Bifurcation of a modified railway wheelset model with nonlinear equivalent conicity and wheel–rail force

This paper presents the bifurcation behaviors of a modified railway wheelset model to explore its instability mechanisms of hunting motion. Equivalent conicity data measured from China high-speed railway vehicle are used to modify the wheelset model. Firstly, the relationships between longitudinal stiffness, lateral stiffness, equivalent conicity and critical speed are taken into account by calculating the real parts of the eigenvalues of the Jacobian matrix and Hurwitz criterion for the corresponding linear model. Secondly, measured equivalent conicity data are fitted by a nonlinear function of the lateral displacement rather than are considered as a constant as usual. Nonlinear wheel–rail force function is used to describe the wheel–rail contact force. Based on these modifications, a modified railway wheelset model with nonlinear equivalent conicity and wheel–rail force is set up, and then, some instability mechanisms of China high-speed train vehicle are investigated based on Hopf bifurcation, fold (limit point) bifurcation of cycles, cusp bifurcation of cycles, Neimark–Sacker bifurcation of cycles and 1:1 resonance. In particular, fold bifurcation of cycles can produce a vast effect on the hunting motion of the modified wheelset model. One of the main reasons leading to hunting motion is due to the fold bifurcation structure of cycles, in which stable limit cycles and unstable limit cycles may coincide, and multiple nested limit cycles appear on a side of fold bifurcation curve of cycles. Unstable hunting motion mainly depends on the coexistence of equilibria and limit cycles and their positions; if the most outward limit cycle is stable, then the motion of high-speed vehicle should be safe in a reasonable range. Otherwise, if the initial values are chosen near the most outward unstable limit cycle or the system is perturbed by noises, the high-speed vehicle will take place unstable hunting motion and even lead to serious train derailment events. Therefore, in order to control hunting motions, it may be the easiest way in theory to guarantee the coexistence of the inner stable equilibrium and the most outward stable limit cycle in a wheelset system.

     

BIFURCATIONS OF AIRFOIL IN INCOMPRESSIBLE FLOW

Bifurcations of an airfoil with nonlinear pitching stiffness in incompressible flow are investigated. The pitching spring is regarded as a spring with cubic stiffness. The motion equations of the airfoil are written as the four dimensional one order differential equations. Taking air speed and the linear part of pitching stiffness as the parameters, the analytic solutions of the critical boundaries of pitchfork bifurcations and Hopf bifurcations are obtained in 2 dimensional parameter plane. The stabilities of the equilibrium points and the limit cycles in different regions of 2 dimensional parameter plane are analyzed. By means of harmonic balance method, the approximate critical boundaries of 2-multiple semi-stable limit cycle bifurcations are obtained, and the bifurcation points of supercritical or subcritical Hopf bifurcation are found. Some numerical simulation results are given.     

A timestepper approach for the systematic bifurcation and stability analysis of polymer extrusion dynamics

We discuss how matrix-free/timestepper algorithms can efficiently be used with dynamic non-Newtonian fluid mechanics simulators in performing systematic stability/bifurcation analysis. The timestepper approach to bifurcation analysis of large-scale systems is applied to the plane Poiseuille flow of an Oldroyd-B fluid with non-monotonic slip at the wall, in order to further investigate a mechanism of extrusion instability based on the combination of viscoelasticity and non-monotonic slip. Due to the non-monotonicity of the slip equation the resulting steady-state flow curve is non-monotonic and unstable steady states appear in the negative-slope regime. It has been known that self-sustained oscillations of the pressure gradient are obtained when an unstable steady state is perturbed [M.M. Fyrillas, G.C. Georgiou, D. Vlassopoulos, S.G. Hatzikiriakos, A mechanism for extrusion instabilities in polymer melts, Polymer Eng. Sci. 39 (1999) 2498–2504].Treating the simulator of a distributed parameter model describing the dynamics of the above flow as an input–output “black-box” timestepper of the state variables, stable and unstable branches of both equilibrium and periodic oscillating solutions are computed and their stability is examined. It is shown for the first time how equilibrium solutions lose stability to oscillating ones through a subcritical Hopf bifurcation point which generates a branch of unstable limit cycles and how the stable periodic solutions lose their stability through a critical point which marks the onset of the unstable limit cycles. This implicates the coexistence of stable equilibria with stable and unstable periodic solutions in a narrow range of volumetric flow rates.     

