applied

sciences
Article
Analysis of the Dynamic Stiffness, Hysteresis Resonances and
Complex Responses for Nonlinear Spring Systems in
Power-Form Order
Qingtao Wang 1,2 , Zhiyong Zhang 1,2, * , Yongheng Ying 1,3 and Zhaojun Pang 2,4

1 School of Science, Nanjing University of Science and Technology, Nanjing 210094, China;
qtwang@njust.edu.cn (Q.W.); yingyongheng@126.com (Y.Y.)
2 Institute of Launch Dynamics, Nanjing University of Science and Technology, Nanjing 210094, China;
pangzj@njust.edu.cn
3 Zhejiang Sany Equipment Co., Ltd., Huzhou 200120, China
4 School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
* Correspondence: zhiyzhang@njust.edu.cn

Abstract: Power-form nonlinear contact force models are widely adopted in relatively moving
parts of macro (e.g., rolling bearings considering Hertzian contact restoring force between rolling
elements and bearing raceways) or micro (e.g., the micro cantilever probe system of atomic force
microscopy) scale mechanical systems, and contact resonance could cause serious problems of wear,
contact fatigue, vibration, and noise, which has attracted widespread attention. In the present paper,
the softening/hardening stiffness characteristics of continuous and one-sided contact power-form





 nonlinear spring models are addressed, respectively, by the analysis of the monotone features of
resonant frequency-response skeleton lines. Herein, the period-n solution branch and its stability
Citation: Wang, Q.; Zhang, Z.;
characteristics are obtained by the harmonic balance and alternating frequency/time domain (HB–
Ying, Y.; Pang, Z. Analysis of the
AFT) method and Floquet theory. Compared with previous studies, this paper will furtherly clarify
Dynamic Stiffness, Hysteresis
Resonances and Complex Responses
the influences of externally normal load, the power form exponent term, and excitation amplitude on
for Nonlinear Spring Systems in the softening/hardening stiffness characteristics of general power-form spring systems. In addition,
Power-Form Order. Appl. Sci. 2021, for a power-form system with a one-sided contact, the phenomena of primary and super/sub-
11, 7722. https://doi.org/10.3390/ harmonic hysteretic resonances inducing period-doubling, folding bifurcation, the coexistence of
app11167722 multiple solutions are demonstrated. Besides, it gives the evolution mechanism of two types of
intermittency chaos in a one-sided contact system. The overall results may have certain basic
Academic Editors: Roman Starosta theoretical significance and engineering values for the control of vibration and noise in contact
and Jan Awrejcewicz mechanical systems.

Received: 25 July 2021

Keywords: power-form nonlinear spring; dynamic stiffness; hysteretic resonance; one-sided contact;
Accepted: 20 August 2021
intermittency chaos
Published: 22 August 2021

Publisher’s Note: MDPI stays neutral

with regard to jurisdictional claims in
1. Introduction
published maps and institutional affil-
iations. The mass-spring model is one of the basic mechanical elements, which can be used
to describe the interaction of deformation, energy transfer, and motion control between
different bodies. At the macro, micro, and nano scales, linear spring models with a linear
relationship between force and displacement depicted by hook’s law F(x) = kx are widely
Copyright: © 2021 by the authors.
observed [1]. However, many interactions are not suitable for linearization. The classical
Licensee MDPI, Basel, Switzerland.
three-body problem mentioned by Newton in 1687 promotes the development of non-
This article is an open access article
linear science [2]. The nonlinear load-deformation relationship is generally expressed as
distributed under the terms and F(x) = an ·xn + an −1 ·xn− 1 + . . . + a2 ·x2 + a1 ·x + a0 . In a contact system, however, the
conditions of the Creative Commons power-form nonlinear restoring force FC (x) = KC ·xα is more common, where the nonlinear
Attribution (CC BY) license (https:// power-form exponent term α of the normal contact force between two elastic surfaces is in
creativecommons.org/licenses/by/ the range of 1.5 to 3.5 [3], the nonlinear force in piano hammers is 2.2 < α < 3.5 [4], and even
4.0/). the case of 2 < α < ∞ exists in the solitary wave propagation through particle chains [5].

Appl. Sci. 2021, 11, 7722. https://doi.org/10.3390/app11167722 https://www.mdpi.com/journal/applsci

