Commun Nonlinear Sci Numer Simulat 16 (2011) 566582

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Commun Nonlinear Sci Numer Simulat

journal homepage: www.elsevier.com/locate/cnsns

Chaotic vibration analysis of rotating, exible, continuous shaft-disk

system with a rub-impact between the disk and the stator
H.M. Khanlo, M. Ghayour *, S. Ziaei-Rad
Department of Mechanical Engineering, Isfahan University of Technology, Isfahan 84156-83111, Iran

a r t i c l e i n f o a b s t r a c t

Article history: The chaotic vibration analysis of a rotating exible continuous shaft-disk system with rub-
Received 7 October 2009 impact is studied. The system is modeled as a continuous shaft with a rigid disk in its mid-
Received in revised form 7 April 2010 section with Coriolis and centrifugal effects included. The governing partial differential
Accepted 11 April 2010
equations of motion are extracted based on the EulerBernoulli beam theory. The assumed
Available online 10 May 2010
modes method is used to discretize partial differential equations and the resulting equa-
tions are solved via numerical methods. Time series, phase plane portrait, power spectra,
Keywords:
Poincar map, bifurcation diagrams, and Lyapunov exponents are used to analyze the
Coriolis force
Centrifugal force
vibration behavior of the system. Initially, the case is investigated in which no Coriolis
Flexible shaft or centrifugal effects are considered. Then, another case is studied in which these effects
Rub-impact are considered. The results conrm the claim that the rub-impact occurs at lower speed
Chaos ratios due to the Coriolis and centrifugal forcing effects, and that the dynamic behaviors
Nonlinear dynamic of the system for the two cases are much different as a result of the rub-impact in the sec-
ond case. Periodic, quasi-periodic, sub-harmonic, and chaotic states can be observed while
the appearance or disappearance of the chaos is different. The centrifugal forcing effect
plays a greater role than that of the Coriolis force on the incidence of the rub-impact. These
results can be useful in identifying the undesirable behaviors in these types of rotating
systems.
2010 Elsevier B.V. All rights reserved.

1. Introduction

The physical impact of the rotor on the stationary elements of a rotating machine and the subsequent rubbing at the con-
tact area cause a serious malfunction that may lead to catastrophic failure. The rotor-to-stator impact causes changes in the
system force balance and its dynamic behavior. Many causes may exist for the occurrence of the rub-impact in rotating
machinery, which include rotor vibrations due to imbalance, displacements of the rotor centerline due to rotor misalign-
ment, rotor permanent bow, or uid-related constant radial forces. Also, the Coriolis and centrifugal forces affect the general
behavior of a rotating system, especially the ones with a exible long shaft, in which these forces have considerable effects.
The nonlinear dynamics and stability of rotating systems has been the subject of many studies over the past decades. The
models presented in these studies may be classied into two groups, in the rst of which, the rotor system is modeled as a
continuous system and the second consists in lumped mass (Jeffcott rotor) models studying the nonlinear dynamics of rotat-
ing systems. A summary of the most relevant works is presented below.
Sakata et al. [1] were among the rst to study the vibration of a exible blade-disk-shaft system using the Finite Ele-
ment Method. They compared their computed and experimental results. A comprehensive study of stability and bifur-

* Corresponding author. Fax: +98 311 391 2628.

E-mail address: [email protected] (M. Ghayour).

1007-5704/$ - see front matter 2010 Elsevier B.V. All rights reserved.
doi:10.1016/j.cnsns.2010.04.011
 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582 567

