Dynamic analysis of a multi-span beam structure carrying moving rigid bodies is essentially important in various engineering applications. With many rigid bodies having different speeds and varying inter-distances, number of degrees of freedom of the coupled beam-moving rigid body system is time-varying and the beam-rigid body interaction is thus complicated. Developed in this paper is a method of extended solution domain (ESD) that resolves the issue of time-varying number of degrees and delivers a consistent mathematical model for the coupled system. The governing equation of the coupled system is derived with generalized assumed mode method through use of exact eigenfunctions and solved via numerical integration. Numerical simulation shows the accuracy and efficiency of the proposed method. Moreover, a preliminary study on parametric resonance on a beam structure with 10 rigid bodies provides guidance for future development of conditions on parametric resonance induced by moving rigid bodies, which can be useful for operation of certain coupled structure systems.

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