Rtiwari RD Book 02b

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.
in)
2.5 Geared Systems

In some machine the shaft may not be continuous from one end of the machine to the other, but may
have a gearbox installed at one or more locations. So shafts will be having different angular velocities
as shown in Figure 2.15(a). For the purpose of analysis the gear general system must be reduced to
system with a continuous shaft so that they may be treated as described in the preceding section.
Angle of
twist
Angle of
twist e = 1
2 2 T2
1 1 T1
ke
k2
Ip2
1 1 T1
Ipe
T2 = nT1 and 2=1/n

Fig. 2.15(a) Actual system
(b) Equivalent system without gearbox
In actual system as shown in Fig. 2.15(a) the shaft torsional stiffness k2 and rotor moment of inertia
Ip2. Let the equivalent system as shown in Fig. 2.15(b) has the shaft torsional stiffness ke and the disc
moment of inertia Ipe . The strain and kinetic energy values must be the same in both the real and
equivalent systems for theoretical model to be valid. By imagining the rotor Ip2 to be held rigidly
whilst shaft 1 is rotated through some angle 1 at the gearbox. The shaft 2 is rotated through an angle
1/ n at gearbox, where n is the gear ratio (i.e. ratio of angular speed of driving gear to that of driven
gear i.e. n =1/2 = 1/2 = T2 / T1 ; where is the spin speed of the gear. Speed ratio, train value,
kinematic coefficient are other terms used, however, these are inverse of the gear ratio i.e. ratio of
angular speed of driven gear to that of driving gear), T is the number of gear teeth. The strain energy
stored in shaft 2
E = 12 k2 22 = 12 k2 (1 n )2
(31)
While applying the same input at the gear location to the equivalent system results in the stain energy
stored in the equivalent shaft and can be expressed as
E = 12 ke12
(32)
Equating equations (31) and (32) give

89
Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)
ke = k 2 / n 2
(33)
If consideration is now given to the kinetic energies of both the real and equivalent systems, which
must also be equated
1
2
I p 22 = 12 I p e2
2
(34)
where 2 and 1 are the angular frequencies of disc polar moment of inertias (i.e. I p2 and I pe ) of the
real and equivalent systems, respectively. Equation (34) can be written as
1
2
I p 2 + 2
2
= 12 I p 1 + e1
e
(35)
where 2 and e are the angle of twist of actual shaft 2 and the shaft 2 in equivalent system
respectively . It can be seen from Figure 15(b) that e = 1 and 1 and 2 are the angular frequencies
of the shafts 1 and 2, respectively. Nothing that
2 = ( nT1 ) k2
and e = 1 = T1 ke
1
(36)
Equation (35) can be written as

2
1
Ip
2 2
1 d nT
d T
1
+ = 2 I e 1 +
dt ke
n dt k2
where T is the torque input to the gearbox pinion (shaft 1). On substituting equation (33) in equation
(37), we get
2
1 d nT
d n 2T
I p2 + = 12 I e 1 +
dt k2
n dt k2
1
2
or
2
Ip
d n 2T
d n 2T
2
1 +
= I e 1 +
dt k2
dt k2
n 2
which simplifies to
I e = I p2 / n 2
(38)
90
where ke and Ie are the equivalent shaft stiffness and rotor moment of inertia of the geared system
referred to the reference shaft speed i.e. shaft 1. The general rule, for forming the equivalent system
for the purpose of analysis, is to divide all shaft stiffness and rotor polar mass moment of inertias of
the geared system by n2 (where n is the gear ratio n = 2/1 = geared shaft/reference). When analysis is
completed, it should be remembered that the elastic line of the real system is modified (as compared
to with that of the equivalent system) by dividing the displacement amplitudes for equivalent shaft by
gear ratio n as shown in Figure 2.16.
le
l1
1
Elastic line modified by gear ratio

(divided by gear ratio n at every location)
Gear box location
Elastic line in equivalent system

