DYNAMIC RESPONSE AND STABILITY ANALYSIS OF AN AUTOMATIC BALL BALANCER FOR A FLEXIBLE ROTOR

Dynamic stability and time responses are studied for an automatic ball balancer of a rotor with a flexible shaft. The Stodola-Green rotor model, of which the shaft is flexible, is selected for analysis. This rotor model is able to include the influence of rigid-body rotations due to the shaft flexibility on dynamic responses. Applying Lagrange's equation to the rotor with the ball balancer, the non-linear equations of motion are derived. Based on the linearized equations, the stability of the ball balancer around the balanced equilibrium position is analyzed. On the other hand, the time responses computed from the non-linear equations are investigated. This study shows that the automatic ball balancer can achieve the balancing of a rotor with a flexible shaft if the system parameters of the balancer satisfy the stability conditions for the balanced equilibrium position.     

Frequency response of sloshing in an annular cylindrical tank subjected to pitching excitation

Frequency responses of stable planar and rotary motions in a partially filled annular cylindrical tank, subjected to a pitching excitation at a frequency in the neighborhood of the lowest resonant frequency, are investigated. The nonlinearity of the liquid surface oscillation and the nonlinear coupling between the dominant modes and other modes (e.g., an axisymmetric mode) are considered in the response analysis of the sloshing motion. The basic equations of the liquid motion are derived by using the variational principle and the nonlinear equations of motion of the liquid surface displacement are formulated. The characteristics of the liquid motion in an annular cylindrical tank are discussed. The equations governing the amplitude of the stable planar and rotary liquid motions are derived and the stability of each motion is analyzed. An experiment was carried out using a model tank. It is shown that the nonlinear characteristic of the liquid motion in an annular cylindrical tank is more complicated than that in a circular cylindrical tank. Furthermore, it is shown that the nonlinear analysis is important for estimating the sloshing responses.     

Study of nonlinear system stability using eigenvalue analysis: Gyroscopic motion

General computational multibody system (MBS) algorithms allow for the linearization of the highly nonlinear equations of motion at different points in time in order to obtain the eigenvalue solution. This eigenvalue solution of the linearized equations is often used to shed light on the system stability at different configurations that correspond to different time points. Different MBS algorithms, however, employ different sets of orientation coordinates, such as Euler angles and Euler parameters, which lead to different forms of the dynamic equations of motion. As a consequence, the forms of the linearized equations and the eigenvalue solution obtained strongly depend on the set of orientation coordinates used. This paper addresses this fundamental issue by examining the effect of the use of different orientation parameters on the linearized equations of a gyroscope. The nonlinear equations of motion of the gyroscope are formulated using two different sets of orientation parameters: Euler angles and Euler parameters. In order to obtain a set of linearized equations that can be used to define the eigenvalue solution, the algebraic equations that describe the MBS constraints are systematically eliminated leading to a nonlinear form of the equations of motion expressed in terms of the system degrees of freedom. Because in MBS applications the generalized forces can be highly nonlinear and can depend on the velocities, a state space formulation is used to solve the eigenvalue problem. It is shown in this paper that the independent state equations formulated using Euler angles and Euler parameters lead to different eigenvalue solutions. This solution is also different from the solution obtained using a form of the Newton-Euler matrix equation expressed in terms of the angular accelerations and angular velocities. A time-domain solution of the linearized equations is also presented in order to compare between the solutions obtained using two different sets of orientation parameters and also to shed light on the important issue of using the eigenvalue analysis in the study of MBS stability. The validity of using the eigenvalue analysis based on the linearization of the nonlinear equations of motion in the study of the stability of railroad vehicle systems, which have known critical speeds, is examined. It is shown that such an eigenvalue analysis can lead to wrong conclusions regarding the stability of nonlinear systems.     

Non-smooth and time-varying systems of geometrically nonlinear beams

Bending vibrations of geometrically nonlinear beams, which are connected with some clearance in their contact areas, are analyzed during dynamic extending and retracting motion of the different segments. For the physical model of a fork lifter, as an example of application, the governing system equations are derived by applying Hamilton's principle. Using a discretization procedure, based on admissible shape functions, a system of coupled, nonlinear, time-varying, ordinary differential equations is generated. Linearization and model reduction leads to a sequence of simple models. On the basis of these models, an adaptive state regulator and an adaptive full-state observer (Luenberger Observer) are designed for vibration suppression using the optimal linear quadratic regulator (LQR). The adaptive controller and observer are applied to the original, significantly more complicated, geometrically nonlinear and time-varying system with clearance so that the robustness of the controlled system can be studied during dynamic extending and retracting motions.     

