Influence of the Eccentric Error of Star Gear on the Bifurcation Properties of Herringbone Star Gear Transmission with Floating Sun Gear

Taking a herringbone star gear transmission (HSGT) with floating sun gear as an example, the system bifurcation characteristics with the changing of the eccentric error of star gear and the working frequencies are analyzed. For this analysis, a generalized dynamic model of HSGT considering the manufacturing eccentric errors, time-varying mesh stiffness, and load balancing mechanism is established and solved by numerical method. The floating process of sun gear is explained. In this paper, there are seven cases about the eccentric errors of star gears which are calculated, respectively. To study the effect of the working frequencies (including meshing frequency and rotation frequency), the calculation is done at three kinds of input speed in which the working frequencies are close to the system natural frequencies. The results are demonstrated in detail by the bifurcation diagrams, phase plane plots, and Poincare maps. The system bifurcation characteristics are particularly analyzed and compared in every case. This work provides important guidance to the engineering of HSGT.


Introduction
Star gear transmission (SGT) is a power split transmission with fixed axis gears.This transmission uses star gears to load together, which form power branches.Unlike planetary gear train (PGT), the carrier of SGT is not rotating, and star gears only rotate on their axes.This difference results in no centrifugal force influencing on star gears when the SGT rotating in high speed and star gears can be lubricated continually, which benefits the smooth running of SGT [1].In the decelerator of aeroengine and helicopter, it is broadly used due to its advantages such as compact dimension, low weight, and high load capability.However, manufacturing errors are inevitable when SGT is produced in a project, which must affect directly the dynamic response and load share capacity of SGT.Furthermore, the dynamic performance of SGT relates to the reliability and stability of the machinery which uses SGT.To resolve this problem, the load balance mechanism is widely adopted in SGT from home and abroad [2][3][4].This method can improve the load sharing capability of SGT to some extent, but the dynamic properties of SGT will be must influenced.So, the study about the effect of manufacturing errors on the dynamic performance of SGT with load balance mechanism has a high value of practical application.
However, the study with regard to SGT is rare so far.Sun et al. [23,24] established a torsional and translational nonlinear dynamic model for SGT to predict the dynamic characteristics.They also use the Gill numerical method to obtain the dynamic response for a torsional nonlinear dynamic model of SGT and analyze the numerical results in time histories, phase plane plots, Poincare maps, and Fourier spectra.Bao and Zhu [25] develop a dynamic analysis model for a two-stage star gear train considering manufacturing and assembly errors to analyze the characteristics of sharing load and some relations between errors and the load sharing coefficient.Mo et al. [1,26] probe into the natural characteristics and load sharing behavior of double-helical star gearing system for geared turbofan engine.Up to now, there are no literatures including the reports on the bifurcation and chaos of SGT with the manufacturing errors and load balance mechanism yet.In this paper, using the lumped-parameter method and taking into account the manufacturing eccentric errors, timevarying mesh stiffness, and load balancing mechanism, a generalized dynamic model of HSGT with floating sun gear is presented to study the forced vibration characteristics.Sun gear is bore by a spline shaft with radial clearance, so it can float along the radial direction to improve unbalanced load which star gears bear because of eccentric errors.The evolution of system dynamic response is studied with changing eccentric errors of star gears which are divided into seven cases, and the process from periodic motions to chaos is shown by bifurcation diagrams, phase plane plots, and Poincare maps.The effect of the variation of working frequencies is also investigated by choosing three kinds of working speed in which the working frequencies are close to the system natural frequencies.

