Documente Academic
Documente Profesional
Documente Cultură
Jos Antunes
Instituto Tecnolgico e Nuclear, Applied Dynamics Laboratory ITN/ADL, Estrada Nacional 10, 2686-953
Sacavm Codex, Portugal
Summary
Tibetan bowls have been traditionally used for ceremonial and meditation purposes, but are also increasingly
being used in contemporary music-making. They are handcrafted using alloys of several metals and produce
different tones, depending on the alloy composition, their shape, size and weight. Most important is the soundproducing technique used either impacting or rubbing, or both simultaneously as well as the excitation
location, the hardness and friction characteristics of the exciting stick (called puja). Recently, researchers
became interested in the physical modelling of singing bowls, using waveguide synthesis techniques for
performing numerical simulations. Their efforts aimed particularly at achieving real-time synthesis and, as a
consequence, several aspects of the physics of these instruments do not appear to be clarified in the published
numerical formulations and results. In the present paper, we extend to axi-symmetrical shells subjected to
impact and friction-induced excitations our modal techniques of physical modelling, which were already
used in previous papers concerning plucked and bowed strings as well as impacted and bowed bars. We start
by an experimental modal identification of three different Tibetan bowls, and then develop a modelling
approach for these systems. Extensive nonlinear numerical simulations were performed, for both impacted and
rubbed bowls, which in particular highlight important aspects concerning the spatial patterns of the frictioninduced bowl vibrations. Our results are in good agreement with preliminary qualitative experiments.
PACS no. 43.75.Kk
1.
Introduction
th
basis.
synthesis
numerical
demonstrating
techniques
for
performing
time-step
the
integration
effectiveness
of
of
the
the
modal
proposed
Then,
perfectly
computations,
symmetrical
sounds
and
bowls.
animations
From
our
have
been
have
radial
and
tangential
motion
2.
either
impacting
or
rubbing,
or
both
purposes.
Nevertheless,
these
amazing
Western
instruments
in
composers
their
music
have
in
such
acculturation
included
an
3.
phenomenon.
The Tibetan bowls and other related instruments used
in contemporary music are referred to, in scores, by
several names: temple bells, campana di templo, japonese
temple bell, Buddhist bell, cup bell, dobaci Buddha
temple bell. Several examples of the use of these
the
radial
responses
were
measured
by
two
respectively.
modes. Hence:
( n , n , m n , n ) =
Pe
Pr
e =1
(1)
m ax
H er ( ) H er ( ; n , n , m n , n ) d
r =1
m in
with:
H er ( ; n , n , m n , n ) =
n1 + N
n = n1
Aner
2 C1 + C 2
2
2
n + 2 i n n
(2)
10
Abs ( H ( f ) ) [(m/s2)/N]
10
10
10
10
10
10
2000
(a)
4000
6000
Frequency [Hz]
8000
10000
(b)
(2,0)
(3,0)
(4,0)
(5,0)
(6,0)
(7,0)
(8,0)
Modal family B
Modal family A
(j,k)
Figure 4. Perspective and top view of experimentally identified modeshapes (j,k) of the first 7 elastic mode-pairs of Bowl 2
(j relates to the number of nodal meridians and k to the number of nodal circles see text).
Table I Modal frequencies and frequency ratios of bowls 1, 2 and 3 (as well as their total masses MT and rim diameters ).
Bowl 1
MT = 934 g
= 180 mm
Total Mass
Diameter
Bowl 2
MT = 563 g
= 152 mm
Bowl 3
MT = 557 g
= 140 mm
Mode
f nA [Hz]
f nB [Hz]
f nA B f1 AB
f nA [Hz]
f nB [Hz]
f nA B f1 AB
f nA [Hz]
f nB [Hz]
f nA B f1 AB
(2,0)
(3,0)
(4,0)
(5,0)
(6,0)
(7,0)
(8,0)
219.6
609.1
1135.9
1787.6
2555.2
3427.0
4376.3
220.6
609.9
1139.7
1787.9
2564.8
3428.3
4389.4
1
2.8
5.2
8.1
11.6
15.6
19.9
310.2
828.1
1503.4
2328.1
3303.7
4413.2
5635.4
312.1
828.8
1506.7
2340.1
3312.7
4416.4
5642.0
1
2.7
4.8
7.5
10.6
14.2
18.1
513.0
1451.2
2659.9
4083.0
5665.6
-
523.6
1452.2
2682.9
4091.7
5669.8
-
1
2.8
5.2
7.9
10.9
-
Mode (j,k)
(2,0)
(3,0)
(4,0)
(5,0)
(6,0)
(7,0)
(8,0)
(9,0)
(10,0)
(11,0)
these
modal
frequencies
are
roughly
j =
j ( j 2 1)
j2 +1
EI
A R4
4.
