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Article history:
Received 3 June 2011
Accepted 15 March 2012
Available online 30 March 2012
When the rotor rotates at a constant speed, the transverse crack opens and closes alternatively, due to
gravity, and thus a breathing effect occurs. This variance in shaft stiffness is time-periodic, and hence
a parametrically excited system is expected. The parametric excitation from the time-varying stiffness
causes instability and severe vibration under certain operating conditions. Current research mostly
focused on the rotor with single transverse crack. There are few studies on the multi-cracked rotor
system. In fact, the interaction between the multiple parametric excitations with various phasing and
amplitude, which are induced by the multiple breathing transverse cracks, would make the instability
behavior of the system differ distinctly from that of the single cracked rotor system. Moreover, how the
instability regions change with various crack breathing mechanisms should also be investigated. Thus,
the parametric instability of a rotor-bearing system with two breathing transverse cracks is studied in the
paper. First, the nite element equations of motion are established for the cracked rotor system. Two
types of crack breathing mechanisms, of which one is more accurate (new) and the other is empirical
(old), are adopted in the nite element formulation. Then, a generalized Bolotins method is introduced
for determining the boundaries of the primary and secondary instability regions. Based upon these,
instability analysis for a practical used rotor-bearing system with single and two cracks are conducted,
respectively. The instability regions induced by the single transverse crack with new and old breathing
mechanisms are compared with each other. For the two-cracked rotor system, the variations of the
unstable boundaries with crack depths, orientation angles and positions are observed and discussed in
detail. It is shown from the results that the dynamic instability of the two-cracked rotor-bearing system
indeed have some unique features that differ from that of the single cracked rotor system.
2012 Elsevier Masson SAS. All rights reserved.
Keywords:
Parametric instability
Rotor-bearing system
Two transverse cracks
Various crack breathing mechanisms
1. Introduction
The effect of the presence of the transverse crack on the
dynamics of the rotor has been a focus of attention for many
researchers. If undetected early, such cracks can pose a potential
source of catastrophic failures. Many researchers have therefore
conducted extensive investigations on the dynamics of cracked
rotor over the last four decades. Early research progress could be
found in (Wauer, 1990; Gasch, 1993; Dimarogonas, 1996). More
recently, in depth literature reviews on the dynamical modeling
and analysis of cracked rotors were published by Papadopoulos
(2008) and Bachschmid et al. (2010), respectively.
When the rotor rotates at a constant speed, the transverse crack
opens and closes alternatively, due to gravity, and thus a breathing
effect occurs. This variance in shaft stiffness is time-periodic.
* Corresponding author.
E-mail addresses: hanqinkai@hotmail.com (Q. Han), chu@mail.tsinghua.edu.cn
(F. Chu).
0997-7538/$ e see front matter 2012 Elsevier Masson SAS. All rights reserved.
doi:10.1016/j.euromechsol.2012.03.003
Hence, the dynamic behavior of the rotor with breathing transverse cracks could be modeled by a coupled set of second-order
linear differential equations with periodic coefcients. This type of
system is often referred to as the parametrically excited system. The
parametric excitation from the time-varying stiffness causes instability and severe vibration under certain operating conditions. Thus,
many attentions have been paid to study the determination of
operating conditions of parametric instability in cracked rotor
dynamic analysis. To name a few, Meng and Gasch (2000) investigated the stability and the stability degree of a cracked Jeffcott rotor
supported on different kinds of journal bearings. Gasch (2008)
presented an overview stability diagram of a Laval rotor having
a transverse crack. Fu et al. (2002), Dai and Chen (2007) and Chen
et al. (2007), respectively, carried out nonlinear dynamic stability
analysis of a rotating shaft-disk system with a transverse crack. In
their model, the mass of elastic shaft, the additional displacements
caused by the crack, the geometric nonlinearity of the shaft and
asymmetrical viscoelastic supports were taken into account based
181
upon the energy theorem and Lagrange equation. The above analysis
focused on the study of simple systems with few degrees of freedom
to gain a qualitative insight into the instability phenomena.