Appl. Sci. 2021, 11, 7722 2 of 12

Contact interfaces are indispensable in machine systems including bolted joints, hinges,
rolling bearings, and so on, which can transmit coupling forces between structures [6].
Many publications have focused on the contact stiffness modelings and their static or
quasi-static stiffness characteristics for contact systems [7,8]. On the other hand, it should
be noted that in the fundamental mechanisms with relative motions (e.g., hinges, meshing
gears, rolling bearings, and probe detection system), the contact vibrations between relative
moving components are often inevitable, due to the external excitation or roughness and
waviness between contact surfaces [9]. Herein, the dynamic contact dynamic stiffness
has a significant effect on the dynamic behavior of the contact machine system, and the
static stiffness model is unable to describe the dynamic characteristics in contact vibra-
tions. For example, it is traditionally considered that the rolling bearings have hardening
stiffness characteristics due to the Hertzian contact force–deformation relationship [7,10],
but gradually researchers find that the dynamic supporting characteristics of the system
can soften [11,12]. In addition, recently contact resonances have been widely used in the
design of sensors [13] and atomic force microscopy [14], and obviously, contact dynamic
stiffness is closely correlative to the contact resonance, but this correlation needs to be
further clarified. Therefore, it is necessary to conduct a systematic study on the nonlinear
dynamic stiffness and resonance behaviors of a nonlinear power-form mass-spring system
especially considering contact factors.
Based on the works of Mickens [15] and Hu et al. [16], Cveticanin [17] and Kovacic
et al. [18] gave the approximate analytical solution of the general power-form continuous
system with the aid of special function method. Then, Kovacic [19], Rakaric et al. [20] and
Huang et al. [21] carried out many studies on the hysteretic characteristics of the primary
resonances for such a general power-form system. However, the above research has not
considered the effect of externally normal load on the dynamic stiffness and resonances. On
the other hand, most of the studies of contact vibrations are concentrated on the Hertzian
point contact case with the ideal 3/2 power-form exponent term. Carson and Johnson [22]
proposed the concepts of contact spring and contact resonance earlier, considering the
rolling contact between two disks. Through experiment, it is found that this Hertzian
point contact system has dynamic softening stiffness in small contact resonance, whose
characteristics are very different from the static hardening stiffness. It is also pointed out
that the case of loss contact can increase the softening spring characteristics. Soon afterward,
Nayak [23] verified the results of Carson and Johnson [22] by the analysis of a nonlinear
one-sided Hertzian point contact spring model under harmonic excitations, in which the
author provided an analytical study on the softening hysteresis characteristics of the system
in primary resonances. For Nayak’s contact spring model, Hess and Soom [9] found that
the dynamic load components can lead to a reduction in the mean area of contact and the
friction force. Rigaud and Perret-Liaudet [24] pointed out that loss of contact non-linearity
can bring a wide frequency range of softening resonance. Furtherly, Ma [25] discussed
the criterion for contact loss to occur. In a word, the Hertzian point contact system has
softening contact resonance characteristics in the case of small vibration, and the normal
constant load has a significant influence on the dynamic stiffness of the system, but the
influence law needs to be further developed. In addition, there are few studies on the
characteristics of contact resonances for a general power-form contact spring system.
The contact resonance and its hysteresis behaviors can aggravate the wear, contact
fatigue, vibration, and noise of a mechanical system, and as a consequence, affect the
working accuracy of the system. Therefore, it is of great theoretical and engineering value
to study contact resonance in depth. In this paper, the harmonic balance and alternating
frequency/time domain (HB–AFT) method [25,26] and Floquet theory are used to fur-
ther study the primary, super-harmonic and sub-harmonic resonances and their dynamic
stiffness (i.e., the resonant skeleton) characteristics in continuous and one-sided contact
power-form nonlinear spring models. For doing these, firstly, the influence of the normal
constant load on the dynamic softening/hardening stiffness characteristics will be dis-
cussed. Secondly, the inherent mechanism of hysteretic resonances will be studied. Finally,
 tact system will be clarified.

2. Power-Form Nonlinear System Model

Appl. Sci. 2021, 11, 7722 For a power-form nonlinear spring-mass system with an externally
3 of 12 no
and a harmonic excitation, its equation of motion is given as

d2x dx α
+ 2ζ H ( x) + H ( x)sgn( x) x = A cos ωt + W
the evolution of complex responses even the intermittency chaos in a one-sided contact
system will be clarified. 2
dt dt
2. Power-Form Nonlinear System Model
where ζ is the damping coefficient; A and ω are the amplitude and frequency
For a power-form nonlinear spring-mass system with an externally normal load W
excitation, respectively;
and a harmonic sgn(x) is
excitation, its equation of the sign
motion function
is given as as,

+ 2ζ H ( x ) + H ( x )sgn( x )| x |α = A1, +>

cos ωt x W0
d2 x dx
(1)
dt 2 dt 
sgn( x) = 0, x =0.
 and frequency of harmonic
where ζ is the damping coefficient; A and ω are the amplitude

 −1, x < 0
excitation, respectively; sgn(x) is the sign function as,

 1, x > 0
H(x) ∈ {1, Heaviside(x)}, herein
sgn( x ) = 0, H (x)
x = takes
0 . 1 for the continuous(2)system
equation (1) is consistent with −the x<0
1, classical

the model of reference [19]. Fo
contact
H(x)system, H(x) takes
∈ {1, Heaviside(x)}, as Ha (x)
herein Heaviside function
takes 1 for the of x,
continuous system, and if W = 0,
the Equation (1) is consistent with the classical model of reference [19]. For a one-sided
contact system, H(x) takes as a Heaviside function of x, 1, x > 0
Heaviside( x)= 
Heaviside( x ) =
1, x > 0 0, x≤0 (3)
0, x ≤ 0
and in this case, the system loses contact when x < 0 (see Figure 1).
and in this case, the system loses contact when x < 0 (see Figure 1).

