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B. V.

VISCOMI Nonlinear Dynamic Response of Elastic


Associate Professor,
Department of Mechanical Engineering,
L a f a y e t t e College, Easton, Pa. Slider-Crank Mechanism
R. S. AYRE An investigation of the vibratory bending response of the elastic connecting rod of a
Professor a n d Chairman, slider-crank mechanism is presented. The response of the system is found to be de-
Department of Civil Engineering,
pendent upon five dimensionless parameters. These are classified as the length, mass,
University of C o l o r a d o , Boulder, Colo.
damping, external piston force, and frequency parameters; and the effects of these parame-
ters on the response of the system are investigated. The dynamic behavior is described
as graphs of nondimensionalized deflection versus crank angle. Solutions of the linear
as well as the nonlinear forms of the equations are included.

Introduction celeration due to the transverse deflection of the connecting


rod can be neglected; (3) the end forces of the rod do not depend
L
HE slider-crank mechanism, in which the connecting on its vibration, i.e., the pin reactions were derived from a rigid
rod is considered to be an elastic member, has been analyzed body analysis; and (4) the axial force does not vary along the
by several authors as indicated in references [ l ] 1 through [3]. length of the rod. The last assumption restricts the scope of their
Previous analyses have employed various assumptions to linear- paper to mechanisms having small ratios of crank to rod length
ize the equations of .motion, thereby restricting the scope of these and large ratios of piston to rod mass. Also, the stability cri-
investigations. terion given in their paper does not take into account the fact
Kozsevnyikov [1] published, in 1965, an analysis of the flexural that unstable regions exist for positive values of the frequency
vibrations of the slider-crank mechanism. His analysis did not term.
consider the effect of the axial load on the transverse vibrations. Certain linear and nonlinear terms previously discarded may
The axial load results from three effects: (1) the acceleration be important. They are retained in the following analysis.
field, including the Coriolis component; (2) the inertia of and the
external loading on the piston; and (3) the nonlinear inertia of
Equations of Motion
the piston introduced by the transverse vibrations of the con-
necting rod. Kozsevnyikov considered only the transverse ac- T h e basic differential equations governing the axial and trans-
celeration field, and the resulting equation is one of forced vibra- verse displacements of the connecting rod relative to its general
tions of a prismatic beam. The axial load is extremely important undeformed position are developed by energy methods. The
as it is this term which produces the "time dependent stiffness" effect of the piston mass and of the external loadings will appear
or "frequency modulation" effect resulting in the Hill type in the boundary conditions.
equations. The plane mechanism shown in Fig. 1(a) consists of the rigid
Meyer zur Capellen [2] has dealt with the transverse vibrations crank OA, of length r; the flexible prismatic rod AB, of length I;
of a crank-rocker mechanism. Neubauer, Cohen, and Hall have and the piston of mass Mf. Other symbols are as follows: N,
also considered this problem [3]. As the results of these two normal piston force perpendicular to its direction of motion; F,
reports are quite similar, only the second will be discussed. external piston loading in its direction of motion; B, resultant
crank bearing force; M„ moment applied to the crank; 8, crank
Neubauer and his colleagues made the following assumptions to
angle; <t>, angle of the undeformed axis of the connecting rod;
linearize their equation of motion: (1) axial vibrations and fric-
Z, crank to piston pin distance for rigid body motion of the
tion are negligible; (2) the Coriolis component of acceleration
linkage; x, longitudinal position coordinate along the undeformed
and the additional normal and tangential components of ac-
axis of the connecting rod measured from the crank end; and, u
and v, the axial and transverse displacements, respectively, of
the rod cross-section at x with respect to the undeformed position
1
Numbers in brackets designate References at end of paper. of the rod.
Contributed by the Design Engineering Division and presented It is assumed that the connecting rod is initially straight, and
at the Mechanisms Conference, Columbus, Ohio, November 2-4, that its end conditions correspond to simple supports. The ef-
1970, of THE AMERICAN SOCIETY OF MECHANICAL ENQINEEHS.
Manuscript received at ASME Headquarters, July 27, 1970. Paper fects of shear deformation and rotary inertia are assumed negli-
No. 70-Meeh-39. gible.

