Journal of Sound and Vibration (1994) 176(5), 613-624 LATERAL VIBRATION OF A CENTRIFUGALLY TENSIONED UNIFORM EULER-BERNOULLI BEAM S. NAGULESWARAN Department of Mechanical Engineering, University of Canterbury, Christchurch, New Zealand (Received 27 November 1992, and in final form V1 May 1993) This paper describes the lateral vibration of a uniform Euler-Bernoulli beam that is doubly symmetric in cross-section and attached radially to the outside of a rotating hub. It is assumed that a principal axis of the beam is parallel to the axis of rotation and thus the out-of-plane and in-plane vibrations are uncoupled. The equation of motion is derived ‘on the basis that the attachment at the hub is radially restrained. The general solution of the mode shape equation is expressed as the superposition of four linearly independent functions. Clamped, pinned and free boundary conditions are considered. It is shown that the natural frequencies depend not only on the natural and/or geometric boundary conditions but also on which of the two boundaries is radially free. The first three dimensionless natural frequencies are tabulated for out-of-plane vibration for six combi- nations of the simple boundary conditions and for a range of offset parameters and dimensionless rotational speed. From the tables it is possible to deduce the dimensionless natural frequencies for in-plane vibrations. For parameters not listed, interpolated results are accurate to within 0-3%. It is hoped that the tabulated results will serve as data for development of frequencies for problems with more complicated flexural rigidity and/or mass distribution 1, INTRODUCTION Several studies have been directed to the evaluation of natural frequencies of rotating structural elements such as space frames, windmill rotors, aircraft propellers, turbine blades and the like. Leissa {1] and Rosen [2] in review papers have listed several publications. The most simplified representation of a rotating beam is a one-dimensional Euler-Bernoulli model, A uniform rotating beam of doubly symmetric cross-section is a special case (no torsional motion: i., out-of-plane (fiapping) vibration and in-plane (lead-lag) vibration are uncoupled). Owing to the stiffening effect of the centrifugal tension, one can expect the natural frequencies to increase with an increase in the speed of rotation and/ot increase in the hub radius. In several publications a cantilever under centrifugal tension has been considered and approximate methods such as Rayleigh-Ritz, Galerkin, finite clement methods, etc., have been used to derive natural frequencies. Due to space limitations only a few of the publications (which also list and briefly review further references) are mentioned here. Fox and Burdess [3] used the Galerkin procedure to analyze the out-of-plane vibration. Hodges and Rutkowski [4] analyzed the problem by a finite element method of variable order. To overcome certain computational disadvan- tages, Hodges {5] used variable order orthogonal shape functions. Wright ef al. 6] in a substantial contribution presented an analytical solution of the mode shape equation for beams attached to a rotating hub and with a particular flexural rigidity/mass distribution. 613 0022-460X/94/400613 + 12 $08,.00/0 © 1994 Academic Press Limited614 $8. NAGULESWARAN Storti and Aboelnaga [7] listed the class of beams which admit solutions in terms of hypergeometric functions. Recent publications based on finite element method include those of Yokoyama [8], Khulief [9] and Udupa and Varadan [10]. In the present paper the mode shape equation is solved by the method of Frobenius and the general solution is expressed as the superposition of four linearly independent converging polynomials. Out-of-plane and in-plane vibration are considered for combi- nations of clamped (cl), pinned (pn) and free (fr) boundary conditions. The frequency equations for six combinations of boundary conditions are presented in closed form, and the roots obtained by a trial and error search followed by an iterative procedure based on linear interpolation. The first three natural frequencies are presented for out-of-plane vibrations for several combinations of offset and rotational speed parameters. The results are presented in tabular form to preserve the accuracy to seven significant figures. The natural frequencies for in-plane vibrations may be obtained from the out-of-plane natural frequencies. Expressions for the normalized mode shapes for the six combinations of boundary conditions are presented 2. THEORETICAL CONSIDERATIONS The uniform Euler-Bernoulli beam of length / is attached radially to the outside of a hub of radius Ry rotating at constant speed p. The beam is doubly symmetric in cross-section, like a rectangle, and is radially restrained at the hub and is radially free at the other end (a list of notation is given in the Appendix). The Cartesian co-ordinate system used is shown in Figure 1; the origin is at the hub end of the beam, the .x-axis is the neutral axis of the beam in the undeflected position, the y-axis is parallel to the axis of rotation and the z-axis is in the plane of rotation. A principal axis of the beam cross section is parallel to the y-axis. D’Alembert’s principle is used to derive the equation of motion. 2.1. OUT-OF-PLANE VIBRATIONS The forces on an incremental element of the beam are shown in Figure 2, and consideration of the forces in the x-direction results in dT (x)[dx + mp'{Ry +x) =0. a) The beam is axially free at x =/ and hence the centrifugal tension distribution is T(x) = 0-Smp"(P + 2Ry — 2Ryx — x?). Q) The Euler-Bernoulli bending moment equation is M(x) = Ely By (x)fdx?, G) in which EJ, is the flexural rigidity for bending in the x-y plane. For free vibration at 2d) ie 1 1 te (fal (ox ee (a) ~~ ) Figure 1. The co-ordinate system. (a) Out-of-plane vibration; (b) in-plane vibration.‘VIBRATION OF A CENTRIFUGALLY TENSIONED BEAM 615 mpreae aly ee Qe ° z Figure 2. The forces on an incremental element of the beam during out-of-plane vibration, frequency «, consideration of rotation and lateral translation of the incremental element yield Q(x) + dM (xf dx ~ T(x) dy(x)jdx =0, — dQ(x)/dx + mo?y(x)=0. (4,5) Equations (2)-(5) may be expressed in dimensionless form by the introduction of the operator D, the variables X, ¥(¥} and the offset parameter pg, the rotational speed parameter 7 and the frequency parameter jt, defined as follows: Dadid¥, X=x/h Y(X)=y(x)i, po = Rofl, van=mplfEl,, «= 2?=mo El, 6) Tn equations (6), 7 is the dimensionless rotational speed and Q is a dimensionless natural frequency. chfrbearm pn-frbeam Figure 3. The six combinations of boundary conditions. The sliders $ are massless616 ‘S$. NAGULESWARAN Tex Be) + a) (ee Figure 4. The forces on an incremental element of the beam during in-plane vibration. ‘The dimensionless centrifugal tension B(X) at section X is BL) = T(x)P PEL = 0-50(1 + 2p — 2poX — X°). ” The dimensionless bending moment M(X) and shearing force Q(X) are M(X)= M(x)/Ely=D'Y(X), Q(X) = Ol /Ely = —DM(X) + B(X)DY(X). (8,9) The dimensionless mode shape equation is DtY(X) — 0-Sv(1 + 2p)D?