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1 57
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3 Propulsion and Power Research 59
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6 www.sciencedirect.com 62
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10 ORIGINAL ARTICLE 66
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13 Q1 Nonlinear vibration analysis of a rotor supported 69
14 70
15 by magnetic bearings using homotopy 71
16 72
17 Q2 perturbation method 73
18 74
19 75
20 Aboozar Heydaria, Mina Mirparizib,c, Farshad Shakeriaskib,n, 76
21 Farhad Sheykh Samanib, Mohamadreza Keshavarzid 77
22 78
23 79
24 a 80
National Iranian Oil Company, Iran
25 b
Shahid Bahonar University of Kerman, Kerman, Iran
81
26 c
Q3 University of Yazd, Yazd, Iran 82
27 d
Q5 University of Sistan and Baluchestan, Zahedan, Iran 83
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Received 21 October 2015; accepted 7 January 2017
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32 88
33 KEYWORDS Abstract In this paper, the effects of nonlinear forces due to the electromagnetic field of 89
34 bearing and the unbalancing force on nonlinear vibration behavior of a rotor is investigated. 90
Nonlinear vibration
35 behavior; The rotor is modeled as a rigid body that is supported by two magnetic bearings with eight- 91
36 Rotor; polar structures. The governing dynamics equations of the system that are coupled nonlinear 92
37 Magnetic bearing; second order ordinary differential equations (ODEs) are derived, and for solving these 93
38 Unbalancing force; equations, the homotopy perturbation method (HPM) is used. By applying HPM, the 94
39 Coupled nonlinear possibility of presenting a harmonic semi-analytical solution, is provided. In fact, with equality 95
40 second order equations the coefficient of auxiliary parameter (p), the system of coupled nonlinear second order and 96
41 homotopy perturbation non-homogenous differential equations are obtained so that consists of unbalancing effects. By 97
42 considering some initial condition for displacement and velocity in the horizontal and vertical 98
43 directions, free vibration analysis is done and next, the forced vibration analysis under the 99
44 effect of harmonic forces also is investigated. Likewise, various parameters on the vibration 100
45 behavior of rotor are studied. Changes in amplitude and response phase per excitation 101
46 frequency are investigated. Results show that by increasing excitation frequency, the motion 102
47 amplitude is also increases and by passing the critical speed, it decreases. Also it shows that the 103
48 magnetic bearing system performance is in stable maintenance of rotor. The parameters 104
49 affecting on vibration behavior, has been studied and by comparison the results with the other 105
50 106
n
51 Corresponding author. 107
52 E-mail address: 108
53 f.shakeriaski@gmail.com (Farshad Shakeriaski). 109
54 Peer review under responsibility of National Laboratory for Aeronautics and Astronautics, China. 110
55 http://dx.doi.org/10.1016/j.jppr.2017.07.004 111
56 2212-540X & 2017 National Laboratory for Aeronautics and Astronautics. Production and hosting by Elsevier B.V. This is an open access article under the 112
CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
method, Propulsion and Power Research (2017), http://dx.doi.org/10.1016/j.jppr.2017.07.004
 2 Aboozar Heydari et al.

