Nonlinear chatter with large amplitude in a cylindrical plunge grinding process

The phenomenon that the stable smooth grinding process coexists with chatter vibrations with large amplitudes in a cylindrical plunge grinding process is investigated in this paper. In the analyzed dynamic model, the workpiece and the grinding wheel involved in the grinding process are regarded as a slender hinged-hinged Euler?CBernoulli beam and a damped spring mass system, respectively, and the contact force between the two is treated as the main factor that affects the dynamic behaviors of the process. Called regenerative force, the contact force represents the interaction with regenerative effects between the workpiece and the wheel. To clarify the relation between the force and the dynamical behaviors in the grinding process, all the effects of the system parameters related to the interaction, such as the grinding stiffness, the rotation speeds of the workpiece and the wheel, on the dynamic motions of the process are studied. To this end, the eigenvalues analysis is firstly carried out to find the chatter-free-region, in which the smooth grinding process is stable and the chatter vibration may be absent. And then the nonlinear chatter vibrations when the values of concerned parameter leave the chatter-free region are predicted numerically. It is interesting that both the supercritical and subcritical Hopf bifurcations are found on the same boundary of the chatter-free region. As we know, there must be a zone in the chatter-free region where the stable smooth grinding process coexists with the chatter vibration when the subcritical one arises and the switching point between the supercritical and the subcritical ones is a Bautin bifurcation point mathematically. Thus, the Bautin bifurcation analysis is performed to scan the subregion in which the smooth grinding process is not unconditional stable anymore.     

Chaotic vibrations in high-speed milling

A large number of literatures are devoted to the stability of the milling process and various control methods for chatter suppression. But chaotic dynamics beyond the stable region has not been considered extensively. Moreover, modeling issues for chaotic motion need more challenge for accurate prediction of its complex dynamical behavior. This paper presents a detailed two-degree-of-freedom mechanics based model for the study of chaotic vibrations in milling. Segmental multiple regenerative effect that is the principle feature of nonlinear vibrations in milling processes besides two state dependent time delays has been considered. Exact geometrical formulation of multiple regenerative effects by considering simultaneously different numbers of delayed tool positions over the cutting zone is presented for the first time. Phase portrait, bifurcation diagram, largest Lyapunov exponent, and surface profile were calculated for a given machine tool and workpiece parameters. The simulation results show positive values of the largest Lyapunov exponent corresponding to the existence of chaos in high-speed milling operations. Also, investigation of the machined surface of the workpiece formed by the helical mill demonstrates an irregular pattern on the surface.     

Stability analysis for milling process

In this article, the stability of a milling process is studied by using a semi-discretization method. The model of the workpiece–tool system includes loss-of-contact effects between the workpiece and the tool and time-delay effects associated with the chip-thickness variation. In addition, feed-rate effects are also considered. The governing system of equations is a non-autonomous, delay-differential system with time-periodic coefficients. Stability of periodic orbits of this system is studied to predict the onset of chatter and numerical evidence is provided for period-doubling bifurcations and secondary Hopf bifurcations. Stability charts generated using the semi-discretization method are found to compare well with the corresponding results obtained through time-domain simulations.     

Estimating Critical Hopf Bifurcation Parameters for a Second-Order Delay Differential Equation with Application to Machine Tool Chatter

Nonlinear time delay differential equations are well known to havearisen in models in physiology, biology and population dynamics. Theyhave also arisen in models of metal cutting processes. Machine toolchatter, from a process called regenerative chatter, has been identifiedas self-sustained oscillations for nonlinear delay differentialequations. The actual chatter occurs when the machine tool shifts from astable fixed point to a limit cycle and has been identified as arealized Hopf bifurcation. This paper demonstrates first that a class ofnonlinear delay differential equations used to model regenerativechatter satisfies the Hopf conditions. It then gives a precisecharacterization of the critical eigenvalues on the stability boundaryand continues with a complete development of the Hopf parameter, theperiod of the bifurcating solution and associated Floquet exponents.Several cases are simulated in order to show the Hopf bifurcationoccurring at the stability boundary. A discussion of a method ofintegrating delay differential equations is also given.     