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。     

Long-term non-linear behaviour and buckling of shallow concrete-filled steel tubular arches

This paper presents a theoretical analysis for the long-term non-linear elastic in-plane behaviour and buckling of shallow concrete-filled steel tubular (CFST) arches. It is known that an elastic shallow arch does not buckle under a load that is lower than the critical loads for its bifurcation or limit point buckling because its buckling equilibrium configuration cannot be achieved, and the arch is in a stable equilibrium state although its structural response may be quite non-linear under the load. However, for a CFST arch under a sustained load, the visco-elastic effects of creep and shrinkage of the concrete core produce significant long-term increases in the deformations and bending moments and subsequently lead to a time-dependent change of its equilibrium configuration. Accordingly, the bifurcation point and limit point of the time-dependent equilibrium path and the corresponding buckling loads of CFST arches also change with time. When the changing time-dependent bifurcation or limit point buckling load of a CFST arch becomes equal to the sustained load, the arch may buckle in a bifurcation mode or in a limit point mode in the time domain. A virtual work method is used in the paper to investigate bifurcation and limit point buckling of shallow circular CFST arches that are subjected to a sustained uniform radial load. The algebraically tractable age-adjusted effective modulus method is used to model the time-dependent behaviour of the concrete core, based on which solutions for the prebuckling structural life time corresponding to non-linear bifurcation and limit point buckling are derived.     

非线性系统周期强迫不平衡响应的稳定性分析

多自由度强非线性系统是工程实际中经常遇见的一类模型,利用非线性动力学分析中的打靶法求解该类系统的周期解,并对Flopuet主导特征值判断周期解的失稳方式,利用该方法对旋转机械中的一个具体模型;双盘县臂柔性转子-非同心型挤压油膜阻尼器（SFD）系统周期强迫不平衡响应的稳定性和分岔行为进行了分析,分析表明,在该系统中存在着第二Hopf分岔、倍周期分岔、鞍-结分岔三种分岔形式。     

The Study of a Parametrically Excited Nonlinear Mechanical System with the Continuation Method

The dynamic behavior of a one-degree-of-freedom, parametrically excited nonlinear system is investigated. The Galerkin method is applied to the principal and fundamental parameteric resonance of the system. The continuation method is used to study the change of harmonic oscillation with respect to the variation of excitation frequency. The numerical stability analysis of the trivial solution is carried out and the stable and unstable regions of the trivial solution are given. They are found to agree with the results obtained by the analytical method of Galerkin. Periodic solutions are traced and the coexistence of multi-periodic solutions is observed With the change of excitation frequency the large amplitude periodic-2 oscillation is found to be in the same closed branch with the small amplitude periodic-2 solution. In addition, the bifurcation pattern of the trivial solution is found to change from subcritical Hopf bifurcation into supercritical Hopf bifurcation with the increase of excitation amplitude. Combined with the conventional numerical integration method, new complex dynamic behavior is detected.     

Double Hopf Bifurcations and Chaos of a Nonlinear Vibration System

A double pendulum system is studied for analyzing the dynamic behaviour near a critical point characterized by nonsemisimple 1:1 resonance. Based on normal form theory, it is shown that two phase-locked periodic solutions may bifurcate from an initial equilibrium, one of them is unstable and the other may be stable for certain values of parameters. A secondary bifurcation from the stable periodic solution yields a family of quasi-periodic solutions lying on a two-dimensional torus. Further cascading bifurcations from the quasi-periodic motions lead to two chaoses via a period-doubling route. It is shown that all the solutions and chaotic motions are obtained under positive damping.     

挤压油膜阻尼器－滑动轴承－刚性转子系统的稳定性及分岔行为

对挤压油膜阻尼器－滑动轴承－转子系统的稳定性及分岔行为进行了研究，由于该动力系统为一强非线性系统，具有复杂的非线性现象。本文采用Ｆｌｏｑｕｅｔ理论对其周期解的稳定性进行了计算分析：随着系统参数的变化，该系统将出现稳态周期解、准周期分岔、倍周期分岔。文中也对系统平衡点的稳定性进行了分析，讨论了其Ｈｏｐｆ分岔行为     

Nonlinear oscillations and chaotic motions in a road vehicle system with driver steering control

The nonlinear dynamics of a differential system describing the motion of a vehicle driven by a pilot is examined. In a first step, the stability of the system near the critical speed is analyzed by the bifurcation method in order to characterize its behavior after a loss of stability. It is shown that a Hopf bifurcation takes place, the stability of limit cycles depending mainly on the vehicle and pilot model parameters. In a second step, the front wheels of the vehicle are assumed to be subjected to a periodic disturbance. Chaotic and hyperchaotic motions are found to occur for some range of the speed parameter. Numerical simulations, such as bifurcation diagrams, Poincaré maps, Fourier spectrums, projection of trajectories, and Lyapunov exponents are used to establish the existence of chaotic attractors. Multiple attractors may coexist for some values of the speed, and basins of attraction for such attractors are shown to have fractal geometries.     