¥(X) + vppD[XDY(X)] + 0:5v DUPDY (X) — H¥(X) = 0. (10) To solve equation (10), following the method of Frobenius, one considers a power series FX, €) = ne (0X, ay in which c is an undetermined exponent. One can choose the first four coefficients so that a(ey=l, — ale)=0, (ce) =0-5v(1 + 2payil(e + lc + asc) = —vpgc fle + 3)(¢ + 2(c + and the rest of the coefficients can then be obtained from the recurrence relationship (ct nse tnt 3c tn t2Nlctm + Da, sc)—O5v (1 + 2p + +2) (C++ 1), 3(€) + vpole +n + ay. (0) F[0Sv(e ta)(c ++ 1) ple, (c) =0. (12) The F(X, c) with the coefficients so chosen, when inserted into the mode shape equation (10), results in D*F(X, c) —0-Sv(1 + 2p,)D°F(X, c) + vp, DLXDF(X, c)] + 0-SvD[X*DF(X, c)] = HFK, 0) = c(e = le = 2)(e =X. (13) The right side of equation (13) vanishes if c is chosen to be a root of the indicial equation ele — Ie — 2) — 3) =0. (aayVIBRATION OF A CENTRIFUGALLY TENSIONED BEAM 617 Hence the four solution functions of the mode shape equation (10) are F(X, 0), F(X, 1). F(X,2) and F(X, 3). These functions, with the first four terms shown, are F(X, 0) = 1 + 0°5v(1 + 2p) X7/2-+ Fay (1, (1s) F(X, 1) =X + 0-5v(1 + 2p9)X7/6 — vp. X24 + Ya, IK", (16) F(X, 2) = X? + O-Sv(1 + 2p,)X*/12 — vp X°/30-+ Fay, 5(2)X"°%, 7) F(X, 3) =X? + 0-50(1 + 2py)X°/20 — vpy X40 + Fa. s(3)X"*7 (18) The four solution functions are clearly linearly independent and the general solution of the mode shape equation (10) is ¥(X) = C\F(X, 0) + CLF(X, 1) + CyF(X, 2) + CVF(X, 3). (19) The constants C,, C,, C; and C, are determined from the boundary conditions. The ideal boundary conditions considered are as follows: clamped (el): ¥(X)=0=D¥(X); pinned (pn): ¥(X) =0= MX); free (fr): M(X)=0=Q(%). (20) ‘The six combinations of boundary conditions considered in this paper are (the first abbreviation denotes the boundary condition at the radially restrained end): el-cl, cl-pn, cl-fr, pn-cl, pn-pn and pn-fr. The other combinations (fr-cl, fr-pn and fr-fr) are not of interest in engineering. The beam with the six combinations of boundary conditions is shown in Figure 3. The boundary conditions for a beam clamped at the hub are ¥(0)=0 = D¥(0) and these result in C, == C,. The mode shape equation for a beam clamped at the hub is ¥(X) = GFX, 2) + CX, 3). (21) The boundary conditions for a beam pinned at the hub are ¥(0)=0 = D’Y(0), resulting in C,=0=C,. The mode shape equation for a beam pinned at the hub is ¥(X) = GFX, D+ CoF(X 3). (22) For a cl-cl beam the boundary conditions at X = | are ¥(1)=0=DY(1) which result in the frequency equation for a cl-el beam: flu) = FA, DDE (1, 3) — DF(1, 2)F(1, 3) = 0. 23) Similarly the frequency equation for a cl-pn beam and a cl-fr beam are, respectively, f(u) = F(, 2)D?F (I, 3) — D?F(1, 2)FU, 3) = 0, (24) fl) = D?F(1, 2)D°F (I, 3) — D'F(4, 2)D?F (I, 3) = 0. (25) The frequency equations for pn-cl, pn-pn and pn-fr beam are, respectively, f@) = FL, NDF(L, 3) — DFU, FC, 3) = 0, (26) J(u) = FUL, )DPF(1, 3) — DF, DFC, 3) = 9, 7) Su) = DPF(L, I)DPF(I, 3) — DFC, 1I)D?F(1, 3) = 0. (28)618 8, NAGULESWARAN TaBLe 1 The first three dimensionless natural frequencies of cl-cl and pn~pn uniform beams ¢l-cl uniform beam pa-pa uniform beam " Po=0 p= m=? e=3——po= 0 M=t_—py=2_——ppaB 0 @ 223733 223733 22.3733 22373398696 98696-98696 9.8696 2, 616728 61-6728 61-6728 61-6728 39-4748 39-4748 39-4748 39-4748 2, 120-9034 120-9034 120-9034 120-9034 88-8264 88-8264 88-8264 88-8264 1, 22-4652 22-6015 22-7366 = 22-8708)» -10-0222 102642 10-4993. 10-7281 Q, G-8016 61-9875 62-1726 623571 39-6415 39-8895 40-1356 40.3799 Q, 12U-0441 1212481 121-4517 121-6549 88-9915 89-2406 89-4888 89-7363. 2 Q, 22-7383 23-2690 23-7844 24-2856 10-4649 11-3511 12-1579 12-9018 Q, 621862 629199 63-6429 643556 40-1265 41-0941 42-0350 42-9508 Q, 121-4652 122-2755 123-0792 1239766 89-4848 90-4700 91-4427 92-4032 3 Q, 23-1845 24-3300 25-4088 = 26-4302 111579129231 144223 15-7412 Q, 628208 64-4369 66-0030 675230 409204 43-0145 44-9898 46-8615 Q, 122-1632 123-9652 125-7354 127-4753 90-3002 92-4773. 