任意斜裂纹转子的耦合振动研究

对包含不同类型裂纹(横裂纹、横-斜裂纹以及任意斜裂纹)的转子的耦合振动进行研究,以揭示裂纹转子在不同方向上刚度参数的变化规律及其交叉耦合机理,特别是由此引发的振动特征. 对于包含不同类型裂纹的转子轴段,采用六自由度Timoshenko梁单元模型对其进行单元建模,并基于应变能理论推导计算柔度参数和刚度矩阵. 在此基础上, 采用纽马克-$\beta$数值算法求解裂纹转子的运动方程,获得裂纹转子在单故障或多故障激励(不平衡激励、扭转激励或不平衡激励加扭转激励)作用下的耦合振动响应,进而分析耦合振动谱特征. 与横裂纹和横-斜裂纹相比,任意斜裂纹使转子刚度矩阵的交叉耦合效应更显著,导致转子发生更强烈的弯-扭耦合甚至是纵-弯-扭耦合振动.无论是在不平衡激励还是扭转激励作用下, 弯曲振动与扭转振动幅度都更大. 而且,包含不同类型裂纹的转子的耦合振动特征频率,例如旋转基频与二倍频、扭转激励频率及其边带成分的幅值,对裂纹面方向角具有不同的敏感性. 所得的这些研究结果,可以为转子裂纹的特征参数辨识与诊断提供理论依据.      

Chaotic motions and fault detection in a cracked rotor

Applying the theory of Lyapunov exponents for nonsmooth dynamical systems, chaotic motions and strange attractors are found in the case of a cracked rotor. To detect the crack and establish a clear relation between shaft cracks in turbo rotors and induced phenomena in vibrations measured in bearings, a model-based method is applied. Based on a fictitious model of the time behaviour of the nonlinearities, a state observer of an extended dynamical system is designed resulting in estimates of the nonlinear effects.     

滑动轴承-转子系统非线性裂纹故障特征及其实验研究

由于材料缺陷以及疲劳运转等多种因素，轴承-转子系统常出现轴上裂纹故障，进一步发展会产生断轴巨大事故。本文考虑滑动轴承支承的单盘转子系统，分析轴上裂纹对系统振动特性的影响，并采用谐波小波变换技术分析实验结果，结果表明在充分考虑支承条件的基础上，裂纹的存在不仅在频域上出现了亚频、超频的频率分量，在时域上也有明显的奇异现象。说明谐波小波变换作为时域分析的有力工具，可以用于滑动轴承-转子系统裂纹故障的早期诊断。     

复合材料刚度性能表征的协同损伤力学模型

针对复合材料层合板的弥散型损伤,提出一个刚度性能表征的协同损伤力学模型. 该模型兼顾了微观物理损伤响应和宏观材料刚度性能表征. 从微观角度,建立细观RVE 模型求解裂纹表面张开位移和滑开位移,以此定义损伤张量,并在宏观上通过对材料应变和损伤表面位移进行均匀化处理,建立单向板或层合板的损伤刚度矩阵和损伤张量之间的联系. 以基体裂纹为例,详细分析并建立了横向裂纹和纵向裂纹的损伤本构. 计算了[±θ/90₄]_S 铺层层合板中基体横向裂纹对刚度性能的影响,结果表明该方法能够准确地预测复合材料层合板由损伤导致的刚度性能衰减.      

非稳态非线性油膜力作用下柔性轴裂纹转子的动力特性分析

分析了在动载轴承非稳态非线性油膜力作用下，具有横向裂纹柔性轴Jeffcott转子在非线性涡动影响下的动力特性。通过数值计算表明，在油膜失稳转速前，随着裂纹轴刚度变化比的增大，系统在低转速区域内具有丰富的非线性动力行为，出现倍周期分叉及混沌现象，涡动振幅随转速升高而减小，直到非稳态非线性油膜失稳，在无裂纹转子油膜临界失稳点处发现了类Hopf分叉现象，系统运动由平衡变为拟周期运动；裂纹转子在油膜临界失稳时的系统运动亦为拟周期运动，裂纹转子轴刚度变化对油膜失稳点及油膜失稳之后转子的运动影响不大，转子系统作拟周期运动。     

Parametric instability of a Jeffcott rotor with rotationally asymmetric inertia and transverse crack

Both the rotationally asymmetric inertia and transverse crack frequently appear in the rotor system. The parametric excitations induced by this two features cause instability and severe vibration under certain operating conditions. Thus, the parametric instability of a Jeffcott rotor with asymmetric disk and open transverse crack is studied analytically. The vibration equations of four degrees-of-freedom of the system are established, and the stiffness coefficients of cracked rotor shaft are derived based upon the compliance method and strain energy release rate method. Then, utilizing the harmonic balance method and Taylor expansion technique, the unstable widths of simple and combination instability regions (SIR and CIR) are solved approximately. For a practical rotor system, the approximate unstable widths are verified by the Floquet numerical analysis. The effects of crack depth and position upon the unstable widths are discussed, and the conditions for zero unstable points (ZUPs) are given: Besides the asymmetric angle should be π/2 (for SIR) or 0 (for CIR), the relationships between the inertia asymmetry and crack parameters (depth and position) are also presented analytically. These results would be useful for crack detection and instability control of the asymmetric rotor-bearing system.     