Journal of Engineering for Industry FEBRUARY 1971 / 251


Copyright © 1971 by ASME
M£h*-F-M 4 Z

Fig. 1(a) Slider-crank mechanism Fig. 1(b) Slider-crank mechanism

.Nomenclature-

a, b, c = coefficients of massless, lin- r length of the crank straight line from the
ear spring force exerted R resultant bearing force on crank end to the piston
on piston the crank end of the connecting
A = cross-sectional area of the position coordinate vector rod
connecting rod relative to inertial refer- y = transverse position coordi-
e,-, ej = unit vectors in the a; and y ence nate
directions, respectively t = independent time variable Z = rigid body position coordi-
e„ eg = unit vectors along and T = total kinetic energy of the nate of the piston
normal to the crank, connecting rod Z = second derivative of Z
respectively dynamic longitudinal dis- with respect to time
E = modulus of elasticity placement of the rod a* = ratio of the angular ac-
/ „ = -time dependent amplitude cross section at x celeration of the unde-
of the n t h mode shape ur, «_, = first and second partial formed axis of the con-
fnt fn ~ m ' s * a n d second deriva- derivatives of u with necting rod to the
tives, respectively, of respect to x square of the angular
/ „ with respect to time first and second partial velocity of the crank
F = time dependent external derivatives of u with re- £i) ti = constant coefficients of
loading on the piston in spect to time viscous damping
its direction of motion dynamic transverse dis- ex = axial strain in the connect-
gn = dimensionless time de- placement of the rod ing rod
pendent amplitude of cross section at x 9 = crank angle
the rath mode shape first and second partial 6,6 = first and second time
first and second deriva- derivatives of v, with derivatives of the crank
9n, 3„ tives, respectively, of g respect to time angle 6
with respect to the first, second, and fourth (j> = angle of the undeformed
crank angle 6 partial derivatives, re- axis of the connecting
area moment of inertia of spectively, of v with rod
I =
connecting rod cross respect to x <j>, <f> = first and second time de-
section about axis of potential energy of inter- rivatives of the con-
V =
bending nal forces (strain en- necting rod angle <j)
linear spring constant ergy) in the connecting 4>n = n t h function of space satis-
k =
I = length of the connecting rod fying the boundary con-
rod ditions of an equation
V. = strain energy of axial de-
m = mass of the connecting rod 4>* = ratio of angular velocity of
formation for the con-
per unit length necting rod the undeformed axis
M, = externally applied time strain energy of bending of the connecting rod
vh for the connecting rod to the angular velocity
dependent moment
il/ 4 = mass of the piston longitudinal displacement of the crank
iV = time dependent normal
w= of the piston end of the <J>„(0) = n t h periodic coefficient as
force exerted on the pis- connecting rod due to a function of the crank
ton, perpendicular to the lateral displacement angle 6
the direction of motion of the rod, i.e., ip{i) = periodic coefficient as a
of the piston function of time
P = time and position depen-
dent connecting rod axial
W ~
U/- '•dx
Q = ratio of angular velocity
of the crank to the first
load W = second derivative of W natural frequency of
Q = time and position depen- with respect to time flexural vibration of the
dent internal shear force x = longitudinal position co- stationary connecting
in the connecting rod ordinate extending on a rod

252 / F E B R U A R Y 1971 Transactions of the AS ME


In Fig. 1(6), the position coordinate vector R in the deformed mOvdx
P(o,t)
state relative to an inertial reference system at 0 is:

re,. + (x + u)et (1)


where e r , es, e,-, and e,- are unit vectors along the crank, normal
to the crank, in the x direction and in the y direction.
T h e absolute velocity is

R = (-rd sin (6 + 4>) + u + v^)e{ ^F-M-2


+ (r6 cos (6 + <j>) - (x + u)4> + v)*j (2)

and the total kinetic energy T of the connecting rod is,


Fig. 2 Free body diagram of flexible connecting rod
„ in f' ,. . ,
T = - I (R-R)dr

(3) velocity, a constant angular velocity is assumed. With the


2 (-rdmi (d + <j>) + u + vi>)2 above assumptions, and utilizing the expression P(x, t) =
" Jo AE(ux + 1/ivJ), equations (5) and (6) reduce to
+ (rd cos (6+ <t>) - (x + u)4> + v)2\dx

where m represents mass per unit length. — P(x, i) = m(24>v + v$ - rd* cos (6 + <f>) - xft) (8)
dx
The strain energies of bending, Vb, and of axial deformation,
V„, are and
EI oP(x, t)
I »xJdx, and EIvxxxx - P(x, l)-vxx vx + mi)
Jo ox
(4)
_EA rl = m(w</>2 + rd2 sin (d + f) + x$) (9)
v. 2 k + 1/2^2)!.^
~ Jo Integration of equation (8) from 0 to x yields
where EI is the flexural rigidity and EA the longitudinal rigidity, r*x f*x
and the subscript x denotes differentiation with respect to x. P(x, t) = P(0, t) + 2mi | 4>vdx
<j>vdz++ mm j I v<j>dz
v4
Equations (3) and (4) are employed, in conjunction with Hamil- Joo Jo
ton's principle, to derive the following equations of motion [4]
b — mrxB2 cos (d + 4>) - mx' (10)
EA — (ux + l / 2 ^ 2 ) - mu IT
ox
Utilizing the free body diagram of Fig. 2, it may be shown t h a t
= m(2<j>v + v$ - rd sin (6 + <£) - rd2 cos (6 + <j>)
tan (f>

and
- (x + u)fr) (5) P(0, i) = m\p(t) + MM + m
£(-* + v<t> +
I

X (-xv + 24>vv - v i{> - rvd2 cos (d + 0 ) ) ) dx


2
(11)
2
EIv„„ - EA^- ((«, + l/2vx )vx) + mv
ox
where
= m(2u<j> + v<j>2 - rd cos (6 + <j>) + rd* sin (0 + <j>)
+ (x + u)$) (6) \j/(t) = rid2 cos (d + (j)) + - 4>2

subject to the following boundary conditions:


