DYNAMIC RESPONSE OF TWO ROTORS CONNECTED BY RIGID MECHANICAL COUPLING WITH PARALLEL MISALIGNMENT

The effect of parallel misalignment on the lateral and torsional responses of two rotating shafts (Jeffcott rotors) is examined with theoretical and numerical analysis. The general equations of motion are derived and given in dimensionless form to represent the general case. The equations of motion revealed that parallel misalignment couples the translation and angular deflections through the stiffness matrix and the force vector. The non-linear equations are solved numerically using a combination of Newmark and Newton-Raphson methods to determine the dimensionless frequency and transient responses in terms of misalignment magnitude. The numerical results show that the system natural frequencies are excited at transient condition due to the presence of pure parallel misalignment. At steady state condition, the 1×-rotational speed excitation is present in the translation and angular directions, which indicates that parallel misalignment can be a source of both torsional and lateral excitations.     

Dynamic stability of two rigid rotors connected by a flexible coupling with angular misalignment

The effect of misalignment on the stability of two rotors connected by a flexible mechanical coupling subjected to angular misalignment is examined. The study performed is to understand the effect of angular misalignment on the stability of rotating machinery. The dimensionless stability criteria of the non-linear system of differential equations of two misaligned rigid rotors are derived using Liapunov's direct method. A rigid disk is attached at the middle of each rotor, where the rotor-disk assembly is mounted on two hydrodynamic bearings with four stiffness and four damping coefficients. Sets of dimensionless conditions for sufficient whirl stability of the two misaligned rotors are derived. The stability conditions are presented in graphical form for deeper understanding of the effect of the flexible mechanical coupling stiffness and angular misalignment on rotating machinery stability. The results show that an increase in angular misalignment or mechanical coupling stiffness terms leads to an increase of the model stability region.     

ANALYSIS OF THE RESPONSE OF A CRACKED JEFFCOTT ROTOR TO AXIAL EXCITATION

The coupling of lateral and longitudinal vibrations due to the presence of transverse surface crack in a rotor is explored. Steady state unbalance response of a Jeffcott rotor with a single centrally situated crack subjected to periodic axial impulses is studied. Partial opening of crack is considered and the stress intensity factor at the crack tip is used to decide the extent of crack opening. A crack in a rotor is known to introduce coupling between lateral and longitudinal vibrations. Therefore, lateral vibration response of a cracked rotor to axial impulses is studied in detail. Spectral analysis of response to periodic multiple axial impulses shows the presence of rotor bending natural frequency as well as side bands around impulse excitation frequency and its harmonics due to modulations caused by rotor running frequency. It is concluded that the above approach can prove to be a useful tool in detecting cracks in rotors.     

Study of a misaligned flexibly coupled shaft system having nonlinear bearings and cyclic coupling stiffness—Theoretical model and analysis

A model which enables dynamic analysis of flexibly coupled misaligned shafts is presented. The model is setup to account for both angular and parallel misalignment in the presence of mass unbalance and incorporates a coupling having angular, torsional and axial flexibility. Among the important features is the ability to simulate both nonlinear bearing stiffness and coupling angular-stiffness anisotropy. The equations of motion are derived for the linear system, extended to include nonlinear bearing effects and subsequently transformed into non-dimensional form for general application. A series of numerical analyses are performed and the influence of important system parameters assessed thereby providing insight to the resulting static and dynamic forces and motions. Angular and parallel misalignments are shown to produce fundamentally different system response. It is found that the static preload induced by both types of misalignment can play a key role in producing complex vibration resulting from it's interaction with rotating-element anisotropy and bearing nonlinear properties. Bearing static forces are altered and rotating elements are subjected to alternating forces which could affect fatigue life. Bearing forces can be further modified by the application of transmitted torque. The potential for great variability in system response is shown to exist due to the participation of numerous influential variables.     

Coupled horizontal and vertical bending vibrations of a stationary shaft with two cracks

This paper investigates the coupled bending vibrations of a stationary shaft with two cracks. It is known from the literature that, when a crack exists in a shaft, the bending, torsional, and longitudinal vibrations are coupled. This study focuses on the horizontal and vertical planes of a cracked shaft, whose bending vibrations are caused by a vertical excitation, in the clamped end of the model. When the crack orientations are not symmetrical to the vertical plane, a response in the horizontal plane is observed due to the presence of the cracks. The crack orientation is defined by the rotational angle of the crack, a parameter which affects the horizontal response. When more cracks appear in a shaft, then the coupling becomes stronger or weaker depending on the relative crack orientations. It is shown that a double peak appears in the vibration spectrum of a cracked or multi-cracked shaft.Modeling the crack in the traditional manner, as a spring, yields analytical results for the horizontal response as a function of the rotational angle and the depths of the two cracks. A 2×2 compliance matrix, containing two non-diagonal terms (those responsible for the coupling) serves to model the crack. Using the Euler–Bernoulli beam theory, the equations for the natural frequencies and the coupled response of the shaft are defined. The experimental coupled response and eigenfrequency measurements for the corresponding planes are presented. The double peak was also experimentally observed.     

