Vol.12, No.

EARTHQUAKE ENGINEERING AND ENGINEERING VIBRATION

September, 2013

DOI: 10.1007/s11803-013-0182-0

Earthq Eng & Eng Vib (2013) 12: 411-420

Nonlinear dynamics of two degree of freedom systems with linear

and nonlinear stiffnesses
M. Bayat and I. Pakar
Department of Civil Engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran

Abstract: In this study, a new analytical approach is developed to analyze the free nonlinear vibration of conservative
two-degree-of-freedom (TDOF) systems. The mathematical models of these systems are governed by secondorder
nonlinear partial differential equations. Nonlinear differential equations were transferred into a single equation by using
some intermediate variables. The single nonlinear differential equations are solved by using the first order of the Hamiltonian
approach (HA). Different parameters, which have a significant impact on the response of the systems, are considered and
discussed. Some comparisons are presented to verify the results between the Hamiltonian approach and the exact solution.
The maximum relative error is less than 2.2124 % for large amplitudes of vibration. It has been established that the first
iteration of the Hamiltonian approach achieves very accurate results, does not require any small perturbations, and can be
used for a wide range of nonlinear problems.
Keywords: nonlinear vibration; two-degree-of-freedom (TDOF); analytical approach; Hamitonian approach (HA)
1 Introduction
Many dynamic systems can be considered as twodegree-of-freedom models. Chen (1987) developed
MDOF holonomic systems and tried to formulate the
generalized Galerkins method. Moochhala and Raynor
(1972) applied the first order of perturbation method to
obtain the nonlinear response of a nonlinearn-degreeof-freedom system. Masri (1972) considered the
steady-state motion TDOF dissipative non-autonomous
system by using an exact analytical solution.Vakakis
and Rand (2004) studied the resonant response of a
TDOF nonlinear system which had a weak linear and a
strong nonlinear oscillator coupled together with a cubic
nonlinear stiffness. From these previous studies, the
mathematical model to represent the motion of multidegree-of-freedom systems can be described as two
second-order coupled nonlinear differential equations.
Differential equations are primarily used to represent
dynamic problems that arise in physical and chemical
phenomena. It is very interesting for the scientific
community to use applied mathematics to solve dynamic
problems. Recently, particular attention has been given
to the development of new approximate approaches to
prepare analytical solutions for nonlinear differential
equations such as:
Correspondence to: Bayat Mahmoud, Department of Civil
Engineering, Mashhad Branch, Islamic Azad University,
Mashhad, Iran
Tel: +98-111-3234205
E-mail: mbayat14@yahoo.com

Researcher
Received September 27, 2012; Accepted June 20, 2013

Variational Approach (Liu, 2009; Bayat et al.,

2011b; Pakar et al., 2011), Variational Iteration Method
(Pakar et al., 2012a), Iteration Perturbation (Bayat
et al., 2011d), Homotopy Analysis Method (Ganji
et al., 2009), Max-min Approach (Bayat et al., 2011c),
Homotopy Perturbation Method (Baki and Safa, 2011)
and the Hamiltonian Approach (He, 2010; Xu and He,
2010; He et al., 2010). In addition, other numerical
and analytical methods have been carried out by other
researchers (Bayat and Pakar, 2011a; Bayat et al., 2011a;
Bayat and Park, 2012; Bayat et al., 2012; Bayat and
Park, 2013; Bayat et al., 2013; Ganji et al., 2011; Fu et
al., 2011; Ghasemi et al., 2011; Pakar and Bayat, 2011;
Parkar et al., 2012).
In this research study, a new application of the
Hamiltonian Approach is considered for nonlinear
vibration of TDOF systems. He (2010) first proposed
this new approach. The first iteration of this approach
prepares highly accurate results when compared to the
exact results. It can be easily extended to any complex
nonlinear problems.