+ ^±H + ^L±rle^n(d + 4>) + F-^^4 (12)
v(0, t) = v(l, t) = vxx(0,t) = vxx(l, t) = 0, «(0, () = 0 (7)
and where Z is the piston acceleration for rigid body motion of the
rod, and W is the second time derivative of W(t), the longitudinal
P(l, t) = EA(ux + 1/2V)
displacement of the piston end of the connecting rod due to t h e
where P(l, I) is the time dependent axial force at x = I, which in- bending of the rod.
cludes the effect of the normal force iV, the external piston load- Equation (9) is the nonlinear equation of motion and we are
ing F, and the piston inertia force. now concerned with its approximate solution. The assumed solu-
For forcing frequencies which are small in comparison to the tion is
first natural frequency of the longitudinal vibration, the longi-
tudinal vibration may be neglected. This simplification has been E / „ « s i n ^ (13)
well documented in the literature [7, 8]. I t will subsequently n=l I
be shown that the forcing frequencies for this problem are small
in comparison to the first frequency of free longitudinal vibration where the fn(t) are undetermined functions of time and sin ——
of a slender bar. Therefore, it is assumed that the influence of
the longitudinal vibration is insignificant. Accordingly, u = u = are the natural modes of transverse vibrations of a uniform beam
0, in equations (5) and (6). In addition, since the displace- with pinned ends.
ments are considered to be small, the quantity (x + u) can be Substituting the solution in equations (8), (9), (10), and (11)
taken as approximately equal to x. Furthermore, since this type and applying the Galerkin technique [5, 6] results in the follow-
of mechanism operates at or very nearly at constant angular ing:

Journal of Engineering for Industry FEBRUARY 1971 / 253


Cl (T ™ fmr\* . n-K
nirx . VKX , „ . r cos 5
sm — + Ffe Z)
Z cos <b
nirx . VKX £>P(x, t) cos' f sin i
sin sin —
I I dx Z c o s <j> \ I
(18)
Z = r cos 8 + £ cos 4>
n C0Sn7ra sm
, tTra
sm ™ .. nirx VKX
X E T? "^
I I m 2^ /»
71=1
sm
~^~
Z
sm
Z and

. VKX r cos 25 sin 2 25'


— m sin —— 1 rU' sin i + «) + a;# + ^» E A™—-K ?-02 cos 0 +
Z cos (j> 4Z cos3 0
3

?l = 1 ' )
X dx = 0 i = 1, 2,...,m (14) For simplicity assume t h a t the piston operates against a linear
massless spring that is undeformed at bottom dead center (6 =
m
dp I kirx 180 deg); then, the piston force
dx [24, E A sin — - - r<92 cos (0 + 0 ) - x&
F(t) = -fc(Z cos <t> + r cos 6 - I + r) + kW cos <£

where the last term represents the additional force due to fiexural
k=l activity of the connecting rod. In iiondimensionaiized form, the
foregoing equation becomes, for a two mode solution,
and
m 1 / F(jt) „ «
kwx\ — - r = a cos 4> + b cos 6 + c - - 7r2 cos 0 ((/12 + 4022) (19)
P{x, t) = mi/(I) + 2m4> COS k'K — COS
* mrlv' 4
where
- mrxd2 cos (0 + 4,) -(/> 2 + M 4 lV
fc = linear spring constant
-k k HI - r)
, v A . ! / . for* mrd3 mid c = ^77-
mrlO 2 = —a + 0
cos — oos
+ »?KJ> 2_j fh 7~~ ( K'K ~~7~

m 72 ?TI 7
Combining equations (14) through (19), the following two
sfc7r mode solution is obtained (the effects of viscous damping are in-
E A r- °° + ^ E AA ^ cluded and the damping coefficients are denoted by ei and £2):
2
.4=1 ^ iTi
2 c
+ <? E A 7, - rfc os (8 + <t>) E A r (1 - cos kK) ) (16) f/'i + «iffi + (~ + 7r2$i(0) k + ~ (2 -t cos (5 + <j>) +
*=1
In evaluating the above equations, the expression for W(t) is X ff2 + 7T0* I -2ffiff! - 2ffifif2 + - !7iS2J - T « » ( ffi2 + - gigt)
necessary. The usual small displacement expression for W is
Mi , . r air*
2 + —t 7T4 g,((gm + ff,2) + 4 W , + ()22)) - - — ffi((7i2 + 4ff22)
W = - ) d.r
" Jo / 1 r
+ ivgi tan <£ I — ^ + - g\ — 2 - gt cos (d + <p) + TT4>*
Using the aj^propriate derivative of equation (13) and differen-
tiating the above twice leads to X (ffiffi + f72<?2) + - ct*(gi2 + 022)
(k-K
W
2 h\ (AA + A2) (17) 4r 2
= - - sin (0 + <j>) + -a* (20a)
IT I K

Now to be considered is the contribution to the solution of the and


various mode shapes. In the investigation of the dynamic be-
'16 20 / r
havior of columns with time dependent loadings, the usual as- </2 + e2i?2 + (2TT) 2 $2(0) ) g, + - ( 2 - cos (6 + 0)
sumption is that if the longitudinal force does not greatly exceed ,fi 2
the Euler buckling value, then the elastic curve differs only
slightly from the form of the first eigenfunction of the linear
+ p*\
<£*2 )gi + 7T(7i*(- 8.9102 - 20101 + 40202) - 7ra*(0i 2 + 40102

problem [7]. This has been verified experimentally by Somerset


and Evan-Iwanowski [9] and Weingarten [10]. Neubauer and 2M 4 x 4
- 2022) + •i{(gigi + Si2) + 4(0202 + 022))
his colleagues [3] solved their equation of motion both by finite ml
differences and by the use of normal modes. They found that
the finite difference solution gave essentially the shape of the first 1
a7T402(</i2 + 402 2 )+ 47T02 tan .
mode. However, in examining the equation of motion, it is seen -ft + 2 #2
that terms such as x$, the rigid body component of transverse
acceleration, would tend to excite the even modes. Therefore, 2 - f f i cos (0 + <f>) + 7r(/>*(0i0, + 0202)
the approximate solution should include at least the first two
modes.
+ %*(0,3 + ! ? 2 2)) = ~ (206)
The equations will be iiondimensionaiized by changing the in-
dependent variable from time to crank angle, and normalizing where
the dependent variable by dividing by the connecting rod length:
t mZ 4 i
gk = —•. In addition the following kinematic relationships will O2
•Km
be utilized: r cos I
(20c)
r sin 6 = Z sin <j> Z cos c

