悬臂梁裂纹参数的识别方法

以梁振动理论作为基础 ,将含裂纹梁的振动问题转化为由弹性铰联接两个弹性梁系统的振动问题 ,得到理论计算含裂纹梁振动频率的特征方程。由此特征方程计算得到裂纹深度参数和位置参数变化时悬臂梁振动固有频率的变化规律。利用计算裂纹悬臂梁振动固有频率的特征方程 ,提出一种辩识裂纹深度和位置参数的数值计算方法。并通过对模拟悬臂梁裂纹的分析说明文中方法的有效性。     

利用传递矩阵法对阶梯悬臂梁的裂纹参数识别

基于Bernoulli-Euler梁振动理论,以等效弹簧模拟裂纹引起的局部软化效应,利用传递矩阵法推导阶梯悬臂梁振动频率的特征方程,对于含多个裂纹以及复杂边界条件的阶梯梁,仅需求解4×4的行列式即可获得相应的频率特征方程。直接利用该特征方程,提出两种有效估计裂纹参数的方法———等值线法和目标函数最小化法,并应用两段阶梯悬臂梁的数值算例说明方法的有效性。算例结果表明,只需结构前三阶频率即可识别裂纹位置和深度。应用“零设置”可减小计算频率与理论频率不相等对识别结果的影响。等值线法可以直观给出裂纹位置和裂纹深度参数,目标函数最小化法可给出最优的裂纹参数结果,并且该方法可推广应用到含多个裂纹复杂梁(如非完全固支、弹性支撑等)结构的裂纹参数识别中。     

Forced responses of cracked cantilever beams subjected to a concentrated moving load

An analytical method is developed to present the dynamic response of a cracked cantilever beam subject to a concentrated moving load. The cracked beam system is modeled as a two-span beam and each span of the continuous beam is assumed to obey Euler–Bernoulli beam theory. The crack is modeled as a rotational spring with sectional flexibility. Considering the compatibility requirements on the crack, the relationships between these two spans can be obtained. By using the analytical transfer matrix method, eigensolutions of this cracked system are obtained explicitly. The forced responses can be obtained by the modal expansion theory using the determined eigenfunctions. Some numerical results are shown to present the crack effects (crack extent, location of the crack) and are studied for different speeds of the moving load.     

Crack detection in a beam with an arbitrary number of transverse cracks using genetic algorithms

In this paper, a crack detection approach is presented for detecting depth and location of cracks in beam-like structures. For this purpose, a new beam element with an arbitrary number of embedded transverse edge cracks, in arbitrary positions of beam element with any depth, is derived. The components of the stiffness matrix for the cracked element are computed using the conjugate beam concept and Betti’s theorem, and finally represented in closed-form expressions. The proposed beam element is efficiently employed for solving forward problem (i.e., to gain precise natural frequencies and mode shapes of the beam knowing the cracks’ characteristics). To validate the proposed element, results obtained by new element are compared with two-dimensional (2D) finite element results and available experimental measurements. Moreover, by knowing the natural frequencies and mode shapes, an inverse problem is established in which the location and depth of cracks are determined. In the inverse approach, an optimization problem based on the new finite element and genetic algorithms (GAs) is solved to search the solution. It is shown that the present algorithm is able to identify various crack configurations in a cracked beam. The proposed approach is verified through a cracked beam containing various cracks with different depths.     

Crack detection in beams using experimental modal data and finite element model

In this paper, an analytical, as well as experimental approach to the crack detection in cantilever beams by vibration analysis is established. An experimental setup is designed in which a cracked cantilever beam is excited by a hammer and the response is obtained using an accelerometer attached to the beam. To avoid non-linearity, it is assumed that the crack is always open. To identify the crack, contours of the normalized frequency in terms of the normalized crack depth and location are plotted. The intersection of contours with the constant modal natural frequency planes is used to relate the crack location and depth. A minimization approach is employed for identifying the cracked element within the cantilever beam. The proposed method is based on measured frequencies and mode shapes of the beam.     