Nomenclature

A cross-section area of the shaft

C external damping coefcient
D dissipation energy
E Youngs modulus
fn, ft components of rub-impact forces in radial and tangential directions
g acceleration of gravity
Iy, Iz shaft diametral area moment of inertia along y and z axes
Iyd, Izd disk diametral area moment of inertia along y and z axes
Jpd disk polar area moment of inertia
ks stiffness of the stator
L length of the shaft
md mass of the disk
Qv, Qw external forces vectors along y and z axes
Ts, Td kinetic energy of the shaft and disk
rs neutral axis position vector of the shaft
rd central position vector of the disk
ru mass eccentricity of the disk
U strain energy
v(x, t), w(x, t) bending deection of the shaft along y and z axes
V, W time-dependent generalized coordinate column vectors along y and z axes
x, y, z local coordinate system
X, Y, Z inertial reference coordinate system
d radial clearance between rotor and stator
u inclination angle
l friction coefcient
xs, xd angular velocity vector of the shaft and disk
X angular velocity of the shaft

cation analysis of the rotating shaft is presented in [24]. Sinha [5] studied the transient response of a beam with its tip
deforming due to the rub in the rotating beam. Several researchers [68] studied the effects of the characteristics of ball
or roller bearing elements on the stability and nonlinear dynamics of a rotating shaft. All the above studies emphasize
the stability analysis or the effects of bearing characteristics on nonlinear dynamics of the rotating shaft using the con-
tinuous model.
Studies dealing with the nonlinear dynamics of rotating systems have been carried out on the rub-impact effects in sys-
tems based on lumped parameters (Jeffcott rotor) because of the intensive computational problems involved, especially in
complicated systems with nonlinear effects.
Xie et al. [9] studied the motion stability of a exible rotor-bearing system with two unbalanced disks. Comparison of
experimental and calculated results showed signicant use of maximum Lyapunov exponent in revealing the bifurcation
and chaos characteristics of the system. Zhang et al. [10,11] presented some interesting results in the nonlinear dynamics
of the rub-impact rotor system in MEMS (Micro-Electro-Mechanical Systems). The nonlinear vibrations of a rotor system
with bearing clearance were investigated by Karlberg et al. [12]. They showed that mainly high normal forces were produced
when high clearance was combined with low damping and reasonable values of friction. Sun et al. [13] investigated the non-
linear dynamics of a simplied Jeffcott rotor system having a single point mass with two degrees of freedom on a massless
exible shaft. Popprath et al. [14] investigated the nonlinear dynamics of a rotor contacting an elastically suspended stator.
Their contact model activated during the contact phase was dened by both geometrical and force-dependent conditions.
Dai et al. [15] studied partial and full rubbing of a ywheel rotor-bearing-stop system. Their results showed that when
the excitation amplitude increased, partial rubbing would change to the full rubbing in which the dynamic responses are
periodic or quasi-periodic. Bently et al. [16] performed an analytical study of the full annular rub in mechanical seals. Their
investigation revealed rotor-seal dry friction coefcient and seal stiffness to be the destabilizing factors. Jian et al. [1719]
studied the nonlinear dynamics of exible rotor systems supported by journal bearings with different kinds of lubricant
behavior. According to them, the desirable behavior of both the rotor center trajectory and bearing center trajectory can
be achieved by specifying relevant system parameters. Yuan et al. [20] simulated the rotors axial rub-impact based on
the full degree of freedom in a Jeffcott rotor. Shen et al. [21] reported that, under the inuence of the initial permanent
bow, there are different routes to chaos that could greatly affect the rub-impact. Childs and Bhattacharya [22] presented
a new model for predicting the dry frictions whirl and whip between a rotor and a stator. The effect of the centering springs
on the bifurcation of a exible rotor response supported by squeeze lm dampers is presented in [23,24]. Wang [25] pre-
sented the general guidelines for the design of a relatively short spherical gas bearing system to suppress non-periodic
568 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582