945944 96-6553 AQ, IETS 25-7220 27-4773 290939120509 14-7895 16-9849 18-8564 Q; 63-6968 66-4889 69-1386 71-6631 42,0036 45:5423 48:7637 51-7307 Q, 1231328 126-2854 129-3433 1323131 91-4282 95.2048 98-8066 102.2517 SQ 245442 27-3788 29-8664 321009130953 168218 19-6840 22.0782 Q, 648012 69-0160 72-9219 76-5721 43-3513 48-5602 53-1319 57-2350 Q, 124-3666 129-1952 133-8077 138-2272 92-8561 98-SBI2_ 103-9198 108-9298 6 2, 254258 29-2396 32-4773 «35-3253 14-2503 18-9447 22-4438 25-3388 Q, 661211 71-9543 77-2285 82-0662 44-9357 51-9586 579130631431 Q, 1258556 132-6468 139-0249 145-0487 94-5683 102-5279 109-7729 116-4438 7 Q, 26.4197 31-2537 35-2378 38-6839: 1S-4R45—-2E-1165S 25-2294 28-6110 Q, 67-6407 752415 81-9478 87-9949 46-7284 55-6448 62.9786 69-3047 Q, 127-5893 136:5892 144-8903 152-6175 69-5477 1069654 116-2173 124-5859 8 Q, 275094 33-3807 380974421240 16.7748 233144 280246 31-8832 Q, 69-3436 78-8196 86-9873 94-2414 48-7017 59-3451 68-2254 75-6255 Q, 129-5561 140-9703 151-3049 160-7911 98-7755 111-8180 123-1255 133-1918 9 QO, 28-6803 35-5900 41-0220 45-6124 18-1046 = 25-5258 30-8215 35-1506 Q, 712134 826375 92-2722 100-7186 508296 63-6036 73-6040 82-0874 Qs 131-7436 145-7391 158-1786 169-4481 101-2326 117-0170 130-3932 142-1378 10 Q, 29-9189 37-8588 43-9885 49-1286 19-4625 27-7436 «33-6161 38-4107 Q, 73-2338 86-6513 97-7445 107-3627 53-0889 67-7787 79-0696 88-5341 Q, 1341388 1508474 165-4328 178-4882 103-8995 122-5022 1379376 151-3329 11 Q 31-2139 40-1701 46-9816 52-6596 208400 29-9637 36-4064 41-6626 Q, 75-3893 90-8242 103-3590 114-1273 55-4590 72-0400 84-5949 95-0625 Q; 1367283 1562508 173-0001 1878308 106-7572 128-2222 145-6947 160-7108 12 Q, 325558 42-5118 49-9909 56-1972 22-7315 32-1835 39-1913 44-9062 Q, 77-6652 95-1258 109-0816 1209789 579221 763653 901612 101-6174 2, 1394990 161-9089 180-8239 197-4117 109-7874 1341340 153-6154 170-2238 13, Q, 339350 448749 53-0095 59.7361 236329 34-4017 41-9704 48.1414 Q, 80-0480 99-5312 114-8861 1278932 60-4631 80-7384 95-7561 108-1890 Q, 142-4377 167-7862 188-8573 207-1802 112-9728 140-2024 161-6624 179-8370 14 Q, 353458 47-2528 56-0327 632730 250410 366178 44-7436 51-3685 2, 825254 104-0203 120-7529 134-8526 6310694 85:1472 101-3704 114-7706 Q@ 145 173-8513 197-0621 217-0968 116-2974 146-3985 169-8072 189-5255, 15 Q, 36-7822 49-6408 59-0571 66-8059 26-4539 388301 47-5108 54-6067 2, 850861 108-5770 126-6668 141-8407 65-7303 89-5830 1069980 121-3107 Q; 148-7686 180-0770 205-4067 227-1373 119-7463 152-6988 178-0281 199-3662VIBRATION OF A CENTRIFUGALLY TENSIONED BEAM Taste 2 619 The first three dimensionless natural frequencies of cl-pn and pn—cl uniform beams ‘cepa uniform beam pn-cl uniform beam " m=0 p= po=2 py=3 po=O mal py=2 pad OQ 154182 15-4182 15-4182 15-4182 15-4182 15-4182 15-4182 15-4182 Q, 49-9649 49-9649 49-9649 49.9649 49-9649 49-9649 49-9649 49-9649. Q, 1042477 104-2477 104-2477 104-2477 104-2477 104-2477 104-2477 104-2477 1 Q, 155130 15-6504 15-7865 15-9211 15-5600 157892 160140 16-2347 2, 50-0935 50-2768 50-4592 50-6409 50-1237 50-3671 50-6092 50-8498 Q) 1043886 1045914 104-7938 104-9957 104-4106 104-6574 104-9036 105-1491 2 Q, 15-7933 163240 168349 173279159760 16-8392 17-6461 18-4051 2, 50-4770 51-1988 51-9082 52-6058 505970 51-5522 52-4864 53-4008 Q, 1048099 105-6147 106-4120 107-2021 104-8977 1058758 106-8433 107-8005 3 Q, 162482 17-3792 18-4278 19-4085 16-6406 18-4185 19-9850 21-3946 Q_ 51-1086 5216923 54-2190 55-6938 51-3749 53-4589 55-4471 57-3491 Q, 105-5078 107-2943 1090450 1107615 105-7040 107-8713 109-9875 1120554 4 Q, 168612 18-7398 20-4130 21-9323 17-5181 203631. 22-7329 24-7916 Q, 519778 54-7009 S7-2641 59-6901 52-4420 55-9986 59-2899 62-3592 Q, 106-4760 109-5943 112-6063 115-5207 1068215 1105947 114-2172 117-7024 5 Q 176130 203317 22-6631 24-7286 18-5698 225403 25-6961 28-3710 Q, 530707 57-1579 60-9062 643818 53-7785 59-0697 63-8080 68-1178 Q, 107-7061 112-4686 116-9914 121-3035 108-2394 113-9839 119-3903 124-5023 6 Q 18-4834 22-0926 25-0861 27-6878 19-7590 24-8586 28-7661 32-0253 Q_ 543712 59-9951 65-0180 69-5868 55-3615 625711 68-8201 743795 Q, 109-1878 115-8649 122-0891 127-9325 109-9444 117-9689 125-3578 132-2209 7 Q, 19-4533 239745 27-6204 30-7434 21-0541 27.2597 31-8860 35-7056 Qy 558621 63-1476 69-4906 75-1628 