homogeneous structure, which can occur only if the
vehicle velocity exceeds the minimum phase velocity of waves in the
structure.
It has been found that the instability zone is very narrow with respect
to the velocity of the mass. This is a natural consequence of the
assumption that the inhomogeneity is weak.
The effect of viscosity of the beam foundation has been studied. It has
been found that this viscosity does not help to suppress instability but
leads to a shift of the instability zone in the space of system parameters.
This is in perfect correspondence with the effect of damping on classical
parametric resonance.
Concluding this chapter, it is worth noting that the model employed
here can not be considered as being able to describe a realistic train-track
interaction. However, the main result is quite general. It can be formulated
as follows. If the track inhomogeneity is periodic, then the parametric
instability of a uniformly moving vehicle can occur. This instability should
be expected when the frequency of variation of the track parameters under
135
the moving vehicle is close to the doubled natural frequency of the moving
vehicle as it interacts with the track.
136
137
decomposition method. The main attention is paid to the effect of the halfspace parameters, especially to that of the material damping.
138
V
k0 , 0
2a
y,v
x,u
z,w
V
M
k0
z=0
m
wb
u
w
Fig. 4.1.2 Vertical cross-section y
139
1 2
1 2
= 2 2 , = 2 2
cL t
cT t
with cL2 = + 2
=0
(4.1.1)
operators that are used instead of the Lme constants to describe the
visco-elastic material of the half-space in accordance with the Voights
model, the mass density of the half-space.
The components of the displacement vector of the half-space and the
stresses in the half-space may be written in terms of the potentials and
as (see [2]):
u=
z y
z x
y x
, v=
, w=
,
+
+
+
x
y
z
y
x
z
z
x
y
2
zz = + 2 2 + y x
z x
y
z
2 z y y x
xz = 2
+
z x x
y
xz z y
(4.1.2)
(4.1.3)
2 z x y x
yz = 2
+
z y x
y
yz z x
2 wb
4 wb
mb t 2 + EI x 4 +
a y
)
(
zz ( x, y, 0, t ) =
2 01
01
02
2a
+ ( x Vt ) m d u + k (u 01 u 02 ) + du du
0
0
2
dt
dt
dt
(a y )
, yz ( x, y, 0, t ) = 0
(4.1.4)
xz ( x, y, 0, t ) = Ku ( x, 0, 0, t )
2a
with wb ( x, t ) , u 01 (t ) and u 02 (t ) the vertical displacements of the beam and
140
viscosity of the oscillator, K the stiffness of the shear springs, (...) and
(...) are the Dirac delta function and the Heaviside step function;
w ( x, 0, 0, t ) = wb ( x, t ) ,
(4.1.5)
the continuity condition between the lower mass of the oscillator and
the beam:
u 01 (t ) = wb (Vt , t )
(4.1.6)
du 02 du 01
d 2u 02
02
01
k
u
u
+
(
)
=0
0
0
dt 2
dt
dt
(4.1.7)
= t
(4.1.8)
141
M
k0
m
k0
m
0 5
EHDP
9
HT
eqhs (, k1)
x
Fig. 4.1.3 Moving oscillator on the beam on
an equivalent foundation
hs
eq
( , k1 )
( is
oscillator)
2 2 2 1
,
+
+ 2 = 2 V
2
2
y z
cL
2
2
2
1
+
+
= 2 V
2
2
2
y
z
cT
y z
+
+
=0
y
z
(4.1.9)
2
m2 + 2 m 2 + y =
z
y
z
2
d 2u 01
du 01 du 02 (a y )
b
4 wb
01
02
= mb V
+ ( ) m
+ k0 (u u ) + 0
w + EI
2
d
2a
4
d
d
(a y )
2 z y y
m 2
+
+
= Ku ( ,0,0, )
2a
z
y
z z y
2 z y
m 2
+
= 0
z y
y
yz z
(4.1.10)
w ( , 0,0, ) = wb ( , ) ,
(4.1.11)
the continuity condition between the lower mass of the oscillator and
the beam
u 01 ( ) = wb (0, )
(4.1.12)
142
du 02 du 01
d 2u 02
02
01
+ k0 (u u ) + 0
M
=0
d 2
d
d
(4.1.13)
Now the Laplace transform with respect to time and the integral Fourier
transforms with respect to the horizontal co-ordinates x and y will be
applied. Defining these transforms as
( , y , z , )exp ( s i (k + k y ))d d dy ,
f (k1 , k 2 , z , s ) =
g (k1 , k 2 , z , s ) =
( , y , z , )exp ( s i (k + k y ))d d dy ,
1
b
s , k1
(k1 , s ) =
( , )exp ( s
(4.1.14)
ik1 ) d d ,
2 f 1
2
2 (s ik1V ) + k12 + k 2 2 f = 0,
2
z
cL
2 g 1
2
2 (s ik1V ) + k12 + k 2 2 g = 0,
2
z
cT
g
ik1 g + ik 2 g y + z = 0
z
(4.1.15)
2
2
*
2
2
* f
+
+
+
s
ik
V
k
k
f
s
ik
V
) z 2 1 2 ( ( 1 ) ) z 2 + z (ik1 g y ik2 g ) =
( (
1 )
z =0
sin (k2 a )
= wsb,k1 D (s ik1V , k1 ) + ms 2us01 + k0 (us01 us02 ) + s 0 (us01 us02 )
,
k2 a
( + (s ik V ) ) 2ik
*
( + (s ik V ) ) 2ik
*
g y
sin (k2 a )
f
+ ik2 g z
,
+ ik1 (ik1 g y ik2 g ) = Kus ,k1
z z
z
k2 a
z =0
g
f
ik1 g z
z z
z
z =0
(4.1.16)
143
us ,k1 (k1 , s ) =
u ( , 0, 0, )exp (s ik ) d d ;
1
the continuity condition along the center line of the beam (from (4.1.11))
wsb,k1 (k1 , s ) =
1
2
s , k1 , k2
(k1 , k2 , 0, s ) dk2 ,
(4.1.17)
w ( , y, z, )exp ( s i (k + k y )) d d dy ;
1
the continuity condition between the lower mass of the oscillator and
the beam (from (4.1.12))
(4.1.18)
the equation of motion of the upper mass of the oscillator (from (4.1.13))
(4.1.19)
g = B exp ( zRT ),
(4.1.20)
provided that the branches off the radicals in the complex domain are
chosen such that they have a positive real part, i.e. Re (RL,T ) > 0 .