Instability conditions due to structural nonlinearities in regenerative chatter

Chatter is an instability condition in machining processes characterized by nonlinear behavior, such as the presence of limit cycles, jump phenomenon, subcritical Hopf and period doubling bifurcations. Although the use of nonlinear techniques has provided a better understanding of chatter, neither a unifying model nor an exact solution has yet been developed due to the intricacy of the problem. This work proposes a weakly nonlinear model with square and cubic terms in both structural stiffness and regenerative terms, to represent self-excited vibrations in machining. An approximate solution is derived by using the method of multiple scales. In addition, a qualitative analysis of the effect of the nonlinear parameters on the stability of the system is performed. The structural cubic term gives a better representation of the nonlinear behavior, whereas the square term represents a distant attractor in the stability chart. Instability due to subcritical Hopf bifurcations is established in terms of the eigenvalues of the model in normal form. An important contribution of this analysis is the representation of hysteresis in terms of new lobes within the conventional stability limits, useful in restoring stability. This analysis leads to a further understanding of the nonlinear behavior of regenerative chatter.     

Criticality of Hopf bifurcation in state-dependent delay model of turning processes

In this paper the non-linear dynamics of a state-dependent delay model of the turning process is analyzed. The size of the regenerative delay is determined not only by the rotation of the workpiece, but also by the vibrations of the tool. A numerical continuation technique is developed that can be used to follow the periodic orbits of a system with implicitly defined state-dependent delays. The numerical analysis of the model reveals that the criticality of the Hopf bifurcation depends on the feed rate. This is in contrast to simpler constant delay models where the criticality does not change. For small feed rates, subcritical Hopf bifurcations are found, similar to the constant delay models. In this case, periodic orbits coexist with the stable stationary cutting state and so there is the potential for large amplitude chatter and bistability. For large feed rates, the Hopf bifurcation becomes supercritical for a range of spindle speeds. In this case, stable periodic orbits instead coexist with the unstable stationary cutting state, removing the possibility of large amplitude chatter. Thus, the state-dependent delay in the model has a kind of stabilizing effect, since the supercritical case is more favorable from a practical viewpoint than the subcritical one.     

Regenerative Tool Chatter Near a Codimension 2 Hopf Point Using Multiple Scales

We study a well-known regenerative machine tool vibration model (a delay differential equation) near a codimension 2 Hopf bifurcation point. The method of multiple scales is used directly, bypassing a center manifold reduction. We use a nonstandard choice of expansion parameter that helps understand practically relevant aspects of the dynamics for not-too-small amplitudes. Analytical expressions are then obtained for the double Hopf points. Both sub- and supercritical bifurcations are predicted to occur near the reference point; and analytical conditions on the parameter variations for each type of bifurcation to occur are obtained as well. Analytical approximations are supported by numerics.     

Modified post-bifurcation dynamics and routes to chaos from double-Hopf bifurcations in a hyperchaotic system

In order to understand the onset of hyperchaotic behavior recently observed in many systems, we study bifurcations in the modified Chen system leading from simple dynamics into chaotic regimes. In particular, we demonstrate that the existence of only one fixed point of the system in all regions of parameter space implies that this simple point attractor may only be destabilized via a Hopf or double Hopf bifurcation as system parameters are varied. Saddle-node, transcritical and pitchfork bifurcations are precluded. The normal form immediately following double Hopf bifurcations is constructed analytically by the method of multiple scales. Analysis of this generalized double Hopf normal form along standard lines reveals possible regimes of periodic solutions, two-period tori, and three-period tori in parameter space. However, considering these more carefully, we find that only certain combinations or sequences of these dynamical regimes are possible, while others derived and considered in earlier work are in fact mathematically impossible. We also discuss the post-bifurcation dynamics in the context of two intermittent routes to chaos (routes following either (i) subcritical or (ii) supercritical Hopf or double Hopf bifurcations). In particular, the route following supercritical bifurcations is somewhat subtle. Such behavior following repeated Hopf bifurcations is well-known and widely observed, including in the classical Ruelle?CTakens and quasiperiodic routes to chaos. However, to the best of our knowledge, it has not been considered in the context of the double-Hopf normal form, although it has been numerically observed and tracked in the post-double Hopf regime. Numerical simulations are employed to corroborate these various predictions from the normal form. They reveal the existence of stable periodic and toroidal attractors in the post-supercritical-Hopf cases, and either attractors at infinity or bounded chaotic dynamics following subcritical Hopf bifurcations. Future work will map out the remainder of the routes into the chaotic regimes, including further bifurcations of the post-supercritical-Hopf two- and three-tori via either torus doubling or breakdown.     