Detection of a slant crack in a rotor bearing system during shut-down

Abstract

The transient response of a slant-cracked rotor system during shut-down has been analyzed while it is decelerating through the critical speed. Vibration response has been simulated by using finite element method (FEM) for flexural vibrations. An unbalance force and a harmonically-varying torque is applied on the rotor system. Subharmonic frequency components at an interval frequency corresponding to torsional frequency were found in the frequency domain (Fast Fourier Transform (FFT) plot). These peaks are centered on the critical speed of the rotor system when a slant crack is present and can be used to detect the crack. The fundamental mode shapes of the rotor bearing systems are wavelet transformed to identify the crack location. A peak is observed at the crack location in the spatial variation of the wavelet-transformed fundamental mode shape. A few suggestions for the detection of slant cracks in the rotor during shut-down are described.     

Coupled torsional and bending vibrations of a rotor with an open crack

Summary The influence of transverse cracks on the coupled torsional and bending vibrations of a rotor is presented in this study. A fragment of the shaft of constant cross-section with a crack is modelled by means of a beam finite element. A procedure to calculate the stiffness coefficients in cross-sections weakned by cracks is given. The crack is considered to be open. The stiffness matrix for the above mentioned element is given. The method is illustrated by an example.

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Über gekoppelte Dreh- und Biegeschwingungen eines Rotors mit offenem Riß

Übersicht Der Einfluß von transversalen Rissen auf die gekoppelte Dreh- und Biegeschwingungen eines Rotors wird vorgestellt. Der Abschnitt einer Welle von konstantem Querschnitt mit Riß wird mit Hilfe der Finite-Element-Methode modelliert. Ein Rechenverfahren zur Bestimmung der Torsions- und Biegesteifigkeitskoeffizienten in durch den Riß geschwächten Querschnitten wird angegeben. Dabei wird der Spalt als offen betrachtet. Eine Steifigkeitsmatrix für das erwähnte Element wird aufgestellt. Die Methode wird mit einem Beispiel veranschaulicht.

     

A new efficient procedure to solve the nonlinear dynamics of a cracked rotor

The dynamic analysis of a cracked rotor with a breathing crack leads to the formulation of a nonlinear time-dependent problem. For the simple Jeffcott rotor model, this problem has been addressed using numerical integration methods that are very time consuming. A first simplification can be done assuming that the stiffness is a time-dependent function obtained with the quasi-static displacements of the shaft. In this study, we propose a new procedure to analyze the nonlinear dynamic of such a kind of cracked rotors using an iterative technique that transforms the full nonlinear problem in a succession of time-dependent linear ones. We show with different examples that this technique virtually gives the same results as the classical integration methods, but being much more efficient and achieving a significant saving of computation time. The calculations using the proposed method are over a 100 times faster than the corresponding to integrate the full nonlinear problem, being very helpful in on-line crack identification procedures. Also, this analysis shows that, in cases for which the vertical whirl amplitude is greater than the shaft weight static deflection, the use of simplified methods based on the quasi-static stiffness matrix could not be adequate.     

Dynamic instability and steady-state response of an elliptical cracked shaft

An elliptical front crack has been found to be more accurate and realistic for modeling the transverse surface crack in rotating machinery compared with the widely used straight front crack. When the shaft rotates, the elliptical crack opens and closes alternatively, due to gravity, and thus, a “breathing effect” occurs. This variance in shaft stiffness is time-periodic, and hence, a parametrically excited system is expected. Therefore, the dynamic instability and steady-state response of a rotating shaft containing an elliptical front crack are studied in the paper. The local flexibility due to the crack is derived, and the governing equations of the crack shaft system are established using the assumed modes method. Utilizing the Bolotin’s method and harmonic balance method, the boundaries of two typical instability regions and maximum response amplitude of the cracked shaft could be computed numerically. The elliptical crack parameters (depth, shape factor and position) and damping are, respectively, considered and discussed for their effects on the dynamic behavior of the elliptical cracked shaft. Some research results might be helpful for the crack detection in rotating machinery.     