Substituting Eqs.(4.1.20) into the third equation of the system (4.1.15)
and into the boundary conditions (4.1.16), the following system of linear
algebraic equations with respect to unknowns A and B = {B , By , Bz } is
obtained:
144
ik1B
2ik1RL A
k1k2B
2ik2RL A
(R + k ) B
2
2 2 (s ikV
1 )
2(k1 + k2 ) +
A +
T2
c
2
T
ik2By
2
2
2ik2RT B
RT Bz
= 0
(ik1RT ) Bz
= 0
+ (R k ) By + (ik2RT ) Bz = H
2
T
2
1
(k1k2 ) By
(2ik1RT ) By
(4.1.21)
= Hz
with
Kus,k1
sin k2a
H =
*
( + (s ikV1 ) ) k2a
(4.1.22)
k
a
1
sin
2
01
01
02
01
02
b
2
H =
z ( + (s ikV
k
a
) 2
1 )
B
B
B
A
, B = , By = y , Bx = z ,
0
0
0
0
(s ik1V )
0 = RT
cT2
(q
(s ik1V )
A = iRT
cT2
4 (k12 + k22 ) RL RT ,
(2k R H
1 T
+ iqH z ),
s ik1V )
(
= 2k2 RT k1H (q 2 RL RT ) iRL H z
,
T2
c
By
s ik1V )
(
2
2
= RT 4k2 RL RT + q (2k1 q ) H 2ik1 RL H z
,
T2
c
(4.1.23)
Now, we need to determine the Laplace-Fourier displacements of the halfspace surface in the x direction and in the z direction. In accordance
with general representation (4.1.2) these displacements read
145
(4.1.24)
(4.1.25)
with
2
2
2
2 2
ik1
a13 = (q 2 RL RT ),
a31 = a13 ,
2
a = (s ik1V ) RL ,
33
cT2
2
0 cT
.
2
=
(s ik1V ) RT
(4.1.26)
I13
K
b
2 01
01
02
01
02
us,k1 = 2 I11us,k1 + 2 ws ,k1 D (s ik1V , k1 ) + ms us + k0 (us us ) + s 0 (us us )
(4.1.27)
I
K
2
01
01
02
01
02
b
33
w =
I u +
w D (s ik1V , k1 ) + ms us + k0 (us us ) + s 0 (us us )
s,k1 2 31 s,k1 2 s ,k1
with
I ij
a
ij
sin k2 a
*
dk2 , = + (s ik1V ) .
k2 a
Eliminating us ,k1 from Eqs.(4.1.27), one can obtain the following equation for
the Laplace-Fourier vertical displacement of the beam:
wsb,k1 ( eqh s + D (s ik1V , k1 )) = u 01 (ms 2 + k0 + 0 s ) + u 02 (k0 + 0 s ),
(4.1.28)
where
eqh s =
2 (2 KI11 )
(KI11 2 ) I33 KI132
(4.1.29)
146
foundation that was employed in the first three chapters of this study. This
difference will be discussed later in this chapter.
Thus, we have made the first step of the model reduction - now one can
say that the oscillator moves along the beam on one-dimensional elastic
foundation with stiffness eqh s . The next step in the stability analysis is
application of the inverse Fourier-transform over k1 to Eq.(4.1.28). With the
aid of the continuity condition between the lower mass of the oscillator and
the beam (4.1.18), this yields
u 01 (ms 2 + k0 + 0 s + eqbeam ) u 02 (k0 + 0 s ) = 0,
(4.1.30)
with
eqbeam
1
=
dk
eqhs + D (s 1 ik1V , k1 ) .
(4.1.31)
The expression for eqbeam determines the equivalent stiffness of the beam
on the half-space at the contact point with the moving oscillator. Equation
(4.1.30), accompanied by the equation of motion of the upper mass of the
oscillator (4.1.19), describes vibrations of the oscillator on an equivalent
spring with the complex-valued stiffness eqbeam , as depicted in Figure 4.1.3.
Thus, we accomplished our goal to reduce the original 3D model to an
equivalent lumped model. Now that this goal has been reached, it is easy to
obtain the characteristic equation for the vertical vibrations of the
oscillator. In accordance with equations (4.1.30) and (4.1.19), this
characteristic equation reads
((ms
(4.1.32)
eqbeam depends on the equivalent stiffness of the half space eqh s (see
Eq.(4.1.31)), which is a much more complicated function than that, which
147
8E+005
1E+006
}V
ph
= 0.2 cT
}V
ph
= 0.7 cT
1E+006
4E+005
0E+000
8E+005
4E+005
V ph = 0.96 cT
0E+000
-4E+005
-8E+005
-4E+005
0
12
16
12
16
wavenumber k1 [rad/m]
(a)
(b)
2E+006
1E+006
8E+005
4E+005
0E+000
V ph = 1.5 cT
-4E+005
-8E+005
1E+006
0E+000
V ph = 3 cT
-1E+006
-2E+006
-1E+006
0
12
16
12
16
(c)
(d)
In Figure 4.1.5(a), the equivalent stiffness is shown for two phase velocities,
both smaller that the Rayleigh wave speed. This figure shows that the
imaginary part of eqh s is relatively small compared to the real part. The
smaller the phase velocity is, the smaller is the imaginary part. If the
material damping in the half-space were absent, the Im ( eqh s ) would be
149
equal to zero for all V ph < cR . This is explained as follows. The imaginary part
of the equivalent stiffness corresponds to damping of waves in the beam.
This damping can be caused by either material damping in the half-space
or by radiation of waves into the half-space that transfer energy from the
beam. The latter damping mechanism is called the radiation damping. To
perturb a wave in the half space, the phase velocity of waves in the beam
must exceed the phase speed of the wave to be perturbed. Thus, if the
phase speed is smaller than the Rayleigh wave speed, no waves are
perturbed in the half-space and, therefore, the radiation damping is absent.
Therefore, if there is no material damping, the imaginary part of the
equivalent stiffness is zero. If the phase velocity of waves in the beam is in
the interval cR < V ph < cT , as it is depicted in Figure 4.1.5(b), the imaginary
part of eqh s becomes comparable with the real part because of the radiation
damping that is associated with the Rayleigh waves. A further increase of
the phase velocity leads to a consequent increase of Im ( eqh s ) . This can be
seen from Figures 4.1.5(c) and (d), in which the equivalent stiffness is
depicted for cT < V ph < cL and V ph > cL , respectively. This increase is related to
radiation of the shear and compression waves. Figures 4.1.5(c),(d) show
another property of the equivalent stiffness that becomes apparent at high
wave velocities of waves in the beam. This property consists of a nonmonotonic behavior of the equivalent stiffness in the long-wave region
(small k1 ). Such a behavior is concerned with the finite width of the beam
and proportionality of this width to the wavelength of a radiated wave.
For the stability analysis, it is important to know that as soon as the
phase velocity of waves in the beam becomes larger than the Rayleigh wave
speed, waves are perturbed in the half space. Some of these waves are
anomalous Doppler waves, which, as we know, could destabilize the
system. Since the phase velocity of waves in the beam is directly related to
the velocity of the moving oscillator, we can expect the instability to occur
as soon as the oscillator moves with a velocity that is larger than the
Rayleigh wave speed. Whether instability may indeed occur as soon as
V > cR will be seen from the analysis of the equivalent stiffness of the beam
that is accomplished below. Before starting with this analysis, however, let
us take a quick look at the effect of the material damping and the shear
stiffness at the beam half-space interface on the equivalent stiffness of
the half-space. The effect of these two factors on eqh s has never been
studied, although, as it will be seen, it is quite perceptible.
