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**Stability and Bifurcation of Self-Synchronization of a Vibratory Screener Excited by Two Eccentric Motors
**

Q. K. Han and B. C. Wen School of Mechanical Engineering and Automation Northeastern University, Shenyang, China 110004 qhan@mail.neu.edu.cn

Abstract Varieties of vibratory machines adopting the self-synchronization principle are used in industries, such as vibratory screeners, vibratory conveyors, etc. Normally, two or more exciters with eccentric motors are widely used to drive these machines. The research develops a multi-degree-of-freedom dynamical model for a vibratory screener driven by two exciters rotating in opposite direction considering the mechanical characteristics of eccentric motors. In particular, the differential phase equations of the system are developed the first time for the necessary conditions of synchronization. In addition, the stability analysis of the equilibrium points and its bifurcation characteristics of the dynamical system are described via Lyapunov stability theory. Keywords: Vibratory screener; self-synchronization; differential phase equations; Lyapunov stability; bifurcation

1. Introduction

Synchronization, in its general interpretation, is referred to the correlated or corresponding in-time behaviors of two or more processes, as stated in [1]. From the findings of Huygens, synchronization phenomena have attracted the attentions of many researchers from various research fields [2]. Blekhman [3] firstly studied the mechanism of self-synchronization, i.e. vibration synchronization, with classical nonlinear vibration theories. Nowadays vibratory machines considering synchronization principle have been widely used in industry, such as self-

which are vital to derive the necessary condition of self-synchronous vibrations of the system. synchronization theories of chaotic systems have been widely discussed in recent years [6]. as well as special phenomenon near resonance. developed a general description and expression for self-synchronization and controlled synchronization [9]. [10] studied self-synchronous movements of two rotors driven by two hydraulic motors. In order to achieve a self-synchronous state. Furthermore. Blekhman firstly presented the self-synchronous analyses of vibratory machines with dual-exciters [3]. some new developments on this research have been reported. In this paper. The flow of hydraulic motors was employed to control the rotating phase differences of the two rotors. At the self-synchronous state. the differential equations governing the phase angle difference of the two exciters are indispensable for a comprehensive analysis. transition processes of the synchronous movement of vibratory systems were also simulated in a work [11].8] improved the design theories for self-synchronous machines by investigating the self-synchronization of vibration machines in two or three dimensions. K. can achieve a synchronous vibration state quickly even with initially disturbed rotating speeds and phases.synchronizations [5]. C. Section 1 describes the background and the purpose of this paper. a vibratory screener is investigated for the analysis of self-synchronous vibration motions considering mechanical characteristics of two eccentric motors. In section 2. Besides. their torques and speeds. It is known that a self-synchronous vibratory machine. and the bifurcation characteristics around the equilibrium points of system are therefore determined. the effect of exciter’s parameters and initial conditions on the performance of the vibratory system is still a challenging topic. Blekhman et al. Based on the obtained differential phase equations of the system. According to a dynamical model of electro-mechanical coupling.108 Q. the machine body will move only in one direction. are developed for the first time. Wen [4] designed various types of vibratory machines for ore mining industry utilizing the principle of selfsynchronization and his group further investigated classical problems on nonlinear dynamics modeling of self. In addition. the stability of synchronous motion is studied via Lyapunov stability theory. the dynamical model of the vibratory .e. Han and B. It has to be noticed that although the aforementioned researches on selfsynchronous vibration system have been developed. The organization of the paper is as follow. the two eccentric motors should be chosen and installed properly to couple with the machine body accordingly. and the applications of synchronization of mechanical systems such as different kinds of robots are of special interests among researchers [7]. Zhang et al. some issues on nonlinear dynamical modeling and synchronization stability of the self-synchronous vibration system have not yet been studied. usually driven by two or more eccentric motors with special designed unbalance mass. Recently. Wen [4. i. the rotating speeds of the two driven exciters are identified and keep constant phase angle difference. conveyers and so on [2]. equations governing the phase angle differences of two motors. while. For example. Wen synchronous vibratory screeners.