Dynamic Model of HSGT with Floating Sun Gear
Figure 1 depicts the structure of HSGT.It includes a sun gear, N star gears (N, the number of star gears), a ring gear, and a carrier.The input power is transmitted by sun gear and distributed by N star gears which form power branches, confluent in ring gear finally.
In order to build the dynamic model of HSGT, the following principles of treatment are adopted.In the case of engaging correctly, the axial forces exerted by left handed helical angle and right handed helical angle of herringbone gear are counteractive.Based on this feature of herringbone gear, the axial motion of gear is not considered, and only the radial and torsional motions of gear need to be taken into account.The carrier has radial two degrees of freedom (axial and torsional support stiffness is deemed very high).Gears are treated as rigid discs.Gear meshing is treated as a spring which has time-varying stiffness and acts on the gear tooth surface along the meshing line direction.The support from bearings and shaft to sun gear, the ring, and the carrier is equivalent to spring fastened to the foundation.The support from the carrier, bearings, and shaft to star gears is equivalent to the stiffness of carrier and shaft and the stiffness of bearings calculated by cascade spring connection calculation method.Star gears are assumed to be equispaced and same in mass, moment of inertia, support stiffness, and so on.The effect of friction is not taken into account.Based on these principles, the lumped-parameter dynamic model is constructed, as shown in Figure 2.
The indexing conventions , , and  for sun gear, ring gear, and the carrier, pi or p for star gears,  = 1, 2, . . .,  for the sequence number of star gears, spi for th sun-star meshing pair, and pir for th star-ring meshing pair are maintained throughout this paper.
As shown in Figure 2, the coordinate systems are built as follows: o j x j y j ( = , , , ) is a fixed coordinate system, and its coordinate origin o j ( = , , , ) is located in the center of mass for the components.The indexing conventions K jx , K jy and C jx , C jy ( = , , , ) denote the support stiffness and support damping in x and y separately.K spi , K pir and C spi , C pir are the time-varying mesh stiffness and mesh damping separately, and e spi , e pir stand for the transmission error along the end meshing line direction.
The model has 8 +  × 3 degrees of freedom, and its generalized coordinates are as follows: [  ,   ,   ,   ,   ,   ,   ,   ,   ,   ,   ], where x j , y j ( = , , , ) are the translational displacement along -axis and -axis,   ( = , , ) is the rotational displacement around the z-axis, with   =   ⋅   ,    ( = , , ) is the angular displacement around -axis, and r bj ( = , , ) are the radii of base circles.with   =  ⋅   , where  is the friction coefficient,   is the normal pressure which the tooth surface of the spline sustains. is the radial clearance between the inner and outer spline, with  =  2 −  1 .

Analysis of Floating Process of Sun Gear and Internal Excitation
As can be seen from Figure 3, in the floating process, sun gear bears mesh forces of N star gears and the support reaction force of the spline shaft.If   ≤   , the slipping does not happen between the inner and outer spline.The stiffness of the spline shaft can be reduced on the premise of meeting the requirement of intensity, so the bending deformation of the spline shaft will fit the radial displacement of sun gear.At the moment, the range of R s is between 0 and R 1 .If   >   , the inner and outer spline will show relative sliding, which fits the radial displacement of sun gear.At this stage, the range of R s is between R 1 and R 2 .However, when the radial clearance between the inner and outer spline disappears, the bending deformation of the spline shaft fits the radial displacement of sun gear again, and the range of R s is greater than R 2 .Based on the above analysis, the support reaction forces of the spline shaft along -axis and y-axis are, respectively, defined as follows.
The support reaction force of the spline shaft along -axis is as follows: The support reaction force of the spline shaft along y-axis is as follows: where  is the direction angle of the deformation vector (  ,   ).

Time-Varying Mesh Stiffness
Excitation.In this paper, the time-varying mesh stiffness is computed by using tooth contact analysis (TCA) [27] and loaded tooth contact analysis (LTCA) [28].The particular calculate process is shown in Figure 4.The object is the inner or outer meshed gears.TCA and LTCA are applied to obtain the comprehensive contact deformations   in normal direction at n contact points of tooth surface in a meshing period (the so-called comprehensive contact deformation considers the effect of other teeth meshing simultaneously).Then, the normal force F n which the contact tooth surfaces bear is calculated by the following formula: where   is the base helix angle and F t is the tangent force, with where  in is the input torque,  is the number of star gears, and  bs is the radius of base circle of sun gear.The ratio of F n and   is the normal mess stiffness K n at n contact points of tooth surface in a meshing period.Finally, the discrete values K n need to be interpolated by piecewise cubic-Hermite's interpolation function and expressed as the periodic function in the form of 10-order Fourier series.
According to the process above, a MATLAB program is wrote to solve the time-varying mesh stiffness.Using this program, under various operating conditions, the time-varying mesh stiffness of gear pairs of various parameters can be calculated fast and efficiently.The mesh stiffness of the example in this paper is calculated, shown in Figure 5. 6 depicts the location relationships between the eccentric errors of sun gear and th star gear and the end meshing line of th sun-star pair.As shown here, the angle B  between the eccentric error of sun gear E s and the end meshing line of th sun-star pair is