弹簧螺旋摆系统非线性振动的理论研究

运用牛顿第二运动定律对弹簧螺旋摆系统建立了模型方程,该方程为一组非线性微分方程,表明该系统具有复杂的非线性特征.理论分析表明,当系统固有的振动频率和摆动频率之比为2时,自由振动的弹簧螺旋摆系统存在内共振现象,数值求解结果证实了这一结论.并认为在一般情况下,弹簧螺旋摆系统的自由振动可能是准周期的.     

THE APPLICATION OF BALL-TYPE BALANCERS FOR RADIAL VIBRATION REDUCTION OF HIGH-SPEED OPTIC DISK DRIVES

This study is dedicated to the design of a ball-type balancer system installed on the high-speed disk drive in order to reduce radial vibrations of rotors caused by eccentricities of disk's center of gravity and circular runway of the ball balancer. The ball balancer is a promising candidate due to its low cost and capability to completely eliminate radial vibrations under the conditions that runway eccentricity, damping and friction are not present. A mathematical model was established first for the analysis of the dynamics of a rotor-balancer system. The influence of concerned parameters, e.g., runway eccentricity and rolling resistance, on residual vibrations was then explored through solving the equations for steady state solutions. The results were used to evaluate the performance of balancers in terms of vibration reduction. The design guidelines for minimizing the vibrations by controlling the aforementioned concerned parameters were provided based on the parametric analysis conducted. Finally, experimental study was orchestrated and performed to verify the validity of the mathematical model and demonstrate balancer capability for reduction of radial vibrations.     

一类含时变间隙的强非线性相对转动系统分岔和混沌

建立一类具有时变间隙的两质量相对转动系统的强非线性动力学方程.应用MLP方法求解出变换参数,并运用多尺度法求解该系统发生1/2亚谐共振时的分岔响应方程,采用奇异性理论分析得到系统稳态响应的转迁集,并且得到系统在非自治情形下的分岔特性以及系统的分岔形态.最后通过数值仿真得到系统在间隙和阻尼参数变化下的分岔和混沌行为,发现随着系统参数变化系统将出现周期运动、倍周期运动以及混沌等多种不同的运动形态.     

Internal resonance of axially moving laminated circular cylindrical shells

The nonlinear vibrations of a thin, elastic, laminated composite circular cylindrical shell, moving in axial direction and having an internal resonance, are investigated in this study. Nonlinearities due to large-amplitude shell motion are considered by using Donnell’s nonlinear shallow-shell theory, with consideration of the effect of viscous structure damping. Differently from conventional Donnell’s nonlinear shallow-shell equations, an improved nonlinear model without employing Airy stress function is developed to study the nonlinear dynamics of thin shells. The system is discretized by Galerkin’s method while a model involving four degrees of freedom, allowing for the traveling wave response of the shell, is adopted. The method of harmonic balance is applied to study the nonlinear dynamic responses of the multi-degrees-of-freedom system. When the structure is excited close to a resonant frequency, very intricate frequency–response curves are obtained, which show strong modal interactions and one-to-one-to-one-to-one internal resonance phenomenon. The effects of different parameters on the complex dynamic response are investigated in this study. The stability of steady-state solutions is also analyzed in detail.     

Bifurcations and loss of orbital stability in nonlinear viscoelastic beam arrays subject to parametric actuation

The collective dynamic response of microbeam arrays is governed by nonlinear effects, which have not yet been fully investigated and understood. This work employs a nonlinear continuum-based model in order to investigate the nonlinear dynamic behavior of an array of N nonlinearly coupled micro-electromechanical beams that are parametrically actuated. Investigations focus on the behavior of small size arrays in the one-to-one internal resonance regime, which is generated for low or zero DC voltages. The dynamic equations of motion of a two-element system are solved analytically using the asymptotic multiple-scales method for the weakly nonlinear system. Analytically obtained results are verified numerically and complemented by a numerical analysis of a three-beam array. The dynamic responses of the two- and three-beam systems reveal coexisting periodic and aperiodic solutions. The stability analysis enables construction of a detailed bifurcation structure, which reveals coexisting stable periodic and aperiodic solutions. For zero DC voltage only quasi-periodic and no evidence for the existence of chaotic solutions are observed. This study of small size microbeam arrays yields design criteria, complements the understanding of nonlinear nearest-neighbor interactions, and sheds light on the fundamental understanding of the collective behavior of finite-size arrays.     

