Accepted Manuscript

Nonlinear vibrations and stability analysis of a rotor on high-static-low-dynamic-stiffness

supports using method of multiple scales

H.M. Navazi, M. Hojjati

PII: S1270-9638(17)30094-9
DOI: http://dx.doi.org/10.1016/j.ast.2017.01.007
Reference: AESCTE 3889

To appear in: Aerospace Science and Technology

Received date: 25 June 2016

Revised date: 15 December 2016
Accepted date: 12 January 2017

Please cite this article in press as: H.M. Navazi, M. Hojjati, Nonlinear vibrations and stability analysis of a rotor on
high-static-low-dynamic-stiffness supports using method of multiple scales, Aerosp. Sci. Technol. (2017),
http://dx.doi.org/10.1016/j.ast.2017.01.007

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Nonlinear Vibrations and Stability Analysis of
a Rotor on High-Static-Low-Dynamic-Stiffness
Supports Using Method of Multiple Scales

H. M. Navazi∗, M. Hojjati

Dept. of Aerospace Engineering, Sharif University of Tech., Azadi Ave.,

Tehran, Iran, PO Box: 11155-8639

Total number of pages: 30

Total number of tables: 4

Total number of figures: 5

* Corresponding author, Tel: (98) 21-66164630, Fax: (98) 21-66022731

Email: navazi@sharif.edu

1
Abstract

This paper presents the vibration and stability analyses of an unbalanced

rotor mounted on high-static-low-dynamic-stiffness supports. The stiffness of the

supports are modeled as symmetric of cubic order. Then a second-order multiple

scales method is used for studying the primary resonance of the system. The

types of singular points are investigated and phase-plane of the system is plotted

using analytical and numerical methods. The difference between analytical and

numerical solutions is less than 2 percent.

Keywords: Rotordynamics; Nonlinear vibration; High-static-low-dynamic-stiffness

supports; Stability analysis

2
1. Introduction

Unbalance mass is a common malfunction in rotating systems. Therefore, a

lot of efforts have been made to study the effects of unbalanced mass on the

rotating machinery (Bishop and Gladwell, 1959), (Nicholas et. al, 1976),

(Parkinson, 1991), (Xu and Marangoni, 1994), (Tiwari et. al, 2000), (Sinha et. al,

2004), (Sinou, 2009), (El-Saeidy, 2010), (Darlow, 2012)) [1] - [9]. The first and

simplest mathematical model of the whirling response of a rotor was given by

Jeffcott (1919). In spite of its simplicity, the Jeffcott rotor model is widely used

to study the dynamic response of linear and nonlinear systems. The Nonlinear

unbalance response of horizontal Jeffcott rotors supported by ball bearings with

radial clearances has been investigated by Saito (2010) [10]. It was found that

the unbalance response can be categorized into four types, which consist of

horizontal, vertical, intermediate, and circular modes. Diken (2001) [11]

examined the nonlinear vibrations and subharmonic whirl frequencies of a

Jeffcott rotor with simply supported boundary conditions using harmonic balance

method. He showed that the approximated linear equations can predict the

3
nonlinear vibration, correctly. Pavlovskaia (2004) [12] et al. developed a

nonlinear two-degrees-of-freedom model of a Jeffcott rotor with a preloaded

snubber ring subjected to out-of-balance excitation. The experimental verification

of a nonlinear vibration of a Jeffcott rotor model with a preloaded snubber ring

was reported by Karpenko et al. (2006) [13]. They observed good agreement

between the experimental and theoretical results. Wang (2009) [14] presented

the nonlinear coupling vibration and bifurcation of a high speed centrifugal

compressor modeled as a rigid Jeffcott rotor. Bifurcation diagrams with

parameters of pressure drop and seal length published as a result of this research.

Cheng et al. (2011) [15] published the nonlinear dynamic behaviour of an

unbalanced rotor system supported on ball bearings using Jeffcott rotor model.