motion. His results can be useful in preventing unstable motion of rotating systems. To investigate their nonlinear dynamics,
the above studies model rotor systems based on the Jeffcott model which allows a comprehensive nonlinear dynamic anal-
ysis, albeit at the expense of the Coriolis and centrifugal forces effects of the rotating shaft neglected.
In this paper, a continuous exible shaft and rigid disk (rotor) model is considered to study the rub-impact between the
rotor and the stator. The assumed modes method is used to discretize the partial differential equations of motion. The accu-
racy of the solution can be increased by including any number of modes.
The rst part of this paper deals with the formulation of a rotating shaft-disk system in the presence of Coriolis and
centrifugal forces. The nonlinear-coupled equations of motion are solved using numerical methods. The effects of Cori-
olis and centrifugal forces are then investigated. Time series, phase plane portrait, power spectra, Poincar map, bifur-
cation diagrams, and Lyapunov exponent are applied to investigate the dynamic responses of the system. Finally, the
numerical results for two cases, namely with and without the Coriolis and centrifugal forces effects, are calculated and
compared.

2. Problem formulation

In this section, equations of motion governing the nonlinear dynamics of a rotating continuous shaft-disk system
are derived. The assumptions are: (1) the uniform EulerBernoulli beam theory can be used for the mathematical mod-
eling of the rotating shaft; (2) the disk is rigid and mounted in the mid-span of the shaft; (3) the shear deformation is
neglected; (4) the shaft cross-section and material properties along its length are uniform, i.e. Iy = Iz = I; (5) the area
moment inertia of the disk in two principal directions are the same, i.e. Iyd = Izd = Id; and (6) internal damping is
negligible.

2.1. Shaft system kinematics

A schematic of a rotating exible shaft-rigid disk system is shown in Fig. 1. The shaft rotates about axis X at the
constant angular velocity X relative to the inertial axes XYZ. The xyz coordinate is body axes with x coinciding with
the rotation axis, and is the spatial variable. The axes y and z rotate together with the body at the same angular veloc-
ity X about axis X = x. The bending positions of the shaft at any point of its neutral axis can be expressed by v(x, t) and
w(x, t) along y and z, respectively. The angular velocity vector and the neutral axis position vector can be written in
vector form as follows [26]:
xs X 0 0  1
rs x v x; t wx; t  2
The velocity vector of a typical point on the shaft can be written as:
r_ s 0 v_ x; t  Xwx; t wx;
_ t Xv x; t  3

Fig. 1. Rotating exible shaft-disk system in deformed position.

 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582 569

2.2. Disk system kinematics

Under aforementioned assumptions in Section 2, the disk is mounted on the mid-span of the shaft; hence, center position
vector and angular velocity vector of the disk are as follows:

rd x v x; t wx; t jxL=2 4
xd X v 0 x; tw_ 0 x; t Xv 0 x; t w_ 0 x; t Xw0 x; t v_ 0 x; t jxL=2 5

The velocity vector of the disk center can be written as:

r_ d 0 v_ x; t  Xwx; t wx;
_ t Xv x; t jxL=2 6
0
where L is the shaft length, _ and () denotes differentiation with respect to time and displacement x, respectively.

2.3. Kinetic and strain energy of rotating shaft-disk system

The kinetic energy expression of a rotating shaft has the form:

Z L Z L
1 1 2
Ts qAr_ Ts r_ s dx qAv_ x; t  Xwx; t2 wx;
_ t Xv x; t dx 7
2 0 2 0

where q and A are the mass density and cross-section area of the shaft, respectively. The kinetic energy expression of a rigid
disk has the form

1h
Td md v_ x; t  Xwx; t2 wx;_ t Xv x; t2
2 i
qIyd Xv 0 x; t w _ 0 x; t2 
_ 0 x; t2 Izd Xw0 x; t v_ 0 x; t2 J pd X  v 0 x; tw 8
xL=2

where md, Iyd, Izd and Jpd are mass, diametral moment of inertia in y and z direction and polar moment of inertia of the disk,
respectively. Since the shaft has a circular cross-section, its polar moment of inertia is twice its diametral moment of inertia,
and this applies to the disk. The total kinetic energy of the system is the sum of Ts and Td. The strain energy due to the bend-
ing alone has the form
Z L  
1
U EIy w00 x; t2 EIz v 00 x; t2 dx 9
2 0