The effect of the material damping is shown in Figure 4.1.6 that
presents the real and imaginary parts of eqh s as a function of the
wavenumber k1 for V ph = 0.96cT and three magnitudes of the material
damping. It can be seen that both the real and the imaginary parts grow
significantly with the increase of the material damping.
150
-2E+005
Im (eqh-s) [Pa]
Re (eqh-s) [Pa]
6E+006
* = 3103[s]
* = 103 [ s]
* = 5 104[s]
0E+000
* = 3 103[ s]
* = 103 [ s]
* = 5 104 [ s ]
4E+006
V ph = 0.96 cT
-4E+005
-6E+005
2E+006
V ph = 0.96 cT
-8E+005
0E+000
0
12
16
12
16
wavenumber k1 [1/m]
wavenumber k1 [1/m]
Fig. 4.1.6 Equivalent stiffness eqh s ( , k1 ) as a function of wavenumber k1 for three different
magnitudes of the material damping for V ph = 0.96 cT .
1E+006
K =0
6E+005
4E+005
2E+005
V ph = 0.96 cT
-1E+005
Im (eqh-s) [Pa]
8E+005
Re (eqh-s) [Pa]
0E+000
K = 108 [Pa]
-2E+005
-3E+005
-4E+005
V ph = 0.96 cT
K = 108 [Pa]
K =0
-5E+005
0E+000
0
4
8
12
wavenumber k1 [1/m]
16
12
16
wavenumber k1 [1/m]
beam
eq
1
( ,V ) =
2
dk
D (i ik1V , k1 ) + 1eqhs (i ik1V , k1 )
151
(4.1.34)
Since the denominator of the integrand in (4.1.34) has no real zeros (due to
the material damping in the half-space) and tends to zero at large k1
4
for four velocities of the oscillator. Integration has been carried out
employing the set of parameters (4.1.33) ( cT = 129.15 [m s ] ) and the following
parameters of the beam:
EI = 1.3 108 Nm 2 , mb = 7500 [kg/m ].
(4.1.35)
equivalent stiffness
of the beam eqbeam [N/m]
equivalent stiffness
of the beam eqbeam [N/m]
3E+008
2E+008
V = 0.2 cT
1E+008
0E+000
4E+008
V = 0.88 cT
3E+008
2E+008
1E+008
0E+000
-1E+008
0
20
40
60
40
60
frequency [rad/s]
frequency [rad/s]
4E+008
7E+008
equivalent stiffness
of the beam eqbeam [N/m]
equivalent stiffness
of the beam eqbeam [N/m]
20
3E+008
2E+008
1E+008
V = 0.98 cT
0E+000
-1E+008
4E+008
2E+008
0E+000
V = 1.2 cT
-2E+008
-4E+008
20
40
60
20
40
60
frequency [rad/s]
frequency [rad/s]
Fig. 4.1.8 Equivalent stiffness of the beam eqbeam ( , V ) as a function of frequency for
different velocities of the oscillator. Solid and dashed lines correspond to Re ( eqbeam ( , V )) ,
and to Im ( eqbeam ( , V )) , respectively.
152
5E+008
0E+000
0E+000
* = 103[s]
* = 7 104 [s]
* = 5 104 [ s ]
-4E+007
Im (eqbeam ) [N/m]
Im (eqbeam ) [N/m]
V ph = 0.98 cT
4E+007
-5E+008
V ph = 0.98 cT
-1E+009
-2E+009
K = 108 [Pa]
K =0
-2E+009
-8E+007
-3E+009
0
10
frequency [rad/s]
12
16
frequency [rad/s]
(a)
(b)
Fig. 4.1.9 Imaginary part of eqbeam ( , V ) versus frequency (a) for three magnitudes of the
material damping, (b) for two different magnitudes of shear stiffness
153
(4.1.36)
with eqbeam defined by Eq. (4.1.34) and a real value which has to be varied
from minus infinity to plus infinity.
Result of the mapping (4.1.36) is shown in Figures 4.1.10(a) and (b),
which correspond to a sub-critical (V = 0.93 cT ) and a super-critical
(V =1.1cT )
(4.1.37)
2E+005
k (2)
0
k (1)
0
Im k0 [Pam]
Im k0 [Pam]
2E+005
0
0E+000
-2E+005
-4E+005
0.0E+000
1E+005
0
1.0E+007
1.5E+007
0E+000
-1E+005
5.0E+006
1.0E+007
1.5E+007
-2E+005
0.0E+000
5.0E+006
Re k0 [Pam]
Re k0 [Pam]
(a)
(b)
154
6E+007
stiffness k0 [Pam]
5E+007
4E+007
3E+007
2E+007
instability
1E+007
0E+000
130
140
150
160
170
velocity V [m/s]
Fig. 4.1.11 Instability domain.
This figure shows that the instability domain begins at the velocity
V = 142.46 [m s ], which is about 1.1 cT , and with increasing velocity expands
towards higher magnitudes of the oscillator stiffness. Thus, interpreting
Figure 4.1.11 in practical terms, we can say that a high-speed train may
become unstable as soon as it reaches the shear wave speed in the subsoil
of a railway track. In a soft subsoil this speed can be in the order of
250 350 [km h] and, therefore, the instability should be considered as a
realistic threat for nowadays operated high-speed trains.
It is interesting to compare Figure 4.1.11 to Figure 2.2.8, in which the
instability domain is shown for the one-dimensional model. The only
resemblance between these two figures contains in existence of a critical
velocity of the oscillator. Below this critical velocity, the oscillator is
unconditionally stable, whereas above the critical velocity, it can become
unstable. Otherwise, Figure 4.1.11 and Figure 2.2.8 are obviously different.
Seeing such a difference, one could be tempted to conclude that the onedimensional model for a railway track that was considered in the previous
chapters is useless. This is, however not the case. The reason for Figure
4.1.11 and Figure 2.2.8 to be so much different is that considering the 3D
model, parameters for the beam have been chosen such that the beam
describes the averaged properties of the rails, sleepers and ballast. On the
contrary, the beam in the 1D model was employed to model just the rails. If
the same parameters of the beam were employed in both 1D and 3D
models, then the resemblance between Figure 4.1.11 and Figure 2.2.8
would be much better. Still, these figures would deviate in predicting the
critical velocity, above which the instability can arise and in assessing the
boundaries of the instability domain.