Dynamical model of a vibratory screener considering exciters’ motor characteristics The mechanical model of a vibratory screener with two exciters is shown in Figure 1. The eccentric mass moments of the two exciters are m1r1 and m2r2 respectively. potential energy and energy dissipation. x . X = {x y ψ ϕ1 ϕ 2 } . M . analytical results of stability and bifurcations of the system are discussed. ϕ1 and ϕ 2 are two rotating phase angles of the two eccentric motors. ψ is the swing angle of the body referring to its gravity center. Section 5 summaries the results and discussions. In section 4. which are given respectively as follows T && & MX + CX + KX = F ⎡M ⎢0 ⎢ M =⎢0 ⎢ ⎢0 ⎢0 ⎣ 0 M 0 0 0 0 0 I 0 0 0 0 J1 0 0 0⎤ ⎡c x ⎢0 ⎥ 0⎥ ⎢ 0 ⎥. In section 3. respectively. C =⎢0 ⎢ ⎥ 0⎥ ⎢0 ⎢0 J2⎥ ⎣ ⎦ 0 cy 0 0 0 0 0 c 0 0 0 0 c1 0 0 0⎤ ⎡k x ⎢0 ⎥ 0⎥ ⎢ 0 ⎥. damping coefficient matrix and stiffness matrix respectively. K = ⎢ 0 ⎥ ⎢ 0⎥ ⎢0 ⎢0 c2 ⎥ ⎣ ⎦ 0 ky 0 0 0 0 0 kφ 0 0 0 0⎤ 0 0⎥ ⎥ 0 0⎥ ⎥ 0 0⎥ 0 0⎥ ⎦ (2) . y represent the horizontal and vertical displacements of the machine body. C . Considering the kinetic energy. K are the inertial matrix.Stability and bifurcation of self-synchronization 109 screener with self-synchronization is established. When the machine runs in a self-synchronous vibration state. the dynamical equations of the vibratory screener with two exciters are given as: y 1 kx 2 m1r1 m2 r2 O2 − (ϕ 2 + π ) G 1 kx 2 O1 ϕ1 o 1 ky 2 ψ x 1 ky 2 Figure 1. The two exciters are driven by two eccentric motors respectively and rotate in opposite directions. The frame of Oxy is a global coordinate system. Mechanical model of a vibratory screener with two exciters. 2. (1) where. its mass center G is not the same as origin O. the differential phase equations of the system are developed for the synchronization stability and bifurcation analyses.