Also the dissipation energy of the system can be expressed as:

Z L  
1
D C v_ x; t2 wx;
_ t2 dx 10
2 0

where C is the external damping coefcient. To derive the equations of motion, it is convenient to use the assumed mode
method and dene displacements as:

v x; t UT xVt 11a
wx; t UT xWt 11b

where U(x) is the admissible spatial function vector which describes the transverse deections of the shaft; the superscript T
denotes to the transpose of a matrix or a vector. Also, U(x), V(t) and W(t) are the column vectors consisting of the corre-
sponding time-dependent generalized coordinates. Substituting Eqs. (11a) and (11b) into Eqs. (7)(10), the continuous sys-
tems is replaced by a discrete system of an order equal to the number of generalized coordinated, and the Lagranges
equation is as:
       
d @T @T @U @D
 Q i; i 1; 2; 3; . . . 12
dt @ q_ i @qi @qi @ q_ i

Application of Lagranges equation and after some manipulations [26], results in simplied equations of motion as:
Z L  
_  qAX2 UT UV EIz U00T U00 V CUT UV_ dx  qJ U0T U0 U0T U0 W
qAUT UV  2qAXUT UW pd d d d d
_ T WV
_
0
 2md XUT Ud W
md UTd Ud V _  qXIzd U0T U0 W
_  qX2 Iyd U0T U0 V  qXJ U0T U0 W
_  qXIyd U0T U0 W
_
d d d d d pd d d d d
 md X2 UT Ud V Q
qIzd U0T U0 V 13
d d d v
570 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582

Z L  
qAUT UW _ dx qJ U0T U0 U0T U0 VT VW
2qAXUT UV_  qAX2 UT UW EIy U00T U00 W CUT UW
pd d d d d
0
0T 0 T _ _ 2 0T 0 _ 0T 0 _ T
2qJ pd U0T 0 0T 0
d Ud Ud Ud V V W  qX I zd Ud Ud W qXyd Ud Ud V qXJ pd Ud Ud V md U UW

2md XUT UV_ qXIzd U0T 0 _ 0T 0 2 T

d Ud V qIyd Ud Ud W  md X U UW Q w 14

where Qv and Qw are the column vectors of the external forces along y and z, respectively, C is the external damping coef-
cient and Ud = U(x = L/2). Note that due to exibility of the shaft, the second and the third terms in the left hand sides of
Eqs. (13) and (14) arise, that are called the Coriolis and the centrifugal forces, respectively.

2.4. Rub-impact forces

It is assumed that the contact between the rotor (disk) and the stator can be regarded as an elastic impact and the heating
effect due to friction is negligible. As shown in Fig. 2, fn is the radial impact force, ft is the tangential rub force and u is the
inclination angle between the direction of the impact point and the Y- axis.


fn ks e  d
e>d 15
ft lfn

The components of the rub-impact forces in Y and Z directions, i.e. FY and FZ, are

(
F Y fn cos u ft sin u fn v x;t
e
ft wx;t
e
16
F Z fn sin u  ft cos u fn wx;t
e
 ft v x;t
e

q
where, e v x; t2 wx; t2 , l is the friction coefcient, d is the radial clearance between the rotor and the stator. Now,
let us dene the non-dimensional parameters as:

V W d d X EI L 4 C2 md Cd1 Id Cd2
v ; w ; s Xt; X ; S ; x2n ; a ; b ; c1 ;
d d dt ds xn qAL 4 C1 qAC1 qAC1

md L2 Cd2 md LCd3 md d2 Cd4 md r u

c2 ; f ; g ; K qAX2n C1 ; q KS2 ; m ;
4qAC1 2qAC1 qAC1 qAdC1

C CT md g n Qv Qw
CT ; D ; n ; k ; qv ; qw ;
qAxn S qAx2n S2 d d

Fig. 2. Schematic diagram of the rub-impact between the rotor and stator.
 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582 571

