Three-dimensional modelling and dynamic analysis of an automatic ball balancer in an optical disk drive

Dynamic behaviours and stability of an automatic ball balancer (ABB) in an optical disk drive are analyzed based on the proposed three-dimensional dynamic model. For dynamic analysis, the feeding deck with the ball balancer and a spindle motor is modelled as a rigid body with six degrees of freedom. The nonlinear equations of motion are derived using Lagrange's equation in order to describe the translational and rotational motions of the system. From the derived nonlinear equations, the linearized equations of motion in the neighbourhood of a balanced equilibrium position are obtained by the perturbation method. These equations are coupled, linear, differential equations with time-dependent periodic coefficients, from which the stability of the system is analyzed by using the Floquet theory. Finally, the time responses are computed to verify the results of the stability analysis, and to investigate the balancing performance of the ABB.     

FREE NON-LINEAR VIBRATION OF A ROTATING THIN RING WITH THE IN-PLANE AND OUT-OF-PLANE MOTIONS

Free non-linear vibration of a rotating thin ring with a constant speed is analyzed when the ring has both the in-plane and out-of-plane motions. The geometric non-linearity of displacements is considered by adopting the Lagrange strain theory for the circumferential strain instead of the infinitesimal strain theory. By using Hamilton's principle, the coupled non-linear partial differential equations are derived, which describe the out-of-plane bending and torsional motions as well as the in-plane bending and extensional motions. During deriving the equations of motion, we discuss how to model the circumferential stress and strain in order to consider the geometric non-linearity. Four models are established: three non-linear models and one linear model. For the four models, the linearized equations of motion are obtained in the neighbourhood of the steady state equilibrium position. Based on the linearized equations of the four cases, the natural frequencies are computed at various rotational speeds and then they are compared. Through the comparison, this study recommends which model is appropriate to describe the non-linear behaviour more precisely.     

Nonlinear parametric instability of wind turbine wings

Nonlinear rotor dynamic is characterized by parametric excitation of both linear and nonlinear terms caused by centrifugal and Coriolis forces when formulated in a moving frame of reference. Assuming harmonically varying support point motions from the tower, the nonlinear parametric instability of a wind turbine wing has been analysed based on a two-degrees-of-freedom model with one modal coordinate representing the vibrations in the blade direction and the other vibrations in edgewise direction. The functional basis for the eigenmode expansion has been taken as the linear undamped fixed-base eigenmodes. It turns out that the system becomes unstable at certain excitation amplitudes and frequencies. If the ratio between the support point motion and the rotational frequency of the rotor is rational, the response becomes periodic, and Floquet theory may be used to determine instability. In reality the indicated frequency ratio may be irrational in which case the response is shown to be quasi-periodic, rendering the Floquet theory useless. Moreover, as the excitation frequency exceeds the eigenfrequency in the edgewise direction, the response may become chaotic. For this reason stability of the system has in all cases been evaluated based on a Lyapunov exponent approach. Stability boundaries are determined as a function of the amplitude and frequency of the support point motion, the rotational speed, damping ratios and eigenfrequencies in the blade and edgewise directions.     

Vibration quenching in a large scale rotor-bearing system using journal bearings with variable geometry

In large scale rotating machinery the resonance amplitude during the passage through resonance is a matter of consideration because of its influence in the surrounding environment of the rotational system and foundation. In this paper, a variable geometry journal bearing (VGJB), recently patented, is applied for the mounting of a large scale rotor bearing system operating at the range of medium speed. The simulation of the rotor-bearing system incorporates a recent method for simulation of a multi-segment continuous rotor in combination with nonlinear bearing forces. The use of the current bearing gives results that encourage the use of such a bearing in rotating machinery since the vibration amplitude during the passage through the critical speed can be reduced up to 60–70%. In the presented study, the developed amplitude and the rotor stresses are severely reduced compared to those of the system with normal cylindrical journal bearings during a virtual start up of the system.     

