A nonlinear model for rotor-shaft joints of high speed rotor systems with internal damping

Viscous internal damping in joints of high speed rotor systems causes instabilities above a certain frequency of revolution. In the majority of cases a nonlinearity adjusts the stability margin towards higher frequencies. In this paper an analytical solution of a nonlinear four degrees of freedom rotor model with internal damping is proposed, which enables to clearly analyse the influence of shaft stiffness, connection stiffness, rotor mass and shaft mass. The steady state solution of the unbalance case and the stability boundaries are deduced analytically. The stabilizing effect of the nonlinearity is shown. The analytical solutions are in good agreement with numerical results obtained by FERAN, a rotor dynamic simulation tool. A model, representing the rotor–shaft connection with an o–ring has been analyzed by a hydro pulse rig. Beneath the linear way, two further approaches to describe the measured hysteresis, a cubic and a bilinear force law are shown in the paper. The different analytical and numerical results for the whole rotor system with these three approaches are compared. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Numerical analysis of a rigid rotor supported by aerodynamic four-lobe journal bearing system with mass unbalance

This paper presents the effect of rotor mass on the nonlinear dynamic behavior of a rigid rotor-bearing system excited by mass unbalance. Aerodynamic four-lobe journal bearing is used to support a rigid rotor. A finite element method is employed to solve the Reynolds equation in static and dynamical states and the dynamical equations are solved using Runge-Kutta method. To analyze the behavior of the rotor center in the horizontal and vertical directions under different operating conditions, the dynamic trajectory, the power spectra, the Poincare maps and the bifurcation diagrams are used. From this study, results show how the complex dynamic behavior of this type of system comprising periodic, KT-periodic and quasi-periodic responses of the rotor center varies with changes in rotor mass values by considering two bearing aspect ratios. Results of this study contribute a better understanding of the nonlinear dynamics of an aerodynamic four-lobe journal bearing system.     

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.     

Non-linear dynamic analysis of a flexible rotor supported on porous oil journal bearings

In the present paper, the non-linear dynamic analysis of a flexible rotor with a rigid disk under unbalance excitation mounted on porous oil journal bearings at the two ends is carried out. The system equation of motion is obtained by finite element formulation of Timoshenko beam and the disk. The non-linear oil-film forces are calculated from the solution of the modified Reynolds equation simultaneously with Darcy’s equation. The system equation of motion is then solved by the Wilson-θ method. Bifurcation diagrams, Poincaré maps, time response, journal trajectories, FFT-spectrum, etc. are obtained to study the non-linear dynamics of the rotor-bearing system. The effect of various non-dimensional rotor-bearing parameters on the bifurcation characteristics of the system is studied. It is shown that the system undergoes Hopf bifurcation as the speed increases. Further, slenderness ratio, material properties of the rotor, ratio of disk mass to shaft mass and permeability of the porous bush are shown to have profound effect on the bifurcation characteristics of the rotor-bearing system.     

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.     

Global resonance optimization analysis of nonlinear mechanical systems: Application to the uncertainty quantification problems in rotor dynamics

An efficient method to obtain the worst quasi-periodic vibration response of nonlinear dynamical systems with uncertainties is presented. Based on the multi-dimensional harmonic balance method, a constrained, nonlinear optimization problem with the nonlinear equality constraints is derived. The MultiStart optimization algorithm is then used to optimize the vibration response within the specified range of physical parameters. In order to illustrate the efficiency and ability of the proposed method, several numerical examples are illustrated. The proposed method is then applied to a rotor system with multiple frequency excitations (unbalance and support) under several physical parameters uncertainties. Numerical examples show that the proposed approach is valid and effective for analyzing strongly nonlinear vibration problems with different types of nonlinearities in the presence of uncertainties.     

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)     

大位移Timoshenko转轴三维耦合动力学分析

对于高速柔性转轴,综合考虑滑移、弯曲、剪切变形、旋转惯性、陀螺效应和动不平衡等因素,运用Timoshenko旋转梁理论,给出弹性体空间运动的一般性描述,通过Hamilton原理建立弯曲-扭转-轴向三维耦合非线性动力学方程,应用参数摄动方法和假设振型方法进行化简,并用数值模拟分析了轴向刚性滑移、剪切变形、截面尺寸和转速等因素对转轴动力学响应的影响。     

Nonlinear response of a beam under distributed moving contact load

In this paper, the nonlinear behavior of a one-dimensional model of the disc brake pad is examined. The contact normal force between the disc brake pad lining and rotor is represented by a second order polynomial of the relative displacement between the two elastic bodies. The frictional force due to the sliding motion of the rotor against the stationary pad is modeled as a distributed follower-type axial load with time-dependent terms. By Galerkin discretization, the equation governing the transverse motion of the beam model is reduced to a set of extended Duffing system with quasi-periodically modulated excitations. Retaining the first two vibration modes in the governing equations, frequency response curves are obtained by applying a two-dimensional spectral balance method. For the first time, it is predicted that nonlinearity resulting from the contact mechanics between the disc brake pad lining and rotor can lead to a possible irregular motion (chaotic vibration) of the pad in the neighborhood of simple and parametric resonance. This chaotic behavior is identified and quantitatively measured by examining the Poincaré maps, Fourier spectra, and Lyapunov exponents. It is also found that these chaotic motions emerge as a result of successive Hopf bifurcations characterized by the torus breakdown and torus doubling routes as the excitation frequency varies. Various aspects of the numerical difficulties in the solution of the nonlinear equations are also discussed.     