Figure 2.16 The elastic line in the original system
Example 2.3. For geared system as shown in Figure 2.16 find the natural frequency and mode shapes.
Find also the location of nodal point on the shaft (i.e. the location of the point where the angular twist
due to torsional vibration is zero). The shaft A has 5 cm diameter and 0.75 m length and the shaft
B has 4 cm diameter and 1.0 m length. Take modulus of rigidity of the shaft G equals to 0.8 1011
N/m2, polar mass moment of inertia of discs are IA = 24 Nm2 and IB = 10 Nm2. Neglect the inertia of
gears.
Gear Pair
10 cm diameter
B
20 cm diameter
Figure 2.17 Example problem 2.1
91
Solution: On taking shaft B has input shaft (or reference shaft) as shown in Figure 2.18 the gear ratio
can be defined as
Gear ratio =
rpm of reference shaft B N B

D
T
input speed
20
=n= A = A =
=2=
=
=
output speed
DB TB 10
rpm of driven shaft A N A
10 cm
B
d = 4 cm
Input
lB = 1 m
A
IPB=10 Nm2
Output
d = 5 cm
lA = 0.75 m
IPA = 24 Nm2
20 cm
Figure 2.18 A geared system
The area moment of inertia and the torsional stiffness can be obtained as
JA =
4
d A = 6.136 107 m 4 ;
32
JB =
and
4
d B = 2.51 107 m 4
32
GJ A 0.8 1011 6.136 10-7

=
= 6.545 10 4 Nm/rad
KA =
0.75
lA
K B = 2.011104 Nm/rad
On replacing shaft A with reference to the shaft B by an equivalent system, the system will look as
shown in Figure 2.19. The equivalent system of the shaft system A has the following torsional
stiffness and mass moment of inertia properties
KA =
e
K A 6.545 104
=
= 1.6362 10 4 N m/rad
2
2
n
2
which gives the equivalent length as:
lA =
e
and
I PA =
I PA 24
= 2 = 6 Nm 2
2
n
2
GJ B 0.8 1011 2.513 107

=
= 1.2288m
1.6362 104
KA
e
92
Gear location
Ae
l Ae = 1.2288m
l B = 1m
l eff = 2.2288 m
I PAe
I PB
Figure 2.19 Equivalent single shaft system
The equivalent stiffness of the full shaft is given as
1
1
1
1
1
=
+
=
+
= 1.1085 104 m/N
4
4
K e K A K B 2.01110 1.6362 10
e
which gives K e = 9021.2 N/m

The equivalent shaft length is given as
le = lA + lB = n 2lA
e
d B4
+ lB = 1.2288 + 1 = 2.2288 m
d A4
The natural frequency of the equivalent two mass rotor system as shown in Figure 2.19 is given as
1
( I PA + I PB ) K e
e
(
I
PAe I PB )
1
2
9.81 ( 6 + 10 ) 9021.2
=
= 153.62 rad/sec
( 6 10 ) /9.812
1
2
n =
B = 1.0
Gear location
Ae = 1.667
le
= 2.2288
l e =1.0
2
Ae
0.8358 m
node point
I PAe
I PB
Figure 2.20 Mode shape and nodal point location in the equivalent system
93
The node location can be obtained from Figure 2.20 as
ln
ln
which can be written as noting equation (9), as
ln
ln
I PB
10
= = 1.667
I PA
6
e
The negative sign indicates that both discs are either ends of node location. The absolute location of
the node position is given as
ln = 1.667 ln
1
Also from Figure 2.20 we have
ln + ln = 2.2288
1
which gives
ln = 0.8358 m
2
The node is at 0.8356 m from end B. Alternatively, from similar triangle of the mode shape (Figure
2.20), we have
ln
2.2288 ln
Let B = 1rad then
Hence,
A =
Ae
n
B
1
=
ln = 0.8358 m
2
A 1.667
A = 1.667 rad
e
= 0.8333rad
The mode shape and node location in the actual system is shown in Figure 2.21.
94
Gear pair
A
node location
B = 1
A = - 0.8333
0.8358 m
A = 1.667
e
0.75 m
1m
Gear pair position