254 /FEBRUARY 1971 Transactions of the ASME


cos 2 0 sin <j> Table 1 Identification of parameter combinations
= — tan 4> +
(i)' 3
cos <f>
Case r/l H^/ml External piston Damping
ioree
and
A Inactive Out
r 1
*,(0) =
I cos 4>
r sin
mi

/ r \ » gin'20 /
/ I cos <p \

J/A
("-=0 B
C
0.1 0.5
Inactive

Active
In
Out
D Active In
Z 3 cos <j> V / 1 2 c o s 3 0 \ m?/ E Inactive Out
ilf< r cos 20 F . Inactive In
H r 7 + a cos 0 + c (20d) 0.1 3.0
ml J cos <p G Active Out
H Active In
and
I Inactive Out
r 1 il/ 4 ,\ „ r cos20 / 5 \ J Inactive In
$ 4 (0) = 1/2 + h 6 I cos 0 + ( 1/3 0.5 0.5
? cos ml J Zcos0\ ' 167r 2 / K Active put
Mi 1 Active In
1 + 3
I 3 cos ml M Inactive Out
M , r cos 20 N Inactive In
0.5 3.0
H
rot t cos 0
7 + a cos
+ •] O
P
Active

Active
Out
In
Equations (20) represent the time behavior of the first two
modes of the connecting rod and are the equations with which
the remainder of this work is concerned. It is noted that the
coefficients of equation (19) were obtained from data given for
forcing functions for equations (20) are simply functions of the
an engine force analysis [12] and are as follows:
angular velocity of the crank. As the angular velocity of the
crank will be less than the first natural frequency of lateral vibra-
a = -5.0, 6 = -1.25, c = 3.75
tion of the rod for usual design, and as the connecting rod is
considered to be a slender bar, the assumption that the influence The mechanism normally operates under well-lubricated con-
of the longitudinal vibrations on the bending response is negligi- ditions; therefore, it appears reasonable to assume a maximum
ble appears reasonable. value of 10 percent of critical damping for the condition U = 1.0.
Digital and analog computer techniques were employed to For this assumption, the values of the viscous damping coefficients
solve equations (20). Hamming's modified predictor-corrector are ei = 0.2 and e2 = 0.8. The equations are also solved for the
method [11] was programmed for the C D C 6400 digital com- undamped case, 6i = e-i = 0.
puter, located at the Graduate School Computing Center of the The nondimensionalized frequency Q, was varied from 0.05 to
University of Colorado. The analog solutions were obtained upper values which produced a first mode amplitude beyond the
using an Electronic Associates, Inc. P A C E 231R analog com- range of application of the equations. For the purposes of this
puter. The authors are indebted to the Martin Marietta Cor- investigation, the connecting rod is considered to have failed if
poration, Denver Division, for the use of the analog equipment. the amplitude of the first mode exceeds 0.15. The choice of 0.15
The digital solutions were used to verify several of the analog is entirely arbitrary but some reasonable limit had to be set.
solutions. A first-mode amplitude of 0.15 represents a midspan deflection
equal to 15 percent of the length of the connecting rod which
Selection of Parameters would normally result in an overstressed condition. Also, at
deflections above 0.15, the use of small-slope theory becomes
The response quantities are the nondimensionalized time de-
questionable. Nevertheless, solutions in the regions of large
pendent amplitudes of the first two modes of flexural vibration
responses were continued until amplitudes of 0.5 were obtained.
of the connecting rod. Five dimensionless parameters define the
This magnitude is completely unrealistic as it implies t h a t the
system:
connecting rod has been bent double.
Mi Each of the sixteen combinations of parameters is given an
0 = d/brWEI/m/P)
ml mi'lO1 identification letter (A to P), in Table 1. The effect of the
numerical values selected for the system parameters on certain
The responses are presented for several values of the system components of the first of the modal equations (20) is shown in
parameters. T h e numerical values of the parameters were Fig. 3. The right-hand side of this equation is dependent upon
selected on the basis of the practical range of values encountered v
in design practice. only one of the parameters, -. Figs. 3(a) and 3(g) show the time
The ratios of crank length to connecting rod length selected r
are 0.1 and 0.5. The lower value provides nearly simple harmonic variation of the right side of the equation for - = 0.1 and 0.5,
motion of the piston (for rigid body motion of the crank and
respectively. For the smaller value the variation is essentially
connecting rod) whereas the higher value presents the upper
sinusoidal whereas, for the higher value, the variation departs
limit of usual design. The ratios of piston mass to connecting
greatly from the simple harmonic form. Therefore, it would be
rod mass are 0.5 and 3.0. These are in contrast to the values pre-
expected t h a t the responses would also differ considerably from
sented in reference [3] of 5.0 and 8.0 which seem too large to be
each other.
realistic.
The external loading F{t) is assumed to be a force propor- The portion of the external piston force parameters which af-
tional to piston displacement, as indicated by equation (19). As fects the periodic coefficient $i(0) may be written as
previous work has not considered the effect of piston loading, it
is desirable to investigate the response of the system both with
and without an external loading on the piston. The values of the +
Journal of Engineering for Industry FEBRUARY 1971 / 255
R.H.S. lixt. r
Piston
(a) Force tb)
i V V \J
i-
..jATV^C
•2r .2-
<I>j.(0) <c) ^(0) d • • 8 Ml
f ^ - ^ i ^ - ^ ^ - - ^ - 2S

.4-
$1(0) XA A A (0) *j.(0) (£)

R.H.S, .40- Ext.

