Documente Academic
Documente Profesional
Documente Cultură
Journal of Vibration and Acoustics Copyright © 2008 by ASME FEBRUARY 2008, Vol. 130 / 011002-1
冦 冧
where p = N1 + N2 + N3 and Ni is the number of basis functions for
Q̃m , ˙ t ⬎ 0 the ith span. Each i is a global comparison function that de-
h̃c共t兲 = Q̃m sgn共˙ t兲 = 共1兲 scribes deflections of the entire system and satisfies all bound-
0, ˙ = 0
t ary conditions. For the ith span, the span deflection is the
− Q̃m , ˙ t ⬍ 0 superposition of sinusoidal waves. For example, N1+k
= 兵0 , sin kx , 0 , 0 , 0 , 0 , 0其T for the second span for k = 1 , . . . , N2.
The magnitude Q̃m of the dry friction torque is controlled through For the discrete pulleys and tensioner arm, the basis functions are,
preload adjustment between rubbing parts on the arm and fixed for example, p+3 = 兵0 , 0 , 0 , 0 , 0 , 1 , 0其T for pulley 3. Using the in-
ner product in 关8兴, the discretized formulation from 共2兲 is
hub. The velocity of the arm ˙ t remains zero for a finite time when
the arm is locked up. 关M兴Z̈ + 关G兴Ż + 关K兴Z + H = 0 共7兲
Similar to 关8兴, the dimensionless governing equations of the
system considering tensioner dry friction is written into the ex- where Z共t兲 = 兵a1共t兲 , . . . , a p共t兲 , 1 , 2 , 3 , t其T are generalized coor-
tended operator form dinates. H is the same as 共4兲.
The excitation of the system is from the engine firing pulsa-
tions, which induces periodic fluctuations in the crankshaft speed
MŸ + GẎ + KY + H = F 共2兲 at the firing frequency ⍀. In this paper, pulley 1 represents the
crankshaft and its vibration is specified based on engine proper-
where Y = 兵y 1 , y 2 , y 3 , 1 , 2 , 3 , t其T, i, i = 1 , . . . , 3, and t denote ties. For specified ˙ 1共t兲, all terms involving 1 in 共7兲 are moved to
rotational displacement of the pulley and the tensioner arm about the right-hand side as excitation, which results in
the equilibria, respectively. y i is related to the transverse displace-
ment about the equilibrium of each span wi as M0Z̈0 + 共G0 + C0兲Ż0 + K0Z0 + H0 = f
冤 冥
0
equation from the linear ones to obtain periodic solutions. This m011I0 ¯ m1,p+2 I0
approach reduces the dimensions of the iteration matrices. Ac-
m̃ = 共18兲
cording to this spirit, q = 兵a1 , . . . , a p , 2 , 3其T are collected as linear
unknown variables, and submatrices m0, g0, c0, and k0 are intro- m0p+2,1I0 ¯ m0p+2,p+2I0
duced by eliminating the last row and column of M0, G0, C0, and and g̃, c̃, and k̃ are formed similarly. Equation 共17兲 produces a
K0. The formulation of this subsystem is relationship between the linear subsystem unknown u and the
nonlinear subsystem unknown v
m0q̈ + 共g0 + c0兲q̇ + k0q = f0 − fa 共9兲
u = Kl−1共 − Kav0兲 共19兲
冢 冣
] Fourier expansion also leads to
fa = 0
M i,p+3 ¨ t + 共Gi,p+3
0
+ 0
Ci,p+3 兲˙ t + 0
Ki,p+3 t 共10兲 ¨ t = L0A0v ˙ t = L0B0v hc = L0d f p+3 = L0 共20兲
] where d 共unknown兲 and 共known兲 consist of the Fourier coeffi-
0 cients of the periodic nonlinear function hc and the excitation f p+3.
for i = 1 , . . . , p + 2. Elimination of the last element of f yields f . Substitution of 共20兲 into 共11兲 leads to
The last equation of 共8兲 is
E = Kbv + d + Pu −
M 0p+3,p+3¨ t + 共G0p+3,p+3 + C0p+3,p+3兲˙ t + K0p+3,p+3t + hc
Kb = M 0p+3,p+3A0 + 共G0p+3,p+3 + C0p+3,p+3兲B0 + K0p+3,p+3I0 共21兲
p+2
+ 兺 关M
i=1
0
p+3,iäi + 共G0p+3,i + C0p+3,i兲ȧi + K0p+3,iai兴 = f p+3
where E represents the numerical residue and P is derived from
the summation term in 共11兲.
