See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/346717069

The Extended Rayleigh-Ritz Method for an Analysis of Nonlinear Vibrations

Preprint · December 2020

CITATIONS READS

0 156

1 author:

Ji Wang
Ningbo University
421 PUBLICATIONS   3,094 CITATIONS   

SEE PROFILE

Some of the authors of this publication are also working on these related projects:

Currently working on the analysis of circular plates with Mindlin plate equations with the consideration of material anisotropy. View project

Nonlinear Analysis of Structures with the Extended Rayleigh-Ritz Method View project

All content following this page was uploaded by Ji Wang on 20 February 2021.

The user has requested enhancement of the downloaded file.

 Citation: Mechanics of Advanced Materials and Structures,2021. DOI:10.1080/15376494.2021.1892888

The Extended Rayleigh-Ritz Method for an Analysis of Nonlinear Vibrations

Ji Wang
Piezoelectric Device Laboratory,
School of Mechanical Engineering and Mechanics, Ningbo University,
818 Fenghua Road, Ningbo, 315211 Zhejiang, China
e-mail: wangji@nbu.edu.cn; ji_wang@yahoo.com
ResearcherID:A-3774-2009 ORCID:0000-0002-0724-7538 Scopus Author ID: 56191404800

Abstract
An extension has been made with the popular Rayleigh-Ritz method by integrating
the energy functional over the time of one period of vibration to eliminate the harmonics
from the deformation function. An eigenvalue problem is obtained for the frequency-
amplitude dependence of nonlinear vibrations of small deformation. This is the
extension of Rayleigh-Ritz method of the energy formulation and Galerkin method with
the inclusion of time, which is equivalent to the harmonics matching in nonlinear
vibrations. The extended Rayleigh-Ritz method can be utilized for the analysis of free
and forced nonlinear vibrations of structures as a new technique with significant
advantages.

Keywords: vibration; nonlinear; frequency; approximation; energy

1 Introduction
The Rayleigh-Ritz method has been a popular choice for the calculation of natural
frequencies of elastic components and structures, particularly if there are no analytical
solutions or the equation of vibrations is hard to come and solve. Applications of the
Rayleigh-Ritz method can be found in literatures with details and some novel
techniques [1, 2]. Engineers and students can use the method conveniently because it
usually involves the calculations of strain and kinetic energies for integrations over the
structures or solids in most cases. More descriptions and explanations of the
Rayleigh-Ritz method can be found in monographs [1, 2], and comparisons with other
methods for analysis of nonlinear problems are also available [3-6].
It is evident that most discussions and presentations are on the linear vibrations of
structures with resulting eigenvalue problems. If the vibrations are related to material
nonlinearity or larger deformation, there is not much discussions on the full utilization
of the Rayleigh-Ritz method. In a recent effort in studying nonlinear vibrations of
plates and elastic solids, it is found that such a need can be addressed with an extension
of the Rayleigh-Ritz method through the integration of harmonic terms.

2 Rayleigh-Ritz Formulation
The Rayleigh-Ritz method starts from the calculation of strain energy of an elastic
structure with the expression like [1-2]
𝑈 = 𝑈0 + 𝑈1 (𝐴) + 𝑈2 (𝐴2 ) + 𝑈3 (𝐴3 ) + 𝑈4 (𝐴4 ) + ⋯ (1)
1
Here 𝑈 , 𝑈𝑖 (𝑖 = 0,1,2,3, … ) and 𝐴 are strain energy, components of strain energy,
and displacement amplitude, respectively. In fact, the energy is part of the Lagrangian
of a differential equation and it can be easily obtained through an integration of the
differential equation. For simplicity, it is assumed that the deformation is harmonic,
implying it can be expressed in the form of 𝑢 = 𝐴 cos 𝜔𝑡 with frequency 𝜔 and time
𝑡. In this case, the components of strain energy will be functions of constant amplitude
𝐴 and harmonics in Eq. (1). Of course, the nonlinearity is shown thorough the
appearance of amplitudes above quadratic terms.
With the deformation assumption, the kinetic energy can take a simple form as
1 1
𝑇 = 2 𝜌𝑢̇ 2 = 𝜔2 𝑇2 (𝐴2 ), 𝑇2 = 2 𝜌𝐴2 sin2 𝜔𝑡, (2)
through using the velocity 𝑢̇ = −𝜔𝐴 sin 𝜔𝑡 . The harmonic displacement is used
throughout this study, and further complications of kinetic energy expression is not
considered but can be treated as the strain energy components.
For the Rayleigh-Ritz method, the Lagrangian is [1-2]
𝐿 = 𝑈 − 𝑇, (3)
and for a small amplitude
𝜕𝐿 𝜕𝑈 𝜕𝑇2
= 𝜕𝐴 − 𝜔2 = 0. (4)
𝜕𝐴 𝜕𝐴

