INDEX
‘Note: Page numbers followed by “f” indicate figures, “t” indicate tables.’
A Brake hot judder, 168
Adhesion, 162e163
liquid-mediated adhesion, 107e112
solid-solid adhesion, 102e107
Adhesive wear, 122e123
Advanced dynamics
Lagrange equations, 88f
conservative forces, 89
constraint, 87
generalized coordinates, 87
potential energy, 89
linear and angular momentums
in 3D coordinates, 82, 82f
general motion, 83e84
pure rotation, fixed point O, 83
rigid body and euler equations, 85e86
rigid body kinematics, 68
angular velocity, 70e71, 71f
coordinate transformation,
74e75, 75f
Euler angles, 75e78, 76f
finite motion, 78e82, 78f
moving coordinate systems, 71e74,
72fe73f
precession-nutation-spin, 75e76
three dimension space, particle
moving, 69, 69fe70f
yaw-pitch-row, 76e77, 77f
Amplitude frequency dependent
phenomenon, 54
Annular rub-impact, 248
Archard’s classical wear model, 122e123
Autocorrelation function, 33e37
Autocorrelation measurement, 36, 36f
Automatic transmission fluid (ATF), 136
B Constructive interference, 25
Bifurcation, 59, 202, 223, 261f
Bottom hole assembly (BHA), 211
Bouc-Wen model, 143e144
Brake judder, 167
Brake systems. See Vehicle brake systems
Breakaway displacement, 146
Break-in/run-in period, 123e124
C
Chaos, 59
Cold judder, 167e168
Collision/impact stage, 248
Complex eigenvalue analysis
damping on eigenvalues, 181e182,
181f
double-shift QR/QZ algorithm,
180e181
3D plot of eigenvalue, 180e181, 181f
dynamic normal force, 173e174
finite element models, 183e184
high normal force shape, 184
Hopf bifurcation, 176
laboratory testing and analysis results,
185e186, 185f
negative slope friction vs. eigenvalues
velocity, 182e183, 182f
nonsymmetric mass matrix, 177, 178f
relative normal and tangential shape,
184
root locus diagram, 175e176, 175f
root locus plot, 175
rotor test and analysis correlation,
185e186, 185f
stability chart, 175
system motion equation, 178
tangential friction, 173e174
Conservative forces, 89
Constraint, 87, 126e127
Contact mechanics, 95f
contact surfaces, 96, 96f
Greenwood and Williamson model, 98
299
300 Index
Contact mechanics (Continued)
Hertz theory, 94e95
junction growth, 101
nondimensional variables, 99
plasticity index, 100e101
radii of curvature, 94e95
rough surface, 98, 98f
sphere array with smooth surface,
97, 97f
Contact start-stop (CSS), 132,
132fe133f
Continuous system vibration, 19
longitudinal vibration, 25e27, 25fe26f
transverse vibrations/ beams,
27e32, 28f
constructive interference, 25
Newton’s second law, 20
one-dimensional (1D) wave
equation, 21
standing wave, 23
string, 20, 20f, 24f
transverse waves, 24
wave speed, 21
Coordinate transformation matrix,
74e75
Coupled axial/torsional modes
averaged torque-on-bit, 221e222, 222f
axial limit cycle, 221, 221f
axial stability analysis, 220
bottom hole assembly (BHA), 218e219
rate-independent bit-rock interaction
law, 218
stability diagram, 220, 220f
steady-state drilling, 220
stick-slip vibration, 217e218
CSS. See Contact start-stop (CSS)
D Dual-rotor system, 263e264
Dirac delta function, 37
Disc brakes, 162, 162f
Disc thickness variation (DTV), 167
Drill collars, 211
Drilling system, 211, 212f
Drill strings
axial motions, 212
dynamics modes, 213e214, 213t
friction laws, 214
Heaviside function, 216e217
lateral vibrations, 212e213
lumped model, 215, 215f
Monte Carlo method, 214e215
torsional resonance, 213
torsion vibrations, 213
wearflat, 215
Drill string whirl, 212e213
Drum brakes, 162
Dry friction
environmental and operational
conditions, 127e129
friction mechanisms
energy-based plastic deformation
model, 119
energy conversion processes, 121
frictional force, 112
friction of dry solids, 112e113
friction welding, 117
hard conical and sphere asperity,
ploughings, 119, 119f
meniscus effect, 114
normal contact and slope contact of
asperities, 112e113, 113f
quantitative values, 113
sliding friction, 112e113
slip-line, 118, 118f
friction transitions and wear
break-in/run-in period, 123e124
bulk solid temperature, 124
oxide films, 122
sliding velocity and friction
force, 124
wear, 122e123
static friction and hysteresis, 125e127
time and displacement dependence,
125e127
equations of motion, 264e267
nonlinear characteristics, 267
Duffing’s equation, 49
Dynamics, defined, 1
Dynamic transient analysis
disc circumferential motion and fast
Fourier transform (FFT), 196, 196f
friction coefficient-velocity relationship,
192e193, 195f
 Index 301

