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.     

Whirl characteristics of a flexible liquid-filled rotor under thermal shock

In this paper, the whirl characteristics of a flexible liquid-filled rotor subjected to thermal shock are investigated. On the basis of the Hamilton principle, the whirl frequency equation of the rotor system is derived. Using Laplace transform, the analytical model of the temperature field of the rotor is obtained. The validity of the developed temperature model is demonstrated by comparing with the finite element results. Then, the thermal axial force exerted on the rotor is calculated and the influence factors are studied. The system stability is analyzed in terms of the whirl frequency equation. The reasonability of the predict model for system stability is verified, and a good agreement can be seen in the comparison of the obtained results based on the presented analytical method with published data. Finally, the critical spinning speed of the rotor system is analyzed, and the effects of some main parameters on system critical speed are investigated.     

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.     

Optimisation of the vibrational response of ultrasonic cutting systems

^** Email: m.cartmell{at}mech.gla.ac.uk This paper provides an account of an investigation into possibledynamic interactions between two coupled non-linear sub-systems,each possessing opposing non-linear overhang characteristicsin the frequency domain in terms of positive and negative cubicstiffnesses. This system is a two-degree-of-freedom Duffingoscillator in which certain non-linear effects can be advantageouslyneutralised under specific conditions. This theoretical vehiclehas been used as a preliminary methodology for understandingthe interactive behaviour within typical industrial ultrasoniccutting components. Ultrasonic energy is generated within apiezoelectric exciter, which is inherently non-linear, and whichis coupled to a bar- or block-horn, and to one or more materialcutting blades, for example. The horn/blade configurations arealso non-linear, and within the whole system there are responsefeatures which are strongly reminiscent of positive and negativecubic stiffness effects. The two-degree-of-freedom model isanalysed and it is shown that a practically useful mitigatingeffect on the overall non-linear response of the system canbe created under certain conditions when one of the cubic stiffnessesis varied. It has also been shown experimentally that couplingof ultrasonic components with different non-linear characteristicscan strongly influence the performance of the system and thatthe general behaviour of the hypothetical theoretical modelis indeed borne out in practice. Further experiments have shownthat a multiple horn/blade configuration can, under certaincircumstances, display autoparametric responses based on theforced response of the desired longitudinal mode parametricallyexciting an undesired lateral mode. Typical autoparametric responsephenomena have been observed and are presented at the end ofthe paper.     

Diffraction of water waves by a slotted cylindrical breakwater

Permeable and slotted breakwaters are becoming more popular, in order to reduce the drawback of rigid coastal structures: namely large reflections, forces and overtopping. The linearized theory of water waves is used to examine the diffraction of incident regular waves by a vertically slotted cylindrical breakwater that consists of a number of distinct rigid cylindrical panels. Under the assumption that the wavelength is much greater than the thickness, each segment is replaced by a thin structure and the permeability is modelled by suitable boundary conditions. The first condition is the matching pressure and normal velocity conditions between two internal and external fluid regions and the second condition is zero normal velocity on rigid panels. The mixed boundary–value problem is transformed to dual series relations and the least–square method is applied to get the forces on the structure. The results are presented to illustrate the effects of permeability. Numerical results compare well with McCamy and Fuchs predictions for the limiting case of an impermeable rigid cylinder. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Geometric coupling effects on the bifurcations of a flexible rotor response in active magnetic bearings

This work reports on a numerical investigation on the bifurcations of a flexible rotor response in active magnetic bearings taking into account the nonlinearity due to the geometric coupling of the magnetic actuators as well as that arising from the actuator forces that are nonlinear function of the coil current and the air gap. For the values of design and operating parameters of the rotor-bearing system investigated in this work, numerical results showed that the response of the rotor was always synchronous when the values of the geometric coupling parameter α were small. For relatively larger values of α, however, the response of the rotor displayed a rich variety of nonlinear dynamical phenomena including sub-synchronous vibrations of periods-2, -3, -6, -9, and -17, quasi-periodicity and chaos. Numerical results further revealed the co-existence of multiple attractors within certain ranges of the speed parameter Ω. In practical rotating machinery supported by active magnetic bearings, the possibility of synchronous rotor response to become non-synchronous or even chaotic cannot be ignored as preloads, fluid forces or other external excitation forces may cause the rotor’s initial conditions to move from one basin of attraction to another. Non-synchronous and chaotic vibrations should be avoided as they induce fluctuating stresses that may lead to premature failure of the machinery’s main components.     