Now with the definition of 𝑈 and 𝑇 along with deformation 𝑢 , the first four
terms of Eq. (4) are
𝜕𝑈1 𝜕𝑈2 𝜕𝑈3 𝜕𝑈4 𝜕𝑇2
cos 𝜔𝑡 + cos 2 𝜔𝑡 + cos 3 𝜔𝑡 + cos 4 𝜔𝑡 − 𝜔2 sin2 𝜔𝑡 = 0. (5)
𝜕𝐴 𝜕𝐴 𝜕𝐴 𝜕𝐴 𝜕𝐴

In case of a linear problem, it is

𝜕𝑈2 𝜕𝑇2
cos 2 𝜔𝑡 − 𝜔2 sin2 𝜔𝑡 = 0. (6)
𝜕𝐴 𝜕𝐴

Now recalling that in case of linear vibrations, extreme values of strain and kinetic
energies are used for the equation of amplitude and frequency. The harmonic terms
can be removed by setting them to extremes because of same nature. It is found that
the trigonometric functions of time can be removed in Eq. (6) through integrating it
over one cycle of the period 𝜏 = 2𝜋/𝜔 . This treatment, as a powerful solution
technique in elasticity and other mathematical equations of boundary value problems,
is actually the Galerkin method with the weighting function including a temporal
function of the harmonic motion. This procedure results in the exact solution of linear
vibrations as shown in Eq. (6). Consequently, it can also be used as a reasonable
approximation. An integration over [0, 𝜏] of Eq. (5) will be
𝜏 𝜕𝑈 𝜕𝑈2 𝜕𝑈3 𝜕𝑈4 𝜕𝑇2
∫0 ( 𝜕𝐴1 cos 𝜔𝑡 + 𝜕𝐴
cos2 𝜔𝑡 + 𝜕𝐴
cos3 𝜔𝑡 + 𝜕𝐴
cos4 𝜔𝑡 − 𝜔2 𝜕𝐴
sin2 𝜔𝑡) 𝑑𝑡 = 0, (7)

with 𝜔𝜏 = 2𝜋. The integration will yield

𝜕𝑈2 3 𝜕𝑈4 𝜕𝑇
+4 − 𝜔2 𝜕𝐴 = 0, (8)
𝜕𝐴 𝜕𝐴

or
3
(𝐾2 + 4 𝐴𝑇 𝐾3 𝐴 − 𝜔2 𝑀) 𝐴 = 0. (9)