Figure 1. Power-form nonlinear one-sided contact system.

Figure 1. Power-form nonlinear one-sided contact system.

3. Methodology
The AFT technique can avoid the analytical treatment of nonlinear te
time-domain discretization [26], and this makes the HB-AFT method ver
Appl. Sci. 2021, 11, 7722 4 of 12

3. Methodology
The AFT technique can avoid the analytical treatment of nonlinear terms through time-
domain discretization [26], and this makes the HB-AFT method very effective in solving
the strong nonlinear contact problem, which is different from the traditional harmonic
balance method. In this paper, the periodic solution is called the period-n solution if the
period of the response is n times the excited period. The solution process of the period-1
motion of Equation (1) is given below.
Let τ = ω ·t, then Equation (1) can be expressed as

d2 x ( τ )
ω2 + F ( x (τ )) = A cos τ + W. (4)
dτ 2
where the nonlinear restoring force is

dx (τ )
F ( x (τ )) = 2ζωH ( x (τ )) + H ( x (τ ))sgn( x (τ ))| x (τ )|α . (5)
dτ
To find the periodic solution of Equation (4) with period 2π, x(τ) and F(τ) can be
expressed as
K
x ( τ ) = P(1) + ∑ [P(2k) cos(kτ ) − P(2k + 1) sin(kτ )] (6)
k =1
K
F ( τ ) = Q(1) + ∑ [Q(2k) cos(kτ ) − Q(2k + 1) sin(kτ )] (7)
k =1

According to the process of harmonic balance, insert Equations (6) and (7) into
Equation (4) and obtain the following 2K + 1 algebraic relationships:

g(P, Q, ω ) = 0 (8)

Equation (8) consists of 2K + 1 algebraic equations but contains 4K + 2 unknown

harmonic coefficients denoted as P and Q in Equations (6) and (7). To obtain P from
Equation (8), the following AFT process is adopted.
The time-domain discrete information of x(τ) is given by the inverse discrete Fourier
transform as, ( )
K
x (n) = Real P0 + ∑ Pk ei(2πkn/N ) (9)
k =1

and the discrete information of the restoring force in time domain is

F ( n ) = F (X ( n ), X0 ( n ), ω ) (10)

Then, by discrete Fourier transform, Q can be expressed as

φ N −1
N n∑
Qk = F(n) ei(−2πkn/N ) (11)
=0

Herein, φk = φ (2k)+ i φ (2k + 1); φ0 = φ (1), where φ takes P or Q in Equations (9) and
(11); N is the number of sampling points in a time domain period, and n = 0, . . . , N − 1;
φ = 1 when n = 0, otherwise φ = 2.
Taking P as an unknown variable and ω as a control parameter, the arc-length contin-
uation can be introduced to Equation (8) for automatically tracking P and the frequency-
response curve of system (4).
Finally, the stability characteristics of the frequency-response curve can be obtained
by Floquet theory [26].
Appl. Sci. 2021, 11, 7722 5 of 12

Appl. Sci. 2021, 11, 7722 4. Results 5 of 12

4.1. Frequency-Response Characteristics of Continuous System (H(x) = 1, ζ = 0.01, A = 0.1)

For α = 1.5 and W = 0, the continuous system is power-form nonlinear without
For α =normal
externally 1.5 andload.
W = 0, Itsthe continuous
primary system
resonance is power-form
exhibits hardening nonlinear without exter-
spring characteristics
nally normal load. Its primary resonance exhibits hardening spring
since the period-1 frequency-response curve bends to the right (see Figure 2a), and cyclic characteristics since
folding bifurcations at turning points A1 and A4 can bring jumping phenomena tofold-
the period-1 frequency-response curve bends to the right (see Figure 2a), and cyclic the
ing bifurcations
system. For α =at0.6turning
and W points
= 0, A as11 and
shownA44 can bring jumping
in Figure phenomena
2b, the primary to the system.
resonance of the
For α = 0.6
system and Wsoftening
exhibits = 0, as shown springin Figure 2b, the primary
characteristics, and the resonance
2-order, of the system
3-order, and exhibits
5-order
super-harmonic resonances are excited obviously. Herein, transcritical bifurcations atres-
softening spring characteristics, and the 2-order, 3-order, and 5-order super-harmonic A5
onances
and are excited
A6 lead period-1obviously. Herein, transcritical
solution unstable and 2-orderbifurcations
superharmonic at A55resonance
and A66 lead period-
emerging.
1Overall,
solutionasunstable
α > 1 (or and
0 < α2-order
< 1), thesuperharmonic
resonant skeleton resonance emerging.
line of the primaryOverall,
resonantas α > 1 (or
frequency-
0response
< α < 1), the resonant
curve has noskeleton
inflection line of thei.e.,
point, primary
the systemresonant
has frequency-response curve has
a single monotonic softening
no
(or inflection
hardening)point,
dynamici.e., the system
stiffness has a singlerespectively,
characteristic, monotonic softening (or hardening)
but the hysteretic dy-
degree can
namic stiffness characteristic, respectively, but the hysteretic
be adjusted by α. As shown in Figure 3, the resonant curves gradually slope more to degree can be adjusted by α.
As shown in Figure 3, the resonant curves gradually slope more to
the right and the resonant amplitudes decreases as α increases, i.e., the hardening springthe right and the reso-
nant amplitudes
characteristics getdecreases
stronger. The as αabove
increases,
resultsi.e.,
agreethewell
hardening
with thespring characteristics
theoretical get
studies of the
literature The
stronger. [19].above results agree well with the theoretical studies of the literature [19].