Eccentric Error Excitation. Figure
where   is the transverse pressure angle of external gearing,   = 2 ( − 1)/ is the assembly position angle of th star gear,   is the angular velocity of sun gear, and   is the initial phase of the eccentric error of sun gear relative to x s -axis.So

Ring Star
The end meshing line direction of ith star-ring pair the equivalent error of E s projected to the end meshing line of th sun-star pair is The angle Φ  between the eccentric error of star gear E pi and the end meshing line of th sun-star pair is where  pi is the angular velocity of star gear and  pi is the initial phase of the eccentric error of th star gear relative to x pi -axis.So the equivalent error of E pi projected to the end meshing line of th sun-star pair is Figure 7 depicts the location relationships of between the eccentric errors of th star gear and ring gear and the end meshing line of th star-ring pair.The angle B pin between the eccentric error of the star E pi and the end meshing line of th star-ring pair is where   is the transverse pressure angle of internal gearing.So the equivalent error of E pi projected to the end meshing line of th star-ring pair is The angle B  between the eccentric error of ring gear E r and the end meshing line of th star-ring pair is where   is the angular velocity of ring gear and   is the initial phase of the eccentric error of ring gear relative to x r -axis.So the equivalent error of E r projected to the end meshing line of th star-ring pair is Based on the above analysis, the equivalent displacements of the eccentric errors of gears are where e spi , e pir are, respectively, the equivalent errors for the th sun-star pair and th star-ring pair.

Motion Differential Equation of HSGT with Floating Sun Gear
According to the location relationships of between the displacement of the center of mass for gears and the end meshing line of th sun-star pair and th star-ring pair, as shown in Figure 8(a), the relative displacements of the translational gear pairs along the meshing line of th sun-star pair and th star-ring pair are separately defined as follows.The relative displacement of the translational gear pairs along the meshing line of th sun-star pair are where B spi is the angle of the end meshing line of th sun-star pair relative to -axis, with   = /2 −   +   .The relative displacement of the translational gear pair along the meshing line of th star-ring pair is Shock and Vibration 7 where   is the angle of the end meshing line of th star-ring pair relative to -axis, with   =   − (/2 −   ).
In Figure 8(b), the radial displacements of th star gear relative to the carrier along -axis and y-axis are separately defined as follows: Based on Newton's second law and the above analysis, the motion differential equations of components are listed as shown in where   ( = , , , ) are the mass of each component,   ( = , , ) are the moment of inertia, P sx , P sy are depicted in ( 1) and ( 2), the support stiffness K j x , K jy ( = , , , ) are abstained by FEA, and the support damping   ,   ( = , , , ) are calculated by using this formula, which is (see [1]), where   is the support damping ratio, whose value is 0.003 in this paper.C spi , C pir are the mesh damping coefficient of engagement pairs, with where  is mesh damping ratio, whose value is 0.03 in this paper.  ,   are the mean mesh stiffness of each engagement pair, and  in ,  out are, respectively, input torque and load torque.

