Nonlinear response and dynamic stability of a cracked rotor

Establishment of a new approach for analyzing the nonlinear behavior of a cracked rotor system is the main goal of the present research. Nonlinear governing equations of motion are developed for the cracked rotor system with asymmetrical viscoelastic supports. In establishing the approach, the masses of the rotational shaft and a disc mounted on the shaft, geometric nonlinearity of the shaft, and the rotor’s extra displacements due to the existence of the crack are all taken into account. On the basis of the governing equations, the nonlinear behavior of the rotor system is analyzed numerically with considerations of the effects of the crack depth, the crack location, the locations of the disc, and the shaft’s rotational speed. The effects of the crack and the other system parameters on the dynamic stability of the rotor system are also investigated.     

Steady-state response of a geared rotor system with slant cracked shaft and time-varying mesh stiffness

The dynamic behavior of geared rotor system with defects is helpful for the failure diagnosis and state detecting of the system. Extensive efforts have been devoted to study the dynamic behaviors of geared systems with tooth root cracks. When surface cracks (especially for slant cracks) appear on the transmission shaft, the dynamic characteristics of the system have not gained sufficient attentions. Due to the parametric excitations induced by slant crack breathing and time-varying mesh stiffness, the steady-state response of the cracked geared rotor system differs distinctly from that of the uncracked system. Thus, utilizing the direct spectral method (DSM), the forced response spectra of a geared rotor system with slant cracked shaft and time-varying mesh stiffness under transmission error, unbalance force and torsional excitations are, respectively, obtained and discussed in detail. The effects of crack types (straight or slant crack) and crack depth on the forced response spectra of the system without and with torsional excitation are considered in the analysis. In addition, how the frequency response characteristics change after considering the crack is also investigated. It is shown that the torsional excitations have significant influence on the forced response spectra of slant cracked system. Sub-critical resonances are also found in the frequency response curves. The results could be used for shaft crack detection in geared rotor system.     

飞行器内裂纹转子系统的非线性动力学特性研究

在Jeffcott转子的开闭裂纹及方波模型基础上,建立了飞行器内裂纹转子系统的运动模型．数值研究表明:当飞行器以不同的等速度飞行时,转子轴与水平面之间夹角的变化将造成重力分量的变化,从而使转子运动在周期解、拟周期或浑沌状态之间变化,而且出现非线性现象的转速比、刚度变化比等参数的范围、进入和退出浑沌的路径、响应中的频率成份也会发生变化．飞行器的飞行速度变化还会改变裂纹转子响应的稳定性．飞行器等速飞行后的加速过程将引起转子振幅的突升及其后的下降,而且会使裂纹转子系统响应可能在不同的非线性状态下交替改变．     

Nonlinear dynamic analysis of fractional order rub-impact rotor system

Nonlinear dynamic characteristics of rub-impact rotor system with fractional order damping are investigated. The model of rub-impact comprises a radial elastic force and a tangential Coulomb friction force. The fractional order damped rotor system with rubbing malfunction is established. The four order Runge–Kutta method and ten order CFE-Euler method are introduced to simulate the fractional order rub-impact rotor system equations. The effects of the rotating speed ratio, derivative order of damping and mass eccentricity on the system dynamics are investigated using rotor trajectory diagrams, bifurcation diagrams and Poincare map. Various complicated dynamic behaviors and types of routes to chaos are found, including period doubling bifurcation, sudden transition and quasi-periodic from periodic motion to chaos. The analysis results show that the fractional order rub-impact rotor system exhibits rich dynamic behaviors, and that the significant effect of fractional order will contribute to comprehensive understanding of nonlinear dynamics of rub-impact rotor.     

Vibration analysis of rotating systems with open and breathing cracks

This paper is concerned with vibration analysis of rotating systems containing cracks. The flexibility matrix of cracked element is calculated with modified integration limits which is more accurate than conventional methods. The effect of this modification on the coefficients of flexibility matrix is presented for a simple rotor system containing open crack. To model the crack breathing behavior, a new finite element approach is introduced and implemented. Then, the dynamic response of a rotor with a breathing crack is evaluated by using the frequency/time domain approach (short time Fourier transform). The ability of short time Fourier transform to detect small cracks is investigated and compared with the transient response. The results provide a possible basis for an on-line monitoring 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)     

Identification of crack in a rotor system based on wavelet finite element method

The dynamics and diagnosis of cracked rotor have been gaining importance in recent years. In the present study a model-based crack identification method is proposed for estimating crack location and size in shafts. The rotor system has been modeled using finite element method of B-spline wavelet on the interval (FEM BSWI), while the crack is considered through local stiffness change. Based on Rayleigh beam theory, the influences of rotatory inertia on the flexural vibrations of the rotor system are examined to construct BSWI Rayleigh beam element. The slender shaft and stiffness disc are modeled by BSWI Rayleigh–Euler beam element and BSWI Rayleigh–Timoshenko beam element, respectively. Then the crack identification forward and inverse problems are solved by using surface-fitting technique and contour-plotting method. The experimental examples are given to verify the validity of the BSWI beam element for crack identification in a rotor system. From experimental results, the new method can be applied to prognosis and quantitative diagnosis of crack in a rotor system.     

