Bifurcations of the precessional motion of an unbalanced rotor

The loss of stability of the cylindrical and conical precession of a rigid unbalanced rotor in non-linear elastic bearings with dissipation accompanying a change in the angular velocity of rotation of the rotor is investigated. It is assumed that the rotor has four degrees of freedom. It is established, using equations of the first degree of approximation, that the loss of stability of cylindrical and conical precessions on passing through a zero root can be accompanied by the excitation of a direct synchronous precession of the hyperboloidal type. Moreover, the equation of the boundary for the onset of self-excited oscillations is obtained and it is shown by means of numerical modelling that supercritical Hopf bifurcation and a strange attractor can occur.     

大位移Timoshenko转轴三维耦合动力学分析

对于高速柔性转轴,综合考虑滑移、弯曲、剪切变形、旋转惯性、陀螺效应和动不平衡等因素,运用Timoshenko旋转梁理论,给出弹性体空间运动的一般性描述,通过Hamilton原理建立弯曲-扭转-轴向三维耦合非线性动力学方程,应用参数摄动方法和假设振型方法进行化简,并用数值模拟分析了轴向刚性滑移、剪切变形、截面尺寸和转速等因素对转轴动力学响应的影响。     

Nonlinear responses of a rub-impact overhung rotor

For a rotor system with bearings and step-diameter shaft in the oxygen pump of an engine, the contact between the rotor and the case is considered, and the chaotic response and bifurcation are investigated. The system is divided into elements of elastic support, shaft and disk, and based on the transfer matrix method, the motion equation of the system is derived, and solved by Newmark integration method. It is found that hardening the support can delay the occurrence of chaos. When rubbing begins, the grazing bifurcation will cause periodic motion to become quasi-period. With variation of system parameters, such as rotating speed, imbalance and external damping, chaotic response can be observed, along with other complex dynamics such as period- doubling bifurcation and torus bifurcation in the response.     

Einfache Resonanzversuche am symmetrischen Kreisel

Summary Investigations are carried out on forced oscillations of a heavy symmetrical gyroscope-rotating with constant angular velocity about its axis of symmetry-as a function of an external linear or elliptical sinusoidal periodic force acting in horizontal direction on this gyroscope. The purpose of this work was to find a mechanic model for the phenomenon of nuclear induction. Experiments with the arrangement shown in figure 1 prove that the forced vibrations left over, after the natural vibrations have ceased, consist in a rotation of the body's axis on an elliptic cone. It is demonstrated how sense of rotation, orientation of the principal axis of the ellipse and phase difference between forced vibrations and acting external torque vary with frequency. Two frequencies of resonance are found, one at the natural frequency of precession and one at that of nutation, the first case corresponding to nuclear induction. An elementary calculation of the two frequencies of resonance is given.     

Stability analysis of an open cracked rotor with the anisotropic rotational damping in rotating operation

The damping effects with the distinction of stationary damping and the anisotropic rotating damping on the dynamic stability of the rotating rotor with an open crack on the surface of the shaft is studied. The motion equations of the cracked rotor system are formed by Lagranges principal. Different from previous studies, the anisotropic system with the multi periodical varied coefficients is simplified by the moving frame method such that the stability analysis based on the root locus method can be applied. The corresponding Campbell diagram, decay rate plot and roots locus plot are derived to prove the destabilizing influence of both the rotational damping and the varied anisotropy ratio of the rotating damping. The effects of anisotropy of stiffness on the decisions of the critical range are also presented. The result with theoretical precision would not only generally provide practical applicability to crack detection and instability control of the heavy loading turbo-machinery system, but also give the suggestion that, the increased proportion and the aggravated anisotropy of the rotational damping due to the crack of the fatigue rotor should been taken into consideration on the modeling of cracked rotor system.     

