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You are on page 1of 8

SOUND AND

VIBRATION

Journal of Sound and Vibration 289 (2006) 413–420

Short Communication

Flapwise bending vibration analysis of a rotating

tapered cantilever Bernoulli–Euler beam by

differential transform method

O

¨

. O

¨

zdemir, M.O. Kaya

Ã

Faculty of Aeronautics and Astronautics, I

˙

stanbul Technical University, 34469 Maslak, I

˙

stanbul, Turkey

Received 6 July 2004; received in revised form 11 January 2005; accepted 31 January 2005

Available online 16 June 2005

Abstract

This paper studies the vibration characteristics of a rotating tapered cantilever Bernoulli–Euler beam

with linearly varying rectangular cross-section of area proportional to x

n

, where n equals to 1 or 2 covers

the most practical cases. In this work, the differential transform method (DTM) is used to ﬁnd the

nondimensional natural frequencies of the tapered beam. Numerical results are tabulated for different taper

ratios, nondimensional angular velocities and nondimensional hub radius. The effects of the taper ratio,

nondimensional angular velocity and nondimensional hub radius are discussed. The accuracy is assured

from the convergence of the natural frequencies and from the comparisons made with the studies in the

open literature. It is shown that the natural frequencies of a rotating tapered cantilever Bernoulli–Euler

beam can be obtained with high accuracy by using DTM.

r 2005 Published by Elsevier Ltd.

1. Introduction

The differential transform method (DTM) is based on the Taylor series expansion and appears

to have been ﬁrst introduced by Zhou in 1986 [1]. It has been applied to vibration analysis of a

tapered bar recently [2]. In this contest Chung and Yoo developed a new dynamic modeling

method using stretch deformation [3]. They showed that, two of the linear differential equations

ARTICLE IN PRESS

www.elsevier.com/locate/jsvi

0022-460X/$ - see front matter r 2005 Published by Elsevier Ltd.

doi:10.1016/j.jsv.2005.01.055

Ã

Corresponding author. Tel.: +90 212 2853110; fax: +90 212 2852926.

E-mail address: kayam@itu.edu.tr (M.O. Kaya).

are coupled through the stretch (i.e. in the radial direction) and the chordwise (i.e. in the plane of

rotation) deformations. On the other hand, the differential equation related to the ﬂapwise (i.e. in

the direction perpendicular to the plane of rotation) deformation was considered to be uncoupled.

In this work, ﬂapwise bending vibration of a rotating tapered cantilever Bernoulli–Euler beam

is studied by using the DTM. In Fig. 1, a cantilever tapered beam of length L, which tapers to a

height h and which is ﬁxed at point o to a rigid hub with radius r, is shown. The beam is assumed

to be rotating at a constant angular velocity O. In the right-handed Cartesian coordinate system

shown, the origin is taken to be at the left-hand end of the beam. The X-axis coincides with the

neutral axis of the beam in the undeﬂected position, the Z-axis is parallel to the axis of rotation

(but not coincidental) and the Y-axis lies in the plane of rotation. The principal axes of the beam

cross-sections are, therefore, parallel to Y and Z directions, respectively. The system is able to ﬂex

in the Z direction (ﬂapping motion) and in the Y direction (lead-lag motion). These two motions

can be coupled only through Coriolis forces, but for the system shown in the present analysis, this

coupling is ignored.

2. Equation of motion

The assumptions for the tapered beam are as follows

AðxÞ ¼ A

g

1 À

cx

L

_ _

n

, (1)

I

yy

ðxÞ ¼ I

yyg

1 À

cx

L

_ _

nþ2

, (2)

I

zz

ðxÞ ¼ I

zzg

1 À

cx

L

_ _

nþ2

, (3)

where A, I

yy

, I

zz

are the cross-sectional area and second moment of areas about the Y and Z axes,

respectively. The subscript g denotes a value at g in Fig. 1 corresponding to the left-hand end of

ARTICLE IN PRESS

h

dx

r

Ω

L

x

x

g

o

z

Fig. 1. Conﬁguration of a rotating tapered cantilever Bernoulli–Euler beam.

O

¨

. O

¨

zdemir, M.O. Kaya / Journal of Sound and Vibration 289 (2006) 413–420 414

the tapered beam and c is a constant called the taper ratio which must be such that co1 because

otherwise the beam tapers to zero between its ends. Values of n ¼ 1 or 2 cover the most practical

cases because n ¼ 1 gives linear variation of the area of the cross-section and cubic variation of

the second moment of area along the length, whereas n ¼ 2 are the second and fourth orders.