57-1666 66-4113 74-1828 80-9704 2, 110-9092 119-7282 127-7902 135-2451 111-9217 122-4766 131-9771 140-6507 8 2, 20-5025 25-9421 30-2259 33-8561 22-4291 29-7081 35-0265 39-3893 Q 57-5254 66-5578 74-2367 81-0044 59-1691 70-5130 79-7905 87-7744 , 112-8576 124-0033 133-9939 143-1005 114-1547 127-4356 139-1206 149-6203 9 Q, 21-6242 27-9700 32-8770 37-0023 23-8638 32-1823 38-1725 43-0659 2, 59-434 70-1763 79-1889 87-0356 613449 74-8138 85-5680 94-7161 2, 115-0190 128-6377 140-6112 151-3825 116-6264 132-7788 146-6800 158-9950 10 Q, 22-7973 30-0403 35-5573 40-1681 25-3426 346697 41-3158 46-7306 Q, 61-2991 73-9621 842958 93-2028 63-6714 79-2653 91-4629 101-7464 Q) 117-3795 133-5825 147-5662 159-9977 129-3191 138-4454 154-5662 168-6720 IQ, 240142 32-1406 38-2559 43-3446 26-8538 37-1624 44-4522 50-3813 Q, 633767 778816 89-5192 99-4677 66-1279 83-8302 97-4390 108-8332 Q, 119-9248 138-7937 154-7955 1688728 122-2150 144-3822 162-7078 178-5744 12 Q, 25-2662 342619 40-966) 46-5266 28-3885 39-6557 47-5797 54-0172 Q, 655615 81-9081 948304 105-8033 68-6960 88-4805 103-4710 115-9555 2, 1226408 144-2323 162-2469 177-9506 125-2971 150-5435 171-0490 188-6451 13 Q, 26-5464 363980 43-6832 49-7106 299405 42-1466 506970 57-6383 2, 67-8402 86-0201 100-208) 112-1904 71-3592 93-1950 109-5413 123-0990 , 125-5138 149-8643 169-8781 187-1865 128-5485 156-8905 179-5457 198-8418 14 Q, 27-8491 385444 464040 52-8942 31-5046 44-6335 53-8038 61-2448 2, 70-2011 90-2006 105-6366 1186154 741033 97-9578 115-6375 130-2543 2 1285307 155-6606 177-6550 196-5472 131-9534 163-3909 188-1642 209-1339 15 2, 29-1700 40-6979 491265 56-0838 330774 47-1151 56-9000 64-8393 Q) 726335 94-4360 111-1037 125-0550 769162 102-7569 121-7505 137-4061 131-6789 161-5960 185-5501 2060372 135-4971 170-0179 196-8760 219-5173620 S. NAGULESWARAN TABLE 3 The first three dimensionless natural frequencies of cl-ft and pn-fr uniform beams el-fr uniform beam pn-fr uniform beam n Po=1 m= 2 = 3 =0 — m=l_— m=? Had 0 35160 3-5160, 35160 — 9-0000 0-0000, 0-0000 0-0000 22-0345 22-0345 22-0345 15-4182 15-4182 15-4182 15-4182 61-6972 61-6972 61-6972 49-9649 49-9649 49-9649 49-9649. 1 38888 4.0853 4.2727 1.0000 1580619984 2-342 223750 225673 22-7578 15-6242 15-9161 162021 16-4826 62-0431 62-2436 62-4433 501437 50-4068 506683 50-9283 2 48337 54309-59837 2.0000 3158639895 4.6721 23-3660 24-0924 24-7961 162261 17-3179 18.3377 19.2972 63-0675 63-8502 64-6217 50-6760 = 51-7069 52-7139 53-6984 3 60817 7133780457 3.0000 47333.-$-9734 6 9919 24-9277 26-4315 27-8486 171807 19-4142 21-3885 23-1737 64-7338 66-4282 68-0725 51-5498 53-7937 55-9303 $7:9719 4 74750 89664 10-2368 4-0000 63056 7.9532 _9:3072 26-9573 29-3805 31-6049 18-4313 21-9897 24-9855 27-6153 66-9868 698523 72-5831 527463 56-5662 60.0946 63-3831 5 89404 10°8616 12-4826 50000 78765 99314 11-6212 29-3528 32-7642 35-8272 19-9197 24-8804 28.8985 32.3572 69-7607 73-9844 77-9353 542419 599120 649849 69-6028, 6 10-4439 12-7881 14.7550 60000 9-467 11-9090 139351 32-0272 36-4516 © 40-3587 215944 27-9770 32.9995 37-2686 72-9863 78-6919 83-9349 $6:0099 63-7221 70-4118 76-3785 7 11-9691 14-7319 #70416 = 7-0000 11-0166 13-8866 16-2492 349116 403516 45-0884 23-4133 31-2103 37-2179 42.2837 765964 838578 90-4243 58-0223 67-9002 76-2285 83-5335, 8 13-5074 16-6859 19-3368 8-000 125865 15-8644 18-5637 37-9538 44-4020 49-9606 25:3436 345373415141 47-3673 80-5295 89-3851 97-2821 60-2513 72-3664 82-3274 90-9496 9 15-0541 186464 21-6373. 9.0000 14:1563 17-8424 208784 41-1154 48-5612 549312 273601 37-9304 45-8647 52-4991 84-7315 95-1961 104-4173 62-6705 77-0570 88-6321 98-5492 10 Q, 11-2023 166064 20-6112 23-9415 100000 15-7263 198205 23-1935, Q, 33-6404 44-3682 52-8005 59-9732 29-4439 41-3720 50-2552 57-6665 Q; 74-6493 89-1563 101-2299 111-7631 65-2554 81-9224 95-0887 106-2809 HQ, 12-1842 18-1625 22-5790 26-2481 11-0000 17-2963 21-7989 25-5088 Q, 35-5890 47-6916 57-1002 65-0686 31-5809 44-8504 54-6760 62-8614 2, 77-0638 93-7684 107-4396 119-2706 67-9842 869248 101-6596 114-1103 12 Q, 134702 19-7215 24-5491 28-5567 12.0000 188663. 