Nonlinear dynamic modeling of surface defects in rolling element bearing systems

In this paper an analytical model is proposed to study the nonlinear dynamic behavior of rolling element bearing systems including surface defects. Various surface defects due to local imperfections on raceways and rolling elements are introduced to the proposed model. The contact force of each rolling element described according to nonlinear Hertzian contact deformation and the effect of internal radial clearance has been taken into account. Mathematical expressions were derived for inner race, outer race and rolling element local defects. To overcome the strong nonlinearity of the governing equations of motion, a modified Newmark time integration technique was used to solve the equations of motion numerically. The results were obtained in the form of time series, frequency responses and phase trajectories. The validity of the proposed model verified by comparison of frequency components of the system response with those obtained from experiments. The classical Floquet theory has been applied to the proposed model to investigate the linear stability of the defective bearing rotor systems as the parameters of the system changes. The peak-to-peak frequency response of the system for each case is obtained and the basic routes to periodic, quasi-periodic and chaotic motions for different internal radial clearances are determined. The current study provides a powerful tool for design and health monitoring of machine systems.     

Nonlinear analysis of cylindrical and conical hysteretic whirl motions in rotor-dynamics

The internal friction of a rotor–shaft-support system is mainly due to the shaft structural hysteresis and to some possible shrink-fit release of the assembly. The experimentation points out the destabilizing effect of the internal friction in the over-critical rotor running. Nevertheless, this detrimental influence may be efficiently counterbalanced by other external dissipative sources located in the supports or by a proper anisotropic configuration of the support stiffness. The present analysis considers a rotor–shaft system which is symmetric with respect to the mid-span and is constrained by viscous-flexible supports with different stiffness on two orthogonal planes. The cylindrical and conical whirling modes are easily uncoupled and separately analysed. The internal dissipation is modelled by nonlinear Coulombian forces and moments, which counteract the translational and rotational motion of the rotor relative to a frame rotating with the shaft ends. The nonlinear equations of motion are solved by averaging approaches of the Krylov–Bogoliubov type. In both the over-critical whirling motions, cylindrical and conical, stable limit cycles may be attained whose amplitude is as large as the external dissipation applied by the supports is low. The stiffness anisotropy of the supports may be recognised as quite beneficial for the cylindrical whirl.     

DYNAMIC ANALYSIS OF A SPIRAL BEVEL-GEARED ROTOR-BEARING SYSTEM

Spiral bevel gears can transmit motion between two rotors, which are commonly perpendicular to each other. In this paper, the dynamic analysis of a spiral bevel-geared rotor-bearing system is studied. Firstly, the constraint equation describing the relationship between the generalized displacements of spiral bevel gear pairs is derived briefly. Then the modelling of coupled axial-lateral-torsional vibration of the rotor system geared by spiral bevel gears is discussed. Finally, the mechanism of coupled vibration of the spiral bevel-geared rotor system is analyzed theoretically and the dynamic behavior of the system is investigated numerically. The conclusions are characterized as follows. The influences of the critical speeds in rigid journal supports, stability threshold speed and unbalanced responses in hydrodynamic journal bearings are not remarkable in comparison with the spur bevel-geared system under the same conditions. However, the critical speeds and stability threshold speed are essentially affected by boundary conditions such as the torsional stiffness, and meanwhile the effect of the unbalanced responses is not prominent under the concerned rotating speeds except that around the resonance peaks. The steady state response due to torsional excitation is also analyzed, and the results show that it cannot be neglected either in the torsional direction or in the lateral and axial directions in the spiral bevel-geared rotor system.     

Study of a misaligned flexibly coupled shaft system having nonlinear bearings and cyclic coupling stiffness—Theoretical model and analysis

A model which enables dynamic analysis of flexibly coupled misaligned shafts is presented. The model is setup to account for both angular and parallel misalignment in the presence of mass unbalance and incorporates a coupling having angular, torsional and axial flexibility. Among the important features is the ability to simulate both nonlinear bearing stiffness and coupling angular-stiffness anisotropy. The equations of motion are derived for the linear system, extended to include nonlinear bearing effects and subsequently transformed into non-dimensional form for general application. A series of numerical analyses are performed and the influence of important system parameters assessed thereby providing insight to the resulting static and dynamic forces and motions. Angular and parallel misalignments are shown to produce fundamentally different system response. It is found that the static preload induced by both types of misalignment can play a key role in producing complex vibration resulting from it's interaction with rotating-element anisotropy and bearing nonlinear properties. Bearing static forces are altered and rotating elements are subjected to alternating forces which could affect fatigue life. Bearing forces can be further modified by the application of transmitted torque. The potential for great variability in system response is shown to exist due to the participation of numerous influential variables.     

