Hopf bifurcation analysis of asymmetrical rotating shafts

The Hopf and double Hopf bifurcations analysis of asymmetrical rotating shafts with stretching nonlinearity are investigated. The shaft is simply supported and is composed of viscoelastic material. The rotary inertia and gyroscopic effect are considered, but, shear deformation is neglected. To consider the viscoelastic behavior of the shaft, the Kelvin–Voigt model is used. Hopf bifurcations occur due to instability caused by internal damping. To analyze the dynamics of the system in the vicinity of Hopf bifurcations, the center manifold theory is utilized. The standard normal forms of Hopf bifurcations for symmetrical and asymmetrical shafts are obtained. It is shown that the symmetrical shafts have double zero eigenvalues in the absence of external damping, but asymmetrical shafts do not have. The asymmetrical shaft in the absence of external damping has a saddle point, therefore the system is unstable. Also, for symmetrical and asymmetrical shafts, in the presence of external damping at the critical speeds, supercritical Hopf bifurcations occur. The amplitude of periodic solution due to supercritical Hopf bifurcations for symmetrical and asymmetrical shafts for the higher modes would be different, due to shaft asymmetry. Consequently, the effect of shaft asymmetry in the higher modes is considerable. Also, the amplitude of periodic solutions for symmetrical shafts with rotary inertia effect is higher than those of without one. In addition, the dynamic behavior of the system in the vicinity of double Hopf bifurcation is investigated. It is seen that in this case depending on the damping and rotational speed, the sink, source, or saddle equilibrium points occur in the system.     

Transverse vibrations of rotating shafts: Probability density and first-passage time of whirl radius

Transverse vibrations are considered for a single mass/two-degrees-of-freedom rotating shaft with linear internal or “rotating” damping and nonlinear external damping. The shaft is excited by external random forces. Analysis of resulting random vibrations is based on stochastic averaging method which yields separated (in the linear approximation) equations for complex amplitudes of forward and backward whirling motions. The former of these motions is shown to be dominant at rotation speeds in the vicinity of the instability threshold. Using this approximation an analytical solution is obtained for probability density of squared radius of the shaft's whirl. This solution can be used to detect on-line shaft's instability from its observed response. Solution is also obtained for expected time for reaching given level by the squared whirl radius of the shaft.     

On the use of genetic algorithm for finding the neutral instability curve in plane Poiseuille flow

A novel method based on genetic algorithm (GA) is proposed, to the best of our knowledge for the first time, for finding the neutral instability curve of the Orr-Sommerfeld equation in (nearly) parallel flows. New concepts such as “proximity of parents” and “gender discrimination” are added to the conventional GA in order for this algorithm to find the neutral instability curve. Certain GA operators such as “crossover” and “mutation” will also be modified in such a way that this algorithm can meet this purpose. To check the applicability of the modified genetic algorithm (MGA) developed in this work in finding the neutral instability curve, the case of plane Poiseuille flow will be used as a benchmark. It will be shown that the modified genetic algorithm developed in this work is well capable of determining the neutral instability curve for this particular flow geometry.     

Dynamic instability and steady-state response of an elliptical cracked shaft

An elliptical front crack has been found to be more accurate and realistic for modeling the transverse surface crack in rotating machinery compared with the widely used straight front crack. When the shaft rotates, the elliptical crack opens and closes alternatively, due to gravity, and thus, a “breathing effect” occurs. This variance in shaft stiffness is time-periodic, and hence, a parametrically excited system is expected. Therefore, the dynamic instability and steady-state response of a rotating shaft containing an elliptical front crack are studied in the paper. The local flexibility due to the crack is derived, and the governing equations of the crack shaft system are established using the assumed modes method. Utilizing the Bolotin’s method and harmonic balance method, the boundaries of two typical instability regions and maximum response amplitude of the cracked shaft could be computed numerically. The elliptical crack parameters (depth, shape factor and position) and damping are, respectively, considered and discussed for their effects on the dynamic behavior of the elliptical cracked shaft. Some research results might be helpful for the crack detection in rotating machinery.     

Nonlinear vibrations of a rotating shaft with broadband random variations of internal damping

A simple Jeffcott rotor is considered with broadband temporal random variations of internal damping which are described using the theory of Markov processes. Transverse response of the rotor with stiffening nonlinearity either in external damping or in restoring force is studied by stochastic averaging method. This method reduces the problems to stochastic differential equations (SDEs) for which analytical solutions are obtained for the Fokker–Planck–Kolmogorov (FPK) equations for stationary probability density functions (PDFs) of the squared whirl radius of the shaft. These PDFs do exist beyond the dynamic instability threshold and they correspond to forward whirl of the rotor. At rotation speeds just slightly above the instability threshold, the response PDF has integrable singularity at zero which corresponds to intermittency in the response.     

