Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 243758, 15 pages
Research Article

Nonlinear Vibration of a Multirotor System Connected by a Flexible Coupling Subjected to the Holonomic Constraint of Dynamic Angular Misalignment

Department of Mechanics, Xi'an University of Science and Technology, Xi'an 710054, China

Received 1 September 2011; Revised 28 November 2011; Accepted 13 December 2011

Academic Editor: Alex Elias-Zuniga

Copyright © 2012 M. Li. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a mathematical model of the multirotor system with a flexible coupling on spring supports on Lagrange's approach, which has taken into account the effects of dynamic angular misalignment and mass unbalance. Then its nonlinear dynamic behaviors of the system are discussed based on the method of multiple scales and numerical technique, respectively. The results show that the responses of the system in lateral directions contain a similar component to that of the mass unbalanced system on both the vibrating frequency and amplitude and involve the typical nonlinear components such as the ones from some combined frequencies; the results also reveal that the numerical agreements on the above-mentioned methods are perfect for the transient responses.