Forced vibration analysis of the milling process with structural nonlinearity,internal resonance,tool wear and process damping effects

In this paper, forced vibration analysis of an extended dynamic model of the milling process is investigated, in the presence of internal resonance. Regenerative chatter, structural nonlinearity, tool wear and process damping effects are included in the proposed model. Taking into account the average and first order expansion of Fourier series for cutting force components; their closed form expressions are derived. Moreover, in the presence of large vibration amplitudes, the loss of contact effect is included in this model. Analytical approximate response of the nonlinear system is constructed through the multiple-scales approach. Dynamics of the system is studied for two cases of primary and super-harmonic resonance, associated with the internal resonance. Under steady state motion, the effects of structural nonlinearity, cutting force coefficients, tool wear length and process damping are investigated on the frequency response functions of the system. In addition, existence of multiple solutions, jump phenomenon and energy transfer between vibration modes are presented and compared for tow cases of primary and super-harmonic resonances.     

One-to-three resonant Hopf bifurcations of a maglev system

This paper studies the dynamics of a maglev system around 1:3 resonant Hopf–Hopf bifurcations. When two pairs of purely imaginary roots exist for the corresponding characteristic equation, the maglev system has an interaction of Hopf–Hopf bifurcations at the intersection of two bifurcation curves in the feedback control parameter and time delay space. The method of multiple time scales is employed to drive the bifurcation equations for the maglev system by expressing complex amplitudes in a combined polar-Cartesian representation. The dynamics behavior in the vicinity of 1:3 resonant Hopf–Hopf bifurcations is studied in terms of the controller’s parameters (time delay and two feedback control gains). Finally, numerical simulations are presented to support the analytical results and demonstrate some interesting phenomena for the maglev system.     

A torus bifurcation theorem with symmetry

A general theory for the study of degenerate Hopf bifurcation in the presence of symmetry has been carried out only in situations where the normal form equations decouple into phase/amplitude equations. In this paper we prove a theorem showing that in general we expect such degeneracies to lead to secondary torus bifurcations. We then apply this theorem to the case of degenerate Hopf bifurcation with triangular (D₃) symmetry, proving that in codimension two there exist regions of parameter space where two branches of asymptotically stable 2-tori coexist but where no stable periodic solutions are present. Although this study does not lead to a theory for degenerate Hopf bifurcations in the presence of symmetry, it does present examples that would have to be accounted for by any such general theory.     

Linear and non-linear interactions between static and dynamic bifurcations of damped planar beams

The critical and post-critical behavior of a non-conservative non-linear structure, undergoing statical and dynamical bifurcations, is analyzed. The system consists of a purely flexible planar beam, equipped with a lumped visco-elastic device, loaded by a follower force. A unique integro-differential equation of motion in the transversal displacement, with relevant boundary conditions, is derived. Then, the linear stability diagram of the trivial rectilinear configuration is built-up in the parameter space. Particular emphasis is given to the role of the damping on the critical scenario. The occurrence of different mechanisms of instability is highlighted, namely, of divergence, Hopf, double zero, resonant and non-resonant double Hopf, and divergence-Hopf bifurcation. Attention is then focused on the two latter (codimension-two) bifurcations. A multiple scale analysis is carried-out directly on the continuous model, and the relevant non-linear bifurcation equations in the amplitudes of the two interactive modes are derived. The fixed-points of these equations are numerically evaluated as functions of two bifurcation parameters and some equilibrium paths illustrated. Finally, the bifurcation diagrams, illustrating the system behavior around the critical points of the parameter space, are obtained.     