2 Overview of the analytical procedure

Previously, the Energy Balance Method (EBM)
has been introduced by He (2002). The EBM has some
shortcomings; therefore, the Hamiltonian approach was
proposed by He (2010) to overcome them.
Consider the following general nonlinear oscillator:
(1)
u + f (u , u , u) = 0
with initial conditions:
u (0) = A,

u (0) = 0

(2)

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EARTHQUAKE ENGINEERING AND ENGINEERING VIBRATION

Its variational principle can be easily obtained:

J (u ) =

T /4

1 2

u + F (u ) dt
2

(3)

it is the period of the nonlinear oscillator, F = f . In

u
Eq. (3), the first part is kinetic energy and the second part
is potential energy.
The Hamiltonian form of Eq. (3) is as follows:
H (u ) =

Then,

1 2
u + F (u ) = constant
2

(4)

H
=0
A

T /4

where the time derivatives are (.)=d/dt and (..)=d2/dt2. k1

is the stiffness of the linear spring and k2 is the nonlinear
spring, respectively. Dividing Eq. (9) by mass m yields:
k
k1
( x y ) + 2 ( x y )3 = 0
m
m
k
k

y + 1 ( y x ) + 2 ( y x )3 = 0
m
m

x+

y x :=

u 3 = 0

(14)

+ u + + 3 = 0

(15)

(6)

The following equation is equivalent to Eq. (5):

or

(13)

Transforming Eq. (11) by using the above intermediate

variables yields:

1
1 2

u + F (u ) dt = TH
2
4

A T

=0

(7)

=0
A (1 )

(8)

The approximate frequencyamplitude relationship of a

nonlinear oscillator can be obtained form Eq. (8).

where = k1 m and = k2 m . Equation (14) can be

written as follows:
(16)
u = + 3
Substituting Eq. (16) into Eq. (15) yields:

The proposed approach is applied to a TDOF

nonlinear oscillating system to demonstrate the
effectiveness of the analytical procedure.

with initial conditions:

1
1
H = 2 + 2 + 4
2
2

H =

T /4

(9)

my + k1 ( y x) + k2 ( y x)3 = 0

1
1 2
2
4
2 + + 2 dt

(t ) = A cos( t )

y (0) = Y0 ,

(10)

Substituting Eq. (21) into Eq. (20) results in:

x

(19)

(20)

The solution is assumed to be:

with initial conditions

x (0) = 0,
y (0) = 0,

(18)

Integrating Eq. (19) with respect to t from 0 to T/4

results in:

mx + k1 ( x y ) + k2 ( x y ) = 0

(0) = 0

3.1.1 Solution using HA

The Hamiltonian form of Eq. (17) is:

3.1 Case 1
Figure 1 represents a two mass system that is
connected by linear and nonlinear springs. The governing
equation of motion is given as (Cveticanin, 2002):

(17)

+ 2 + 2 3 = 0

(0) = y (0) x(0) = Y0 X 0 = A,

3 Nonlinear TDOF oscillating system cases

x(0) = X 0 ,

(11)

Here, the new intermediate variables are introduced as

follows (Lai and Lim, 2007):
x := u
(12)

(5)

is introduced as a new function and defined as:

H (u ) =

Vol.12

k1, k2

Fig. 1 Two mass system connected by linear and nonlinear springs

(21)

M. Bayat et al.: Nonlinear dynamics of two degree of freedom systems with linear and nonlinear stiffnesses

No.3

1
1

H = A2 2 sin 2 (t ) + A2 cos 2 ( t ) + A4 cos 4 ( t ) dt

0
2
2

/2 1
1
1

= A2 sin 2t + A2 cos2 t + A4 cos4 t dt

0

2
2

(22)
3
1 2
1
A4
= A + A2 +
32
8
4
T /4

k
k
k1
x + 2 ( x y ) + 3 ( x y )3 = 0
m
m
m
(30)
k
k
k

y + 1 x + 2 ( y x ) + 3 ( y x )3 = 0
m
m
m
As in Case 1, transforming Eq. (30) by using the
intermediate variables in Eqs. (12) and(13) yields:

x+

u + + u + + 3 = 0

(23)

by solving Eq. (23), the approximate frequency of the

system is:
1
(24)
HA =
8 + 6 A2
2
therefore, the following approximate solution is
obtained:
1