Stability criterions of an oscillating tip-cantilever system in dynamic force microscopy

This work is a theoretical investigation of the stability of the non-linear behavior of an oscillating tip-cantilever system used in dynamic force microscopy. Stability criterions are derived that may help to a better understanding of the instabilities that may appear in the dynamic modes, Tapping and NC-AFM, when the tip is close to a surface. A variational principle allows to get the temporal dependence of the equations of motion of the oscillator as a function of the non-linear coupling term. These equations are the basis for the analysis of the stability. One find that the branch associated to frequencies larger than the resonance is always stable whereas the branch associated to frequencies smaller than the resonance exhibits two stable domains and one unstable. This feature allows to re-interpret the instabilities appearing in Tapping mode and may help to understand the reason why the NC-AFM mode is stable. Received 12 April 2001     

The magneto-elastic subharmonic resonance of current-conducting thin plate in magnetic filed

Based on Maxwell equations and corresponding electromagnetic constitutive relations, the electrodynamic equations and electromagnetic force expressions of a current-conducting thin plate in electromagnetic field are deduced. Nonlinear magneto-elastic vibration equations of the thin plate are given. In addition, nonlinear subharmonic resonances of the thin plate with two opposite sides simply supported which is under the mechanic live loads and in constant transverse magnetic field are studied. The corresponding vibration differential equation of Duffing type is deduced by the Galerkin method. The method of multiple scales is used to solve the equation, and the frequency-response equation of the system in steady motion under subharmonic responses is obtained, and the stability of solution is analyzed. According to the Liapunov stability theory, the critical conditions of stability are obtained. By the numerical calculation, the curves of resonance amplitude changing with the detuning parameter, the excitation amplitude and the magnetic intensity and corresponding state planes are obtained. The existing regions of nontrivial solutions and the changing law of stable and unstable solutions are analyzed. The time history response plots, the phase charts and the Poincare mapping charts are plotted. And the effect of the magnetic intensity on the system is discussed, and some complex dynamic performances as period-doubling motion and quasi-period motion are analyzed.     

Microscopic Behavior of the Classical Electron in the Absence of External Forces

A system of nonlinear integro-differential equations is derived for the motion of the classical electron with a rigid and spherically symmetric 3D gaussian distribution of charge. The equations are analyzed for stability around the state of rest and of uniform rectilinear motion with velocity small with respect to the velocity of light. The extremely high-frequency and radiationless micro-oscillations that the electron executes when disturbed from the equilibrium states show the inconsistency of the Abraham-Lorentz equation and of all concepts associated with this equation, like the notion that the electron may have a mass of electromagnetic origin.     

FREE VIBRATION ANALYSIS OF A SPINNING FLEXIBLE DISK-SPINDLE SYSTEM SUPPORTED BY BALL BEARING AND FLEXIBLE SHAFT USING THE FINITE ELEMENT METHOD AND SUBSTRUCTURE SYNTHESIS

Free vibration of a spinning flexible disk-spindle system supported by ball bearing and flexible shaft is analyzed by using Hamilton's principle, FEM and substructure synthesis. The spinning disk is described by using the Kirchhoff plate theory and von Karman non-linear strain. The rotating spindle and stationary shaft are modelled by Rayleigh beam and Euler beam respectively. Using Hamilton's principle and including the rigid body translation and tilting motion, partial differential equations of motion of the spinning flexible disk and spindle are derived consistently to satisfy the geometric compatibility in the internal boundary between substructures. FEM is used to discretize the derived governing equations, and substructure synthesis is introduced to assemble each component of the disk-spindle-bearing-shaft system. The developed method is applied to the spindle system of a computer hard disk drive with three disks, and modal testing is performed to verify the simulation results. The simulation result agrees very well with the experimental one. This research investigates critical design parameters in an HDD spindle system, i.e., the non-linearity of a spinning disk and the flexibility and boundary condition of a stationary shaft, to predict the free vibration characteristics accurately. The proposed method may be effectively applied to predict the vibration characteristics of a spinning flexible disk-spindle system supported by ball bearing and flexible shaft in the various forms of computer storage device, i.e., FDD, CD, HDD and DVD.     

