Nonlinear Dyn (2021) 104:2145–2184

https://doi.org/10.1007/s11071-021-06428-w (0123456789().,-volV)
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ORIGINAL PAPER

Nonlinear vibration mitigation of a flexible rotor shaft

carrying a longitudinally dispositioned unbalanced rigid disc
Javad Taghipour . Morteza Dardel . Mohammad Hadi Pashaei

Received: 25 September 2020 / Accepted: 31 March 2021 / Published online: 19 April 2021
Ó The Author(s), under exclusive licence to Springer Nature B.V. 2021

Abstract This study is dedicated to investigate the consisting only a flexible shaft and a system of flexible shaft
nonlinear dynamics of a system composed of a flexible carrying an unbalanced rigid disc at different positions
rotor shaft carrying a longitudinally dispositioned unbal- along the shaft are investigated. The results show that
anced rigid disc. The less-attended multi-modal nonlinear geometric nonlinearity of the flexible shaft is dominating
vibration analysis of rotor structures, considering the effect the inertial nonlinearity and hence, the system demonstrates
of geometric and inertial nonlinearities due to the large a hardening nonlinear behaviour at the vicinity of the first
deflection of the flexible structure, is investigated in this two resonances. Besides, it is shown that dispositioning the
study. To this end, the flexible shaft is modelled using the unbalanced disc along the flexible shaft results in change in
Euler–Bernoulli beam theory. In order to model the the nonlinear dynamics of the system at various modes. It is
unbalanced rigid disc, it is considered as combination of a illustrated that if the unbalanced disc is located at the node
symmetric disc with an additional eccentric lump mass. of one of the modes of the vibration of the system, that
The equations of motion of the system are derived using the mode is not excited, as expected. The results of the paper
extended Hamilton principle. Assuming the inextensional reveal that the longitudinal disposition plays a key role in
shaft and considering high twisting rigidity of the shaft, the the instability analysis of the system of rotor shaft-disc, as
flexural-flexural vibrations of the system of rotor shaft-disc well as the radial unbalance. In the second part of the paper,
are studied in this paper. The equations of motion are nonlinear vibration of the system of a flexible rotor shaft
discretized using the Galerkin method exploiting various with a longitudinally dispositioned unbalanced rigid disc is
reduced order models including single-mode, two-mode, mitigated using nonlinear energy sink (NES). Two different
and three-mode approximations. In order to obtain the conditions of the unbalanced disc are considered for the
steady-state response of the system, two methods are used system. For each case, the NES is designed to control the
in this study. The first method is to use the semi-analytical undesired nonlinear vibration of the system close to the first
modified complex averaging technique along with the two natural frequencies. The results show that the designed
numerical arc-length continuation method. The second NESs are capable of controlling the system with different
method is using the direct integration in MATLAB. The dynamic responses including periodic, quasi-periodic,
nonlinear dynamics of different systems such as a system chaotic, and also the system with unstable dynamic
response that may lead to collapse of the system.

J. Taghipour  M. Dardel (&)  M. H. Pashaei Keywords Rotor dynamics  Nonlinear vibration 

Department of Mechanical Engineering, Babol Noshirvani
University of Technology, Shariati Street, P.O. Box 484,
Bifurcation analysis  Vibration control  Nonlinear
47148-71167 Babol, Mazandaran, Iran energy sink
e-mail: [email protected]; [email protected]

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2146 J. Taghipour et al.

1 Introduction gyroscopic effects, neglecting the shear deformation.

The combination resonances of the system studied in
All practical structures include at least a small [4] were investigated by Hosseini and Khadem [5]
nonlinearity. In many cases, the nonlinearity is small using the Harmonic Balance method. They examined
enough to be neglected. Hence, the linear theories can the effects of rotor eccentricity, mass moment of
be used to model the dynamics of the system and inertia, and the external damping coefficient on the
investigate its behaviour. However, in contrast, many steady-state dynamics of the rotor system. Khadem
practical structures include significant nonlinearities et al. [6] utilized the method of multiple scales to
so that linear theories are not valid anymore. In investigate the primary resonances of a simply
addition, utilizing linear methods for strongly nonlin- supported in-extensional rotating shaft. Khanlo et al.
ear structures may cause to ignore some rich dynam- [7] examined the chaotic dynamics of a flexible shaft-
ical behaviour of the system such as period doubling, disc system, considering a rub-impact between the
quasi-periodic, and chaotic response. Therefore, hav- disc and the stator. Coriolis and centrifugal effects of
ing profoundly investigated the dynamics of nonlinear the rigid disc were included in the modelling of the
structures are very important in structural dynamics. system using Euler–Bernoulli beam theory. Shahgholi
Nonlinear dynamics of the rotor systems, particu- and Khadem [8] investigated the primary and para-
larly the system of rotor shaft-disc, have received metric resonant responses of a nonlinear asymmetrical
considerable attention of the researchers during recent rotating shaft with nonlinearities due to stretching and
decades. A vast amount of studies has been focused on large deflections. They studied the steady-state
the investigation of the dynamics of rotor structures. dynamics of the system, considering the effects of
This has been of even more significance recently when inequality of the mass moment of inertia and bending
the high-speed working condition of the practical stiffness in the direction of principal axes, the
structures plays more important role in studying the inequality of the eccentricities with respect to the
dynamics of the system. A multitude numbers of principal axes and external damping. Bab et al. [9]
studies have been dedicated to analyse the dynamics of considered a system composed of a flexible shaft, a
the rotor systems, including a simple rotor disc or rigid disc and flexible/rigid blades in their study.
more complex structures composed of flexible shaft, Modelling the shaft and the blades using the Euler–
blades, disc, and stator. Bernoulli beam theory, they examined the nonlinear
Dutt and Nakra [1] studied the unbalance dynamics dynamics of the system at primary resonances. To this
of a rotor flexible shaft system asymmetrically end, they exploited the extended Hamilton principle to
mounted on viscoelastic supports, considering the derive the equations of motion and utilized the
gyroscopic effect on the eigenvalues and the response multiple scales method to investigate the dynamics
of the system. The free and forced vibration of a of the system.
nonlinear rotor-bearing system was investigated in [2] Nonlinear dynamics of a flexible shaft-disc system
by developing the method of multiple scales. To this supported by hydrodynamic journal bearings was
end, Ji and Zu considered the effect of rotary inertia investigated by Dakel et al. [10]. They utilized the
and the shear deformation by using the Timoshenko Timoshenko beam theory to model the flexible shaft in
beam theory to model the flexible rotating shaft. order to study the nonlinear vibration of the system in
Shabaneh and Zu [3] studied the dynamic behaviour of the presence of rigid support movement. They com-
a rotating shaft-disc system supported by linear elastic puted the fluid film forces of the journal bearings using
bearings and viscoelastic suspensions at the ends. the Reynolds equations. They considered the asym-
They investigated the effects of the parameters of the metry in the rotor shaft which results in instability in
viscoelastic supports on the modal properties and the the dynamics of the system in cooperation with the
forced dynamics of the system due to the disc mass rotational motion of the rotor. They utilized the
unbalance. Hosseini and Khadem [4] investigated the implicit Newmark time-step integration method to
free vibrations of an in-extensional simply supported solve the equations of the system. They examined the
rotating shaft with nonlinearities due to the curvature effect of rotational and translational movement of the
of the shaft and inertia, using multiple scales method. rigid support on the dynamics of the rotor shaft-disc
To this end, they considered rotary inertia and the system. Georgiades [11] investigated the nonlinear

123
Nonlinear vibration mitigation of a flexible rotor shaft 2147

dynamics of a spinning shaft with non-constant The dynamic behaviour of a flexible rotor-disc-
rotational speed. They utilized the multiple scales bearing system was studied by Zhao et al. [17],
perturbation method to perform nonlinear dynamic considering the nonlinear oil-film forces of the journal
analysis on the discretized model of the equation of bearings. The rotor shaft and disc are modelled as a
motion of the system. They showed that, in contrast to single degree of freedom system of mass-spring-
the constant rotational speed, the Campbell diagram is damper. They simulated the response of the described
not capable of describing the critical situations of the system using the fourth-order Runge–kutta method.
shaft in the case of spin-up or spin-down operation. Ma et al. [18] analysed the dynamic response of a disc-
Luczko [12] analysed the nonlinear dynamics of a shaft-blade system under vibrations due to blade-
rotating shaft, considering gyroscopic effects, large casing rubbing. Developing a finite element model of
displacement nonlinearity, Kármán non-linearity, the system of shaft-disc-blade and using the contact
rotations, and nonlinear curvature in the mathematical dynamics theory to model the contact between the
modelling. blade tip and casing, they focused on the effects of
Nonlinear dynamics of a system consisting a rotational speed, stiffness of casing, and stagger angles
longitudinally dispositioned disc mounted on a flex- of blades on the dynamics of the system and casing. In
ible shaft (i.e. disc located on a position rather than the their study, the shaft and the blade were simulated
mid-point of the shaft) supported by short journal using the Timoshenko beam theory, shell elements
bearings was analysed by Avramov and Borysiuk [13]. were adopted to model the disc, and spring-damping
They neglected the mass of the shaft, analytically model was used to simulate the ball bearing. She et al.
derived the forces of the fluid films of the journal [19] analysed the bending and torsional vibration of
bearings, and applied Shaw–Pierre nonlinear modes in shaft, transverse response of disc and the bending
order to investigate the dynamics of the system. To do dynamics of the blade in a flexible rotating shaft-disc-
this, they exploited the Harmonic Balance method. blade system. For this purpose, the continuum model
Nonlinear dynamics of a system composed of a disc of the shaft-disc-blade coupling system was utilized to
and a flexible rotor shaft was aimed by Avramov [14], investigate the effect of shaft bending stiffness, disc
considering the gyroscopic moment on a nonlinear transverse rigidity, and rotational speed on the modal
flexural base. In this study, the nonlinear dynamics of parameters of the system. Shad et al. [20] studied the
the described system was investigated by applying a nonlinear dynamics of rotor systems considering the
new version of the multiple scale method to the higher-order deformations in bending. They consider a
equations of motion of the system. Villa et al. [15] rotor system composed of a flexible shaft and a rigid
investigated the nonlinear dynamics of an unbalanced disc in which the shaft was modelled using the Euler–
flexible rotor shaft mounted on ball bearings. They Bernoulli beam theory so that the effects of various
considered the Hertz contact nonlinearity, the internal types of nonlinearity such as rotor unbalance, large
clearance, and the kinematics of the rolling elements deformation, the rotary inertia, dynamic axial load,
of the bearings by modelling the rolling element and gyroscopic effect were included in the mathemat-
bearings as two degrees of freedom. They exploited ical model. Nonlinear dynamics of an asymmetric
the Harmonic balance method in order to investigate rotor system with journal bearing supports was
the steady-state response of the system. The stability investigated by Li et al. [21]. In their study, they used
analysis in the frequency domain was performed in various vibration features such as Poincare maps,
their work by applying a perturbation-based method to frequency spectrum, and Lyapunov exponent to show
the harmonic solution in the time domain. Felix et al. the effect of rotors misalignment on the nonlinear
[16] studied a case of one (or two) unbalanced rigid dynamics of the system.
disc mounted on a flexible shaft driven by a non-ideal A multitude number of studies have been conducted
motor (limited power supply during passage through on the efficiency of different types of linear and
the resonant frequencies). They showed the response nonlinear passive vibration absorbers in reducing the
of the system includes the Sommerfeld effect in the undesired dynamics of various systems. Taghipour
second natural frequency. They demonstrated the and Dardel [22] investigated the steady states dynam-
existence of the hysteretic jump in the dynamic ics of a single-degree-of-freedom (SDOF) harmoni-
behaviour of the shaft with two rigid discs. cally excited nonlinear oscillator in coupling with a