M 0 is the mass of the machine body. i = 1. and c1 . T1 and T2 respectively represent the external input torque of two eccentric motors. the output torques of motors are written as n − ni ， i = 1. is the moment of inertia of the two exciter rotors. M = M 0 + m1 + m2 .110 Q. l represents the distance between two exciter rotors ( l = O1O2 ). Considering the mechanical characteristics of threephase electrical motors. 2 I = I 0 + m1l 2 + m2 l 2 . k y . vibratory moments. T1 and T2 . the differential equations of the vibratory screener include inertia moments of two exciters. K. C. y . Wen In the above expression. & & & f 4 = T1 − f 1ψ − m1 r1 ( && cos ϕ1 − && sin ϕ1 ) − m1 r1l[ψ& cos(ϕ1 − ψ ) − ψ 2 sin(ϕ1 − ψ )] − m1 r1 g cos ϕ1 y x . (1). c y . s m = s N ( K T + K T − 1) . namely the two driving motors’ output torques. (1). y and ψ respectively. c2 represent the rotary damping modulus of the two eccentric motors. are always equal to the sum of inertial torques. and gravity moments and so on. F is the loading vector. K T are the rated torque. frictional moments. rated ratio of speed decreasing and the rated overload . 2 & & && & f 3 = −( f1ϕ1 − f 2ϕ 2 ) + (m1 − m2 )l ( &&sinψ − && cosψ ) − m1r1l[ϕ1 cos(ϕ1 − ψ ) − ϕ1 sin(ϕ1 − ψ )] x y && & + m2 r2l[ϕ 2 cos(ϕ 2 + ψ ) − ϕ 2 2 sin(ϕ 2 + ψ )] . ψ of the machine body. ri is the eccentric radius respectively. the output torques of the two driving motors. and gravity moments. 2 . 2 sm is the critical ratio of motor speed decreasing. s N . Tm is the maximum torque of motor. &2 && & 2 && & & f 2 = m1 r1 (ϕ1 sin ϕ1 − ϕ1 cos ϕ1 ) + m 2 r2 (ϕ 2 sin ϕ 2 − ϕ 2 cos ϕ 2 ) − (m1 − m 2 )l (ψ& cosψ − ψ 2 sin ψ ) . TN . which is described as F = { f1 f2 f3 f4 f 5 }T (3) where. and m 1 . Tm = KT TN . frictional moments. & & & f 5 = T2 + f 2ψ − m 2 r2 ( && cos ϕ 2 + && sin ϕ 2 ) + m 2 r2 l[ψ& cos(ϕ 2 + ψ ) − ψ 2 sin(ϕ 2 + ψ )] − m 2 r2 g cos ϕ 2 y x . kψ are the spring stiffness coefficients of machine body in the directions of x . & && & && && & f1 = m1r1 (ϕ12 cos ϕ1 + ϕ1 sin ϕ1 ) − m2 r2 (ϕ 2 2 cos ϕ 2 + ϕ 2 sin ϕ 2 ) + ( m1 − m2 )l (ψ sin ψ + ψ 2 cosψ ) . vibratory moments of the machine body. 2 (4) Ti = 2Tm s m n0 2 2 0 s m n 0 + ( n 0 − ni ) 2 where n0 is motors’ normal speed. In Eq. c x . k x . in which I 0 is the moment of inertia to the center of G. In Eq. m2 are the eccentric masses of the two exciters respectively. According to the fundamental equilibrium principle of torques and moments. c = cψ + c1 + c2 . Han and B. J i = mi ri . cψ represent damping modulus in the directions of x .

According to Eq. 2 dt dτ dt d 2ϕ d [ω (1 + α i′)] dτ && = ω 2α i′′ ϕi = 2 i = dt dτ dt . y = B1 sin ϕ1 + B2 sin ϕ2 .Stability and bifurcation of self-synchronization 111 coefficient respectively. && & & & Iψ + cψψ + kψψ = m1ϕ12 r1l sin ϕ1 + m2ϕ 2 2 r2l sin ϕ 2 (6) The stable displacement solutions for the vibrating body in x. i = 1. The aforementioned stable solution expressions are substituted into Eq.(4) will be employed in the following sections for the analysis of the self-synchronization vibratory screener. Differential equations for phase angles of the vibratory screener Differential equations for phase angles are developed now for the stability analysis of the self-synchronization vibratory screener. and ignoring the && && higher order terms of m1r1lψ cos(ϕ1 − ψ ) and − m2 r2lψ cos(ϕ 2 + ψ ) . 30 Eqs. (7) Ai = 2 2 & & & I ϕi − kψ m0ϕi − k y m0ϕi − k x Only considering the two eccentric rotors’ dynamical equations. (1) . && & & J 2ϕ 2 + c2ϕ 2 − c2ψ + m2 r2 g cos ϕ 2 + m2 r2 ( && cos ϕ 2 + &&sin ϕ 2 ) y x & + m2 r2lψ 2 sin(ϕ 2 + ψ ) = T2 (8) Herein. there exists a relationship between the rotating nπ & & angular velocity ϕ i and rotating speed ni of motor. the expressions for the rotors’ phase angles and their derivatives are introduced by ϕi = ω t + α i = τ + α i dϕ d (τ + α i ) dτ & (9) ϕi = i = = ω (1 + α i′) . the simplified equations of the two rotors are obtained as && & & J1ϕ1 + c1ϕ1 + c1ψ + m1r1 g cos ϕ1 + m1r1 ( && cos ϕ1 − &&sin ϕ1 ) y x & −m1r1lψ 2 sin(ϕ1 − ψ ) = T1 . 3. ψ = C1 sin ϕ1 − C2 sin ϕ2 . In addition. we obtain the dynamical equations of the vibratory screener as follows by ignoring efforts of small damping and higher order small terms & & && & Mx + cx x + k x x = m1ϕ12 r1 cos ϕ1 − m2ϕ 2 2 r2 cos ϕ 2 & & && & My + c y y + k y y = m1ϕ12 r1 sin ϕ1 + m2ϕ 2 2 r2 sin ϕ 2 . which is shown as ϕ i = i . y and angular ψ directions are supposed to be x = A1 cos ϕ1 − A2 cos ϕ2 . (1). (6) to obtain the amplitudes of approximate solutions of the system as follows & & & −mi riϕi2 −mi riϕi2 −m r ϕ 2l ， Bi = ， Ci = 2i i i .