Implementation of a cohesive zone model for the investigation of the dynamic behavior of a rotating shaft with a transverse crack

The influence of a transverse crack on the vibration of a rotating shaft has been at the focus of attention of many researchers. The knowledge of the dynamic behavior of cracked shaft has helped in predicting the presence of a crack in a rotor. Here, the changing stiffness of the cracked shaft is investigated based on a cohesive zone model. This model is developed for mode-I plane strain and accounts for triaxiality of the stress state explicitly by using basic elastic-plastic constitutive relations. Then, the proposed numerical solution is compared to the switching crack model, which is based on linear elastic fracture mechanics. The cohesive zone model is implemented in finite element techniques to predict and to analyse the dynamic behavior of cracked rotor system. Timoshenko beam theory is used to model the discrete shaft under the effect of gravity, unbalance force and gyroscopic effect. The analysis includes the cohesive function for describing the breathing crack and the reduction of the second moment of area of the element at the location of the crack. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

嵌在弹性半空间的刚性变直径圆轴的扭转*

本文用线载荷积分方程法(LLIEM)研究嵌在弹性半空间的刚性变直径圆轴的轴对称扭转.利用将“半空间的点环力偶”(PRCHS)这一虚的基本载荷沿对称轴的圆轴区间中分布就能使本问题归结为一个一维的非奇异的Ferdholm第一种积分方程,且很易用数值求解.文中给出刚性圆锥,圆柱,圆锥柱嵌在弹性半空间的扭转的数值计算的例并和他人的已知结果相比较.文中也给出了刚性半球嵌在弹性半空间的扭转的精确解.     

磁轴承失灵后坠落转子瞬态振动灾变机理研究

研究一个带磁轴承的转子系统,在磁轴承失灵后转子坠入备用轴承引起的非线性瞬态振动。通过严格建立运动方程和数值仿真计算,详尽地分析了坠落转子转动角速度变化和轴颈与备用轴承接触点法向力变化的时间历程及备用轴承振动位移的频谱,发现系统发生灾变破坏的原因是由于高速不平衡阻尼转子减速通过临界速度时引起的强烈非稳态受迫弯曲振动加上轴颈与备用轴承接触点碰摩的非线性引起的高频颤振。     

The stability of the steady motion of a gyrostat with a liquid in a cavity

A symmetrical rigid body with a spherical base, carrying a rotor and having a cavity in the shape of an ellipsoid of revolution, completely filled with an ideal incompressible liquid in uniform vortex motion, is moving along an absolutely rough plane. It is shown that this system admits of an energy integral, Jellett's integral, the integral of constant vorticity and a geometric integral. The construction of a Lyapunov function as a linear combination of first integrals [1] yields the sufficient conditions for the rotation of the gyrostat about the vertically positioned axis of symmetry to be stable. The conditions for the gyrostat's rotation to be unstable are found. It is shown that the rotor may prove to have either a stabilizing or destabilizing effect on the system and that the gyrostat admits of motions of the type of regular precession. The sufficient conditions for the stability of these motions are obtained.     

Nonlinear stability analysis of rotor-bearing systems

High-speed rotors supported by floating ring bearings exhibit beside self-excited vibrations various nonlinear vibration effects, which may cause the damage of the rotor. After deriving the equations of motion of a perfectly balanced turbocharger rotor supported by floating ring bearings, bifurcation analyses are carried out with both rigid and flexible model by applying numerical continuation methods. Thereby, the main focus of the investigation is on the critical bifurcations emanating destructive limit-cycle oscillations of higher amplitudes. Finally, the influence of the shaft elasticity on the critical limit-cycle oscillations is discussed. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Active vibration control of unbalanced flexible rotor–shaft systems parametrically excited due to base motion

Rotor vibrations caused by large time-varying base motion are of considerable importance as there are a good number of rotors, e.g., the ship and aircraft turbine rotors, which are often subject to excitations, as the rotor base, i.e. the vehicle, undergoes large time varying linear and angular displacements as a result of different maneuvers. Due to such motions of the base, the equations of vibratory motion of a flexible rotor–shaft relative to the base (which forms a non-inertial reference frame) contains terms due to Coriolis effect as well as inertial excitations (generally asynchronous to rotor spin) generated by different system parameters. Such equations of motion are linear but time-varying in nature, invoking the possibility of parametric instability under certain frequency–amplitude combinations of the base motion. An investigation of active vibration control of an unbalanced rotor–shaft system on moving bases is attempted in this work with electromagnetic control force provided by an actuator consisting of four electromagnetic exciters, placed on the stator in a suitable plane around the rotor–shaft. The actuator does not levitate the rotor or facilitate any bearing action, which is provided by the conventional suspension system. The equations of motion of the rotor–shaft continuum are first written with respect to the non-inertial reference frame (the moving base in this case) including the effect of rotor internal damping. A conventional model for the electromagnetic exciter is used. Numerical simulations performed on the flexible rotor–shaft modelled using beam finite elements shows that the control action is successful in avoiding the parametric instability, postponing the instability due to internal material damping and reducing the rotor response relative to the rigid base significantly, with sufficiently low demand of control current in comparison with the bias current in the actuator coils.     