Figure 2.
Figure 2. For
For W W == 0, stable (solid) and unstable (dashed)
(dashed) periodic
periodic frequency-response
frequency-response peak-to-peak
peak-to-peak curves
curves of
of continuous
continuous
system, (a)
system, (a) αα == 1.5
1.5 and
and (b)
(b) α
α == 0.6.

Figure 3.
Figure 3. For W ==0,0,influence
For W influenceofofααon
onthe
thefrequency-response
frequency-responsepeak-to-peak
peak-to-peakcurves of of
curves continuous system,
continuous (a) (a)
system, α >α1>and (b)
1 and
(b)
0 < 0α << α1.< 1.

As shown in Figure 4, when a constant load is applied (i.e., W > 0), an inflection point
appears and the skeleton line of the primary resonant frequency-response curve bends
from left to right (for α > 1) or right to left (for 0 < α < 1), which changes the dynamic
stiffness characteristics of the continuous system. For example, when α= 1.5 and W = 5, the
response amplitude is lower than the inflection point of the skeleton line, which makes
the system have a softening spring (i.e., softening dynamic stiffness) characteristics (see
Appl. Sci. 2021, 11, 7722 6 of 12

As shown in Figure 4, when a constant load is applied (i.e., W > 0), an inflection point
appears and the skeleton line of the primary resonant frequency-response curve bends from
Appl. Sci. 2021, 11, 7722 6 of 12
left to right (for α > 1) or right to left (for 0 < α < 1), which changes the dynamic stiffness
characteristics of the continuous system. For example, when α= 1.5 and W = 5, the response
amplitude is lower than the inflection point of the skeleton line, which makes the system
Figure
have a 4a). However,
softening spring if the
(i.e.,response
softening amplitude
dynamic isstiffness)
higher than the inflection
characteristics (seepoint
Figureof 4a).
the
However,line
skeleton if the response
(when amplitude
α = 1.5and W is higher
= 1), than thehas
the system inflection point of the skeleton
a softening-to-hardening line
spring
(when α = 1.5 and W = 1), thedynamic
(i.e., softening-to-hardening system has a softening-to-hardening
stiffness) characteristics (seespring
Figure (i.e.,
4a),softening-to-
and in this
hardening
case, cyclicdynamic stiffness) characteristics
folding bifurcations occur at four (seeturning
Figure points
4a), andofinthe
thisresonant
case, cyclic folding
frequency-
bifurcations
response occur
curve. Onatthe
four turning
other hand,points
when of0the
< αresonant frequency-response
< 1, as shown in Figure 4b, the curve. On the
frequency-
other hand, when 0 < < 1, as shown in Figure 4b, the frequency-response
response skeleton lines of the primary resonances have the hardening-to-softening char-
α skeleton lines of
the primary resonances have the hardening-to-softening characteristics,
acteristics, which makes the system have a hardening dynamic stiffness characteristic which makes the
systemthe
when have a hardening
response amplitudedynamic stiffness
is lower thancharacteristic
the inflectionwhenpointthe response
of the skeleton amplitude
line (suchis
lower
as than the
B3 point wheninflection
W = 1).point of thefor
Besides, skeleton
α > 1 (or < α <as1),B3the
line0(such point when W
locations of=the
1). primary
Besides,
for α > 1 (ormove
resonances 0<α< to1),
highthefrequency
locations of (orthe
lowprimary resonances
frequency) as the move to high
externally frequency
normal (or
constant
low frequency)
load W increases. as the externally normal constant load W increases.

4. Influence of normal
Figure 4. load W
normal load W on α the
on α the frequency-response
frequency-response peak-to-peak
peak-to-peak curves of continuous
continuous system, (a) αα == 1.5
and (b) αα == 0.6.

