Nonlinear Dynamics of Swinging Clapper Bells under Arbitrary or Resonant Forcing Functions

Abstract

Study of swinging clapper bells involves aspects encompassing sound and acoustic engineering, mechanical engineering, and structural engineering. From the musical point of view, clapper bells are directly played idiophone instruments, where the playing device, the clapper, although directly excited, is not explicitly controlled by the bell ringer. The achievement of a clear and optimal sound mainly depends on the acoustic characteristics of the bell and on the regularity of the clapper strokes, which is not only governed by the ringing style and the relevant parameters of clapper and bell but also by the real time corrections to the excitation introduced by trained bell ringers. In fact, despite centuries of experience allowed to optimize the bell performances, standardizing proportions and mounting arrangements, effective sound control requires some fine tuning of the forcing function. Another crucial topic, especially in view of assessing existing structures, regards the evaluation of time histories of the actions transmitted by the bell to the pivots and the study of the interactions between the bell and the supporting structures, belfries, and bell-towers. “Ringability” of swinging bells and bell-structure interactions are usually tackled in the framework of rigid body dynamics, so arriving at an initial value problem, governed by a system of two second order nonlinear ordinary differential equations (ODEs), whose solutions are piecewise-defined functions. In the relevant literature, numerical solutions of the system are commonly sought using built-in algorithms provided in advanced software packages; since the use of such general algorithms is subject to some restrictions, especially regarding the forcing functions, validity of the results is often limited. The present study focuses on an innovative procedure to solve the equations of motion. The method, extremely fast and effective, is based on original numerical explicit-implicit predictor-corrector integration algorithms with constant time step, duly validated reproducing the outcomes of relevant reference case studies. Each time the clapper strikes the bell a new “piece” of the solution is initialized, so avoiding user interventions in the elaboration phase. Independently on the oscillation amplitude and on the duration of the considered time interval, the algorithms can successfully manage undamped oscillations; friction and viscosity damped oscillations; free oscillations in transient and stationary phases; and can be applied also to solve stiff equations. Furthermore, the capability of the proposed methods to deal with arbitrary forcing functions is particularly innovative. The outcomes of relevant case studies, regarding the oscillations of the old tenor bell of the Great St. Mary church in Cambridge, confirm the potentialities of the method, also highlighting some topical issues, involving, for example, the assessment of damping equivalence. Finally, a pioneering feature of the algorithms is their ability to handle and to define “resonant” forcing functions, continuously tuning the frequency of the excitation to the natural frequency of the oscillation, according to the oscillation amplitude.