LARGEST LYAPUNOV EXPONENT AND ALMOST CERTAIN STABILITY ANALYSIS OF SLENDER BEAMS UNDER A LARGE LINEAR MOTION OF BASEMENT SUBJECT TO NARROWBAND PARAMETRIC EXCITATION

The first order approximate solutions of a set of non-liner differential equations, which is established by using Kane's method and governs the planar motion of beams under a large linear motion of basement, are systematically derived via the method of multiple scales. The non-linear dynamic behaviors of a simply supported beam subject to narrowband random parametric excitation, in which either the principal parametric resonance of its first mode or a combination parametric resonance of the additive type of its first two modes with or without 3:1 internal resonance between the first two modes is taken into consideration, are analyzed in detail. The largest Lyapunov exponent is numerically obtained to determine the almost certain stability or instability of the trivial response of the system and the validity of the stability is verified by direct numerical integration of the equation of motion of the system.     

Low-dimensional models for the nonlinear vibration analysis of cylindrical shells based on a perturbation procedure and proper orthogonal decomposition

In formulating mathematical models for dynamical systems, obtaining a high degree of qualitative correctness (i.e. predictive capability) may not be the only objective. The model must be useful for its intended application, and models of reduced complexity are attractive in many cases where time-consuming numerical procedures are required. This paper discusses the derivation of discrete low-dimensional models for the nonlinear vibration analysis of thin cylindrical shells. In order to understand the peculiarities inherent to this class of structural problems, the nonlinear vibrations and dynamic stability of a circular cylindrical shell subjected to static and dynamic loads are analyzed. This choice is based on the fact that cylindrical shells exhibit a highly nonlinear behavior under both static and dynamic loads. Geometric nonlinearities due to finite-amplitude shell motions are considered by using Donnell's nonlinear shallow-shell theory. A perturbation procedure, validated in previous studies, is used to derive a general expression for the nonlinear vibration modes and the discretized equations of motion are obtained by the Galerkin method using modal expansions for the displacements that satisfy all the relevant boundary and symmetry conditions. Next, the model is analyzed via the Karhunen-Loève expansion to investigate the relative importance of each mode obtained by the perturbation solution on the nonlinear response and total energy of the system. The responses of several low-dimensional models are compared. It is shown that rather low-dimensional but properly selected models can describe with good accuracy the response of the shell up to very large vibration amplitudes.     

On the definition of the natural frequency of oscillations in nonlinear large rotation problems

Computational multibody system algorithms allow for performing eigenvalue analysis at different time points during the simulation to study the system stability. The nonlinear equations of motion are linearized at these time points, and the resulting linear equations are used to determine the eigenvalues and eigenvectors of the system. In the case of linear systems, the system eigenvalues remain the same under a constant coordinate transformation; and zero eigenvalues are always associated with rigid body modes, while nonzero eigenvalues are associated with non-rigid body motion. These results, however, cannot in general be applied to nonlinear multibody systems as demonstrated in this paper. Different sets of large rotation parameters lead to different forms of the nonlinear and linearized equations of motion, making it necessary to have a correct interpretation of the obtained eigenvalue solution. As shown in this investigation, the frequencies associated with different sets of orientation parameters can differ significantly, and rigid body motion can be associated with non-zero oscillation frequencies, depending on the coordinates used. In order to demonstrate this fact, the multibody system motion equations associated with the system degrees of freedom are presented and linearized. The resulting linear equations are used to define an eigevalue problem using the state space representation in order to account for general damping that characterizes multibody system applications. In order to demonstrate the significant differences between the eigenvalue solutions associated with two different sets of orientation parameters, a simple rotating disk example is considered in this study. The equations of motion of this simple example are formulated using Euler angles, Euler parameters and Rodriguez parameters. The results presented in this study demonstrate that the frequencies obtained using computational multibody system algorithms should not in general be interpreted as the system natural frequencies, but as the frequencies of the oscillations of the coordinates used to describe the motion of the system.     