Figure 2.21 Mode shape and nodal point location in the actual system
Alternative way to obtain natural frequency is to use the equivalent two mass rotor (Figure 2.19) can
be considered as two single DOF systems (one such system is shown in Figure 2.22).
ln
I PB
Figure 2.22 A single DOF system

The stiffness and mass moment of inertia properties of the system is given as
Kl =
e2
GJ B 0.8 1011 2.513

10
kgm 2
=
= 2.435 104 N/m and I PB =
ln
0.8358
9.81
2
It gives the natural frequency as
n2 =
Kl
e2
I PB
2.435 104 9
= 154.62 rad/sec
10
which is same as obtained earlier.
95
The whole analysis can be done by replacing shaft B with reference to shaft A speed by an equivalent
system. For more clarity some of the basic steps are given as follows.
lB
IpB
lA
IpA
lA = 0.75
l Be = 0.61
le = 1.36 m.
IpA
I PBe
Figure 2.23 Actual and equivalent geared systems
It is assumed here that we are choosing reference shaft as input shaft (i.e. for present case shaft A is
reference shaft hence it is assumed to be input shaft and according the gear ratio will be obtained).
n=
B DB 10
=
=
= 0.5
A DA 20
It is assumed that equivalent shaft (i.e. B) has same diameter as the reference shaft (i.e. A). The
equivalent mass moment of inertia and stiffness can be written as
I PB =
e
I PB
I PB 2.011 104
2
40N
m
and
=
=
=
= 8.044 10 4 N/m 2
K
Be
2
2
2
(0.5)
n
n
which gives the equivalent length as
since K B =
e
GJ A
= 8.044 104
lB
lB =
e
0.8 1011 6.136 107

= 0.610 m
8.044 104
The total equivalent length and the torsional stiffness would be
96
le = lAe + lB = 0.61 + 0.75 = 1.36 m
and
Ke =
GJ A 0.8 1011 6.136 107

=
= 3.61104 N/m 2
1.360
le
Alternatively the effective stiffness can be obtained as

1
1
1
=
+
Ke K A K B
or
Ke =
K A .K B
K A + KB
6.545 104 8.044 104

= 3.61 104 N/m 2
4
4
6.545 10 + 8.044 10
The natural frequencies of two mass rotor system is given by

1
n = 0
and
( I PA + I PB ) 2
( I PA + I PBe ) 2
e
n =
K e = 9.81
Ke
2
I PA I PB
I PA I PBe
A factor 9.81 is used since IPA is in Nm2.

1
(24 + 40)
2
n2 = 9.81
3.6110 4 = 153.65 rad/s
24 40
1.36 m
le1 = 0.8 m
l e 2 = 0.51 m
0.75m
I PB
Gear location
I PA
node location
Figure 2.24 Equivalent two mass rotor system
The node location can be obtained as
ln
ln2
I PB
I PA
10
= 1.667
6
we have
ln1 + ln2 = le + le = 1.36

1
2
97
which gives
(1.667ln ) + ln = 1.36
1
ln = 0.85m and ln = 0.51m

1
The stiffness of ln will be (equivalent stiffness corresponding to shaft A speed)

2
GJ A
ln
KB
e2
The shaft stiffness corresponding to shaft B speed can be defined in two ways i.e.
KB =
2
GJ B
l2
and
K B = n2 K B = n2
e2
GJ A
ln
2
On equating above equations the location of the node in the actual system can be obtained as
l2 = n 2le
JB
= 0.84
JA
which is same as by previous method.
Exercise Problem 2.8. For a geared system as shown in Figure E2.8 find the natural frequencies and
mode shapes. Find also the location of nodal point on the shaft (if any). The shaft A has 5 cm
diameter and 0.75 m length and the shaft B has 4 cm diameter and 1.0 m length. Take modulus of
rigidity of the shaft G equals to 0.8 1011 N/m2, polar mass moment of inertia of discs and gears are
IA = 24 Nm2, IB = 10 Nm2, IgA = 5 Nm2, IgB = 3 Nm2.
Gear Pair
10 cm diameter
B
20 cm diameter
Figure E2.8 A geared system
98
2.6 Branched Systems