They studied various nonlinear phenomena in coupled systems such as periodic,

quasi-periodic, and chaotic motion. Nguyen-Schäfer (2015) [16] assigned a

chapter to study nonlinear rotordynamics of turbochargers. He discussed

boundary conditions, vibration equations, synchronous and asynchronous

vibrations, and etc.

4
Various methods are used to analyze nonlinear vibration of rotordynamics

systems. The two most widely used methods are approximate and numerical

methods. Kligerma et al. (1998) [17] applied fourth-order Rung-Kutta method

to analyze unbalance response of a rotating system with electromagnetic damper

and cubic restoring force. Yau et al. (2001) [18] used Rung-Kutta method to

study bifurcation of an unbalanced bearing-rotor system with nonlinear

suspensions. They used the results of this study for controlling bearing-rotor

systems and optimizing their operation. The nonlinear dynamic response of

balanced rigid rotor supported by rolling element bearing is analyzed using

Newmark- C with Newton-Raphson integration technique by Harsha (2005) [19] .

He studied the effect of radial internal clearance and rotor speed on periodic,

subharmonic and chaotic behaviour of the system. Li et al. (2011) [20] proposed

a novel nonlinear model for rotor/bearing/seal systems. He used Runge-Kutta

method to solve the equation of motion of the system. A finite element model of

a turbocharger rotor supported by nonlinear floating ring bearings has been

presented by Tian (2011) [21]. Dakel et al. (2014) [22] employed finite element

5
analysis to study steady-state dynamic behaviour of a rotor subjected to mass

unbalance and base excitation.

Approximate methods such as perturbation methods are suitable for weakly

nonlinear problems. In fact, using approximation methods gives much insight to

engineers and scientists. This is indeed the significant advantage of using

approximation methods. The popular approximate methods are multiple scales,

harmonic balance, and averaging method (2008) [23]. Plaut et al. (1995) [24]

presented parametric, external, and combination resonances in coupled flexural-

torsional oscillations of an unbalanced rotating shaft using multiple scales

method. The same method is used to analyze free and forced vibrations of a

rotating shaft with nonlinear supports by Ji and Zu (1998) [25]. Free and forced

vibration of a rotor shaft system with viscoelastic supports are investigated based

on the direct multiple scales method by Shabaneh (2003) [26]. Das et al. (2005)

[27] performed a large amplitude free vibration analysis for a rotating beam with

nonlinear springs at each ends using direct multiple scales method. C. Villa et al.

(2008) [28] used harmonic balance method to study periodic response of a

6
complex flexible rotor bearing system having an unbalanced mass. In another

study, Gao et al. (2014) [29] analyzed the vibrations of a non-uniform continuous

Timoshenko beam model for spindle system with nonlinear and nonsmooth

boundaries. They used Galerkin’s method to discretize the nonlinear partial

differential equation, and then an averaging method is employed to obtain

modulation equation. Moradi Tiaki et al. (2015) [30] used multiple scale method

to study primary resonance of an unbalanced cantilever flexible shaft carrying a

rigid disk at its free end. Nonlinear behaviour of a rotating beam with nonlinear

elastic deformation being excited with harmonically varying ground disturbance

has been investigated by Choudhary and Pratiher [31] (2015) using multiple

scales method.

One of the most important applications of nonlinear support is reducing

amplitude of resonance. Dutt and Nakra (1993) [32] studied effect of polymeric

or viscoelastic bearing support on the unbalance response reduction level. They

concluded that a suitable viscoelastic support can reduce rotor unbalance

response over a wide frequency range. Jo et al. (2010) [33] proposed amplitude

7
reduction method for parametric resonance using a new type of dynamic

vibration absorber utilizing quadratic nonlinear coupling. Carrella et al. (2009)

[34] used harmonic balance method to compare responses of an unbalance system

in two cases of linear and nonlinear support. They compared the linear and

nonlinear responses and showed the effectiveness of the nonlinear supports.

