algebraic-hbm 0.1.2

Python implementation of the algebraic harmonic balance method for second order ordinary differential equations with polynomial coefficients.

Algebraic Harmonic Balance Method

The package algebraic_hbm provides a Python 3.10 implementation of the algebraic harmonic balance method (algebraic HBM) as proposed by [1].

Installation

The following commands install algebraic_hbm from the Python Package Index. You will need a working installation of Python 3.10 and pip.

pip install algebraic-hbm

Usage

Computing a point on the frequency response curve

This example shows how to use the algebraic HBM framework to compute a point on the frequency response curve for a softening Duffing oscillator. First, the executable functions $F_n$ and $\mathrm D F_n=(\frac{\mathrm d F_n}{\mathrm d \mathbf c}, \frac{\mathrm d F_n}{\mathrm d a})_n$ (see Theoretic background) are generated and then $F_n(\mathbf c; \Omega)=0$ is solved via Newton's method as implemented in scipy.optimize.fsolve. This example can also be found here.

from algebraic_hbm import ODE_2nd_Order_Poly_Coeffs, softening_Duffing, Algebraic_HBM

Calling import softening_Duffing imports an instance of the ODE_2nd_Order_Poly_Coeffs-class that represents the classical softening Duffing oscillator

r(t,x) = x''(t) + 0.4 x'(t) - 0.4 x^3(t) - 0.3 \cos(\Omega t) = 0

Importing softening_Duffing is equivalent to defining softening_Duffing as follows:

softening_Duffing = ODE_2nd_Order_Poly_Coeffs(mass=1, damping=.4, stiffness=1, excitation=(0,.3), monomials={3: -.4})

Then, initialize the algebraic HBM for the softening Duffing oscillator and ansatz order $n$.

n = 1
HBM = Algebraic_HBM(ODE=softening_Duffing, order=n)

Now generate the multivariate polynomials that define the algebraic equation system $F_n$ as obtained from the algebraic HBM.

HBM.generate_multivariate_polynomials()

Finally, compile the polynomials into excecutable functions $F_n$ and $\mathrm DF_n$.

F, DF = HBM.compile()

Now use $F_n$ and $\mathrm D F_n$ to solve $F_n(\mathbf c; \Omega)=0$ via Newton's method where $\Omega=1$ (a=1) is a fixed excitation frequency.

import numpy as np
from scipy.optimize import fsolve as Newton
c0, a = np.zeros(HBM.subspace_dim), 1.
c = Newton(func=lambda x: F(x,a), fprime=lambda x: DF[0](x,a), x0=c0)
print(f"{c=}, norm(c)={np.linalg.norm(c):1.4f}")

The output should look something likes this:

c=array(0., -0.2445, -0.6593]), norm(c)=0.7032

Here, 0.7032 is an approximation of the amplitude of the stationary periodic solution x_n for n=1. In a similar way $F_n$ and $\mathrm D F_n$ may be used to perform a bifurcation analysis of the softening Duffing oscillator by computing an approximation of its frequency response as done here [3].

Coefficient matrix for Macaulay framework

This example shows how to build the coefficient matrix of the algebraic representation (again, see Theoretic background) that can be used in conjunction with the Macaulay matrix framework [4]. This example can also be found here.

Most of the steps are as in the above example, but instead of compiling executable functions we request the coefficient matrix at a given excitation frequency $\Omega = 1$ (a=1) by invoking HBM.get_monomial_coefficient_matrix.

from algebraic_hbm import softening_Duffing, Algebraic_HBM

n, a = 1, 1
HBM = Algebraic_HBM(ODE=softening_Duffing, order=n)
HBM.generate_multivariate_polynomials()
A = HBM.get_monomial_coefficient_matrix(a)

The output should look something likes this:

A=array([[ 0. ,  0.4,  3. ,  0. ,  0. ],
       [ 0. ,  0.6,  1. ,  0. ,  2. ],
       [ 0. ,  0.6,  1. ,  2. ,  0. ],
       [ 0. ,  1. ,  1. ,  0. ,  0. ],
       [ 1. , -1. ,  0. ,  1. ,  0. ],
       [ 1. ,  0.3,  0. ,  0. ,  0. ],
       [ 1. ,  0.3,  0. ,  1. ,  2. ],
       [ 1. ,  0.3,  0. ,  3. ,  0. ],
       [ 1. ,  0.4,  0. ,  0. ,  1. ],
       [ 1. ,  1. ,  0. ,  1. ,  0. ],
       [ 1. ,  1.2,  2. ,  1. ,  0. ],
       [ 2. , -1. ,  0. ,  0. ,  1. ],
       [ 2. , -0.4,  0. ,  1. ,  0. ],
       [ 2. ,  0.3,  0. ,  0. ,  3. ],
       [ 2. ,  0.3,  0. ,  2. ,  1. ],
       [ 2. ,  1. ,  0. ,  0. ,  1. ],
       [ 2. ,  1.2,  2. ,  0. ,  1. ]])

Here, the values of the first column of A are the indices $i$ of the Fourier coefficient functions $R_i(\mathbf c,\Omega)$ and the remaining columns define the monomials $b_{\mathbf w_i} \mathbf c_n^{\mathbf w_i}$ where the second column of are the coefficients $b_{\mathbf w_i}$ and the remaining columns define the tuples $\mathbf w_i$. In this manner the matrix A may now be used as the coefficient matrix that defines a multivariate polynomial system as used in the Macaulay Matlab tool MacaulayLab.

Theoretic background

We are considering second order ordinary differential equations (ODEs) with polynomial coefficients in the state $x : \mathbb T \subset \mathbb R \to \mathbb R$, that is ODEs of the form

r(t,x;u) = \rho x''(t) + \delta x'(t) + \sum_{i=1}^q \alpha_i x^i(t) - u(t) = 0 \,, \quad u(t) = \hat u \cos(\Omega t) \,.

The idea of the HBM is to yield approximations $x_n(t) = c_0 + \sum_{i=1}^n c_{2i-1} \cos(i \Omega t) + c_{2i} \sin(i \Omega t)$ of stationary periodic solutions $x$ of the ODE. Given a excitation frequency $\Omega$, the algebraic HBM of order $n$ yields a system of multivariate polynomials $R_i$, $i=0,1,\ldots,2n$, in the variables $c_0,c_1,\ldots,c_{2n}$ that solve the algebraic system

F_n(\mathbf c; \Omega) = [R_i(\mathbf c; \Omega)]_{i=0}^{2n} = 0

where $\mathbf c = [c_0,c_1,\ldots,c_{2n}] \in \mathbb R^{2n+1}$. A solution $\mathbf c \leftrightarrow x_n$ of $F_n(\mathbf c; \Omega) = 0$ is also a solution of the (original) HBM defining system of integral equations

\langle r(x_n), \phi_j\rangle = \frac{1}{T} \int_0^T r(t,x_n(t)) \phi_j(t) \, \mathrm d t \,, \quad j = 0,1,\ldots,2n \,,

with basis functions $\phi_0(t) = 1$, $\phi_{2i-1}(t) = \cos(i \Omega t)$ and $\phi_{2i}(t) = \sin(i \Omega t)$, $i=1,\ldots,n$. Note that building and evaluating $F_n$ does not require the computation of integrals as e.g. in the classical or Alternating Frequency-Time HBM [2].

References

1. Hannes Dänschel and Lukas Lentz. "An Algebraic Representation of the Harmonic Balance Method for Ordinary Differential Equations with Polynomial Coefficients". Manuscript PDF: /algebraic_hbm.pdf
2. Malte Krack and Johann Gross. "Harmonic Balance for Nonlinear Vibration Problems". Springer, 2019. isbn: 978-3-030-14022-9. DOI: 10.1007/978-3-030-14023-6
3. Hannes Dänschel, Lukas Lentz, and Utz von Wagner. "Error Measures and Solution Artifacts of the Harmonic Balance Method on the Example of the Softening Duffing Oscillator". In: Journal of Theoretical and Applied Mechanics 62.2 (Apr. 2024), pp. 435–455. DOI: 10.15632/jtam-pl/186718
4. Philippe Dreesen, Kim Batselier, and Bart De Moor. "Back to the Roots: Polynomial System Solving, Linear Algebra, Systems Theory". In: IFAC Proceedings Volumes 45.16 (2012), pp. 1203–1208. issn: 1474-6670. DOI: 10.3182/20120711-3-BE-2027.00217