Semi-analytical approach for free vibration analysis of cracked beams resting on two-parameter elastic foundation with elastically restrained ends

In present study, free vibration of cracked beams resting on two-parameter elastic foundation with elastically restrained ends is considered. Euler-Bernoulli beam hypothesis has been applied and translational and rotational elastic springs in each end considered as support. The crack is modeled as a mass-less rotational spring which divides beam into two segments. After governing the equations of motion, the differential transform method (DTM) has been served to determine dimensionless frequencies and normalized mode shapes. DTM is a semi-analytical approach based on Taylor expansion series that converts differential equations to recursive algebraic equations. The DTM results for the natural frequencies in special cases are in very good agreement with results reported by well-known references. Also, the DTM procedure yields rapid convergence beside high accuracy without any frequency missing. Comprehensive studies to analyze the effects of crack location, crack severity, parameters of elastic foundation and boundary conditions on dimensionless frequencies as well as effects of elastic boundary conditions on cracked beams mode shapes are carried out and some problems handled for first time in this paper. Since this paper deals with general problem, the derived formulation has capability for analyzing free vibration of cracked beam with every boundary condition.     

Frequency error based identification of cracks in beam-like structures

A crack identification method of a single edge cracked beam-like structure by the use of a frequency error function is presented in this paper. First, the dynamic theory of Euler-Bernoulli beams was employed to derive the equation of the natural frequency for a single edge cracked cantilever beam-like structure. Subsequently, the cracked section of the beam was simulated by a torsional spring. The flexibility model of the torsional spring due to the crack was estimated by fracture mechanics and energy theory. Thereafter, a function model was proposed for crack identification by using the error between the measured natural frequencies and the predicted natural frequencies. In this manner, the crack depth and crack position can be determined when the total error reaches a minimum value. Finally, the accuracy of the natural frequency equation and the viabilty of the crack identification method were verified in the case studies by the measured natural frequencies from the literature. Results indicate that the first two predicted natural frequencies are in good agreement with the measured ones. However, the third predicted natural frequency is smaller than the measured natural frequency. In the case of small measured frequency errors, the predicted crack parameters are in good agreement with the measured crack parameters. However, in the case of large measured frequency errors, the predicted crack parameters only give roughly estimated results.     

Free vibration analysis of Euler-Bernoulli beam with double cracks

In this paper, the influence of two open cracks on the dynamic behavior of a double cracked simply supported beam is investigated both analytically and experimentally. The equation of motion is derived by using the Hamilton’s principle and analyzed by numerical method. The simply supported beam is modeled by the Euler-Bemoulli beam theory. The crack sections are represented by a local flexibility matrix connecting three undamaged beam segments. The influences of the crack depth and the position of each crack on the vibration mode and the natural frequencies of a simply supported beam are analytically clarified for the single and double cracked simply supported beam. The theoretical results are also validated by a comparison with experimental measurements.     

受弯梁中开裂纹的位置识别与分析

利用有限元计算判定受弯梁中开裂纹的位置 ,从中得出 :同正常梁相比 ,裂纹梁的固有频率与振型的变化不但与裂纹深度而且与裂纹位置有关 ,因而 ,通过裂纹梁低阶固有频率及振型的变化情况可以判定裂纹的位置。对于裂纹较浅的情况 ,直接利用振型与固有频率的变化很难判定裂纹的位置 ,必须借用一些特征参数来提高识别的敏感性 ,这样 ,裂纹梁中早期裂纹的识别也是可行的     

Large amplitude free vibration analysis of Timoshenko beams using a relatively simple finite element formulation

Free vibration analysis of uniform isotropic Timoshenko beams with geometric nonlinearity is investigated through a relatively simple finite element formulation, applicable to homogenous cubic nonlinear temporal equation (homogenous Duffing equation). Geometric nonlinearity is considered using von-Karman strain displacement relations. The finite element formulation begins with the assumption of the simple harmonic motion and is subsequently corrected using the harmonic balance method. Empirical formulas for the non-linear to linear radian frequency ratios, for the boundary conditions considered, are presented using the least square fit from the solutions of the same obtained for various central amplitude ratios. Numerical results using the empirical formulas compare very well with the results available from the literature for the classical boundary conditions such as the hinged–hinged, clamped–clamped and clamped–hinged beams. Numerical results for the beams with non-classical boundary conditions such as the hinged-guided and clamped-guided, hitherto not studied, are also presented.     