Thus, a large number of solids or thin-walled cross-sections can be represented by using the values

of n as 1 or 2. Young’s modulus E, shear modulus G and density of the material r, are assumed to

be constant so that the mass per unit length rA, the bending rigidities EI

yy

and EI

zz

and the shear

rigidity kAG vary according to Eqs. (1)–(3) [4].

The centrifugal tension force T(x) at a distance x from the origin is given by

TðxÞ ¼

_

L

x

rAO

2

ðr þxÞ dx. (4)

According to the Bernoulli–Euler theory, the governing differential equation for the ﬂapwise

bending motion is given by

rA

q

2

w

qt

2

þ

q

2

qx

2

EI

q

2

w

qx

2

_ _

À

q

qx

T

qw

qx

_ _

¼ p

w

, (5)

where w is the deﬂection and p

w

is the applied force per unit length, both in the ﬂapwise direction.

For a cantilever beam, four boundary conditions are given by

w ¼

qw

qx

¼ 0 at x ¼ 0; (6)

q

2

w

qx

2

¼

q

3

w

qx

3

¼ 0 at x ¼ L. (7)

3. Nondimesionalisation of principal parameters

The dimensionless parameters for the element location, the hub radius and the angular velocity

respectively are as follows [5]:

x ¼

x

L

; d ¼

r

L

; g

2

¼

rA

g

O

2

L

4

EI

g

. (8)

Substituting the dimensionless parameters and the tapered beam assumptions into Eq. (4) will

lead to the nondimensional centrifugal tension force expression

T ¼ M ð1 ÀcxÞ

nþ1

ð1 þ2cd þcnd þcx þncxÞ Àð1 ÀcÞ

nþ1

ð1 þ2cd þcnd þc þncÞ

_ ¸

, (9)

where

M ¼

rA

g

O

2

L

2

c

2

ðn þ2Þðn þ1Þ

.

ARTICLE IN PRESS

O

¨

. O

¨

zdemir, M.O. Kaya / Journal of Sound and Vibration 289 (2006) 413–420 415

By substituting this nondimensional centrifugal tension force expression into the ﬂapwise

bending equation and accepting n ¼ 1, Eq. (5) becomes

1

g

2

d

dx

2

1 Àcx ð Þ

3

d

2

w

dx

2

_ _

Àwl

2

1 Àcx ð Þ

À

1

6c

2

d

dx

1 Àcx ð Þ

2

1 þ3dc þ2cx ð Þ À 1 Àc ð Þ

2

1 þ3dc þ2c ð Þ

_ ¸

dw

dx

_ _

¼ 0. ð10Þ

By using the dimensionless parameters, the boundary conditions stated in Eqs. (6) and (7) can be

expressed as

w ¼

dw

dx

¼ 0 at x ¼ 0, (11)

d

2

w

dx

2

¼

d

3

w

dx

3

¼ 0 at x ¼ 1. (12)

4. Differential transform method

The differential transform of a function f in one variable is deﬁned as follows

F k ½ ¼

1

k!

d

k

f ðxÞ

dx

k

_ _

x¼x

0

. (13)

And the inverse transformation is deﬁned as

f ðxÞ ¼

1

k¼0

ðx Àx

0

Þ

k

F k ½ . (14)

Theorems that are frequently used in the transformation procedure are introduced in Table 1.

ARTICLE IN PRESS

Table 1

Basic theorems of DTM

Original function DTM

f x ð Þ ¼ g x ð Þ Æh x ð Þ F k ½ ¼ G k ½ ÆH k ½

f x ð Þ ¼ lg x ð Þ F k ½ ¼ lG k ½

f x ð Þ ¼ g x ð Þh x ð Þ

F½k ¼

k

l¼0

G½k ÀlH½l

f ðxÞ ¼

d

n

g

dx

n

ðxÞ F k ½ ¼

k þn ð Þ!

k!

G k þn ½

f x ð Þ ¼ x

n

F k ½ ¼ d k Àn ð Þ ¼

0 if kan;

0 if k ¼ n

_

O

¨

. O

¨

zdemir, M.O. Kaya / Journal of Sound and Vibration 289 (2006) 413–420 416

5. Solution

By applying the DTM to Eqs. (10)–(12) at x

0

¼ 0, and using the relationships deﬁned in

Table 1, the following equations are obtained:

W 0 ½ ¼ W 1 ½ ¼ 0, (15)

and

1

k¼2

kðk À1ÞW k ½ ¼

1

k¼3

kðk À1Þðk À2ÞW k ½ ¼ 0, (16)

and

k þ1 ð Þ k þ2 ð Þ k þ3 ð Þ k þ4 ð ÞW k þ4 ½ À 6c þ3ck ð Þ k þ1 ð Þ k þ2 ð Þ k þ3 ð ÞW k þ3 ½