Destabilization paradox due to breaking the Hamiltonian and reversible symmetry

Stability of a linear autonomous non-conservative system in the presence of potential, gyroscopic, dissipative, and non-conservative positional forces is studied. The cases when the non-conservative system is close to a gyroscopic system or to a circulatory one are examined. It is known that marginal stability of gyroscopic and circulatory systems can be destroyed or improved up to asymptotic stability due to action of small non-conservative positional and velocity-dependent forces. The present paper shows that in both cases the boundary of the asymptotic stability domain of the perturbed system possesses singularities such as “Dihedral angle” and “Whitney umbrella” that govern stabilization and destabilization. In case of two degrees of freedom, approximations of the stability boundary near the singularities are found in terms of the invariants of matrices of the system. As an example, the asymptotic stability domain of the modified Maxwell-Bloch equations is investigated with an application to the stability problems of gyroscopic systems with stationary and rotating damping.     

Stability of whirling shafts with internal and external damping

Necessary and sufficient conditions for the stability of motion of whirling shafts are established using the direct method of Liapunov. The non-linear mathematical model employed is based on the work of V. V. Bolotin and includes the effects of both internal and external damping. A coordinate transformation is used to facilitate the analysis. In effect, this transformation establishes a mathematical equivalence between the governing equations for a whirling shaft with both internal and external damping, and the governing equations for a whirling shaft with internal damping only.     

Aerodynamic control of bridge cables through shape modification: A preliminary study

This paper examines the viability of modifying bridge cable shape and surface for the purpose of controlling wind-induced vibrations. To this end, an extensive wind-tunnel test campaign was carried out on various cable shapes about the critical Reynolds number region. Cable shapes were chosen to passively modify the flow in a particular manner. Tested shapes included those which have some form of waviness, faceting and shrouding. Section models were tested using a static inclined rig, allowing them to be installed at yawed cable-wind angles for both smooth and turbulent flow conditions. The aerodynamic damping of the tested cylinders is evaluated by applying both 1- and 2-dof quasi-steady aerodynamic instability models. This allows for the prediction of regions of aerodynamic instability, as a function of flow angle and Reynolds number. Whilst the plain, wavy and faceted cylinders are predicted to suffer from either dry inclined galloping, “drag crisis” or Den Hartog galloping, the shrouded cylinder is found to be stable for all angles of attack, albeit with an increase in drag at typical design wind velocities. Finally, turbulent flow is found to introduce an increased amount of aerodynamic damping mainly by providing a more constant lift force over tested Reynolds numbers.     

Nanomachines: a general approach to inducing a directed motion at the atomic level

The motion of bodies in a periodic potential relief with weak damping is discussed. A spontaneous directed motion of particles at a velocity unambiguously defined by the frequency of a periodic action and spatial period of the potential is shown to be possible in the presence of external periodic actions of different type. The principles of inducing the directed motion at a precisely controlled velocity discussed here can be used to develop: (i) means of handling with individual molecules or molecular clusters on crystalline surfaces; (ii) “nanomachines”—objects capable of spontaneous motion not only in the absence of the external force but also under the action of the force reverse to the direction of motion (thereby capable of carrying other particles); (iii) drives providing precisely controlled velocity of motion; (iv) controllable tribological systems by profiling of friction surfaces in a specified manner and applying an ultrasonic excitation. The dependence of the average system velocity on the average applied force (perceived as “the law of friction of the system” at the macroscopic level) is shown to have plateaus of constant velocity at a zero velocity and a set of equidistant discrete velocities in the presence of periodic external perturbations. The problem of developing fully controlled nanomachines can be formulated as the problem of controlling the width and position of the plateaus.     