and τ >> αi because τ is the multiple of running time. namely.112 Q. (8) becomes J1ω 2α1′′ + c1ω (1 + α1′) + δ − T1 = 0 (10) where δ= − + ′⎪ ′ ′ m1r1ω 2α1′ ⎧ − m1r1[ω (1 + α1 )]2 − m1r1[ω (1 + α1 )]2 ⎫ ⎪ + ⎨ ⎬ 2 2 ′ ′ 2 ⎪ m0 [ω (1 + α1 )] − k x m0 [ω (1 + α1 )] − k y ⎪ ⎩ ⎭ ′ ′ ′ cos(α1 − α 2 )m1r1m2 r2 [ω (1 + α 2 )]2 ω 2α 2′ sin(α1 − α 2 )m1r1m2 r2 [ω (1 + α 2 )]4 − 2 2 ′ ′ 2m0 [ω (1 + α 2 )] − 2k y 2m0 [ω (1 + α 2 )] − 2k y ′ ′ ′ cos(α1 − α 2 )m1r1m2 r2 [ω (1 + α 2 )]2 ω 2α 2′ sin(α1 − α 2 )m1r1m2 r2 [ω (1 + α 2 )]4 + 2 2 ′ ′ 2m0 [ω (1 + α 2 )] − 2k x 2m0 [ω (1 + α 2 )] − 2k x (11) In the self-synchronization process. K. the equations of α i can be obtained after conducting Fourier transform and integrating τ in its region of [0. 2π ] is zero. The symbol d2 . (8). the differential equation of phase angle α 2 can be derived from Eq. 2π ] . ω (1 + α 2 ) >> ω x and ω y . c1 = c2 = c . ω is two eccentric motor's equivalent average rotating speeds. Substituting Ai . δ becomes δ= = ′ ′ sin(α1 − α 2 )m1r1m2 r2 [ω (1 + α 2 )]4 sin(α1 − α 2 )m1r1m2 r2 [ω (1 + α 2 )]4 − 2 2 ′ ′ 2m0 [ω (1 + α 2 )] − 2k x 2m0 [ω (1 + α 2 )] − 2k y sin(α1 − α 2 )m1r1m2 r2 (k x − k y ) k m k m 2m0 2 (1 − 2 x 0 2 )(1 − 2 y 0 2 ) ′ ′ ω (1 + α 2 ) ω (1 + α 2 ) sin(α1 − α 2 )m1r1m2 r2 (k x − k y ) 2m0 2 (1 − (12) = ω2 ωx 2 )(1 − 2 y ) 2 ′ ′ ω (1 + α 2 ) ω (1 + α 2 ) 2 2 Since the motors’ angle speeds are much greater than the vibration frequencies of ′ machine body. and the first ( )′ represents d and dτ ( )′′ represents equation of Eq. the two eccentric rotors rotate periodically and the integration of α i′′ in [0. Han and B. τ = ωt . dτ 2 & && (7) and ϕ i . Therefore. and ′′ ′ J 2ω 2α 2 + c2ω (1 + α 2 ) − δ − T2 = 0 . C. Bi . α i is phase angle of rotors. r1 = r2 = r . By setting ΔT = T1 − T2 ， Δk = k x − k y . Wen where. the expression of δ can finally be approximated to be δ= 1 m1r1m2 r2 ( k x − k y )sin(α1 − α 2 ) 2 M2 (13) Similarly. m1 = m2 = m . (8) as (14) The parameters of the two eccentric rotors are assumed to be identical. namely. Ci in Eq. ϕi in Eq. ϕi . (9) into Eq.