ADDING ONE BIFURCATION IN A ROTOR SYSTEM WITH CLEARANCES

A mathematical model of a rotor system with clearances is analysed by the application of modern nonlinear dynamic theory. From the bifurcation diagrams, it is discovered that the rotor system alternates between periodic and chaotic motions at a supercritical rotational speed, and after undergoing a chaotic region the periodic number of the motion will increase by one. At the same time, the periodic number is equal correspondingly to the integral multiple of the critical rotational speed. At the subcritical rotational speed, it is discovered that the chaotic bands among successive orders of superharmonic responses return to the period one through a reversed period-doubling bifurcation, as a result of a period-doubling bifurcation. It is shown that the increase of damping may reduce the width of the chaotic bands and the amplitude of the periodic response; the increase of nonlinear degree also leads to the reduction of chaotic bandwidth, but makes the amplitude of the subharmonic response increase. So it is suggested that proper damping and correct material selection by considering the dynamic characteristics of the rotor system may reduce the proportion of faults and enhance the dynamic characteristics when designing the rotor system. The working speed should not be selected at N times its natural frequency and should not be set in the chaotic bands among the successive orders of periodic motion for the same purpose.     

Theoretical and nonlinear behavior analysis of a flexible rotor supported by a relative short herringbone-grooved gas journal-bearing system

This paper considers the bifurcation and nonlinear behavior of a flexible rotor supported by a relative short herringbone-grooved gas journal bearing system. A numerical method is employed to a time-dependent mathematical model. A finite difference method with successive over relation method is employed to solve the Reynolds’ equation. The system state trajectory, Poincaré maps, power spectra, and bifurcation diagrams are used to analyze the dynamic behavior of the rotor and journal centers in the horizontal and vertical directions under different operating conditions. The analysis reveals a complex dynamic behavior comprising periodic and quasi-periodic response of the rotor and journal centers. It further shown the dynamic behavior of this type of system varies with changes in bearing number and rotor mass. The results of this study contribute to a better understanding of the nonlinear dynamics of herringbone-grooved gas journal bearing systems.     

Stability analysis of a nonlinear rotating blade with torsional vibrations

This paper discusses the stability of a spinning blade having periodically time varying coefficients for both linear model and geometric nonlinear model. To obtain a reduced nonlinear model from nodal space, a standard modal reduction procedure based on matrix operation is developed with essential geometric stiffening nonlinearities retained in the equation of motion. For the linear model, the stability chart with various spinning parameters of the blade is studied via the Bolotin method, and an efficient boundary tracing algorithm is developed to trace the stability boundary of the linear model. For the geometric nonlinear model, the method of multiple time scale is employed to study the steady state solutions, and their stability and bifurcations for the periodically time-varying rotating blade. The backbone curves of steady-state motions are achieved, and the parameter map for stability and bifurcation is developed.     

Whirl and whip instabilities in rotor-bearing system considering a nonlinear force model

Linear models and synchronous response are generally adequate to describe and analyze rotors supported by hydrodynamic bearings. Hence, stiffness and damping coefficients can provide a good model for a wide range of situations. However, in some cases, this approach does not suffice to describe the dynamic behavior of the rotor-bearing system. Moreover, unstable motion occurs due to precessional orbits in the rotor-bearing system. This instability is called “oil whirl” or “oil whip”. The oil whirl phenomenon occurs when the journal bearings are lightly loaded and the shaft is whirling at a frequency close to one-half of rotor angular speed. When the angular speed of the rotor reaches approximately twice the natural frequency (first critical speed), the oil whip phenomenon occurs and remains even if the rotor angular speed increases. Its frequency and vibration mode correspond to the first critical speed. The main purpose of this paper is to validate a complete nonlinear solution to simulate the fluid-induced instability during run-up and run-down. A flexible rotor with a central disk under unbalanced excitation is modeled. A nonlinear hydrodynamic model is considered for short bearing and laminar flow. The effects of unbalance, journal-bearing parameters and rotor arrangement (vertical or horizontal) on the instability threshold are verified. The model simulations are compared with measurements at a real vertical power plant and a horizontal test rig.     