Figure 4.1.12 shows instability domains for 1D and 3D models. For 1D
model the following set of parameters (providing the same minimum phase
velocity of waves in the beam as occurs for 3D model) has been used:
155
(4.1.38)
Comparing instability domains for both models, one can conclude that
despite of evident difference, these domains have approximately the same
shape. Another important conclusion is that the difference between the
velocities, at which instability starts, is in order of 10%. It means that by
using 1D model it is possible to predict the order of velocities, for which
instability can arise.
Thus, we should conclude that one-dimensional models are applicable
for qualitative estimation of the instability domain and fail once employed to
find this domain quantitatively.
Let us carry out a parametric analysis of the instability domain for the
3D model. As in Chapter 2, this analysis will be accomplished in the plane
stiffness of the oscillator velocity of the oscillator. Attention will be
focused on the effect of the material damping in the half-space, the
viscosity of the oscillator, the shear stiffness of the interface beam halfspace and the upper mass of the oscillator. The other parameters influence
the system stability slightly. In all figures that follow, physical parameters
defined by (4.1.33), (4.1.35) and (4.1.37) are used unless other magnitudes
for some parameters are mentioned explicitly.
stiffness k0 [Pam]
6E+007
3D-model
1D-model
4E+007
2E+007
0E+000
120
130
140
150
160
170
velocity V [m/s]
Fig. 4.1.12 Comparison of instability domains for 1D and 3D models.
* = 103 [ s]
* = 7 104 [ s]
* = 5 104 [ s ]
stiffness k0 [Pam]
stiffness k0 [Pam]
6E+007
4E+007
2E+007
instability
0 = 86 [kN s/m]
0 = 8.6 [kN s/m]
0 = 0.6 [N s/m]
4E+007
2E+007
instability
0E+000
0E+000
130
140
150
160
170
velocity V [m/s]
120
130
140
150
160
170
velocity V [m/s]
(a)
(b)
Fig. 4.1.13 Instability domain (a) for three magnitudes of the material damping (b) for
three magnitudes of the viscosity in the oscillator.
157
6E+007
K = 108 [Pa]
stiffness k0 [Pam]
K =0
4E+007
2E+007
0E+000
130
140
150
160
170
velocity V [m/s]
Fig. 4.1.14 Instability domain for two magnitudes of the shear stiffness.
Effect of the upper mass of the oscillator. In Figure 4.1.15, the instability
domain is presented for three magnitudes of the upper mass, M = 103 [kg],
M = 2 103 [kg] and M = 3 103 [kg] .
6E+007
M = 3 103 [kg]
M = 2 103 [kg]
stiffness k0 [Pam]
M = 103 [kg]
4E+007
2E+007
0E+000
130
140
150
160
170
velocity V [m/s]
Fig. 4.1.15 Effect of the upper mass of the oscillator.
Figure 4.1.15 shows that the effect of the upper mass of the oscillator is
ultimately destabilizing. This means, that it is of a certain danger to
increase the weight of a high-speed train.
158
CONCLUSIONS
In this chapter, stability of an oscillator moving uniformly along an
Euler-Bernoulli beam on a visco-elastic half-space has been studied. The
main objective of this chapter has been to show that the instability, which
was studied throughout this thesis, can occur in a model, which includes
three main components of the train-track system:
a) a three-dimensional subsoil where waves can propagate (the half-space);
b) rails and ballast (the beam), which are also waveguides but with
completely different properties than the subsoil;
c) a train bogie (the oscillator).
It has been shown that the instability can occur if the velocity of the
oscillator exceeds the minimum phase velocity of bending waves in the
beam on the half-space. In the absence of material damping in the halfspace, this velocity is always smaller than the Rayleigh wave speed in the
half-space. With introduction of a realistic material damping, this velocity
increases to a value close to the shear wave speed in the half-space.
Therefore, for railway tracks that are built on soft subsoil, in which the
shear wave velocity is in the order of 250 350 [km h] , the instability should
be of practical concern already nowadays.
To determine parameters of a train that would lead to instability, a
three-dimensional model for a railway track must be employed. This
conclusion is based on a comparison that has been accomplished in this
chapter of the results of 1D and 3D modeling of the railway track. This
comparison has shown that the 1D modeling is capable of qualitative but
not quantitative assessment of the instability domain in the space of
physical parameters of the train-track structure.
159
161
APPENDICES
APPENDIX A
In this Appendix, the constants are defined that are employed in
expressions (3.1.13), (3.1.18), (3.1.19), (3.1.20), (3.4.5)-(3.4.7).
C =
+
A2
+
C2
(k
B
1
(k
C
1
,C =
B2
,C
(k
A
1
(k
B
1
, CC1 =
C2
A
1
,C =
A2
(k
B1
,C
C
1
(k
A1
,C
B
1
(k
CC+1 =
A
1
C =
A
1
(k
+
B1
+
B2
(k
(k
B
1
(k
C
1
(k
C
1
C11+ =
C21+ =
C31+ =
C41+ =
C11 =
k f C A+1
k f C A+2
k f CB+1
k f CB+2
k f C A1
, C12+ =
, C22+ =
, C32+ =
, C42+ =
, C12 =
k f C A+1
k f C A+2
2 EI ( 2k 2A ) (k2A ) + (k 2A )
2
k f CB+1
k f CB+2
2 EI ( 2k 2B ) (k2B ) + (k 2B )
2
k f C A1
163
21
C =
31
C =
C41 =
C51+ =
C61+ =
C51 =
C61 =
k f C A2
k f CB1
k f CB2
2 EI ( + 2k
B
4
)((k ) + (k
B 2
4
B
4
+ )
k f CC+1
F (k1CV ) + EI
2
(k1C + ) + k f
4
k f CC+ 2
F (k2CV ) + EI
2
(k2C + ) + k f
4
k f CC1
F (k3CV ) + EI
2
((k
C
3
+ ) + kf
4
k f CC 2
F (k4CV ) + EI
2
((k
C
4
+ ) + kf
4
22
,C =
32
,C =
, C42 =
, C52+ =
, C62+ =
, C52 =
, C62 =
k f C A2
2 EI ( 2k4A ) (k 4A ) + (k4A )
2
k f CB1
k f CB2
2 EI ( 2k
B
4
)((k ) + (k
B 2
4
B
4
k f CC+1
F (k1CV ) + EI
2
) + kf
) + kf
(k1C ) + k f
4
k f CC+ 2
F (k2CV ) + EI
2
(k2C ) + k f
4
k f CC1
F (k3CV ) + EI
2
((k
C
3
k f CC 2
F (k4CV ) + EI
2
((k
C
4
(
= i ((k
= i ((k
= i ((k
)
)C + (k )C (k )C (k )C ),
+ )C + (k + )C + (k + )C + (k + )C ),
)C + (k )C + (k )C (k + )C ),
A
1
B
1
B
1
+
12
A
2
+
22
A
3
12
A
4
22
+
31
B
2
+
41
B
3
31
B
4
41
+
32
B
2
+
42
B
3
32
B
4
42
((k + )C + (k + )C (k + )C (k + )C ),
= i ((k )C + (k )C (k )C (k )C ),
= ((k + ) C + (k + ) C (k + ) C (k + ) C
D15 = i
C
1
+
51
C
2
+
61
C
3
51
C
4
61
D16
C
1
+
52
C
2
+
62
C
3
52
C
4
62
D21
A
1
(
= ((k
= ((k
+
11
A
2
+
21
A
3
11
),
(k ) C ),
+ (k + ) C ),
(k + ) C ),
A
4
21
A
4
22
B
4
41
B
4
42
B
1
B
1
D 25 =
C
1
+ ) C 51+ + (k 2C + ) C 61
(k 3C + ) C 51 (k 4C + ) C 61
,
D 26
C
1
+
) C 52+ + (k 2C ) C 62
(k 3C ) C 52 (k 4C ) C 62
D23
D24
((k
= ((k
)
),
D31 = (C11+ + C21+ ), D32 = (C12+ + C22+ ), D33 = (C31+ + C41+ ), D34 = (C32+ + C42+ ),
164
(
= i ((k
= i ((k
= i ((k
)
) C ),
+ ) C ),
+ ) C ).