123
2148 J. Taghipour et al.

SDOF nonlinear energy sink. They analysed the types of vibration. Considering a robust control of an
robustness of the primary system to the changes of active magnetic suspension system, an analytical and
the system parameters by increasing the degree of experimental study was carried out on the control of a
freedom of the NES. A horizontally supported simple rigid rotor vibration in Ref. [31]. Heindel et al. [32]
Jeffcott rotor system with nonlinear restoring force had both theoretical and experimental investigation on
was considered by Taghipour et al. [23]. The steady- the efficiency of the active bearings in suppressing the
state dynamics of the system was analysed in their bearing forces and the resonance of a Jeffcott rotor
work using semi-analytical modified complex aver- system. They showed that without requiring the
aging technique (MCXA). They studied the efficiency knowledge about the properties of the rotor, the
of a number of linear and nonlinear vibration closed-loop system is always stable and active bear-
absorbers on vibration mitigation of the rotor system. ings are able to keep always the centre of mass of the
In [24], Tehrani and Dardel investigated the effect of rotor at the centre of rotation. In [33], a closed-form
the application of linear and nonlinear absorbers on analytical solution was introduced for removing the
vibration reduction of a mistuned Jeffcott rotor with bearing forces due to unbalance effects. They found a
disc eccentricity force. Tehrani and Dardel [25] new Lyapunov stability theorem to analyse the
studied the vibration control of a flexible bladed-disc stability properties of the controller. The proposed
rotor system using linear tuned mass dampers (TMD) theory can be used for all the harmonically excited
and nonlinear energy sinks (NES). In their study, on- systems with the same matrix structures.
disc and on-blade vibration absorbers were utilized to Indeed, various types of supports (e.g. flexible
mitigate the vibration due to disc eccentricity. Bab supports and journal bearings) are important sources
et al. [26] investigated the capability of a number of of nonlinear behaviour in rotor dynamics. However,
nonlinear energy sinks in vibration reduction of a the geometric and inertial nonlinearities of the flexible
simple rotor disc subject to eccentric mass force. They shaft, even without considering the effect of nonlinear
used Multiple Scales Harmonic Balance Method supports, introduce an extensive range of various
(MSHBM) to obtain the dynamic response of the dynamic behaviours. Several works have been dedi-
system. Bab et al. [27] studied the vibration attenu- cated to investigate the effect of elastic supports,
ation of a rotor system mounted on journal bearing considering the dynamics of simple Jeffcott rotor
using a number of NESs. The rotor system is subjected system. Also, the vibration control of such systems has
to nonlinear suspension restoring forces and mass been studied, [24, 25]. On the other hand, the multi-
eccentricity. They located the NESs in perpendicular modal nonlinear vibration analysis of rotor structures,
directions on the bearings to control the vibration of considering the effect of flexibility of the structure, has
the system. In their study, shaft was assumed to be received less attention in the analysis of rotor dynam-
massless and a concentrated mass at the centre of the ical structures. In addition, nonlinear vibration control
rotor was considered as the mass of the rotor. of flexile rotor systems has been rarely been consid-
Vibration suppression of a rotating beam subject to ered. Therefore, this paper aims to analyse the multi-
external force was studied by Bab et al. [28] using modal steady-state dynamics of a rotor shaft-disc
smooth nonlinear energy sinks (NES). Euler–Ber- system composed of an eccentric disc mounted on
noulli beam theory was used to model the rotating different locations along a flexible shaft. The effect of
beam. Abbasi et al. [29] studied on the application of a dispositioning the unbalanced disc along the flexible
high-static low-dynamic stiffness (HSLDS) suspen- shaft is also investigated on the multi-modal nonlinear
sion for mitigating the vibration of a rotor system dynamics of the system. To this end, the flexible shaft
composed of a flexible rotor supported by journal is modelled using the Euler–Bernoulli beam theory,
bearings and HSLDS suspension subject to unbalance- considering the inertial and geometric nonlinearities
induced forces. of the shaft. The eccentric rigid disc is assumed to be
In [30], Das et al. investigated the active vibration consisting a symmetric disc and an additional eccen-
control of a flexible rotor shaft-disc using electromag- tric mass located on the disc. The extended Hamilton
netic actuators. They showed that controlling the principle is exploited to derive the equations of motion
transverse vibration of the shaft may control its of the shaft-disc system. Besides, using the assumption
torsional vibration due to the coupling nature of two of the inextensional shaft was taken into account, as

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Nonlinear vibration mitigation of a flexible rotor shaft 2149

well as assuming the high twisting rigidity, the are also presented in this section. Section 4 is dedi-
equations of motion of the flexural-flexural vibration cated to investigate the nonlinear vibration mitigation
of the shaft-disc system are derived. In order to of the system of flexible rotor shaft with a longitudi-
discretize the equations of motion of the shaft-disc nally dispositioned unbalanced rigid disc. A conclu-
system, the Galerkin technique is used to separate the sion is provided in Sect. 5.
spatial and time variables. Then, time-variant equa-
tions are solved using semi-analytical Modified Com-
plex Averaging Technique (MCXA) and Arc-length 2 Theory and mathematical modelling
continuation method to obtain the steady-state dynam-
ics of the system. The results of the MCXA technique In this section, the mathematical modelling of the
is compared with the results of the direct integration to system of flexible rotor shaft carrying an unbalanced
verify the accuracy of MCXA method. Consequently, rigid disc is provided. Then, the MCXA technique is
a parametric study is performed to investigate the briefly explained.
nonlinear dynamics of the system. The response of the
system is obtained using single-mode, two-mode, and 2.1 Uncontrolled system
three-mode reduced order models of the shaft. The
effect of the longitudinal position of the disc is studied The uncontrolled system of flexible rotor shaft and
on the responses of the system at various resonant rigid disc of Fig. 1a is considered. The nonlinear
frequencies. After investigating the nonlinear dynam- equations of motion of the structure are extracted
ics of the described system of shaft-disc, a nonlinear based on the assumption of large deflections, [34].
energy sink is designed to mitigate the undesired Hence, the deformed coordinate system of the flexible
vibration of the system in the neighbourhood of the structure is different from the fixed (undeformed)
first two natural frequencies. To this end, two different coordinate. The fixed coordinate system xyz describes
cases of the unbalanced system are considered. NESs the absolute coordinate and deformation of the system,
are designed and tuned for each cases to control the while the moving coordinate system ngf that is located
system at the first two resonances. on the vibrating system shows the deformed geometry
The contents of the paper are organized as follows. of the system. Figure 1b shows the transformation of
The problem is described in Sect. 2 and the equations undeformed coordinate xyz to the deformed coordinate
of motion of the system are derived using extended ngf. w, h, and u are three Euler angles denoting the
Hamilton principle and Galerkin method. Besides, a rotations about z, y, and x axis, respectively. As it can
brief description of MCXA technique is provided in be seen, the undeformed coordinate rotates consecu-
Sect. 2. In Sect. 3, the mathematical modelling and tively by angles w, h, and u, respectively, about z, y0
MCXA technique used to obtain the steady-state (or y00 ), and x00 (or n) to reach the deformed coordinate
nonlinear dynamics of the system of shaft-disc are ngf.
verified by investigating the dynamics of a system of 8 9 8 9
<n= <x=
unbalanced flexible rotor shaft. Then, the steady-state
g ¼T y ð1Þ
dynamics of a system composed of a flexible shaft : ; : ;
f z
carrying an unbalanced rigid disc at various locations
along the shaft is analysed in this section. The results where T is the transformation matrix given as, [34],
of the parametric study on the vibrations of the system

2 3
cos h cos w cos h sin w  sin h
T ¼ 4  cos u sin w þ sin u sin h cos w cos u cos w þ sin u sin h sin w sin u cos h 5 ð2Þ
sin u sin w þ cos u sin h cos w  sin u cos w þ cos u sin h sin w cos u cos h

123
2150 J. Taghipour et al.