Simulation and Analysis
A herringbone star gear transmission (HSGT) with floating sun gear and five equally spaced star gears ( = 5) is used as an example, and the motion differential equation is solved by Runge-Kutta numerical calculation method.The parameters of the example are shown in Table 1.
In this chapter, the focus is the effect of eccentric errors of star gears with different phase and number on the dynamic response of HSGT with floating sun gear.So the eccentric errors of sun gear and ring gear are set to 0 m.According to the place and number of star gears, the cases of star gears The value of the radial clearance between inner and outer spline,  (m) 50 Input speed, n s (r/min) 7500 Input power,  in (Kw) 1000 Note.The mass and inertia of sun gear and ring gear include the mass and inertia of input and output shaft.
carrying eccentric errors are divided into seven patterns, shown in Table 2.
Setting the initial phase of the eccentric error of star gear equal to its assembly position angle, changing the eccentric errors from 0 m to 50 m, we solve the system motion differential equation for the bifurcation behaviors.To study the regularity of the system motion development, the bifurcation diagrams on the relative vibration displacement between sun gear and star gear for the seven situations shown in Table 2 are given.Aiming at some typical system motion form, the phase plane plots, Poincare maps are given.
In the seven cases, there are about four kinds of motion appearing in the system.They are periodic, period-doubling, quasiperiod, and chaos motion.How to judge the three motions, towards periodic or period-doubling motion, the phase plane plot is a regular curve, the Poincare map of periodic motion is a dot, and the Poincare map of perioddoubling motion is composed of dots which collect on several areas; to quasiperiod motion, the phase plane plot is a belt-like curve, and the Poincare map is composed of dots looking like serial; for chaos, the phase plane plot is a curve whose shape is noncircular and nonelliptic, and the Poincare map is composed of dots arranged disorderly.It is difficult to distinguish the quasiperiod motion and chaos in the bifurcation diagram, so the phase plane plots and Poincare maps are needed to comprehensively observe.
To study the effect of the variation of system working frequency on the dynamic characteristics of HSGT, we give the 23th order natural frequencies of HSGT in two situations of floating and nonfloating, shown in Table 3.At speed 4251.8 r/min, Cases 1, 5, and 6 are calculated.Under this speed, the meshing frequency is close to the 14th and 15th order natural frequencies.At speeds 5862 r/min and 7320 r/min, Case 1 is calculated.Under these two speeds, the rotation frequency is close to the second and third-order natural frequencies in the floating and nonfloating state, shown in Table 4.

The System Bifurcation Characteristics with Changing Eccentric Errors of Adjacent Star Gears
Case 1 (star gear 1 with eccentric error).The system dynamic response is shown in Figure 9.It can be seen from the enlarged images in Figure 9 that the system response bifurcates into period-doubling from single-periodic motion where  1 = 24 m.When the eccentric error of star gear 1 is greater than 24 m, the system motion bifurcates into complicated motion state (quasiperiod or chaos).The phase plane plots and Poincare maps of the system response where  1 = 24 m are shown in Figure 10.As can be seen from Figures 10(b), 10(f), and 10(h) that there is period 5 motion appearing in the system, Figure 11 describes the phase plane plots and Poincare maps of the system response where  1 = 42 m.In Figure 11(e), it is quite clear that chaos develops in the system.We can also conclude that the gear pairs of sunstar 2 and sun-star 5 have the same dynamic characteristics, so do the gear pairs of sun-star 3 and sun-star 4.
Case 2 (star gears 1 and 2 with eccentric errors).Figure 12 depicts the system bifurcation characteristic with the The relative vibration The relative vibration The relative vibration The relative vibration The relative vibration changing of eccentric errors of star gears 1 and 2. We can see that the gear pairs of sun-star 1 and sun-star 2 have the same dynamic characteristics, so do the gear pairs of sun-star 3 and sun-star 5. From Figures 9 and 12, it can be drawn that the effect of the eccentric errors of star gears 1 and 2 on the system response is greater than one of star gears 1.In Case 2, the system response bifurcates into period-doubling from periodic motion where  1,2 = 15 m.Beginning around  1,2 = 20m, the system response shows the complex bifurcation characteristics.As shown in Figures 13 and 14, there are period 5 motion and chaos, respectively, appearing in the system where  1,2 = 15 m and 22.5 m.In Figures 14(a) and 14(e), the curves distort.
Case 3 (star gears 1, 2, and 3 with eccentric errors).It is the same as Case 2 that the system response bifurcates into period 5 from periodic motion where  1,2,3 = 15 m and the two cases have the similar bifurcation characteristics shown in Figures 12 and 15.The difference from Case 2 is that the gear pairs of sun-star 1 and sun-star 3 have the same dynamic characteristics, so do the gear pairs of sun-star 4 and sun-star 5. Figures 16 and 17 separately depict the phase plane plots and Poincare maps between sun gear and five star gears, where  1,2,3 = 15 m and 26.5 m.There are period 5 and chaos motion, respectively, appearing in the system.
Case 4 (star gears 1, 2, 3, and 4 with eccentric errors).As shown in Figure 18, the system response is relatively stable compared with Cases 2 and 3, which bifurcates into perioddoubling motion starting with  1,2,3,4 = 18.5 m.Each sunstar pair has different dynamic characteristics.The sun-star 1 pair is the most stable in five sun-star pairs.Figures 19 and 20 The relative vibration The relative vibration The relative vibration depict the phase plane plots and Poincare maps between sun gear and five star gears, where  1,2,3,4 = 18.5 m and 44 m.
There are period 5 and chaos motion, respectively, appearing in the system.
Case 5 (star gears 1, 2, 3, 4, and 5 with eccentric errors).In the case, the system response is more stable than Case 4, which bifurcates into quasiperiod motion starting with  1,2,3,4,5 = 45 m shown in Figure 21.From the figure, we can see that the gear pairs of sun-star 1 and sun-star 2 have the same dynamic characteristics, so do the gear pairs of sun-star 3 and sunstar 5.It is corresponding to discover that the system always keeps the quasiperiod motion by calculating the system response where  1,2,3,4,5 = 45 m, 46 m, 48 m, and 50 m.The relative vibration velocity The relative vibration The relative vibration velocity The relative vibration The relative vibration displacement X sp4 (m) The relative vibration