4.2. Frequency-Response Characteristics of One-Sided Contact System (H(x) = Heaviside(x), ζ = 0.032, A =

4.2. W
0.1, Frequency-Response
= 1) Characteristics of One-Sided Contact System (H(x) = Heaviside(x),
ζ = 0.032, A = 0.1, W = 1)
For α = 1, the continuous system is linear, so its dynamic stiffness is consistent with
For α = 1, the continuous system is linear, so its dynamic stiffness is consistent with
the static stiffness of the system. There are no hardening/softening stiffness characteristics,
the static stiffness of the system. There are no hardening/softening stiffness characteristics,
and the skeleton of the primary resonant frequency-response curve is a straight line ω = 1
and the skeleton of the primary resonant frequency-response curve is a straight line ω = 1
(see Figure 5a). In contrast, for a power-form α = 1 one-sided contact system, an inflection
(see Figure 5a). In contrast, for a power-form α = 1 one-sided contact system, an inflection
point appears at the boundary of loss contact and the skeleton line of the primary resonant
point appears at the boundary of loss contact and the skeleton line of the primary resonant
frequency-response curve bends to the left. Therefore, the system exhibits softening dy-
frequency-response curve bends to the left. Therefore, the system exhibits softening
namic stiffness characteristics in the loss contact case, which is caused by the average con-
dynamic stiffness characteristics in the loss contact case, which is caused by the average
tact time decreasing as the vibration amplitude increases [24]. Similarly, for α > 1 or 0< α
contact time decreasing as the vibration amplitude increases [24]. Similarly, for α > 1 or
< 1, as shown in Figure 5b,c, dramatically softening dynamic stiffness characteristics are
0 < α < 1, as shown in Figure 5b,c, dramatically softening dynamic stiffness characteristics
exhibited
are exhibitedin the lossloss
in the contact case
contact (compared
case (comparedwith
withthe
thecontinuous
continuoussystem).
system). Especially, for
Especially, for
α > 1, the one-sided contact system can have monotonic softening stiffness characteristics
α > 1, the one-sided contact system can have monotonic softening stiffness characteristics
(see Figure 5b).
(see Figure 5b). This softening dynamic
This softening dynamic support
support has been found
has been found in
in the
the ball
ball bearing-rotor
bearing-rotor
system, where the nonlinearity of Hertzian point contact exists between
system, where the nonlinearity of Hertzian point contact exists between the balls the balls and race-
and
ways of the support ball bearings [27].
raceways of the support ball bearings [27].
Appl. Sci. 2021, 11, 7722 7 of 12
Appl. Sci. 2021, 11, 7722 7 of 12

Comparisonsofoffrequency-response
Figure5.5.Comparisons
Figure frequency-responsepeak-to-peak
peak-to-peakcurves
curvesbetween
betweencontinuous
continuoussystem
systemand
and
one-sided contact system, (a) α = 1, (b) α = 1.5, and (c) α = 0.6, where the magenta dash line denotes
one-sided contact system, (a) α = 1, (b) α = 1.5, and (c) α = 0.6, where the magenta dash line denotes
the
theloss
losscontact
contactboundaries.
boundaries.

Asshown
As shownin inFigures
Figures66and
and7,7,with
withthe
theincrease
increasein inthe
theexternally
externallynormal
normalconstant
constantload
load
W, the
W, the location ofofthe
theprimary
primaryresonance
resonance moves
moves to atohigh frequency
a high frequency (α > (α
1) or low
> 1) orfrequency
low fre-
(0 < α <(01),< which
quency α < 1), agrees
which with thewith
agrees rulethe
of the
rulecontinuous system in
of the continuous Section
system in4.1. In addition,
Section 4.1. In
for the one-sided
addition, contact system,
for the one-sided contactit system,
is obvious it isthat the amplitude
obvious boundary of
that the amplitude loss contact
boundary of
increases
loss contactas increases
normal load W increases,
as normal load which means that
W increases, whichthere is lessthat
means chance
thereofislosing contact.
less chance
ofMoreover, the damping
losing contact. Moreover,coefficient ζ has a coefficient
the damping significant ζeffecthas aon the response
significant effectamplitude
on the re- of
a one-sided contact system in the case of loss contact (see Figures 6a
sponse amplitude of a one-sided contact system in the case of loss contact (see Figures 6a and 7a). Therefore,
the 7a).
and identification
Therefore,and thecontrol of the damping
identification and control coefficient are very important
of the damping coefficientfor arethe quality
very im-
control of the practical one-sided contact system with high accuracy requirement,
portant for the quality control of the practical one-sided contact system with high accuracy such as
the micro-cantilever
requirement, such as probe system in the atomic
the micro-cantilever probeforcesystem microscope [28]. force microscope
in the atomic
[28].
Appl.
Appl. Sci. 2021, 11,
Sci. 2021, 11, 7722
7722 88 of
of 12
12
Appl. Sci. 2021, 11, 7722 8 of 12

Figure 6.
Figure 6. For αα == 1.5, influence of ζζ on the
the frequency-response
frequency-response peak-to-peak
peak-to-peak curves
curves of
of one-sided
one-sided contact
contact system,
system, (a)
(a) W
W == 1
Figure 6. For α = 1.5, influence of ζ on the frequency-response peak-to-peak curves of one-sided contact system, (a) W = 1
and (b) W = 2.
and (b) W
and (b) W == 2.
2.

Figure 7. For α = 0.6, influence of ζ on the frequency-response peak-to-peak curves of one-sided contact system, (a) W = 1
Figure 7.
Figure 7. For
For αα == 0.6,
0.6, influence
influence of
of ζζ on
on the
the frequency-response
frequency-response peak-to-peak
peak-to-peak curves
curves of
ofone-sided
one-sidedcontact
contactsystem,
system,(a)
(a)W
W == 11
and (b) W = 2.
and (b)
and (b) W
W == 2.