Z L

C1 UT xUx dx 17
0
Z L

C2 U00T xU00 x dx 18
0

Cd1 UTd xUd xxL 19
2

Cd2 U0T xU0 x
d d x2L
20

Cd3 U0T 
d xUd x x L 21
2

Cd4 U0Td xU0d xU0Td xU0d xxL ; 22
2

where, ru is the mass eccentricity. Now, one can rewrite the simplied non-dimensional form of Eqs. (13) and (14) as:

a CT
v00  2w0 g w0T w0 v  c1 v  2c1 w0 bv 00  2w0  c2 w0 c1 v 00  v  bv 2 v v 0 qv 23
s s

Fig. 3. Bifurcation diagram of the exible shaft-disk system without Coriolis and centrifugal forces.
572 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582

a CT
w00 2v 0 g v T vw00 v T v 0 w0 v T w0 v 0  c1 w 2c1 v 0 bw00 2v 0 c2 v 0 c1 w00  w  bw 2 w w0 qw
s s
24

where qv and qw are non-dimensional external forces vectors along Y and Z axes, respectively, that comprise rub-impact
forces, exciting force and gravity force. The parameters K, m and n arise in the rub-impact forces, exciting force and gravity
force, respectively. The set of Eqs. (23) and (24) describes coupled nonlinear differential equations governing the exible
shaft-rigid disk motions in Y and Z directions. The next step is to solve these equations numerically.

Fig. 4.1. The time series, phase plane portrait, power spectrum and Poincar map at S = 9.79.

Fig. 4.2. The time series, phase plane portrait, power spectrum and Poincar map at S = 10.102.

Fig. 4.3. The time series, phase plane portrait, power spectrum and Poincar map at S = 10.285.
 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582 573

Fig. 4.4. The time series, phase plane portrait, power spectrum and Poincar map at S = 10.94.

Fig. 4.5. The time series, phase plane portrait, power spectrum and Poincar map at S = 11.1.

3. Numerical simulations and results

For numerical analysis of the above-mentioned non-dimensional equations of motion, they are transformed into the rst-
0 0
order differential equations. Introducing z1 = v, z2 = v , z3 = w, z4 = w , the governing equations of motion (23) and (24) can
then be rewritten as four rst-order differential equations:
8 0
>
> z1 z2
>
> n h

>
> z02 A11 qv  g zT4 z4 z1  2z4 2bz4  z1 bz1 CsT z2
>
>
>
> io
>
>
>
< c1 sa2 z1  2c1 c2 z4
25
>
> z03 z4
>
> n
>
>
> z04 A1 qw  gzT1 z2 z4 zT1 z4 z2 2z2 2bz2  z3 bz3 CsT z4
>
>
> 2
>
> o
>
: c1 sa2 z3 2c1 c2 z2 

where, the parameters A1 and A2 are

A1 1 b c1 ; A2 1 gzT1 z1 b c1

In Eq. (25), the terms in once-underlined parenthesis represents the Coriolis force, and the terms in twice-underlined paren-
thesis represents the centrifugal force.
The RungeKutta method can then be used to integrate the Eq. (25). The main point in obtaining reliable results is to se-
lect proper time steps for the numerical integration as well as proper number of modes for the continuous system. In this
study, four modes and a time step of p/300 are chosen [27]. To guarantee that the data being used are in a steady state,
the rst few hundred-time series data of the integration have been neglected. The results of the next few hundred time series
are retained to carry out various kinds of analysis.
574 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582

Fig. 4.6. The time series, phase plane portrait, power spectrum and Poincar map at S = 11.87.

Fig. 4.7. The time series, phase plane portrait, power spectrum and Poincar map at S = 12.27.

Fig. 4.8. The time series, phase plane portrait, power spectrum and Poincar map at S = 12.36.