Fig. 1 a System of rotor flexible shaft-unbalanced rigid disc; b transformation of the unreformed coordinate system to the deformed
coordinate

82 8 9T
Considering the torsional vibration of the shaft and Z L> < > < u€0 >=
defining / as the variable of the torsional rotation of 6
dT ¼  4 m v€0
the shaft, Euler angle u is described as the sum of 0>: > : > ;
w€0
torsional rotation and spin angle xt of the shaft, 0 8 9T 8 9T 1 8 9
u ¼ / þ xt. Two other Euler angles w and h are < u€0 >
> = < u€e >
> = < du0 >
> =
B Cb
þ@mD v€0 þ me v€e A dðx  xD Þ dv0
functions of the translational displacements of the : >
> ; : >
> ; >
: >
;
shaft and can be described as, [34], w€0 w€e dw0
2 8 9T 8 9T 08 9T
0 < x_ n >
> = h i > < xn >= h i < x_ n >
> = h i
v0 6 B
sin w ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi; þ4 x_ g Jb0 þ xg Jb0 ½x þ @ x_ g JbD
  >
: > ; >
: > ; >
: > ;
0 2 0
1 þ u0 þv02 x_ f xf x_ f
8 9T 8 9
0 > x
< n> = h i > dh
< n> =
1 þ u0
cos w ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi; ð3Þ þ xg JbD ½xÞb dðx  xD Þ dhg gdx;
  >
1 þ u0 þv02
0 2 0
: > ; >
: >
;
xf dhf
0
w0 ð5Þ
sin h ¼ ;
1þe
where overdot represents the differentiation with
where prime denote the differentiation with respect to respect to time, and m, mD and me are, respectively,
x e represents the axial strain of the shaft on the the mass per length of the shaft, mass of the disc, and
reference line, the eccentric mass. J^0 and J^D denote the matrices of
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 the second moment of inertia of the shaft and the disc,
0 2 02 0
e¼ 1 þ u0 þv0 þ w0  1 ð4Þ respectively. d^ is the delta Dirac function. For the shaft
with cross sections in which the mass centroid passes
The extended Hamilton principle is utilized to derive
the reference point and the transverse direction axes g
the governing equations of the dynamics of the system
and f are the principal axes of the section,
of shaft-disc shown in Fig. 1a. The variation of the
kinetic energy is obtained considering the kinetic
energy of the rotating shaft, the disc located on the
shaft, and the eccentric mass located on the disc.

123
Nonlinear vibration mitigation of a flexible rotor shaft 2151

2 3 8 9 8 9
Jn 0 0 Z < M1 = Z < r13 y  r12 z =
6 7
J^0 ¼ 4 0 Jg 0 5; Jg ¼ qIg ; Jf ¼ qIf ; K1 ¼ r11 dA; M2  r11 z dA;
: ; : ;
0 0 Jf A M3 A r11 y
Z
ð11Þ
Jn ¼ Jg þ Jf ; m ¼ qdA
A In case of an isotropic shaft in the absence of any
Z Z Z external loads on lateral surfaces of the shaft and
 
Ig ¼ f2 dA; If ¼ g2 dA; In ¼ Ig þ If ¼ g2 þ f2 dA
considering the coincidence of centroid line with the
A A A
deformed coordinate reference line,
ð6Þ
K1 ¼ EAe; M1 ¼ GIn qn ; M2 ¼ EIg qg ; M3 ¼ EIf qf ;
and
ð12Þ
2 3
JnD 0 0
1 The variation of non-conservative energy of the
J^D ¼ 4 0 JgD 0 5; JgD ¼ JfD ¼ mD R2D ; JnD
4 system is given as below, neglecting any external
0 0 JfD
forces applied on the system.
¼ JgD þ JfD ;
ð7Þ ZL
 
dWnc ¼ cu udu
_  cv v_0 dv0  cw wdw
_ 0  c/ dh1 ds;
The angular velocities xn , xg , and xf of the rotating
0
shaft, respectively, about three axis n, g, and f of the
deformed coordinate are determined as ð13Þ
where cu , cv , cw denote the damping coefficient of the
xn ¼ u_  w_ sin h; xg ¼ w_ sin u cos h þ h_ cos u; xf
shaft in three translational directions x, y, and z,
¼ w_ cos u cos h  h_ sin u; respectively, and c/ is the damping coefficient of
ð8Þ torsional vibration. Substituting the variations of the
kinetic, potential, and non-conservative energies into
ue , ve , and we are the displacements of the eccentric
the statement of the extended Hamilton principle, the
mass, respectively, in x, y, and z direction,
equation of motion of the shaft-disc system of Fig. 1a
ue ¼ u0 þ de ð cos u sin w þ sin u sin h cos wÞ is obtained,
ve ¼ v0 þ de ðcos u cos w þ sin u sin h sin wÞ ð9Þ
mu€0 þ ðmD u€0 þ me u€e Þd^ðx  xD Þ þ cu u_0
we ¼ w0 þ de ðsin u cos hÞ 0
¼ ½T11 K1 þ T21 K2 þ T31 K3 
The structural potential energy of the flexible shaft in mv€0 þ ðmD v€0 þ me v€e Þd^ðx  xD Þ þ cv v_0
transverse and rotational directions are considered to 0

obtain the variation of the elastic energy [34] ¼ ½T12 K1 þ T22 K2 þ T32 K3 
ð14Þ
mw€0 þ ðmD w€0 þ me w€e Þd^ðx  xD Þ þ cw w_ 0
ZL n  
0 0 0 0
^ ¼
dV K1 T11 du0 þ T12 dv0 þ T13 dw0 ¼ ½T13 K1 þ T23 K2 þ T33 K3 
 
 0
0
 Jn x_ n  Jg  Jf xg xf þ c/ /_ 0
0
 M1 þ M3 q2  M2 q3 dh1 ¼ M1 þ M3 qg  M2 qf ;
 0  ð10Þ
 M2  M3 q1 þ M1 q3 dh2 where
 0  o
 M3 þ M2 q1  M1 q2 dh3 ds þ ½M1 dh1
þM2 dh2 þ M3 dh3 L0 ; ;

where

123
2152 J. Taghipour et al.

1 n 0 Zx
K2 ¼ M3  M2 qn þ M1 qg þ Jf x_ f

1þe
     o c0 ¼ u0  w0 sin h; u¼c w0 sin hdx; ð19Þ
 Jn  Jg xn xg þ JfD x_ f  JnD  JgD xn xg d^ðx  xD Þ ; 0
1 n 0
K3 ¼ M2  M3 qn þ M1 qf þ Jg x_ g and substituting Eq. (18) it into Eqs. (14), and
1þe
    o neglecting all time derivatives in Eq. (14-d), c can
þðJf  Jn Þxn xf þ JgD x_ g þ JfD  JnD xn xf d^ðx  xD Þ
be obtained from Eq. (14-d) as
ð15Þ
Zx Zx
1  b3
qn is the normalized twisting curvature about n, and qg c¼ qg qf dxdx; ð20Þ
b1
and qf are the normalized bending curvatures of the 0 1
deformed shaft about axes g and f.
Substituting dimensionless variables of Eq. (17),
0 0 0 0 longitudinal displacement u of Eq. (18) and its
q1 ¼ u  w sin h; q2 ¼ w sin u cos h þ h cos u; q3
¼ w0 cos u cos h  h0 sin u; derivatives, and torsional variables of Eqs. (19) and
(20) into Eq. (14), the dimensionless equations of
ð16Þ
motion of the flexural–flexural vibration of the system
Dimensionless variables are defined as below to of shaft-disc are obtained as
rewrite the dimensionless form of the equations of 0
motion. v€0 þ ðmD v€0 þ me v€e Þbd ð x  xD Þ þ cv v_0
rffiffiffiffiffiffiffiffiffi 1  
¼ T 12 H 1 þ ððmD þ me ÞH 1 þ me H 2 Þb d ð x  xD Þ
 x  u0  v0  w0  Dg T 11
x ¼ ; u0 ¼ ; v0 ¼ ; w0 ¼ ;t ¼ t ;   
L L L L mL4 0
þT 22 b3 qf  qg qn þ b1 qg qn þ J f x_ f  J n  J g xn xg
cv L 2 cw L2 mD    
cv ¼ pffiffiffiffiffiffiffiffiffi ; cw ¼ pffiffiffiffiffiffiffiffiffi ; mD ¼ þ J f D x_ f  J n D  J g D xn xg b d ð x  xD ÞÞ
mDg mDg m  0
þT 32 qg  b3 qf qn þ b1 qf qn J g x_ g þ ðJ f  J n Þxn xf
me  Jn Jg
me ¼ ;J ¼ ; J ¼ ;    
þ J g D x_ g þ J f D  J n D xn xf b
m n mL2 g mL2 
d ð x  xD ÞÞ
Jf Jn Jg Jf 0
þT 22 b3 qf  qg qn þ b1 qg qn þ J f x_ f
Jf ¼ ; J  ¼ D ; Jg ¼ D ; J  ¼ D ;
mL2 nD mL2 D mL2 fD mL2      
 J n  J g xn xg þ J f D x_ f  J n D  J g D xn xg b d ðx  xD ÞÞ
ð17Þ  0
þ T 32 qg  b3 qf qn þ b1 qf qn J g x_ g þ ðJ f  J n Þxn xf
where L is the undeformed length of the shaft,     
þ J g D x_ g þ J f D  J n D xn xf b d ð x  xD ÞÞg
denotes the dimensionless variables and parameters,
and Dg ¼ EIg . For the sake of brevity,  is omitted for ð21  aÞ
the rest of the paper. In addition, a longitudinal
inextensional shaft (i.e. e ¼ 0) is considered in this
study. The assumption of longitudinal inextensionality
is used for the shaft fixed at one end and free to
vibration or slide in longitudinal direction at the other
end, while there is no external load applying to the
shaft in longitudinal direction. For this case, from
Eq. (14-a)
Z x qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
02 02
u0 ¼ 1  v0  w0  1 dx; ð18Þ
0

Besides, it is assumed that the torsional rigidity of the

shaft is relatively high. Defining new torsional vari-
able c so as

123
Nonlinear vibration mitigation of a flexible rotor shaft 2153

w€0 þ ðmD w€0 þ me w€e Þb

0
1 0 
d ð x  xD Þ þ cw w_ 0 T11 ¼ 1  v0 þ w00 ; T12 ¼ v00 ; T13 ¼ w00
1   2
¼ T 13 H 1 þ ððmD þ me ÞH 1 þ me H 2 Þb d ð x  xD Þ

T 11 T21 ¼ sinðxtÞv02 0 0
0 w0  sinðxtÞw0  cosðxtÞv0
0
0
þT 23 b3 qf  qg qn þ b1 qg qn þ J f x_ f þ cosðxtÞFg w00  cosðxtÞcw00  Fg sinðxtÞv00
 
