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CHAPTER 3
Most often machinery is excited in transverse vibrations due to unbalances, which is the most
common type of fault rotating machinery, can have. In machines the rotor mass may be concentrated
at a single location or at a number of locations or alternatively distributed along the shaft length with
shaft also has flexibility. Methods available to calculate critical speeds & forced responses are (i)
method of influence coefficient (ii) transfer matrix method (iii) mechanical impedance (or receptance)
method (iv) dynamic stiffness matrix method (v) finite element method (vi) modal analysis method
(vii) Dunkerleys formula & (viii) Rayleighs method.
f1
x1 ,m1
f2
f3
x2 ,m2
x3 ,m3
Let f1, f2 and f3 are steady forces (magnitude) on discs and x1, x2, x3 are the corresponding shaft
deflections at discs. If a force f is applied to mass m1, then deflection of m1 will be proportional to f
i.e.
x1 f
or
x1 = 11 f
(1)
Now the force f is applied to mass m2, the deflection of m1 will be proportional to the magnitude of
force i.e.
x1 f
or
x1 = 12 f
(2)
x1 = 13 f
(3)
If forces f1, f2 and f3 are applied at the reaction of all the masses simultaneously, then the total
deflection at m1, will be
x1 = 11 f 1 + 12 f 2 + 13 f 3
(4)
x 2 = 21 f 1 + 22 f 2 + 23 f 3
(5)
x3 = 31 f 1 + 32 f 2 + 33 f 3
(6)
Similarly
and
or
x1 11 12 13 f 1
x 2 = 21 22 23 f 2
x
3 31 32 33 f 3
(7)
The technique can be extended to account for angular movements of the disc, and for the application
of point moments M at various locations along the shaft a part of loading on discs. The equation will
take the form
{d } = [ ]{ f }
(8)
with
x1
x
2
x
{d } = 3 ;
1
2
3
f1
f
2
f
{ f } = 3
M1
M 2
M 3
and
11
[ ] =
12
22
sym
13 14
23 24
33 34
44
15
25
35
45
55
16
26
36
46
56
66
(9)
which gives
{ f } = [ ]1{d }
(10)
132
The analysis so far has referred only to static loads applied to the shaft. When the mass displacement
is changing rapidly with time, the applied force has to overcome the mass inertia as well as to deform
the shaft.
f1
x, x
f1
m1x1
f1
(a) Disc
(b) Shaft
(11)
where Id is the diametral mass moment of inertia about a diameter of rotor. Similarly at other disc
locations
(12)
(13)
Substituting for f 1 , f 2 , f 3 , M 1 , M 2 and M 3 from equations (11-13) and remembering that for SHM of
discs
x = n2 x and = n2 where n is the natural frequency of the system, equation (8) gives
f1+ n2 m1 x1
2
f 2 + n m2 x2
f3 + n2 m3 x3
{d } = [ ] M + 2 I
n d1 1
1
M 2 + n2 I d 2
2
M
I
n d3 3
3
(14)
133
m1 x1
m x
2 2
m3 x3
{d } = [ ]{ f } + n2 [ ] I
d1 1
I d 2 2
I d33
with
f1
f
2
f
{ f } = 3
M1
M 2
M 3
(15)
11m1
21m1
m
{d } = [ ]{ f } + n2 31 1
41m1
m
51 1
61m1
12 m2 13m3 14 I d
22 m2 23m3
32 m2
42 m2
52 m2
62 m2
15 I d
16 I d
{d }
66 I d3
(16)
[ A]{d } =
n2
[ ]{ f }
(17)
with
11m1 1/ n2
12 m2
13m3 14 I d1
2
22 m2 1/ n 23m3
21m1
m
32 m2
31 1
[ A] =
41m1
m
51 1
61m1
15 I d
16 I d
66 I d3 1/ n2
3
(18)
Disc displacements x and can be calculated for known applied load (e.g. unbalance forces and
moments) as
[ R]{ f } = {d }
(19)
134
with
[ R] =
n2
[ A]1[ ]
(20)
where R represents receptance. In general applied forces and disc displacements will not all be in
phase with one another, since damping forces may also act upon the shaft, so a more general form of
equation (19) would be that which indicates both in-phase and quadrature terms for x and f , that is
R 0 f r d r
0 R f = d
j j
(21)
where r and j refer to the in-phase and quadrature (sine and cosine) terms, respectively. For free
vibrations right hand side of equation (17) will be zero i.e.
[ A]{d } = {0}
(22)
A =0
(23)
Example 3.1 Obtain transverse synchronous critical speeds of a rotor system as shown in Figure 3.3.
Take the mass of the disc, m = 10 kg and the diametral mass moment of inertia, Id = 0.02 kg-m2. The
disc is placed at 0.25 m from the right support. The shaft is having diameter of 10 mm and total span
length of 1 m. The shaft is assumed to be massless. Take shaft Youngs modulus E = 2.1 1011 N/m2.
Neglect gyroscopic effects. Take one plane motion only.