1 references, which have a good precision up to 2nd order of embedding parameter, it implies the
2 accuracy of this method in current research.
3 & 2017 National Laboratory for Aeronautics and Astronautics. Production and hosting by Elsevier B.V.
4 This is an open access article under the CC BY-NC-ND license
5 (http://creativecommons.org/licenses/by-nc-nd/4.0/).
6
7
8
9 57
10 1. Introduction account the nonlinearity due to the geometric coupling of 58
the magnetic actuators as well as that arising from the 59
11
Investigation on dynamic behavior of a rotor is a basic actuator forces that are nonlinear function of the coil current 60
12
component of rotating machines at industry which scientists and the air gap [13] The collocation method is used to find 61
13
have studied to understand it. On the other hand, to both stable and unstable periodic solutions for geometric 62
14
overcome on friction in rotors which cause energy dissipa- coupling with the rotor weight considered by Chinta, et al. 63
15
tion, engineers utilize magnetic bearing that are more The effects of geometric coupling on the nonlinear response 64
16
efficient in this systems [1]. Rankine studied on the of a magnetically supported rotor were investigated [14,15]. 65
17
centrifugal force of rotating shafts [2]. Nonlinear forces in Numerical study that did by Jang and, Chen on the response 66
18
contact, existing clearance between frames and failure in of a flexible rotor supported by magnetic and auxiliary 67
19
bearings are three main reasons for producing nonlinear bearings revealed the occurrence of sub-synchronous vibra- 68
20
vibration which is main factor for noises [3,4]. Magnetic tions of periods-2, -4 and -8, quasi-periodicity and chaos 69
21
bearings are new generation which momentum is trans- [16]. The non-linear oscillation caused by gyroscopic 70
22
mitted by magnetic field. These kinds of bearings create effects is analyzed by Mohamed and Emad [17]. Hebbale 71
23
nonlinear vibration in rotors because of three main sources: and Taylor investigated the nonlinearities in magnetic 72
24
force stimuli, eddy current and gyroscopic effects [1]. bearings due to the effects of cross-coupling that arose 73
25
In recent years, scientists researched on nonlinear forces from eddy currents during shaft rotation [18]. Virgin et al. 74
26
effects on rotors vibration responses. Inayat Hossein [5] has [19] modeled the electromagnetic forces based on flux 75
27
investigated nonlinear dynamic of a flexible rotor in active control. Therefore, in their work in addition to the effect of 76
28
magnetic bearings numerically which illustrated rotor unba- geometric coupling, the electromagnetic forces also caused 77
29
lance effects on its responses. Ji et al. [6], have studied the nonlinearities of the system. For a rigid rotor, Rad- 78
30
nonlinear response of rigid rotor with considering nonlinear houane Sghir and Mnaouar Chouchane investigated the 79
31
forces effects in active magnetic bearings by multiple scale stability analysis of a flexible rotor supported by journal 80
32
method. Norbert and Helmut [7], have investigated non- bearings using a nonlinear dynamic model and a short 81
33
linear forces effects on active magnetic rotors and its bearing approximation.they also studied the effect of rotor 82
34
periodic responses by numerical integration method. Ji flexibility and bearing characteristics on the stability 83
35
and Leung [8], studied nonlinear forces effects on active boundaries. They found that the stable operating speed 84
36
rotors under super harmonic resonance conditions by using range decreases with rotor flexibility and bearing parameter 85
37
of perturbation method. Likewise, they investigated bifur- [20]. Also authors used some references to investigate semi- 86
38
cation behavior of rotors supported by active magnetic analytical method [21–32]. 87
39
40 bearings by analyzing of control feedback effects. They 88
41 analyzed the vibrations on horizontal and vertical directions 89
42 and found that, the vibratory behavior in the vertical 2. Equations 90
43 direction can be reduced on the center manifold to the 91
44 Bogdanov-Takens form [9]. Inayat Hossein [10], studied a Rotor is modeled as a rigid body supported by two active 92
45 rigid rotor responses supported by active magnetic bearings. magnetic bearings with eight polar structures. The govern- 93
46 He indicated that oscillations are periodic, semi-periodic ing dynamics equations of the system are derived in form of 94
47 and chaotic for disparate parameters. Zhang [11], utilized two coupled nonlinear second order ordinary differential 95
48 perturbation method to investigate nonlinear motion and Eq. [6]. For solving these, the homotopy perturbation 96
49 behavior of a rotor supported by active magnetic bearing method (HPM) has been used. By applying HPM, the 97
50 with considering time-varying stiffness in vertical and possibility of presenting a harmonic and semi-analytical 98
51 horizontal directions. Ji et al. studied the effects of magnetic solution, is provided. In fact, with equality the coefficient of 99
52 bearing's nonlinear forces on nonlinear vibration behavior auxiliary parameter (p), the system of coupled nonlinear 100
53 of rotor [12]. Jawaid and Inayat-Hussain researched on a second order and non-homogenous differential equations 101
54 numerical investigation on the bifurcations of a flexible are obtained, that consist of unbalancing effects and non- 102
55 rotor response in active magnetic bearings taking into linear forces due to the electromagnetic field of bearing. 103
56 104
105

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
method, Propulsion and Power Research (2017), http://dx.doi.org/10.1016/j.jppr.2017.07.004
 Nonlinear vibration analysis of a rotor 3