 J n  J g xn xg
    þ c sinðxtÞv00  cosðxtÞv00 w02
0
þ J f D x_ f  J n D  J g D xn xg b d ð x  xD ÞÞ
 0 1 3
þ T 33 qg  b3 qf qn þ b1 qf qn J g x_ g þ ðJ f  J n Þxn xf T22 ¼  cosðxtÞv02 0 0
0  sinðxtÞw0 v0 þ cosðxtÞ
   
2 2
þ J g D x_ g þ J f D  J n D xn xf b d ð x  xD ÞÞ þ Fg sinðxtÞ  c sinðxtÞ
 0  
þ T 23 b3 qf  qg qn þ b1 qg qn þ J f x_ f  J n  J g xn xg 1 1
    T23 ¼  sinðxtÞw02 0 þ cosðxtÞv0 w0
0 0
þ J f D x_ f  J n D  J g D xn xg b d ð x  xD ÞÞ 2 2
 0
þT 33 qg  b3 qf qn þ b1 qf qn J g x_ g þ ðJ f  J n Þxn xf þ sinðxtÞ  cosðxtÞFg þ cosðxtÞc
   
þ J g D x_ g þ J f D  J n D xn xf b d ð x  xD ÞÞg T31 ¼ sinðxtÞv00  cosðxtÞw00 þ sinðxtÞv00 w02
0
ð21  bÞ  cosðxtÞFg v00 þ cosðxtÞcv00  Fg sinðxtÞw00
where þ c sinðxtÞw00 þ cosðxtÞv02
0 w0
0

1 3
Zx T32 ¼ sinðxtÞv02 0 0
0  cosðxtÞw0 v0
o2 2 2
H 2 ¼ de ð cos u sin w þ sin u sin h cos wÞdx
ot2  sinðxtÞ þ cosðxtÞFg  cosðxtÞc
1
1 1
ð22Þ T33 ¼  cosðxtÞw02 0 0
0  sinðxtÞv0 w0
2 2
The simply support boundary condition at both ends of þ cosðxtÞ þ Fg sinðxtÞ  c sinðxtÞ
the flexible shaft is considered. ð24Þ
00 00
v0 ¼ 0; v0 ¼ 0; w0 ¼ 0; w0 ¼ 0; at x ¼ 0 q1 ¼ v000 w00  cosðxtÞFg0 þ cosðxtÞc0
00 00 ð23Þ
v0 ¼ 0; v0 ¼ 0; w0 ¼ 0; w0 ¼ 0; at x ¼ 1 1 1
þ cosðxtÞv00 w000 þ cosðxtÞv000 w00
2 2
The third-order expansion of the transform matrix T,
q2 ¼ sinðxtÞv000  cosðxtÞw000  cosðxtÞFg v000
curvatures qn ; qg ; qf , variable c and functions H1 and
H2 are given as þ cosðxtÞcv000  Fg sinðxtÞw000 þ c sinðxtÞw000
1 3
þ cosðxtÞv00 v000 w00 þ sinðxtÞv00 w00 w000
2 2
q3 ¼ cosðxtÞv000 þ sinðxtÞw000  cosðxtÞFg w000
þ cosðxtÞcw000 þ Fg sinðxtÞv000  c sinðxtÞv000
3 1
þ cosðxtÞv00 w00 w000  sinðxtÞv00 v000 w00
2 2
ð25Þ

123
2154 J. Taghipour et al.

Zx Zx the NES to be tuned are the initial distance L0 from the

1  b3
c¼ v000 w000 dxdx centre of the disc (which indicates the initial location
b1
0 1 of the mass of NES), free length P0 of the springs,
Zx 2 Zx stiffness KNL0 =2 of each spring, damping coefficient
1 o  
H1 ¼  v00 þ w02
0 dxdx CNL0 =2 of each dashpot, mass ma0 of the NES, and the
2 ot2
1 0
0 0 0
angular distance ba between the NES and the eccentric
H2 ¼  cosðxtÞde v€0  sinðxtÞde w€0 þ cosðxtÞde x2 v0 mass me . ra denotes the displacement of the NES from
0 0 0
þ sinðxtÞde x2 w0  2 cosðxtÞde xw_ 0 þ 2 sinðxtÞde xv_0 its initial location (rest condition). The equations of
ð26Þ motions of the controlled system of Fig. 2a can be
obtained utilizing the same method used for the
where uncontrolled system of Fig. 1a.
According to the geometry of the NES mounted on
Zx
the disc, the nonlinear restoring force due to the
Fg ¼ v000 w00 dx ð27Þ
stiffness and damping of the NES is given
0 !
ra2 ra P0
Equations (24–27) are substituted into Eq. (22), and Fnd ¼ 2 ; Fns ¼ ra 1  pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi2 ð29Þ
ra þ P20 ra2 þ P0
the third-order expansion of the equations of motion is
obtained to simplify the solving the equations of where Fnd and Fns denote the nonlinear forces
motion. However, this is an appropriate approximation generated by the dashpots and springs of the NES.
since the value of higher-order terms is relatively Considering the potential energy, kinetic energy, and
small with respect to the lower-order terms. Then the non-conservative terms of the NES, the equation of
Galerkin method is applied to discretize the equations motion of the system coupled with NES is derived.
of motion of the system. To this end, the harmonic The functionality of this type of radial NES is based on
response is assumed to be sum of multiple modes as the centrifugal force applied to the absorber’s mass.
To obtain the best performance of NES to mitigate the
X
Nm X
Nm
v0 ¼ Vm ð xÞpm ðtÞ; w0 ¼ Wm ð xÞqm ðtÞ ð28Þ vibration of the structure under study with the desired
k¼1 k¼1 frequency range, an optimized set of parameters
should be obtained.
where Vm and Wm are, respectively, the mth flexural
vibration mode shapes in y and z directions, and pm and 2.3 Modified complex averaging technique
qm denote the general coordinates of the mth mode of (MCXA)
the response in y and z directions, respectively. The
discretized nonlinear equations of motion are solved to There are various approaches in the literature for
obtain the steady-state response of the system of shaft- investigating the steady-state dynamics of nonlinear
disc. systems. These approaches include Harmonic Balance
Method (HBM), Complex Averaging technique
2.2 System Controlled by NES (CXA), and Normal Form method, [35]. In this paper,
modified complex averaging technique (MCXA) pro-
The dynamics of the rotor system of Fig. 1a is posed by Vakakis et al. [36] is utilized to study the
considered to be controlled by a radial nonlinear nonlinear steady-state response of the system of
energy sink (NES) mounted on the rigid disc. The rotating shaft-disc with an eccentric mass located on
coupled system of rotor shaft-rigid disc-NES is shown the disc. The MCXA technique (or CXA for the case of
in Fig. 2a. The configuration of the NES is illustrated single harmonic) is a great approach to investigate the
in Fig. 2b. The performance of the NES shown in steady-state response of nonlinear systems in struc-
Fig. 2b was investigated by Taghipour et al. [23] to tural dynamics. One of the great advantages of this
control the nonlinear vibration of a Jeffcott rotor, and method is reducing the calculation time and compu-
by Guo et al. [35] to mitigate the vibrations of an tational cost in analysing the nonlinear systems. In
unbalanced hollow rotor system. The parameters of addition, this approach provides the capability of

123
Nonlinear vibration mitigation of a flexible rotor shaft 2155

Fig. 2 a A schematic of rotor system controlled by an NES mounted on the rigid disc. b NES mounted on the disc

Table 1 Geometry and Parameter (unit) Value Parameter (unit) Value

material properties of the
system of flexible shaft- Module of elasticity, E ðGPaÞ 205 Module of rigidity, G ðGPaÞ 80
unbalanced rigid disc  
kg 7800 Shaft radius, Rsh ðmÞ 0.005
Shaft density, q m3
 
Shaft length, L ðmÞ 1 Damping coefficient, cv Nms 1.5
 
Damping coefficient, cw Ns 1.5 Disc radius, RD ðmÞ 0.05
m
Disc mass, mD ðkgÞ 0.2 Eccentric mass, me ðkgÞ 0.02
Eccentricity, de ðmÞ 0.1

Table 2 Natural frequencies of the transvers vibration a shaft simply supported at both ends, bn L ¼ np, [37]
No. of mode,n 1 2 3 4 5

bn L ¼ np p 2p 3p 4p 5p
qffiffiffiffiffiffiffiffi
Natural frequency, xn ¼ ðbn LÞ 2 EI 126.49 505.98 1138.44 2023.9 3162.35
qAL4 ðrad=sÞ
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Dimensionless natural frequency, xn ¼ xn = D22 =qAL2 9.87 39.48 88.83 157.91 246.74

stability and bifurcation analysis, which is useful in Therefore, having the stability analysis of the steady-
predicting different dynamic behaviours of nonlinear state behaviour of nonlinear systems in a much shorter
structures. In contrast, using only direct integration time with much lower computational cost is the main
numerical methods does not give the information advantage of using MCXA approach in this study. The
about the stability of the system. Hence, it is not MCXA method has been used by [22, 23] to inves-
possible to predict or justify the changes between tigate the nonlinear dynamics of various systems.
various types of dynamic behaviour in the system.

123
2156 J. Taghipour et al.