Criticality of bifurcation in the tuned axial–torsional rotary drilling model

We study the bifurcation characteristics of a lumped-parameter model of rotary drilling with 1:1 internal resonance between the axial and the torsional modes which leads to the largest stability thresholds. For this special case, the two-degree-of-freedom model for the drill-string reduces to an effectively single-degree-of-freedom system facilitating further analysis. The regenerative effect of the cutting action due to the axial vibrations is incorporated through a delayed term in the cutting force with the delay depending on the torsional oscillations. This state dependency of the delay introduces nonlinearity in the current model. Steady drilling loses stability via a Hopf bifurcation, and the nature of the bifurcation is determined by an analytical study using the method of multiple scales. We find that both subcritical and supercritical Hopf bifurcations are present in this system depending on the choice of operating parameters. Hence, the nonlinearity due to the state-dependent delay term could both be stabilizing or destabilizing in nature, and the self-interruption nonlinearity is essential to capture the global behavior. Numerical bifurcation analysis of a global axial–torsional model of rotary drilling further confirms the analytical results from the method of multiple scales. Further exploration of the rotary drilling dynamics unravels more complex phenomena including grazing bifurcations and possibly chaotic solutions.     

Bifurcations and chaotic dynamics in suspended cables under simultaneous parametric and external excitations

The bifurcations and chaotic dynamics of parametrically and externally excited suspended cables are investigated in this paper. The equations of motion governing such systems contain quadratic and cubic nonlinearities, which may result in two-to-one and one-to-one internal resonances. The Galerkin procedure is introduced to simplify the governing equations of motion to ordinary differential equations with two-degree-of-freedom. The case of one-to-one internal resonance between the modes of suspended cables, primary resonant excitation, and principal parametric excitation of suspended cables is considered. Using the method of multiple scales, a parametrically and externally excited system is transformed to the averaged equations. A pseudo arclength scheme is used to trace the branches of the equilibrium solutions and an investigation of the eigenvalues of the Jacobian matrix is used to assess their stability. The equilibrium solutions experience pitchfork, saddle-node, and Hopf bifurcations. A detailed bifurcation analysis of the dynamic (periodic and chaotic) solutions of the averaged equations is presented. Five branches of dynamic solutions are found. Three of these branches that emerge from two Hopf bifurcations and the other two are isolated. The two Hopf bifurcation points, one is supercritical Hopf bifurcation point and another is primary Hopf bifurcation point. The limit cycles undergo symmetry-breaking, cyclic-fold, and period-doubling bifurcations, whereas the chaotic attractors undergo attractor-merging, boundary crises. Simultaneous occurrence of the limit cycle and chaotic attractors, homoclinic orbits, homoclinic explosions and hyperchaos are also observed.     

Parametric Resonance of Hopf Bifurcation

We investigate the dynamics of a system consisting of a simple harmonic oscillator with small nonlinearity, small damping and small parametric forcing in the neighborhood of 2:1 resonance. We assume that the unforced system exhibits the birth of a stable limit cycle as the damping changes sign from positive to negative (a supercritical Hopf bifurcation). Using perturbation methods and numerical integration, we investigate the changes which occur in long-time behavior as the damping parameter is varied. We show that for large positive damping, the origin is stable, whereas for large negative damping a quasi-periodic behavior occurs. These two steady states are connected by a complicated series of bifurcations which occur as the damping is varied.     

Hopf bifurcation analysis of asymmetrical rotating shafts

The Hopf and double Hopf bifurcations analysis of asymmetrical rotating shafts with stretching nonlinearity are investigated. The shaft is simply supported and is composed of viscoelastic material. The rotary inertia and gyroscopic effect are considered, but, shear deformation is neglected. To consider the viscoelastic behavior of the shaft, the Kelvin–Voigt model is used. Hopf bifurcations occur due to instability caused by internal damping. To analyze the dynamics of the system in the vicinity of Hopf bifurcations, the center manifold theory is utilized. The standard normal forms of Hopf bifurcations for symmetrical and asymmetrical shafts are obtained. It is shown that the symmetrical shafts have double zero eigenvalues in the absence of external damping, but asymmetrical shafts do not have. The asymmetrical shaft in the absence of external damping has a saddle point, therefore the system is unstable. Also, for symmetrical and asymmetrical shafts, in the presence of external damping at the critical speeds, supercritical Hopf bifurcations occur. The amplitude of periodic solution due to supercritical Hopf bifurcations for symmetrical and asymmetrical shafts for the higher modes would be different, due to shaft asymmetry. Consequently, the effect of shaft asymmetry in the higher modes is considerable. Also, the amplitude of periodic solutions for symmetrical shafts with rotary inertia effect is higher than those of without one. In addition, the dynamic behavior of the system in the vicinity of double Hopf bifurcation is investigated. It is seen that in this case depending on the damping and rotational speed, the sink, source, or saddle equilibrium points occur in the system.     