With the successful utilization of nite element models in the area
of rotor dynamics, the parametric instability analysis were also
extended to nite element cracked rotor-bearing systems (Sekhar
and Dey, 2000; Sinou, 2007; Ricci and Pennacchi, 2009). Sekhar
and Dey (2000) studied the variation of the rst stability threshold
limit with crack parameters and shaft internal damping. Sinou (2007)
conducted the stability analysis by applying a perturbation to the
nonlinear periodic solution, and analyzed the effect of crack on the
rst three instability regions. Ricci and Pennacchi (2009) evaluated
the stability of a steam turbo generator rotor for different values of
rotating speed and crack depth. In these studies, the adopted
breathing model of the transverse crack was either switching (Gasch,
1976) or harmonic (Mayes and Davies,1984), which have been proved
to be approximate and rough in modeling the crack breathing
behavior. More recently, the actual breathing mechanism was presented and new breathing functions of the breathing crack were
introduced by Al-Shudeifat and Butcher (2011). It is shown that the
new breathing functions are considerably more accurate than the
previously used functions. Thus, after considering the accurate crack
breathing mechanism, how the parametric instability changes would
be one of the purposes of the paper.
As the literature shows, extensive efforts have been devoted to
the rotor with a single transverse surface crack. When more than
one crack appears in a rotor, the dynamic characteristics of the
system have not gained sufcient attentions. Tsai and Wang (1997)
and Sekhar (1999), respectively, employed the transfer matrix
method and nite element method to analyze the natural
frequencies and corresponding mode shapes of a continuous multicracked rotor system. The effects of both relative distance along axis
and/or orientations of cracks were considered. Wu et al. (2005)
Fig. 1. Rotor having two transverse surface cracks (a) and the crack orientation in the
circumference (b).
Fig. 2. Schematic diagrams of the cracked element cross-section: (a) before rotation
and (b) after the shaft rotates. The dashed area represents the crack segment of crack 1.
182
IX s IXA1 s IXA2 s
IY s IYA1 s IYA2 s
(1)
A1
A2
where IXY
s and IXY
s are the area moments of inertia of the
areas A1 and A2 s about the xed X and Y axes. Hence, the area
k1ce
12I X
6 0
6
6
6 0
6
E6
6lIX
36
l 6
6 12I X
6 0
6
6 0
4
6lIX
0
12IY
6lI Y
0
0
12I Y
6lI Y
0
0
6lI Y
4l2 IY
0
0
6lIY
2l2 IY
0
6lI X
0
0
4l2 I X
6lI X
0
0
2l2 I X
12I X
0
0
6lI X
12IX
0
0
6lI X
0
12I Y
6lI Y
0
0
12I Y
6lI Y
0
I X s IX s Yce s2 Ace s
I Y s IY s Xce s2 Ace s
0
6lI Y
2l2 I Y
0
0
6lI Y
4l2 I Y
0
(2)
where Xce s and Yce s are the centroid coordinates of Ace s relative to the xed X and Y axes. Al-Shudeifat and Butcher (2011)
studied the actual breathing mechanism of the transverse surface
crack, and presented accurate expressions for both I X s and I Y s.
Here, their results are adopted as
IX s I I I 1 f1 s
(3)
IY s I I I 1 f1 s 2I I1 I 2 f2 s
(4)
Ixc
pR4 R4
8
1 m1 2m21 4m1 1 g sin1 1 m1
R4
1 m1 2m21 4m1 3 g 3 sin1 g
12
A1 R2 p cos1 1 m1 1 m1 g
Iyc
2R3 3
g
3A1
(5)
(6)
(7)
(8)
p
where g m1 2 m1 . The breathing functions f1 s and f2 s in
Eqs. (3) and (4) are given as (Al-Shudeifat and Butcher, 2011)
f1 s coss=2=m
f2 s
(9)
q1 q2
2
q2 q1
!