þ 6c

2

þ12c

2

k þ3c

2

k

2

Àk

_ _

À

g

2

6

3 þ6d À3dc À2c ð Þ

_ _

k þ1 ð Þ k þ2 ð ÞW k þ2 ½

À 6c

3

k þ6c

3

k

2

Àk

_ _

þc

3

k À2 ð Þ k

2

Àk

_ _

Àg

2

d k þ1 ð Þ

_ ¸

k þ1 ð ÞW k þ1 ½

þ Ào

2

þg

2

k Àdck ð Þ þ

g

2

2

k

2

Àk

_ _

1 Àdc ð Þ

_ _

W k ½

þ o

2

c Àg

2

ck Àc ð Þ À

g

2

c

3

k À2 ð Þ k À1 ð Þ

_ _

W k À1 ½ ¼ 0. ð17Þ

Here W k ½ is the differential transform of w x ð Þ. By using Eqs. (15–17), W k ½ values for k ¼

4; 5; 6; 7 . . . can now be evaluated in terms d, o, c

2

, c

3

and g. These values were achieved by using

the Mathematica software package. The results for the values c ¼ 0, d ¼ 0 and n ¼ 1 are as

follows

W 2 ½ ¼ c

2

,

W 3 ½ ¼ c

3

,

W 4 ½ ¼

c

2

k

2

24

,

W 5 ½ ¼

c

3

k

2

40

,

W 6 ½ ¼

c

2

k

4

1440

À

c

2

k

2

ð3 Ào

2

Þ

360

,

W 7 ½ ¼

c

3

k

4

3360

À

c

3

k

2

ð6 Ào

2

Þ

840

,

W 8 ½ ¼ À

c

2

k

4

ð10 Ào

2

Þ

40320

þ

k

2

112

c

2

k

4

1440

À

c

2

k

2

ð3 Ào

2

Þ

360

_ _

.

ARTICLE IN PRESS

O

¨

. O

¨

zdemir, M.O. Kaya / Journal of Sound and Vibration 289 (2006) 413–420 417

The coefﬁcients are obtained to numerical accuracy and the constants c

2

and c

3

that appear in

W k ½ ’s are given by

c

2

¼ W 2 ½ ¼

1

2!

d

2

w

dx

2

_ _

x¼0

; c

3

¼ W 3 ½ ¼

1

3!

d

3

w

dx

3

_ _

x¼0

. (18)

6. Results and discussion

For various values of the nondimensional hub radius, d, and the nondimensional angular

velocity, g, and for the value n ¼ 1, the nondimensional natural frequencies, o are to be

determined. In Table 2, variation of the ﬁrst three nondimensional natural frequencies with

respect to nondimensional angular velocity, g, is shown together with comparative values reported

in literature [6,7]. The taper ratio, c, is taken to be 0.5 in the analysis. The angular velocity and

hub radius have signiﬁcant effects on the values of the natural frequencies as can be seen from the

results shown in Table 2. For a better insight and also in order to establish the trend, these effects

are shown in Fig. 2. The lowest three nondimensional natural frequencies are plotted for two cases

of the nondimensional hub radius, d. The nondimensional natural frequencies, o, increase as the

nondimensional angular velocity, g, increases and the rate of increase becomes larger with the

increase in d. This is due to the effect of centrifugal tension force which increases as the angular

velocity and the hub radius are increased, as expected [8]. In Table 3, variation of the natural

frequencies with respect to the taper ratio, c, is given and in Fig. 3, these calculated values are

plotted.

ARTICLE IN PRESS

Table 2

Variation of the ﬁrst three nondimensional natural frequencies, o, with respect to the nondimensional angular velocity,

g, and the nondimensional hub radius, d, for c ¼ 0:5 and n ¼ 1

Nondimensional

angular velocity,

g

Nondimensional

natural frequency,

o

d ¼ 0 d ¼ 2

DTM Ref. [6] DTM Ref. [7]

1 o

1

3.98662 3.98660 4.38668 4.38580

o

2

18.47400 18.47400 18.87950 18.87400

o

3

47.41700 47.41700 47.83080 47.81500

2 o

1

4.43680 4.43680 5.74260 5.74170

o

2

18.93660 18.93700 20.47300 20.46800

o

3

47.87160 47.87200 49.48660 49.47200

3 o

1

5.09268 5.09270 7.45275 7.45190

o

2

19.68390 19.68400 19.87947 22.87400

o

3

48.61890 48.61900 52.12050 52.10600

4 o

1

5.87796 5.87880 9.31032 9.30940

o

2

20.68500 20.68500 25.86624 25.86100

o

3

49.64560 49.64600 55.58160 55.56700

O

¨

. O

¨

zdemir, M.O. Kaya / Journal of Sound and Vibration 289 (2006) 413–420 418

As it can be seen from the results, the nondimensional natural frequencies increase as the

angular velocity increases due to the stiffening effect of rotation, while they decrease as the taper

ratio increases due to the softening effect resulting from the decrease of the cross-sectional area.