1 57
2 Nomenclature i0 initial current (unit: A) 58
3 I0 pre-magnetization current (unit: A) 59
4 f electromagnetic force (unit: N) 60
5 C0 steady state air gap Greek letters 61
6 kp proportional constant 62
kd differential constant α angular (unit: rad/s)
7 63
m rotor mass (unit: kg) ω rotor angular velocity (unit: rad/s)
8 c damping coefficient (unit: Ns/m) 64
μ magnetic penetrance
9 e rotor eccentricity 65
μ0 magnetic penetrance in free space (unit: H/m)
10 fy resultant electromagnetic in x (unit: N) 66
ϕ magnetic flux (unit: Wb)
11 fy resultant electromagnetic in y (unit: N) 67
12 p auxiliary parameter in HPM (unit: dimensionless) 68
Subscripts
13 B density of magnetic flux (unit: Wb) 69
14 Aa gap's area 70
I magnetic coil current HPM homotopy perturbation method
15 PD proportional-derivative controllers 71
16 N number of coil turns 72
ODEs ordinary differential equation
17 ix current in x direction(unit: A) 73
iy current in y direction(unit: A)
18 74
19 75
20 To control rotor motions which causes unbalancing in the nonlinearity of the magnetic force and also the 76
21 system the proportional-derivative (PD) controllers are produced currents in the vicinity of equilibrium state. 77
22 used. Rotor system model is illustrated in Figure 1. 78
23 I 1 ¼ I 8 ¼ I 0 −iy 79
The stator has eight pole pairs. For simplicity, the
24 I 4 ¼ I 5 ¼ I 0 þ iy 80
saturation and the hysteresis of the magnetic core material, ð4Þ
25 the eddy current losses, and all other secondary elects are I 6 ¼ I 7 ¼ I 0 −ix 81
26 82
neglected. All magnets are assumed to have an identical I 2 ¼ I 3 ¼ I 0 −ix
27 structure and the same number of windings. According to 83
28 electromagnetic theory, the electromagnetic force fi pro- With respect to Figure 1 the total electromagnetic 84
29 duced by every pair of electromagnets can be expressed as forces in vertical and horizontal directions are expressed 85
30 follows [6]. by Eq. (5). 86
31 f x ¼ ð f 6 þ f 7 −f 2 −f 3 Þ cos α þ ð f 5 þ f 8 −f 1 −f 4 Þ sin α 87
32 1 I2 88
f i ¼ − μ0 Aa N 2 i2 cos φ i ¼ 1; 2; :::; 8 ð1Þ f y ¼ ð f 1 þ f 8 −f 4 −f 5 Þ cos α þ ð f 2 þ f 7 −f 3 −f 6 Þ sin α
33 4 δi 89
34 ð5Þ 90
It is visible that force changes by coil current and
35 91
distance between bearing and rotor cores nonlinearly. Here, the nonlinear effects of the magnetic bearing
36 92
When the rotor deviates from the center of bearings, the system on the nonlinear vibration response of rotor are
37 93
radial clearance is expressed as follow, where C 0 is the studied. The rotor (suspended in the magnetic bearing
38 94
steady state air gap and α is the angel defined in system) is supposed to be rigid and suspended in the
39 Figure 1, and x, y are rotor deviation from the center 95
40 of the bearings 96
41 97
42 δi ¼ C 0 7x sin α ∓ y cos α i ¼ 1; 5 98
43 δi ¼ C 0 7x sin α 7 y cos α i ¼ 4; 8 99
ð2Þ
44 δi ¼ C 0 7x cos α ∓ y sin α i ¼ 2; 6 100
45 101
δi ¼ C 0 7x cos α 7 y sin α i ¼ 3; 6
46 102
47 For magnetically suspended rotors various control tech- 103
48 niques have been used to achieve various aims. However, in 104
49 this article, only the current PD controller is considered [6]: 105
50 106
ix ¼ k p x þ kd ẋ
51 107
iy ¼ k p y þ kd ẏ ð3Þ
52 108
53 109
54 The coil current that equals the total electromagnetic 110
55 bias current and control current is defined (expressed 111
56 introduced) by Eq. (4) in which I 0 is pre-magnetization 112
current. The pre-magnetization current is used to decrease Figure 1 Electromagnetic forces from magnetic bearing to rotor [6].