Stresses in elastic conical tubes of transversely isotropic materials with spherical anisotropies under temperature and force loadings

Analytic solutions are proposed for a number of new problems on determining the state of stress of a transversely-isotropic hollow cone with spherical anisotropy. An exact solution of the problem of the axisymmetric deformation of a long conical tube (or continuous cone) from an elastic transversely-isotropic material with spherical anisotropy subjected to an axial force is obtained in a spherical coordinate system R, , θ, the material axis of symmetry is directed along the spherical radius R. A rigorous solution is given of the problem of the uniform heating of a conical tube of transversely-isotropic material with spherical anisotropy for particular values of Poisson's ratios; the material axis of symmetry is directed along the θ-axis. For arbitrary Poisson's ratios an asymptotic solution is found for the temperature problem for a tube with small conicity.     

Free vibration analysis of a finite-length isotropic solid elliptic cylinder using exact three dimensional elasticity theory

A three-dimensional analytical model based on Navier’s displacement equation of motion is developed to describe the free vibrations of a simply supported elastic isotropic solid elliptical cylinder of finite length. Helmholtz decomposition theorem is invoked and the classical technique of separation of variables in elliptical coordinates is employed to solve the subsequent uncoupled governing differential equations as products of ordinary and modified Mathieu functions. Inclusive numerical data are provided in a systematic manner for the first several symmetric/anti-symmetric eigen-frequencies as a function of cross sectional eccentricity for selected cylinder length ratios. The incidences of “mode crossing” and “frequency veering” among different modes of the same symmetry group as well as swapping of the corresponding mode shapes in the veering region are examined. Also, selected three dimensional deformation mode shapes are illustrated. The precision of calculations is checked by performing proper convergence studies, and the correctness of results is demonstrated using a commercial finite element software as well as by comparison with the information in the accessible literature. The collection of presented data is believed to be the first meticulous attempt to determine the free vibration frequencies of finite-length simply-supported elastic elliptical cylinders in an exact manner.     

Auto-balancing of a rotor with an orthotropic elastic shaft

The self-balancing of a statically unbalanced orthotropic elastic rotor equipped with a ball auto-balancing device is investigated. Equations of motion in fixed and rotating systems of coordinates, as well as equations describing steady motions of the regular precession type, are derived using a simple model of a Jeffcott rotor. Formulae for calculating the amplitude-frequency and phase-frequency characteristics of the precessional motion of the rotor are obtained. It is established that the conditions for a steady balanced mode of motion for an orthotropic rotor to exist have the same form as for an isotropic rotor, but the stability region of such a mode for an orthotropic rotor is narrower than the stability region for an isotropic rotor. The unsteady modes of motion of the rotor in the case of rotation with constant angular velocity and in the case of passage through critical velocities with constant angular acceleration is investigated numerically. It is established that the mode of slow passage through the critical region for an orthotropic rotor is far more dangerous than the similar mode for an isotropic rotor.     

A nonlinear model for rotor-shaft joints of high speed rotor systems with internal damping

Viscous internal damping in joints of high speed rotor systems causes instabilities above a certain frequency of revolution. In the majority of cases a nonlinearity adjusts the stability margin towards higher frequencies. In this paper an analytical solution of a nonlinear four degrees of freedom rotor model with internal damping is proposed, which enables to clearly analyse the influence of shaft stiffness, connection stiffness, rotor mass and shaft mass. The steady state solution of the unbalance case and the stability boundaries are deduced analytically. The stabilizing effect of the nonlinearity is shown. The analytical solutions are in good agreement with numerical results obtained by FERAN, a rotor dynamic simulation tool. A model, representing the rotor–shaft connection with an o–ring has been analyzed by a hydro pulse rig. Beneath the linear way, two further approaches to describe the measured hysteresis, a cubic and a bilinear force law are shown in the paper. The different analytical and numerical results for the whole rotor system with these three approaches are compared. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Application of CFRP as a rotor shaft material