Chaotic response and bifurcation analysis of a flexible rotor supported by porous and non-porous bearings with nonlinear suspension

This study presents numerical work investigating the dynamic responses of a flexible rotor supported by porous journal bearings. Both porous and non-porous bearing types are taken into consideration in this study. The rotating speed ratios and imbalance parameters are also presented and proved to be important control parameters. Many non-periodic responses to chaotic and quasi-periodic motions are found, too. From the bifurcation diagrams in this paper, it is also evidenced that the vibration behaviors would be improved by porous bearings. The modeling result obtained here can be employed to predict the dynamics of bearing–rotor systems, and undesirable behavior of the rotor and bearing orbits can be avoided. Also, this could help engineers and researchers in designing and studying bearing–rotor systems or some turbo-machinery in the future.     

Simulation of slotted transmission lines

Translated from Aktual'nye Voprosy Prikladnoi Matematiki, pp. 127–138, 1989.     

Chaos in the unbalance response of a rigid rotor in cavitated squeeze-film dampers without centering springs

Numerical investigation on the unbalance response of a rigid rotor supported by squeeze-film dampers without centering springs revealed some complex bifurcation features that have not been previously reported in the literature. With the variation of the unbalance parameter (U), the period-1 solution was found to undergo a sequence of period-doubling bifurcations that eventually resulted in chaotic motion. The existence of a period-3 solution, which formed a closed bifurcation curve consisting of a pair of saddle nodes, was for the first time observed in such a system. The chaotic attractor arising from the period-doubling cascade of the period-1 solution, which was observed to co-exist with the period-3 attractor in a narrow range of U values, was eventually annihilated in a collision with the unstable period-3 orbit in a boundary crisis. Similar to the bifurcations of the period-1 solution, the period-3 solution was also found to bifurcate into solutions of period-6 and period-12, which eventually led to chaotic motion. A chaotic attractor was also observed to co-exist with a period-4 orbit. The period-4 orbit was found to undergo a sequence of reverse period-doubling bifurcations resulting in a large amplitude period-1 orbit. The occurrence of non-synchronous and chaotic motion in rotating machinery is undesirable and should be avoided as they introduce cyclic stresses in the rotor, which in turn may rapidly induce fatigue failure. The magnitude of rotor unbalance where non-synchronous and chaotic motion were observed in this study, although higher than the permissible unbalance level for rigid rotating machinery, may nevertheless occur with in-service erosion of the rotor or in the event of a partial or an entire blade failure.     

Approximate analysis of a slotted ring model with symmetric stations

This paper presents an approximate method for the throughput and average delay characteristics in a slotted ring model in which the buffer sizes of all stations are finite and equal and the arrival process of new messages at each station is Poisson. The approximation is based on an independence assumption. The approximation is examined for various system parameters and the results show that it is very fine. This approximation requires to solve only a set of equations whose order is the buffer size plus one. Therefore, it is very useful even for large-scale systems.     

Chaos via torus breakdown in the vibration response of a rigid rotor supported by active magnetic bearings

This work reports on a numerical study undertaken to investigate the response of an imbalanced rigid rotor supported by active magnetic bearings. The mathematical model of the rotor-bearing system used in this study incorporates nonlinearity arising from the electromagnetic force—coil current—air gap relationship, and the effects of geometrical cross-coupling. The response of the rotor is observed to exhibit a rich variety of dynamical behavior including synchronous, sub-synchronous, quasi-periodic and chaotic vibrations. The transition from synchronous rotor response to chaos is via the torus breakdown route. As the rotor imbalance magnitude is increased, the synchronous rotor response undergoes a secondary Hopf bifurcation resulting in quasi-periodic vibration, which is characterized by a torus attractor. With further increase in the rotor imbalance magnitude, this attractor is seen to develop wrinkles and becomes unstable resulting in a fractal torus attractor. The fractal torus is eventually destroyed as the rotor imbalance magnitude is further increased. Quasi-periodic and frequency-locked sub-synchronous vibrations are seen to appear and disappear alternately before the emergence of chaos in the response of the rotor. The magnitude of rotor imbalance where sub-synchronous, quasi-periodic and chaotic vibrations are observed in this study, albeit being higher than the specified imbalance level for rotating machinery, may possibly occur due to a gradual degradation of the rotor balance quality during operation.     