This paper presents a second-order multiple scales solution for vibrational

behaviour and stability analysis of an unbalanced rotor on nonlinear supports.

This solution method has not limitations of some other approximation methods

such as inability of providing amplitude-frequency relationship, solving nonlinear

damped equations and etc. The primary resonance and behaviour of the system

around its equilibrium point are studied in this investigation.

8
2. Theoretical Formulation

Damping and stiffness of rotor support may be influenced by different

elements such as bearing, pedestal and etc. (Figure 1). An unbalance rotor with

its supports that is modeled by equivalent springs and dampers is depicted in

Figure 2.

The equation of motion of a Jeffcott rotor excited by an out-of-balance mass

(Figure 2) suspended on cubic nonlinear supports is as below [34]

mx  cx  k1x  k 3x 3  me X 2 cos Xt

, (1)

my  cy  k1y  k 3y 3  me X 2 sin Xt

, (2)

where m , e , and X are mass of the disc, eccentricity and rotational speed,

respectively. c , k1 , and k 3 indicate the damping, linear and nonlinear stiffness of

the rotor support. Also, x and y denote in-plane and out-of-plane displacements,

respectively and dot denotes the time derivative. These equations are quite

similar except for phase of the out-of-balance force. Consequently, the general

form of the equation will consider term of displacement u as follows.

9
 mu  cu  k1u  k 3u 3  me X 2 cos Xt
. (3)

One can rewrite the equation of motion (i.e. Eq. (3)) in dimensionless form as

x aa  2Yˆx a  x  Bˆx 3  82 cos 8U

, (4)

where the dimensionless parameters are

u * c k k e2 X
x , t =Xnt, Yˆ= , Xn2  1 , Bˆ= 3 , 8= . (5)
e 2m Xn m k1 Xn

Prime indicates derivative with respect to dimensionless time, t * . One can

assume the system is weakly nonlinear and the effect of viscose damping is

modest. Therefore, the dimensionless damping and nonlinear parameter are

assume to be

Yˆ  ‹Y, Bˆ  ‹B , (6)

where ‹ is small perturbation parameter and 0  ‹ b 1 . Also, the asterisk is

dropped from t for simplicity.

3. Primary resonance

In this section, the multiple scales method is used to study the primary

resonance of the system. By introducing, detuning parameter T , which

10
quantitatively explains a small deviation 8 from Xn , assuming the fact that

excitation amplitude is small and expanding cos 8t

, the equation of motion can

be described as

x aa  2‹Nx a  x  ‹Bx 3  ‹ 1  T‹

2 e
i 1T‹
t
e
i 1T‹
t

. (7)
2
According to the multiple scale method, one can expand the solution as

x T0 ,T1,T2 ; ‹
 x 0 T0 ,T1,T2
 ‹x 1 T0 ,T1,T2
 ‹ 2x 2 T0 ,T1,T2
 " , (8)

where T0  t , T1  ‹t , and T2  ‹2t are fast, medium, and slow time scales,

respectively. Using the chain rule of differential, one can write

d
 D0  ‹D1  ‹2D2, (9)
dt

d2
dt 2
 D02  2‹D0D1  ‹2 D12  2D0D1 ,
(10)

where D0 , D1 , and D2 indicate s / sT0 , s / sT1 , and s / sT2 , respectively.

Substituting Eqs. (8)-(10) into Eq. (7) and equating the coefficients of different

powers of ‹ , the following equations will be obtained,

s2
‹0 : x 0 T0 ,T1,T2
 x 0 T0 ,T1,T2
 0,
sT02 (11)

11
 s2 s2 s
‹1 : 2 x 0 T0 ,T1,T2
 x 1 T0
,T1
,T2
 2 N x T ,T ,T

sT1sT0 sT02 sT0 0 0 1 2

(12)