“Frictionless” and “frictional” ThermoElastic Dynamic Instability (TEDI) of sliding contacts

Recently, we found that a new form of coupled instability, named ThermoElastic Dynamic Instability (TEDI), can occur by interaction between frictional heating and the natural dynamic modes of sliding bodies. This is distinct from the classical dynamic instabilities (DI) which is produced by an interaction between the frictional forces at the sliding interface and the natural modes of vibration of the bodies if the friction coefficient is sufficiently high, and also from ThermoElastic Instability (TEI), which is due to the interaction of frictional heating and thermal expansion, leading for example to low pitched brake noise above some critical speed. This result was relative to an highly idealized system, comprising an elastic layer sliding over a rigid plane including both dynamic and thermoelastic effects, but neglecting shear waves at the interface due to frictional tractions (from which the denomination “frictionless TEDI”). We demonstrate here that including these shear waves destabilizes both the shear and dilatational vibration modes of the system at arbitrarily small friction coefficients and speeds, where DI and TEI are predicted to be stable. A detailed study of the new modes and transient simulations show that for low pressures and high speed, the system tends towards the results of the previous model (“frictionless TEDI”), i.e. the tendency to a state in which the layer bounces over the plane, with alternating periods of sliding contact and separation. In the case of low speeds and high pressures, viceversa, the system is dominated by the modes near the resonance of the shear and dilatational modes, with a resulting complex behaviour, but generally leading to stick-slip regimes, reducing the jumping mode of “frictionless TEDI”, because stick reduces or stops frictional heating production.     

Scale effects on strength of geomaterials, case study: Coal

Scale effects on the strength of coal are studied using a discrete element model. The key point of the model is its capability to discriminate between the “strictly sample size” effect and the “Discrete Fracture Network (DFN) density” effect on the mechanical response. Simulations of true triaxial compression tests are carried out to identify their respective roles. The possible bias due to the discretization size distribution of the discrete element model is investigated in detail by considering low-resolution configurations. The model is shown to be capable of quantitatively reproducing the dependency of the maximum strength on the size of the sample. This relationship mainly relies on the DFN density. For all given sizes, as long as the DFN density remains constant with a uniform distribution or if discontinuities are absent in the considered medium, the maximum strength of the material remains constant.     

Resonances of an in-extensional asymmetrical spinning shaft with speed fluctuations

In this study, main and parametric resonances of an asymmetrical spinning shaft with in-extensional nonlinearity and large amplitude are simultaneously investigated. The main resonance is due to inhomogeneous part of the equations of motion, which is due to dynamic imbalances of shaft whereas the parametric resonances are due to parametric excitations due to speed fluctuations and a shaft asymmetry. The shaft is simply supported with unequal mass moments of inertia and flexural rigidities in the direction of principal axes. The equations of motion are derived by the extended Hamilton principle. The stability and bifurcations are obtained by multiple scales method, which is applied to both partial and ordinary differential equations of motion. The influences of asymmetry of shaft, speed fluctuations, inequality between two eccentricities corresponding to the principal axes and external damping on the stability and bifurcation are studied. To investigate the effect of speed fluctuations on the bifurcations and stability the loci of bifurcation points are plotted as function of damping coefficient. The numerical solutions are used to verify the results of multiple scales method. The results of multiple scales method show a good agreement with those of numerical solutions.     

Dynamic stability and bifurcation of a nonlinear in-extensional rotating shaft with internal damping

In this paper, stability and bifurcations in a simply supported rotating shaft are studied. The shaft is modeled as an in-extensional spinning beam with large amplitude, which includes the effects of nonlinear curvature and inertia. To include the internal damping, it is assumed that the shaft is made of a viscoelastic material. In addition, the torsional stiffness and external damping of the shaft are considered. To find the boundaries of stability, the linearized shaft model is used. The bifurcations considered here are Hopf and double zero eigenvalues. Using center manifold theory and the method of normal form, analytical expressions are obtained, which describe the behavior of the rotating shaft in the neighborhood of the bifurcations.     

具有曲率和惯性非线性以及材料内阻的旋转复合材料轴的主共振

旋转复合材料轴作为一类典型的转子动力学系统,在先进直升机和汽车动力驱动系统中有着广阔的应用前景.研究旋转复合材料轴的非线性振动特性具有重要的理论与实用价值.然而,目前有关旋转轴的非线性振动研究仅限于各向同性金属材料轴,很少考虑材料内阻的影响.本文研究具有材料内阻的旋转非线性复合材料轴的主共振.非线性来源于不可伸长复合材料轴的大变形引起的非线性曲率和非线性惯性,材料内阻来源于复合材料的黏弹性.动力学建模计入转动惯量和陀螺效应.基于扩展的Hamilton原理,导出具有偏心激励的旋转复合材料轴的弯-弯耦合非线性振动偏微分方程组.采用Galerkin法将偏微分方程离散化为常微分方程,采用多尺度法对常微分方程进行摄动分析,导出主共振响应的解析表达式.对内阻、外阻、铺层角、长径比、铺层方式和偏心距进行数值分析,研究上述参数对旋转非线性复合材料轴的稳态受迫振动响应行为的影响.研究发现,角铺设复合材料轴的内阻系数随着铺层角的增大而增大;内阻对主共振响应特性的影响主要体现在对抑制振幅和改变频率响应的稳定性方面;发生在正进动固有频率附近的主共振响应具有典型的硬弹簧非线性特性.本文提出的模型能够用于描述旋转复合材料轴的主共振特性,是对不可伸长旋转金属轴非线性动力学模型的重要推广.     