Fig. 3 Amplitude-frequency diagram of the linear vibration of the flexible shaft under two different levels of excitation. xn1 and xn2 are
the natural frequencies of the shaft predicted by theory given in Table 2

Fig. 4 Amplitude-frequency response of the unbalanced flexible rotor shaft for different values of eccentric mass me

It is worth noting that in normal form method, the equation with more terms is replaced with an equation
equation of motion of the system is rephrased in a composed of less and simpler terms. The simpler
simpler form according to the importance of each term equation, however, is less capable of predicting
of the equation. As a result, the initial complex complex dynamic behaviours. In many previous

123
Nonlinear vibration mitigation of a flexible rotor shaft 2157

Fig. 5 Amplitude-frequency response of the unbalanced flexible rotor shaft for different values of the shaft eccentricity de

works, the original equation of motion of the system both approaches results in the same conclusion.
was converted to a shorter form using various However, as MCXA is much easier in coding and
approaches such as multiple-scale method or normal application than multi-harmonic balance method,
modes. However, this study tackles the more complex therefore more complex problems with higher degrees
equations very accurately to predict different dynamic of freedom can be easily analysed using MCXA.
behaviour of the system under study. Therefore, MCXA technique is used in this paper to
In addition, both MCXA and incremental multi- study the harmonic response of the rotor system. In
harmonic balance method are used to find the steady- this section, MCXA technique is briefly described.
state response of dynamical systems. The accuracy of As the system in this study is excited by the
the results of these methods depends on the number of centrifugal force of the eccentric mass and this force
harmonics considered in the calculation, particularly itself is assumed to be a harmonic function of the
in case of strongly nonlinear systems. The more rotation frequency, the nonlinear response of the
harmonics considered in the calculations, the richer system is considered in the form of a multi-harmonic
dynamics (response with more harmonic contents) can function with a static response as
be obtained. On the other hand, the incremental X
NH

harmonic balance is an effective method for contin- xi ðtÞ ¼ xsti þ xni ðtÞ; i ¼ 1; . . .; Ni ; ð30Þ
n¼1
uation of the steady-state response of dynamical
systems in terms of a control parameter. In this study, where xi and xsti , respectively, denote the steady-state
on the other hand, the arc-length continuation is used dynamic response and the static response of the ith
to find the steady-state response of the system utilizing degree of freedom of the system, xni is the nth harmonic
the equations obtained from modified complex aver- of xi , Ni denotes the number of degrees of freedom,
aging technique. It is illustrated in Appendix that and NH is the total harmonics considered in the
although the formulation of both MCXA and multi- response. xni is defined using new complex variables
harmonic balance method is different, application of uni as

123
2158 J. Taghipour et al.

Fig. 6 Amplitude-frequency diagram of the first three harmon- the amplitude of the jth harmonic of the ith mode of the general
ics of the steady-state nonlinear response of the system of shaft- coordinates pðtÞ and qðtÞ in y and z directions. Hpij and Hqij are
disc at two transverse directions y and z obtained using single- phases of Pij and Qij , respectively
mode reduced order model. Pij and Qij denote, respectively,

123
Nonlinear vibration mitigation of a flexible rotor shaft 2159

Fig. 7 Comparison between the nonlinear responses of the single-mode reduced order model of the system of shaft-disc obtained using
MCXA technique and direct integration in MATLAB

Fig. 8 Bifurcation diagram of the steady-state nonlinear response of the single-mode reduced order model of the system of shaft-disc.
SN and HF shown in figure denote the saddle-node and Hopf bifurcations, respectively

123
2160 J. Taghipour et al.

Fig. 9 Response-frequency diagram of the nonlinear steady-state dynamics of the system of shaft-disc using two-mode reduced order
model

1  n jnxt  uni ¼ y2ðði1ÞNH þnÞ1 þ jy2ðði1ÞNH þnÞ ; i ¼ 1; . . .; Ni ;

xni ¼ ui e  uni ejnxt ;
2jnx ð32Þ
1  n jnxt 
n
x_i ¼ u e þ uni ejnxt ; ð31Þ Substituting Eqs. (29) and (30) into Eq. (21), averag-
2jnx i
jnx  n jnxt  ing over NH harmonics of the dynamic response, and
x€ni ¼ u_ ni ejnxt þ ui e  uni ejnxt separating the real and imaginary parts, the equations
2
of motion are rewritten in the form of 2NH Ni new first
where order ordinary differential equations in terms of real
variables ym .

123
Nonlinear vibration mitigation of a flexible rotor shaft 2161

Fig. 10 Comparison between the amplitude-frequency diagrams of the steady-state response for two different levels of excitation

Y_ ¼ RðY Þ; ð33Þ Besides, the stability analysis of the steady-state

response of the nonlinear system is carried out using
where Y ¼ ½y1 ; y2 ; . . .; y2Ni NH T and Y_ ¼
T Lyapunov’s first method of stability analysis.
½y1 ; y2 ; . . .; y2Ni NH  are, respectively, the vectors
of the unknown real variables ym and their derivatives.
As the response does not vary during the stead state of 3 Results and discussion
the dynamics of the system, all terms of the time
differentiation are set to zero in Eq. (32) in order to In this section, various assemblies of the system of
investigate the steady-state dynamics. In addition, flexible shaft carrying an unbalanced rigid disc with
considering the static displacement of the system regard to the location of the unbalanced disc are
(harmonic zero), Ni new algebraic equations are added considered in this study. The analysis on the steady-
to the calculations. Therefore, ð2NH þ 1ÞNi nonlinear state dynamics of each system is performed by
algebraic are obtained. Solving these algebraic equa- applying the Galerkin method to the equations of
tions gives the static displacement xsti and the real motion of Eq. (21) and solving the equations utilizing
variables ym . To this end, arc-length continuation the MCXA technique and continuation method.
method is used in this study. Having solved the Besides, the response of the system has been obtained
nonlinear equations, one may use ym to find the through direct integration in MATLAB. The results of
amplitude of each harmonic of the steady-state the analysis on the nonlinear dynamics of are given for
dynamics of the response as each case. The geometry and material properties of the
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
  system are given in Table 1.
y22ðði1ÞNH þnÞ1 þ y22ðði1ÞNH þnÞ
Xin ¼ ; ð34Þ
nx

123
2162 J. Taghipour et al.

Fig. 11 Forward sine-sweep simulation of the dynamics of the system of rotor shaft-disc using direct integration

3.1 Unbalanced flexible shaft the system, the natural frequencies are changed
accordingly. Figure 3 shows the response of the
The system consisting only an unbalanced flexible system of shaft only exposed to two different levels
shaft with properties given in Table 1 is considered. In of low-amplitude harmonic excitation of the eccentric
order to investigated the dynamics of the shaft, the mass at both y and z direction. Low-amplitude
system is modelled as a balanced shaft carrying an excitation force cannot excite the nonlinearity of the
eccentric mass me with eccentricity de . The harmonic system considerably. Therefore, the response of the
excitation due to the rotation of the eccentric mass me system is almost linear. The theoretically predicted
is applied to the system in y and z directions at the natural frequencies are compared with the ones
location of me along the shaft. The equations of motion calculated using MCXA technique at the first and
of the described system can be derived according to second resonances. The results show that the linear
the theory given in Sect. 2. The two-mode reduced response of the system obtained in this study can
order model is exploited to investigate the nonlinear accurately predict the natural frequencies of the
dynamics of an unbalanced flexible rotor shaft. flexible shaft.
Based on the simply support boundary condition at Increasing the force amplitude, nonlinearity of the
both ends assumed for the shaft, and considering the system is excited. The nonlinear response of the
geometry and material properties of the system shown simply supported flexible shaft subjected to the
in Table 1, the dimensional and dimensionless natural harmonic excitation of the rotating eccentric mass is
frequencies of the first five modes of the flexible shaft investigated for different values of me and de . Figure 4
are calculated and given in Table 2. These natural shows the effect of increasing the eccentric mass me on
frequencies are for the system without disc or any the steady-state dynamics of the rotor shaft. The
other lumped mass attached to the system. When steady-state response of the rotating flexible shaft is
additional subsystem such as a rigid disc is added to affected by the shaft eccentricity de as shown in Fig. 5.

123
Nonlinear vibration mitigation of a flexible rotor shaft 2163

Fig. 12 Zoomed time history of the results of the first and second modes given in Fig. 11. pi ðtÞ denotes the time history of the ith mode
of the response of the system in y direction

The results illustrate that increasing both me and de Figure 6 shows the frequency–response diagram of
leads to increase in the excitation level and results in the nonlinear steady-state dynamics of the aforemen-
more nonlinear behaviour of the shaft. Comparing the tioned system of rotor shaft carrying a rigid disc on its
responses of the system obtained by low- and high- longitudinal centre position. In this figure, the ampli-
amplitude force excitation clarifies the effect of tude and phase of the nonlinear response of the
structural nonlinearities on the dynamics of the rotor generalized coordinates pij and qij are shown. The
flexible shaft. It emphasizes that both geometric and results are obtained using the single-mode reduced
inertial nonlinearities should be taken into account in order model of the dynamics of the system, exploiting
order to have thorough investigation of the dynamics MCXA technique. The stability analysis has been
of such systems. carried out and the stable and unstable solutions are
represented by blue and red lines, respectively. Pij
3.2 Flexible shaft with unbalanced disc at x ¼ L2 and Qij denote, respectively, the amplitude of the jth
harmonic of the ith mode of the general coordinates
The unbalanced shaft-disc system of Fig. 1a is con- pðtÞ and qðtÞ in y and z transverse directions. Hpij ¼
sidered. The system is longitudinally symmetric where
\Pij and Hqij ¼ \Qij denote the phases of Pij and Qij ,
the disc is located at mid-point along the shaft, x ¼ L2.
respectively. The results illustrate the hardening
The properties of the flexible shaft, rigid disc, and
nonlinearity of the flexible shaft. As it is explained
unbalanced mass are given in Table 1. The steady-
in Sect. 2.1, the nonlinear equations of motion of the
state dynamics of the system has been studied using
system of rotor flexible shaft-rigid disc are extracted
different reduced order models including various
based on the assumption of large deflection in which
number of modes: one, two, and three modes.
various geometrical and inertial nonlinearities have
been taken into account, [34]. In the third-order

123
2164 J. Taghipour et al.