Control of hysteretic instability in rotating machinery by elastic suspension systems subject to dry and viscous friction

Most of the undesired whirling motions of rotating machines can be efficiently reduced by supporting journal boxes elastically and controlling their movement by viscous dampers or by dry friction surfaces normal to the shaft axis, which rub against the frame. In the case of dry dampers, resonance ranges of the floating support configuration can be easily cut off by planning a motionless adhesive state of the friction surfaces. On the contrary, the dry friction contact must change automatically into sliding conditions when the fixed support resonances are to be feared. Moreover, the whirl amplitude can be restrained throughout the speed range by a proper choice of the suspension-to-shaft stiffness ratio and of the support-to-rotor mass ratio.This theoretical research deals firstly with the natural precession speeds and looks for Campbell plots in dependence on the shaft angular speed, for several rotor-suspension systems. Then, the steady response to unbalance is investigated, in terms of rotor and support orbits and of conical path of the rotor axis. In this search, the ranges of adhesive or sliding contact are identified in particular for system with dry friction damping. At last, the destabilizing influence of the shaft hysteresis in the supercritical regime is focalized and the counterbalancing effect of the other dissipative sources is verified. In the nonlinear case of dry friction dampers, the control of linear stability is fulfilled by a perturbation procedure, checking the magnitude of Floquet characteristic multipliers on the complex plane. Moreover, the nonlinear stability far from steady motion is tested by the direct numerical solution of the full motion equations. The comparison configuration of suspension systems with viscous dampers and no dry friction is examined through an analytical first approximation approach and closed-form results for stability thresholds are derived in particular for the symmetric case.     

Radiation reaction for a rotating sphere with rigid surface charge

Radiation reaction in classical electrodynamics is studied using as a simple model a rotating sphere with rigid surface charge. Because of the transparent geometric nature of the problem, we obtain an exact integral expression for the “self-torque”, which depends causally and linearly on the angular speed. This leads to a linear equation of motion, which does not have any runaway solutions, as long as no negative mechanical moment-of-inertia is added to the system. The results are illustrated with a few examples corresponding to predetermined motions and external torques.     

Flapwise dynamic response of a wind turbine blade in super-harmonic resonance

The flapwise dynamic response of a rotating wind turbine blade in super-harmonic resonance is studied in this paper, while the blade is subjected to unsteady aerodynamic loads. Coupled extensional–bending vibrations of the blade are considered; the governing equations which are coupled through linear and quadratic terms arising from rotating and geometric effects respectively are obtained by applying the Hamiltonian principle. The lth flapwise linear frequency and the rotational frequency are assumed to be in an almost 3:1 ratio, so super-harmonic resonance occurs when this linear frequency is close to the associated nonlinear frequency. By using the first n, no less than l, linear undamped modal functions as a functional basis and applying the Galerkin procedure, a 2n-degree-of-freedom discrete model with quadratic and cubic terms owing to geometric effect is derived. The generalized displacements corresponding to the discrete system are disintegrated into static and dynamic displacements. Perturbation method is adopted to get analytical solutions of the discrete dynamic system for positive aerodynamic dampings. The coning angle and the inflow ratio are chosen as two control parameters to analyze aeroelastic behaviors of the blade. By assuming that the static and dynamic displacements are of the same order in resonance region, and there is no other resonance except the super-harmonic resonance, the multiple-scales method is employed to obtain a set of amplitude modulation equations whose coefficients depend on two control parameters. The frequency-response equation is derived from the amplitude modulation equations. A method to estimate the functional dependence of the detuning parameter on two control parameters is introduced. The amplitude of the harmonic response is derived from the frequency-response equation after knowing the detuning parameter. Then the stability of the steady motion with respect to control parameters can be determined. The evolution of the dynamic response of the resonance mode with decreasing aerodynamic damping is discussed by means of both perturbation and numerical methods.     

Dynamic analysis of a BLDC motor with mechanical and electromagnetic interaction due to air gap variation

In this study, the dynamic behaviors of a BLDC motor are analyzed, when the motor undergoes mechanical and electromagnetic interaction due to an air gap variation between the stator and rotor. When considering the air gap variation caused by the translational motion of the rotor relative to the stator, the kinetic and potential energies, Rayleigh dissipation function, and the magnetic coenergy are expressed in terms of the rotor displacements and stator currents. With these energies and function, new equations of motion are derived using Lagrange’s equation. The equations for the proposed model are nonlinear equations in which the displacements and currents are coupled. The time responses for the displacements and currents are computed for the proposed and previous models. Furthermore, the effects of rotor eccentricity are also investigated. It is found that, when the air gap varies with time, the time responses for the proposed and previous models have small differences in the stator currents, electromagnetic torques, and rotating speeds. However, the time responses have large differences in the rotor displacements. Therefore, this paper claims that the proposed model describes the dynamic behaviors of the motor more accurately than the previous model. It is also shown that rotor eccentricity increases the stator current period and the electromagnetic torque, while it decreases the rotating speed of the rotor.     