s
X
cosiq2 cosiq1
s
cosi
i2
i1
(10)
p
q1 tan1 e R1 m1 =R m1 2 m1
is the angle at which the crack start to close, and the upper end of
the crack edge reaches the compression stress eld. When the shaft
rotates at q2 p=2 cos1 1 m1 , the crack becomes fully
closed. According to the results in Ref. (Al-Shudeifat and Butcher,
2011), the positive numbers should be m 8 and s 4 to meet
3
6lI X
0 7
7
7
0 7
7
2l2 I X 7
7
6lIX 7
7
0 7
7
0 7
5
4l2 I X
(11)
183
(12)
12
6 0
6
6 0
6
EI11 6
6l
1
k1 3 6
12
l 6
6
6 0
6
4 0
6l
0
12
6l
0
0
12
6l
0
0
6l
4l2
0
0
6l
2l2
0
6l
0
0
4l2
6l
0
0
2l2
12
0
0
6l
12
0
0
6l
0
12
6l
0
0
12
6l
0
0
6l
2l2
0
0
6l
4l2
0
3
6l
0 7
7
0 7
7
2l2 7
7
6l 7
7
0 7
7
0 5
4l2
(13)
0
60
6
60
6
EI22 6
0
1
k2 3 6
l 6
60
60
6
40
0
0
12
6l
0
0
12
6l
0
0
6l
4l2
0
0
6l
2l2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
12
6l
0
0
12
6l
0
3
0
07
7
07
7
07
7
07
7
07
7
05
0
0
6l
2l2
0
0
6l
4l2
0
(14)
(15)
k22
where
and
are the secondary element stiffness matrices of
crack 2, which are computed by substituting m2 h2 =R for m1 in
Eqs. (13) and (14).
2.2. FEM model of the rotor-disk-bearing system
The uncracked rotor element matrices are derived based upon
the EulereBernoulli beam theory. Without considering the unbalance and gravity forces, the FEM equations of motion of the cracked
rotor-disk-bearing system with two breathing surface cracks are
written in matrix form as
_ s K K1 s K2 s qs 0
U2 Mqs UC UGq
(16)
1
1 cos s
2
f s
(17)
The plus sign of the cosine term in this function is used when
the crack is fully open and symmetric with the negative Y-axis at
s 0. The function can be used in Eqs. (3) and (4) by assuming
f1 s f2 s f s which yields
I X s I I I 1 f s
(18)
I Y s I I I 2 f s
(19)
Eqs. (18) and (19) are exactly the same as the equations derived
for the area moments of inertia for the cracked element of a similar
cracked rotor system with a breathing crack in Ref. (Al-Shudeifat
et al., 2010). Hence, using the old breathing function in the literature given in Eq. (17) for approximating the breathing mechanism
of a cracked rotor is also considered in the analysis in order for the
comparison with the results obtained by using the accurate
breathing functions.
qs ers
N
X
qk ejks
(20)
k N
p
where j 1, r represents the Floquet (or characteristic) exponent and qk are the complex Fourier coefcients vectors. By representing K1 s and K2 s by their complex Fourier series
expansions up to the n th harmonic and substituting Eq. (20) into
Eq. (16), one can have
N h
X
k N
n
X
N
X
p n k N
21
184
Table 1
Physical parameters of rotor-bearing-disk system used in Ref. (Al-Shudeifat et al.,
2010).
