A dynamic model of a dual-rotor system with rubbing between its internal and external rotor was built. The dynamic equation for the vibration responses of the system was derived. The vibration response and mechanical properties of the dual-rotor system were studied with increase in its rotating speed by means of bifurcation maps, Poincare map and Spectrum charts. The nonlinear phenomena of the system when the rotors rubbed with each other were analyzed, the influences of viscous damping coefficient, rubbing rigidity coefficient and support spring rigidity coefficient on the motion of the system were discussed. The results indicated that the motion states including periodic, quasi-periodic and multi-periodic ones appear in the dual-rotor system with increase in its rotating speed; the behavior of the system is more complex with decrease in viscous damping coefficient; with increase in rubbing rigidity coefficient, the system in rubbing is easy to lose its stability; in a certain range, the motion state of the system is more stable with increase in support spring rigidity coefficient.%建立了考虑内外转子碰摩影响的双转子系统动力学模型,推导出系统振动响应的动力学方程.利用分岔图,庞加莱截面图以及频谱图分析了双转子系统随转速变化时的振动响应和力学特性,以及系统发生碰摩时的各种非线性现象,并讨论粘性阻尼系数、碰摩刚度系数和支撑弹簧刚度等系统参数对系统运动的影响.结果表明:随着转速的变化,系统会发生碰摩运动,导致拟周期和倍周期等复杂动力学行为出现；随着粘性阻尼系数的减小,系统行为变得复杂；碰摩刚度系数增加时,系统在碰摩时易发散失稳；在一定范围内,支撑弹簧刚度越大,系统的运动状态越稳定.
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