The System Bifurcation Characteristics with Changing Eccentric Errors of Nonadjacent Star Gears
Case 6 (star gears 1 and 3 with eccentric errors).In this case, the influence of eccentric errors of star gears 1 and 3 on the system response is significantly less than one of star gears 1 and 2 in Case 2. The system motion bifurcates into perioddoubling motion beginning with  1,3 = 39 m shown in Figure 23.The gear pairs of sun-star 1 and sun-star 3 have the same dynamic characteristics, so do the gear pairs of sun-star The relative vibration The relative vibration The relative vibration The relative vibration velocity The relative vibration The relative vibration velocity The relative vibration The relative vibration velocity 4 and sun-star 5. Figure 24 describes the phase plane plots and Poincare maps between sun gear and five star gears where  1,3 = 39 m.From Figure 24(f), it can be seen that period 5 motion develops in the system.
Case 7 (star gears 1, 2, and 4 with eccentric errors).In this case, the system response is obviously more stable than Case 3. The system motion bifurcates into quasiperiod motion beginning with  1,2,4 = 20.5 m shown in Figure 25.The The relative vibration The relative vibration The eccentric error of star gears 1, 2, 3, The relative vibration  gear pairs of sun-star 1 and sun-star 2 have the same dynamic characteristics, so do the gear pairs of sun-star 4 and sunstar 5.After about  1,2,4 = 34m, the system shows the complex bifurcation characteristics.Figures 26 and 27 describe the phase plane plots and Poincare maps between sun gear and five star gears where  1,2,4 = 20.5 m and 37 m.In Figure 27, there is the tendency of chaos motion appearing in the system.

The System Bifurcation Characteristics with the Working
Frequencies Close to the Fundamental Natural Frequencies of the System 5.3.1.Calculating Cases 1, 5, and 6 at Speed 4251.8 r/min.When the input speed is 4251.8r/min, the meshing frequency is equal to the 14th and 15th order natural frequencies shown in Tables 3 and 4. At this speed, we calculate Cases 1, 5, and 6 and plot the bifurcation diagrams shown in Figures 28, 29, and 30.Comparing with Figures 9, 21, and 23, we can see that the error values of beginning to bifurcate decrease in Cases 1 and 6 and the system shows more complex bifurcation characteristics.In Case 5 the system bifurcation characteristic changes slightly.Table 5 shows a comparison of Cases 1, 5, and 6 at speed 4251.8 r/min and 7500 r/min.