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
method, Propulsion and Power Research (2017), http://dx.doi.org/10.1016/j.jppr.2017.07.004
 4 Aboozar Heydari et al.

1 magnetic bearing system. The unbalanced rotor equations of ẍ þ 2μbẋ þ b2 x−f cos ωt−pða1 x3 þ a2 xy2 þ a3 x2 ẋþ 57
ð10Þ
2 motion are expressed by Eq. (6). a4 ẋy2 þ a5 xẏ2 þ a6 xẋ2 þ a7 xyẏÞ ¼ 0 58
3 59
mẍ þ cẋ ¼ f x þ meω2 cos ωt
4 ð6Þ ẏ þ 2μbẏ þ b2 y−f sin ωt−pða1 y3 þ a2 yx2 þ a3 y2 ẏþ 60
5 mÿ þ cẏ ¼ f y þ meω2 sin ωt ð11Þ 61
a4 ẏx2 þ a5 yẋ2 þ a6 yẏ2 þ a7 yxẋÞ ¼ 0
6 62
7 In Eq. (6), m; c; e; ω; f x ; f y are rotor mass, damping 63
coefficient, rotor eccentricity, rotor angular velocity and The expanded form of the solution is used in the form of
8 64
resultant electromagnetic forces of all magnets in x and y Eq. (12):
9 65
10 direction respectively. In Eq. (6) the rotor weight force is x ¼ x0 þ px1 þ p2 x2 þ ::: 66
neglected. ð12Þ
11 y ¼ y0 þ py1 þ p2 y2 þ ::: 67
12 By substituting the Eqs. (2)–(4) into the Eq. (1), the force 68
13 is derived as a nonlinear function of control current and the By substitution (p ¼ 1), the solution is in the form (13) 69
14 distance between the rotor and bearing in x and y direction. x ¼ x0 þ x1 þ x2 þ ::: 70
15 For small vibration domain (amplitude), the force f i is ð13Þ 71
y ¼ y0 þ y1 þ y2 þ :::
16 expanded by taylor series and then the higher order non- 72
17 linear terms are omitted. Substituting the Eqs. (10) and (11) in the Eq. (12) and by 73
18 ẍ þ 2μbẋ þ b2 x−ða1 x3 þ a2 xy2 þ a3 x2 ẋ þ a4 ẋy2 equality of the same power's p0 , the Eq. (14) is concluded. 74
19 ( 75
þa5 xẏ2 þ a6 xẋ2 þ a7 xyẏÞ ¼ f cos ωt ẍ0 þ 2μbẋ0 þ b2 x0 −f cos ωt ¼ 0
20
ð7Þ p :
0
ð14Þ 76
21 ÿ þ 2μbẏ þ b2 y−ða1 y3 þ a2 yx2 þ a3 y2 ẏ þ a4 ẏx2 ÿ0 þ 2μbẏ0 þ b2 y0 −f sin ωt ¼ 0 77
22 þa5 yẋ2 þ a6 yẏ2 þ a7 yxẋÞ ¼ f sin ωt Considering the steady state response, the solution of the 78
23 Eq. (14) is: 79
24 80
In Eq. (7) the parameters b, µ, ω and the nonlinear x0 ¼ A cos ðωt−φÞ