4.3. Excitation
4.3. Characteristics ofof One-Sided ContactContact System (ζ (ζ = 0.032,
0.032, α α == 1,
1, WW === 1)
4.3. Excitation
Excitation Characteristics
Characteristics of One-Sided
One-Sided Contact System System (ζ = = 0.032, α = 1, W 1)
1)
Next, the
Next, the excitation characteristics
characteristics of the the one-sided contact
contact system will will be considered
considered
Next, the excitation
excitation characteristics of of the one-sided
one-sided contact system system will be be considered
in detail.
in detail. As
As shown
shown in Figure
in Figure 8a,8a, for
for ωω == 1,1, with
with the
the increase
increase in
in the
the excitation
excitation amplitude
amplitude A,
in detail. As shown in Figure 8a, for ω = 1, with the increase in the excitation amplitude A,
the stable response of period-1 solution branch undergoes period-doubling bifurcation bifurcation at at
the stable response of period-1 solution branch undergoes period-doubling bifurcation at
A11, and the coming
comingperiod-2
period-2solution
solutionbranch
branchundergoes
undergoeshysteresis
hysteresis andand jumping
jumping at
at the the cy-
cyclic
A1, and the coming period-2 solution branch undergoes hysteresis and jumping at the cy-
clic folding
folding bifurcation
bifurcation points
points A 2 A 2 and
and A 3A, 3, which
which agreeswell
agrees wellwith
withthethenumerical
numerical bifurcation
bifurcation
clic folding bifurcation points A2 and A3, which agrees well with the numerical bifurcation
diagrams 8b. The period-doubling
period-doubling coexistence of the the
diagrams shownshown in in Figure
Figure 8b. 8b. The period-doubling bifurcation bifurcation leadsleads coexistence
coexistence of the
stable period-1 solution and period-2 solution in the system.
the system. For example, the period-1 period-1
stable period-1 solution and period-2 solution in the system. For example, the period-1
solution P11 and period-2 solution
solution PP2 coexist when when A A == 1. On the otherother hand,
hand, for for ω ω == 1 and
and
solution P1 and period-2 solution P22 coexist when A = 1. On the other hand, for ω = 1 and
A = 1, the corresponding period-1 solution solution PP11 and period-2 solution solution PP22 are located on the the
A = 1, the corresponding period-1 solution P1 and period-2 solution P2 are located on the
primary resonance
resonance andand 1/2-order sub-harmonic resonance (see Figure 9a), respectively.
1/2-order sub-harmonic respectively. It It
primary resonance and 1/2-order sub-harmonic resonance (see Figure 9a), respectively. It
is indicated
indicated thatthatthe
theintrinsic
intrinsictriggering
triggeringmechanism
mechanismofofperiod-doubling
period-doubling bifurcation
bifurcation at A is1
at1 A
is indicated that the intrinsic triggering mechanism of period-doubling bifurcation at A1
the softening
is the softeningdynamic
dynamic stiffness characteristics
stiffness characteristics of the one-sided
of the one-sided contact
contactsystem,
system, where the
where
is the softening dynamic stiffness characteristics of the one-sided contact system, where
loss of contact
the loss nonlinearity
of contact nonlinearityleadsleads
to thetosoftening 1/2-order
the softening sub-harmonic
1/2-order sub-harmonic resonance
resonance and
the loss of contact nonlinearity leads to the softening 1/2-order sub-harmonic resonance
the
andcorresponding
the corresponding period-2 motions
period-2 excited.
motions In addition,
excited. the system
In addition, also has
the system alsohigher-order
has higher-
and the corresponding period-2 motions excited. In addition, the system also has higher-
stable solutions such as period-3, period-4, and period-5
order stable solutions such as period-3, period-4, and period-5 solution branches solution branches coexisting
coexist-
order stable solutions such as period-3, period-4, and period-5 solution branches coexist-
(see
ing (see Figure 9b), and they are excited by softening 1/3-order, 1/4-order, and1/5-order
Figure 9b), and they are excited by softening 1/3-order, 1/4-order, and 1/5-order
ing (see Figure 9b), and they are excited by softening 1/3-order, 1/4-order, and 1/5-order
sub-harmonic
sub-harmonic resonances,
resonances,respectively.
respectively.ItItisisclearclearthat
that the
thecoexisting
coexisting solution
solution characteristics
characteris-
sub-harmonic resonances, respectively. It is clear that the coexisting solution characteris-
of
ticsa of
one-sided contact
a one-sided system
contact are complex
system are complex due due
to the toloss
the of contact
loss nonlinearity.
of contact nonlinearity. Besides,
Be-
ticsshown
as of a one-sided
in Figure contact system
9a, unlike are complex
primary due tothe
resonance, the 1/2-order
loss of contact nonlinearity. Be-
sides, as shown in Figure 9a, unlike primary resonance, the 1/2-ordersubharmonic
subharmonic and and 2-2-
sides,
order as shown in
super-harmonic Figure 9a, unlike
resonances primary
of the resonance,
system can the
only 1/2-order
be excited subharmonic
in the case of and
losing 2-
order super-harmonic resonances of the system can only be excited in the case of losing
order
contact, super-harmonic resonances of the system can only be excited in the case of losing
contact, because
because thethe system
system belongs
belongs to to aa linear
linear continuous
continuous systemsystem (α (α== 1)1) below
below the the loss
loss of
of
contact,boundary.
contact because the system belongs to a linear continuous system (α = 1) below the loss of
contact boundary.
contact boundary.
Appl. Sci. 2021, 11, 7722 9 of 12
Appl.
Appl. Sci.
Sci. 2021,
2021, 11,
11, 7722
7722 99 of
of 12
12