(g)
Piston
Force
f (h)
1 ^y v v
V' \ y \ y \ y
1.0-
-J.cf-
l.q-
$l(0) '\ A A A ° (!) <&L(O)
<f , . • . JL (J)

2
-°t\ A A A
*J,(8) (H) O-^O)
I'w w w T U>

Fig. 3 Effect of parameter change


Right-hand side of equation (20a) for (b) External piston force component of
r/l = 0.1 (cases A to H) periodic coefficient f o r r/l = 0.1
(c) Periodic coefficient f o r cases A and B (d) Periodic coefficient f o r cases C and D
(e) Periodic coefficient for cases £ and F (f) Periodic coefficient for cases G and H
Right hand side of equation for r/l = (h) External piston force component of
0.5 (cases / to P) periodic coefficient for r/l — 0.5
(i) Periodic coefficient f o r cases / and J (/) Periodic coefficient f o r cases K and I
Periodic coefficient f o r cases M and N (I) Periodic coefficient for cases O and P

investigations were performed at nearby values of the frequency


The foregoing quantity is shown in Figs. 3(6) and 3(h) for - = 0.1
ratio. Figs. 4 through 7 show first mode responses for all damped
and 0.5, respectively. Again, the time variation resembles the cases. Each figure compares piston force inactive versus active
simple harmonic form only for the lower value. I t should also for three different values of the frequency ratio. Fig. 4 presents
be noted that the above quantity is always negative or zero; responses for cases B and D. At the lowest frequency ratio 0 =
therefore, the external piston force parameter will reduce the ef- 0.20, the external piston force has little effect and both steady
fective natural frequencies of the system. state responses are similar to that obtained from a linear oscilla-
The periodic coefficient $i(0) is shown in the remaining illus- tor subjected to the forcing function shown in Fig. 3(a). At the
trations of Fig. 3 for the selected values of the system parameters. frequency ratio 12 = 0.30, the steady state responses differ in
form and amplitude indicating an important change in the effect
The major effect of increasing the mass parameter I — I is to of the periodic coefficient. This may be explained by considering
\ ml) the effect of the external piston force. This force reduces the ef-
increase the amplitude of the periodic coefficient. A significant fective frequency of the system and also reduces the amplitude
change in the form of the periodic coefficient occurs for the lower of the periodic coefficient (compare Figs. 3(c) and 3(d))- For
Mi
value of —- when the external piston force parameter is included, 12 = 0.75, both cases indicate stable responses; however, the
ml period for case D has increased to 47T, probably indicating that
as shown by a comparison of Figs. 3(c) and 3(d) and Figs. 3(i) the solution is approaching a region of instability.
and 3(j).
Responses for cases F and H, illustrating the effect of increased
mass ratio, are shown in Fig. 5. For 12 = 0.20 the responses are
Response of Fundamental Mode similar, as in cases B and 1). For 12 = 0.30, the increased mass
The responses presented show the effect of the system parame- ratio produces a significant change in response form for case F.
ters on the fundamental mode as obtained from equations (20). For 12 = 0.50, the effect of the external piston force is approxi-
I t will be shown in a following section that the second mode mately to double the steady state response.
response is, for practical purposes, insignificant. r
Figs. 6 and 7 give responses for the large length ratio - = 0.50.
All responses in this section are obtained for the following
initial conditions: (1) 8 = 0 (piston at top dead center); and For 12 = 0.20, the steady state responses reflect the change in
(2) gi = §! = g% = g2 = 0 (zero displacement and velocity for the periodic form of the right hand side of the first modal equa-
each mode).
Table 2 indicates responses with first mode amplitudes less tion I compare Fig. 3(fif)for 0.50, with Fig. 3(a) for - = 0.10
than or greater than 0.15 for various values of the frequency
ratio 0. The letters A to P refer to Table. 1. The maximum The response amplitudes are considerably larger than those ob-
value of the frequency ratio shown is 1.0. Investigations were T
taiued for - = 0.10 (note that the vertical scales are different).
also performed in the region 1.0 to 2.0 in 0.05 increments, for the
lower values of the length, mass, and external piston force parame- Consequently, the frequency range of small response is greatly
ters. No amplitude values less than 0.50 were found in this reduced. For the other values of 12 shown, note that the in-
range, and therefore these results have not been included. Table crease in the length parameter generally results in evidence of
2 shows that as the length and mass parameters are increased increased nonlinear behavior.
and as the external piston force is made active, large responses Fig. 8 compares undamped and damped responses for cases C
result at the lower values of the frequency ratio. When large and D. For both 12 = 0.20 and 12 = 0.30, it is seen t h a t the
responses were obtained at a given frequency ratio, additional damping quickly eliminates the transient. For 12 = 0.75 the

256 / F E B R U A R Y 1971 Transactions of the A S M


Table 2 First mode responses

FREQUENCY RATIO
,a
Case .05 .10 .15 20 . 2 5 .30 . 3 5 .40 .45 . 5 0 .55 .60 <i65 . 7 0 .75 .80 .85 .90 .95 1.0
A
B
- _ -- + +
+
+
+
+ +
+
+