n
X
p n
r2 D0 r E0 E1 F0 F1 2 F2
U
U
U
y 0
(23)
where y /qT2 ; qT1 ; qT0 ; qT1 ; qT2 /T is an innite column vector,
and D0, Ei, Fi are innite dimensional partitioned matrices made up
of 4(N 1) 4(N 1) sub-matrices given by
Description
Value
Description
Value
0.724 m
0.01588 m
7800 kg/m3
2.1 1011/m2
7 107 N/m
0.0762 m
0.01588 m
2700 kg/m3
0.571 kg
k;r
k;r
d
d
d
Dk;r
0 M kr ; E0 2jkM G kr ; E1 C kr ;
k;r
k;r
1
2
2
d
d
d
Fk;r
0 k M jkG kr ; F1 jkC kr ; F2 K kr Kp Kp
(24)
in which dkr is the Kronecher delta and the superscripts k and the
superscripts k and r refer to the hyper-row and column indices. In
order for Eq. (16) to admit a non-trivial solution of form Eq. (20), the
determinant of the coefcientss matrix of Eq. (23) must vanish
2
(25)
This equation can be used to calculate the U values corresponding to stability boundaries on a parameter space, which has U
as one of its components, provided that the value of the Floquet
exponent r on those boundaries is known. The starting points of
simple instability regions (denoted by Uni ) at the rotating speed axis
could be written as (Nayfeh and Mook, 1979)
2
n
Uin ui
(26)
in which ui is the ith whirling frequency of equivalent timeinvariant rotor system. When the system is at the boundaries of
U1i ; U3i ; U5i ; / (called the sub-harmonic parametric resonance
boundaries), the value of one of the characteristic exponents would
be j/2. For the boundaries of U2i ; U4i ; U6i ; / (called the harmonic
parametric resonance boundaries), a certain characteristic exponent takes the zero value. Putting r j/2 or r 0 into Eq. (25), one
could have the sub-harmonic and harmonic parametric resonance
boundaries respectively
det
j
1
1
j
1
F 1 E1 2 F 2 0
F0 E0 D0
U
2
4
2
U
1
1
det F0 F1 2 F2 0
0
;
M
E0
E1
C
0
0
;
C
(29)
F0 4
2
M jG
0
0
0
0
0
3
0
5;
0
M jG
K K1 K2
6 1 0 2 0
F2 4 K1 K1
K12 K22
K11 K21
K K10 K20
K11 K21
jC
F1 4 0
0
3
0 0
0 0 5;
0 jC
3
K12 K22
7
K11 K21 5
1
2
K K0 K0
(30)
n 1; 2; 3; /
M
0
2
2
800
(27)
(28)
1
1
1
0
det r2 D0 r E0 E1 F0 F1 2 F2
2jM G 0
;
0
G
M jG 0
jC 0
; F1
;
F0
0
0
0
0
#
"
K11 K21
K K10 K20
F2
K11 K21 K K10 K20
D0
700
1
600
500
400
300
200
2
i
=/2
i
100
0
500
1000
(rad/s)
1500
2000
1
0.8
U2
U1
0.6
0.4
0
1360
1471 (2)
0.2
1411 (1)
1380
Bolotins method
DSTM method
1400
1420
1440
(rad/s)
1460
1480
1500
1520
1
0.8
1
U2
U2
0.6
0.4
713 (1)
0
690
728 (2)
0.2
Bolotins method
DSTM method
700
710
720
(rad/s)
730
740
750
Fig. 5. Comparisons between instability regions obtained by the generalized Bolotins method and DSTM method: (a) Primary instability regions (U11 and U12 ); (b) Secondary
instability regions (U21 and U22 ).
1
0.8
0.6
U1
0.4
0.2
0
1340
U2
1
1380
1400
1420
1440
1460
1480
1500
(rad/s)
1
0.8
0.6
U1
2
U2
0.4
0.2
0
680
700
710
(rad/s)
720
730
740
Fig. 6. Four instability regions of the cracked rotor system with new and old breathing mechanisms: (a) Primary instability regions (U11 and U12 ); (b) Secondary instability regions
(U21 and U22 ).
186
1
0.8
U2
U1
0.6
0.4
crack in elment 6
crack in elment 9
crack in elment 12
crack in elment 15
0.2
0
1360
1380
1400
1420
1440
(rad/s)
1460
1480
1500
1520
1
0.8
U2
U1
0.6
0.4
0.2
crack in elment 6
crack in elment 9
crack in elment 12
crack in elment 15
0
690
700
710
720
730
740
750
(rad/s)
Fig. 7. Four instability regions of the cracked rotor system with various crack locations: (a) Primary instability regions (U11 and U12 ); (b) Secondary instability regions (U21 and U22 ).
1
0.8
U2
U1
0.6
0.4
c =0
b
cb=1e4
cb=3e4
0.2
0
1380
1400
1420
1440
1460
1480
1500
(rad/s)
1
cb=0
cb=1e4
cb=3e4
0.8
U1
0.6
U2
0.4
0.2
0
695
700
705
710
715
720
(rad/s)
725
730
735
740
Fig. 8. Effect of bearing damping upon the four instability regions of the cracked rotor system for the crack in element 6: (a) Primary instability regions (U11 and U12 ); (b) Secondary
instability regions (U21 and U22 ).