Four-beam model for vibration analysis of a cantilever beam with an embedded horizontal crack

As one of the main failure modes, embedded cracks occur in beam structures due to periodic loads. Hence it is useful to investigate the dynamic characteristics of a beam structure with an embedded crack for early crack detection and diagnosis. A new four-beam model with local flexibilities at crack tips is developed to investigate the transverse vibration of a cantilever beam with an embedded horizontal crack; two separate beam segments are used to model the crack region to allow opening of crack surfaces. Each beam segment is considered as an Euler-Bernoulli beam. The governing equations and the matching and boundary conditions of the four-beam model are derived using Hamilton's principle. The natural frequencies and mode shapes of the four-beam model are calculated using the transfer matrix method. The effects of the crack length, depth, and location on the first three natural frequencies and mode shapes of the cracked cantilever beam are investigated. A continuous wavelet transform method is used to analyze the mode shapes of the cracked cantilever beam. It is shown that sudden changes in spatial variations of the wavelet coefficients of the mode shapes can be used to identify the length and location of an embedded horizontal crack. The first three natural frequencies and mode shapes of a cantilever beam with an embedded crack from the finite element method and an experimental investigation are used to validate the proposed model. Local deformations in the vicinity of the crack tips can be described by the proposed four-beam model, which cannot be captured by previous methods.     

The dynamic analysis of nonuniformly pretwisted Timoshenko beams with elastic boundary conditions

The coupled governing differential equations and the general elastic boundary conditions for the coupled bending–bending forced vibration of a nonuniform pretwisted Timoshenko beam are derived by Hamilton's principle. The closed-form static solution for the general system is obtained. The relation between the static solution and the field transfer matrix is derived. Further, a simple and accurate modified transfer matrix method for studying the dynamic behavior of a Timoshenko beam with arbitrary pretwist is presented. The relation between the steady solution and the frequency equation is revealed. The systems of Rayleigh and Bernoulli–Euler beams can be easily examined by taking the corresponding limiting procedures. The results are compared with those in the literature. Finally, the effects of the shear deformation, the rotary inertia, the ratio of bending rigidities, and the pretwist angle on the natural frequencies are investigated.     

Crack identification in a cantilever beam under uncertain end conditions

Crack identification in structures by changes of their dynamic behavior has been studied in the past, and various methods were developed enabling the calculation of crack location along a beam, by using the variations in the natural frequencies between the initial undamaged state and a later, cracked beam. Application of this procedure to cantilever beams may result in unacceptably large errors, due to changes in clamp rigidity between measurements in the two states. The present research studies the problem of crack identification in a cantilever when clamp rigidity is unknown, and may change with time. An identification method is developed, which requires monitoring of three natural bending frequencies. Crack location may then be found by using a universal curve, i.e. independent of any beam property (geometry or material). The proposed method was verified by numerical simulation and experiment.     

The dynamic behavior of a rotor system with a slant crack on the shaft

For a Jeffcott rotor system with a 45° slant crack on the shaft, the motion equations are established with four directions, i.e. two transversal directions, one torsional direction and one longitudinal direction. It can be seen from the deducing process of the stiffness with the strain energy release approach that there are coupling stiffnesses of bending–torsion, bending–tension and torsion–tension for the slant-cracked shaft and only bending–tension for the transverse-cracked one. The paper shows that besides the coupling stiffnesses, there is bending–torsion coupling caused by the eccentricity. All these couplings affect the responses of the slant-cracked shaft and the transverse-cracked one. Comparing responses of a cracked shaft with an open crack model and those with a breathing crack model finds that there are the same prominent characteristic frequencies for these two kinds of shafts, even though the cracked shaft with a breathing crack model behaves much more non-linear than that with an open crack model. Therefore, almost all studies in this paper adopt the open crack model since it needs taking much longer time to compute responses of a breathing cracked shaft than that of an open cracked shaft. Analyses of steady responses indicate that the combined frequencies of the rotating speed and the torsional excitation in the transversal response and the frequency of the torsional excitation in the longitudinal response can be used to detect the slant crack on the shaft of the rotor system.     

Analysis of dynamic properties of boring bars concerning different clamping conditions

Boring bars are frequently used in the manufacturing industry to turn deep cavities in workpieces and are usually associated with vibration problems. This paper focuses on the clamping properties’ influence on the dynamic properties of clamped boring bars. A standard clamping housing of the variety commonly used in industry today has been used. Both a standard boring bar and a modified boring bar have been considered. Two methods have been used: Euler–Bernoulli beam modeling and experimental modal analysis. It is demonstrated that the number of clamping screws, the clamping screw diameter sizes, the screw tightening torques, the order the screws are tightened has a significant influence on a clamped boring bars eigenfrequencies and its mode shapes orientation in the cutting speed—cutting depth plane. Also, the damping of the modes is influenced. The results indicate that multi-span Euler–Bernoulli beam models with pinned boundary condition or elastic boundary condition modeling the clamping are preferable as compared to a fixed-free Euler–Bernoulli beam for modeling dynamic properties of a clamped boring bar. It is also demonstrated that a standard clamping housing clamping a boring bar with clamping screws imposes non-linear dynamic boring bar behavior.     