C - - -1- + 1- +
+ +

D - "- "!- • + +
+
E " -i- + +
U + +

F +
G
:-j - - L - -- - - [ - ] -
+
+

H - _ _ M tt::: : : :, (2 +
I +
~ _ —
J
K
- - - I-} -+ -[-: 1-3 l-J + + +

L - - - _ H -+L ++ ++ ++
- :-J + +

M
- - - + + + +
£+3 +

- - -
N
0 - - - :-3 M+ M+ +4- ++
- - - -
P
- - - t-: K M + +
- solutions with amplitude less than ;15
+ solutions with amplitude greater than .15
£j time response shown (Figures 4 to 13)

CAS:S

11
B
•; W W- V A1 v V A A 2„
.005'-.
•H
D o ^ A A A . A... A A A A - A - , o.
1 \J A V A V V V A 2n n = 0.20
(a)

.01r
3 si 0-A A "v\ / ^ £^Y- ^
A jV\ -1 f-^ 0
f "V A 2 A ^J A 'w w w W 2rt
. oA
D *i

T^yvV v \rsrv-\rs) ^
(b)
a ' 0.30

.5i-
3 *i

.5-
D ii 9. = 0 . 7 5

(c)

Fig. 4 First mode responses for cases B and D

0A AAA.A-. _A
a \J \J\J A tf*£
A^XA/V^--A

fy^vVVVVV*
fvwvv
.1-
?-AAAA=v^-

91

Fig. 5 First mode responses for cases F and H

Journal of Engineering for Industry FEBRUARY 1 9 7 1 / 257


t v; V ^ v ^ / ^v -v 2"
91

(a)

A/WW*
L 91
"o^wv\A/tyWWVWWWWW £
(b)

t V v^AAA/¥i
(c)

Fig. 6 First mode responses for cases J and L

Case .02-
91 ^ A. /A. A .A. .A , e
f
r
.OS.
P 91

r £) = 0 . 2 0

(a)

.5-
K 9l
f
-=-^-VWA|PV.nv/tAA.v>A^ —-—\:AA=—-

p 91

r
•^^c » n •= 0 . 2 5
(b)

.5 L -
N 91
'3 2n

P 91 -A r^\ S\ f 9 9. = 0 . 2 8 6
t V 4X V 2.T

(=)
Fig. 7 First mode responses for cases N and P

,00b-
2n
E w V V V w v V WV V
.005;-
< . . . A /\ A f\t o.
i^-A-a-
-,
9i X - £ A - V A ^ - ^ A - A - ^ - A - A ^ U ^ J-

Fig, 8 First mode responses for cases C and D

258 / F E B R U A R Y 1971 Transactions of the ASME


.002 r

91
^WWviWA
f-v^-y^wv-w^vv^vw/

(b)

31

92 o^^^^-ij

(c)

Fig. 9 Comparison of first and second mode responses

Nonlinear

91 •C0X f\ & _ A T J V L J V A A , 0
2ll

Linear
91
"fWWVVV^ _C_
2ir

Case G .
a - 0.25
(a)

Kor.linear
.005-.
91 e
c 2n
= uVv v v V v v
Linear
-00
91 of/\ A A A A A A A , 0_
2lT
i U \A \AA v v v
Case H
a = 0.25

(b)

Fig. 10 Comparison of first mode responses obtained from nonlinear and linear equations

undamped solution shows an increasing amplitude and period, and


a characteristic of nonlinear systems. The damped solution ap-
pears to reach a steady state but with an amplitude greater than 20
0.15 and the period has increased to 4x as shown also in Fig. 4(c). Si + e2g2 + ( | + wm) (21)

Response of the Second Mode X cos (6 + r/>) + (J>A


Fig. 9 shows first and second mode responses to widely different (•;
scales, for three sets of parameters. I n all cases the second mode
response is only a small percentage of the first mode response. I n this section, a comparison will be made of the responses of the
In Fig. 9(c), a situation is shown in which the first mode response linear and nonlinear forms of the system.
exceeds 0.5, which is a physical impossibility. Here it is seen that Fig. 10 shows solutions of the nonlinear and linear equations
the second mode response, although quite small, begins to in- for a frequency ratio which results in small amplitudes. For
crease rapidly due to the coupling of the two-mode equations. small values of the response the nonlinear and linear equations
give very nearly t h e same results for both the damped and un-
damped cases.
Comparison of Solutions of Linear and Nonlinear Equations
Fig. 11 shows acceleration, velocity, and displacement for a
The linearized forms of equations (20) are frequency ratio which produces instability for the damped and
20 undamped nonlinear form of the equations. The parametric
^ + A, )gi + conditions correspond to cases G and H in Table 1. For the
full nonlinear equations, Fig. 11(a), (6), the response is charac-
terized by abrupt changes in acceleration due to the nonlinear
(2 -t cos (6 +</>) + <j>A ff2 = ^ •7' siii (d + <j>) H — a*
terms. This case is for the large mass ratio of 3,0; consequently,
IT

Journal of Engineering for Industry FEBRUARY 1 9 7 1 / 259


0i A s\,—V-
31

01—-^ „ _ ; ^ , [ v , j i _£_
9l 9r
.Sr

9l

(a) JJH1_

Fig. 11 Comparison of first mode responses obtained from nonlinear and linear equations,
cases G and H, fi = 0 . 5 5

(a) Response from nonlinear (fa) Response f r o m nonlinear (c) Response from nonlinear
equations, case G equations, case H equations with noniinear
piston inertia terms re-
m o v e d , case H
(d) Response from linear (e) Response from linear
equations, case G equations, case H

i gi i-

91 jL

M tt>)