fn [Hz]
86.7
252.5
490.0
788.0
1135.0
1533.0
1963.0
2429.0
2936.0
3480.0
fn/f1
1.0
2.9
5.7
9.1
13.1
17.7
22.6
28.0
33.9
40.1
4.1.
general
modeshapes
radial
and
shell
tangential
formulated as:
nA ( ) = nAr ( ) r + nAt ( ) t
B
Br
Bt
n ( ) = n ( ) r + n ( ) t
both
Furthermore,
present
conditions.
excitation
(4)
with
nAr ( ) = cos( n )
nBr ( ) = sin( n )
At
; Bt
n ( ) = sin( n ) n n ( ) = cos( n ) n
(5,6)
differential equations
M 0 Q (t )
A
A
0 M Q (t )
B B
supported
by
the
convergence
{
{
}
+
}
C 0 Q (t )
A
A
+
0 C Q (t )
B B
{
{
}
+
}
(7)
K 0 Q (t )
A
A
+
0 K Q (t )
B B
{
{
} { (t )}
=
} { (t )}
A
of
computational results.
(2,0)A
(3,0)A
f1 = 314 Hz
f2 = 836 Hz
(2,0)B
(3,0)B
(4,0)A
f3 = 1519 Hz
(4,0)B
(5,0)A
f4 = 2360 Hz
(5,0)B
Figure 5. Mode shapes at the bowl rim of the first four orthogonal mode pairs
(Blue: Undeformed; Green: Radial component; Red: Tangential component).
where:
4.2.
[M ] = Diag(m
[ C ] = Diag(2 m
X
[ K ] = Diag(m
1 ,, 2 mN N N ) ,
,, m ) ,
(1 ) , , mN (N ) ) ,
{Q
while
(t )} = q1 (t ), , qN (t )
X
(t )} = 1 (t ), , N (t )
X
and
of a mass
2
0
n (t ) =
Xr
Xt
Fr ( , t ) n ( ) + Ft ( , t ) n ( ) d
FN (t ) 0 , VT (t ) 0
with VN (t0 ) = 0
will be pure
(8)
mP
yP = FN (t ) + Fr ( , t )
n = 1, 2, , N
(11)
damping term:
Fr (c ) = K c yr (c , t) Cc yr (c , t)
amplitudes qn (t ) by superposition:
N
yr (t ) = n ( ) qn (t ) + n ( ) qn (t )
Ar
Br
(9)
where y r and
(12)
n =1
N
yt (t ) = n ( ) qn (t ) + n ( ) qn (t )
At
Bt
(10)
n =1
interval
y t
is the
acts as a
replacing
the
zero-velocity
discontinuity
(which
, if yt (c , t ) (13)
depend on
of
4
the
regularization
domain
(we
used
following model:
(14)
an
adequate
integration
methods
contact/friction
model
time-step
are
algorithm.
well
developed
Explicit
suited
for
the
here.
In
our
a)
b)
5.
Numerical simulations
10
perfect systems,
modelled
Impact responses
excited
and
resonate
longer.
The
Hz.
5.1.
Friction-excited responses
velocity responses.
11
(a)
(b)
Figure 7. Displacement time histories (top) and spectrograms (bottom) of the response of Bowl 2 to impact excitation with two
different values of the bowl/puja contact stiffness: (a) 105 N/m (sound file available); (b) 107 N/m (sound file available).
12
(a)
(b)
Figure 8. Time-histories, spectra and spectrograms of the dynamical response of Bowl 2 to friction excitation when FN = 3 N,
VT = 0.3 m/s: (a) at the bowl/puja travelling contact point; (b) at a fixed point of the bowl rim (sound file available).
(a)
(b)
Figure 9. Time-histories, spectra and spectrograms of the dynamical response of Bowl 2 to friction excitation when FN = 7 N,
VT = 0.5 m/s: (a) at the bowl/puja travelling contact point; (b) at a fixed point of the bowl rim (sound file available).
13
(a)
(b)
Figure 10. Time-histories, spectra and spectrograms of the dynamical response of Bowl 2 to friction excitation when FN = 1 N,
VT = 0.5 m/s: (a) at the bowl/puja travelling contact point; (b) at a fixed point of the bowl rim (sound file available).