(t ) = A cos 8 + 6 A2 t
(25)
2

The first-order analytical approximation for u(t) is:

1
u (t ) = ( + 3 )dt dt = 2 A cos(t )
9
(26)
2
2
( 9 + 6 A + A cos (t ) )
Therefore, the first-order approximate displacements
x(t) and y(t) are:
x(t ) = u (t )
(27)
x(t ) = u (t ) + A cos (t )

u = u + + 3

mx + k1 x + k2 ( x y ) + k3 ( x y )3 = 0

(28)

my + k1 x + k2 ( y x) + k3 ( y x)3 = 0
with initial conditions
x(0) = X 0 ,
y (0) = Y0 ,

x (0) = 0,
y (0) = 0,

(29)

where the time derivatives are (.)=d/dt and (..)=d2/dt2. k1

and k2 are the stiffnesses of the linear spring and k3 is the
nonlinear spring. Dividing Eq. (28) by mass m yields:

+ ( + 2 ) + 2 3 = 0

(34)

with initial conditions:

(0) = y (0) x(0) = Y0 X 0 = A,

(0) = 0

(35)

3.2.1 Solution using HA

The Hamiltonian form of Eq. (34) is:
1
1
1
H = 2 + 2 + 2 + 4
2
2
4

(36)

Integrating Eq. (36) with respect to t from 0 to T/4

results in:
T /4

1 4
1 2 1 2
2
2 + 2 + + 4 dt

(37)

The solution is assumed to be:

(t ) = A cos( t )

(38)

Substituting Eq. (38) into Eq. (37) results in:

T /4 1
1
1

H = A2 2 sin 2 (t ) + A2 cos2 ( t ) + A2 cos2 ( t ) + A4 cos4 ( t ) dt

0
2
4
2

/2 1

= A2 sin 2t + A2 cos2 t + A2 cos2 t + A4 cos4 t dt

(39)
0

2
2
2

1
1
1
3
= A 2 + A 2 + A2 + A4
8
8
4
32

y
k1

(33)

Substituting Eq. (33) into Eq. (32) yields:

Figure 2 represents a two mass system with linear

and nonlinear springs connections fixed to the body. The
governing equation of motionis (Cveticanin, 2001):

(32)

where = k1 m , = k2 m and = k3 m . Equation (31)

is rearranged as follows:

H =

3.2 Case 2

(31)

u + u 3 = 0

Setting:
1
1
3
H
2
3

= A + A + A = 0
4
2
8
A (1 )

413

k2, k3

Fig. 2 Two mass fixed bodies system with linear and nonlinear springs

k1

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EARTHQUAKE ENGINEERING AND ENGINEERING VIBRATION

Vol.12

Setting:

1
1
1
3 3
H
2

= A + A + A + A = 0
4
4
2
8
A (1 )
(40)
By solving Eq. (40), the approximate frequency of the
system is:
1
HA =
4 + 8 + 6 A2
(41)
2

The procedure described above is applied to TDOF

systems in two cases to show the application of the
proposed approach.Table 1 and 2 provide a comparison
of the Hamiltonian Approach (HA) results with the
exact ones for different values of m, k1, k2, k3 and initial
conditions. The maximum relative error between the
HA results and exact results is less than 2.2124%. It is
obvious from the tables that there is excellent agreement
between the results of the Hamiltonian Approach and
the exact solution. Figures 3-5 for Case 1 and Figures
8-13 for Case 2 show the time history of displacement,
velocity and acceleration responses for the TDOF
system with exact results for different parameters of the
systems.
One of the aims of this study is to determine the
displacement, velocity and acceleration responses, which
provide a better view point in engineering design field.
The systems have periodic motions and the vibrations
of the amplitudes are function of the initial conditions.
To show the effects of k1, k2 for Case 1 and k1, k2, k3 for
Case 2, the influence of the stiffnesses of the systems
on the frequency base of the amplitudes are considered
and shown in Fig. 6 for Case 1 and Fig. 14 for Case 2.
The results are compared with the exact solutions for
both cases. To achieve a better understanding of the
effects of the stiffnesses of the springs and amplitude
on the frequency of the systems, they are considered