For the marine vessel power transmission shafts or machine tool drives, there may be many rotor
inertias in the system and gear box may be a branch point where more than two shafts are attached. In
such cases where there are more than two shafts attached as shown in Fig. 2.25 to the gearbox the
system is said to be branched.
2q
Branch B
2 p
Branch C
Branch A
0 1
2 r
Fig. 2.25 Branched system

For Fig. 2.25 having branched system, the state vectors for different branch can be written as
{S }nA = [ A]{S }0 A ; {S }nB = [ B ]{S }0 B ;
{S }nC = [C ]{S }0C
(39-41)
For branch A, Taking 0A=1 as reference value for angular displacement and since left hand end of
branch A is free end, hence for free vibrations we have T0A = 0. Equation for branch A takes the form
a

11
=

T
nA a21
a 1
12

a 0
22
(42)
which can be expanded as
TnA = a21
and nA = a11
(43)
At branch point, between shaft A and B, we have
oB =
nA
(44)
nAB
where nAB is the gear ratio between shaft A and B. For branch B, TnB = 0, since end of branch is free.
For branch B from equation (40), and nothing the condition above, we have
99
b11 b12 nA nAB

b
b
T
nB 21 22
oB
(46)
above equation can be expanded as
nB = b ( nA n AB ) + b12 T
(47)
oB
11
and
0 = b21 nA n AB + b22ToB ToB = ( b21 b22 ) nA nAB
(48)
At branch C, we have the following condition (nothing equation 45)
oc =
nA
n AC
a11
n AC
(49)
Another conditions at branch to be satisfied regarding torque transmitted at various branches is
1
2
TnA nA = 12 ToB nB + 12 ToC nC
TnA =
ToB
nA nB
ToC
nA nC
TnA =
ToB ToC
+
n AB nAC
(50)
Equation (50) can be written as
T
ToC = nAC TnA oB
nAB
On substituting equation (48), we get
b nA
ToC = nAC TnA + 21 2
b n AB
22
On substituting equation (43), we get
b a
ToC = nAC a21 + 21 211
b22 nAB
(51)
100
Substituting (49) and (51) into equation (41), we get:
a11 / nAC
c11 c12

2
0 nc c21 c22 n AC a21 + b21a11nAC b22 n AB
(52)
where Tnc = 0 is the boundary condition describing the free end of branch C. From equation (52)
second equation will give the frequency equation as
c21a11
c b a n
+ nAC c22 a21 + 22 21 11 AC
nAC
b n2
=0
(53)
22 AB
where as, bs and cs are function of natural frequency, nf. The roots of the above equation are
system natural frequencies. As before, these frequencies may then be substituted back into transfer
matrices for each station considered, where upon the state vector at each station may be evaluated.
The plot of angular displacement against shaft position then indicates the system mode shapes. Using
this method, there will not be any change in elastic line due to gear ratio, since these have now already
been allowed for in the analysis. Moreover, for the present case we have not gone for equivalent
system at all. For the case when the system can be converted to a single shaft the equivalent system
approach has the advantage.
Example 2.4. Obtain the torsional critical speeds of the branched system as shown in Figure 2.26.
Take polar mass moment of inertia of rotors as: IPA = 0.01 kg-m2, IPE = 0.005 kg-m2, IPF = 0.006 kgm2, and IPB = IPC = IPD = 0. Take gear ratio as: nBC = 3 and nBD = 4. The shaft lengths are: lAB = lCE =
lDF = 1 m and diameters are dAB = 0.4 m, dCE = 0.2 m and dDF = 0.1 m. Take shaft modulus of rigidity
G = 0.8 1011 N/m2.
C
E
A
B
F
D
Figure 2.26 A branched rotor system
101
Solution: The branched system has the following mass moment of inertias
I PE = 0.005 kg-m2;
I PA = 0.01 kg-m2;
I PF = 0.006 kg-m2
For branch A the state vector at stations are related as
{S }nA = [U ] A {S }OA
with
0 1 4.97 10 11n2
=
1
0.01n2
4.97 109 1
2
1
0
0.01n
[U ]A = [ F ] AB [ P] A = 1
For branch B the state vector at stations are related as
{S }nB = [U ]B {S }OB
with
1
2
0.005n
[U ]B = [ P]B [ F ]CE =
7.95 10 8
10 2
3.97 10 n + 1
Similarly, for branch C, we have
{S }nC = [U ]C {S }OC
with
1
[U ]C = [ P]B [ F ]BF =
2
0.006n
1.27 106
9 2
7.64 10 n + 1
From equation (53), the frequency equation can be written as
c21a11
c b a n
+ nBD c22 a + 22 21 11 BD
21
nBD
b n2
=0
22 BC
On substitution, we get
102
4.97 10 9
0.006n2 (1 4.97 10 11n2 )