跳跃振子平衡及其分岔的能量分析

用能量方法研究了跳跃振子的平衡与分岔.用势能驻值条件确定了平衡位置所满足的方程,通过势能极值判断平衡的稳定性.在不同的弹簧构型下,数值计算了平衡随系统弹性刚度和质量比变化的分岔图.结果表明,弹性刚度和质量比较小时,系统只有一个稳定平衡点和一个不稳定平衡点;刚度和质量比充分大时,系统分岔出一个新的稳定平衡点和一个新的不稳定平衡点.     

On the equilibrium configurations of an elastically constrained rotating disk: An analytical approach

According to the linear theory of vibration for spinning disks, the backward traveling waves of some of the modes may have zero natural frequency at what are called the critical speeds. At these speeds, the linear equations of motion cannot properly predict the amplitude response of the spinning disk, and nonlinear equations of motion must be used. In this paper, geometrical nonlinear equations of motion based on Von Karman plate theory are employed to study the dynamics of an elastically constrained disk near its critical speeds. A one-mode approximation is used to examine the effect of elastic constraint on the amplitude response. Presenting the equations in a space-fixed coordinate system, this study aims to find closed-form solutions for some of the equilibrium configurations of an elastically constrained spinning disk. Also, the stability of these configurations is studied using analytical techniques. It is shown that below the critical speed, one neutrally stable equilibrium solution exists, while above it, a bifurcation occurs. In this situation, two more branches of equilibrium configurations emerge, one of which is neutrally stable and the other unstable. Closed-form expressions for the bifurcation points are obtained. Due to the effect of an elastic constraint, a bifurcation occurs and the previously neutrally stable equilibrium configuration turns unstable. Also at this bifurcation point, two more branches of equilibrium solutions emerge.     

Quantitative methodology for stability analysis of nonlinear rotor systems

IntroductionRotor-bearings systems applied widely in industry are nonlinear dynamic systems of multi-degree-of-freedom.Synchronous vibration is its typical motion under unavoidable unbalance.Subharmonic,quasi-periodic and chaotic vibrations,caused by the …     

Analytical bifurcation analysis of a rotor supported by floating ring bearings

Like with other types of fluid bearings, rotors supported by floating ring bearings may become unstable with increasing speed of rotation due to self-excited vibrations. In order to study the effects of the nonlinear bearing forces, within this contribution a perfectly balanced symmetric rotor is considered which is supported by two identical floating ring bearings. Here, the bearing forces are modeled by applying the short bearing theory for both fluid films. A linear stability analysis about the static equilibrium position of the rotor shows that for a critical revolution speed the real part of an eigenvalue pair changes its sign. By means of a center manifold reduction it is shown that this destabilization of the steady state is due to a Hopf-bifurcation. Furthermore, the type of this bifurcation is determined as well as the existence and stability of limit-cycles. Notably it is found that depending on the parameters of the floating ring bearing subcritical as well as supercritical bifurcations may occur. Additionally, the analytical results obtained from the center manifold reduction are compared to numerical results by a continuation method. In conclusion, the influences of bearing design parameters on the stability and on the limit-cycles are discussed.     

Bifurcations in the dynamics of an orthogonal double pendulum

The weakly nonlinear resonant response of an orthogonal double pendulum to planar harmonic motions of the point of suspension is investigated. The two pendulums in the double pendulum are confined to two orthogonal planes. For nearly equal length of the two pendulums, the system exhibits 1:1 internal resonance. The method of averaging is used to derive a set of four first order autonomous differential equations in the amplitude and phase variables. Constant solutions of the amplitude and phase equations are studied as a function of physical parameters of interest using the local bifurcation theory. It is shown that, for excitation restricted in either plane, there may be as many as six pitchfork bifurcation points at which the nonplanar solutions bifurcate from the planar solutions. These nonplanar motions can become unstable by a saddle-node or a Hopf bifurcation, giving rise to a new branch of constant solutions or limit cycle solutions, respectively. The dynamics of the amplitude equations in parameter regions of the Hopf bifurcations is then explored using direct numerical integration. The results indicate a complicated amplitude dynamics including multiple limit cycle solutions, period-doubling route to chaos, and sudden disappearance of chaotic attractors.     