(15) can be re-written as ′ ⎧ x1 = x2 ⎪ ⎨ H0 ΔT c ′ ⎪ x2 = − J ω x2 − J ω 2 sin x1 + J ω 2 ⎩ (17) The corresponding equilibrium point equations are thus obtained to be ⎧ x2 = 0 ⎪ ⎨ c 1 ⎪− J ω x2 + J ω 2 (ΔT − H 0 sin x1 ) = 0 ⎩ (18) It is obvious from Eq. α 2 are the rotating angles. although the condition − H 0 sin x1 + ΔT = 0 may be satisfied. the differential equation of the phase difference α for the state of selfsynchronous vibration is finally obtained as J ω 2α ′′ + cωα ′ + H 0 sin α = ΔT (15) 2 where. c = c1 = c2 is the rotating damping of the two eccentric motors. α1 . Δk = k x − k y . ky are the stiffness of machine body in x and y 4. Meanwhile. the stability analysis and bifurcations of the vibratory screener for self-synchronization are conducted below. Stability analysis and bifurcations of the vibratory screener Based on the developed dynamical equations of the vibratory screener and the corresponding differential equation of the phase difference α of eccentric motors. T1 and T2 are the torques of the two motors. (15) can be expressed as ⎛ mr ⎞ H0 = ⎜ ⎟ Δk ⎝M ⎠ 2 (16) where. the necessary condition of achieving self-synchronous vibrations is provided as . the phase angle difference α does not exist. k x and directions respectively. 4. should be satisfied in order to gain steady synchronization states. J = mr . H0 H0 and ΔT ≤ 1 . and the system has no equilibrium point either if Hence.Stability and bifurcation of self-synchronization 113 α = α 1 − α 2 . Eq. sin x1 = ΔT H0 ΔT >1. and hence the system cannot achieve selfsynchronous vibration at all. (18) that the system of the vibratory screener has no equilibrium point if − H 0 sin x1 + ΔT ≠ 0 .1 Necessary condition for self-synchronization of the machine body Let x1 = α and x2 = α ′ be set. H 0 in Eq. From this point of view.

Here the Lyapunov stable theory based on the first order approximate system of Eq. if the real part of an eigenvalue of the first order approximate system is negative. (17) is given below 0 ⎡ ′ ⎧ x1 ⎫ ⎢ ⎨ ⎬ = ⎢ H 0 cos x1 ′ ⎩ x2 ⎭ ⎢ − Jω 2 ⎣ 1 ⎤ ⎧ x1 ⎫ c ⎥⎨ ⎬ ⎥ ⎩ x2 ⎭ − Jω ⎥ ⎦ (20) The corresponding eigenvalue equation of Eq. i. the stability of synchronous vibrations at the equilibrium point (arcsin ΔT . Wen ( mr 2 ) Δk ≥ ΔT M (19) M Figure 2 shows the relationship between ΔT and mr according to the necessary condition of Eq. the zero order solution of the system is asymptotically stable. the zero order solution is unstable. 4. it concludes that if the parameter values are within the shadow regions in Fig. Han and B.2 Stability and bifurcations According to the differential equation for the phase difference α of the two eccentric motors. (19) for self-synchronous vibrations of the screener. (17) is employed. Necessary condition regions for self-synchronization of vibratory screener. (15) or Eq. for the self-synchronous system of the vibratory screener discussed here. (20) is . 2. if a real part of an eigenvalue is zero and the others are negative. Hence. (17) H0 is obtained as follows. C. 0) of Eq. If there is one positive real part at least. the stability and bifurcations of equilibrium points of the self-synchronous system for the vibratory screener are discussed in this section. where Δk is a constant. Figure 2. The first order approximate equation from Eq. Eq. (17). the stability of the zero order solutions are not confirmed and the stability of system needs to be verified by the nonlinear items of the system.e. Otherwise. From the figure. K. Following the Lyapunov stable theory. the machine body is eligible to induce a self-synchronous vibration for a vibratory screener.114 Q.