groan and judder, 188 breakaway displacement, 146

model friction-induced vibrations, defined, 1, 91
186, 187f Hertz theory, 140
modern CAE software tools, 189 hyperbolic model, 142
multiple-degree-of-freedom system, 186 LuGre model, 145
Newmark method, 191 neural net training, 149e150
normal pressure and frictional resistance, sliding interface, 148, 149f
192, 193f stress-strain curve, 144e145
simulation scheme, 189, 190f Stribeck curve, 141
tangential and normal motions, 192, Stribeck friction, 142e143
194f two solid surfaces
time-frequency spectrum, 192e193, adhesion, 102e112
195f contact mechanics, 94e101,
95fe98f
E description, 92e94, 92f
Eigenvalues, 17 dry friction, 112e129
Eigenvectors, 17 wet friction, 129e138
Elastic creep, 126e127 Frictional force, 112
Euler’s equations, 86, 197e198 Friction dynamics, 2e4
Friction-velocity curve, negative slope
F automatic transmission fluid (ATF), 136
Fault diagnosis, rub-impact clutch friction pairs, 136, 137f
frequency spectrum method, 281e283, cof vs. relative air humidity, 138, 139f
282fe283f cof vs. slip velocity of tires, 138, 139f
higher-order spectrum diagnosis dry and wet cof
method vs. brake interface velocity, 137e138,
bispectrum application, 288e291, 138f
288fe291f vs. clutch interface velocity,
higher-order statistics, 286e287 136, 137f
Hilbert-Huang transform (HHT), Friction whirl
294e296, 295fe296f bifurcation diagram, 227e229, 228f
holospectrum diagnosis method, dry friction torque, 227
283e285, 285f lumped parameter model, 223
wavelet transform application, 291e294 measured downhole angular velocity vs.
Finite element model, 253e254, time, 223, 224f
254f, 254t stick-slip whirl model, 225, 226f
Finite motion, 78f Stribeck effect, 225
rigid body, 81f surface angular velocity vs. measured
transformation matrix, 79 downhole bending moment,
x-axis with j, 80e82 223, 224f
y-axis with q, 79 Fully coupled dynamics
z-axis with 4, 79 bifurcation diagram, 232e233, 233f
Frequency, 8 discrete system model, 229, 230f
Friction, 144f drill bit-rock interaction, 232e233,
ADCK model, 142e143 232f
artificial neural net, 149e150 drill pipes and BHA, 230e231
Bouc-Wen model, 143e144 Fourier transform, 234
302 Index