Active vibration control of unbalanced flexible rotor–shaft systems parametrically excited due to base motion

Rotor vibrations caused by large time-varying base motion are of considerable importance as there are a good number of rotors, e.g., the ship and aircraft turbine rotors, which are often subject to excitations, as the rotor base, i.e. the vehicle, undergoes large time varying linear and angular displacements as a result of different maneuvers. Due to such motions of the base, the equations of vibratory motion of a flexible rotor–shaft relative to the base (which forms a non-inertial reference frame) contains terms due to Coriolis effect as well as inertial excitations (generally asynchronous to rotor spin) generated by different system parameters. Such equations of motion are linear but time-varying in nature, invoking the possibility of parametric instability under certain frequency–amplitude combinations of the base motion. An investigation of active vibration control of an unbalanced rotor–shaft system on moving bases is attempted in this work with electromagnetic control force provided by an actuator consisting of four electromagnetic exciters, placed on the stator in a suitable plane around the rotor–shaft. The actuator does not levitate the rotor or facilitate any bearing action, which is provided by the conventional suspension system. The equations of motion of the rotor–shaft continuum are first written with respect to the non-inertial reference frame (the moving base in this case) including the effect of rotor internal damping. A conventional model for the electromagnetic exciter is used. Numerical simulations performed on the flexible rotor–shaft modelled using beam finite elements shows that the control action is successful in avoiding the parametric instability, postponing the instability due to internal material damping and reducing the rotor response relative to the rigid base significantly, with sufficiently low demand of control current in comparison with the bias current in the actuator coils.     

3:1 Internal resonance of a string-beam coupled system with cubic nonlinearities

The dynamic behavior and chaotic motion of a string-beam coupled system subjected to parametric excitation are investigated. The case of three-to-one internal resonance between the modes of the beam and the string, in the presence of subharmonic resonance for the beam is considered and examined. The method of multiple scales is applied to study the steady-state response and the stability of the string-beam coupled system at resonance conditions. Numerical simulations illustrated that multiple-valued solutions, jump phenomenon, hardening and softening nonlinearities occur in the resonant frequency response curves. The effects of different parameters on system behavior have been studied applying frequency response function. Results are compared to previously published work.     

Free vibration analysis of cracked composite beams subjected to coupled bending–torsion loads based on a first order shear deformation theory

In this paper, free vibration analysis of cracked composite beam subjected to coupled bending–torsion loading is presented. The composite beam is assumed to have an open edge crack of length a. A first order shear deformation theory is applied to count for the effect of shear deformations on natural frequencies as well as the effect of coupling in torsion and bending modes of vibration. Governing equations and boundary conditions are derived using Hamilton principle. Local flexibility matrix is used to obtain the additional boundary conditions of the beam in cracked area. After obtaining the governing equations and boundary conditions, generalized differential quadrature (GDQ) method is applied to solve the obtained eigenvalue problem. Finally, some numerical results of beams with various boundary conditions and different fiber orientations are given to show the efficiency of the method. In addition, to study the effect of shear deformations, numerical results of the current model are compared with previously given results in which shear deformations were neglected.     

Nonlinear analysis of a parametrically excited beam with intermediate support by using Multi-dimensional incremental harmonic balance method

In this paper, a nonlinear Euler-Bernoulli beam under a concentrated harmonic excitation with intermediate nonlinear support is investigated. Continuous expression for the kinetic energy, potential energy and dissipation function are constructed. An energy method based on the Lagrange equation combined with the Galerkin truncation is used for discretizing the governing equation. The Multi-dimensional incremental harmonic balance method (MIHBM) is derived, and the comparisons between the numerical results and the approximate analytical solutions based on the MIHBM verify the excellent accuracy of the MIHBM. The steady state dynamic of the beam is investigated by MIHBM. In order to investigate the energy transmission and understand the vibration response of the Euler-Bernoulli beam, the effects of the key parameters on the dynamic behaviors are studied and discussed, individually. The results show that the amplitude-frequency curves exhibits softening nonlinear behavior in the super-harmonic resonance region, and near resonant region the hardening nonlinear behavior is observed depending on the different parameters. Nonlinear dynamic analysis, such as bifurcation, 3-D frequency spectrum, waveform, frequency spectrum, phase diagram and Poincaré map, are also presented in order to study the influences of the key parameters on the vibration behaviors for the beam in a more accurate manner. In addition, the path to chaotic motion is observed to be through a sequence of the periodic motion and quasi-periodic motion.     

