The nonlinear contact forces and deformations between the balls and raceways can cause very complex vibration behaviours of rotor systems with the waviness in the support bearings. However, almost all previous works that used sinusoidal waviness took the Hertzian solution as the calculation method, which is not an accurate method based on Johnson’s formulation since the changes in the curvature at the sinusoidal contact surfaces. To overcome this issue, a new dynamic model of a rigid rotor system with the waviness in the support bearings is proposed. To provide a more accurate nonlinear contact force formulation for the sinusoidal waviness profile, the model used the Johnson’s extended Hertzian contact model to replace Hertzian contact model. This model can consider the time-varying curvature between the mating sinusoidal surfaces. The lubricating condition in the support bearing is also considered. A comparative study on the effects of Hertzian contact model, simplified Hertzian contact model, and Johnson's extended Hertzian contact model on the nonlinear vibrations of the rotor system is developed. The effects of the waviness amplitude and orders on the vibrations of the rotor system are discussed. The comparative simulations show that the proposed model can provide a more reasonable approach for predicting the vibrations of the rigid rotor system. Moreover, the simulations give that the nonlinear contact forces in the support bearings can greatly affect the system vibrations.

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