E
W ^/WOiL^^UWlA^
F
....
lgl

(4)

Fig. 12 Comparison of first mode responses obtained from nonlinear and linear equations,
cases / and J, $2 = 0.45
(a) Response from nonlinear (b) Response from nonlinear
equations, case / equations, case J
(c) Response f r o m linear (d) Response from linear
equations, case / equations, case J

the nonlinear inertia terms become quite important for large in Table 1. For these cases the mass ratio is 0.50 and the non-
responses. Pig. 11(c) shows the damped response with the non- linear inertia term will, therefore, be smaller in value than in the
linear piston inertia terms removed from equations (20). All systems represented in Fig. 11. The acceleration does not ex-
other nonlinear terms are retained. This solution is periodic perience abrupt changes; however, the linear equations give a
and stable. In Figs. 11(d) and 11(c), the solutions of the linear- larger response than the nonlinear equations. Both the un-
ized equations are shown for the undamped and damped cases, damped and the damped solutions of the linear equations are
respectively. I t is seen that the responses are smaller than those characterized by steadily increasing amplitudes.
obtained from the nonlinear equations. The damped linear I t has thus been found that the linear and nonlinear equations
solution, Fig. 11(e), yields essentially the same response as the give similar results for the bending responses of the connecting
damped nonlinear solution with the nonlinear piston inertia terms rod only at small values of the response. Therefore, it may be
removed, Fig. 11(c). stated that, in general, the response of the connecting rod is not
Fig. 12 shows linear and nonlinear responses for cases I and J defined adequately by a linear analysis.

260 / FEBRUARY 1 971 Transactions of the ASME


rA
M

•51
^"V^^^^i

31
cf-^v^-

(c)

(a)

Fig. 13 First mode responses for various starling conditions, case P

(a) fi = 0 . 2 5 , z e r o starting conditions


(b) First p o r t i o n — s t e a d y state response for Q = 0 . 2 3 5 , z e r o starting conditions
Second portion—response
portion—response f o rr Q ll =
~ 0.25 V.Z3 with wtrn starting
srarring conditions
conamon from first portion
to Dorrion—resrjonse! fror
First portion—response foorr ufifi == 00..2255.,, zzeerroo startina
VU3, starting conditions
srarring
starhi conamons
conditions
Second• pornon—response
oecona
••
portion—response . „ „ = „ 0 „. 2 3- 5 , with
for
for U
...j t a r t i n g conditions from first portion
0 = 0 . 2 3 5 , with sstarting conditi.
(d) First portion—response
First portion—response ff o o rr 0fi = = 0 ° . 92^5 , Tz Pe rmo <stni-Hi
starting conditions
Second portion—response
Second portion—response ff o o rr 12Q = 0 . 2 0 , with starting conditions f r o m first portion

r/1 = 0.1667
M 4 /m /. =0.0
.02 £
1 = 0
Ext. Piston Force
Inactive
fl = .2266

.01

-.01 -

This Investigation.

-.02 L

Fig. 14 Comparison w i t h results of previous work

Effect of Initial Conditions part of Fig. 13(c)) for 0 = 0.235. As a result, a solution with
amplitudes greater than 0.5 is obtained for Q = 0.235. A com-
All previous results have been presented for zero initial condi- parison of the first part of Fig. 13(5) and the second part of Fig.
tions (d = gi = ji = g2 = </2 = 0). As nonlinear equations are 13(c) therefore reveals the existence of multiple solutions for fi =
characterized by multiple solutions in certain regions, i.e., by 0.235. In Fig. 13(d)) the system is again started with zero initial
the jump phenomenon, it was considered important to investi- conditions and 0 = 0.25. The conditions after approximately
gate the effect of starting conditions. Fig. 13 shows responses one and one-half cycles are now used as initial conditions for 0
for case P. Fig. 13(a) indicates the response for 0 = 0.25 and = 0.20. In this situation, the amplitude steadily decreases and
zero initial conditions. The response is very large and quickly a steady state solution is obtained.
exceeds 0.5. The system is then started with zero initial condi- The system for this particular case is, therefore, showing multi-
tions for Q = 0.235, and a steady state solution is reached, shown ple solutions in the frequency range of Q S 0.25. However, this
in the first part of Fig. 13(5). The frequency is then increased region of multiple solutions is apparently bounded, i.e., it does
to Q = 0.25 and the system started (second part of Fig. 13(b)) not extend below a certain frequency. With additional tests, of
with initial conditions corresponding to the steady state solu- the type shown in Figs. 13(c) and 13(d), the lower bound is found
tion for Q = 0.235. I n this case the first mode reached a stable to be 0 ~ 0.22.
solution with an amplitude of 0.07, thus two solutions have been I t is observed that the zero initial conditions can produce
obtained for the same value of Q = 0.25, indicating the possible either a stable or unstable solution, depending on the frequency
existence of multiple solutions in this region. In Fig. 13(c), the ratio. Since case P includes the presence of the external piston
system is started with zero initial conditions and Q = 0.25 (same force parameter, the starting condition of 6 = 0 (top dead
conditions as for Fig. 13(a)). The conditions after approximately center) corresponds to a start with the maximum external force
one and one-half cycles are then used as initial^conditions (second on the piston. I n order to investigate the effects of other values