Fully coupled dynamics (Continued) L

largest Lyapunov exponent, 235e236,
235f
n-dimensional vector, 234
Poincaré section, 232e233, 233f
reconstruction phase space, 234
tangent force, 231e232
time-delay effect, 231e232
time delays, 234
G eigenvectors, 15e18
Gaussian probability distribution, 35e36,
36f
Gaussian random process, 35
Generalized coordinates, 7e8, 87
Greenwood and Williamson model
(GW model), 98
Groan, 165e166
H isolated meniscus, 110f
Harmonics, 9
Hertz theory, 94e95
HHT. See Hilbert-Huang transform
(HHT)
Higher-order spectrum diagnosis method
bispectrum application, 288e291,
288fe291f
higher-order statistics, 286e287
High-frequency squeal, 169e172, 170f
Hilbert-Huang transform (HHT),
294e296, 295fe296f
Holospectrum diagnosis method,
283e285, 285f
Hopf bifurcation, 176, 268e281
I
Impulse response function, 37
J Newmark method, 191
Jeffcott rotor system, 258e263,
268e281
Johnson, Kendall, and Roberts
( JKR model), 106
Jump phenomenon, 54, 270e272, 272f
Junction growth, 101
Lagrange equations, 88f
conservative forces, 89
constraint, 87
generalized coordinates, 87
potential energy, 89
Limit cycles, 58
Linear multiple-degree-of-freedom
(MDOF) system, 15f
eigenvalues, 15e18
forced vibration solution, 18e19
Linear vibrations
continuous systems, 7e8
linear discrete systems, 7e9
SDOF system, 8e9
Liquid-mediated adhesion
capillary pressure forces, 109
driving pressure, 110
Kelvin radius, 110
liquid condensation, 108, 108f
rough asperities, 111, 111f
thin-layer liquid working, 108, 108f
viscous force, 108
Low-frequency squeal, 168e169
LuGre model, 145, 241
Lumped model, 215, 215f
M
Maintenance stage, 248
Mathieu equation, 65e66
Microslip, 127, 127f
Moan, 166e167
Morning sickness/squeal, 169
N
Neural net training, 149e150
Nonlinear vibration systems
amplitude frequency dependent
phenomenon, 54
chaos, 59
jump phenomenon, 54
limit cycles, 58