2
 In linear vibrations, 𝐾3 = 0, and Eq. (9) will be
(𝐾2 − 𝜔02 𝑀)𝐴 = 0, (10)
Clearly, it is the eigenvalue problem of linear free vibrations we know from Eq. (6).
Otherwise, Eq. (9) is a nonlinear eigenvalue problem for a small amplitude with
solution 𝜔 = 𝜔(𝜔0 , 𝐴).
In summary, if the Lagrangian is replaced by
2𝜋
𝐿 = ∫0𝜔 ∫𝑉 (𝑈 − 𝑇) 𝑑𝑡𝑑𝑉, (11)
with 𝑈, 𝑇, 𝑡, and 𝑉 are strain energy, kinetic energy, time, and solid domain,
respectively, the Rayleigh-Ritz method can be used for solutions of nonlinear problems.
This is an extension of the classical Rayleigh-Ritz method as it is popularly known.
Now the above procedure is a new method for the analysis of problems of
nonlinear vibrations. It states that not all terms of the strain energy components
contribute to the nonlinear vibrations. The contributors are the terms with harmonics
of the same frequency of deformation, a concept it is known as the harmonic balance
method and has been utilized in the nonlinear vibration analysis of structures. Again,
only terms with matching harmonics are retained and combined. The difference
between the procedure here and the traditional Rayleigh-Ritz method is the integration
of the Lagrangian over one cycle of period of vibrations. This step was not clearly
mentioned or discussed in earlier studies on the usage of the Rayleigh-Ritz method or
Galerkin method except in a study of nonlinear pendulum vibrations [4], which
considered the integration in a quarter of the period. While the equivalent
implementation of the harmonics matching is found with the nonlinear finite element
method (FEM), the current formulation will be used for approximate solutions in semi-
analytical style which are not available before in a systematic manner.

3. Application Examples
The Rayleigh-Ritz method showed above is actually the dynamic version of the
Rayleigh-Ritz method or Galerkin method with the inclusion of harmonics in the
weighting function and subsequent integration over the vibration cycle, and it is also
the standard procedure for the treatment of linear vibration problems. What is unique
in this procedure is the integration of hormonic terms with the Rayleigh-Ritz method
as the basis of the formulation, and it is also the Galerkin method with the variational
procedure involved. Now, a procedure for the nonlinear vibration analysis with the
Rayleigh-Ritz method is proposed by adding an integration of the Lagragian over one
period of vibration.

3.1 Nonlinear Vibrations of a Pendulum

For infinitesimal vibrations of a pendulum, the vibration frequency is known. If
the swinging angle is larger, it will be a typical nonlinear vibration problem with
extensive studies and for a test of different methods [7].
For a pendulum with length 𝑙 , mass 𝑚 , and swinging angle 𝜃 , expressions of
potential and kinetic energies are

3
 1
𝑈 = 𝑚𝑔𝑙(1 − cos 𝜃), 𝑇 = 2 𝑚𝑙 2 𝜃̇ 2 , 𝜃 = 𝐴 cos 𝜔𝑡 , 𝜃̇ = −𝜔𝐴 sin 𝜔𝑡. (15)
Since
𝜃2 𝜃4 𝜃6 𝜃8
1 − cos 𝜃 = − + − + ⋯,
2! 4! 6! 8!
the Largrangian of the pendulum vibration now is
𝜃2 𝜃4 𝜃6 𝜃8 1
𝐿 = 𝑚𝑔𝑙 ( 2! − + − ) − 𝑚𝑙 2 𝜃̇ 2 . (16)
4! 6! 8! 2

Now performing the operation to 𝐿 as the standard Rayleigh-Ritz method, it

yields
𝜕𝐿 𝐴3 𝐴5 𝐴7
𝜕𝐴
= 𝑚𝑔𝑙 (𝐴 cos2 𝜔𝑡 − 6
cos4 𝜔𝑡 + 120 cos6 𝜔𝑡 − 5040 cos8 𝜔𝑡) − 𝑚𝑙2 𝜔2 𝐴 sin2 𝜔𝑡 = 0. (17)