25 81
coefficients α are expressed by Eq. (8): ð15Þ
26 y0 ¼ A sin ðωt−φÞ 82
27 b ¼ 8ðp cos α−1Þ
2
83
Where the value of coefficient A and φ are introduced by
28 2μ ¼ 8d cos α þ C 1 84
29 Eq. (16) 85
a1 ¼ 16ð cos 4 α þ sin 4 αÞ−24p cos 3 α þ 8p2 cos 2 α
30 f 86
a2 ¼ 96ð cos 2 α  sin 2 αÞ−72pð cos α  sin 2 αÞ þ 8p2 sin 2 α A ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
31
a3 ¼ −24 cos 3 α þ 16pd cos 2 α 4μ b ω þ b4 −2b2 ω2 þ ω4
2 2 2 87
32 ð16Þ 88
a4 ¼ −24 cos α  sin 2 α ð8Þ 2ωμb
33 φ ¼ tan −1 ð 2 2 Þ 89
a5 ¼ 8d sin α
2 2 b −ω
34 90
35 a6 ¼ 8d 2 cos 2 α By equality of the same power's p the system of coupled 91
36 a7 ¼ 16pd sin 2 α−48d sin 2 α  cos α differential Eq. (17) is derived. 92
37 B2 C 2 ẍ1 þ 2μbẋ1 þ b2 x1 −a2 x0 y20 −a6 x0 ẋ20 93
38 f¼ 94
cos α
39 −a3 x20 ẋ0 −a7 x0 −a4 ẋ0 y20 −a5 x0 ẏ20 ¼ 0 95
40 Where p; d; B2 ; C 1 ; C2 are defined by Eq. (9): p: ð17Þ 96
41 kp C0 kd C0 ÿ1 þ 2μbẏ1 þ b y1 −a2 y0 x20 −a6 y0 ẏ20
2 97
42 p¼ ; d¼ 98
I0 I0B −a3 y20 ẏ0 −a7 y0 −a4 ẏ0 x20 −a5 y0 ẋ20 ¼ 0
43 CC 0 99
44 C1 ¼ ; C2 ¼ eω2 I 0 ð9Þ After substituting the x0 , y0 from the Eq. (15) in the Eq. 100
B
45 (17) and by simplification, final equations are obtained: 101
4mC 30
46 B¼ ẍ1 þ 2μ bẋ1 þ b2 x1 þ Fs1 sin ðωt−φ0Þ þ Fc1 cos ðωt−φ0Þþ
102
47 μ0 N 2 AI 20 103
Fs3 sin ð3ωt−3φ0Þ þ Fc3 cos ð3ωt−3φ0Þ ¼ 0
48 104
49 ÿ1 þ 2μ bẏ1 þ b2 y1 þ Gs1 sin ðωt−φ0Þ þ Gc1 cos ðωt−φ0Þþ 105
50 Gs3 sin ð3ωt−3φ0Þ þ Gc3 cos ð3ωt−3φ0Þ ¼ 0 106
51 3. Solving the system of equations by 107
ð18Þ
52 homotopy perturbation method (HPM) 108
53 Then by solving these coupled equations the final 109
54 The dependent system of equations is solved by HPM. solution is computed as: 110
55 For this purpose the linear and nonlinear terms are x1 ¼ A11 cos ðω t−φ1Þ þ A13 cos ð3 ω t−3 φ1Þ 111
56 separated, then the auxiliary parameter (p) is substituted ð19Þ 112
y1 ¼ B11 cos ðω t−φ1Þ þ B13 cos ð3 ω t−3 φ1Þ
and equations are expressed as Eqs. (10) and (11).