3
 x 1 T0 ,T1,T2
 B x 0 T0 ,T1,T2
 0.5 e
i T T1 iT iT T1 iT
e 0
 0.5 e e 0
 0,

s2 s2 s2
2
‹ : x 2 T0 ,T1,T2
 2 x T ,T ,T
 x 0 T0 ,T1,T2

sT02 sT1sT0 1 0 1 2 sT12
s2 s s
2 x 0 T0 ,T1,T2
 2 N x 0 T0 ,T1,T2
 2 N x T ,T ,T

sT2sT0 sT1 sT0 1 0 1 2 (13)

2
 x 2 T0 ,T1,T2
 3 B x 0 T0 ,T1,T2
x 1 T0 ,T1,T2
 1.0 e
iT T1 iT
e T0

iT T1 iT
 1.0 e e 0
T  0.

The solution of Eq. (11), can be written as

x 0 T1,T2
 A T1,T2
e
iT0
 cc,
(14)

where cc stands for complex conjugate of the previous terms. Substituting Eq.

(14) into Eq. (12) and equating secular terms of the equation to zero, leads to

2
A T1,T2
 2 i N A T1,T2
 3 B A T1,T2
A T1,T2
 0.5 e 1  0,
iT T
2i
sT1 (15)

2
A T1,T2
 2 i N A T1,T2
 3 B A T1,T2
A T1,T2
 0.5 e 1  0,
i T T
2 i
sT1 (16)

where overbar indicates the complex conjugate. Eliminating these secular terms,

the particular solution of Eq. (12), can be expressed as

3 3 iT
x1 T0,T1,T2
 B A T1,T2
e 0  cc. (17)
8

After substituting Eqs. (14) and (17) into Eq. (13), vanishing the secular terms

12
 leads to

s2 s s
A T1,T2
 2 N A T1,T2
 2 i A T1,T2

sT1 2
sT1 sT2
(18)
3

2 3
 B 2 A T1,T2
A T1,T2
 1.0 e 1 T  0,
iT T

s2 s s
A T1,T2
 2 N A T1,T2
 2 i A T1,T2

sT1 2
sT1 sT2
(19)
3

2 3
 B 2 A T1,T2
A T1,T2
 1.0 e 1 T  0.
iT T

Solving Eqs. (15) and (16), one can obtain

s i 1.0 i T T1 ¬

2
A T1,T2
 žžž6.0 B A T1,T2
A T1,T2
 4.0 i N A T1,T2
 1.0 e ­­,
­® (20)
sT1 4Ÿ

s i 1.0 i T T1 ¬

2
A T1,T2
  žžž6.0 B A T1,T2
A T1,T2
 4.0 i N A T1,T2
 1.0 e ­­ .
­® (21)
sT1 4Ÿ

Substituting Eqs. (20) and (21), twice into Eqs. (18) and (19), results in

s i  ¬

2 3 2
A T1,T2
  žžž15 B2 A T1,T2
A T1,T2
 24i NB A T1,T2
A T1,T2
­­­
sT2 16 Ÿ ®
i  2 1.0 iT T ¬
 žžž6B A T1,T2
A T1,T2
e
16 Ÿ
1.0 iT T1

 3 B A T1,T2
e 1­
­
®­

(22)


i
16

8N2A T1,T2
 2i N e
1.0 iT T1
 6T e
1.0 iT T1
,

s i  ¬

2 3 2
A T1,T2
 žžž15.0 B2 A T1,T2
A T1,T2
 24.0 i NB A T1,T2
A T1,T2
­­­
sT2 16 Ÿ ®
i  1.0 iT T1 ¬

2
 žžž6.0 B A T1,T2
A T1,T2
e  3.0 B A T1,T2
e ­­
1.0 iT T1
(23)
16 Ÿ ®­

i
16
8.0 N2A T1,T2
 2.0 i N e
1.0 iT T1
 6.0 T e
1.0 iT T1
.