A
1
B
1
B
1
D45 = i
C
1
+ ) C 51+ + (k 2C + ) C 61
(k 3C + ) C 51 (k 4C + ) C 61
,
D46
C
1
+
) C 52+ + (k 2C ) C 62
(k 3C ) C 52 (k 4C ) C 62
D42
D43
D44
((k
= i ((k
22
41
42
)
).
APPENDIX B
The system of equations that is obtained by substitution of expressions
(3.2.2) into the system of equations (3.1.2) followed by collection of terms of
the order 0 reads
for x > Vt :
it ( + )
( A ( + k V ) + EI (k ) + k ) +
C ( x , t ) e
( A ( + k V ) + EI (k ) + k ) +
( x , t ) e
( A (k V ) + EI (k ) + k ) = 0
2
C ( x , t ) e
+
Aj
j =1
+e
it ( + )
j =1
+ CCj+
A
j
cs
ik Bj (Vt x )
+
Bj
C
j
cs
A 4
j
B
j
cs
ik Cj (Vt x )
j =1
ik Aj (Vt x )
C
j
B
j
(B1)
for x < Vt :
it ( + )
( A ( + k V ) + EI (k ) + k ) +
C ( x , t ) e
( A ( + k V ) + EI (k ) + k ) +
( x , t ) e
( A (k V ) + EI (k ) + k ) = 0
2
C ( x , t ) e
Aj
j =1
+e
it ( + )
j =1
+ CCj
j =1
ik Aj+ 2 (Vt x )
ik Bj+ 2 (Vt x )
Bj
C
j+2
cs
4
A
j +2
A
j+2
cs
ik Cj+ 2 (Vt x )
A
j+2
cs
4
B
j+2
4
C
j+2
(B2)
for x = Vt :
2
C (Vt, t )e
+
Aj
j =1
= C
j =1
Aj
it (+ )
(Vt , t )e
+ C
j =1
it (+ )
+
Bj
(Vt , t )e
+ C
j =1
Bj
it (+ )
+ CCj+ (Vt , t ) =
j =1
(Vt , t )e
it (+ )
165
+ C
j =1
Cj
(Vt , t )
(B3)
k
j =1
C Aj+ (Vt , t ) e
A
j
= k C
j =1
A
j+2
it (+ )
it + )
j =1
= (k
2
j =1
CAj+ (Vt, t )e
it (+ )
j =1
= A ( t ) e
it (+ )
Bj
(Vt , t )e
it (+ )
it (+ )
+ (k
2
j =1
+ CBj+ (Vt , t ) e
it (+ )
j =1
+ B ( t ) e
it (+ )
(B4)
(Vt , t )
j =1
it (+ )
Bj
+ k C
Cj
C
j+2
) C (Vt, t )e
B 2
j +2
j =1
j =1
it (+ )
Aj
+ k C
B
j +2
+ k Cj CCj+ (Vt , t ) =
j =1
+ (k jB ) CBj+ (Vt, t ) e
) C (Vt, t )e
A 2
j +2
j =1
(k jA ) CAj+ (Vt, t )e (
2
it (+ )
j =1
(Vt , t )e
Aj
+ k Bj CBj+ (Vt , t ) e
it (+ )
+ (k
2
j =1
(B5)
) C (Vt, t )
C 2
j +2
Cj
+ CCj+ (Vt , t ) =
(B6)
j =1
+ C ( t )
2
2
3
3
it + )
it + )
+ i (k jB ) CBj+ (Vt , t )e (
+
EI i (k jA ) C Aj+ (Vt , t )e (
j =1
j =1
j =1
it (+ )
j =1
i (k Bj + 2 ) CBj (Vt , t )e
2
j =1
= m 2 A ( t )e
it (+ )
it (+ )
+ B ( t ) e
(B7)
2
3
i (k Cj + 2 ) CCj (Vt , t ) =
j =1
it (+ )
) mg
Obviously, equations (B1) and (B2) are satisfied automatically, since the
A, B
C
wavenumbers k1,2,3,4
(and k1,2,3,4
) are the roots of the dispersion equation. The
equations (B3)-( B7) can be subdivided into three systems of equations, one
it + )
, one with the terms
containing the terms proportional to e (
it (+ )
proportional to e
and one with the terms proportional to e0 . Each of
these three systems is satisfied automatically.
APPENDIX C
In this Appendix, the constants are defined that are employed in
expressions (3.2.14), (3.2.15) and (3.2.27). Notice, that for the last
expression (3.2.27) amplitudes CCj , j = 1, 2 are not the slow functions of
coordinate and time, but just constants).