Cohesive zone model for a transverse breathing crack in a rotor

The breathing mechanism of a transversely cracked rotor and its influence on a rotor system that appears due to the shaft weight is studied. This breathing mechanism is based on experimental and simulation result for the crack shape reported in the literature. If the crack depth is small, the crack closure line is a straight line while for larger crack depths the crack closure becomes more curved. For both cases, a method is proposed for the evaluation of the stiffness losses in the cross section that contains the crack. This method is based on a cohesive zone model (CZM) instead of linear elastic fracture mechanics (LEFM) approach, because LEFM is valid only for the fully open crack and cannot be extended to other intermediate situations. As the crack is closed, the stress intensity factor (SIF) will not appear at the boundary between the closed cracked areas and the open cracked areas. The CZM is developed for mode-I plane strain conditions and accounts explicitly for triaxiality of the stress state by using constitutive relations. The proposed model gives more realistic results than models based on LEFM for the stiffness losses of the crack rotor system for a wide range of the crack depth. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Implementation of a cohesive zone model for crack closure analysis of rotors

The presence of a crack in a rotor introduces a local flexibility which affects its dynamic response. Moreover, the crack may open and close during the vibration period. The crack status is a function of time and also depends on the rotational speed and the vibration amplitude of the rotor. This nonlinear case is still a challenging research topic especially in the field of closing crack in the rotating shaft. A cohesive zone model is developed in order to analyze the stiffness of a crack in a rotating shaft. The proposed expression will be compared to three different crack models, namely, a breathing crack model, a switching crack model and an open crack model. Moreover, a cohesive law to predict and to analyse the stress at the crack tip is presented. The numerical model is implemented using a finite element formulation. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

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.     

Free vibration analysis of cracked postbuckled plate

In this paper, a methodology is introduced to address the free vibration analysis of cracked plate subjected to a uniaxial inplane compressive load for the first time. The crack, assumed to be open and at the edge is modeled by a massless linear rotational spring. The governing differential equations are derived using the Mindlin theory, taking into account the effect of initial imperfection. The response is assumed to be consisting of static and dynamic parts. For the static part, differential equations are discretized using the differential quadrature element method and resulting nonlinear algebraic equations are solved by an arc-length strategy. Assuming small amplitude vibrations of the plate about its buckled state and exploiting the static solution in the linearized vibration equations, the dynamic equations are converted into a non-standard eigenvalue problem. Finally, natural frequencies and modal shapes of the cracked buckled plate are obtained by solving this eigenvalue problem. To ensure the validity of the suggested approach an experimental setup and a numerical finite element model have been made to analyze the vibration of a cracked square plate with simply supported boundary conditions. Also, several case-studies of cracked buckled plate problem have been solved utilizing the proposed method, and effects of selected parameters have been studied. The results show that the applied load and geometric imperfection as well as the position, size and depth of the crack have different impact on natural frequencies of the plate.     

The steady motions of a gyrostat suspended on a rod in a central gravitational field

The problem of the existence, stability and bifurcation of the steady motions of two bodies in an orbital tethered system, when one of the bodies is a symmetrical satellite with a rotor on the axis of symmetry, is considered. One-parameter families of steady motions are indicated, and their stability and bifurcations are investigated. The conditions which relate the parameters of the system for which stabilization of the families obtained is possible using a rotating rotor are obtained.     

页岩储层各向异性对水平井坍塌压力的影响

为揭示层理页岩强度各向异性对水平井井壁坍塌压力的影响规律,对取自四川盆地龙马溪组页岩钻井不同层理角度的岩芯,通过岩芯观测、偏光显微镜、扫描电镜试验分别从宏观和微观角度研究了页岩层理特征,并基于单轴抗压强度研究了页岩强度各向异性特征.层理结构发育导致页岩呈现出显著的各向异性特征,粗略地将页岩视为各向同性体及简单采用Mohr-Coulomb准则作为破坏判据,使得预测的维持井壁稳定的坍塌压力不能满足安全钻井的需要.该文在研究层理地层岩石力学特性的基础上,采用横观各向同性地层井周应力分析模型,研究了弹性模量及地应力各向异性比对井周应力的影响;并结合考虑中间主应力的Mogi-Coulomb判据,分析了井壁坍塌压力对弹性模量E和Poisson(泊松)比ν各向异性比值变化的敏感性.实例分析结果表明:弹性模量和水平地应力各向异性比值的变化会对井周应力产生较大影响;Poisson比各向异性对井壁坍塌压力没有明显影响,而弹性模量比值的变化对井壁坍塌压力影响较大;横观各向同性地层中井壁坍塌压力与储层水平和垂直方向的硬脆性强弱关系有关,弹性力学参数各向异性既有可能利于井壁稳定,也可能更易导致井壁的剪切破坏;在实际工程中应根据储层岩石水平和垂直方向的硬脆性强弱关系,确定安全钻井液密度窗口.该结果对现场施工具有很好的指导意义.     