Mathieu equation, 65e66
MDOF system, 67e68
method of variation of parameter,
55e57
perturbation method-duffing equation
amplitude-frequency relations,
53, 53f
equation of motion, 49
hardening and softening spring
characteristics, 49, 50f
secular, 51
phase plane representation, 57
Poincaré map, 59, 60f
Rayleigh’s equation, 57, 58f
self-excitation, 58
stability of equilibrium
focus, 63e64
node, 62, 64
regular points, 60
saddle point, 63e64
similarity transformation, 62
singular point, 60
vortex/center, 63e64
trajectory, 57
transient and nonstationary vibrations,
66e67
types of equations, 48
van der Pol’s equation, 55
Normal mode summation method, 19
O surface, 44, 44f
One-dimensional (1D) wave
equation, 21
P Real modal analysis, 172e173
Partial rub-impact, 248
Period, 8
Perturbation method
amplitude-frequency relations, 53, 53f
equation of motion, 49
hardening and softening spring
characteristics, 49, 50f
secular, 51
Phase plane representation, 57
Plasticity index, 100e101
Poincaré map, 59, 60f, 261
Potential energy, 89
Index 303
Power spectral density (PSD), 39e40,
41f
Principal axes, 84
Principal inertias, 84
Probability density curve, 34, 35f
Probability density function, 33e37
Probability measurement, 33, 34f
R
Radii of curvature, 94e95
Random vibration
arbitrary function input
Dirac delta function, 37
forcing function, 37, 37f
Fourier transform, 39
impulse response function, 37e38,
38f
unit impulse excitation,
37e38, 38f
autocorrelation function, 33e37
cross-correlation function, 42e43
joint probability density function,
42e43
power spectral density (PSD), 39e40,
41f
probability density function, 33e37
random input
correlation matrix, 46e47
Langevin equation, 45
quarter vehicle traveling, rough
random process, 32e33, 32f
sample record, 32e33
stationary, 33
Rotor systems, 247f
fault diagnosis, 281e296
rub-impact phenomena, 247e248
analytical model, 250e253
complex dynamic response, 254e267
finite element model, 253e254
physical phenomena and processes,
248e250
stability and Hopf bifurcation, 268e281
Rub-impact Jeffcott rotor system
axial misalignment, 268
Floquet theory, 272e273
304 Index
Rub-impact Jeffcott rotor system
(Continued)
friction coefficient, precession
frequency, 268e269, 268t,
269fe270f
Galerkin method, 272e273
Hopf bifurcation, 276e281, 277f,
280fe281f
jump phenomenon, full annular
rub-impact, 270e272, 272f
stability analysis, 273e276, 274f, 276f
Rub-impact phenomena, 247e248
analytical model, 250
additional elastic and damping
forces, 252
elastic model, 250e252, 250f
Jeffcott rotor, 252
single-point/partial rub-impact,
252e253
complex dynamic response, 254e255,
255f
dual-rotor system, 263e267
impact and friction, 256e258
Jeffcott rotor system, 258e263
radial force and friction oscillatory
terms, 258
stiffness modification, 256
fault diagnosis, 281e296
finite element model, 253e254, 254f,
254t
physical phenomena and processes,
248e250
S Transient motion, 9
Secular, 51
Self-excitation, 58
Separation stage, 248
Single-degree-of-freedom (SDOF)
model, 10f
arbitrary function input, 37e39
equation of motion, 10
Fourier series, 14
Newton’s law, 9e10
phase angle, 13
random input, 44e48
transient solution, 12
Single-point rub-impact, 248
Solid-solid adhesion
contact displacement, 107
contact radius, 107
electrostatic bonding, 102
electrostatic force, 103
JKR model, 106
potential energy of molecules,
103e104, 104f
van der Waals force, 103
Squeal mode, 165
Stable contact stage, 248e249
Standing wave, 23
Static friction force, 132, 132fe133f
Stribeck curve, 129f
boundary lubrication, 130e131
full fluid lubrication, 131e132
lubrication effect, 129
static friction, 130
Sucker rod
3D rod trajectory, 238e239, 238f
Fourier series, 239
infinitesimal rod element, 240, 240f
measured and simulated surface
dynamometer graph, 240f
pump conditions, 237e238
S-curved wells, 238e239
simplistic sucker pump system, 236,
237f
stick slips, 238e239
Surface roughness, 92e93
T
Transformation matrix, 15
Transient solution, 12
Transverse waves, 24
Two solid surfaces
adhesion, 102e112
contact mechanics, 95f
contact surfaces, 96, 96f
Greenwood and Williamson
model, 98
Hertz theory, 94e95
junction growth, 101
nondimensional variables, 99
plasticity index, 100e101
radii of curvature, 94e95
 Index 305

rough surface, 98, 98f issues, 161

sphere array with smooth surface, 97,
97f
description, 92e94, 92f
dry friction, 112e129
wet friction, 129e138
U high-frequency squeal, 169e172, 170f
Unsteady liquid-mediated friction
hydrodynamic lubrication, 135
static friction coefficient, 133, 134f
static friction force vs. CSS operation
cycles, 132, 132fe133f
V
van der Pol’s equation, 55
Vehicle brake systems, 166f
brake hot judder, 168
brake judder, 167
brake squeal, 161e162
cold judder, 167e168
complex eigenvalue analysis, 173e186
diagnosis and prognosis, 198e204
disc brakes, 162, 162f
disc thickness variation (DTV), 167
drum brakes, 162
dynamic transient analysis, 186e196
fillers and frictional additives, 162e163
friction dynamics
in-plane and out-of-plane
vibrations, 163
judder, 164
pad vibrations, 163e164
squeal, 164
groan, 165
gyroscopic effects, 197e198, 197f,
199fe200f
low-frequency squeal, 168e169
lubricants and abrasive particles,
162e163
moan, 166e167
organic pads, 162e163
real modal analysis, 172e173
W
Wavelet transform application, 291e294
Wave speed, 21, 27
Waviness of a surface, 92
Wearflat, 215
Weighted modal matrix, 18
Wet friction
friction-velocity curve, negative slope
automatic transmission fluid (ATF),
136
clutch friction pairs, 136, 137f
dry and wet cof vs. clutch interface
velocity, 136e138
Stribeck curve, 129e132
unsteady liquid-mediated friction,
132e136