CC+11 ( x, t ) =
k f CC+1 ( x, t )
F (k1CV ) + EI (k1C + ) + k f
2
, CC+21 ( x, t ) =
166
k f CC+2 ( x, t )
F (k1CV ) + EI (k1C ) + k f
2
CC+12 ( x, t ) =
CC11 ( x, t ) =
CC12 ( x, t ) =
k f CC+1 ( x, t )
F (k2CV ) + EI (k2C + ) + k f
2
k f CC1 ( x, t )
F (k V ) + EI (k + ) + k f
C
3
C
3
k f CC1 ( x, t )
F (k4CV ) + EI (k4C + ) + k f
2
, CC+22 ( x, t ) =
, CC21 ( x, t ) =
, CC22 ( x, t ) =
k f CC+2 ( x, t )
F (k2CV ) + EI (k2C ) + k f
2
k f CC2 ( x, t )
F (k V ) + EI (k ) + k f
C
3
C
3
k f CC2 ( x, t )
F (k4CV ) + EI (k4C ) + k f
2
APPENDIX D
In this Appendix, the relations are presented that are obtained by
substitution of expressions (3.2.18) into equations (B3)-(B6). Further,
expressions are given for the constants Q j , j = 1..7 that are employed in the
equations (3.2.19), (3.2.22) and (3.2.29)
q1A p1AV = q2A p2AV = q1B p1BV = q2B p2BV = q3A p3AV = q4A p4AV = q3B p3BV = q4B p4BV = s,
C
+
A10
+
A 20
+
B10
+
B 20
+
C10
+
C 20
=
=
A
1
B
1
(k
C
1
A10
A 20
,C
,C
C
1
(k
B
1
,C
,C
(k
(k
A
1
=
=
(k
(k
C 20
,C
A
1
(k
A
1
C10
,C
(k
B10
B 20
(k
B
1
(k
B
1
(k
C
1
(k
C
1
167
(D1)
Q1 = 2m+
A
A 2
A
A
A
A
A
A 2
A
A
A
A
3iEI F
(k1 V +)(k1 ) (k3 k2 )(k4 k2 ) (k2 V +)(k2 ) (k3 k1 )(k4 k1 )
+ A A A A A A
+
+
3
(k1 k2 )(k1 + k2 k3 k4 ) FV (k1AV +) + 2EI (k1A )3
FV (k2AV +) + 2EI (k2A )
A
A 2
A
A
A
A
A
A 2
A
A
A
A
3iEI F
(k3 V +)(k3 ) (k4 k1 )(k4 k2 ) (k4 V +)(k4 ) (k3 k1 )(k3 k2 )
A A A A A A
3
(k3 k4 )(k1 + k2 k3 k4 ) FV (k3AV +) + 2EI (k3A )3
FV (k4AV +) + 2EI (k4A )
Q2 = 2m+
B
B 2
B
B
B
B
B
B 2
B
B
B
B
3iEI F
(k1 V )(k1 ) (k3 k2 )(k4 k2 ) (k2 V )(k2 ) (k3 k1 )(k4 k1 )
+ B B B B B B
+
+
3
(k1 k2 )(k1 + k2 k3 k4 ) FV (k1BV ) + 2EI (k1B )3
FV (k2BV ) + 2EI (k2B )
B
A 2
B
B
B
B
B
B 2
B
B
B
B
3iEI F
(k3 V )(k3 ) (k4 k1 )(k4 k2 ) (k4 V )(k4 ) (k3 k1 )(k3 k2 )
B B B B B B
3
(k3 k4 )(k1 + k2 k3 k4 ) FV (k3BV ) + 2EI (k3B )3
FV (k4BV ) + 2EI (k4B )
3
3
C
C
C
C
C
k2C ) (k3C k1C )(k4C k1C )
(
(k1 ) (k3 k2 )(k4 k2 )
+
Q3 = C C C C C C
(k1 k2 )(k1 + k2 k3 k4 ) 2 ( 2k1C ) (k1C )2 + (k1C )2 2 ( 2k2C ) (k2C )2 +(k2C )2
3
3
C
C
C
C
C
k4C ) (k3C k1C )(k3C k2C )
ik f
(
(k3 ) (k4 k1 )(k4 k2 )
+ C C C C C C
ik f
3
3
C
C
C
C
C
k2C + ) (k3C k1C )(k4C k1C )
(
(k1 + ) (k3 k2 )(k4 k2 )
Q4 = C C C C C C
+
(k1 k2 )(k1 + k2 k3 k4 ) 2 ( + 2k1C ) (k1C )2 + (k1C + )2 2 ( + 2k2C ) (k2C )2 +(k2C + )2
3
3
C
C
C
C
C
k4C + ) (k3C k1C )(k3C k2C )
ik f
(
(k3 + ) (k4 k1 )(k4 k2 )
+ C C C C C C
ik f
Q5 =
(k
C
1
(kC kC )(kC kC )(kC )3 +(kC kC )(kC kC )(kC )3 (kC kC )(kC kC )(kC )3 (kC kC )(kC kC )(kC )3
3
2
4
2
1
3
1
4
1
2
4
1
4
2
3
3
1
3
2
4
EI
C
C
C
C
k1 k2 )
k3 k4 )
(
(
3
3
k1C + ) Q1C
k2C + ) Q2C
(
(
Q6 = iEIk f
+
+
2
4
2
4
C
C
C
C
F
k
V
EI
k
F
k
V
EI
k
+
+
+
+
+
+
(1 )
(1 ) f
(2 )
(2 ) f
(k + ) Q
F (k V ) + EI ((k + )
C
3
C
3
C
3
C
3
(k + ) Q
) F (k V ) + EI ((k + )
3
C
4
+ kf
C
4
C
4
C
4
+ kf
3
3
k1C ) Q1C
k2C ) Q2C
(
(
Q7 = iEIk f
+
+
2
4
2
4
C
C
C
C
F (k2 V ) + EI (k2 + ) + k f
F (k1 V ) + EI (k1 ) + k f
(k ) Q
F (k V ) + EI ((k )
C
3
C
3
Q =
C
1
Q =
C
2
(k
(k
C
3
C
1
C
3
C
1
C
3
C
3
+ kf
(k ) Q
) F (k V ) + EI ((k )
3
C
4
(k
(k
C
4
,Q =
C
3
(k
(k
C
1
,Q =
C
4
C
4
C
1
C
4
+ kf
(k
(k
C
4
C
3
APPENDIX E
The system of equations that is obtained by substitution of expressions
(3.3.2) into the system of equations (3.1.2) followed by collection of terms of
the order 0 reads
for x > Vt :
it (+ )
C ( x, t ) e
j =1
+
Aj
((
+ C ( x, t ) e
2
j =1
+
Bj
( F ( + k V ) + EI (k ) + k ) +
) F + EI k + k = 0
( ( ) ( ) )
ik Aj (Vt x )
i t Bj xk Bj
A
j
B 2
j
A 4
j
B 4
j
for x < Vt :
169
(E1)
it (+ )
C ( x, t ) e
Aj
j =1
+e
it (+ )
C ( x, t ) e
j =1
ik Aj+ 2 (Vt x )
Bj
( F ( + k V ) + EI (k ) + k ) +
( F ( + k V ) + EI (k ) + k ) = 0
2
A
j+2
ik Bj+2 (Vt x )
4
A
j +2
A
j +2
4
B
j+2
(E2)
for x = Vt :
2
C (Vt , t )e (
it + )
+
Aj
j =1
= C
j =1
Aj
(Vt , t )e
+ CBj+ (Vt , t )e
it (+ )
= k
j =1
Aj
j =1
it (+ )
(Vt , t )e
= (k
j =1
it (+ )
it (+ )
j =1
it + )
+
Aj
it (+ )
+ k
B
j+2
Bj
(Vt , t )e
+ (k Bj ) CBj+ (Vt , t )e
2
(E4)
it (+ )
it (+ )
j =1
Aj
C (Vt, t )e (
j =1
) C (Vt , t )e
2
A
j +2
(Vt , t )e
(E3)
it (+ )
+ k Bj CBj+ (Vt , t )e
j =1
Bj
j =1
(k jA ) CAj+ (Vt , t )e
2
+ C
j =1
A
j +2
j =1
it (+ )
it (+ )
+ (k
2
j =1
) C (Vt , t )e
2
B
j+2
+ CBj+ (Vt , t )e
Bj
it (+ )
j =1
= A ( t ) e
it (+ )
+ B ( t ) e
2
2
3
3
it + )
it + )
EI i (k jA ) C Aj+ (Vt , t )e (
+ i (k Bj ) CBj+ (Vt , t )e (
+
1
1
j
=
j
=
2
2
3
3
it + )
it + )
i (k jA+ 2 ) C Aj (Vt , t )e (
+ i (k Bj + 2 ) CBj (Vt , t )e (
=
j =1
j =1
= m 2 A ( t )eit (+ ) + B ( t )e it (+ )
(E5)
it (+ )
it (+ )
(E6)
(E7)
Obviously, equations (E1) and (E2) are satisfied automatically, since the
A, B
wavenumbers k1,2,3,4
are the roots of the dispersion equation (3.1.8). The
equations (E3)-(E7) can be subdivided into two systems of equations, one
containing the terms proportional to e
it (+ )
it (+ )
terms proportional to e
. The natural frequency is the eigenvalue of
the determinants of both these systems. Therefore, the equations (E3)-(E7),
170
as well as the equations (E1) and (E2) are satisfied independently of the
choice of the amplitudes C Aj and CBj .