Fig. 13 Backward sine-sweep simulation of the dynamics of the system of rotor shaft-disc using direct integration

expansion of the equation of motion, different hard- Figure 7 gives a comparison between the nonlinear
ening and softening nonlinear terms appear. Nayfeh response of the single-mode reduced order model of
and Pai [34] reported that the geometrical nonlinearity the shaft-disc system obtained using MCXA technique
has the hardening effect and inertial nonlinearity and direct integration in MATLAB. In this figure, the
shows softening behaviour in the response of flexible first three harmonics of the first mode of the oscillation
shaft. In the system under study in this paper, the of the flexible shaft are shown. The results show a
geometrical nonlinearity of the shaft dominates the good compatibility between the responses obtained
inertial nonlinearity and the overall dynamic beha- using two different methods. Two jumps between the
viour of the system illustrates hardening nonlinearity. two stable solution of the dynamics of the system are
There are other similar works [9, 39, 40] dedicated to perfectly predicted using two methods.
the analysis of nonlinear vibration of flexible rotors in The bifurcation analysis is performed on the
which the equations of motion of the system includes nonlinear dynamics of the system of shaft-disc.
hardening nonlinearities. They reported the same Figure 8 illustrates the bifurcations in the primary
hardening nonlinear behaviour for the flexible rotor harmonic of the first mode of the dynamics of the
system in their investigations. In addition, looking at system in two transverse directions y and z. SN and HF
the second and third harmonics of the response in the figure denote the saddle-node and Hopf
clarifies the presence of super-harmonics in the bifurcations, respectively. As shown in the results,
dynamics of the system. However, the higher har- two SN bifurcations are predicted at x ¼ 7:8038 and
monics have small contribution to the dynamics of the x ¼ 8:7436, while two Hopf bifurcations are observed
system compared to the primary harmonic. The at x ¼ 8:6077 and x ¼ 8:6326.
unwrapped phases of the response of the system are The two-mode reduced order model of the rotor
shown in the figure to show all the resonances and anti- shaft-disc system is used to obtain the steady-state
resonances of the nonlinear dynamics of the system. response at both transverse directions. The analysis

123
Nonlinear vibration mitigation of a flexible rotor shaft 2165

Fig. 14 Zoomed time history of the results of the first and second modes given in Fig. 13. pi ðtÞ denotes the time history of the ith mode
of the response of the system in y direction

has been carried out using MCXA technique to in the phase of the response of the first mode is
investigate the single-harmonic response of the two- observed in the neighbourhood of the first resonance.
mode model of the system. The frequency–response Figure 10 gives a comparison between the steady-
diagram of the nonlinear dynamics of the system is state dynamics of the system of rotor shaft-disc
shown in Fig. 9 within a frequency range including the obtained using two-mode reduced order model for
first two resonances of the system. Pij and Qij two different levels of the excitation. The nonlinear
denote, respectively, the amplitude of the jth harmonic response is obtained for two different values of
of the ith mode of the general coordinates pðtÞ and qðtÞ eccentric mass me ¼ 0:005; 0:02kg. Other parameters
in y and z directions. Hpij and Hqij are phases of Pij and are the same as given in Table 1. The smaller eccentric
Qij , respectively. As expected, since the rigid disc and mass, the lower excitation level and lower response
the eccentric mass are located on the centre position of amplitude. It is shown in Fig. 9 that increasing the
the shaft (x ¼ L=2) and the excitation force are applied excitation level in the system of flexible shaft carrying
to the shaft at the location of the node of the second an unbalanced rigid disc at x ¼ L=2 results in increase
mode, the second mode of the transverse vibration of in the nonlinearity of the dynamic behaviour of the
the shaft is not excited. Therefore, the response of the system at first resonance. The response at the vicinity
second mode is significantly smaller than the response of the second natural frequency remains linear as the
of the first mode in the neighbourhood of the first second mode is not excited in this system.
resonance. This statement is proved by the results of Figure 11 shows the time history of the nonlinear
the response at the vicinity of the second resonance response of the system of rotor shaft-disc obtained
which the resonant amplitude of the second mode is from forward sine-sweep simulation within frequency
almost zero. Besides, as the system is not excited at the bandwidth x ¼ 7  9:5. The simulation is carried out
second resonance, no peak in the amplitude or change using time step dt ¼ 0:001 during time span t ¼
0  5000 required for this frequency sweep. The time

123
2166 J. Taghipour et al.

Fig. 15 Comparison between the responses of the first mode of the response of two transverse directions in the vicinity of the first
natural frequency

history of the system is compared with the steady-state this frequency range includes significant contribution
amplitudes of the first five harmonics of the response, of the third and fifth harmonics in addition to the
which are defined in the legend of Fig. 11. To find the primary harmonic of the response. Figure 12 illus-
amplitudes of the first five harmonics of the steady- trates the zoomed time history of the system within
state dynamics of the system, the simulation is carried three time sub-spans Dt1 ¼ 1650  1654,
out within the given frequency bandwidth Dt2 ¼ 2196  2200, and Dt3 ¼ 2676  2680, which
x ¼ 7  9:5, with frequency step dx ¼ 0:02. The are, respectively, equivalent to frequency sub-spans
steady-state response of the system is measured and Dx1 ¼ 7:825  7:827, Dx2 ¼ 8:098  8:1, and
the amplitudes of various harmonics of the response Dx3 ¼ 8:338  8:340. It is observed that the response
are obtained using Fourier analysis. It is shown that the of the first mode is simple periodic oscillation with
dynamics of the first mode of the system at the vicinity primary harmonic within all three sub-spans. On the
of the first resonance is dominated by the primary other hand, the dynamics of the second mode is mainly
harmonic, while the response of the second mode in dominated by the fifth harmonic within the sub-span

123
Nonlinear vibration mitigation of a flexible rotor shaft 2167

Fig. 16 Response-frequency diagram of the nonlinear steady- reduced order model. Stable and unstable branches are shown by
state dynamics of the system of flexible shaft carrying an blue and red lines, respectively
unbalanced rigid disc at x ¼ 3L=8 obtained using two-mode

Dt1 , in Dt2 the fifth, third, and first harmonics have, 0:001 during time span t ¼ 0  5000. The same
respectively, the largest contribution to the response, observation as of the forward sine-sweep simulation
and in Dt3 , the third harmonic has larger contribution can be made that the dynamics of the first mode of the
to the dynamics than the fifth and primary. system in the neighbourhood of the first natural
The backward sine-sweep simulation of the time frequency is governed by the primary harmonic, while
response of the system is performed within the the third and fifth harmonics have considerable
frequency span x ¼ 9  6:5. The time history of the contribution to the response of the second mode in
nonlinear dynamics of the system is shown in Fig. 13. this frequency range, as well as the primary harmonic.
The simulation is carried out using time step dt ¼ Figure 14 illustrates the zoomed time history of the

123
2168 J. Taghipour et al.

Fig. 17 Comparison between the responses of two different modes of the response in y direction. c, d are the amplitudes of
shaft-disc systems carrying unbalanced disc located at x ¼ L=2 the first and second modes of the response in z direction
and x ¼ 3L=8. a, b are the amplitudes of the first and second

Table 3 Parameters of two case studies of the system of three sub-spans. On the other hand, the dynamics of
flexible shaft-unbalanced rigid disc the second mode is mainly dominated by the fifth
Parameter (unit) Value harmonic within the sub-span Dt1 , while in Dt2 and
Dt3 , the fifth, third, and first harmonics have, respec-
Case I Case II
tively, the largest contribution to the response.
 
7:5 3 Nonlinear dynamics of the system is also studied
Damping coefficient, cv Nms
  using the three-mode reduced model of the system of
Damping Coefficient, cw Nms s 7:5 3 unbalanced shaft-disc. However, the response of the
Disc radius, RD ðmÞ 0:15 0:15 third-mode reduced order mode is obtained using only
Disc mass, mD ðkgÞ 5 5 direct integration ODE MATLAB. A comparison is
Eccentric mass, me ðkgÞ 0:05 0:1 given in Fig. 15 between the nonlinear responses of
the rotor shaft-disc system in the neighbourhood of the
first natural frequency obtained using three models:
single-mode, two-mode, and three-mode reduced
order models.
system within three time sub-spans
Dt1 ¼ 2415  2420, Dt2 ¼ 2600  2605, and
3.3 Flexible shaft with unbalanced disc at x ¼ 3L
Dt3 ¼ 2750  2755, which are, respectively, equiva- 8

lent to frequency sub-spans Dx1 ¼ 7:7925  7:79,

Dx2 ¼ 7:7  7:6975, and Dx3 ¼ 7:625  7:6225. It It has been shown in Sect. 3.2 that if the unbalanced
is observed that the response of the first mode is simple disc is placed in the centre position along the shaft, the
periodic oscillation with primary harmonic within all second mode is not excited. Besides, it has been

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Nonlinear vibration mitigation of a flexible rotor shaft 2169

Fig. 18 Amplitude-frequency diagram of the response of the system for the parameter set of Case I

Fig. 19 Bifurcation diagram of the system of Case I at the vicinity of the first natural frequency

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2170 J. Taghipour et al.

Fig. 20 Time history and phase diagram of the multi-harmonic response of the system at excitation frequency x ¼ 1:25. pi and qi
denote for the ith mode of the response, respectively, at y and z directions

Fig. 21 Bifurcation diagram of the system of Case I at the vicinity of the second natural frequency

123
Nonlinear vibration mitigation of a flexible rotor shaft 2171

Fig. 22 Time history of the chaotic response of the system at excitation frequency x ¼ 32. pi denote for the ith mode of the response at
y directions

Table 4 Candidate Parameter (unit) 1st natural frequency 2nd natural frequency
optimized parameters of the
tuned NES for the system of Set I Set II Set III Set I Set II Set III
Case I
Mass of NES, ma0 ðkgÞ 0:025 0:045 0:06 0:025 0:045 0:06
 
N
Stiffness, KNL0 m 60 375 1750 10,250 62,500 297,500
 
Damping coefficient, CNL0 N s 2 5 10 2 5 10
m
Initial location, L0 ðmÞ 0:05 0:05 0:05 0:05 0:05 0:05
Free length of springs, P0 ðmÞ 0:075 0:075 0:075 0:075 0:075 0:075

illustrated that reducing the amplitude of eccentric according to the theory given in Sect. 2.1. The steady-
force generated by unbalance mass (i.e. reducing the state dynamics of the system is studied using both
eccentric mass me or distance of eccentricity de ) leads MCXA and direct integration, exploiting two-mode
to reduce the nonlinearity of the response of the reduced order model of the system. The results of the
system. In this section, the effect of longitudinal nonlinear dynamics of the system are obtained for
eccentricity (disposition) of the disc is investigated. To eccentricity mass me ¼ 0:005kg. Other parameters are
this end, a longitudinally asymmetric system of an the same as given in Table 1. Figure 16 shows the
unbalanced rigid disc mounted at x ¼ 3L 8 along a
response-frequency diagram of the nonlinear steady-
rotating flexible shaft is considered. The objective is to state dynamics of the described system of shaft-disc.
investigate the effect of longitudinal dispositioning of As illustrated by the results, the system is excited at the
the disc on the rotating shaft. Indeed, as the disc gets second resonance as the excitation force is applied to
distance from the node of the second mode (mid- the system at location away from the node of second
length of the simply supported shaft) of the shaft, any mode. According to the results of Fig. 16, no unsta-
unbalance leads the second mode to be excited, in ble solution or jump in the response is observed at the
contrast with the case in which the disc is located at first resonant frequency, while the system experiences
x ¼ L2. Therefore, any longitudinal disposition of the multiple solution in a frequency range x ¼ 36:46 
disc along the shaft may result in instability in the 37:38 in the neighbourhood of the second resonance.
steady-state response of the rotor system. The equa- Figure 17 gives a comparison between the response
tions of motion of the described system is derived of the aforementioned system with the response of the

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2172 J. Taghipour et al.