基于曲率模态与柔度曲率的损伤识别

以含两条裂纹的两端固定梁为例,采用曲率模态差和模态柔度曲率差来检测结构的损伤。首先将梁的裂纹模拟为无质量的等效扭转弹簧,推导了裂纹梁的特征微分方程,利用边界条件和裂纹位置的连续性条件推导得到该裂纹梁的振形函数解析表达式。然后用中心差分法分别求解裂纹梁损伤前后的曲率模态值和模态柔度曲率值,利用其差值确定梁的损伤位置,进而确定损伤程度。最后讨论了曲率模态和柔度曲率对结构损伤识别的敏感性。     

Dynamic plastic behavior of a free–free beam striking the mid-span of a clamped beam with shear and membrane effects considered

Recently Yu et al. (Int. J. Solids Struct. 38 (2001) 261) made a study on the dynamic behavior of a flying free–free beam striking the tip of a cantilever beam using the rigid, perfectly plastic (r-p-p) material model. Later, also based on the r-p-p material model Yang and Yu (Mech. Struct. Mach. 29 (2001) 391) analyzed another impact problem of a free rotating hinge beam striking a cantilever beam. Both of these studies ignored the finite deflection effects on the plastic behavior of the colliding beams. However if the free–free beam strikes a clamped beam, the influence of finite-deflections, or, geometric changes, must be retained in the governing equation if the maximum permanent transverse displacement of the clamped beam exceeds the corresponding beam thickness. The problem becomes more interesting since the deformation mechanisms of the beam system and the partitioning of energy dissipation in the beams are significantly different from those predicted by ignoring the influence of membrane forces. Accordingly the failure modes of the structure are different.In the present paper, a theoretical model based on the r-p-p material idealization is proposed to simulate the dynamic behavior when the mid-point of a translating free–free beam impinging on the mid-span of a clamped beam with the beam axes perpendicular to each other. The plastic behavior of the beam system is explored with shear sliding and finite deflection effects taken into account. The final deflection, the dissipation of energy within the two beams after impact and the influence of the structural and material parameters are discussed. It is shown that membrane force plays an important role during the response process, especially when the deflection is of the same order as the thickness of the clamped beam.     

A bending theory for beams with vertical edge crack

In this paper a linear continuous theory for bending analysis of beams with an edge crack perpendicular to the neutral plane subject to bending has been developed. The model assumes that the displacement field is a superposition of the classical Euler-Bernoulli beam's displacement and of a displacement due to the crack. It is assumed that in bending the additional displacement due to crack decreases exponentially with distance from the crack tip. The strain and stress fields have been calculated using this displacement field and the bending equation has been obtained using equilibrium equations. Using a fracture mechanics approach the exponential decay rate has been calculated. There is a good agreement between the analytical results from solving the differential equation of cracked beam and those obtained by finite element method.     

Dynamic responses of structures to moving bodies using combined finite element and analytical methods

This paper presents a technique using combined finite element and analytical methods for determining the dynamic responses of structures to moving bodies. In previous work (Comput. Struct., submitted), moving masses were treated as moving loads, ignoring inertia effects. This is not always reasonable and the technique described here allows inertia effects to be included in the analysis. In order to illustrate the methodology, and for validation purposes, the technique is first applied to a clamped–clamped beam subjected to a single mass moving along the beam. Finally, it is applied to the problem that initiated the work: to predict the dynamic response of an experimental mobile gantry crane structure due to the two-dimensional motion of the trolley.     

Crack localisation and sizing in a beam based on the free and forced response measurements

In the present paper, a method of the crack localisation and sizing in a beam from the free and forced response measurements is developed. The method gives crack flexibility coefficients as a by-product. Timoshenko beam theory is used in the beam modelling for transverse vibrations. The finite element method (FEM) is used for the cracked beam free and forced vibration analysis. An open transverse surface crack is considered for the crack model. The effect of the proportionate damping has been included. A harmonic imbalance force of known amplitude and frequency is used to dynamically excite the beam with the help of an independent exiting unit. The crack localisation and sizing algorithm is iterative in nature. The iteration starts with an initial guess for the crack depth ratio and iteratively estimates the crack location and the crack depth until getting the desired convergence for both the crack location and the crack depth. For estimation of bounded flexibility coefficients, a regularisation technique has been adopted. The method has been illustrated through numerical examples. The prediction of the crack location and size are in good agreement even in the presence of the measurement error and noise.