APPENDIX F
In this Appendix, the constants are defined that are employed in
expressions (3.3.13) and (3.3.14).
C11+ ( x, t ) =
C 21+ ( x, t ) =
C11 ( x, t ) =
C 21 ( x, t ) =
k f CA+1 ( x, t )
k f C
( x, t )
2EI ( 2k1B ) (k
) + (k
B 2
1
B
1
k f CA1 ( x, t )
k f CB1 ( x, t )
, C12+ ( x, t ) =
)
)
, C 22+ ( x, t ) =
, C12 ( x, t ) =
, C 22 ( x, t ) =
k f CA+2 ( x, t )
k f C
( x, t )
k f CA2 ( x, t )
k f CB2 ( x, t )
APPENDIX G
In this Appendix, the relations are presented that are obtained by
substitution of expressions (3.3.17) into equations (E3)-(E6). Further,
expressions are given for the constants D j , j = 1..6 that are employed in the
equations
A
A 2
A
A
A
A
A
A 2
A
A
A
A
3iEI F (k1 V + )(k1 ) (k3 k2 )(k4 k2 ) (k2 V + )(k2 ) (k3 k1 )(k4 k1 )
+ A
+
+
3
3
(k1 k2A )
FV (k1AV + ) + 2 EI (k1A )
FV (k2AV + ) + 2 EI (k2A )
A
A 2
A
A
A
A
A
A 2
A
A
A
A
3iEI F (k3 V + )(k3 ) (k4 k1 )(k4 k2 ) (k4 V + )(k4 ) (k3 k1 )(k3 k2 )
A
3
(k3 k4A ) FV (k3AV + ) + 2 EI (k3A )3
FV (k4AV + ) + 2 EI (k4A )
171
B
B 2
B
B
B
B
B
B 2
B
B
B
B
3iEI F (k1 V )(k1 ) (k3 k2 )(k4 k2 ) (k2 V )(k2 ) (k3 k1 )(k4 k1 )
+ B
+
+
B
B 3
B
B 3
(k1 k2B )
FV (k1 V ) + 2 EI (k1 )
FV (k2 V ) + 2 EI (k2 )
B
A 2
B
B
B
B
B
B 2
B
B
B
B
3iEI F (k3 V )(k3 ) (k4 k1 )(k4 k2 ) (k4 V )(k4 ) (k3 k1 )(k3 k2 )
B
3
(k3 k4B ) FV (k3BV ) + 2EI (k3B )3
FV (k4BV ) + 2 EI (k4B )
3
3
+
Q3 = A
(k1 k2A ) 2 ( + 2k1A ) (k1A )2 + (k1A + )2 2 ( + 2k2A ) (k2A )2 + (k2A + )2
3
3
A
A
A
A
A
k4A + ) (k3A k1A )(k3A k2A )
ik f
(
(k3 + ) (k4 k1 )(k4 k2 )
+ A
ik f
3
3
+
Q4 = B
(k1 k2B ) 2 ( 2k1B ) (k1B )2 + (k1B )2 2 ( 2k2B ) (k2B )2 + (k2B )2
3
3
B
B
B
B
B
k4B ) (k3B k1B )(k3B k2B )
ik f
(
(k3 ) (k4 k1 )(k4 k2 )
B
ik f
2
2
A
A
A
A
A
k2AV + ) (k3A k1A )(k4A k1A )
3 f FV (k1 V + ) (k3 k2 )(k4 k2 )
(
+
Q5 = A
(k1 k2A ) 2k1A FV (k1AV + ) + 2EI (k1A )3 2k2A FV (k2AV + ) + 2EI (k2A )3
2
2
A
A
A
A
A
k4AV + ) (k3A k1A )(k3A k2A )
3 f FV (k3 V + ) (k4 k1 )(k4 k2 )
(
+ A
(k3 k4A ) 2k3A FV (k3AV + ) + 2EI (k3A )3 2k4A FV (k4AV + ) + 2EI (k4A )3
2
2
B
B
B
B
B
k4BV ) (k3B k1B )(k3B k2B )
3 f FV (k3 V ) (k4 k1 )(k4 k2 )
(
B
(k3 k4B ) 2k3B FV (k3BV ) + 2EI (k3B )3 2k4B FV (k4BV ) + 2EI (k4B )3
172
2
2
+
Q6 = B
(k1 k2B ) 2k1B FV (k1BV ) + 2EI (k1B )3 2k2B FV (k2BV ) + 2EI (k2B )3
APPENDIX H
In this Appendix, the constants are defined that are employed in
expressions (3.4.12), and (3.4.13):
+
11
C12+ =
+
21
C =
+
22
C =
C11
2 EI 0 ( + 2 k 2A
((k
2
A
2
((k
A
2
+ )
((k
B 2
2
))
))
(2k2B 1) CB+2
))
(2k1B 1) CB+1
+ (2 k 2A + 1) C A+ 2
A
2
B 2
1
))
+ (2 k1A + 1) C A+1
2
)
)((k ) + (k
A 2
3
A
3
A
4
A 2
4
A 2
4
A
4
B
3
B
4
B
4
B 2
3
B 2
3
B
3
C22
F0 ( + k 2AV ) + 3 EI 0 (k 2A )
21
A
1
12
((k
F0 ( + k1AV ) + 3 EI 0 (k1A )
B 2
4
B 2
4
A 2
3
A
3
A2
B
3
B1
B
4
B2
B 2
4
B
4
A
4
B 2
3
B
3
A1
A 2
4
A
4
A
3
APPENDIX I
In this Appendix, the constants from expression (3.4.18) are presented:
173
A
A 2
A
A
A
A
A
A 2
A
A
A
A
3iEI F (k1 V + )(k1 ) (k3 k2 )(k4 k2 ) (k2 V + )(k2 ) (k3 k1 )(k4 k1 )
+ A
+
+
A
A 3
A
A 3
(k1 k2A )
FV (k1 V + ) + 2EI (k1 )
FV (k2 V + ) + 2EI (k2 )
A
A
A
A
A
A 2
A
A
A
A
A
A 2
3iEI F (k3 V + )(k3 ) (k4 k1 )(k4 k2 ) (k4 V + )(k4 ) (k3 k1 )(k3 k2 )
A
3
(k3 k4A ) FV (k3AV + ) + 2EI (k3A )3
FV (k4AV + ) + 2EI (k4A )
B
B 2
B
B
B
B
B
B 2
B
B
B
B
3iEI F (k1 V )(k1 ) (k3 k2 )(k4 k2 ) (k2 V )(k2 ) (k3 k1 )(k4 k1 )
+ B
+
+
B
B 3
B
B 3
(k1 k2B )
FV (k1 V ) + 2 EI (k1 )
FV (k2 V ) + 2 EI (k2 )
B
A 2
B
B
B
B
B
B 2
B
B
B
B
3iEI F (k3 V )(k3 ) (k4 k1 )(k4 k2 ) (k4 V )(k4 ) (k3 k1 )(k3 k2 )
B
3
(k3 k4B ) FV (k3BV ) + 2EI (k3B )3
FV (k4BV ) + 2 EI (k4B )
3
3
Q3 = A
+
(k1 k2A ) 2 ( + 2k1A ) (k1A )2 + (k1A + )2 2 ( + 2k2A ) (k2A )2 + (k2A + )2
3
3
A
A
A
A
A
k4A + ) (k3A k1A )(k3A k2A )
(
ik0
(k3 + ) (k4 k1 )(k4 k2 )
+ A
+
(k3 k4A ) 2 ( + 2k3A ) (k3A )2 + (k3A + )2 2 ( + 2k4A ) (k4A )2 + (k4A + )2
1
+ im2 (k1A + k2A k3A k4A ),
2
3
3
Q4 = B
+