Shaft angular misalignment detection using acoustic emission

Shaft angular misalignment (SAM) is a common and crucial problem in rotating machinery. Misalignment can produce several shortcomings such as premature bearing failure, increase in energy consumption, excessive seal lubricant leakage and coupling failure. Vibration analysis has been traditionally used to detect SAM; however, it presents some drawbacks i.e. high influence of machine operational conditions and strong impact of the coupling type and stiffness on vibration spectra. This paper presents an extensive experimental investigation in order to evaluate the possibility of detecting SAM, using acoustic emission (AE) technique. The test rig was operated at under different operational conditions of load and speed in order to evaluate the impact on the AE and vibration signature under normal operating conditions. To the best of the author’s knowledge, this is the first attempt to use AE for the detection of SAM under varying operational conditions. A comparative study of vibration and AE was carried out to demonstrate the potentially better performance of AE. The experimental results show that AE technique can be used as a reliable technique for SAM detection, providing enhancements over vibration analysis.     

DYNAMIC ANALYSIS OF A SPIRAL BEVEL-GEARED ROTOR-BEARING SYSTEM

Spiral bevel gears can transmit motion between two rotors, which are commonly perpendicular to each other. In this paper, the dynamic analysis of a spiral bevel-geared rotor-bearing system is studied. Firstly, the constraint equation describing the relationship between the generalized displacements of spiral bevel gear pairs is derived briefly. Then the modelling of coupled axial-lateral-torsional vibration of the rotor system geared by spiral bevel gears is discussed. Finally, the mechanism of coupled vibration of the spiral bevel-geared rotor system is analyzed theoretically and the dynamic behavior of the system is investigated numerically. The conclusions are characterized as follows. The influences of the critical speeds in rigid journal supports, stability threshold speed and unbalanced responses in hydrodynamic journal bearings are not remarkable in comparison with the spur bevel-geared system under the same conditions. However, the critical speeds and stability threshold speed are essentially affected by boundary conditions such as the torsional stiffness, and meanwhile the effect of the unbalanced responses is not prominent under the concerned rotating speeds except that around the resonance peaks. The steady state response due to torsional excitation is also analyzed, and the results show that it cannot be neglected either in the torsional direction or in the lateral and axial directions in the spiral bevel-geared rotor system.     

Modeling and performance study of a beam microgyroscope

We develop a mathematical model of a microgyroscope whose principal component is a rotating cantilever beam equipped with a proof mass at its end. The microgyroscope undergoes two flexural vibrations that are coupled via base rotation about the microbeam longitudinal axis. The primary vibratory motion is produced in one direction (drive direction) of the microbeam by a pair of DC and AC voltages actuating the proof mass. The microbeam angular rotation induces a secondary vibration in the orthogonal (sense) direction actuated by a second DC voltage. Closed-form solutions are developed for the linearized problem to study the relationship between the base rotation and gyroscopic coupling. The response of the microgyroscope to variations in the DC voltage across the drive and sense electrodes and frequency of excitation are examined and a calibration curve of the gyroscope is obtained analytically.     

非简谐振动对石墨烯杨氏模量与声子频率的影响

在哈里森键联轨道法框架下, 考虑到原子的短程相互作用和原子的非简谐振动, 应用固体物理理论和方法, 得到了石墨烯的力常数、杨氏模量、扭曲模量、泊松系数以及声子频率随温度的变化关系, 探讨了非简谐振动对它们的影响. 结果表明: 1)杨氏模量与声子频率等随温度变化并遵从一定的规律, 其中力常数、杨氏模量、扭曲模量随温度升高而增大, 但变化较小; 声子频率随温度升高而增大但变化较快; 泊松系数随温度升高而较快地减小; 2)石墨烯原子具有沿键长方向的纵振动和垂直键长方向的横振动, 但以纵振动为主, 纵振动的非简谐效应远大于横振动, 横振动的简谐系数ε₀' 和第二非谐系数ε₂' 均小于纵振动的相应值ε₀,ε₂; 比值为ε₀/ε₀' ≈ 8.477,ε₂/ε₂' ≈ 156; 3)若不考虑非简谐振动项, 则石墨烯的力常数、杨氏模量和扭曲模量、泊松系数、声子频率均为常量, 与实验不符合; 同时考虑到原子的第一、二非简谐振动项后, 它们均随温度升高而变化, 而且温度愈高, 原子振动的非简谐效应愈显著. 本文的结果与文献的实验结果符合较好.     