+ 4 (1 7.64 109 n2 ) (0.01n2 )
4
4 (1 7.64 109 n2 )(0.005n2 )(1 4.97 1011n2 )
+
=0
9
(1 3.97 1010 n2 )
which can be simplified to
0.04372n2 + 3.392110 10 n4 1.2110 19 n6 = 0

The roots of the polynomial are
n2
1,2 ,3
= 0;
135.48 106
and
2.64 10 9
Natural frequencies are given as
n1 = 0 ; n 2 = 11640 rad/s and n3 = 51387 rad/s

It can be seen that the rigid body mode exist since ends of the gear train is free.
2.7 Damping in Torsional Systems

Damping may come from (i) the shaft material and (ii) torsional vibration dampers. The torsional
vibration damper is a device which may be used to join together two-shaft section as shown in Fig.
2.27. It transmits a torque, which is dependent upon of the angular velocity on one shaft relative to the
other.
I1
I2
Figure 2.27 Torsional vibration damper

Torsional dampers can be used as a means of attenuating system vibration and to tune system resonant
frequencies to suit particular operating conditions. The damping in the system introduces phase lag
angles to the system displacement and torque. The displacement and torque parameters must now be
represented mathematically both in-phase and quadrature components.
103
In-1
In
In+1
Bn
Bn+1
Cn-1
Cn
Cn+1
Figure 2.28 General arrangement of MDOF system with damping.
LTn
RTn
C n n
Figure 2.29 Free body diagram of rth rotor.
Figure 2.28 shows a general arrangement of torsional MDOF rotor system with damping. EOM of the
nth rotor from free body diagram (Figure 2.29) can be written as
T LTn Cnn
(54)
n = Rn
(55)
R n
and
L
Torques RTn and LTn may be written in the form
104
Tn = Tn1 sin t + Tn2 cos t
(56)
whilst the angular displacements take the form
n = n sin t + n cos t
1
(57)
Differentiating equations (56) and (57) with respect to time and substituting in equations (54) and (55)
leads to
1
1

0
2
= 2
T1 I
T2
n
C
0
1
C
2 I
0 0
0 0
1 0
0 1n
1

2

T1
T
L 2 n
(58)
which can be simplified as

R
{S}n = [ P ]n L {S}n
(59)
where [P]n is a point matrix.
Bn
RTn-1
LTn
n-1
Kn
Figure 2.30 Free body diagram of nth shaft segment
The characteristics of the shaft element at station n are represented in the equation describing the
torque applied to the shaft at the location of rotor n, as
( RTn 1 = ) LTn = K n ( n n 1 ) + Bn (n n 1 )
(60)
While the torque transmitted through the shaft is the same at each ends i.e.
T = RTn 1
(61)
L n
Substituting T, and in equation (60), we get
105
(T
L n1
sin t + LTn cos t = K n