Conclusions Theoretical analysis and tests performed on rotors with composite shaft show that there is a sufficiently wide rotation stability region in the rotor parameter space despite comparatively high damping of a polymeric composite with respect to steel. Optimum parameters of the shaft (lay-up, thickness) and bearing (radial stiffness, damping) can be found within this region for each given rotor ensuring a low vibration level at critical frequencies.If rotor system parameters are far enough from the instability threshold, maximum vibration level is observed when rotor passes the first eigenfrequency zone. Further increase of rotation frequency leads to a rotor self-centering, and vibration level does not change passing the second eigenfrequency zone. The rotor response is not sensitive to small changes in rotor system parameters. If rotor system parameters are close to the instability threshold, vibration level at the second eigenfrequency dominates, and a small variation of bearing parameters causes significant changes in the vibration level.Translated from Mekhanika Kompozitnykh Materialov, Vol. 31, No. 2, pp. 227–240, March–April, 1995.     

Stability and vibration analysis of a complex flexible rotor bearing system

This paper presents the non-linear dynamic analysis of a flexible rotor having unbalanced and supported by ball bearings. The rolling element bearings are modeled as two degree of freedom elements where the kinematics of the rolling elements are taken into account, as well as the internal clearance and the Hertz contact non-linearity. In order to calculate the periodic response of this non-linear system, the harmonic balance method is used. This method is implemented with an exact condensation strategy to reduce the computational time. Moreover, the stability of the non-linear system is analyzed in the frequency-domain by a method based on a perturbation applied to the known harmonic solution in the time domain.     

Critical states of thin-wall conical gyroscopes elastically attached to a rotating platform

The analysis of effects of emergence of critical states of rigid and elastic thin-wall conical shell frustums hinged or elastically attached by their smaller edges to a rotating platform is performed on the basis of hybrid differential equations. The cases of simple and compound rotations of the carrying platform are considered. It is established that in the case of simple rotation the peculiarities of the critical state onset for the rigid and elastic shells are determined by relationships between their axial inertia moments, whereas in compound rotation the first frequencies of precession resonant vibrations of elastic shells do not depend on elastic pliability of the ties between the shell and the platform.     

On the theory of the gyropendulum

Precession equations of motion of the gyropendulum relative to the accompanying Darboux trihedron /1/ and, also, precession equations of the gyropendulum motion relative to the geographic trihedron, considered in /2, 3/, are given a kinematic interpretation. Linear differential equations that define the gyropendulum behavior at finite deflection angles of the rotor axis from the vertical are established for arbitrary motions of its suspension point over the surface of the Earth. These equations have the form of kinematic equations of a solid body spherical motion in terms of Rodrigues-Hamilton parameters, and in the case of stationary base they are in agreement with equations established in /4/. The Liapunov stability ot the gyropendulum equations in both the finite Euler—Krylov angles and in the Rodrigues — Hamilton parameters is proved. Particular cases of integrability in quadratures of the gyropendulum precession equations at finite angles are indicated.     

The equilibria and stability of a dynamically symmetrical satellite with a two-degree-of-freedom powered gyroscope

For a dynamically symmetrical satellite carrying a two-degree-of-freedom powered gyroscope, all the relative equilibria in a circular orbit are found as a function of the angular momentum of the rotor and the angle between the precession axis of the gyroscope and the plane of dynamical symmetry. The case with no spring on the axis of the gyroscope frame and the case with a spring whose stiffness satisfies definite conditions are considered. The secular stability of the equilibria is investigated. For a system with dissipation in the axis of the gyroscope frame, the Barbashin–Krasovskii theorem is used to perform a detailed analysis, which enables the character of the Lyapunov stability of all the equilibria to be determined, with the exception of a few points. The results of a numerical solution of the problem of the optimal values of the system parameters, for which asymptotically stable equilibria are obtained with maximum speed, are presented.