The rest contents are divided into two parts: one crack and two
cracks. In the rst part (one crack), comparisons between the
instability regions of the cracked rotor system with new and old
breathing functions are conducted to show how the instability
changes after considering the new breathing mechanism. Moreover, the effects of crack location (in various rotor elements) and
bearing damping on the instability regions is also discussed. For the
second part (two cracks), the variations of the instability regions
with crack orientation angle and location are investigated in detail.
4.1. Validation
For the undamped rotor system without crack, the rst pair of
whirling frequencies u1 (backward) and u2 (forward) varying with
the rotating speed are shown in Fig. 4. In the paper, the primary and
secondary instability regions, related to the u1 and u2, are considered and denoted by U1i and U2i (i 1, 2), respectively. From Eq. (26),
one can see that the starting points of these instability regions at the
rotating speed axis are just the intersections between the whirling
frequency lines and the lines of ui U=2 and ui U, which is
shown in Fig. 4. The values are determined as: U11 1411 rad/s,
U21 1471 rad/s, U12 713 rad/s and U22 728 rad/s.
When the crack 1 is considered and locates at element 6, the
boundaries of the primary and secondary instability regions on the
U m1 plane are computed using the generalized Bolotins method,
as shown in Fig. 5. In order for validation, the discrete state transition matrix (DSTM) method is utilized to determine the instability
regions point by point. The key issue of this method is how to
obtain the DSTM of the parametric system. Here, a numerical
methodology presented by Friedmann et al. (1977) is used to estimate the DSTM. The computational results are also plotted in Fig. 5.
187
1
=0
=/2
=3*/4
=
0.8
U1
0.6
U1
0.4
0.2
1380
1400
1420
1440
1460
1480
1500
1520
(rad/s)
1
0.8
=0
=/4
=/2
=
U2
U2
2
0.6
0.4
0.2
695
700
705
710
715
720
(rad/s)
725
730
735
740
745
Fig. 9. Effect of crack orientation angle upon the four instability regions of the cracked rotor system for the crack 1 in element 6 and crack 2 in element 13: (a) Primary instability
regions (U11 and U12 ); (b) Secondary instability regions (U21 and U22 ).
1
=0
=/2
=3*/4
=
0.8
1
U1
U2
1
0.6
0.4
0.2
1380
1400
1420
1440
1460
1480
1500
1520
(rad/s)
1
0.8
=0
=/4
=/2
=
U1
2
U2
2
0.6
0.4
0.2
695
700
705
710
715
720
(rad/s)
725
730
735
740
745
Fig. 10. Effect of crack orientation angle upon the four instability regions of the cracked rotor system for the crack 1 in element 8 and crack 2 in element 13: (a) Primary instability
regions (U11 and U12 ); (b) Secondary instability regions (U21 and U22 ).
1
=0
=/2
=3*/4
=
0.8
U1
1
U2
1
0.6
0.4
0.2
1380
1400
1420
1440
1460
1480
1500
(rad/s)
1
=0
=/4
=/2
=
0.8
1
U2
U2
2
0.6
0.4
0.2
700
705
710
715
720
725
730
735
740
(rad/s)
Fig. 11. Effect of crack orientation angle upon the four instability regions of the cracked rotor system for the crack 1 in element 4 and crack 2 in element 13: (a) Primary instability
regions (U11 and U12 ); (b) Secondary instability regions (U21 and U22 ).
189
primary instability regions U11 and U12 are widened continually with
the m1 increasing, as shown in Fig. 9(a). Although the U11 and U12 are
still broadening for b p/2, the increasing extent is evidently lower
than that of the b 0. Continuing to increase b 3p/4, the scopes of
U11 and U12 are rst slightly reduced and then increased with the m1.
The reduction phenomenon becomes obvious by setting b to be p.