Experimental investigations of the response of a cracked rotor to periodic axial excitation

In this paper, the coupling of lateral and longitudinal vibrations due to the presence of transverse surface crack in a rotor is explored. A crack in a rotor is known to introduce coupling between lateral and longitudinal vibrations. Steady state unbalance response of a cracked rotor with a single centrally situated crack subjected to periodic axial impulses is investigated experimentally. The cracked rotor is excited axially using an electrodynamic exciter at a frequency equal to its bending natural frequency in both non-rotating and rotating conditions. The resulting time domain and frequency domain signals of the cracked rotor are studied. Spectral response of the cracked rotor with and without axial excitation is found to be distinctively different. When excited axially, it shows prominent presence of rotor bending natural frequency. However for an uncracked rotor, the response is similar with or without axial excitation. It is thus proposed that the response of the rotor to axial impulse excitation could be used for more reliable diagnosis of rotor cracks.     

Numerical–experimental identification of the most effective dynamic operation mode of a vibration drilling tool for improved cutting performance

This study is concerned with application of numerical–experimental approach for characterizing dynamic behavior of the developed piezoelectrically excited vibration drilling tool with the aim to identify the most effective conditions of tool vibration mode control for improved cutting efficiency. 3D finite element model of the tool was created on the basis of an elastically fixed pre-twisted cantilever (standard twist drill). The model was experimentally verified and used together with tool vibration measurements in order to reveal rich dynamic behavior of the pre-twisted structure, representing a case of parametric vibrations with axial, torsional and transverse natural vibrations accompanied by the additional dynamic effects arising due to the coupling of axial and torsional deflections ((un)twisting). Numerical results combined with extensive data from interferometric, accelerometric, dynamometric and surface roughness measurements allowed to determine critical excitation frequencies and the corresponding vibration modes, which have the largest influence on the performance metrics of the vibration drilling process. The most favorable tool excitation conditions were established: inducing the axial mode of the vibration tool itself through tailoring of driving frequency enables to minimize magnitudes of surface roughness, cutting force and torque. Research results confirm the importance of the tool mode control in enhancing the effectiveness of vibration cutting tools from the viewpoint of structural dynamics.     

Axisymmetric vibration of single-walled carbon nanotubes in water

A double shell-Stokes flow model is developed to study the axisymmetric vibration of single-walled carbon nanotubes (SWCNTs) immerged in water. In contrast to macroscopic solid-liquid system, a submerged SWCNT is coupled with surrounding water via the van der Waals interaction. It is shown that this unique feature substantially reduces viscous damping of the axisymmetric radial, longitudinal and torsional vibrations and significantly up-shifts the frequency of the radial vibration of an SWCNT. The study offers a theoretical explanation for the experimental observation and molecular dynamics simulations available in particular cases, and provides an efficient modelling tool and useful guidance for the study of the general dynamic behaviour of SWCNTs in a fluid.     

夹心式纵-扭复合模式压电超声换能器的共振频率

本文对夹心式纵－扭复合振动模式压电超声换能进行了研究，从换能器的等效电路出发，在无耦合时，得出换热能器纵向振动模式及扭转振动模式的各自共振频率方程，实验表明，换能器各自共振频率的测试值与理论计算值基本符合。     

夹心式纵-扭复合模式压电超声换能器的共振频率

本文对夹心式纵-扭复合振动模式压电超声换能器进行了研究．从换能器的等效电路出发，在无耦合时，得出了换能器中纵向振动模式及扭转振动模式的各自共振频率方程．实验表明，换能器各自共振频率的测试值与理论计算值基本符合．     

A miniaturization of the multi-degree-of-freedom ultrasonic actuator using a small cylinder fixed on a substrate

Multi-degree-of-freedom ultrasonic actuator has been studied for robot arms and multidimensional precision table and so on because of its simple structure, silent operation, and holding force. In this study, we aim to miniaturize multi-degree-of-freedom ultrasonic actuator for fabrication on a substrate. This actuator consists of a stainless steel cylinder and a PZT ring. The cylinder is fixed on a substrate and the PZT ring is glued to the substrate near the cylinder. The 1st longitudinal vibration and the 2nd bending vibration are simultaneously excited in the cylinder to make elliptical motion at the top of the cylinder and a ball rotor placed on the cylinder rotates because of the friction force. Length of the cylinder was decided so as to tune the resonance frequency of the 1st longitudinal vibration to the 2nd bending one. Actuator performances are evaluated experimentally using a 14 mm height and 7 mm diameter stainless steel cylinder with a 0.5 mm thickness PZT ring. The rotation about the cylinder axis is tested using the two orthogonal bending vibrations with 90 degrees phase difference. Also, the rotation about horizontal axes were investigated using the combination of the longitudinal vibration and one of two bending vibrations. We measured the rotation speed of a steel ball and obtained 15.8 rps using a 6 mm diameter ball rotor.     

