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.     

Modelling and system identification of active magnetic bearing systems

Active magnetic bearing (AMB) systems have recently attracted much attention in the rotating machinery industry due to their advantages over traditional bearings such as fluid film and rolling element bearings. The AMB control system must provide robust performance over a wide range of machine operating conditions and over the machine lifetime in order to make this technology commercially viable. An accurate plant model for AMB systems is essential for the aggressive design of control systems. In this paper, we propose two approaches to obtain accurate AMB plant models for the purpose of control design: physical modelling and system identification. The former derives a model based upon the underlying physical principles. The latter uses input – output data without explicitly resorting to physical principles. For each problem, a brief summary of the theoretical derivation and assumptions is given. Experimental results based on data collected from an AMB test facility at the United Technologies Research Center provide a vehicle for a comparison of the two approaches.     

Nonlinear dynamic analysis of a complex dual rotor-bearing system based on a novel model reduction method

In this paper, a dynamic model of a complex dual rotor-bearing system of an aero-engine is established based on the finite element method with three types of beam elements (rigid disc, cylindrical beam element and conical beam element), as well as taking into account the nonlinearities of all of the supporting rolling element bearings. To rapidly and accurately analyze dynamic behaviors of the complex dual rotor-bearing system, a two-level model order reduction (MOR) method is proposed by combining component mode synthesis (CMS) method and proper orthogonal decomposition (POD) technique. The first-level reduced-order model (ROM) of the dual rotors is obtained by CMS method with a high precision for the original system. Then, the POD method is applied to second-level model order reduction to further decrease the degrees of freedom (DOFs) of first-level ROM. Second-level ROM with mode expansion and direct second-level ROM are obtained, and the nonlinear displacement responses of the two ROMs are compared with the first-level ROM. The numerical results demonstrate that the proposed method has a higher computational efficiency and accuracy in terms of mode expansion than the direct model reduction by using POD method. In addition, the nonlinear vibration responses of the dual rotor-bearing system are studied by this second-level ROM in the case of different clearances of the inter-shaft bearing. The results indicate that the dynamic characteristics of the dual rotor-bearing system are very complicated for a large clearance.     

Nonlinear dynamics of parts in engineering systems

By definition, chaotic vibrations arise from nonlinear deterministic physical systems or non-random differential or difference equations. In numerous engineering systems there exist nonlinearities which might affect the dynamic behaviour of the system. The objectives in this work are to summarise previous work on nonlinear dynamics of engineering parts and products and to investigate if research on how nonlinear parts can effect the total behaviour of the products have been performed. It is found that common nonlinear parts are machine elements such as gears, bearings, brakes and suspension systems. The most studied part in a product is of impact hammer type. The products are ordinary products, from sewing machines, drilling machines and printers to railway vehicles. In order to be able to design reliable products the methodology should be further developed to enable use by engineers. One can conclude that the effect of nonlinear parts on the total system behaviour is still a fairly uninvestigated area.     

The effect of bearing cage run-out on the nonlinear dynamics of a rotating shaft

This paper presents an analytical model to investigate the nonlinear dynamic behavior of an unbalanced rotor-bearing system due to cage run-out. Due to run-out of the cage, the rolling elements no longer stay equally spaced. The mathematical model takes into account the sources of nonlinearity such as Hertzian contact forces and cage run-out, and the resulting transition from a state of no contact to contact between the rolling elements and the races. The contact between the rolling elements and races is treated as nonlinear springs and the system is analyzed for varying numbers of balls. The results are presented in the form of fast Fourier transformations and Poincaré maps. The results show that the ball passage frequency is modulated with the rotational frequency. The response falls into three regimes: periodic motion, quasi-periodic oscillations, and chaotic response.     

Analysis of generalized projective synchronization for a chaotic gyroscope with a periodic gyroscope

In this paper, a simple nonlinear controller is applied to investigate the generalized projective synchronization for a controlled chaotic gyroscope with a periodic gyroscope dynamical system. The necessary and sufficient conditions for generalized projective synchronization are developed through the theory of discontinuous dynamical systems. The synchronization invariant domain from the synchronization conditions is presented. The parameter maps are explored for a better understanding of the synchronicity of two gyroscopes with different motions. Finally, the partial and full generalized projective synchronizations of two nonlinear coupled gyroscope systems are carried out to verify the effectiveness of the scheme.     