Therefore, the following approximate solution is

obtained:
1

(t ) = A cos
4 + 8 + 6 A2 t
(42)
2

The first-order analytical approximation for u(t) is:

u (t ) =

cos( t ) ( X 0 2 + 10 X 0 2 9 X 0 4 + A3 7 A3 2 9 A 2 + A )

2 10 2 + 9 4
4
1

27 A cos(t ) ( A2 + )( 2 ) + cos(3t ) A2 ( 2 )
3
9
27

4 2 40 2 + 36 4

(43)

Therefore, the first-order approximate displacements

and are:
x(t ) = u (t )
x(t ) = u (t ) + A cos ( t )

(44)

Discussion of cases

Table 1 Comparison of the frequencies of the system (Case 1)

m

k1

1
1
2
2
5
5
10
20
50

2
4
5
8
5
10
15
40
100

Constant parameters
k2
X0
3
5
3
6
5
15
20
50
50

Exact solution

1
1
-1
-4
5
-5
10
15
-20

Y0

HA

Ex

Relative error (%)

(HAEx)/Ex

2
3
4
4
15
10
30
40
10

2.9155
6.1644
7.8262
17.2047
12.3288
31.8826
34.6843
48.4536
36.7967

2.8983
6.0823
7.6838
16.8517
12.0683
31.1957
33.9348
47.4048
36.0023

0.5941
1.3501
1.8534
2.0946
2.1587
2.2019
2.2087
2.2124
2.2065

Table 2 Comparison of the frequencies of the system (Case 2)

Constant parameters

Exact solution

Relative error (%)

k1

k2

k3

X0

Y0

HA

Ex

(HAEx)/Ex

1
1
2
2
5
5
10
10
20

0.5
1
2
4
10
5
10
20
40

0.5
1
1
3
5
20
20
30
50

0.5
2
4
5
10
10
5
10
20

1
-1
-5
-3
2
-15
5
-10
-20

2
1
1
2
10
-5
20
15
10

1.5000
3.8730
7.0711
9.9373
14.0000
17.5784
13.1814
30.7490
36.8375

1.4965
3.8200
6.9300
9.7436
13.7087
17.2194
12.9120
30.0928
36.0459

0.2331
1.3879
2.0357
1.9882
2.1250
2.0850
2.0866
2.1806
2.1961

M. Bayat et al.: Nonlinear dynamics of two degree of freedom systems with linear and nonlinear stiffnesses

No.3

Time

Time

dy/dt

dx/dt

Fig. 3 (Case 1): Comparison of approximate solution of displacement x(t) and y(t) based on time with the
exact solution for m = 1, k1 = 4, k2 = 5, X0 = 1, Y0 = 3

Time

Time

d x/dt

d2y/dt2

Fig. 4 (Case 1): Comparison of approximate solution of dx/dt and dy/dt based on time with the exact solution
for m = 1, k1 = 4, k2 = 5, X0 = 1, Y0 = 3

Time

Time

Fig. 5 (Case 1): Comparison of approximate solution of d2x/d2t and d2y/d2t based on time with the exact solution
for m = 1, k1 = 4, k2 = 5, X0 = 1, Y0 = 3

415

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EARTHQUAKE ENGINEERING AND ENGINEERING VIBRATION

Vol.12

k2=50
k2=40
k2=30
k2=20
k2=10

(a)
(b)
Fig. 6 (Case 1): Influence of linear and nonlinear spring of system on frequency base on A for: (a) m = 2, k2 = 10; (b) m = 2, k1 = 10