非线性不平衡弹性轴系动力学的安全裕度准则

给出了一个弹性转子系统的非线性动力学安全裕度准则.采用分解和聚合的方法将系统的积分空间与观察空间分离,在积分空间中得到高维系统的稳态轨迹;根据转子系统振动的国际标准确定安全准则的能量界限,在一系列观察空间中采用能量相比正面积准则计算安全裕度.给出了滑动轴承非线性油膜力条件下不平衡转子系统安全裕度计算的实例.所建议的安全裕度准则包括了工程中通用的稳定裕度的计算,它是解决非线性系统安全裕度和稳定裕度量化计算问题的一种有效方法.     

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.     

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.     

The geometrically nonlinear dynamic responses of simply supported beams under moving loads

This paper presents a method for determining the nonlinear dynamic responses of structures under moving loads. The load is considered as a four degrees-of-freedom system with linear suspensions and tires flexibility, and the structure is modeled as an Euler–Bernoulli beam with simply supported at both ends. The nonlinear dynamic interaction of the load–structure system is discussed, and Kelvin−Voigt material model is employed for the beam. The nonlinear partial differential equations of the dynamic interaction are derived by using the von Kármán nonlinear theory and D'Alembert's principle. Based on the Galerkin method, the partial differential equations of the system are transformed into nonlinear ordinary equations, which can be solved by using the Newmark method and Newton−Raphson iteration method. To validate the approach proposed in this paper, the comparison are performed using a moving mass and a moving oscillator as the excitation sources, and the investigations demonstrate good reliability.     

The effects of lateral–torsional coupling on the nonlinear dynamic behavior of a rotating continuous flexible shaft–disk system with rub–impact

This study investigates the lateral–torsional coupling effects on the nonlinear dynamic behavior of a rotating flexible shaft–disk system. The system is modeled as a continuous shaft with a rigid disk in its mid span. Coriolis and centrifugal effects due to shaft flexibility are also included. The partial differential equations of motion are extracted under the Rayleigh beam theory. The assumed mode method is used to discretize partial differential equations and the resulting equations are solved via numerical methods. The analytical methods used in this work include time series, phase plane portrait, power spectrum, Poincaré map, bifurcation diagrams, and Lyapunov exponents. The main objective of the present study is to investigate the torsional coupling effects on the chaotic vibration behavior of a system. Periodic, sub-harmonic, quasi-periodic, and chaotic states can be observed for cases with and without torsional effects. As demonstrated, inclusion of the torsional–lateral coupling effects can primarily change the speed ratios at which rub–impact occurs. Also, substantial differences are shown to exist in the nonlinear dynamic behavior of the system in the two cases.     

Analysis and modeling of a flexible rectangular cantilever plate

Flexible plate structures with large deflection and rotation are commonly used structures in engineering. How to analyze and solve the cantilever plate with large deflection and rotation is still an unsolved problem. In this paper, a general nonlinear flexible rectangular cantilever plate considering large deflection and rotation angle is modeled, solved and analyzed. Hamilton's principle is applied to obtain the nonlinear differential dynamic equations and boundary conditions by introducing a coordinate transformation between the Cartesian coordinate system and the deformed local coordinate system. Stress function relating to in-plane force resultants and shear forces is given for the first time for complex coupling equations caused by coordinate transformation. The nonlinear equations and the solving method are validated by experiments. Then, harmonic balance method is adopted to get the nonlinear frequency-response curves, which shows strong hardening spring characteristic of this system. Runge–Kutta methods are used to reveal complex nonlinear behaviors such as 5 super-harmonic resonance, bifurcations and chaos for general nonlinear flexible rectangular cantilever plate.     

Analysis of the vibrations due to thermal deflection of the drum in the coiling process

The modelling of the coiling process involves a mechanical model of the dynamic system that consists of the rotating coiling drum and the axially and transversally moving strip. Due to the coiling a change of mass in the system takes place. For such a variable mass system a control volume concept has to be introduced in order to get the equations of motion of the dynamic system with variable parameters. A Runge Kutta time integration algorithm is applied to compute the solution. It is assumed that the outer radius of the coiling drum increases linear with the rotation angle. The bending deflection of the shaft results from an inhomogeneous temperature distribution within the coiled material on the coiling drum. Two different boundary conditions of the moving strip have been considered and it is demonstrated that the thermal deflection of the drum has a high influence upon the fluctuation of the strip force. For a given geometry and strip speed we obtain a critical thermal deflection where the minimum strip tension force is zero. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)