Figure
Figure8.
Figure 8. One-sidedcontact
8. One-sided
One-sided contactsystem
contact systemfor
system for
for ω
ω =ω 1,=(a)
= 1, 1, the
(a) (a) periodic
the the periodic
periodic solution
solution
solution branch
branch
branch as theas
as the the excitation
excitation
excitation amplitude
amplitude
amplitude A A and
A varies,
varies, varies,
and (b)
(b)
numerical
numerical
and bifurcation
bifurcation
(b) numerical diagrams
diagrams
bifurcation of
of x(τ)
x(τ) when
diagrams x(τ)A
when
of sweeps
Awhen
sweeps up
up (black
A sweeps up dots)
(black (blackand
dots) and down
and(red
down
dots) (red
downdots).
dots).
(red dots).

Figure
Figure 9. One-sided
9.One-sided
Figure9. contact
One-sidedcontact system
contactsystem for
systemforforAA
A===1,
1,(a)
(a) the frequency-response
the frequency-response peak-to-peak
frequency-responsepeak-to-peak curves,
peak-to-peakcurves, and
curves,and (b)
and(b) phase
(b)phase portraits
phaseportraits their
portraitstheir
their
Poincare
Poincare mapping
Poincaremapping dots
mappingdots of
dotsof co-existing
ofco-existing period-n
co-existingperiod-n solutions
period-nsolutions (i.e.,
(i.e.,PPP
solutions(i.e., nn)
n)) when
when
when ω
ωω==
= 1.
1.

Moreover,
Moreover,as
Moreover, as shown
as shown in Figure 8,
in Figure theperiod-doubling
8, the
the period-doublingbifurcations
period-doubling bifurcationsat
bifurcations atatpoints
points
points A4A
A 4 and
4 and
and A
A66
A
leadlead
lead
6 to to
the the period-4
period-4 solution
solution branches
branches excited
excited from from
the the stable
stable
to the period-4 solution branches excited from the stable period-2 branch, and then period-2
period-2 branch,
branch, and and
then
then period-8
period-8
period-8 response
response
response also also emerges
also emerges
emerges through
through through period-doubling
period-doubling
period-doubling of
of the of the period-4
the period-4
period-4 solution
solution solution
branch.
branch.
branch.
The
The leading The leading
leading Floquet Floquet
Floquet multiplier
multiplier ofmultiplier
of the
the comingof the
coming period-8coming period-8
period-8 solution solution
solution branch
branch passes branch
passes outoutpasses
of
of the
the
out
unitof
unit the from
circle
circle unit
fromcircle
the +1from
the +1 axis
axis atthe
at AA7+1 axisof
7 point
point atA
of AA==7 1.77983603
point of Aas
1.77983603 =A
as 1.77983603
A changes
changes (seeas A
(see changes
Table
Table 1), (see
1), where
where
Table
the 1), where
the typical
typical reversethe tangent
reverse typical
tangentreverse
bifurcation
bifurcationtangent bifurcation
[26,29]
[26,29] is
is clear [26,29]
clear (see
(see is clear
Figure
Figure 8b), (see
8b), and Figure
and then
then the
the8b), and
motion
motion
then
of the motion of type-I intermittency chaos is induced (see
of type-I intermittency chaos is induced (see Figure 10a). As the excitation amplitude A
type-I intermittency chaos is induced (see Figure 10a). AsFigure
the 10a). As
excitation the excitation
amplitude A
amplitude
increases,
increases, theA
theincreases,
loses the loses
loses contact
contact contact characteristics
characteristics
characteristics of
of the
the system
system of become
the system
become becomeand
stronger,
stronger, stronger,
and the and
the typical
typical
the typical crisis-induced
crisis-induced
crisis-induced [30] [30] intermittency
[30] intermittency
intermittency chaos
chaos (see(seechaos
Figure(see
Figure 10b)
10b) Figure
emerges
emerges10b)in
inemerges
the in the
the interval
interval a-a
a-ainterval
of
of Fig-
Fig-
a-a
ure of
ure 8b. Figure
8b. At
At this8b. At
this time, this
time, the time,
the type-I the type-I
type-I intermittency intermittency
intermittency chaos chaos
chaos attractor attractor
attractor merges
merges with merges with
with another another
another periodic
periodic
periodic
orbit,
orbit, and
and orbit,
Figure
Figureand11 Figure
11 shows
shows 11the
shows
the process
processthe ofprocess
of the
the above of theinvolution.
above above involution.
involution.