Analysis of the cutting tool on a lathe

We use a systematic approach combining a path-following scheme, the method of multiple scales, the method of harmonic balance, Floquet theory, and numerical simulations to investigate the local and global dynamics and stability of cutting tool on a lathe due to the regenerative mechanism. First, we use the method of multiple scales to determine the normal form of the Hopf bifurcation at all of the stability boundaries and calculate the limit cycles generated by the bifurcation. Then, we use a combination of a path-following scheme and the method of harmonic balance to continue the branch of generated limit cycles. Thus, we calculate small- and large-amplitude limit cycles and ascertain their stability using Floquet theory. We validate these results using numerical simulations. Then, we search for isolated branches of large-amplitude solutions coexisting with the linearly stable trivial solution. We use all of the results to generate bifurcation diagrams consisting of multiple large-amplitude stable and unstable branches of limit cycles coexisting with the trivial response, indicating three regions of operation, as in the experimental observations. Then, we investigate bifurcation control using cubic-velocity feedback and show that the unconditionally stable region can be expanded at the expense of the conditionally stable region.     

Two-parameter bifurcation analysis of limit cycles of a simplified railway wheelset model

The effect of the nonlinear terms on bifurcation behaviors of limit cycles of a simplified railway wheelset model is investigated. At first, the stable equilibrium state loses its stability via a Hopf bifurcation. The bifurcation curve is divided into a supercritical branch and a subcritical one by a generalized Hopf point, which plays a key role in determining the occurrence of flange contact and derailment of high-speed railway vehicles, and the occurrence of this critical situation is an important decision-making criteria for design parameters. Secondly, bifurcations of limit cycles are discussed by comparing the bifurcation behavior of cycles for two different nonlinear parameters. Unlike local Hopf bifurcation analysis based on a single bifurcation parameter in most papers, global bifurcation analysis of limit cycles based on two bifurcation parameters is investigated, simultaneously. It is shown that changing nonlinear parameter terms can affect bifurcation types of cycles and division of parameter domains. In particular, near the branch points of cycles, two symmetrical limit cycles are created by a pitchfork bifurcation and then two symmetrical cycles both undergo a period-doubling bifurcation to form two stable period-two cycles. Around the resonant points, period orbits can make several turns, whose number of turns corresponds to the ratio of resonance. Thirdly, near the Neimark–Sacker bifurcation of cycles, a stable torus is created by a supercritical Neimark–Sacker bifurcation, which shows that the orbit of the model exhibits modulated oscillations with two frequencies near the limit cycle. These results demonstrate that nonlinear parameter terms can produce very complex global bifurcation phenomena and make obvious effects on possible hunting motions even though a simple railway wheelset model is concerned.

     

Imperfection sensitivity of hilltop branching points of systems with dihedral group symmetry

Imperfection sensitivity of a hilltop branching point occurring as a coincidence of a limit point and a double bifurcation point of a finite-dimensional, elastic, conservative system equivariant to the dihedral group is investigated. In the neighborhood of this point, the potential is expanded into a power series of independent state variables, loading parameter and imperfection magnitude. The form of the expansion is determined through exploitation of dihedral-group symmetry. For the perfect system, the hilltop branching point and bifurcated paths are shown to be all unstable. For an imperfect system, equilibrium paths in general break into a series of paths: including fundamental, complementary and aloof paths. The imperfection sensitivity laws for maximum (critical) points of loading on these paths are obtained as a novel finding of this paper. Critical points on the fundamental and complementary paths enjoy a piecewise linear law, which is less severe than a one-half or two-thirds power law for the double bifurcation point. By contrast, maximum points on aloof paths suffer more severe sensitivity. The hilltop branching point thus displays complex system of imperfection sensitivities. As numerical examples, imperfection sensitivity of simple structural models with the hilltop point is investigated to ensure the validity of the present formulation.     

Isolated large amplitude periodic motions of towed rigid wheels

This study investigates a low degree-of-freedom (DoF) mechanical model of shimmying wheels. The model is studied using bifurcation theory and numerical continuation. Self-excited vibrations, that is, stable and unstable periodic motions of the wheel, are detected with the help of Hopf bifurcation calculations. These oscillations are then followed over a large parameter range for different damping values by means of the software package AUTO97. For certain parameter regions, the branches representing large-amplitude stable and unstable periodic motions become isolated following an isola birth. These regions are extremely dangerous from an engineering point of view if they are not identified and avoided at the design stage. Research Group on Dynamics of Machines and Vehicles, Hungarian Academy of Sciences.     

Hopf分岔的代数判据及其在车辆动力学中的应用

利用Hurwitz行列式,给出平衡点失稳而发生Hopf分岔的代数判定准则和计算方法,这一方法将Hopf分岔点的求解转化为一个非线性方程的求解问题,从而克服了以前方法在计算Hopf分岔点时,对于参数的每一次变化通过求特征根并判定特征根的实部是否为零的庞大工作量。应用这一方法,我们进行了非线性车辆系统蛇行运动稳定性的研究,得到了轮对系统发生蛇行运动的临界速度的解析表达式。