Numerical analysis of the hybrid transducer ultrasonic motor: comparison of characteristics calculated by transmission-line and lumped-element models

In this paper, a hybrid transducer ultrasonic motor is numerically analyzed by using two equivalent electrical circuit models. A transmission-line model for the torsional vibration in the stator, which can model any torsional vibration mode and their combinations, was introduced and compared with a lumped-element model, which modeled the fundamental torsional resonance mode in the stator. The calculation result by using the transmission-line model demonstrated that the second harmonic torsional vibration increased either with the static spring force by which the rotor was pressed to the stator or with the load torque placed on the rotor. The difference in the calculated motor performance between the two models appeared when the second harmonic torsional vibration became large at a sufficient static spring force.     

External and internal coupling effects of rotor's bending and torsional vibrations under unbalances

External and internal bending–torsion coupling effects of a rotor system with comprehensive unbalances are studied by analytical analysis and numerical simulations. Based on Lagrangian approach, a full-degree-of-freedom dynamic model of a Jeffcott rotor is developed. The harmonic balance method and the Floquet theory are combined to analyze the stability of the system equations. Numerical simulations are conducted to observe the bending–torsion coupling effects. In the formulation of rotordynamic model, two bending–torsion coupling patterns, external coupling and internal coupling, are suggested. By analytical analysis, it is concluded that the periodic solution of the system is asymptotically stable. From numerical simulations, three bending–torsion coupling effects are observed in three cases. Under static unbalance, synchronous torsional response is observed, which is the result of external coupling under unbalanced force. Under dynamic unbalance, two-time synchronous frequency torsional response is observed, which is the result of internal coupling under unbalanced moment. Under comprehensive unbalance, synchronous and two-time synchronous frequency torsional components are observed, which are the results of both external and internal couplings under unbalanced force and moment. These observations agree with the analytical analysis. It is believed that these observed phenomena should make sense in the dynamical design and fault diagnostics of a rotor system.     

Development and analysis of a longitudinal and torsional type ultrasonic motor with two stators

In this paper, a new longitudinal and torsional type ultrasonic motor with two stators is presented and investigated. Normally, such a motor consists of one rotor and one stator, and two types of transducers that are longitudinal PZT and torsional PZT are used to generate the desired elliptical locus on the stator surface. The operating frequency is at the resonance frequency of torsional transducer. In order to enhance the efficiency of the motor, however, the resonance frequencies of both transducers should be closed to each other. For the purpose of matching the resonance frequencies, a symmetrical structure is adopted in design of the motor. Furthermore, two rings are added to the stators in order to adjust the resonance frequencies of these two transducers. A finite element model is developed and ANSYS software is used to analyze the resonance frequencies of longitudinal vibration and torsional vibration as well as optimize the motor geometry. According to the FE results, an experimental prototype is fabricated and the experimental results agree well with the theoretical predictions.     

Vibration interaction in a multiple flywheel system

This paper investigates vibration interaction in a multiple flywheel system. Flywheels can be used for kinetic energy storage in a satellite Integrated Power and Attitude Control System (IPACS). One hitherto unstudied problem with IPACS is vibration interaction between multiple unbalanced wheels. This paper uses a linear state-space dynamics model to study the impact of vibration interaction. Specifically, imbalance-induced vibration inputs in one flywheel rotor are used to cause a resonant whirling vibration in another rotor. Extra-synchronous resonant vibrations are shown to exist, but with damping modeled the effect is minimal. Vibration is most severe when both rotors are spinning in the same direction.     

IDENTIFICATION OF MULTIPLE FAULTS IN ROTOR SYSTEMS

Many papers are available in the literature about identification of faults in rotor systems. However, they generally deal only with a single fault, usually an unbalance. Instead, in real machines, the case of multiple faults is quite common: the simultaneous presence of a bow (due to several different causes) and an unbalance or a coupling misalignment occurs often in rotor systems. In this paper, a model-based identification method for multiple faults is presented. The method requires the definition of the models of the elements that compose the system, i.e., the rotor, the bearings and the foundation, as well as the models of the faults, which can be represented by harmonic components of equivalent force or moment systems. The identification of multiple faults is made by a least-squares fitting approach in the frequency domain, by means of the minimization of a multi-dimensional residual between the vibrations in some measuring planes on the machine and the calculated vibrations due to the acting faults. Some numerical applications are reported for two simultaneous faults and some experimental results obtained on a test-rig are used to validate the identification procedure. The accuracy and limits of the proposed procedure have been evaluated.