Dynamic analysis and experiment investigation of a cracked dual-disc bearing-rotor system based on orbit morphological characteristics

The paper is aimed to examine dynamic behaviors of a dual-disc bearing-rotor system in multi-fault state, and the crack detection based on the orbit morphological characteristics and vibration responses is proposed. Dynamic response and vibration signal analysis are two significant studies in rotor system. Most researchers have simulated the nonlinear dynamics and analyzed the fault signal using various methods separately. However, the fault feature from vibration signal is tightly connected with the dynamic mechanism in the rotor system, especially in rotor system with coupling multi-fault. In the paper, the dynamic model of the dual-disc bearing-rotor system is established, which takes into account the effects of crack, rub-impact and nonlinear oil-film forces. The vibration responses and the effect of crack on dual-disc rotor system with multi faults are investigated. The existence of crack and the coupling effect of multi faults enrich dynamic behavior of the dual-disc bearing-rotor system, and the response near the 1/2 subcritical speed provides a criterion for crack detection. Experiment investigation is attempted for the first time, which is based on the changes of crack depth and rotation speed for multi-fault dual-disc rotor system. The analysis of the dynamic response and the orbit morphological characteristics from experiment can effectively detect the crack information.     

An analytical dynamic model for single-cracked beams including bending,axial stiffness,rotational inertia,shear deformation and coupling effects

This paper develops an analytical dynamic model for cracked beams including bending, axial stiffness, rotational inertia, shear deformation and the coupling of the last two effects. The damage is modelled using a rotational spring that simulates the crack based on fracture mechanics theory. The developed model is used to predict variations on natural frequencies for several crack sites and damage magnitude along the beam. The importance of this work lies in the development of an analytical model that has no approximation due to discretization of the displacement field. This initial theoretical approach describes the expected behaviour for changes in the natural frequencies for simply-supported and clamped-free beams with the precision that only analytical methods allow. The results provide a useful benchmark to compare with approximate numerical methods that can be used to model and analyse the problem. The model showed similar results for long span beams, but the inclusion of rotational inertia and shear deformation effects rendered improvements in the dynamic behaviour mainly in the case of slender and short span beams when compared with the simplified Euler–Bernoulli model.     

偏心裂纹板在裂纹面受两对反平面点力的弹塑性解析解

采用线场分析方法对理想弹塑性材料偏心裂纹板在裂纹面受两对反平面点力的情形进行弹塑性分析,分析不受小范围屈服条件的限制,求得了裂纹线附近应力场和位移场的弹塑性解析解、裂纹线上的塑性区长度随外荷载的变化规律及有限宽板具有偏心裂纹的承载力.     

Development of a finite element solution module for the analysis of the dynamic behavior and balancing effects of an induction motor system

The study developed a multipurpose finite element solution module with the theoretical groundwork originated from principles of rotordynamics. This module is capable of solving many of the related rotating machine problems such as of the high speed gas bearing spindles and the electric machines. The goal of this paper is to utilize the developed solution module in investigating various aspects of the vibration behavior of an induction motor system for solving its failure problem of the shaft. Some of the crucial factors to the quality and performance of the motor, such as the vibration amplitude as resulted from the bearing wear, damping effects, mass unbalance, and the passing of system resonance critical speeds, are all investigated in the study. An efficient dual-rotor model is verified to have excellent accuracy when comparing the calculated frequency response function (FRF) with that from modal testing. The results of the transient orbit analysis indicate that the bearing stiffness and damping dominates the vibration amplitude remarkably. The effects both from the bearing damping as well as from the clamping–damping between the silicon steel core and the rotating shaft are all examined. It is noticed that the bearing damping plays the major role in the restraint of the vibration amplitudes of the rotor. For the analysis of vibration suppression with different eccentricities of the unbalanced masses, it is found that the adding of balance masses will normally suppress the vibration amplitude effectively until the point where an optimum amount that causes the minimum balanced vibration amplitudes is observed. Both the qualitative and quantitative analyses for the effectiveness of the balance mass added with different eccentricity ratios are studied. Thus, the critical adding mass ratio (i.e. the adding mass ratio at the minimum balanced amplitude factor) can also be predicted through its linear relationship with the eccentricity ratio. Based on all the findings through the study, it is concluded that the approach not only can solve the realistic shaft vibration failure problems of a motor and the demonstrated processes are also believed to be able to help the designers to have better command of motor performance at the system design stage.     

弹性支承-刚性转子系统同步全周碰摩的分岔响应

基于航空发动机转子系统的结构特点,将航空发动机转子系统简化为一个非线性弹性支承的刚性转子系统．根据Lagrange方程建立了弹性支承-刚性不对称转子系统同步全周碰摩的运动方程;采用平均法进行求解,得到了关于系统振幅的分岔方程;根据两状态变量约束分岔理论,分别给出了系统在无碰摩和碰摩阶段参数平面的转迁集和分岔图,讨论了转子偏心、阻尼对系统分岔行为的影响;应用Liapunov稳定性理论分析了系统碰摩周期解的稳定性和失稳方式,给出了系统参数——转速平面上周期解的稳定范围;该文的研究结果对航空发动机转子系统的设计有一定的理论意义．