# Galerkin-Ivanov transformation for nonsmooth modeling of vibro-impacts in continuous structures

## TL;DR

This paper introduces a novel application of Ivanov's nonsmooth transformation combined with Galerkin's method to efficiently model and simulate vibro-impact motions in continuous structures without the need for event detection.

## Contribution

The work extends Ivanov's transformation to spatially continuous structures with multiple impacts, integrating it with Galerkin's approach for improved simulation accuracy and computational efficiency.

## Key findings

- Eliminates the need for event detection in impact simulations.
- Successfully models distributed impacts in a nonlinear string.
- Results align well with traditional penalty methods.

## Abstract

This work deals with the modeling of nonsmooth vibro-impact motion of a continuous structure against a rigid distributed obstacle. Galerkin's approach is used to approximate the solutions of the governing partial differential equations of the structure, which results in a system of ordinary differential equations (ODEs). When these ODEs are subjected to unilateral constraints and velocity jump conditions, one must use an event detection algorithm to calculate the time of impact accurately. Event detection in the presence of multiple simultaneous impacts is a computationally demanding task. Ivanov proposed a nonsmooth transformation for a vibro-impacting multi-degree-of-freedom system subjected to a single unilateral constraint. This transformation eliminates the unilateral constraints from the problem and, therefore, no event detection is required during numerical integration. Ivanov used his transformation to make analytical calculations for the stability and bifurcations of vibro-impacting motions; however, he did not explore its application for simulating distributed collisions in spatially continuous structures. We adopt Ivanov's transformation to deal with multiple unilateral constraints in spatially continuous structures. Also, imposing the velocity jump conditions exactly in the modal coordinates is nontrivial and challenging. Therefore, in this work we use a modal-physical transformation to convert the system from modal to physical coordinates on a spatially discretized grid. We then apply Ivanov's transformation on the physical system to simulate the vibro-impact motion of the structure. The developed method is demonstrated by modeling the distributed collision of a nonlinear string against a rigid distributed surface. For validation, we compare our results with the well-known penalty approach.