Using Eq. (9), one can write

13
 dA sA sA sA
 F  F2 . (24)
dt sT0 sT1 sT2

Substituting Eqs. (20) and (22) into Eq. (24), yields

i  1.0 i T T1 ¬­ ¬

2
A  ‹ žžž žžž6.0 B A T1,T2
A T1,T2
 4.0 i N A T1,T2
 1.0 e ­­­
­
Ÿ4 Ÿ ®­­®
i  ¬

2 3 2
‹ 2 žžž15.0 B 2 A T1,T2
A T1,T2
 24.0 i NB A T1,T2
A T1,T2
­­­
16 Ÿ ® (25)
i  ¬

2
‹ 2 žžž6.0 B A T1,T2
A T1,T2
e  3.0 B A T1,T2
e ­­
1.0 i T T1 1.0 i T T1

16 Ÿ ®­
‹ 2
i
16
8.0 N2A T1,T2
 2.0 i N e
1.0 i T T1
 6.0 T e
1.0 i T T1

A T1,T2
can be written in polar form as

1
A T1,T2
 aeiC , (26)
2
where a and C are amplitude and phase of response, respectively. Substituting

Eq. (26) into Eq. (25), converting the exponential terms into trigonometric form

using Euler’s formula, and then separating real and imaginary parts yields

3 1 15 2 2 5 3 1
Re : ab  ‹ B a 3  ‹ cos H
 ‹ B a  ‹2B a 2 cos H
 ‹2N2a
8 2 256 32 2
1 2 3 2 (27)
 ‹ N sin H
 ‹ T cos H
 0,
4 4

1 3 9 1
Im : a  ‹ N a  ‹ sin H
 ‹2B a 3 N  ‹2B a 2 sin H
 ‹2 N cos H

2 8 32 4
3 2 (28)
 ‹ T sin H
 0,
4

where

14
 H  T T1  b. (29)

For the steady-state response, the following conditions must be satisfied.

a  0, (30)

H  0. (31)

Therefore, Eqs. (27) and (28) can be rewritten as

 15 2 5 1 2 ­¬ 2 3 1 3 ¬ 1
žžž B a  N a ­­ ‹  ‹ B a 3  žžž ‹  ‹2T ­­­ cos H
 ‹2 N sin H
, (32)
Ÿ 256 2 ­® 8 Ÿ2 4 ®­ 4

3 1 1 3 9 ¬
‹ N a  ‹ 2B a 3 N  ‹2 N cos H
 žž ‹  ‹ 2T  ‹2B a 2 ­­­ sin H
. (33)
8 4 žŸ 2 4 32 ®­

Eliminating H using sin(H )2  cos(H )2  1 in Eqs. (32) and (33), one can express

frequency response function as

2
64N2a 2 51B2‹2a 4  288B T ‹ 2a 2  384B ‹a 2  128.0 ‹ 2 N2  1024‹ T  512 
2
135a 6B 3‹2  360 a 4B2T ‹2  1104 a 4B2‹  384a 2B N2‹2  4608 a 2B T ‹¬­
2ž ­­ 
a žž ­­ (34)
žžŸ3072N2T ‹2  1536a 2B  6144T 2‹  4096 T ®

2
64 27a 4B2‹2  288 a 2B T ‹2  192.0 a 2B ‹  64‹2 N2  576T 2‹ 2  768‹ T  256 .

Carrella et al. [25] plotted the frequency response of this system with

B  0.0001 and N  0.01 using harmonic balance method. In this section, the

frequency response function has been plotted with the same parameter using one

and two terms multiple scales method. The results show that the two terms

15
multiple scales method is in good agreement with harmonic balance method

unlike one term multiple scales method (Figure 3). With two terms multiple

scales method, the maximum amplitude is (a, T) x (56.23,0.1128) , however the

maximum amplitude is (a, T) x (49.41,0.09) for one term multiple scales method.