23-7774 27-8243 Q, 37-6031 51-0701 61-4464 70-2049 33-7603 48-3572 59-1206 68-0780 2, 79-6145 98-5268 113-7890 1269039 708373 920354 108-3180 122-0138 13 Q, 144587 21-2826 265208 30-8668 130000 20-4367 25-7561 30-1400 2, 39-6720 54-4926 65-8291 753733 359739 S1-8867 63-5845 73-3123, 2) 822866 103-4146 1346363 73-7978 97-2322 1150448 129-9751 14 Q, 151494 33-1777 140000 22.0070 27-7349 32-4569 Q, 41-7867 805669 38-2154 55-4347 68-0643 78-5592 Q; 85-0670 126-8026 142-4493 768508 102-4985 121-8258 138-0240 15 Q, 161416 30-4677 35-5921 15-0000 23-5773 29-7138 35-0888 2, 439399 746770 85-6301 40-4800 $8:9980 72-5579 833193 Q, 87-9436 133-4290 150-5410 79-9839 107-8215 128-6519 147-6140VIBRATION OF A CENTRIFUGALLY TENSIONED BEAM 621 Taste 4 Interpolated frequencies compared with exact frequencies for example combinations of po. 1 and boundary conditions chet beam pn-pn beam oF mon Interpolated Exact Error (%) Interpolated Exact Error (%) 13 80 2, 347957 348883 (0-265 24727548516 (0-499 2, 81-2699 81-3849 OL 621492 6232200277 2, 1440707 144-1718 000701152102 115:3651 0134 13°90 @ 372196 373346 0-308 21145 27-2562 0-520 Q, 85-5279 85-6808 0-178 66-6037 66°8179 0321 Q, 149-4710 149-6135 0-095 1210299 121-2384 O17 10 89 @ 353691 35-3661 —0-008 25-3087 243043 —0-001 Q, — 82-2557 822462 —0-012 63-1977 63-1919 0-009 Q, 145-2622 1452462 -0-011 1164971 116-4833 —0-012 20 89 2 407295 40-7273. 0-005 30-5418 30-5419) 0-000 Q, 91-7437, 91-7345 — 0-010 73-0662 73-0617 —0:006 Q 1574913 1574729 0012 129-6664 129-6528. — 0-011 13°89 2 369772 37-0872 0-297 26-8758 27-0155, 0517 2, 85-1021 85-2416 0-164 66-1583 663629 0308 Q, 149-9309 149-0523 0-081 120-4479 120-6371 0-157 The frequency equations require the derivatives of the solution functions which are obtained on a term by term basis, and, for computational work, one writes F(X,0)=Y Ane (X 0), 9) in which A(XC)=X5 AK) =0, — Ay(X,c) = O-S¥(1 + pp) X*74lle + We +) AMX, 0) = —vpycX' lle + 3)(c + 2Ke + DL, and the rest of the terms in the form Ans (X, 0) = X°B,,(X ci(c ta +4 (ctn+3etn+Ic+n+1), (30) in which By xs(X,c) =0-50(1 + 2py)(c ++ 2c +H + Ags a(Xe) —vpale $2 + IP¥A,.2(X, 0) —[0-Sv(c tape ta +1) — X74, (X0). The derivatives of A, s(X,¢) are DAy, 5X, 6) = XB, (Kile +n + Ic +n + 2c +2 +h Bl) DPA, 3X. c) = By (KX cylle +0 + ott Vi, (32) DA, 4 (X,¢) = O-Sv(1 + 2pp)DAy «(X,€) — vpole +2 + I)Aq 42K 6) —(OSn(c+actnt-alXA, Kolctr +0. — (3) The derivatives of F(X,c) are thus expressible as continuous functions “similar” to F(X, c).622 8. NAGULESWARAN, In the normalized mode shape equation, the constants of integration in equations (21) and (22) are arranged so that for cl-cl, cl-pn, pn-cl and pn-pn beams ¥(0°5) = I, while for cfr and pn-fr beams ¥(1) = 1. ‘The normalized mode shape for cl-cl and cl-pn beams is ¥,(¥) = (FC, 3)F(¥, 2) — F(t, VFX, LF, 3)FO5, 2) - FUL, 23F(0-5, 3). 34) For pn-cl and pn-pn beams the normalized mode equation is ¥,(X) = (FC, F(X, 1) — FC, DEF, MFC, FOS, 1) - FU, DFO, 3)). (35) For a cl-fr beam the normalized mode equation is ¥,(X) = [DF (I, 3)F(X, 2) — D?F(1, 2)F(X, 3))/(D2F(, 3)F(1, 2) — D?F(1, DF, 3). 