To illustrate the nonlinear dynamic behavior of the system, time series, phase plane portrait, power spectrum, Poincar
map, bifurcation diagrams, and maximum Lyapunov exponent are employed. The non-dimensional speed ratio, S, is used as a
control parameter. The mode shapes of the non-rotating uniform beam with simply supported boundary conditions at both
ends are used as the admissible functions for the exible shaft-rigid disk system [28].
p  
ipx
Ui x 2 sin ; i 1; 2; 3; . . . 26
L
 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582 575

Fig. 4.9. The time series, phase plane portrait, power spectrum and Poincar map at S = 12.91.

Fig. 4.10. The time series, phase plane portrait, power spectrum and Poincar map at S = 13.64.

The non-dimensional parameter values of the system used in the analysis are as follows:
a 190:9218; b 0:6420; c1 0:0046; c2 0:3946; f 0:8733; g 0:1617; K 9:3541;
m 0:1638; C T 0:0452; n 7:9615
The numerical analysis is carried out for two cases: with and without the Coriolis and the centrifugal forces effects.

3.1. Numerical results without the Coriolis-centrifugal forces effects

In this subsection, the non-dimensional speed ratio is used as the control parameter. The idea is to investigate the various
dynamic characteristics of the continuous exible shaft-rigid disk system as the control parameter increases. Fig. 3 shows
the bifurcation diagram of the system. The bifurcation diagram is obtained as follows. The system speed ratio (or any other
control parameters) is varied with a xed step and the state variables at the end of each step are used as initial conditions for
the next step. These data points are then plotted versus the rotational speed ratio. When S < 9.8, the motion is harmonic with
period-1(1T) and the rub-impact phenomenon does not occur. As shown in Fig. 4.1, the phase plane portrait is one closed
circle, the power spectrum has one peak amplitude and there is a single point in the Poincar map. The Poincar section
is a hyper-surface in the state space transverse to the ow of a given system. In non-autonomous systems, a point on the
Poincar section is referred to as the return points of the time series at the constant interval T, where T is the driving period
of the exciting force. The projection of the Poincar section on the phase plane is referred to as the Poincar map. All these
results demonstrate a period-1 motion for the shaft-disk system without considering the Coriolis and the centrifugal forces.
At the speed ratio of S = 9.81, the rub-impact does occur between the rotor and the stator, and the motion becomes sub-har-
monic with the period seven (7T). The phase plane portraits are shown as a seven-closed circle; also the power spectrum has
seven-peak amplitude and the Poincar map comprises seven single points. The system takes on an irregular (chaotic) mo-
tion at a speed ratio between S = 9.82 to 10.07. The dynamic response of the system becomes regular (period-1 motion) again
at the interval [10.08  10.101]. At the speed ratio S = 10.102, the Poincar map has ve single points, indicating that the
system is at a period-5 motion as displayed in Fig. 4.2. When the speed ratio ranges over 10.103  10.2, the dynamic
576 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582

Fig. 5. Maximum Lyapunov exponent of the system without Coriolis and centrifugal forces.