if H0 cos α < 0 .. and the equilibrium point of Eq (17). the upper solution branch is unstable. for the vibratory screener discussed in the paper. 0). 0 ≤ α < π / 2 . the eigenvalue has a positive real part which leads the equilibrium point to be unstable. Considering the fact that the mechanical characteristics of the two motors are the same and the rotating speeds are close to their rated speeds. Stable and unstable solution branches of Eq. H cos x c (22) λ+ 0 2 1 =0 Jω Jω From Eq. π / 2 < α < π . the corresponding equilibrium point of the system is (0. i. is stable according to the Lyapunov theory.e. the eigenvalue λ2 + determined by Eq. 0) is stable because the real parts of two eigenvalues of Eq. (22) are negative.Stability and bifurcation of self-synchronization −λ H cos x − 0 2 1 Jω 1 − =0 c −λ Jω 115 (21) Namely. (22) will change from two to one if ΔT ΔT varies from 0 to 1. α = π 2 and ΔT =1 . The equilibrium point of (0. .e. H0 the case of having two solutions of Eq. In addition. the output torques of eccentric motors are dependent on their rotating speeds. H0 the system stability cannot be determined. (22) has a negative real part. On the other hand. if x1 = α and cos α > 0 . A saddle-node bifurcation takes place at = 1 .e. For H0 H0 ΔT >1. In this case. the difference between the two motors’ output torques is proportional to that of the phase angles. (22) we know that. as shown in Figure 3. i. Finally. For the bifurcations of the self-synchronous system. it is obviously that the number of solutions of Eq. (22).e. (22). Finally. 0) . i. if cos α = 0 . (arcsin ΔT . i. the system will have no solutions if Figure 3.

the magnitudes of vibrations are very big in both x and y directions.01Nms/rad . stiffness. C. In this case. Simulations of synchronizations stable self-synchronizations and non- In order to validate the analysis of the above self-synchronous system. m1 = m2 = 2. where ΔT = 0. The following parameters of a practical vibratory screener are employed in the simulations. The parameters of two eccentric motors are TN1 = TN 2 = 2 Nm . (15). not the simplified model in Eq.08m . As discussed in section 4. and the phase angle difference of the two eccentric motors retains at an unchangeable value. In addition. In Figure 4(a). Figure 4(b) shows the simulation results of a non-synchronous vibration of the machine body. M = 130kg . c1 = c2 = 0. cψ = 100 Nms/rad . Han and B.001 Nm. kψ = 3000 Nm/rad . (1). l = 0. r1 = r2 = 0. the body vibration in horizontal direction is very small. f N = 16Hz . the machine body of the vibratory screener is in a steady selfsynchronous vibration state when ΔT = 0. I = 33kgm 2 . Two typical simulation results are illustrated in Figure 4 for different values of ΔT selected from different parameter regions shown in Figure 2 and Figure 3 for stable and unstable state of the system.4m . the approximate values of damping coefficients are c x = c y = 100 Ns/m . the simulations are conducted at given mass. At the non-synchronization state. The phase angle difference between the two eccentric motors increases monotonically. s N 1 = s N 2 = 5% and K T 1 = K T 2 = 2. k y = 77600 N/m . based on the dynamical model of Eq. K. and damping parameters but with variation of the difference of torques ΔT . numerical simulations are carried out hereinafter. y directions of machine body and motors’ phase angle difference when ΔT = 0. since the eccentric motors of the vibratory screener can be adjusted.08 Nm is selected in the unstable region. (a) Displacements in x.5kg . k x = 30000 N/m .001 Nm . Wen 5.5 .116 Q.