Calculating Case 1 at Speeds 7320 r/min and 5862 r/min.
At speed 7320 r/min, the rotation frequency of sun gear is equal to the second-and third-order natural frequencies under the circumstance of nonfloating shown in Tables 3 and  4. At speed 5862 r/min, that happens in a state of floating.At the two speeds, we calculate Case 1 and plot the bifurcation diagrams shown in Figures 31 and 32.Comparing with Figure 9, we can see that the system bifurcation characteristic is affected by the rotation frequency close to the system fundamental natural frequencies, particularly one close to the natural frequencies of floating status.At speed 5862 r/min, The relative vibration velocity The relative vibration The relative vibration The relative vibration velocity The relative vibration

Shock and Vibration
The relative vibration The relative vibration velocity The relative vibration The relative vibration The relative vibration velocity The relative vibration The relative vibration velocity  The relative vibration The relative vibration The relative vibration The relative vibration velocity The relative vibration The relative vibration The relative vibration velocity The relative vibration The relative vibration The relative vibration velocity The relative vibration The relative vibration The relative vibration velocity The relative vibration The relative vibration The relative vibration The relative vibration velocity The relative vibration The relative vibration velocity The relative vibration The relative vibration velocity The relative vibration The relative vibration The relative vibration velocity The eccentric error of star gears 1, 2, The relative vibration The eccentric error of star gears 1, 2, the error values of beginning to bifurcate and showing complex bifurcation characteristics both decrease obviously.

Conclusions
This paper mainly analyzes the influence of the variation of eccentric error and working frequencies on the dynamic response of HSGT with floating sun gear.A new and generalized dynamic model for HSGT with floating sun gear is established and solved by Runge-Kutta numerical calculation method.On the basis of the different location and number of star gears, seven cases about eccentric errors are calculated, respectively.Three kinds of working speed are chose to observe the effect of the working frequencies, at which the meshing frequency or rotation frequency is close to the system fundamental natural frequencies.The results are expressed by the bifurcation diagrams, phase plane plots, and Poincare maps.In every case, the system dynamic properties are explained in detail.The main conclusions are summarized as follows: (1) In any case, the system motion is not always singleperiod status with the changing of the eccentric errors of star gears.The period-doubling, quasiperiod or chaos motion will happen in the system.Furthermore, the values of the eccentric errors are different when the bifurcations happen in different cases.To compare the bifurcation diagrams, it can be see that the system response of Case 5 is most stale, followed by Cases 6 and 7; the stability of the system response in Cases 2 and 3 is the worst one.(2) In the premise of the same number of star gears with the eccentric errors, the system response in the case of nonadjacent star gears is more stable than one in the condition of adjacent star gears.This conclusion can be drawn by comparing Cases 2 and 6 as well as Cases 3 and 7. (3) When the working frequencies (including rotation frequency and meshing frequency) are close to the fundamental natural frequencies the system stability is affected; particularly the effect of meshing frequency is biggest.So in the actual engineering it should be ensured that the working frequencies stay away from every order natural frequency.
The above analysis and conclusions can serve as a guide to the manufacture and assembly in a project of the herringbone star gear transmission with floating sun gear.If the machine accuracy is low, it is necessary to take into account the displacement and number of star gears with eccentric errors in the process of the engineering.In addition, the system working speed should be selected reasonably in case the working frequencies approximate the system fundamental natural frequencies.

Shock and Vibration
The relative vibration The relative vibration velocity The relative vibration The eccentric error of star gears 1, 2, 4, The relative vibration The relative vibration The relative vibration The relative vibration

𝑀: M a s s 𝑁:
The number of star gears  / : The support reaction force of the spline shaft : B a s e r a d i i : T o r q u e : Rotational displacement , : Translational displacement  / : The pressure angle of external and inner gearing : Th e h e l i x a n g l e : The initial phase of the eccentric error   ,   ,   : The angular velocity : The assembly position angle of star Φ: The angle between the eccentric error and the end meshing line   : The support damping ratio : Th e m e s h d a m p i n g r a t i o   ,   ,  / : The relative displacement.