response is a period-1 motion. At S = 10.21  10.285, the motion is sub-harmonic with period-2. As an example of this range,
the time series diagram for S = 10.285 is shown in Fig. 4.3. At a speed ratio range of S = 10.286  10.39, the period-2 motion
becomes a period-4 motion. The system gets into chaotic motion at the speed ratio range of S = 10.4  10.94. As illustrated in
Fig. 4.4, the power spectrum has a broadband and the return points in the Poincar map form a geometrically fractal struc-
ture, showing the chaotic motion in the dynamic system. The motion of the system becomes a period-4 at S = 10.95. At
S = 10.96  11.1, however, the system gets into a quasi-periodic motion. As shown in Fig. 4.5, the phase plane portrait is reg-
ular and the Poincar map has a closed curve. These results prove that the motion is quasi-periodic. The system gets into a
regular motion again at the interval [11.11  11.14], and the system becomes a period-4 motion at S = 11.15  11.21. The
motion is again quasi-periodic at the range S = 11.22  11.39. At S = 11.4, the motion becomes irregular and falls into chaos
but becomes quasi-periodic again in the range S = 11.41  11.86. As shown in Fig. 4.6, the motion returns to a period-2 at
S = 11.87. When S = 11.88  12.2, the motion is quasi-periodic. It can be observed (Fig. 4.7) that the system exhibits a per-
iod-2 motion at S = 12.22  12.27. The system falls into a quasi-periodic motion at S = 12.28  12.31, and returns to the per-
iod-2 motion again at S = 12.32  12.35. As shown in Fig. 4.8, the system exhibits a sub-synchronous period-5 motion at
S = 12.36. The dynamic response of the system becomes quasi-periodic at S = 12.37  12.9. The motion is chaotic at
S = 12.91; the time series diagram for this value is shown in Fig. 4.9. At a speed ratio of S = 12.92  13.63, the motion is qua-
si-periodic, except at S = 13.32  13.36, at which it is a sub-synchronous period-5 motion. The motion is chaotic at
S = 13.37  15, but as shown in Fig. 4.10, at S = 13.64 and S = 14.15  14.20, the motion becomes regular with period-3.
The maximum Lyapunov exponent also provides a useful test to identify the chaotic motion. The Lyapunov exponents deter-
mine the average rate of exponential expansion
 or contraction in the direction of an initial deviation y(0) on a trajectory of
the system, which is given by  kytk
ki lim 1t ln ky0k , where the symbol k k denotes a vector norm and  ki is called the Lyapunov
t!1
exponent. Any system containing at least one positive Lyapunov exponent is dened as chaotic system [2931]. Fig. 5 show
the maximum Lyapunov exponent diagrams without Coriolis and centrifugal forces at S = 10.94 and S = 12.91. The maximum
Lyapunov exponent is positive, that shows the chaotic motion in the corresponding speed ratios.

3.2. Numerical results with Coriolis-centrifugal forces effects

The numerical results of this subsection show the effects of Coriolis and centrifugal forces in the rotating exible shaft-
rigid disk system dynamic characteristics. Fig. 6 depicts the bifurcation diagram of the system using the non-dimensional
 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582 577

Fig. 6. Bifurcation diagram of the exible shaft-disk system with Coriolis and centrifugal forces.

Fig. 7.1. The time series, phase plane portrait, power spectrum and Poincar map at S = 5.72.
578 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582

Fig. 7.2. The time series, phase plane portrait, power spectrum and Poincar map at S = 5.73.

Fig. 7.3. The time series, phase plane portrait, power spectrum and Poincar map at S = 6.07.

Fig. 7.4. The time series, phase plane portrait, power spectrum and Poincar map at S = 6.11.

speed ratio as its control parameter. In the absence of Coriolis and centrifugal forces effects, the rub-impact occurs at a speed
ratio of S = 9.81 (See Section 3.1 above), while in the presence of these forces, the rub-impact occurs at S = 5.73. This means
that the speed ratio range decreases when the Coriolis and centrifugal forces are included. When S < 5.73, the dynamical re-
sponse of the system is synchronous with period-one, as shown in Fig. 7.1. The system suddenly falls into a quasi-periodic
motion at S = 5.73, as shown in Fig. 7.2. This range is maintained up to S = 6. From S = 6.01 to 6.06, the motion becomes cha-
otic. The strange attractor has the fractal structure in the Poincar map and the power spectrum is continuous. The motion
returns to the period-2 motion at S = 6.07  6.10, as shown in Fig. 7.3 for S = 6.07. Then, the motion becomes a period-6 at
 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582 579

Fig. 7.5. The time series, phase plane portrait, power spectrum and Poincar map at S = 6.17.

Fig. 7.6. The time series, phase plane portrait, power spectrum and Poincar map at S = 6.21.

Fig. 7.7. The time series, phase plane portrait, power spectrum and Poincar map at S = 6.56.