Stability analysis of a nonlinear rotating asymmetrical shaft near the resonances

An asymmetrical rotating shaft with unequal mass moments of inertia and flexural rigidities in the direction of principal axes is considered. In this system, there are two excitation sources, including a harmonic excitation due to the dynamic imbalances and a parametric excitation due to shaft asymmetry. Nonlinearities are due to the in-extensionality of the shaft and large amplitude. In this study, harmonic and parametric resonances due to the mentioned effects are considered. The influences of inequality of mass moments of inertia and flexural rigidities in the direction of principal axes, inequality between two eccentricities corresponding to the principal axes and external damping on the stability and bifurcation of steady state response of the rotating asymmetrical shaft are investigated. In addition, the characteristic of stable stationary points and loci of bifurcation points as function of damping coefficient are determined. In order to analyze the resonances of the system the multiple scales method is applied to the complex form of partial differential equations of motion. The achieved results show a good agreement with those of numerical computation.     

多种非线性力作用下不平衡弹性转子的分岔特性

研究了4自由度不平衡弹性转子在非线性油膜力、非线性内阻力和非线性弹性力联合作用下的动力学特性。结果表明，当只有非线性油膜力作用时，转子只存在由于油膜失稳而导致的倍周期分岔。而当非线性油膜力与非线性内阻力共同作用时，在油膜失稳后，转子产生低频振动。转速继续增加，还会诱发内阻失稳，产生概周期运动。在倍周期分岔中，存在分岔激变现象。本文发现的由于油膜涡动而导致的内阻失稳(概周期运动)是一种未见报道的转子失稳模式(组合失稳)，它与油膜失稳(倍周期运动)一起可作为转子故障诊断的典型失稳模式。     

Ductile-to-brittle transition in tensile failure of particle-reinforced metals

We present an analytical micromechanical model designed to simulate the tensile stress-strain behaviour and failure of damaging composites containing a high volume fraction of reinforcing particles. One internal damage micromechanism is considered, namely particle fracture, which is assumed to obey a Weibull distribution. Final composite tensile failure occurs when one of two possible failure criteria is reached, given by (i) the onset of tensile instability, or (ii) an “avalanche-like” propagation of particle breaks to neighbouring particles. We show that an experimentally observed transition from failure by tensile instability to abrupt failure resulting from an increase of matrix strength can be mimicked by the model because local load-sharing (i.e. load transfer from a broken particle to its immediate neighbours) is accounted for.     

准三维旋转流体模型及其在部分充液转子稳定性分析中的应用

提了了一种简单的无粘旋转流体准三维模型,并给出了旋转流体对转子作用力的详细表达式,然后用该模型分析了部分充液刚性悬臂转子系统的稳定性,并与实验结果进行了比较,两者在定性上符合较好,准三维无粘流体模型与其它的无粘膜型一样也仅能用来分析无外阻尼或外阻尼较小的部分充液转子系统的稳定性问题。     

Torsion of elastic shaft of revolution embedded in an elastic half space

The problem of torsion of elastic shaft of revolution embedded in an elastic half space is studied by the Line-Loaded Integral Equation Method (LLIEM). The problem is reduced to a pair of one-dimensional Fredholm integral equations of the first kind due to the distributions of the fictitious loads "Point Ring Couple (PRC) "and "Point Ring Couple in Half Space (PRCHS) "on the axis of symmetry in the interior and external ranges of the shaft occutied respectively. The direct discrete solution of this integral equations may be unstable, i.e. an ill-posed case occurs. In this paper, such an ill-posed Fredholm integral equation of first kind is replaced by a Fredholm integral equation of the second kind with small parameter, which provides a stable solution. This method is simpler and easier to carry out on a computer than the Tikhonov’s regularization method for ill-posed problems. Numerical examples for conical, cylindrical, conical-cylindrical, and parabolic shafts are given.