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
method, Propulsion and Power Research (2017), http://dx.doi.org/10.1016/j.jppr.2017.07.004
 Nonlinear vibration analysis of a rotor 5

1 Where the parameters A11 ; A13 ; B11; B13 are defined by 57

2 the Eq. (20) and the expressions for the coefficients 58
3 Fs1 ; Fc1 ; Fs3 ; Fc3 ; Gs1 ; Gc1 ; Gs3 ; Gc3 are explained 59
4 in the Appendix: 60
5 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 61
Fc12 þ Fs12
6 A11 ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 62
7 4μ2 b2 ω2 þ b4 −2b2 ω2 þ ω4 63
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
8 Fc32 þ Fs32 64
9 A13 ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 65
10 81ω4 þ 36μ2 b2 ω2 −18b2 ω2 þ b4 66
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ð20Þ
11 Gc12 þ Gs12 67
12 B11 ¼ p ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 68
4μ2 b2 ω2 þ b4 −2b2 ω2 þ ω4
13 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 69
14 Gc32 þ Gs32 70
B13 ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
15 81ω4 þ 36μ2 b2 ω2 −18b2 ω2 þ b4 71
16 72
17 Finally: 73
18 x2 ¼ V2110 cos ðωt−φ2Þ þ V2330 cos ð3ωt−φ3Þ 74
19 þV2132 cos ðωt−φ4Þ þ V2112 cos ðωt−φ5Þ 75
20 þV2312 cos ð3ωt−φ6Þ þ V2532 cos ð5ωt−φ7Þ 76
21 y2 ¼ L2110 cos ðωt−φ2Þ 77
22 þL2330 cos ð3ωt−φ3Þ þ L2132 cos ðωt−φ4Þ 78
23 79
þL2112 cos ðωt−φ5Þ þ L2312 cos ð3ωt−φ6Þ
24 80
þL2532 cos ð5ωt−φ7Þ ð21Þ
25 81
26 82
27 The coefficients of Eq. (21) are at the Appendix. 83
28 84
29 85
30 4. Numerical results 86
31 87
32 In this section, the effects of nonlinear forces of 88
33 magnetic bearing and the unbalancing forces are inves- 89
34 tigated and the response of the system for different 90
35 parameters is studied. 91
36 In order to verify the accuracy of results, the present 92
37 results are compared with the results of Ref. [6]. 93
38 Figure 2 shows comparison between results of HPM 94
39 (present research) and homotopy method [6] for studying 95
40 the vibration behavior of a rotor by considering 96
41 f ¼ 0:05; d ¼ 0:05; p ¼ 1:22; ω ¼ 2:5: 97
42 It can be found that, the existing results have a good 98
43 agreement with results in literature. 99
44 100
45 4.1. Free vibration 101
46 102
47 The results are achieved under these initial conditions: 103
48 xð0Þ ¼ 0:18; yð0Þ ¼ 0:18; ẋð0Þ ¼ 0; ẏð0Þ ¼ 0 104
49 105
50 And a1 to a7 were considered (−0.9879, −0.018, −0.016, 106
51 0.00, 0.00002, 0.0001, 011.05) respectively. 107
52 Figures 3 and 2 show the rotary axis responses in 108
53 vertical and horizontal directions. It can be seen that, the 109
54 system is been damped around t ¼ 8. Also, increasing of Figure 2 Verify the accuracy of results. Dynamics behavior of rotor 110
55 power's p causes the increasing of motion amplitude in in horizontal and vertical direction (a) in Ref. [6], and (b) in this work. 111
56 112

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
method, Propulsion and Power Research (2017), http://dx.doi.org/10.1016/j.jppr.2017.07.004
 6 Aboozar Heydari et al.

1 57
2 58
3 59
4 60
5 61
6 62
7 63
8 64
9 65
10 66
11 67
12 68
13 69
14 70
15 71
16 72
17 73
18 74
19 75
20 76
21 77
22 78
23 79
24 Figure 5 Changes of rotor deviation in steady state and (a) horizontal 80
direction, (b) vertical direction by considering ω ¼ 1:5; b ¼ 3; f ¼ 0:09.
25 81
26 82
27 83
28 84
29 85
30 Figure 3 The effect of auxiliary parameter (p) on rotor deviation 86
31 (a) in horizontal directions, and (b) in vertical directions. 87
32 88
33 89
34 90
35 91
36 92
37 93
38 94
39 95
40 96
41 97
42 98
43 99
44 100
45 101
46 102
47 Figure 4 Focus responses of rotary axis.
103
48 104
49 105
50 the both directions. "Nonlinear response p" illustrates 106
51 nonlinear response with p1 and "nonlinear response p2 " 107
52 shows nonlinear response with p2 . 108
53 In free vibration analyses, rotor has a steady state 109
54 response. As depicted in Figure 4, system is character- Figure 6 Changes of rotor deviation from transient to steady state 110
55 ized by spiral convergence towards the steady-state (a) in horizontal direction, and (b) in vertical direction by considering 111
56 equilibrium (0, 0). ω ¼ 1:5; b ¼ 3; f ¼ 0:1. 112

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
method, Propulsion and Power Research (2017), http://dx.doi.org/10.1016/j.jppr.2017.07.004
 Nonlinear vibration analysis of a rotor 7