Table 1. Period-8 motion Floquet multipliers λm around the turning point A8 .

A 1.7798 1.77982 1.779835 1.77983603

0.9920 0.9927 0.9991 1.0020
λm
0.1857 0.1854 0.1839 0.1833
Appl.
Appl.Sci. 2021,11,
Sci.2021, 11,7722
7722 10 of
10 of 12
12

Figure 10. Time

Figure 10. series x(τ)
Time series x(τ) and
and their
their enlargements
enlargementsofofone-sided
one-sidedcontact
contactsystem
systemfor
forωω==1, (a)AA== 1.78,
1,(a) 1.78,
and (b)
and (b) A
A == 1.785,
1.785, where
where thethe cyan
cyan dots
dots denote
denote the
the period-1
period-1 mapping
mapping points
points of
of x(τ)
x(τ) at
atintervals
intervals of
of
excitation period
excitation period 2π.
2π.

Figure 11. Phase portraits and their Poincare mappings of one-sided contact system for ω = 1,
(a) A = 1.7798, (b) A = 1.78, (c) A = 1.785, and (d) the enlargement of (c), where the red dots denote
the Poincare mapping of unstable period-8 motion at A7 point (see Figure 8).

5. Conclusions
Figure Contact vibrations
11. Phase between
portraits and relativemappings
their Poincare moving components in contact
of one-sided contact systems,
system such
for ω = 1, as=
(a) A
hinges, meshing
1.7798, (b) gears,
A = 1.78, (c) Arolling
= 1.785,bearings, and
and (d) the probe detection
enlargement system,
of (c), where theare often
red dotsinevitable
denote the
Poincare
due mapping
to the externalofexcitations
unstable period-8 motion at
or roughness and point (see Figure
A7 waviness between 8). contact surfaces, where
the power-form nonlinear load-deformation relationship FC (x) = KC ·xα is commonly satis-
Tablefied
1. Period-8 motion interfaces.
in the contact Floquet multipliers
With the λmaid
around theHB–AFT
of the turning point
methodA8. and Floquet theory, we

A have investigated the dynamic

1.7798 1.77982characteristics of the hardening/softening
1.779835 nonlinear stiff-
1.77983603
ness and hysteretic resonances for the typical continuous and one-sided contact power-form
0.9920 0.9927 0.9991 1.0020
λm spring systems. First, it is found that the externally normal load can lead to hardening-to-
0.1857 0.1854
softening (0 < α < 1) or softening-to-hardening (α > 10.1839 0.1833 to the
dynamic stiffness characteristics
continuous power-form system, unlike the purely softening (0 < α < 1) or hardening (α > 1)
Appl. Sci. 2021, 11, 7722 11 of 12

dynamic stiffness characteristics without an externally normal load. Second, it is shown

that the one-sided contact power-form spring model can exhibit remarkable softening
spring characteristics, and the resonant response amplitude is dramatically affected by
the damping coefficient in the case of loss of contact. Third, the location of the primary
resonance moves to a higher frequency (α > 1) or lower frequency (0 < α < 1) in either a con-
tinuous or one-sided system. Finally, it is indicated that multi-order super/sub-harmonic
softening resonances and abundant bifurcation behaviors can also be excited beyond the
loss of contact boundary, which can lead to multiple periodic solutions with different
periods co-existing and can even excite type-I and crisis-induced intermittency chaos to
the one-sided contact system. The results obtained in this paper could benefit to clarify the
inherent correlations between dynamic stiffness characteristics and complex resonances in
the vibrational contact systems.

Author Contributions: Conceptualization, Z.Z.; investigation, Z.Z., Q.W. and Y.Y.; methodology,
Z.Z.; validation, Q.W., Z.Z. and Z.P.; supervision, Z.Z.; writing—original draft preparation, Q.W.,
Z.Z. and Y.Y. All authors have read and agreed to the published version of the manuscript.
Funding: This research was funded by China Postdoctoral Science Foundation (Grant No. 2019M661849),
Jiangsu Planned Projects for Postdoctoral Research Funds (Grant No. 2018K164C), Fundamental Re-
search Funds for the Central Universities (Grant No. 30920021155), Open-end Research Fund of State
Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures (Grant
No. KF2020-30), and National Natural Science Foundation of China under (Grant No. 11802130).
Institutional Review Board Statement: Not applicable.
Informed Consent Statement: Not applicable.
Data Availability Statement: Not applicable.
Acknowledgments: Z.Z. gratefully acknowledges Thomas Sattel (Technische Universität Ilmenau),
Yushu Chen and Qingjie Cao (Harbin Institute of Technology) for considerable help and valuable
suggestions for the paper.
Conflicts of Interest: The authors declare no conflict of interest.

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