4. Stability analysis

In this section, the stability of the steady-state motion is investigated using

analytical and numerical methods. For stability study, the system is perturbed

from singular point a 0 , H 0

by a small perturbation a1, H1
as

a  a 0  a1, (35)

H  H 0  H1 . (36)

Substituting Eqs. (35) and (36) into the characteristics equation (i.e. Eq. (34)),

recognizing that a 0 and H 0 satisfy these two equations, expanding for small a1

and H1 , neglecting higher order of a1 and H1 , leads to

 a ¯  M ¯  ¯
¡ 1 °  ¡ 11 M 22 ° ¡a1 ° ,
¡ H ° ¡M °¡ ° (37)
¡¢ 1 °± ¡¢ 21 M 22 °± ¡¢ H1 °±

where M 11 , M 12 , M 21 and M 22 are

16
 
žž 9 ‹ 2B N a 02 9 ‹ 2B a 0 sin H 0
­¬
M 11  ž‹ N   ­­,
žž 8 16 ­­ (38)
Ÿ ­®

1 9 1 3 ¬
M 12  žžž ‹ cos H 0
 ‹ 2B a 02 cos H 0
 ‹ 2 N sin H 0
 ‹ 2T cos H 0
­­­, (39)
Ÿ2 32 4 4 ®­

‹
M 21  2
64 a 0
15 a 05B 2‹  6 cos H 0
a 02B ‹  48 a 03B  16 sin H 0
N ‹
(40)

48 cos H 0
T ‹  32 cos H 0
,

‹
M 22  2
64 a0

6 a03 sin H0
B ‹  48 a0 sin H0
T ‹  16 a0 cos H0
N ‹  32 a0 sin H0
.
(41)

The stability of the system depends on the eigenvalues of the coefficient matrix of

Eq. (37). Using frequency response curve (Figure 3) and considering T  0.05 ,

one can obtain the singular points of the system as Table 1.

Table 1 - Amplitude and phase of singular points of the rotor with

B  0.0001 , N  0.01 and T  0.05
No. Amplitude ( a ) Phase ( H )
1 11.64 2.92
2 31.46 2.50
3 39.99 0.86
Substituting a 0 , H 0 , T , B , and N into Eqs. (38)–(41) and computing the

eigenvalues of the system for each of the singular point, the type of the singular

point can be identified. The eigenvalues of each of the singular points are shown

in Table (2).

17
 Table (2) – Eigenvalues, state and type of singular points of the rotor with

B  0.0001 , N  0.01 and T  0.05

No. Eigenvalue Type of singular point
1 0.009995064626 o 0.03963070529i Stable-Spiral
2 0.017518581420,  0.03744564106 Unstable-Saddle
3 0.009940233855 o 0.03126740918i Stable-Spiral

As it is obvious from Table (2), the first and third singular points are of stable

spiral type, unlike the second one, which is unstable saddle. The characteristics

equations (i.e. Eq. (37)) can be solved using numerical methods. The state-plane

of this system is plotted in Figure 4. This figure confirms that the first and third

singular points are stable spiral type and the second point is an unstable saddle.

According to Table (2), the system has two types of eigenvalues. The eigenvalues

around the first and third singular points are complex conjugate and those for

the second singular point are real. Therefore, the general solution of the system

can be expressed as,

u1t ut
R  c1V1e  c2 V2e 2 , (42)

where u1 and u2 are eigenvalues, V1 and V2 are eigenvectors of the system and c1

and c2 can be obtained using appropriate initial conditions. Comparison between

results of the numerical and analytical analyses is depicted in Figure 5. The

18
behavior of the system has been studied around the singular points. The results

show that the numerical and analytical solutions are in full agreement.

Using the state-plane plot, the behavior of the system can be studied in

neighborhood of singular points. In the case of T  0.05 , the system has three

singular points corresponding to equilibrium points. The middle one is saddle

point and repellor because the trajectories tend to depart from it. The left and

right singular points are spiral that wind inward. These singular points attract

the trajectories. If the initial value of the phase angle is small, the motion is

attracted toward the equilibrium position at the left. However, with increasing

the value of the phase angle, motions may be attracted toward the right

equilibrium point. It is important to know, the final result is quite sensitive to

initial conditions because of the interwoven nature of attraction domains.

