Torsional vibration of misaligned shafting driven by universal joint during transient process

The tosional vibration on misaligned shafting driven by universal joint during transient process was studied considering actual error misalignment. Firstly, the error misalignment was described using a pair of Euler´s angles. Secondly, the tosional vibration equation with angular acceleration of the driving shaft was derived. At last, the vibration equation was simulated using Runge-Kuta method, and the effects of system parameters on vibration characteristic are analyzed. The results above reveal that the ultra-harmonic peaks near one third and a half of natural frequency and the critical harmonic peak are arise; the ultra-harmonic peaks decrease whereas the criticalharmonic peak increases and the relative rotating speeds delay with acceleration increasing; both the ultra harmonic and critical-harmonic peaks increase with stiffness proportion coefficient increasing, but the critical-harmonic peak increases more evidently; both the ultra-harmonic and critical harmonic peaks decrease with damping coefficient increasing, but the critical-harmonic peak increases more evidently. The research of this work indicate the fundamental characteristic on tosional vibration during transient process of the misaligned shafting driven by universal joint, also applying the foundation for advanced stability analysis.