The equation of motion for the trajectory of a circling particle with an overdamped circle center

Inspired by biological microorganisms swimming in circles in liquid with low Reynolds number, I developed the dynamic theory for computing the helical trajectory of a circling particle with an overdamped circle center. The equation of motion for the circling particle is a hybrid equation of deterministic terms and stochastic terms. Observing the motion of a swimming microorganism, I found the strength of stochastic fluctuations should be much smaller than that governs deterministic dynamics. This dynamic theory predicts a nonlinear transverse motion perpendicular to the direction of external force. Both the living microorganism and artificial circling particle are applicable for an experimental check of this prediction. For the convenience of easy theoretical research, I further derived the probability conservation equations based on this dynamic theory both in two-dimensional and three-dimensional space.     

Nonlinear dynamics of higher-dimensional system for an axially accelerating viscoelastic beam with in-plane and out-of-plane vibrations

In this paper, the bifurcations and chaotic motions of higher-dimensional nonlinear systems are investigated for the nonplanar nonlinear vibrations of an axially accelerating moving viscoelastic beam. The Kelvin viscoelastic model is chosen to describe the viscoelastic property of the beam material. Firstly, the nonlinear governing equations of nonplanar motion for an axially accelerating moving viscoelastic beam are established by using the generalized Hamilton’s principle for the first time. Then, based on the Galerkin’s discretization, the governing equations of nonplanar motion are simplified to a six-degree-of-freedom nonlinear system and a three-degree-of-freedom nonlinear system with parametric excitation, respectively. At last, numerical simulations, including the Poincare map, phase portrait and Lyapunov exponents are used to analyze the complex nonlinear dynamic behaviors of the axially accelerating moving viscoelastic beam. The bifurcation diagrams for the in-plane and out-of-plane displacements via the mean axial velocity, the amplitude of velocity fluctuation and the frequency of velocity fluctuation are respectively presented when other parameters are fixed. The Lyapunov exponents are calculated to identify the existence of the chaotic motions. From the numerical results, it is indicated that the periodic, quasi-periodic and chaotic motions occur for the nonplanar nonlinear vibrations of the axially accelerating moving viscoelastic beam. Observing the in-plane nonlinear vibrations of the axially accelerating moving viscoelastic beam from the numerical results, it is found that the nonlinear responses of the six-degree-of-freedom nonlinear system are much different from that of the three-degree-of-freedom nonlinear system when all parameters are same.     

Dynamic analysis of an axially moving finite-length beam with intermediate spring supports

This paper presents the analysis for the transverse vibration of an axially moving finite-length beam inside which two points are supported by rotating rollers. In this study, the rollers are modeled as uniaxial springs in the transverse direction. Hamilton?s principle is applied to derive the equations of motion and boundary conditions of the system. The equations of motion include translational and rotational motions as well as flexible motion. These equations are discretized using Galerkin?s method, and then the dynamic characteristics of a flexible beam with spring supports are studied by solving an eigenvalue problem. The veering phenomenon of natural frequency loci and mode exchanges are investigated for different positions of the springs and various values of the spring stiffness. In addition, the mode localization is also analyzed using the peak amplitude ratio. It is found in this study that the first mode is localized in one of the beam spans if an appropriate value of the spring constant is selected. Furthermore, it is shown that mode localization can be used to reduce the vibration transferred from one span to the other span while a beam moves axially.     

Stability of an axially accelerating string subjected to frictional guiding forces

The dynamic response of an axially translating continuum subjected to the combined effects of a pair of spring supported frictional guides and axial acceleration is investigated; such systems are both non-conservative and gyroscopic. The continuum is modeled as a tensioned string translating between two rigid supports with a time-dependent velocity profile. The equations of motion are derived with the extended Hamilton's principle and discretized in the space domain with the finite element method. The stability of the system is analyzed with the Floquet theory for cases where the transport velocity is a periodic function of time. Direct time integration using an adaptive step Runge-Kutta algorithm is used to verify the results of the Floquet theory. This approach can also be employed in the general case of arbitrary time-varying velocity. Results are given in the form of time history diagrams and instability point grids for different sets of parameters such as the location of the stationary load, the stiffness of the elastic support, and the values of initial tension. This work showed that presence of friction adversely affects stability, but using non-zero spring stiffness on the guiding force has a stabilizing effect. This work also showed that the use of the finite element method and Floquet theory is an effective combination to analyze stability in gyroscopic systems with stationary friction loads.