Next, consider the case of T  0.05 (see Figure 3). The amplitude and phase of

the singular point corresponding to this detuning parameter is shown in Table

(3).

Table (3) - Amplitude and phase of singular points of the rotor with

19
 B  0.0001 , N  0.01 , and T  0.05
No. Amplitude ( a ) Phase ( H )
1 11.64 0.182

The state and type of the stability for this singular point is shown in Table (4)

and Figure 6. In this case, the system has a single equilibrium point, which is

spiral and attracts the trajectories. The parts of the plane outside the basin of

attraction of this equilibrium point are characterized by nonperiodic motions.

Table (4) – Eigenvalues, and type of stability of singular points of the rotor
with B  0.0001 , N  0.01 , and T  0.05
No. Eigenvalue State and type of stability
1 0.01000288422 o 0.05541721564i Stable-Spiral

5. Summary

In this study, forced vibrations and stability analysis of an unbalanced rotor with

nonlinear supports are performed using analytical and numerical methods. The

rotor is described by the Jeffcott model and the method of multiple scales is used

20
to obtain steady-state response of the system. The type of singular points has

been investigated and state-plane of the system has been plotted using analytical

and numerical methods. The results show a very good agreement between

numerical and analytical solutions. The difference between analytical and

numerical solutions is less than 2 percent that is a negligible error.

21
6. References

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unbalanced flexible rotor. Journal of Mechanical Engineering Science 1,
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25
 List of Figures

Figure 1. Unbalanced rotor before and after deformation ...................................... 27

Figure 2. Physical model of Jeffcott rotor and High-Static-Low-Dynamic Stiffness
support ............................................................................................................................. 27
Figure 3. Frequency response curve of an unbalanced rotor mounted on
nonlinear support for B  0.0001 and N  0.01 using one and two terms in
multiple scales method .................................................................................................. 28
Figure 4. State-plane for the unbalanced rotor with B  0.0001 , N  0.01 , and
T  0.05 ........................................................................................................................... 29
Figure 5. Comparison between numerical and analytical solution for the
unbalanced rotor mounted on nonlinear support with B  0.0001 , N  0.01 , and
T  0.05 around singular points .................................................................................. 30
Figure 6. State-plane for the unbalanced rotor mounted on nonlinear support
with B  0.0001 , N  0.01 , and T  0.05 using numerical and analytical methods
........................................................................................................................................... 31

26
 Figure 1. Unbalanced rotor before and after deformation

cr kr

X
cr

Or
kr
R

cs

OS ,0

ks

ks cs

Figure 2. Physical model of Jeffcott rotor and High-Static-Low-Dynamic Stiffness support

27
 60

55
With two terms
50
With one term
45

40

35
Amplitude

55

30
50

25
45
20
Amplitude

15 40

10
35

-1 -0.5 0 0.5
σ
Figure 3. Frequency response curve of an unbalanced rotor mounted on nonlinear support for
B  0.0001 and N  0.01 using one and two terms in multiple scales method

28
 4

Second singular point

(Unstable-Saddle)
3

2
a First singular point
(Stable-Spiral)

Third singular point

1
(Stable-Spiral)

0
0 10 20 30 40 50
H
Figure 4. State-plane for the unbalanced rotor with B  0.0001 , N  0.01 , and T  0.05

29
 4

a 2

Analytical solution
1

0 10 20
H 30 40 50

Figure 5. Comparison between numerical and analytical solution for the unbalanced rotor
mounted on nonlinear support with B  0.0001 , N  0.01 , and T  0.05 around singular
points

30
 4

Numerical solution
2 Analytical solution

a
1

Singular point
(Stable-Spiral)
1
0 5 10 15 20
H
Figure 6. State-plane for the unbalanced rotor mounted on nonlinear support with B  0.0001 ,
N  0.01 , and T  0.05 using numerical and analytical methods

31