Local defect modelling and nonlinear dynamic analysis for the inter-shaft bearing in a dual-rotor system

This paper presents a force model for the inter-shaft bearing with a local defect on the surface of the outer race or the inner race, and the nonlinear dynamic characteristics of a dual-rotor system affected by the local defect are investigated. A simplified dual-rotor system is presented with the consideration of the inter-shaft bearing's nonlinearities such as the Hertzian contact force and the radial clearance. The local defect is considered as a regular dent with a constant depth, thus the radial clearance will increase when rolling elements go through the range of the local defect. The motion equations of the system with eight degrees of freedom are formulated by using the Lagrange's equation. The nonlinear vibration responses of the dual-rotor system affected by the local defect are obtained using numerical method. The results show that there exist four abnormal resonances on the amplitude frequency curves of the system due to the effect of the local defect, apart from the couple of primary resonances excited by the unbalance excitations of the two rotors. With the aid of the characteristic defect frequency analysis, it is revealed that one pair of the abnormal resonances are excited by the characteristic defect frequency, and the other pair of the abnormal resonances are excited by the combination frequency. Furthermore, a comprehensive parametric analysis is carried out to give an insight into the nonlinear resonant response characteristics affected by parameters such as the depth and the span of the defect, the rotation speed ratio, the unbalances of two rotors, the stiffness and the damping of the linear elastic spring, and the radial clearance, the stiffness and the roller number of the inter-shaft bearing. The results show that the vibration amplitudes for the abnormal resonances are mainly determined by the depth and the span of the defect, while the resonant frequencies for the abnormal resonances are mainly influenced by the rotation speed ratio and the roller number of the inter-shaft bearing. However, the rotors’ unbalances mainly affect the corresponding primary resonance rather than the abnormal resonances. The obtained results will contribute to a better understanding of the nonlinear resonant response characteristics of dual-rotor systems with a local defect on the inter-shaft bearing, which are helpful for the fault diagnostics of the inter-shaft bearing in a dual-rotor system.     

Multi-pulse chaotic motions of a rotor-active magnetic bearing system with time-varying stiffness

In this paper, we investigate the Shilnikov type multi-pulse chaotic dynamics for a rotor-active magnetic bearings (AMB) system with 8-pole legs and the time-varying stiffness. The stiffness in the AMB is considered as the time-varying in a periodic form. The dimensionless equation of motion for the rotor-AMB system with the time-varying stiffness in the horizontal and vertical directions is a two-degree-of-freedom nonlinear system with quadratic and cubic nonlinearities and parametric excitation. The asymptotic perturbation method is used to obtain the averaged equations in the case of primary parametric resonance and 1/2 subharmonic resonance. It is found from the numerical results that there are the phenomena of the Shilnikov type multi-pulse chaotic motions for the rotor-AMB system. A new jumping phenomenon is discovered in the rotor-AMB system with the time-varying stiffness.     

Implementation of chaotic secure communication systems based on OPA circuits

In this paper, we proposed a novel three-order autonomous circuit to construct a chaotic circuit with double scroll characteristic. The design idea is to use RLC elements and a nonlinear resistor. The one of salient features of the chaotic circuit is that the circuit with two flexible breakpoints of nonlinear element, and the advantage of the flexible breakpoint is that it increased complexity of the dynamical performance. Here, if we take a large and suitable breakpoint value, then the chaotic state can masking a large input signal in the circuit. Furthermore, we proposed a secure communication hyperchaotic system based on the proposed chaotic circuits, where the chaotic communication system is constituted by a chaotic transmitter and a chaotic receiver. To achieve the synchronization between the transmitter and the receiver, we are using a suitable Lyapunov function and Lyapunov theorem to design the feedback control gain. Thus, the transmitting message masked by chaotic state in the transmitter can be guaranteed to perfectly recover in the receiver. To achieve the systems performance, some basic components containing OPA, resistor and capacitor elements are used to implement the proposed communication scheme. From the viewpoints of circuit implementation, this proposed chaotic circuit is superior to the Chua chaotic circuits. Finally, the test results containing simulation and the circuit measurement are shown to demonstrate that the proposed method is correct and feasible.     