Fig. 23 Bifurcation diagram of the system of Case I controlled by an NES at the vicinity of the first natural frequency. Blue stars and red
circles denote the uncontrolled and controlled response, respectively

system in which the unbalanced disc is located at into account for solving the equation of motion defines
x ¼ L=2, obtained using the same parameters. Look- the type of dynamic behaviours. Therefore, MCXA
ing at the results shown in Fig. 17 reveals that and similar methods such as multi-harmonic balance
displacing the unbalanced disc along the beam results method are not able to show the behaviours with high
in instability at the second resonant frequency. content of harmonics such as non-periodic or chaotic
Therefore, taking the second mode into the account responses. Accordingly, numerical integration method
in analysing the dynamics of such system is essential. using ODE function in MATLAB is used to obtain
such responses in this study. It is worth to note that the
dynamics of nonlinear systems may include various
4 Vibration control behaviours such as sub/super-harmonic resonances,
combined resonances, softening or hardening beha-
After investigating the nonlinear dynamics of the viours, and other complex behaviours. Investigating
system of flexible rotor shaft carrying a disc in all the aforementioned behaviours is not possible
different conditions, this section is dedicated to study using MCXA or multi-harmonic balance method. On
the mitigation of the undesired nonlinear vibration of the other hand, very complex behaviours with high
such system due to disc unbalance. In Sect. 3, MCXA contribution of higher harmonics can be investigated
technique has been used to investigate the steady-state using continuation in time domain. Indeed, in this
dynamics of the rotor system. Obviously, increasing paper, MCXA technique is used to study the harmonic
the number of harmonics leads to high computational response of the rotor system and continuation in time
costs and using the aforementioned methods would be domain is used to analyse the non-periodic dynamics
challenging. Besides, the number of harmonics taken of the system.

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Nonlinear vibration mitigation of a flexible rotor shaft 2173

Fig. 24 Bifurcation diagram of the system of Case I controlled by an NES at the vicinity of the second natural frequency. Blue stars and
red circles denote the uncontrolled and controlled response, respectively

Taghipour et al. [23] investigated the vibration utilizes the optimization method proposed by Taghi-
mitigation of the simple Jeffcott rotor system using pour et al. [23] for optimizing the parameters of the
various types of linear and nonlinear vibration nonlinear energy sink.
absorbers. In this study, the analysis on the vibration
control of the system of rotor flexible shaft-rigid disc is 4.1 Case I
carried out only using nonlinear energy sinks. To this
end, two sets of parameters of the system of Fig. 2a are The dynamic response of the system is obtained for
considered as given in Table 3 for two case studies. parameter set of Case I given in Table 3 utilizing the
The value of the parameters that are not given in direct integration in MATLAB. Figure 18 shows the
Table 3 is the same as the values given in Table 1. For primary harmonic of the amplitude frequency
the analysis of this section, the two-mode reduced response of the first two modes of the general
order model of the system of rotor shaft-disc is taken coordinates pðtÞ and qðtÞ of the system at y and z
into account. First the nonlinear response of the system directions, respectively. jPi j and jQi j denote the
in the vicinity of the first two natural frequencies is amplitude of the response of the ith mode of pðtÞ
obtained for the considered parameter values of and qðtÞ, respectively. Multi-harmonic response is an
Table 3. Then, the equations of motion of the system expected behaviour in nonlinear dynamic structures,
of rotor flexible shaft-unbalanced rigid disc controlled particularly in the neighbourhood of the resonant
by a nonlinear energy sink (NES) is derived using the frequencies. For the system of Case I, the nonlinearity
theory presented in Sect. 2.1. Using the equations of of the system is not significantly excited at the vicinity
motion of the controlled system, the NES is tuned to of the first natural frequency. In contrast, the system
suppress the oscillation of the system, particularly in experiences a chaotic response close to the second
the neighbourhood of the resonances. This paper resonant. Due to the chaotic response, and

123
2174 J. Taghipour et al.

Fig. 25 Bifurcation diagram of the system of Case II at the vicinity of the first natural frequency

Fig. 26 Bifurcation diagram of the system of Case II at the vicinity of the second natural frequency

123
Nonlinear vibration mitigation of a flexible rotor shaft 2175

Fig. 27 Time history and phase diagram of the multi-harmonic response of the system at excitation frequency x ¼ 29:0625. pi and qi
denote for the ith mode of the response, respectively, at y and z directions

Fig. 28 Time history and phase diagram of the unstable response of the system at excitation frequency x ¼ 29:0635. pi and qi denote
for the ith mode of the response, respectively, at y and z directions

participation of multitude of higher harmonics in the dynamics of the system is dominated by the primary
response, the results of Fig. 18, which includes only harmonic. However, the presence of second harmonic
primary harmonic of the response, are not able to give is observed at x ¼ 1:25. Time history of the steady-
a good anticipation of the dynamics of the system state response at x ¼ 1:25 is given in Fig. 20 which
around second natural frequency. Therefore, the verifies the presence of second harmonic in the
bifurcation diagram of the dynamics of the system is dynamics of the system.
obtained. Figures 19 shows the bifurcation diagram of Bifurcation diagram of the dynamic response of the
the dynamic response of the system for the frequency system in the neighbourhood of the second resonance
range of x ¼ 0:5  5. The results show that the is illustrated in Fig. 21. As the results show, system of

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2176 J. Taghipour et al.

Table 5 Optimized Parameter (unit) 1st natural frequency 2nd natural frequency
parameters of the tuned Set III Set III
NES for the system of Case
II Mass of NES, ma0 ðkgÞ 0:09 0:09
 
N
Stiffness, KNL0 m 750 125,000

Damping
 coefficient,
 10 10
CNL0 Nm
s

Initial location, L0 ðmÞ 0:05 0:05

Free length of springs, P0 ðmÞ 0:075 0:075

Fig. 29 Bifurcation diagram of the system of Case II controlled by an NES at the vicinity of the first natural frequency. Blue stars and
green circles denote the uncontrolled and controlled response, respectively

Case I responds with a chaotic behaviour around the – The initial location of the mass of the NES can be
second natural frequency. Figure 22 illustrates the assumed prior to the optimization process, accord-
time history of the dynamic response of the first two ing to the geometry of the system (e.g. shaft and
modes of the general coordinate pðtÞ of the system in disc diameter). This will reduce the calculation
the y direction, at x ¼ 32. cost, as well as making the design of the NES
Exploiting the optimization method proposed in physically feasible.
[23], the optimized parameters of the NES are – The lower and upper bounds for the mass of NES
obtained to mitigate the vibration of the system at are defined according to the physics of the
the vicinity of the first two resonances. It is worth to problem. The care should be taken to avoid the
note that the solution of the optimization process is not mass of the NES to be too heavy or too light with
unique and may depend on some assumptions to be respect to the total mass of the system. Indeed,
made: heavy mass of NES will require very stiff and

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Nonlinear vibration mitigation of a flexible rotor shaft 2177

Fig. 30 Bifurcation diagram of the system of Case II controlled by an NES at the vicinity of the second natural frequency. Blue stars
and green circles denote the uncontrolled and controlled response, respectively

consequently massive-springs, which makes the initial location of the mass of the NES (distance from
design of the NES difficult. On the other hand, very the centre of the shaft, L0 ) is selected arbitrarily and
light masses cause the design to end up with a very according to the dimensions of the shaft and the disc.
flexible spring at the end of optimization process Also, the lower and upper bounds are set for the mass
and this will result in very large deflection of the and stiffness of the NES, accordingly. A stated above,
NES, which may not be physically feasible. there is not a unique optimized set of parameters for
– Damping coefficient does not play a key role in the designed vibration absorber. Table 4 shows
tuning the NES. However, considering a very different possible solutions for the optimization pro-
small damping coefficient causes the NES to cess. In order to find the optimized values of the
oscillate for a longer time before it rests at its final parameters given in Table 4, values for L0 and P0 have
position in radial direction. Therefore, a variable been set according to the physics of the problem. In
centrifugal force is applied to the system and may addition, a high damping coefficient is selected to
result in some instability. Accordingly, damping prevent oscillations of the NES.
ratio of the NES do not affect the tuning of the Figures 23 and 24 give comparisons between the
NES, but it has effect on the efficiency of the NES uncontrolled responses of the system of Case I and the
in mitigating the undesired vibration in a shortest dynamics of the system controlled by the NES with
possible time. Hence, prior to the optimization parameter values of Set II given in Table 4. It is
process, a relatively high damping coefficient is observed that the resonant response of the system in
selected for the NES. the neighbourhood of the first natural frequency is
effectively controlled by the NES. Besides, the chaotic
Considering the assumptions and limitations
response of the system at the vicinity of the second
applied to the optimization process, the NES is
resonance is mitigated so that the controlled system
designed to control the undesired vibrations of the
behaves with a periodic response in that frequency
system at the vicinity of the resonant frequencies. In
region.
order to obtain the feasible optimized values, the

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2178 J. Taghipour et al.