The ranges of U11 and U12 are reduced rapidly until m1 is increased to
0.4 (equals to the value of m2 ). In this case, the U11 and U12 are just
points (called the zero unstable points, ZUPs). Continuing to
increase the m1, the U11 and U12 reappear and become wider gradually. From Fig. 9(b), one can nd that the ZUPs of the secondary
instability regions U21 and U22 arise when the b equals to p/2. When
b p, the ranges of U21 and U22 are increased continuously with m1,
which overlap with the case of b 0. This might be explained as:
the system has 2T-periodic solution in the primary instability
regions, while in the secondary instability regions the solution is
T-periodic (Nayfeh and Mook, 1979). Thus, the variation of the
primary instability regions with b is 2p-periodic, and the ZUPs
would appear when b p. For the secondary instability regions, the
cycle is p and the ZUPs could be found as b p/2.
From Figs. 10 and 11, one can nd similar phenomena for the
instability regions varying with b. However, the values of m1 corresponding to the ZUPs are different, indicating that the relative
position of the two cracks also has impact on the parametric
instability of the rotor system. The value of m1 is lower than 0.4 for
crack 1 in element 8. If the cracked element is 4, the value of m1 is
greater than 0.4 (about 0.6), even greater than 1 for U12 in Fig. 11(a).
As the crack 2 is in element 13, so the symmetrical element about
the rotor midspan is element 6. Thus, for the crack 1 in element 6,
the m1 m2 due to the geometrical symmetry, as shown in Fig. 9.
When the crack 1 is more close to crack 2 (in element 8, Fig. 10),
increasing the m1 to achieve the ZUPs is relative easy and m1 < m2.
1
=0
=/2
=3*/4
=
0.8
U1
1
U2
1
0.6
0.4
0.2
1400
1410
1420
1430
1440
1450
(rad/s)
1460
1470
1480
1490
1
=0
=/4
=/2
=
0.8
U1
2
U2
2
0.6
0.4
0.2
705
710
715
720
(rad/s)
725
730
735
Fig. 12. Effect of crack orientation angle upon the four instability regions of the cracked rotor system for the crack 1 in element 2 and crack 2 in element 13: (a) Primary instability
regions (U11 and U12 ); (b) Secondary instability regions (U21 and U22 ).
190
If the position of crack 1 shifts to the left (i.e. in element 4, Fig. 11),
then it is relative hard to approach the ZUPs and m1 > m2 because
the crack 1 is far from the crack 2. Continuing to shift the crack 1 to
the left, (i.e. element 2 in Fig. 12), one can see that there is no ZUPs
for the m1 in the range 0e1 and the variation of b has lower inuence on the unstable regions.
5. Conclusions
The parametric instability of a rotor-bearing system with two
transverse cracks is studied utilizing the generalized Bolotins
method. Some conclusions are summarized as follows:
1 Considering the new crack breathing mechanism presented by AlShudeifat and Butcher (2011), the obtained instability regions
differ distinctly from that of the old (harmonic) breathing mechanism. Basically, the estimated instability rotating speeds would
be relative lower if the old crack breathing mechanism is adopted.
2 Most instability regions would hold wider speed range for the
crack in (or near) the midspan of the rotor system. With the
crack approaching the bearing points, the instability regions
are reduced gradually.
3 The instability regions are all attenuated by the bearing
damping, especially for the shallow surface crack.
4 When the crack orientation angle is around p, the existence of
one crack would attenuate the primary instability regions
induced by the other crack. For the secondary instability regions,
similar attenuation occurs for the orientation angle around p/2.
5 The relative position of the two cracks on the rotor also has
signicant effect on the parametric instability. When the two
cracks are symmetrical about the rotor midspan, the two crack
depth values are the same for the system at ZUPs. If one crack
moves towards (or away from) the other crack, the required
crack depth values for the ZUPs are lower (or greater) than the
other crack depth values.
Acknowledgments
The research work described in the paper was supported by the
National Science Foundation of China under Grant No. 10732060
and 51075224, and the State Key Laboratory of Tribology under
Grant No. SKLT2010C04. The rst author would also express sincere
thanks for the support from the China Postdoctoral Science Foundation (No. 20100480012).
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