1 Table 1 The effects of excitation amplitude on response 57

2 amplitude. 58
3 59
4 f Ax Ay 60
5 0.05 0.025 0.025
61
6 0.06 0.027 0.027 62
7 0.09 0.03 0.03 63
8 0.1 0.04 0.04 64
9 0.5 0.25 0.2 65
0.6 0.3 0.27
10 0.9 0.35 0.3
66
11 1 2.27 0.32 67
12 1.1 2.47 0.4 68
13 2 3.2 0.65 69
14 70
15 71
16 72
17 73
18 74
19 75
20 76
21 77
22 78
23 79
24 80
25 Figure 7 Changes of rotor deviation from transient to steady state 81
26 (a) in horizontal direction, and (b) in vertical direction by considering 82
27 ω ¼ 1:5; b ¼ 3; f ¼ 1. 83
28 84
29 85
30 86
31 87
32 88
33 89
34 90
35 91
36 92
37 93
38 94
39 95
40 96
Figure 9 Changes of rotor deviation from transient to steady state
41 97
(a) in horizontal direction, and (b) in vertical direction by considering
42 98
Figure 8 The effects of excitation amplitude on response amplitude. w ¼ 1:5; b ¼ 1:5; f ¼ 0:05; μ ¼ 0:7.
43 99
44 By focusing on Figure 8, it can be seen that, with 100
45
4.2. Forced vibration increasing of excitation force amplitude ð f Þ, the motion 101
46 amplitude ðAÞ also increases. 102
47
In this section, the forced vibration of rotary axis is Table 1 shows motion amplitude ðAÞ for different 103
48
investigated for different parameters. Figures 5–7 illus- amounts of ð f Þ. 104
49 105
trate rotary axis center changes due to forces amplitude
50 106
with considering a 1 ¼ −0.9879, a2 ¼ 011.05, a 3 ¼ 0.0, 4.3. Damping effects on response amplitude
51 107
a4 ¼ −0.016, a5 ¼ 0.00002, a6 ¼ 0.0001, a7 ¼ −0.018.
52 108
From these figures, it can be found that the steady state In addition to previous parameters, the effects of μ on
53 109
responses are exist for fo0.1, and by passing of time and rotor behavior are also important. In this state, the non-
54 110
with increasing the excitation amplitude, the system linear parameters cause amplitude deviation that damping
55 111
response changes from steady to transient state. prevents it.
56 112

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
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 8 Aboozar Heydari et al.

1 57
2 58
3 59
4 60
5 61
6 62
7 63
8 64
9 65
10 66
11 67
12 68
13 69
14 Figure 12 Damping effects on response amplitude.
70
15 71
16 72
17 Table 2 Motion amplitude changes for different values of μ on 73
18 vertical and horizontal direction. 74
19 75
μ Ax Ay
20 76
21 0.002 7.2 8 77
22 0.02 5.5 5.5 78
23 0.05 5.3 5.3 79
24 0.09 4.6 4.9 80
Figure 10 Changes of rotor deviation from transient to steady state 0.2 4.2 4.4
25 0.25 2.7 3.7
81
26 (a) in horizontal direction, and (b) in vertical direction by considering 82
0.3 1.5 1.5
ω ¼ 1:5; b ¼ 1:5; f ¼ 0:05; μ ¼ 0:25.
27 0.4 0.9 0.9 83
28 0.5 0.38 0.52 84
29 0.7 0.021 0.185 85
30 86
31 87
32 88
33 89
34 90
35 91
36 92
37 93
38 94
39 95
40 96
41 97
42 98
43 99
44 Figure 13 The effect of auxiliary parameter (p) on amplitude per 100
45 excitation frequency. 101
46 102
47 Figures 9–11 illustrate rotor deviation changes for 103
48 different amounts of µ. 104
49 Figure 12 indicates that by increasing of µ, the motion 105
50 amplitude in two directions decreases. Table 2 shows 106
51 motion amplitude changes for different values of µ. 107
52 108
53 109
54 4.4. Excitation frequency effects on response amplitude 110
55 Figure 11 Changes of rotor deviation in steady state and 111
56 (a) horizontal direction, (b) vertical direction by considering Figure 13 illustrates that by increasing of ω the amplitude 112
ω ¼ 1:5; b ¼ 1:5; f ¼ 0:05; μ ¼ 0:4. motion also increases, but for limited amounts of ω, and after

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
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 Nonlinear vibration analysis of a rotor 9