A non-linear study of a cracked rotor

The influence of the presence of transverse cracks in a rotating shaft is analyzed. The paper addresses the influence of crack opening and closing on dynamic response during operation. The evolution of the orbit of the cracked rotor near half and one-third of the first critical speed is investigated. The dynamic response of the rotor with a breathing crack is evaluated by expanding the changing stiffness of the crack as a truncated Fourier series and then using the Harmonic Balance Method. This method is applied to compute various parametric studies including the effects of the crack depth and location on the dynamic of a crack rotor. The evolution of the first critical speed, associated amplitudes at the critical speed and half of the critical speed, and the resulting orbits during transient operation are presented and some distinguishing features of a cracked rotor are examined.     

An Experimental Investigation of Condition Monitoring for Notched Rotors Through Transient Signals and Wavelet Transform

Experimental studies considering the dynamic transient signals of a notched rotor (i.e. a rotor with a transverse open crack) are investigated in order to examine the possibility of detecting the presence of open cracks in rotating machinery for low or high rotor accelerations. Firstly, the orbital patterns, spectrum cascade plots of the Power Spectral Density, evolutions of the 2× amplitudes of rotor with and without an open transverse crack are compared and discussed in the case of low accelerations of the rotor system. Secondly, the non-stationary vibration signals of the rotor with an open transverse crack at high accelerations are investigated. The timefrequency features and a tool based on the Continuous Wavelet Transform (CWT) to detect open cracks in a rotor system are discussed. It is demonstrated that both the Continuous Wavelet Transform (CWT) and changes on the 2× harmonic components are robust indicators for crack detection.     

碰摩裂纹转子轴承系统的周期运动稳定性及实验研究

根据碰摩裂纹耦合故障转子轴承系统的非线性动力学方程，利用求解非线性非自治系统周期解的延拓打靶法，研究了系统周期运动的稳定性。研究发现，小偏心量下系统周期运动发生Hopf分岔，大偏心量下系统周期运动发生倍周期分岔，偏心量的加大使周期解的稳定性明显降低；系统碰摩间隙变小，碰摩影响了油膜涡动的形成，使失稳转速有所提高；裂纹深度的加大降低了系统周期运动的稳定性。本文的研究为转子轴承系统的安全稳定运行提供了理论参考。     

Bifurcation and chaotic response of a cracked rotor system with viscoelastic supports

Cracks appearing in the shaft of a rotary system are one of the main causes of accidents for large rotary machine systems. This research focuses on investigating the bifurcation and chaotic behavior of a rotating system with considerations of various crack depth and rotating speed of the system’s shaft. An equivalent linear-spring model is utilized to describe the cracks on the shaft. The breathing of the cracks due to the rotation of the shaft is represented with a series truncated time-varying cosine series. The geometric nonlinearity of the shaft, the masses of the shaft and a disc mounted on the shaft, and the viscoelasticity of the supports are taken into account in modeling the nonlinear dynamic rotor system. Numerical simulations are performed to study the bifurcation and chaos of the system. Effects of the shaft’s rotational speed, various crack depths and viscosity coefficients on the nonlinear dynamic properties of the system are investigated in detail. The system shows the existence of rich bifurcation and chaos characteristics with various system parameters. The results of this research may provide guidance for rotary machine design, machining on rotary machines, and monitoring or diagnosing of rotor system cracks.     

Detection of crack location using cracked beam element method for structural analysis

The local flexibility introduced by cracks changes the dynamic behavior of the structure and, by examining this change, crack position and magnitude can be identified. In order to model the structure for FEM analysis, a special finite element for a cracked Timoshenko beam is developed. Shape functions for rotational and translational displacements are used to obtain the consistent mass matrix for the cracked beam element. Effect of the crack on the stiffness matrix and consistent mass matrix is investigated. Proposed is a procedure for identifying cracks in structures using modal test data.     

基于均匀荷载面曲率的简支裂纹梁损伤识别

为了采用模态参数对结构裂纹进行定位与定量,基于集中柔度模型,采用无质量的扭转弹簧模拟裂纹,建立简支裂纹梁的振动微分方程。针对现有柔度曲率指标仅能判断裂纹的大致范围,基于线性插值理论,建立裂纹位置与相邻测点均匀荷载面曲率差的关系,提出裂纹进一步定位公式,实现裂纹位置的精确定位。针对现有大多数损伤识别方法无法实现裂纹的损伤定量,基于位移曲率与结构刚度和弯矩的关系,理论推导了均匀荷载面曲率的结构刚度损伤程度识别方法,基于弹簧串联原理和线刚度思想,首次提出串联等效线刚度模型,建立裂纹深度与均匀荷载面曲率的关系,实现裂纹深度的定量。通过简支裂纹梁数值算例,考虑多裂纹的损伤情况,验证了新方法对裂纹定位与定量的有效性。     

