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

<table>Numerical results for<svg height="7.1875" id="M92" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 20.75 7.1875" width="20.75" xmlns="http://www.w3.org/2000/svg">
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<tspan style="font-size: 12.50px; " x="0" y="0">𝜀</tspan>
<tspan style="font-size: 12.50px; " x="6.0514522" y="0">𝑎</tspan>
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</svg> and <svg height="13.9875" id="M93" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 47.099998 13.9875" width="47.099998" xmlns="http://www.w3.org/2000/svg">
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<g transform="translate(72,-60.81)">
<text transform="matrix(1,0,0,-1,-71.95,61.03)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝐸</tspan>
<tspan style="font-size: 12.50px; " x="8.9271421" y="0">/</tspan>
<tspan style="font-size: 12.50px; " x="12.402976" y="0">𝐿</tspan>
<tspan style="font-size: 12.50px; " x="21.2551" y="0">𝜛</tspan>
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<text transform="matrix(1,0,0,-1,-39.24,66.03)">
<tspan style="font-size: 8.75px; " x="0" y="0">2</tspan>
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</svg> with increasing <svg height="11.075" id="M94" style="vertical-align:-3.25793pt" version="1.1" viewbox="0 0 16.862499 11.075" width="16.862499" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,11.075)">
<g transform="translate(72,-63.14)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜔</tspan>
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<text transform="matrix(1,0,0,-1,-63.44,63.31)">
<tspan style="font-size: 8.75px; " x="0" y="0">0</tspan>
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</svg> or <svg height="11.025" id="M95" style="vertical-align:-3.21404pt" version="1.1" viewbox="0 0 14.8125 11.025" width="14.8125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,11.025)">
<g transform="translate(72,-63.18)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜔</tspan>
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<text transform="matrix(1,0,0,-1,-63.44,63.31)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑡</tspan>
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Mathematical Problems in Engineering

fig2

Figure 2

Figure 2: Nonlinear Vibration of a Multirotor System Connected by a Flexible Coupling Subjected to the Holonomic Constraint of Dynamic Angular Misalignment 

Figure 2 | Nonlinear Vibration of a Multirotor System Connected by a Flexible Coupling Subjected to the Holonomic Constraint of Dynamic Angular Misalignment 