Design sensitivity analysis of dynamic responses for a BLDC motor with mechanical and electromagnetic interactions

This paper presents a design sensitivity analysis of dynamic responses of a BLDC motor with mechanical and electromagnetic interactions. Based on the equations of motion which consider mechanical and electromagnetic interactions of the motor, the sensitivity equations for the dynamic responses were derived by applying the direct differential method. From the sensitivity equation along with the equations of motion, the time responses for the sensitivity analysis were obtained by using the Newmark time integration method. The sensitivities of the motor performances such as the electromagnetic torque, rotating speed, and vibration level were analyzed for the six design parameters of rotor mass, shaft/bearing stiffness, rotor eccentricity, winding resistance, coil turn number, and residual magnetic flux density. Furthermore, to achieve a higher torque, higher speed, and lower vibration level, a new BLDC motor was designed by applying the multi-objective function method. It was found that all three performances are sensitive to the design parameters in the order of the coil turn number, magnetic flux density, rotor mass, winding resistance, rotor eccentricity, and stiffness. It was also found that the torque and vibration level are more sensitive to the parameters than the rotating speed. Finally, by applying the sensitivity analysis results, a new optimized design of the motor resulted in better performances. The newly designed motor showed an improved torque, rotating speed, and vibration level.     

Linear and non-linear control techniques applied to actively lubricated journal bearings

The main objectives of actively lubricated bearings are the simultaneous reduction of wear and vibration between rotating and stationary machinery parts. For reducing wear and dissipating vibration energy until certain limits, one can use the conventional hydrodynamic lubrication. For further reduction of shaft vibrations one can use the active lubrication action, which is based on injecting pressurized oil into the bearing gap through orifices machined in the bearing sliding surface. The design and efficiency of some linear (PD, PI and PID) and a non-linear controller, applied to a tilting-pad journal bearing, are analysed and discussed. Important conclusions about the application of integral controllers, responsible for changing the rotor-bearing equilibrium position and consequently the “passive” oil film damping coefficients, are achieved. Numerical results show an effective vibration reduction of unbalance response of a rigid rotor, where the PD and the non-linear P controllers show better performance for the frequency range of study (0-80 Hz). The feasibility of eliminating rotor-bearing instabilities (phenomena of whirl) by using active lubrication is also investigated, illustrating clearly one of its most promising applications.     

Rotor–stator contact dynamics using a non-ideal drive—Theoretical and experimental aspects

The possible contact between rotor and stator is considered a serious malfunction that may lead to catastrophic failure. Rotor rub is seen as a secondary phenomenon caused by a primary source, i.e. sudden mass unbalance, instabilities generated by aerodynamic and hydrodynamic forces in seals and bearings among others. The contact event gives rise to normal and friction forces exerted on the rotor at impact events. The friction force plays a significant role by transferring some rotational energy of the rotor to lateral motion. A mathematical model has been developed to capture this for a conventional backup annular guide setup. It is reasonable to superpose an impact condition to the rub, where the rotor spin energy can be fully transformed into rotor lateral movements. Using a nonideal drive, i.e. an electric motor without any kind of velocity feedback control, it is even possible to stop the rotor spin under rubbing conditions. All the rotational energy will be transformed in a kind of “self-excited” rotor lateral vibration with repeated impacts against the housing. This paper studies the impact motion of a rotor impacting a conventional backup annular guide for the case of dry and lubricated inner surface of the guide. For the dry surface case, the experimental and numerical analysis shows that the rotational energy is fully transformed into lateral motion and the rotor spin is stopped. Based on this study this paper proposes a new unconventional backup bearing design in order to reduce the rub related severity in friction and center the rotor at impact events. The analysis shows that the rotor at impacts is forced to the center of the backup bearing and the lateral motion is mitigated. As a result of this, the rotor spin is kept constant.     

Nonstationary motion of electrons in a double plasma layer subjected to the self-consistent electric field of the space charge

Nonstationary 1D equations describing the motion of electrons in a double plasma layer subjected to the self-consistent electric field of the space charge are investigated with allowance for friction force. Analytical solutions to a set of nonlinear hydrodynamic equations for plasma electrons are derived. The variation of the electric field strength, as well as of the electron velocity and concentration, in space and time is found. Electron plasma motions of different types of symmetry are characterized in terms of dynamic parameters.