1 Coupled nonlinear second order equations have been 57

2 derived and homotopy perturbation method (HPM) has 58
3 been applied to solve them. The effects of various para- 59
4 meters on the behavior of rotor have been analyzed. 60
5 It can be seen that by increasing the excitation force 61
6 amplitude (f), the motion amplitude also increases. And for 62
7 fo0.1, system is in steady state. By increasing the response 63
8 amplitude and passing time it changes to transient. 64
9 By decreasing the pre magnetic current, natural fre- 65
10 quency increases and it cause delayed resonance. 66
11 Also with increasing the gap between rotor and bearing, 67
12 the amplitude motion decreases and resonance is postponed. 68
13 It can be found that, the motion amplitudes in vertical and 69
14 Figure 14 The effect of pre magnetic current on amplitude per horizontal directions decreases when µ increases. The system 70
15 excitation frequency. behaviors are investigated by different parameters. These 71
16 investigations are efficient for designing of controllers. 72
17 73
18 Acknowledgments Q4 74
19 75
20 This research is supported by the National Iranian Oil 76
21 Company, Pars Oil and Gas Company. The authors of the 77
22 study thank these companies. 78
23 79
24 80
25 Appendix 81
26 82
Fc ¼ Gs ¼ meω2
27 83
Fc
28 V0 ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 84
29 4μ b ω þ b4 −2b2 ω2 þ ω4
2 2 2
85
30 Gc 86
L0 ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
31 Figure 15 The effect of gaps between rotor and bearing on motion 4μ b ω þ b4 −2b2 ω2 þ ω4
2 2 2 87
32 phase per excitation frequency. 1 3 1 88
33 Fs1 ¼ a3 V03 ω þ a4 V0ωL02 − a7 V0L02 ω 89
4 4 4
34 that, it decreases. Likewise, it shows that, the nonlinear terms Fc1 ¼ − 34 a1 V03 − 14 a2 V0L02 − 34 a5 V0L02 ω2 90
35 are more effective on amplitude proportion to linear ones. 91
As it is clear, by increasing the power of auxiliary − 14 a6 V03 ω2
36 92
37 parameter in range of ð0opo1Þ the maximum motion Gs1 ¼ − 14 a6 L03 ω2 − 14 a2 L0V02 − 34 a1 L03 93
38 amplitude also increases. But after that, it is almost 94
− 34 a5 L0V02 ω2
39 constant. Therefore in this article studying on higher power 95
40 of auxiliary parameter has been neglected. 3 1 1 96
Gc1 ¼ − a4 L0ωV02 þ a7 V02 ωL0− a3 L03 ω
41 Figure 14 indicates by decreasing of pre magnetic, current 4 4 4 97
42 natural frequency increases, so resonance phenomena delays. 2bFs1ωμ−b2 Fc1 þ Fc1ω2 98
V1c1 ¼
43 ω4 þ ð4μ2 −2Þb2 ω2 þ b4 99
44 4.5. The effects of gap between rotor and bearing on Fs1ω2 −b2 Fs1−2bFc1ωμ 100
45 V1s1 ¼ 4 101
response amplitude ω þ ð4μ2 −2Þb2 ω2 þ b4
46 102
b2 Gc1−2bGs1ωμ−Gc1ω2
47 As displayed in Figure 15, by increasing the gap between L1c1 ¼ − 4 103
48 ω þ ð4μ2 −2Þb2 ω2 þ b4 104
rotor and bearing, the motion amplitude decreased so
49 b2 Gs1−2bGc1ωμ−Gs1ω2 105
resonance phenomena delays. L1s1 ¼ − 4
50 ω þ ð4μ2 −2Þb2 ω2 þ b4 106
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
51 V11 ¼ V1c12 þ V1s12 107
52 5. Conclusion pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 108
53 L11 ¼ L1c12 þ L1s12 109
54 In this paper, the response of a rotor supported by 1 110
Fs110 ¼ L02 a4 V11ω þ a5 L0ω2 V0L11
55 magnetic bearings and the effects of nonlinear forces due 2 111
to the electromagnetic field of bearing and the unbalancing 1
56 þ V02 a3 V11ω 112
force on vibration of rotor is investigated. 2

Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
method, Propulsion and Power Research (2017), http://dx.doi.org/10.1016/j.jppr.2017.07.004
 10 Aboozar Heydari et al.

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Please cite this article as: Aboozar Heydari, et al., Nonlinear vibration analysis of a rotor supported by magnetic bearings using homotopy perturbation
method, Propulsion and Power Research (2017), http://dx.doi.org/10.1016/j.jppr.2017.07.004