复合材料层板分层伴以横向裂纹扩展的三维有限元分析

本文采用三维有限元模型,对典型铺设的[0_2/±45_2/90_2]_s碳/环氧复合材料层板中分层伴以横向裂纹的产生和扩展导致的层间应力分布进行了分析。计算结果表明层间裂纹首先在90°层中部出现并开裂至相邻界面处而产生横向裂纹,横向裂纹的出现引起局部分层按三角形状扩展;并指出分层损伤过程是一个主导性的稳定扩展过程,这是导致刚度下降的主要因素。最后,数值计算结果与实验结果比较,两者是吻合的。     

Foot force distribution of walking machine with consideration of terrain properties

Determination of foot force distribution during walking is important to the simulation and control of the vehicle. This problem was often considered as an indeterminate problem and several optimization methods were proposed. The indeterminancy, which was due to the assumption of rigid bodies, can, however, be removed by incorporating the compliance equations into the equations of equilibrium. Based on such a compliant model, a s stiffness matrix method was developed to determine the foot force distribution. However, due to the complexity of the problem, the compliance of terrain in the stiffness matrix method was considered either negligible or as a linear spring model. In this paper, two realistic terrain models are incorporated into the stiffness matrix method to study the effect of terrain properties on foot force distribution during walking. These two terrain models are the three-parameter solid model and the four-parameter Burgers model. The former is a model of clay terrain while the latter is a model of a paddy field. These models are extended to three dimensions and then combined with the leg compliances to form the stiffness matrix of the system. The simulation results show that the terrain compliance has significant effect on foot force distribution. For example, it is observed that this compliance helps to distribute the foot forces evenly and to minimize the frictional angles.     

Coupling of bending and torsional vibration of a cracked Timoshenko shaft

Summary A transverse surface crack is known to add to the shaft a local flexibility due to the stress-strain singularity in the vicinity of the crack tip. This flexibility can be represented by way of a 6 × 6 matrix describing the local flexibility in a short shaft element which includes the crack. This matrix has off-diagonal terms which cause coupling of motion along the directions which are indicated by the off-diagonal terms. Not all motions are coupled, however. To study the coupling of torsion and shear, a 3 × 3 flexibility matrix is used which includes the appropriate terms. Due to the shear terms of the Timoshenko beam equation of the shaft, bending vibration is finally coupled to torsional vibration. This effect is the subject of this investigation, which is of particular importance in turbomachinery operation. The equations of motion of a Timoshenko beam shaft with three degrees of freedom are derived. The free vibration of the shaft and the influence of the crack on the vibrational behaviour of the shaft is studied. The relation of the eigenvalues of the system, to the crack depth and the slenderness ratio of the shaft is derived. Moreover forced vibration analysis of the cracked shaft is performed. The significant influence of the bending vibration on the torsional vibration spectrum, and vice-versa, is demonstrated. It is believed that this effect can be very useful for rotor crack identification in service, which is of importance to turbomachinery.

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Kopplung zwischen Biege- und Torsionsschwingungen einer Welle Tom Timoshenko-Balkentyp mit Riß

Übersicht Bekanntlich verringert ein von der Oberfläche in den Querschnitt reichender Riß infolge der Spannungs- und Verzerrungssingularität an der Rißspitze örtlich die Steifigkeit einer Welle. Dies kann mit Hilfe einer 6 × 6-Nachgiebigkeitsmatrix für ein kurzes Wellenstück, das den Riß enthält, beschrieben werden. Die Matrix enthält Elemente außerhalb der Diagonalen, wodurch eine Kopplung der Bewegungen in die Richtungen erfolgt, welche das Element anzeigt. Nicht alle Bewegungen sind dabei verknüpft. Zur Untersuchung der Kopplung von Torsion und Querschub wird eine 3 × 3-Nachgiebigkeitsmatrix benutzt, die die betreffenden Elemente enthält. Infolge der Querkraft-Terme in der Timoshenko-Balkengleichung werden letztendlich Biegef- und Torsionsschwingungen gekoppelt. Dieser Effekt ist Gegenstand der Untersuchung. Die Bewegungsgleichungen eines Timoshenko-Balkens mit 3 Freiheitsgraden werden hergeleitet. Die freien Schwingungen der Welle und der Einfluß des Risses auf das Schwingungsverhalten werden untersucht. Die Beziehungen zwischen Eigenformen, Rißtiefe und Schlankheitsgrad der Welle werden hergeleitet. Darüber hinaus werden erzwungene Schwingungen der angerissenen Welle untersucht. Der deutliche Einfluß der Biegeschwingung auf das Spektrum der Torsionsschwingung und umgekehrt wird aufgezeigt. Dieser Effekt ist bei Turbomaschinen bedeutsam, da er für die Identifizierung von Rotorrissen beim Betrieb nützlich sein müßte.