For a given initial guess v, u can be determined from 共19兲. ˙ t
共11兲
from 共20兲 and hc from 共1兲 are known as well. The discrete Fourier
where a p+1 = 2 and a p+2 = 3 are used subsequently for conve- transformation matrix ⌫ evaluated for R harmonics yields the
nience. Fourier coefficients of the nonlinear function hc as d = ⌫hc. The
To apply harmonic balance, the response is assumed to be pe- residue E of 共21兲 is then evaluated for the initial guess of v.
riodic and the unknowns are expanded as the Fourier series trun- Newton-Raphson iteration is employed to determine the unknown
cated to R harmonics. Because the nonlinear friction torque 共1兲 is v such that E ⬇ 0. Similar to the procedure in 关13兴, the Jacobian
an odd function, only odd order harmonics are considered for Newton–Raphson iteration is
ai共t兲 =
R
兺
r=1,3,. . .
共ui,r cos r⍀t + ui,r+1 sin r⍀t兲, i = 1, . . . ,p + 2
J=
E
v
= Kb +
d
v
u
+P ,
v
d
v
= ⌫ diag 冉冏 冏 冊 hc
˙ t ti
L 0B 0
共22兲
共12兲
where u / v is determined from 共19兲. The iteration 兩v = vold new
R
− 共J−1E兲兩vold continues until 储vnew − vold储 / 储vnew储 and 储E储 are less
兺
than specified tolerances.
t共t兲 = 共vr cos r⍀t + vr+1 sin r⍀t兲 共13兲
r=1,3,. . . The nonlinear function 共1兲 is discontinuous at ˙ t = 0. The ten-
sioner arm exhibits stick-slip motions. When the arm is in the
The time domain is then discretized into N intervals as t0 , . . . , tN to sticking phase, the velocity of the arm is seldom identically zero
form an operator L0 such that even though it is small. When sticking is prevalent, the sign of the
velocity, and so that of the dry friction torque, changes rapidly,
a i = L 0u i t = L 0v 共14兲 which introduces numerical difficulties. When applying numerical
integration, it takes significant time to achieve accurate results and
where ui = 兵ui,1 , ui,2 , . . . , ui,R+1其T, v = 兵v1 , v2 , . . . , vR+1其T, and L0 maintain numerical stability because small time steps are required.
contains cos r⍀t and sin r⍀t evaluated at these discrete times. The When employing the harmonic balance technique, the iteration
time-discretized response vector of the linear subsystem is hardly converges across the sticking phase. Many methods have
冦 冧
modes change slightly. For large bending stiffness, all natural fre-
Qm ˙ t ⬎ quencies decrease comparably slowly and nonmonotonically with
the speed because of the strong belt-pulley coupling 关8兴. Unless
Qm˙ t
hc ⬇ hcs = 兩˙ t兩 艋 共23兲 indicated otherwise, = 0.01 is used for belt bending stiffness. The
modal damping coefficient to obtain C0 in 共8兲 is = 5%, and the
− Qm ˙ t ⬍ − accessory moments M 1 and M 3 are assumed to be zero.
Tensioner dry friction damping is desirable to reduce vibration.
where is a small positive number. The bound of numerical error This may not be achievable, however, if the friction torque is so
from 共23兲 during sticking is O共兲 关15兴. Use of 共23兲 improves the large that the tensioner arm is essentially locked. The dynamic
convergence of Newton–Raphson iteration. If divergence still oc- belt tension is compensated by the arm’s rotation around its
curs, then the Broyden 共or secant兲 method 关14,16兴 is employed in steady-state equilibrium. A nearly locked tensioner arm prevents
place of Newton–Raphson iteration. In addition, 共23兲 alleviates this and may intensify dynamic response and belt tension fluctua-
numerical “chattering” and saves substantial computer time when tions compared to the case of no tensioner dry friction. Two lim-
numerically integrating. To maintain the accuracy and numerical iting cases of the system are introduced for comparison. The free
efficiency in this work, varies between 10−5 and 10−4, according arm system is when there is no dry friction applied on the arm
to the convergence of the harmonic balance procedures, and is pivot, i.e., Qm = 0. When Qm is so large that the tensioner arm does
fixed at 10−6 for numerical integration. These values of ensure not move, a locked arm system results. Both limiting systems are
satisfaction of the sticking conditions presented in 关15兴. The varia- linear.