(a)
(b)
(c)
Fig. 7 Sensitivity analysis of frequency for: (a) m = 2, 0 < A < 5, 0 < k1 < 100, k2 = 50; (b) m = 2, 0 < A < 5, 0 < k2 < 100, k1 = 50;
(c) m = 2, A = 5, 0 < k1 < 100, 0 < k2 < 100

Time

Time

Fig. 8 (Case 2): Comparison of approximate solution of displacement x(t) and y(t) based on time with the exact solution for
m = 1, k1 = 1, k2 = 1, k3 = 2, X0 = 1, Y0 = 1

No.3

M. Bayat et al.: Nonlinear dynamics of two degree of freedom systems with linear and nonlinear stiffnesses

Time

417

Time

dx/dt

dy/dt

Fig. 9 (Case 2): Comparison of approximate solution of displacement x(t) and y(t) based on time with the exact solution for
m = 1, k1 = 1, k2 = 1, k3 = 2, X0 = 5, Y0 = 1

Time

Time

dx/dt

dy/dt

Fig. 10 (Case 2): Comparison of approximate solution of dx/dt and dy/dt based on time with the exact solution for
m = 2, k1 = 2, k2 = 1, k3 = 4, X0 = 5, Y0 = 1

Time

Time

Fig. 11 (Case 2): Comparison of approximate solution of dx/dt and dy/dt based on time with the exact solution for
m = 1, k1 = 1, k2 = 1, k3 = 2, X0 = 5, Y0 = 1

EARTHQUAKE ENGINEERING AND ENGINEERING VIBRATION

Vol.12

d2y/dt2

d2x/dt2

418

Time

Time

Fig. 12 (Case 2): Comparison of approximate solution of d x/dt and d y/dt based on time with the exact solution for
m = 2, k1 = 2, k2 = 1, k3 = 4, X0 = 5, Y0 = 1
2

d2x/dt2

d2y/dt2

Time

Time

Fig. 13 (Case 2): Comparison of approximate solution of d2x/dt2 and d2y/dt2 based on time with the exact solution for
m = 1, k1 = 1, k2 = 1, k3 = 2, X0 = 5, Y0 = 1

k3=50
k3=40
k2=50
k1=50
k1=40

k3=30

k2=40

k1=30

k3=20

k2=30

k3=10

k2=20

k1=20
k2=10

k1=10

(a)

(b)

(c)

Fig. 14 (Case 2): Influence of linear and nonlinear spring of system on frequency base on A for: (a) m = 2, k2 = 10, k3 = 10; (b) m = 2, k1 = 10,
k3 = 10; (c) m = 2, k1 = 10, k2 = 10

419

M. Bayat et al.: Nonlinear dynamics of two degree of freedom systems with linear and nonlinear stiffnesses

No.3

k2

k3

k3

k2

k2
k1

Fig. 15 Sensitivity analysis of frequency for: (a) m = 2, 0 < A < 3, 0 < k2 < 50, k1 = 20, k3= 20; (b) m = 2, 0 < A < 3, 0 < k3 < 50, k1 = 20,
k2 = 20; (c) m = 2, A = 3, 0 < k2 < 50, 0 < k3 < 50, k1 = 20; (d) m = 2, A = 3, 0 < k1 < 50, 0 < k2 < 50, k3 = 20

simultaneously via sensitivity analysis of the frequency;

the results are given in Figs. 7 and 15 for both cases.
By applying the first iteration of this approach, a highly
accurate solution can be obtained. These presentations
are accurate for a wide range of amplitude and initial
conditions. The Hamiltonian solution can be easily
applied to conservative nonlinear oscillators.

is less than 2.2124%. This approach can be used as a

powerful mathematical tool to obtain analytical results.
In the Hamiltonian Approach, the first-iteration prepares
an accurate approximate solution. The obtained results
demonstrated that the Hamiltonian Approach is a very
simple, powerful approach that does not require any
computational efforts.

5 Conclusion

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accurate solution for the vibration of TDOF oscillation
systems. The effect of different parameters on the
response of the systems has been shown graphically
and discussed. The maximum relative error between the
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