However, it has been observed that a critical taper ratio exists, after which the frequencies of a

rotating tapered beam reverse their trend of change. It is obvious that the stiffening effect due to

rotation becomes more dominant than the softening effect resulting from the decrease of the

cross-sectional area, thus rendering the beam stiffer [9].

ARTICLE IN PRESS

0

10

20

30

40

50

60

0 3

Nondimensional Angular Velocity

N

o

n

d

i

m

e

n

s

i

o

n

a

l

N

a

t

u

r

a

l

F

r

e

q

u

e

n

c

y

1 2 4 5

Fig. 2. Variation of the nondimensional natural frequencies, o, with respect to the nondimensional angular velocity, g,

and the nondimensional hub radius, d. (——, d ¼ 0; - - - -, d ¼ 2) (Table 2).

Table 3

Variation of the nondimensional natural frequencies, o, with respect to the taper ratio, c, for n ¼ 1, d ¼ 0 and g ¼ 1

Taper ratio, c Nondimensional natural frequencies

o

1

o

2

o

3

o

4

o

5

o

6

0 3.68165 22.18101 61.84176 121.05092 200.01155 299.14398

0.1 3.72398 21.48633 59.12560 115.33684 190.29792 283.98056

0.2 3.77313 20.77109 56.33928 109.46858 180.31562 268.86012

0.3 3.83109 20.03269 53.47071 103.41803 170.01455 253.25597

0.4 3.90076 19.26810 50.50395 97.14744 159.32681 237.04102

0.5 3.98662 18.47401 47.41728 90.60393 148.15651 220.08215

0.6 4.09594 17.64739 44.17999 83.70989 136.36346 202.16917

0.7 4.24170 16.78843 40.74909 76.35410 123.75992 183.46700

0.8 4.45396 15.93941 37.14266 68.51031 110.26864 162.53781

0.9 4.84443 15.54665 34.26288 61.47543 97.15930 141.04833

O

¨

. O

¨

zdemir, M.O. Kaya / Journal of Sound and Vibration 289 (2006) 413–420 419

References

[1] J.K. Zhou, Differential Transformation and its Application for Electrical Circuits, Wuhan, Huazhong University

Press, Wuhan, China, 1986.

[2] Zeng, C.W. Bert, Vibration analysis of a tapered bar by differential transformation, Journal of Sound and Vibration

242 (2001) 737–739.

[3] J. Chung, H.H. Yoo, Dynamic analysis of a rotating cantilever beam by using the ﬁnite element method, Journal of

Sound and Vibration 249 (2002) 147–164.

[4] J.R. Banerjee, A.J. Sobey, Energy expression for rotating tapered timoshenko beams, Journal of Sound and

Vibration 254 (4) (2002) 818–822.

[5] D. Zhou, Y.K. Cheung, The free vibration of a type of tapered beam, Computer Methods in Applied Mechanical

Engineering 188 (2000) 203–216.

[6] D.H. Hodges, M.J. Rutkowski, Free vibration analysis of rotating beams by a variable order ﬁnite element method,

American Institute of Aeronautics and Astronautics Journal 19 (1981) 1459–1466.

[7] J.R. Banerjee, Free vibration of centrifugally stiffened uniform and tapered beams using the dynamic stiffness

method, Journal of Sound and Vibration 233 (5) (2000) 857–875.

[8] H.H. Yoo, S.H. Shin, Vibration analysis of rotating cantilever beams, Journal of Sound and Vibration 212 (5) (1998)

807–828.

[9] A. Bazoune, Y.A. Khulief, A ﬁnite beam element for vibration analysis of rotating tapered Timoshenko beams,

Journal of Sound and Vibration 156 (1) (1992) 141–164.

ARTICLE IN PRESS

0

20

40

60

80

100

120

140

160

180

200

220

240

260

280

300

320

0 0.2 0.4 0.6 0.8 1 1.2

Taper Ratio

N

o

n

d

i

m

e

n

s

i

o

n

a

l

N

a

t

u

r

a

l

F

r

e

q

u

e

n

c

y

Fig. 3. Variation of the nondimensional natural frequencies with respect to the taper ratio, c, for the six lowest modes

of the beam (Table 3).

O

¨

. O

¨

zdemir, M.O. Kaya / Journal of Sound and Vibration 289 (2006) 413–420 420

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