(k1 k2B ) 2 ( 2k1B ) (k1B )2 + (k1B )2 2 ( 2k2B ) (k2B )2 + (k2B )2
3
3
B
B
B
B
B
k4B ) (k3B k1B )(k3B k2B )
(
ik0
(k3 ) (k4 k1 )(k4 k2 )
B
1
+ im2 (k1B + k2B k3B k4B ).
2
174
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181
182
184
185
SAMENVATTING
Trillingen van een voertuig dat over een lange elastische constructie beweegt,
kunnen instabiel worden door elastische golven die het voertuig genereert in de
constructie. Een typisch voorbeeld van een voertuig dat blootgesteld staat aan
dergelijke instabiliteiten, is een hogesnelheidstrein. Wanneer de trein met een
voldoende hoge snelheid beweegt, kunnen elastische golven gegenereerd worden
in de spoorbaan, waarvan de reactie de trillingen van de trein kan destabiliseren.
Een dergelijke instabiliteit kan het trillingsniveau van trein en spoorbaan
versterken, waardoor het comfort van de passagiers aanmerkelijk afneemt en de
kansen op bezwijken van de spoorbaan en ontsporing toenemen.
Instabiliteit van een bewegend voertuig op een elastische constructie kan
gezien worden als een van de problemen met bewegende belasting. Aangezien
dit een fundamenteel aspect is in de dynamica van bruggen en spoorbanen, wordt
al meer dan een eeuw onderzoek verricht naar deze klasse van problemen.
Recentelijk is de belangstelling van onderzoekers voor klassieke problemen met
bewegende belasting weer gewekt door de snelle ontwikkeling van
hogesnelheidstreinen. De noodzaak om dit oude probleem opniew te bestuderen is
gebaseerd op het feit, dat in eerdere studies gewoonlijk de aanname werd gemaakt
dat de snelheid van de last veel kleiner is dan de golfsnelheid in de elastische
constructie waarover de last zich beweegt. Tegenwoordig is deze aanname niet
langer acceptabel, aangezien moderne hogesnelheidstreinen snelheden kunnen
bereiken die vergelijkbaar zijn met de golfsnelheid in een spoorbaan.
Het hoofddoel van dit proefschrift is het bestuderen van de stabiliteit van het
trein-spoorbaansysteem bij hoge snelheden. Het praktische doel hierachter is het
ontwikkelen van een nauwkeurige en efficinte methode waarmee de parameters
van het trein-spoorbaansysteem kunnen worden gekozen zodanig dat stabiliteit
gegarandeerd is voor operationele treinsnelheden. Met de ontwikkeling van een
dergelijke methode richt dit proefschrift zich op
het bestuderen van het effect van de fysieke parameters van een wrielstel of
wagon van een bewegende trein op de stabiliteit van het treinspoorbaansysteem;
het analyseren van het effect van periodieke inhomogeniteit van de spoorbaan
veroorzaakt door de dwarsdragers en van periodieke oneffenheid van de rails
op de stabiliteit van het trein-spoorbaansysteem;
het onderzoeken van het effect van golven in de ondergrond op de stabiliteit
van het trein-spoorbaansysteem.
187
188
189
V
V
'
"
'
190
CURRICULUM VITAE
July 30th, 1975
Born in Nizhny Novgorod, Russia, as Stanislav Veritchev.
Sept. 1982 June 1992
Student of secondary school
N. Novgorod, Russia.
Sept. 1982 June 1989
Student of music school
N. Novgorod, Russia.
Sept. 1992 June 1998
Student at the Radiophysics Faculty,
Nizhny Novgorod State University, Russia.
Degree: Master of physics.
Jan. 1995 June 1998
Specialization at the Department of
Theory of Oscillations, Radiophysics Faculty,
Nizhny Novgorod State University, Russia.
Oct. 1998 Oct. 2001
PhD student at Mechanical Engineering Institute of
Russian Academy of Sciences, N. Novgorod, Russia.
December 13th, 2001
Defended Candidate Thesis in Russia.
Degree: Candidate of Sciences
(physics and mathematics).
Mar. 2001 Mar. 2002
Researcher of Construction Mechanics group,
Faculty of Civil Engineering and Geosciences,
Delft University of Technology, The Netherlands.
Mar. 2002 present
Researcher of Railroad Engineering group,
Faculty of Civil Engineering and Geosciences,
Delft University of Technology, The Netherlands.
191