36) For a clpn beam the normalized mode equation is ¥,(X) = (DPF(L, 3)F(X, Y — DPF (1, DCX, 3) (D2FU, 3)F CL, D — DIFC, HFC, 3)}- (7) The normalized mode shape corresponding to a combination of pa, and a frequency parameter is established by sweeping X from 0 to I in regular steps. The roots of the frequency equations were determined by a numerical procedure based on an initial trial and error search followed by successive linear interpolation. Consider the clcl beam, The frequency equation (23) requires the third and fourth solution functions and their first derivative. For a given set of p, and 7, a trial value was assumed for ys, The values ¥ = 1 and ¢ = 2 were written into equation (30) and the terms A, (1, 2) progressively calculated until a term was reached which was numerically less than a preset value. The terms D4,,,(1,2) were now obtained from equation (31) and from the algebraic sum F(1, 2) and DF(1, 2) were obtained. Similarly, F(1,3) and DF(L, 3) were calculated, followed by f(u) of equation (23). The trial y was altered in regular steps until a sign change in f(x) was observed. Changes were then made to # based on linear interpolation until equation (23) was satisfied to a preset accuracy. This was one of the roots, The mode number of the natural frequency was confirmed by a normalized mode shape calculation with equation (34). The trial was again altered in regular steps and the procedure repeated to obtain the next root and so on. Frequency parameters have been calculated for step changes in the offset and speed parameters. The trial 1 values for the calculations were found as follows. gp and n were set to zero and the fundamental frequency parameter for a cantilever was calculated. Then ‘po was set to zero and 7 increased in steps and a column of exact y's obtained, the trial i being a value extrapolated from the previous two elements in the column. Then p, was changed in steps and rows of exact 11's calculated with the column values as trial ’s. The same procedure was adopted to obtain the roots of equations (24)-(28). It was observed that the solution functions and the derivatives converged but the rate was slower for larger py and 7 and for the higher frequencies. This means that such combinations of parameters require a greater number of terms in the functions and failure to provide this may result in the iterations converging to a lower mode frequency. The first three dimensionless natural frequencies for cl-c! and pn-pn, cl-pn and pn-cl, and cl-ft and pn-fr are tabulated in Tables {-3 for a range of py and 7. In Table 4, the reliability of the interpolated results is illustrated for some example combinations of py and n.VIBRATION OF A CENTRIFUGALLY TENSIONED BEAM 623 3.2. IN-PLANE VIBRATIONS In Figure 4 are shown the polar co-ordinates (R, #) of the deflected position of an incremental element of the beam in the x~z plane. Consideration of the forces in the x-direction results in AT (x)/dx + mp?R cos } = 0, 38) which results in the same centrifugal tension distribution as in equation (2) and the dimensionless tension equation (7). The Euler-Bernoulli bending moment equation (in which E7,, is the flexural rigidity for bending in the x-z plane) is M(x) = El, d2(x){dx?. 39) ‘The shearing force equation and the equation of motion are, respectively, Q(x) + dM (x)fdx — T(x) dz(xyfdx =0, — dQ(x)/dx + mp?R sing =0. (40,41) The dimensionless bending moment, shearing force and mode shape equations are M(X)=D'2(X), Q(X) + DM(X)— B(X) DZ(X)=0, (42,43) D‘Z(X) —0-5v(1 + 2p9)D°Z(X) + vppD[XDZ(X)] +0-SvD[X*DZ(X)]—(u +¥)Z(X) (44) ‘The mode shape equations (10) and (44) are mathematically equivalent and a separate analysis is not required. The in-plane dimensionless natural frequencies corresponding to a set of py, and boundary conditions are obtained from Tables 1-3 together with the relationship Qirpane = Qeaof ne — 45) 3. CONCLUSIONS For a centrifugally tensioned uniform Euler-Bernoulli beam of doubly symmetric cross-section, if a principal axis is parallel to the axis of rotation, the out-of: plane vibration and in-plane vibration are uncoupled and the two mode shape equations are mathematically equivalent. The solution of the mode shape equation is expressed as the superposition of four independent solution functions. The derivatives of the solution functions are expressed as continuous functions “similar” to the solution functions. The functions