Fig. 31 Waterfall diagram of the amplitude-frequency response of the controlled system of Case II for different values of the mass ma0
of the NES designed for the first natural frequency

4.2 Case II system, respectively, at excitation frequencies x ¼

29:0625 and x ¼ 29:0635. A multi-harmonic
For Case II of the shaft-disc system, a harsh condition response is observed at x ¼ 29:0625, while the system
of unbalanced system is considered. As shown in the turns to be unstable at x ¼ 29:0635.
results of Sect. 3.3, in case of longitudinally disposi- Design process of the NES to control the undesired
tioning of the unbalanced disc, the response of the oscillations of the system of Case II resulted in the
system in the neighbourhood of the second natural parameters of Table 5 for the first and second natural
frequency is more nonlinear than its response close to frequencies. The responses of the system controlled by
the first resonance. Therefore, it is expected to have the tuned NES are shown in comparison with the
more critical condition for the excitation frequencies dynamics of the uncontrolled system. Figure 29 gives
near the second natural frequency. The response of the a comparison between the responses of controlled and
uncontrolled system of flexible shaft-rigid disc is uncontrolled systems at the vicinity of the first natural
obtained for the parameter values of Case II given in frequency. It is shown that using the NES to mitigate
Table3. The nonlinear dynamics of the system at the the nonlinear vibration of the system, the multi-
vicinity of the first two natural frequencies are given, solution nonlinear response of the uncontrolled struc-
respectively, in Figs. 25 and 26. It is seen that the ture near the first natural frequency has been replaced
system shows a hardening nonlinear behaviour at the with a simple periodic response. On the other hand, the
first natural frequency, while the very harsh condition unstable dynamics of the system in the neighbourhood
of the unbalanced rigid disc makes the system of the second natural frequency is controlled by the
unstable and potential to be collapsed in the neigh- tuned NES so that the controlled system oscillates with
bourhood of the second resonance. Figures 27 and 28 a low-amplitude periodic response. Figure 30 illus-
demonstrate the time history of the response of the trates how NES controls the unstable dynamics of the

123
Nonlinear vibration mitigation of a flexible rotor shaft 2179

Fig. 32 Waterfall diagram of the amplitude-frequency response of the controlled system of Case II for different values of the stiffness
kNL0 of the NES designed for the first natural frequency

unbalanced system into a stable system with low neighbourhood of the second natural frequency is
amplitude periodic response. shown in Fig. 33 for different values of ma0 . Accord-
Parametric study of the dynamics of the rotor ing to the results, the system has its lowest amplitude
system controlled by NES is carried out for different of oscillation for ma0 and the amplitude increases with
values of the mass and stiffness of the NES. The results any change in the tuned mass of the NES. Big changes
are given through Figs. 31, 32, 33 and 34 as the in the mass result in the unstable response near the
waterfall amplitude-frequency diagrams of the first second resonant frequency. Figure 34 shows the
harmonic of the response of the controlled system. jPij j results of the investigation on the effect of the change
and jQij j in these figures indicate the amplitudes of the in the stiffness K NL0 of the spring of the NES on the
jth harmonic of the ith mode of the response of the dynamic response of the rotor shaft-disc.
generalized coordinates p and q, respectively. Fig-
ure 31 shows the effect of the mass of the NES on the
dynamics of the system near the first natural fre- 5 Conclusion
quency. The nonlinear dynamics of the system is
obtained and shown in Fig. 32 for different values of In this paper, the nonlinear dynamics of a system
the stiffness of the NES. It is observed that for both composed of a flexible rotor shaft carrying a longitu-
mass and stiffness, any deviation from the tuned dinally dispositioned unbalanced rigid disc has been
values of the parameter may lead to increase in the studied. The flexible shaft was modelled using the
amplitude of the response or even instabilities in the Euler–Bernoulli beam theory. The geometric and
dynamics of the system. inertial nonlinearities were considered in the dynamics
The amplitude-frequency diagram of the dynamic of the flexible shaft. The unbalanced rigid disc was
response of the controlled system in the assumed as a symmetric rigid disc with an additional

123
2180 J. Taghipour et al.

Fig. 33 Waterfall diagram of the amplitude-frequency response of the controlled system of Case II for different values of the mass ma0
of the NES designed for the second natural frequency

eccentric lump mass. The extended Hamilton principle mounted on the mid-point of the longitudinal axis of a
was utilized to derive the governing equations of the rotor flexible shaft were analysed. The results show
dynamics of the system. The shaft inextensionality that geometric nonlinearity of the flexible shaft is
assumption along with considering a high twisting dominating the inertial nonlinearity and hence, the
rigidity of the shaft, the general governing equations system demonstrates a hardening nonlinear behaviour
were reduced to the flexural-flexural vibrations of the at the vicinity of the first two resonances. Besides, the
system of rotor shaft-disc. The equations of motion effect of longitudinal dispositioning of the unbalanced
were discretized using the Galerkin method exploiting rigid disc was investigated on the dynamics of the
various reduced order models. In order to obtain the system. It was shown that dispositioning the unbal-
steady-state response of the system, two methods were anced disc along the flexible shaft results in change in
used in this study. The first method is the semi- the nonlinear dynamics of the system at various
analytical modified complex averaging (MCXA) modes. It was illustrated that if the unbalanced disc is
technique along with the numerical arc-length contin- located at the node of one of the modes of the vibration
uation method. Direct integration in MATLAB was of the system, that mode is not excited, as expected.
the second method used in this study to solve the The results of the paper revealed that as well as the
governing equations. The nonlinear dynamics of radial unbalance, the longitudinal dispositioning plays
different systems were investigated in this study. a key role in the instability of the system of rotor shaft-
First, a system of an unbalanced flexible shaft was disc. In the second part of the paper, nonlinear
analysed. The results of modal parameters were vibration mitigation of the system of flexible rotor
compared to the theoretical values in order to validate shaft with a longitudinally dispositioned unbalanced
the method used in this paper. Then, nonlinear rigid disc using a nonlinear energy sink (NES) was
dynamics of a system of an unbalanced rigid disc examined. Two different conditions of the unbalanced

123
Nonlinear vibration mitigation of a flexible rotor shaft 2181

Fig. 34 Waterfall diagram of the amplitude-frequency response of the controlled system of Case II for different values of the stiffness
kNL0 of the NES designed for the second natural frequency

disc were considered for the system. For each case, the Declarations
NES was tuned to control the undesired nonlinear
Conflict of interest The authors declare that they have no
vibration of the system close to the first two natural conflict of interest.
frequencies. The results show that the designed NESs
are capable of controlling the system with different
dynamic responses including periodic, quasi-periodic, Appendix
chaotic, and even the system with unstable dynamic
response that may lead to collapse of the system. Formulations of two different methods of complexi-
It is recommended to consider the following factors fication averaging (CXA) technique and harmonic
in the nonlinear vibration analysis of rotor systems in balance method (HBM) are compared in this appendix
the future works: to show that the result of the two methods is the same.
– The effect of structure weight. However, applying the CXA technique to nonlinear
– The effect of flexible supports that are a source of systems is easier than HBM. A single degree of
nonlinear behaviour in rotor structures. freedom dynamical system is considered to be
– The effect of multiple discs on flexible rotor shaft. governed by the following equation of motion.
– The complex multi-modal dynamics of the system mx€ þ cx_ þ kx þ fnl ðx; x_Þ ¼ fex ða  1Þ
of flexible-bladed disc mounted on the flexible
rotor shaft. where m; c; and k denote the mass, damping, and
– The dynamics of flexible rotor shaft on multiple stiffness of the system, respectively. x; x_ and x€ are the
supports. response of the system and its derivatives, respec-
– The experimental study of rotor systems. tively. fnl is the nonlinear restoring force, and fex

123
2182 J. Taghipour et al.

denotes the external force. To apply both the CXA conclusion. In this case, the higher harmonics of the
technique and HBM, a harmonic response is assumed dynamic behaviour are considered in the assumed
for the dynamical system of Eq. (a-1). In the CXA response of the system.
technique, a complex variable w is defined using the
X
NH
response x and its first time-derivative x._ x ðt Þ ¼ xn ðt Þ ða  7Þ
pffiffiffiffiffiffiffi n¼1
w ¼ /ejxt ¼ x_ þ jxx; j ¼ 1 ða  2Þ
where xn ðtÞ is the nth harmonic of x, and NH is the total
where / is the complex amplitude of w, t is time, and x harmonics considered in the response. xn ðtÞ is defined
denotes the oscillation frequency. The response of the using new complex variables /n as
system and its derivatives are defined in terms of
complex variable w and its complex conjugate w. 1   An Bn
xn ¼ /n ejnxt /n ejnxt ¼ sinnxt þ cosnxt
2jnx nx nx
/eixt  /eixt /eixt þ /eixt 1  jnxt jnxt

x¼ ; x_ ¼ ; x_n ¼ / e þ/n e ¼ An cosnxt Bn sinnxt
2ix 2 2jn n
ða  3Þ
_ ixt þ iX /eixt  iX /eixt
x€ ¼ /e ða8Þ
2 2
It is observed that using the formulation of each one of
The complex amplitude / is defined in terms of two the two methods, one can reach to the formulation of
new real variables, the other one. The incremental harmonic balance is an
/ ¼ u1 þ iu2 ¼ j/jeih ; / ¼ j/jeih ; effective method for continuation of the steady-state
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ða  4Þ response of dynamical systems in terms of a control
u2
h ¼ tan1 ¼ ]/; j/j ¼ u21 þ u22 parameter. In this study, on the other hand, the arc-
u1
length continuation is used to find the steady-state
where j/j and h denote the magnitude and phase of /, response of the system utilizing the equations obtained
respectively. The response of the system can be from modified complex averaging technique. In
rewritten as addition, the steady-state response of the system
obtained using MCXA technique is verified in this
j/jeih eixt  j/jeih eixt eiðxtþhÞ  eiðxtþhÞ paper utilizing numerical direct integration method
x¼ ¼ j/j
2iX 2iX using ODE functions in MATLAB.
j/j
¼ sinðxt þ hÞ
x
ða  5Þ
and consequently, References

j/j A B 1. Dutt, J.K., Nakra, B.C.: Dynamics of rotor shaft system on

x¼ ðsinxtcoshþcosxtsinhÞ ¼ sinxt þ cosxt flexible supports with gyroscopic effects. Mech. Res.
x x x
Commun. 22(6), 541–545 (1995)
/eixt þ/eixt 2. Ji, Z., Zu, J.W.: Method of multiple scales for vibration
x_ ¼ ¼ j/jcosðxt þhÞ ¼ Acosxt Bsinxt
2 analysis of rotor-shaft systems with nonlinear bearing ped-
ða6Þ estal model. J. Sound Vib. 218(2), 293–305 (1998)
3. Shabaneh, N.H., Zu, J.W.: Dynamic analysis of rotor-shaft
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