Hopf bifurcation analysis of a new commensurate fractional-order hyperchaotic system

In this paper, a new fractional-order hyperchaotic system based on the Lorenz system is presented. The chaotic behaviors are validated by the positive Lyapunov exponents. Furthermore, the fractional Hopf bifurcation is investigated. It is found that the system admits Hopf bifurcations with varying fractional order and parameters, respectively. Under different bifurcation parameters, some conditions ensuring the Hopf bifurcations are proposed. Numerical simulations are given to illustrate and verify the results.     

Supercritical and subcritical Hopf bifurcation and limit cycle oscillations of an airfoil with cubic nonlinearity in supersonic\hypersonic flow

In this paper, the Hopf bifurcations and limit cycle oscillations (LCOs) of an airfoil with cubic nonlinearity in supersonic\hypersonic flow are investigated. The harmonic balance method and multivariable Floquet theory are applied to analyze the LCOs of the airfoil. Four distinct cases of the LCOs response are detected in this system: (I) supercritical Hopf bifurcation, (II) a single subcritical Hopf bifurcation, (III) two subcritical Hopf bifurcations, and (IV) no Hopf bifurcation. Furthermore, the parameter variations domains separating the supercritical and subcritical Hopf bifurcations are presented using singularity theory.     

轮对非线性动力学模型稳定性和分岔特性研究

为了探究轮对系统的横向失稳问题,考虑了陀螺效应和一系悬挂阻尼的影响作用,建立非线性轮轨接触关系的轮对动力学模型,研究轮对系统的蛇行稳定性、Hopf分岔特性及迁移转化机理.通过稳定性判据获得了轮对系统失稳临界速度.采用中心流形定理和规范型方法对轮对动力学模型进行化简,得到与轮对系统分岔特性相同的一维复变量方程,理论推导求得轮对系统的第一Lyapunov系数的表达式,根据其符号即可判断轮对系统的Hopf分岔类型.讨论了不同参数对轮对系统Hopf分岔临界速度的影响,探究了轮对系统的超临界、亚临界Hopf分岔域在二维参数空间的分布规律.利用数值模拟得到轮对系统的3种典型Hopf分岔图,验证了轮对系统超临界、亚临界Hopf分岔域分布规律的正确性.结果表明,轮对系统的临界速度随着等效锥度的增大而减小,随着一系悬挂的纵向刚度和纵向阻尼的增大而增大,随着纵向蠕滑系数的增大呈先增大后减小.系统参数变化会引起轮对系统Hopf分岔类型发生改变,即亚临界与超临界Hopf分岔相互迁移转化.轮对系统Hopf分岔域在二维参数空间的分布规律对于轮对系统参数匹配和优化设计具有一定的指导意义.     

From global to local bifurcations in a forced Taylor–Couette flow

The unfolding due to imperfections of a gluing bifurcation occurring in a periodically forced Taylor–Couette system is analyzed numerically. In the absence of imperfections, a temporal glide-reflection Z₂ symmetry exists, and two global bifurcations occur within a small region of parameter space: a heteroclinic bifurcation between two saddle two-tori and a gluing bifurcation of three-tori. As the imperfection parameter increase, these two global bifurcations collide, and all the global bifurcations become local (fold and Hopf bifurcations). This severely restricts the range of validity of the theoretical picture in the neighborhood of the gluing bifurcation considered, and has significant implications for the interpretation of experimental results. PACS 47.20.Ky, 47.20.Lz, 47.20.Ft