and their derivatives converge. The rate of con- vergence depends on the offset and rotational speed parameters and the frequency mode. The natural frequencies increase with increase in the offset and/or rotational speed parameters, The natural frequencies depend not only on the natural and/or geometric boundary conditions but also on which end of the beam is axially restrained. For example, the cl-pn beam and the pn-cl beam are dynamically distinct. From the out-of-plane natural frequencies, the in-plane frequencies may be obtained. For parameters py and not included in Tables 1-3, interpolated results are accurate to within about 0-3% or better in most cases, as was illustrated by Table 4, The cl-cl, cl-pn and cl-fr beams require the third and fourth solution functions, and for pn-cl, pn-pn and pn-fr beams the second and fourth solution functions, The method is easily adapted to beams with other types of boundary conditions such as an elastically restrained root, a rigid body at the other end, etc.624 8. NAGULESWARAN REFERENCES, 1. A. W. Lissa 1981 Applied Mechanics Reviews 34, 629-635. Vibrational aspects of rotating turbomachinery blades. 2. A. ROSEN 1991 Applied Mechanics Reviews 44, 483-515, Structural and dynamic behaviour of pretwisted rods and beams 3. C.H. J. Fox and J. S. Burbess 1979 Journal of Sound and Vibration 68, 15|—158. The natural frequencies of a thin rotating cantilever with offset root. 4, D. H. Hovoss and M, J. Rursowskt 1981 American Institute of Aeronautics and Astronautics Journal 19(11), 1459-1466. Free-vibration analysis of rotating beams by a variable-order finite-element method. 5. D. H. Hopces 1981 Journal of Sound and Vibration 7, 11-18. An approximate formula for the fundamental frequency of a uniform rotating beam clamped off the axis of rotation. 6. A. D. Waigut, C. E. Smivu, R, W. TuresHer and J, L. C, WANG 1982 Journal of Applied Mechanics 49, 197-202. Vibration modes of centrifugally stiffened beams. 7. D. Stoxni and Y. ABOsLNAGA 1987 Journal of Applied Mechanics 54, 311-314. Bending vibrations of a class of rotating beams with hypergeometric solutions. 8. T. Yokoyama 1988 International Journal of Mechanical Sciences 30, 743-755. Free vibration characteristics of rotating Timoshenko beams. 9. YA. KHULIEF 1989 Journal of Sound and Vibration 134, 87-97. Vibration frequencies of a rotating tapered beam with end mass. 10. K. M. Upupa and T. K. Varapan 1990 Journal of Sound and Vibration 138, 447-456. Hierarchical finite element method for rotating beams. APPENDIX: NOTATION 4.(6) coefficient of ¥°** in F(X.) x dimensionless radial co-ordi- Apc) terms in FOX,c) nate, equation (6) Cia constants of integration in v(x) amplitude of out-of-plane _vi- equation (19) bration at co-ordinate » D,D operators d/dX, dja” ¥(X) dimensionless deflection, Fly, El, flexural rigidity for bending in equation (6) the x-y and x-z planes Y,(X) normalized mode shape, sw) in “frequency equations equations (34)-(37) (23)-(28) 2(x) ide of in-plane vibration. F(X, 0) polynomial in X, equation (11) F(X,¢),20122 Solution functions, equations 2(X) dimensionless in-plane deflec- (13)-(18) tion 1 Tength of beam B(X) dimensionless tension_at_co- m mass per unit length of beam ordinate X, equation (7) M(x) amplitude of bending moment KH Trequency parameter, equations at co-ordinate x (6) MX) dimensionless bending moment, a dimensionless natural fre- equation (8) quency, equation (6) P speed of rotation of hub Qa, first, second and third dimen- 2) amplitude of shearing force at sionless natural frequency co-ordinate x 1 dimensionless speed of rotation, 20) dimensionless shearing force, equation (6) equation (9) y rotational speed parameter, R radius of hub equation (6) T(x) tension at co-ordinate x, Be offset parameter, equation (6) equation (2) x summation n =0 to infinity x radial co-ordinate