2
{(
L
n1
) (
sin t + L n cos t
2
( n 1) sin t + R ( n1) cos t

1
)}
+ Bn ( Ln1 cost Ln2 sin t )( R( n 1)1 cost R( n 1)2 sin t )

On separating the in-phase and quadrature components, we get
(T
= LTn = K n L n K n R ( n 1) Bn L n Bn R ( n 1)
(T
= LTn = K n L n K n R ( n 1) + Bn L n Bn R ( n 1)
R ( n 1)1
and
R ( n 1)2
(62)
Substituting T, , and in equation (61), we get
(T
L n1
) (T
sin t + LTn cos t =

2
R ( n 1)1
sin t + RT( n1) cos t

2
On separating in-phase and quadrature components, we get
T = RT( n 1)
L n1
T = RT( n 1)
and
L n2
(63)
Combining (62) and (63) we get:
K B
B
K
0
0
0
0
0 0
0 0
1 0
0 1 n
1 K B
B K
2
=
0
T1 0
T 0
0
L 2 n
1 0
0 1
1 0
0 1 n
1

2

T1
T
R 2 n 1
(64)
which can be written as
[ L]n L{S }n = [ M ]n R {S }n1

which can be simplified as
L
with
{S }n = [ L]n1[ M ]n R{S }n 1 = [ F ]n R {S }n1
(65)
[ F ]n = [ L]n1[ M ]n
where [F]n is a field matrix at station n. From equations (59) and (65), we get
{S }n = [ P]n L{S }n = [ P]n [ F ]n R{S }n 1 = [U ]n R {S }n 1
(66)
where [U]n is a transfer matrix between stations n & (n-1). Remaining analysis will remain same for
obtaining natural frequency & made shapes.
106

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Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.

2.5 Geared Systems

T2 = nT1 and 2=1/n

(b) Equivalent system without gearbox

Equating equations (31) and (32) give

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

Equation (35) can be written as

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

Elastic line modified by gear ratio

Gear box location

Elastic line in equivalent system

Figure 2.17 Example problem 2.1

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

rpm of reference shaft B N B

GJ A 0.8 1011 6.136 10-7

which gives the equivalent length as:

GJ B 0.8 1011 2.513 107

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

Figure 2.19 Equivalent single shaft system

The equivalent stiffness of the full shaft is given as

which gives K e = 9021.2 N/m

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

The node location can be obtained from Figure 2.20 as

which can be written as noting equation (9), as

Also from Figure 2.20 we have

Let B = 1rad then

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

Gear pair position

Figure 2.22 A single DOF system

GJ B 0.8 1011 2.513

It gives the natural frequency as

which is same as obtained earlier.

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

which gives the equivalent length as

0.8 1011 6.136 107

The total equivalent length and the torsional stiffness would be

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

le = lAe + lB = 0.61 + 0.75 = 1.36 m

GJ A 0.8 1011 6.136 107

Alternatively the effective stiffness can be obtained as

6.545 104 8.044 104

The natural frequencies of two mass rotor system is given by

A factor 9.81 is used since IPA is in Nm2.

ln1 + ln2 = le + le = 1.36

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

ln = 0.85m and ln = 0.51m

The stiffness of ln will be (equivalent stiffness corresponding to shaft A speed)

which is same as by previous method.

Figure E2.8 A geared system

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

2.6 Branched Systems

Fig. 2.25 Branched system

{S }nA = [ A]{S }0 A ; {S }nB = [ B ]{S }0 B ;

{S }nC = [C ]{S }0C

which can be expanded as

At branch point, between shaft A and B, we have

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

b11 b12 nA nAB

above equation can be expanded as

0 = b21 nA n AB + b22ToB ToB = ( b21 b22 ) nA nAB

At branch C, we have the following condition (nothing equation 45)

Another conditions at branch to be satisfied regarding torque transmitted at various branches is

TnA nA = 12 ToB nB + 12 ToC nC