S = 6.11, as shown in Fig. 7.4, and returns again to the period-2 at S = 6.12  6.14. At a speed ratio of S = 6.15  6.17, the mo-
tion falls into chaos as shown in Fig. 7.5. At S = 6.18, 6.19, the motion is period-one and forS = 6.20, 621, the motion is period-
three, as depicted in Fig. 7.6. It is clear from Fig. 7.7 that the dynamic system motion changes to a chaotic regime at the inter-
val S = 6.22  6.56. AtS = 6.57  6.85, the system returns back into its period-1 motion. The quasi-periodic motion reappears
atS = 6.86  6.91. The jump phenomenon happens at S = 6.93. The motion returns to a period-one at S = 6.94, and this trend
will continue up to S = 8.80 (as an example Fig. 7.8). At S = 8.81, the dynamic system regular motion suddenly changes to a
chaotic motion and there is no period doubling route to chaos. From this point onwards, the motion alternatives between the
580 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582

Fig. 7.8. The time series, phase plane portrait, power spectrum and Poincar map at S = 8.8.

Fig. 7.9. The time series, phase plane portrait, power spectrum and Poincar map at S = 9.56.

quasi-periodic and the chaotic ones (See Fig. 7.9 as an example). As illustrated in Fig. 8, the maximum Lyapunov exponent at
S = 6.56 and S = 9.56 is positive which reveals the chaotic motion at given speed ratios.

4. Conclusion

In this paper, the nonlinear dynamic responses of the rotating continuous exible shaft-rigid disk system with rub-impact
between the disk (rotor) and the stator were investigated. Time series, phase plane portrait, Poincar map, bifurcation dia-
grams, and Lyapunov exponents were used to analyze the dynamic behavior of the system. The assumed mode method was
used to discretize the partial differential equations of motion. The effects of Coriolis and centrifugal forces were also consid-
ered in this study. The results obtained from the numerical analysis tools employed agree well with each other. In the ab-
sence of Coriolis and centrifugal forces and when S < 9.8, the system exhibited a synchronous motion with period-one. At
S = 9.81, the rub-contact occurred and the synchronous response bifurcated to a period-7 motion. The rst widespread re-
gion of the chaotic motion (the irregular portion) appeared at S = 9.82  10.07. In this case, the route to chaos was period
doubling. The second widespread region of the chaotic motion was observed at the interval S = 13.37  15. From this point
onwards, no synchronous motions could be captured. In the presence of Coriolis and centrifugal forces effects and at a speed
ratio of S < 5.73, the system response was synchronous with period-one. The rub-impact occurred at S = 5.73, and the dy-
namic response of the system suddenly fell into a quasi-periodic motion without period doubling. The rst region of the cha-
otic motion appeared at S = 6.01  6.06. The second region of the chaos appeared at S = 6.15  6.17. The other rather
widespread region of the chaotic motion appeared at S = 6.22  6.56. In this case, the rst route to chaos was a quasi-periodic
motion. In the case where the Coriolis effect alone was considered, at S = 6.66, the period-one motion became quasi-periodic
and the rub-impact occurred at S = 7.25. However, in the case where the centrifugal effect alone was considered, at S = 7.25,
the periodic motion fell into a chaotic motion and the rub-impact took place at the same speed ratio. It was, therefore, con-
cluded that the effect of centrifugal force was greater than that of the Coriolis force on the occurrence of the rub-impact. It
was demonstrated that under the inuence of the Coriolis and centrifugal forces, the rub-impact would occur at lower speed
ratios. Thus, changes in speed ratio can be of great signicance to the rotating system design. In other words, ignoring these
effects may result in improper responses analysis of such systems. Also, after the rub-impact event, different motion patterns
 H.M. Khanlo et al. / Commun Nonlinear Sci Numer Simulat 16 (2011) 566582 581

Fig. 8. Maximum Lyapunov exponent of the system with Coriolis and centrifugal forces.

appeared and different routes to or out of the chaos were observed. These results can be useful in recognizing the undesirable
vibration behavior in these types of rotating systems.

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