Complex dynamic behaviour of an economic cycle model

In this paper, we investigate the dynamics of a nonlinear economic cycle model. The necessary and sufficient conditions are given to guarantee the existence and stability of the fixed point. It is also shown that the system undergoes a Neimark–Sacker bifurcation by using center manifold theorem and bifurcation theory. Furthermore, Marotto’s chaos is proved when certain conditions are satisfied. Numerical simulations are presented not only to illustrate our results with the theoretical analysis, but also to exhibit the complex dynamical behaviour, such as the period-10, -16, -20 orbits, attracting invariant cycles, quasi-periodic orbits, 10-coexisting chaotic attractors, and boundary crisis. Specifically, we have stabilized the chaotic orbits at an unstable fixed point using the feedback control method.     

Nonlinear self-defined truss element based on the plane truss structure with flexible connector

A finite-element method based on the self-defined truss element is developed to model the plane truss structure with the flexible connector, and the dynamic characteristic of the corresponding model is analyzed in this paper. Firstly, a new type truss structure with flexible connectors included clearance, friction and axial constraint is analyzed. A self-defined truss element is defined based on the mechanical analysis of the new type truss structure, and a finite-element model is introduced based on this element. The nonlinear elastic-damper model and the Coulomb friction model are adopted to analyze the nonlinear nodal forces from the impact and friction in the clearance field. Secondly, a modified numerical solution method is developed based on the Newmark implicit integrate method together with Newton–Raphson iterated method, and then is applied to solve the nonlinear dynamic model. Finally, an example is simulated by the above numerical method, and the effects of several key parameters (such as the linkage stiffness, contact stiffness, and clearance) on the dynamic characteristic are analyzed. The results validate the numerical method, and show the effectiveness of the nonlinear finite-element model. The dynamic analysis about the key parameters offers some helpful guidelines for designing flexible truss structure.     

The impact of stock-dependent demand on supply chain dynamics

This paper presents an investigation on the dynamics of a supply chain system under stock-dependent demand. Considering the feature of piecewise linearity, a switched linear model composed of three subsystems is developed. Based on the switched model, some analytical stability results are derived. Simulation experiments are designed to verify the stability results and observe nonlinear dynamics. We show that stock-dependent demand not only leads to different stability results but also makes nonlinear dynamics more complicated. We also reveal that the nonlinear dynamics of the switched model, such as chaotic and periodic fluctuations of inventory and order, are essentially caused by switching frequently among subsystems due to uncertainties of inventory status. The results obtained in this paper help us understand the dynamic complexities of supply chain system and provide guidelines for selecting decision parameters to improve overall performance.     

A new nonlinear dynamic analysis method of rotor system supported by oil-film journal bearings

The strong nonlinear behavior usually exists in rotor systems supported by oil-film journal bearings. In this paper, the partial derivative method is extended to the second-order approximate extent to predict the nonlinear dynamic stiffness and damping coefficients of finite-long journal bearings. And the nonlinear oil-film forces approximately represented by dynamic coefficients are used to analyze nonlinear dynamic performance of a symmetrical flexible rotor-bearing system via the journal orbit, phase portrait and Poincaré map. The effects of mass eccentricity on dynamic behaviors of rotor system are mainly investigated. Moreover, the computational method of nonlinear dynamic coefficients of infinite-short bearing is presented. The nonlinear oil-film forces model of finite-long bearing is validated by comparing the numerical results with those obtained by an infinite-short bearing-rotor system model. The results show that the representation method of nonlinear oil-film forces by dynamic coefficients has universal applicability and allows one easily to conduct the nonlinear dynamic analysis of rotor systems.     

On the parametric excitation of rotors with rolling element bearings

In this approach a 1-DOF-model for a rotor in rolling element bearings is derived. The nonlinear equation of motion with a cubic restitution force and harmonic time dependent variation is solved by Multiple Time Scales Approach. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Chaotic behavior in a new fractional-order love triangle system with competition

In the present work, we first modify the Sprott's nonlinear love triangle model by introducing the competition term and find that the new system also exhibits chaotic behavior. Then, to make the model more realistic, we go further to construct its corresponding fractional-order system and get the necessary condition for the existence of chaotic attractors. Finally, based on an improved version of Adams Bashforth Moulton numerical algorithm, we validate the chaotic attractors of this new fractional-order love triangle system by computer simulations.     