tion of does not affect when the arm sticks or slips, and its The root mean square 共rms兲 responses of the tensioner arm and
impact on the dynamic response is negligible. pulleys 2 and 3 across the excitation frequency range of practical
Through the above approach, steady-state period-T responses importance are shown in Fig. 3 for various dry friction torques. To
are calculated across a wide range of excitation frequency ⍀, quantify the belt vibrations, the belt transverse displacements av-
where T = 2 / ⍀. Superharmonic resonances are observed if they eraged along each span are evaluated as
冕
T N
⌬E =
0
Qm sgn共˙ t兲˙ tdt ⬇ 兺Q
k=1
m sgn关˙ t共tk兲兴˙ t共tk兲⌬t 共25兲
冉 冊
A mathematical model for belt-pulley systems with a dry fric-
冕
1 tion tensioner considering belt bending stiffness and transverse
r2 r1 rt
Pd1 = ␥ − 2 + 1 − t sin 1 + w1,xw*1,xdx span vibration is established, and the influence of dry friction at
l1 l1 l1 0 the tensioner arm hub is examined. The dry friction torque is
冉 冊
modeled as a signum function with a constant magnitude, the sign
冕
1
r3 r2 rt of which is determined by the arm velocity. The governing equa-
Pd2 = ␥ − 3 + 2 + t sin 2 + w2,xw*2,xdx tions are divided into linear and nonlinear subsystems. The non-
l2 l2 l2 0 linear one addresses the vibration of the tensioner arm subject to
冉 冊
the dry friction torque; the linear one includes the pulley rotations
冕
1
r1 r3 and spatially discretized span motions. The engine firing pulsation
Pd3 = ␥ − 1 + 3 + w3,xw*3,xdx 共28兲 is the excitation source driving the entire system, which is re-
l3 l3 0 flected in the periodic fluctuation of the crankshaft speed.
where the quantities with asterisks are from the steady equilibrium The response to periodic excitation is obtained by the harmonic
solution. The integrals in 共28兲 are typically small compared to the balance method. Suppression of the tensioner arm vibration in-
dynamic span deflection with the pulley rotations; thus, the creases with the dry friction torque until the arm is essentially
bounding pulley rotational vibrations dominate the tension fluc- locked. For other system components, this dissipative benefit is
tuations of each span. not monotonic. Odd order superharmonics are identified in the
The maximum dynamic tension in each span is shown in Fig. response of the generalized span coordinates, but they have minor
11. On one hand, increasing dry friction torque monotonically adverse effect on the physical system because of their small am-
diminishes the tensioner arm rotation until the tensioner is effec- plitudes.
tively locked. On the other hand, pulleys 2 and 3 vibrate more With increasing dry friction torque, energy dissipation from the
near the resonances of the natural modes of the locked arm system dry friction first increases until a maximum value is achieved and
that involve large pulley amplitudes, such as the modes at ⍀ then gradually decreases to zero where the arm is locked. Lobes
occur in the dissipation curve because the arm velocity reverses
= 5.5, 5.7, 6.3 共dominated by span vibration兲 and at ⍀ = 6.8 共domi-
near the extreme arm location that reveals the arm sticking fea-
nated by pulley 3 vibration兲. These competing effects combine to
ture. More velocity reversals indicate the arm spends more per-
impact the tensions for the first and second spans when varying
centage of time in the sticking phase of each cycle. The critical
the dry friction torque. Near these resonances, the balance of the
magnitude of the Coulomb torque that makes the arm essentially
response of the tensioner arm and pulley 2 leads to slight reduc-
locked is determined analytically. The dynamic span tension is
tion in the dynamic tension of the first span with increasing dry
dominated by the vibration of discrete components adjacent to the
friction torque, while the involvement of pulley 3 vibration in-
span.
creases the dynamic tension of the second span. Pulley 3 vibration
independently affects the third span, so large dynamic tension
occurs at those resonances where large Coulomb torque drives the
arm toward the locked arm configuration. Other than the above Acknowledgment
resonant regions, higher Coulomb torque produces better tension The authors are grateful to Mark IV Automotive/Dayco Corpo-
reduction. ration for its support and to Dr. Lingyuan Kong for help under-
To avoid large belt tension fluctuation, one may tune the natural standing his prior work related to the model.