Now integrating Eq. (17) over 0 to 2𝜋/𝜔 with time, it gives

1 𝐴2 3 𝐴4 5 1
−𝑔𝐴 ( − + − ⋯ ) + 𝑙𝜔2 𝐴 = 0, (18)
2 6 8 120 16 2

with frequency solution

𝐴2 𝐴4 𝑔 𝐴2 𝐴4
𝜔2 = 𝜔02 (1 − + 192 ) , 𝜔02 = 𝑙 , 𝜔 = 𝜔0 (1 − 16 + 384 ). (19)
8

Clearly the frequency is amplitude dependent, as it is common in many nonlinear

vibrations. The frequency can only be obtained with a specified amplitude.
It shows that the procedure is simple and accurate for the pendulum vibration
problem. If there is no series expansion of the potential, the exact frequency will be
obtained with
2𝜋
1
𝐿 = ∫0𝜔 [𝑚𝑔𝑙(1 − cos 𝜃 ) − 2 𝑚𝑙 2 𝜃̇ 2 ] 𝑑𝑡, (20)
and
2𝜋
𝜕𝐿
= 𝑚𝑔𝑙 ∫0𝜔 [sin(𝐴 cos 𝜔𝑡) cos 𝜔𝑡 − 𝑚𝑙 2 𝜔2 𝐴 sin2 𝜔𝑡]𝑑𝑡. (21)
𝜕𝐴
The vanishing of Eq. (21) is
2𝜋
𝑚𝑔𝑙 ∫0𝜔 sin(𝐴 cos 𝜔𝑡) cos 𝜔𝑡 𝑑𝑡 − 𝜋𝑚𝑙 2 𝜔𝐴 = 0. (22)
Finally the frequency is given with Bessel function as
2𝜋𝐽1 (𝐴) 2𝐽1 (𝐴)
𝑚𝑔𝑙 − 𝜋𝑚𝑙 2 𝜔𝐴 = 0, 𝜔2 = 𝜔02 . (23)
𝜔 𝐴

Clearly, this is the exact frequency of the nonlinear vibrations of a pendulum.

The above result is the approximate and exact solutions of the nonlinear vibrations
of a pendulum. The procedure outlined for the solution is simpler in comparison to
methods based on the direct solution of nonlinear differential equations. Obviously, it
demonstrated the simple and elegant nature of the method.

3.2 Nonlinear Vibrations of Beams

A typical strong nonlinear vibration problem of a beam is [8]
𝑢̈ + 𝜀1 (𝑢2 𝑢̈ + 𝑢𝑢̇ 2 ) + 𝑢 + 𝜀2 𝑢3 = 0. (25)
This equation is frequently used for the validation of solution procedures. The
4
equation can be solved with the procedure as a reference.
Eq. (25) has the Lagrangian, or the energy functional defined as
2𝜋
1 1 1
𝐿 = ∫0𝜔 [ 𝑢2 (1 + 𝜀2 𝑢2 ) − (1 + 𝜀1 𝑢2 )𝑢̇ 2 ] 𝑑𝑡. (26)
2 2 2
Again with 𝑢 = 𝐴 cos 𝜔𝑡, 𝑢̇ = −𝜔𝐴 sin 𝜔𝑡, then
2𝜋
1 1 1
𝐿 = ∫0𝜔 [2 𝐴2 (1 + 2 𝜀2 𝐴2 cos2 𝜔𝑡) cos2 𝜔𝑡 − 2 (1 + 𝜀1 𝐴2 cos2 𝜔𝑡 )𝐴2 sin2 𝜔𝑡] 𝑑𝑡. (27)
The Rayleigh-Ritz procedure requires
2𝜋
𝜕𝐿
= ∫0𝜔 [(1 + 2𝜀2 𝐴2 cos 2 𝜔𝑡 )𝐴 cos 2 𝜔𝑡 − (1 + 4𝜀1 𝐴2 cos 2 𝜔𝑡)𝐴 sin2 𝜔𝑡]𝑑𝑡 = 0.
𝜕𝐴
(28)
By integrating Eq. (28) in the interval [0, 𝜏] over time, it yields
3 1
(1 + 4 𝜀2 𝐴2 ) − 𝜔2 (1 + 2 𝜀1 𝐴2 ) = 0, (29)
which results in the frequency solution [4-6, 8]
4+3𝜀2 𝐴2
𝜔2 = . (30)
4+2𝜀1 𝐴2