Influence coefficients are defined as:
l=a+b
y 11 12 F
=
21 22 M
with
11 = a 2b 2 / 3EIl ;
12 = ( 3a 2l 2a 3 al 2 ) / 3EIl
21 = ab(b a ) / 3EIl ;
22 = ( 3al 3a 2 l 2 ) / 3EIl
135
Solution: To obtain natural frequencies of the rotor system having a single disc, from equation (18),
we have
(11m 1 n2 )
[ A] =
21m
( 22 I d 1 n2 )
12 I d
m 1 n2 )
12 I d
11
21m
I 1 n2 )
=0
22 d
mI d 4 11 22 122 2 ( 11 m + 22 I d ) + 1 = 0
(A)
n =
1
n 2 =
1
1
=
= 22.244 rad/s
m11
10 2.021 104
1
I d 22
1
= 248.697 rad/s
0.02 0.8084 10 3
Example 3.2 Find the transverse natural frequency of a rotor system as shown in Figure 3.4. Consider
shaft as massless and is made of steel with 2.1 (10)11 N/m2 of Youngs modulus, E, and 7800 kg/m3
136
of mass density, . The disc has 10 kg of mass. The shaft is simply supported at ends (In Figure 3.4 all
10
30
40
60
[ A] = (11m 1 n2 )
n =
1
m11
The first step would be to obtain influence coefficients. Using energy method these coefficients have
been obtained as follows:
F
EI2
EI1
0.6m
0.4m
FA
FB
For a load F at the disc, reactions forces at bearings can be obtained as (Figure 3.5)
+ M A = 0
+ F = 0
FA + FB = F
FB .1 F .0.6 = 0 FB = 0.6 F
137
FA = 0.4 F
Vx1
M x1
x
0.4F
Figure 3.6 Free body diagram of the shaft section 0 x 0.6
The bending moment in the shaft can be obtained as (Figure 3.6)
=0
M x1 0.4 Fx = 0
M x1 = 0.4 Fx
(A)
Vx2
M x2
0.6 m
x
Figure 3.7 Free body diagram of the shaft section 0.6 x 1.0
The bending moment in the shaft can be obtained as (Figure 3.7)
=0
Mx2 = 0.6 F (1 x)
(B)
U =
0.6
M x21 dx
2 EI1
1.0
M x22 dx
0.6
2 EI 2
0.6
U
=
=
0
F
M x1
M x1
F dx +
0.6
EI1
1.0
M x2
M x2
F dx
EI 2
(C)
0.6
0.6
2
1.0 0.36 F ( x 2 x + 1)
0.16 Fx 2
0.01152 F 0.00768 F
+
dx +
dx =
0.6
EI1
EI 2
EI1
EI 2
138
F 0.01152 0.00768
= =
+
k=
11 EI1
EI 2
1
I2 =
have
k=
11
n =
1
8.45 107
=
= 2906.89 rad/s
m11
10
The influence coefficient can be also obtained by singular function approach and for more details
readers are referred to Timoshenko and Young (1968).
Exercise 3.1 Obtain the bending critical speed of a rotor as shown in Figure E3.1. The rotor is
assumed to be fixed supported at one end. Take mass of the disc m = 2 kg and diametral moment of
inertia I d = 0.05 kg-m2. The shaft is assumed to be massless and its length and its length and
diameter are 0.2 m and 0.1 m, respectively. Take Youngs modulus E = 2.1 1011 N/m2 for the shaft
material.
Shaft
Bearing
Disc
Figure E3.1
Exercise 3.2 Find the critical speeds of the rotor system shown in Figure E3.2 by the influence
coefficient method. Take EI = 2 MNm2 for the shaft and mass moment of inertia of disc is negligible.
139
3.0 m
1.5 m
Fixed end
80 kg
100 kg
Figure E3.2
Exercise 3.3. Obtain the bending critical speed of the rotor system as shown in Figure E3.3. Take the
mass of the disc, m = 5 kg and the diametral mass moment of inertia, Id = 0.02 kg-m2. Take shaft
length a = 0.3 m and b = 0.7 m. The diameter of the shaft is 10 mm. Neglect the gyroscopic effects.
Figure E3.4
B1
B2
D1
D2
Exercise 3.5 Find all the bending natural frequencies (critical speeds) and draw corresponding mode
shapes of the rotor system shown in Figure E3.5. B1 is fixed support (with zero transverse linear and
angular (slope) displacements) and B2 and B3 are simply supported (with zero transverse linear and
angular displacements). The shaft is made of steel with Youngs modulus E = 2.1 (10)11 N/m2 and
140
mass density = 7800 Kg/m3. The mass of the discs are: md1 = 1 kg, md2 = 1.5 kg, md3 = 0.75 kg. Use
both the transfer matrix method and the finite element method. Give all the detailed steps involved in
obtaining the final system equations and application of boundary conditions. Compare the order of
magnitude of the torsional and the bending critical speeds so obtained for the same system. Consider
the shaft as massless and discs as lumped masses. Neglect the gyroscopic effects.
Figure E3.5
B1
B2
D1
B3
D2
141
D3