08 Nm Figure 4. the magnitude in y direction is bigger and the transient time for achieving a stable state is shorter.2kgm . M the inequality of Eq. the effect of the exciter’s eccentric mass moments to the machine body mass ratio. y direction of vibratory body and motors’ phase angle difference when ΔT = 0. If the ratio value mr is too large. (19) is not satisfied and hence the stable self-synchronization cannot be achieved. When the eccentric mass moments become bigger. mr . has great effect on the M synchronous vibrations of the vibratory screener. The phase angle difference between the two eccentric motors is again found to increase monotonically showing an unstable synchronization motion. for example. The simulations on the effect of ΔT on the stability of the self-synchronous system verify the theoretical analysis in section 4.98mm respectively at the stable selfsynchronization state. (a) Displacement in y direction and body swing angle. a selfsynchronous motion cannot be achieved when the momentum is beyond a critical value. Similarly.2kgm . The magnitude in y direction is 2. of a self-synchronous motion. However. in the simulation shown in Figure 5(b). at m1r1 = m2 r2 = 0. non-synchronization.Stability and bifurcation of self-synchronization 117 (b) Displacements in x. . i. Simulations for stable and unstable synchronization state of the vibratory screener at different ΔT .67mm and 3. m1r1 = m2 r2 = 0.e. Figure 5(a) shows the vibration of the vibratory screener at m1r1 = m2 r2 = 0.4 kgm.

118 Q. Numerical simulations according to Eq.4kgm . (1) confirm the theoretical analyses. According to the stability analysis. The authors also gratefully acknowledge the helpful comments and suggestions of the reviewers. From the differential equation of phase angle difference of the screener. Numerical simulations have been carried out to reveal and verify the stable self-synchronizations with typical system parameters in the stable region. Han and B. C. at mi ri = 0. Wen (b) Displacement in y direction and body swing angle. If > 1 . and the National Nature Science Funds of China (Granted No. K.50535010). of nonsynchronous motion. Simulations of the vibratory screener at different eccentric mass moments. Conclusions The dynamical model of a vibratory screener with two mass-eccentric exciters is developed in this paper considering the two exciters’ eccentric motor characteristics. . in which the upper solution branch is unstable and the lower solution branch is stable self-synchronization. which have improved the presentation. Based on the established dynamical model. Acknowledgements This work is supported by the Key Project of Science and Technology of Chinese Ministry of Education (No: 108037). a differential equation about the phase angle difference of the two eccentric motors driving the machine is developed for the first time for investigating the stable analysis for its self-synchronous vibrations. the necessary condition for self-synchronization and the stability analysis of synchronous vibration are obtained.10402008 and No. there are two H0 H0 solutions. 6. the system is under a critical state if ΔT ΔT = 1 where a saddle-node bifurcation occurs. Figure 5.

B. 58(2002). L. Physica D. D. [6] L. T. Wen. Nijmeijer. Pikovsky. M. Synchronization in science and technology. [2] M. Tomchina.Stability and bifurcation of self-synchronization 119 References [1] A. A. K. Cambridge University Press. P. 2003. 2008 . C. Han. B. Pikovsky. 17(2004). J. Guan. Proc. 2001. et al. 305-310. [11] W. Selfsynchronization and controlled synchronization: general definition and example design. Synchronization from pendulum clocks to chaotic lasers and chemical oscillators. a universal concept in nonlinear sciences. Mathematics and Computers in Simulation. L. 401-416. [9] I. E. Chinese Journal of Mechanical Engineering. I. Blekhman. Synchronization in chaotic systems. Fradkov. M. 185-188. Z. C. Qin. Blekhman. Pecora. Z. Zhang. L. Nonlinear stability of synchronous transmission in vibration system. (1987). 1988. 154 (2001). 64(1990). Y. New York. Synchronization. Yang. Fan. Scientific Publishing house. 219-228. Wen. Study on synchronization of two eccentric rotors driven by hydraulic motors in one vibrating systems. O. of Int. [3] I. G. Carroll. Phys Rev Lett. Rosenblum. I. 2006. The International Conference on Mechanical Transmissions. 367-384. Mechanical system's vibration synchronization and control synchronization. Conf. China. A. A dynamical control view on synchronization. [10] T. et al. Beijing. L. [4] B. X. 44(2003). 4(1997). on Mechanical Dynamics. Synchronization theory of self-synchronous vibratory machines with two asymmetrical vibrators. C. C. [5] Q. ASME Press. J. Received: April 2. 821-824. 434-439. Chongqing. [8] B. Wen. Contemporary Physics. Shock and Vibration. Kurths. [7] H. Engineering characteristics and its mechanism explanation of vibratory synchronization transmission. Bogdanov. X. Xiong. Wen. Rosenblum.

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