This solution has been shown by many other methods and techniques [5]. Again,
this solution procedure is relatively simple in obtaining the approximate frequency.
The two examples presented here are single-degree-of-freedom nonlinear
vibration problems, or the zero-dimensional problems spatially. The procedure can be
easily extended to higher-dimensional problems without changing the procedure or
results because the key operation of temporal integration is independent of the spatial
evaluation. The analysis of typical structural problems of nonlinear vibrations of one-
dimensional (beams and rods), two-dimensional (plates), and three-dimensional
(spheres) will be performed in future studies, or as have been shown in finite element
analysis. The approximate analytical solutions will be obtained from this procedure.

4. Conclusions
A procedure based on the popular Rayleigh-Ritz method has been proposed for the
analysis of nonlinear vibrations in finding the natural frequency. It is done by
representing the deformation with a harmonic motion, and the resulting stationary
requirements of energy functional is further integrated for the time over one cycle of
vibration, then the nonlinear eigenvalue problem is obtained just like the standard
Rayleigh-Ritz method. By solving the nonlinear eigenvalue problem, the natural
frequency and mode shapes are obtained. The procedure is actually the extension of
the Rayleigh-Ritz method and Galerkin method over the integration of weighting
function with time. This is a unique and systematic procedure for the analysis of
nonlinear vibrations of elastic structures and solids with both Rayleigh-Ritz method and
Galerkin method for possible applications in other fields involving solutions of
nonlinear differential equations. Further applications and rigorous formulation of this
technique for the analysis of nonlinear vibrations of solids and structures will provide
a significant procedure and method for the analysis with some complications like
external excitations in addition to the free vibrations shown here.
5
 Data Availability
The data used and generated in this research will be publicly available from the
publication’s website and author’s website.

Acknowledgment
This research is supported in part by the National Natural Science Foundation of China
(Grant 11672142). Additional support is through the Technology Innovation 2025
Program (Grant 2019B10122) of the Municipality of Ningbo, Zhejiang Province, China.

Competing Interest Statement

The Authors declares no Competing Financial or Non-Financial Interests.

Author Contribution
The author is solely responsible for the conception, formulation, derivation, calculation,
drafting, revision, and submission of the paper.

References
1. Sinniah Ilanko, Luis Monterrubio, Yusuke Mochida. The Rayleigh-
Ritz Method for Structural Analysis, Wiley, 2014.
2. Guoyong Jin, Tiangui Ye, Zhu Su. Structural Vibration. Science Press & Springer,
Beijing, 2015.
3. Shijun Liao. Beyond Perturbation: Introduction to the Homotopy Analysis Method,
Chapman and Hall/CRC, Boca Raton, FL, 2003.
4. A. H. Nayfeh, D. T. Mook, Nonlinear Oscillations, Wiley, New York, 1979.
5. Haiyan Hu, Applied Nonlinear Mechanics, Aviation Industry Press, Beijing, 2000.
(In Chinese: 胡海岩，非线性应用力学，航空工业出版社，北京，2000)
6. Shuhui Chen, Quantitative Analytical Methods of Strong Nonlinear Vibrations,
Science Press, Beijing, 2009.(In Chinese: 陈树辉，强非线性振动系统的定量分
析方法，科学出版社，2009.)
7. D. Anderson, M. Desaix, M. Lisak, J. Rasch. Galerkin Approach to Approximate
Solutions of Some Nonlinear Oscillator Equations. Am. J. Phys. 78 (9): 920-924,
September 2010. DOI 10.1119/1.3429974
8. M. Mashinchi Joubari, H. Javaniyan Jouybari, D. D. Ganji. Nonlinear Vibration
Analysis of a Cantilever Beam with Nonlinear Geometric. Journal of Mechanical
Research and Application, 4 (3):11-17, 2012.

View publication stats