Figure 5 :
Figure 5: The time-varying mesh stiffness for external and inner gearing.

Figure 6 :
Figure 6: The location relationships of between the eccentric errors of sun gear and th star gear and the end meshing line of th sun-star pair.

Figure 7 :
Figure 7: The location relationships of between the eccentric errors of th star gear and ring gear and the end meshing line of th star-ring pair.

Figure 8 :
Figure 8: (a) The location relationships of between the displacement of the center of mass for gears and the end meshing line of th sun-star and th star-ring pair.(b) The location relationship of between the displacement of the center of mass for th star gear and the carrier.

Figure 9 :
Figure 9: The system bifurcation diagram with the variation of eccentric error of star gear 1.

Figure 11 :
Figure 11: The phase plane plots and Poincare maps for five sun-star pairs, when  1 = 42 m.(a), (c), and (e) are the phase plane plots.(b), (d), and (f) are the Poincare maps (note: only one of the gear pairs which have the same dynamic characteristics is shown).

Figure 12 :
Figure 12: The system bifurcation diagram with the variation of eccentric error of star gears 1 and 2.

Figure 13 :
Figure 13: The phase plane plots and Poincare maps for five sun-star pairs, when  1,2 = 15 m.(a), (c), and (e) are the phase plane plots.(b), (d), and (f) are the Poincare maps (note: only one of the gear pairs which have the same dynamic characteristics is shown).

Figure 14 :
Figure 14: The phase plane plots and Poincare maps for five sun-star pairs, when  1,2 = 22.5 m.(a), (c), and (e) are the phase plane plots.(b), (d), and (f) are the Poincare maps (note: only one of the gear pairs which have the same dynamic characteristics is shown).

Figure 15 :
Figure 15: The system bifurcation diagram with the variation of eccentric error of star gears 1, 2, and 3.

Figure 16 :
Figure 16: The phase plane plots and Poincare maps for five sun-star pairs, when  1,2,3 = 15 m.(a), (c), and (e) are the phase plane plots.(b), (d), and (f) are the Poincare maps (note: only one of the gear pairs which have the same dynamic characteristics is shown).

Figure 17 :
Figure 17: The phase plane plots and Poincare maps for five sun-star pairs, when  1,2,3 = 26.5 m.(a), (c), and (e) are the phase plane plots.(b), (d), and (f) are the Poincare maps (note: only one of the gear pairs which have the same dynamic characteristics is shown).

Figure 18 :
Figure 18: The system bifurcation diagram with the variation of eccentric error of star gears 1, 2, 3, and 4.

Figure 22 :Figure 23 :Figure 24 :
Figure 22: The phase plane plots and Poincare maps for five sun-star pairs, when  1,2,3,4,5 = 45 m.(a), (c), and (e) are the phase plane plots.(b), (d), and (f) are the Poincare maps (note: only one of the gear pairs which have the same dynamic characteristics is shown).

Figure 25 :Figure 26 :
Figure 25: The system bifurcation diagram with the variation of eccentric errors of star gears 1 and 2, 4.

Figure 28 :
Figure 28: The system bifurcation diagram of Case 1 at speed 4251.8 r/min.
Figure 29: The system bifurcation diagram of Case 5 at speed 4251.8 r/min.

Figure 30 :Figure 31 :
Figure 30: The system bifurcation diagram of Case 6 at speed 4251.8 r/min.

Figure 32 :
Figure 32: The system bifurcation diagram of Case 1 at speed 5862 r/min.

Table 2 :
The cases of star gears carrying eccentric error.

Table 3 :
The natural frequencies of HSGT.

Table 4 :
The working frequencies of HSGT at three speeds.

Table 5 :
A comparison of the error values of beginning to bifurcate.