基于支持向量机的混沌时间序列模型在房产价格指数预测中的应用

针对房产价格指数的预测问题,建立了混沌时间序列的支持向量机的非线性预测模型.首先运用Cao氏法进行相空间重构,并利用改进型小数据量法计算最大的Lyapunov指数,分析上海房产价格指数时间序列的混沌特性.然后以最小嵌入维数作为支持向量机的输入节点,建立房地价格指数的预测模型.实例表明,该方法能较好地处理复杂的房地产数据,具有较高的泛化能力和很好的预测精度.     

Bifurcations and chaos in a nonlinear discrete time Cournot duopoly game

A nonlinear discrete time Cournot duopoly game is investigated in this paper. The conditions of existence for saddle-node bifurcation, transcritical bifurcation and flip bifurcation are derived using the center manifold theorem and the bifurcation theory. We prove that there exists chaotic behavior in the sense of Marotto＇s definition of chaos. The numerical simulations not only show the consistence with our theoretical analysis, but also exhibit the complex but interesting dynamical behaviors of the model. The computation of maximum Lyapunov exponents confirms the theoretical analysis of the dynamical behaviors of the system.     

Chaos control and generalized projective synchronization of heavy symmetric chaotic gyroscope systems via Gaussian radial basis adaptive variable structure control

This paper proposes the chaos control and the generalized projective synchronization methods for heavy symmetric gyroscope systems via Gaussian radial basis adaptive variable structure control. Because of the nonlinear terms of the gyroscope system, the system exhibits chaotic motions. Occasionally, the extreme sensitivity to initial states in a system operating in chaotic mode can be very destructive to the system because of unpredictable behavior. In order to improve the performance of a dynamic system or avoid the chaotic phenomena, it is necessary to control a chaotic system with a periodic motion beneficial for working with a particular condition. As chaotic signals are usually broadband and noise like, synchronized chaotic systems can be used as cipher generators for secure communication. This paper presents chaos synchronization of two identical chaotic motions of symmetric gyroscopes. In this paper, the switching surfaces are adopted to ensure the stability of the error dynamics in variable structure control. Using the neural variable structure control technique, control laws are established which guarantees the chaos control and the generalized projective synchronization of unknown gyroscope systems. In the neural variable structure control, Gaussian radial basis functions are utilized to on-line estimate the system dynamic functions. Also, the adaptation laws of the on-line estimator are derived in the sense of Lyapunov function. Thus, the unknown gyro systems can be guaranteed to be asymptotically stable. Also, the proposed method can achieve the control objectives. Numerical simulations are presented to verify the proposed control and synchronization methods. Finally, the effectiveness of the proposed methods is discussed.     

Vibrations of Rotors Supported on Nonlinear Bearings

Rotors in electrical machines are supported by various types of bearings. In general, the rotor bearings have nonlinear stiffness properties and they influence the rotor vibrations significantly. In this work, this influence of these nonlinearities is investigated. A simplified finite element model using Timoshenko beam elements is set up for the heterogeneous structure of the rotor. A transversally isotropic material model is adopted for the rotor core stack. Imposing the nonlinear bearing stiffnesses on the model, the Newton-Raphson procedure is used to carry out a run up simulation. The spectral content of these results shows nonlinear effects due to the bearings. The rotor vibrations are further investigated in detail for various constant speeds. These results show non-harmonic vibrations of the rotor in a section of the investigated speed range. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Chaos control in AFM systems using nonlinear delayed feedback via sliding mode control

In this paper a nonlinear delayed feedback control is proposed to control chaos in an Atomic Force Microscope (AFM) system. The chaotic behavior of the system is suppressed by stabilizing one of its first-order Unstable Periodic Orbits (UPOs). At first, it is assumed that the system parameters are known, and a nonlinear delayed feedback control is designed to stabilize the UPO of the system. Then, in the presence of model parameter uncertainties, the proposed delayed feedback control law is modified via sliding mode scheme. The effectiveness of the presented methods is numerically investigated by stabilizing the unstable first-order periodic orbit of the AFM system. Simulation results show the high performance of the methods for chaos elimination in AFM systems.