(a)
(b)
(c)
Figure 11. Radial (green) and tangential (red) interaction forces between the bowl and the travelling puja:
(a) FN = 3 N, VT = 0.3 m/s; (b) FN = 7 N, VT = 0.5 m/s; (c) FN = 1 N, VT = 0.5 m/s.
14
Figure 5.
hears
pseudo-beating)
beating
phenomena
(or
remarks
provided
by
Rossing,
when
15
dependence
becomes
almost
negligible
at
higher
Unsteady
intermittent
self-excited
vibrations
with
30,0%
14,0
12,0
25,0%
10,0
20,0%
8,0
Initial
Transient
6,0
[s]
4,0
1
3
Normal
Force [N]
2,0
5
0,0
7
0,5
0,4
0,3
15,0%
10,0%
1
3
Normal
Force [N]
5,0%
5
0,0%
7
9
0,2
0,2
0,1
Tangential
Velocity [m/s]
(a)
0,1
0,3
0,4
0,5
Tangential
Velocity [m/s]
(b)
Figure 12. (a) Initial transient duration and (b) percentage of time with no bowl/puja contact, as a function of FN and VT .
16
2,0E-04
Tangential Displacement
Amplitude RMS [m]
Radial Displacement
Amplitude RMS [m]
8,0E-05
6,0E-05
4,0E-05
9
2,0E-05
7
5
0,0E+00
0,5
0,4
0,3
Tangential
Velocity [m/s]
Normal
Force [N]
1,6E-04
1,2E-04
8,0E-05
9
4,0E-05
7
5
0,0E+00
0,5
0,4
0,3
Tangential
Velocity [m/s]
0,2
0,1
(a)
Normal
Force [N]
0,2
0,1
(b)
Figure 13. Displacement amplitude (RMS) at the bowl/puja travelling contact point, as a function of FN and VT :
(a) Radial motion component; (b) Tangential motion component.
5.3.
5.4.
Non-symmetrical bowls
wood.
response,
as
clearly
seen
on
the
corresponding
spectrogram.
and
compared
to
effect
of
modal
FN = 3 N
frequency-split.
regime, which went from type (1) to type (3). This fact
17
(a)
(b)
(a)
(b)
Figure 15. Dynamical response of a rubbed bowl with 2% frequency split when FN = 3 N, VT = 0.3 m/s:
(a) at the bowl/puja travelling contact point; (b) at a fixed point of the bowl rim (sound file available).
18
(a)
(b)
Figure 16. Time-histories, spectra and spectrograms of the dynamical response of Bowl 4 excited by a rubber-covered puja for
FN = 5 N and VT = 0.3 m/s: (a) at the bowl/puja travelling contact point; (b) at a fixed point of the bowl rim (sound file available).
(a)
(b)
Figure 17. Time-histories, spectra and spectrograms of the dynamical response of Bowl 4 excited by a wooden puja for FN = 5 N and
VT = 0.3 m/s: (a) at the bowl/puja travelling contact point; (b) at a fixed point of the bowl rim (sound file available).
19
5.2.
discussed before.
frequency beat = 4 p .
Figure 17 shows a computed response obtained when
a)
10
12
14
16
18
20
22
Time [s]
24
26
28
30
12
14
16
18
20
22
Time [s]
24
26
28
30
b)
10
6.
Conclusions
20
time-domain simulations of impacted and/or rubbed axisymmetrical structures such as the Tibetan singing bowl.
To substantiate
the
numerical
simulations,
we
excitation
is
heavily
dependent
on
the
Acknowledgments
SFRH/BD/12806/2003.
References
(2002).
contact between the puja and the bowl; (2) Steady self-
Unsteady
self-excited
vibrations
with
intermittent
(2000)
[7] O. Incio, L. Henrique, J. Antunes, Dynamical
Analysis of Bowed Bars, Proceedings of the 8th
21
[17] O.
Incio,
Largeur
dArchet
et
Rgimes
Proceedings
Conference
Experimental
of
on
the
Eleventh
Computational
Measurements
International
Methods
(CMEM
and
2003),
Bowl
Using
Circular
Waveguide
Harmony,
Binkey
Kok
Publications,
Havelte
(1999).
[24] K. Gardner, Sounding the Inner Landscape: Music
as Medicine, Element, Rockport (1990).
th
Computer
Methods
in
Applied
22