Diffraction of water waves by a slotted dual cylindrical caisson breakwater

The linearized theory of water waves is used to examine the diffraction of incident regular waves by a slotted dual cylindrical caisson breakwater. The breakwater consists of a vertically slotted outer cylinder circumscribing an impermeable inner cylinder. Under the assumption that the wavelength is much greater than its thickness, each panel is replaced by a thin structure and the permeability is modeled by suitable boundary conditions applied on its surface. The mixed boundary-value problem for the outer cylinder is transformed to dual series relations and the least-square method is applied to get the forces on the structure and associated diffraction field. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Numerical solution of optimization problems in vibrational mechanics using the characteristics method

Optimal control problems with a terminal pay-off functional are considered. The dynamics of the control system consists of rapid oscillatory and slow non-linear motions. A numerical method for solving these problems using the characteristics of the Hamilton–Jacobi–Bellman equation is presented. Estimates of the accuracy of the method are obtained. A theorem is proved which enables one to determine the class of functions containing the optimal preset control to be obtained. The results of the numerical solution of a terminal optimization problem for a fast non-linear pendulum are presented.     

Nonlinear responses of a rub-impact overhung rotor

For a rotor system with bearings and step-diameter shaft in the oxygen pump of an engine, the contact between the rotor and the case is considered, and the chaotic response and bifurcation are investigated. The system is divided into elements of elastic support, shaft and disk, and based on the transfer matrix method, the motion equation of the system is derived, and solved by Newmark integration method. It is found that hardening the support can delay the occurrence of chaos. When rubbing begins, the grazing bifurcation will cause periodic motion to become quasi-period. With variation of system parameters, such as rotating speed, imbalance and external damping, chaotic response can be observed, along with other complex dynamics such as period- doubling bifurcation and torus bifurcation in the response.     

Contact interaction of a slotted cylindrical shell and a deformable filler with regard for dry friction

The statement of the mixed problem of the friction interaction of a deformable filler with a slotted cylindrical shell is formulated. Using one-dimensional models of a shell and a filler, we obtain an integral equation for calculating contact stresses. On the basis of a numerical solution, the influence of geometric sizes, the number of slots in the shell, and the physical properties of the interacting bodies on the rigidity and strength of the system is investigated.     

Application of CFRP as a rotor shaft material

Conclusions Theoretical analysis and tests performed on rotors with composite shaft show that there is a sufficiently wide rotation stability region in the rotor parameter space despite comparatively high damping of a polymeric composite with respect to steel. Optimum parameters of the shaft (lay-up, thickness) and bearing (radial stiffness, damping) can be found within this region for each given rotor ensuring a low vibration level at critical frequencies.If rotor system parameters are far enough from the instability threshold, maximum vibration level is observed when rotor passes the first eigenfrequency zone. Further increase of rotation frequency leads to a rotor self-centering, and vibration level does not change passing the second eigenfrequency zone. The rotor response is not sensitive to small changes in rotor system parameters. If rotor system parameters are close to the instability threshold, vibration level at the second eigenfrequency dominates, and a small variation of bearing parameters causes significant changes in the vibration level.Translated from Mekhanika Kompozitnykh Materialov, Vol. 31, No. 2, pp. 227–240, March–April, 1995.     

Experimental design for estimating the optimum point in a response surface

The problem of optimal experimental design for response optimization is considered. The optimal point (control)x ^* of a response surface is to be determined by estimating the response parameters from measurements performed at design pointsx ⁱ,i=1,...,N. Classical sequential approaches for choosing thex ⁱ's are recalled. A loss function related to the issue of response optimization is used to define control-oriented design criteria. The design policies differ depending on whether least-squares or minimum risk estimation is used to estimate. Connections between various criteria suggested in the literature are exhibited. Special attention is given to quadratic model responses. Most approaches presented assume that the response is correctly described by a given parametric function over the region of interest. Possible deterministic departures from this function raise the problem of model robustness, and the literature on the subject is briefly surveyed.     

Stability and vibration analysis of a complex flexible rotor bearing system

This paper presents the non-linear dynamic analysis of a flexible rotor having unbalanced and supported by ball bearings. The rolling element bearings are modeled as two degree of freedom elements where the kinematics of the rolling elements are taken into account, as well as the internal clearance and the Hertz contact non-linearity. In order to calculate the periodic response of this non-linear system, the harmonic balance method is used. This method is implemented with an exact condensation strategy to reduce the computational time. Moreover, the stability of the non-linear system is analyzed in the frequency-domain by a method based on a perturbation applied to the known harmonic solution in the time domain.