Journal of Engineering for Industry FEBRUARY 1 9 7 1 / 261


of the initial external force on the piston, responses were also ob- frequencies. The terms affected are the periodic coefficient
tained, for Q = 0.25, starting with various crank angles 6, and $ ( 0 ) and the nonlinear terms. At higher frequencies, the mass
with (/i = <ji = </2 = g-2 = 0. The start from the position 0 — it and force parameters become very significant.
(bottom dead center; zero initial external force on piston) pro- Damping, in general, reduces the response. In some cases,
duced the lowest transient response and resulted in a steady state damping serves to render stable a system that, without damping,
response identical to the steady state part shown for another would execute increasing amplitudes of vibration. However, for
certain combinations of t h e parameters, .in the large response
starting condition in Fig. 13(6). For d = - and —, the transient regions, an amplitude of 0.5 was reached in shorter time with
response was larger than for 6 = TT, b u t again the steady state damping than without damping.
part of the response shown in Fig. 13(6) was obtained. For the Solutions of linear as well as nonlinear forms of the two modal
crank perpendicular to the connecting rod at start, d = 1.107 equations were investigated. At low frequency ratios, where the
rad., an unstable solution was obtained. The additional inves- response is small, the linear and nonlinear equations gave closely
tigations described in this paragraph were conducted using the similar results. However, in regions of large response, the solu-
digital computer. tions are quite different. I t is concluded, therefore, that the
system is not adequately defined by the linear form of the
equations.
Comparison With Previous Work
Lastly, as some nonlinear systems are characterized by multiple
Neubauer and his colleagues [3], linearized their equations and
solutions in certain regions, the existence of multiple solutions
approximated the periodic coefficient by a cosine term. They
was investigated. It was found possible, for the same frequency
state that these restrictions limit the range of application of their
ratio but different initial conditions, to obtain steady state
equations to large mass and small length parameters. The ef-
response solutions having different magnitudes.
fects of damping and of an external piston force were not con-
sidered.
Fig. 14 is a comparison of the first mode response obtained References
from equations (20) with the first mode response given in refer-
1 Kozsevnyikov, S. N., "The Dynamics of Machines Having
ence [3]. T h e difference is due primarily to the difference in Flexible Members and Divided Parameters," A Nehezipari Muszald
the periodic coefficient. With the very large mass ratios used Egyetem Magyar Nyelvu Kozlemenyei, XII Kotetebol, 1965, p. 379,
by Neubauer and his colleagues, the two solutions will greatly Miskolc, Hungary.
diverge at higher frequency ratios where the nonlinear inertia 2 Meyer zur Capellen, W., "Bending Vibrations in the Coupler
terms become significant. of an Oscillating Crank Mechanism," Osterreichisches Ingenieur~
Archiv., Bd. XVI, Heft 4, 1962, p. 341.
3 Neubauer, A. H., Jr., Cohen, R., and Hall, A. S., Jr., "An Ana-
Summary anil Conclusions lytical Study of the Dynamics of an Elastic Linkage," JOURNAL
OP ENGINEERING FOR INDUSTRY, TRANS. ASME, Vol. 88, No. 3, Aug.
The vibrating bending response of the elastic connecting rod 1966, p. 311.
in a slider-crank mechanism is investigated. T h e formulation of 4 Viscomi, B. V., "Dynamic Response of the Slider-Crank
the problem results in two coupled nonlinear partial differential Mechanism with an Elastic Connecting Rod," PhD thesis, University
equations, representing axial and flexural behavior. By con- of Colorado, Aug. 1968.
5 Lanczos, D., Variational Principles of Mechanics, University
sidering only the bending response (but including the time and of Toronto Press, Toronto, 1949.
position dependent axial load) the system is reduced to one non- 6 Wang, C. T., Applied Elasticity, McGraw-Hill, New York,
linear partial differential equation. Application of the Galerkin 1951.
variational technique results in m ordinary nonlinear differential 7 Bolotin, V. V., "The Dynamic Stability of Elastic Systems,"
equations. The equations for the first two flexural modes have translated from the Russian by V. I. Weingarten, L. B. Greszczuk,
been studied in detail. Within the frequency range of interest, K. N. Trirogroff, and K. D. Gallegos, Holden-Day, Inc., San Fran-
cisco, 1964.
the second mode is relatively unimportant and the response is 8 Hoff, N. J., "The Dynamics of the Buckling of Elastic Col-
closely approximated by the first mode. umns," Journal of Applied Mechanics, Vol. 18, TRANS. ASME, Vol.
The response is dependent upon five dimensiomess parameters. 73, No. 1, Mar. 1951, p. 65.
The effects of two values of each of the length, mass, external 9 Somerset, H. H., and Evan-Iwanowski, R. M., "Experiments
of Parametric Instability of Columns," Proceedings, Second South-
piston force, and damping parameters on the response of the sys- eastern Conference on Theoretical and Applied Mechanics, Atlanta,
tem, for varying values of the frequency parameter, were inves- Ga., Mar. 1964.
tigated. The ratio of crank length to connecting rod length was 10 Weingarten, V. I., "Experimental Investigation of the Dy-
found to have the largest effect on the form and amplitude of the namic Stability of a Rod," TDR-269 (450O-4O)-8, Aerospace Corpo-
response. ration, El Segundo, California, Feb. 1964.
11 Ralston, A., and Wilf, H. S., Mathematical Methods for Digital
At low frequencies changes in the mass and external piston Computers, Wiley, New York, 1960.
force parameters are not significant as these two parameters af- 12 Mabie, H. H., and Ocvirk, F. W., Mechanisms and Dynamics
fect terms in the response equations which are not strong at low of Machines, Wiley, New York, 1963.

262/ FEBRUARY 1971 Transactions of the ASME

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