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

in)

5.4 Gyroscopic Effect (General Approach)

x
z

(a) A rotor system

z
(I p )

I d

z

I p

uz

I p
y

M yx
Fy

x
(b) Free-body diagram of the disc in x-y plane

y
z

I d

y

I p
(I p )

uz

I p
z

M zy
Fz

x
(c ) Free-body diagram of the disc in z-x plane

Figure 5.23 A Jeffcott rotor with disc offset from the mid-span

Let F y and Fz are restoring forces M yx and M zx are restoring moments, from elementary strength
of materials we have

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

Fy u yu y
F
z u zu y
=

M yx z u y
M zx y u y

u u
u u
u
u

y z

z z

z z

y z

u
u

y z

z z

z z

z z

u
u

u y

u
y z
z
y

y
y

y y

(5.39)

For a symmetric shaft the coupling between the vertical and horizontal planes will not be there due to
restoring forces and moments, hence equation (1) will takes the form

Fy u y u y
F 0
z

=
M
yx

z u y
M zx 0

u u

y z

z z

z z

y z

0 u
y
uz y u z

0 z

y y y

(5.40)

Let us define

u = u u = u u ; u = u = u ; u = u = u and = =
y y

z z

y z

z y

z y

y z

z z

y y

(5.41)

From Figure 5.23 equations of motion can be written as

Fy = mu

y
Fz = mu

z
M yx = I d

z + I p
y

M zx = I d

y I p
z

(5.42)

Substituting equation (5.40) in equation (5.42), we get

mu

y + u u y + u z = 0
mu

z + u u z + u y = 0
I d

z + I p
y + u u y + z = 0
I d

y I p
z + u u z + y = 0

(5.43)

which can be combined in the matrix form as

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

[M ]{u

} + [G ]{u
} + [K ]{u} = {0}

(5.44)

with

m 0 0
0 m 0
[ M ] = 0 0 I
d

0 0 0
u
0
[ K ] =
u

0
0
;
0

Id

0
0
[G ] = 0

0
u
;
0

0
0
0

0
0
0

0 I p

0
0
;
I p

u y
u
{u} z
z
y

where [G ] is the gyroscopic matrix and it is skew-symmetric. Eigen value problem for the
synchronous whirl (the forward and backward whirls) can be obtained as follows

Let

{u} = {U }et

so that {u
} = {U }et and {u

} = 2 {U }et

(5.45)

For the forward synchronous whirl, =

( ([ M ] + [G ]) + [ k ]){U } = {0}
2

(5.46)

which can be written as

( [ M ]
2

eff

+ [ k ] {U } = {0}

(5.47)

with

[M ] = [M ] + [G ]

(5.48)

eff

245

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

which is a standard eigen value problem. For the backward synchronous whirl, =

[M ] = [M ] [G ]

(5.49)

eff

and eigen value problem will be of the same form as equation (5.47). For the asynchronous whirl the
eigen value problem of the form as equation (5.46) is not a standard one. For obtaining standard form
of the eigen value, equation (5.44) has to expressed in the state space form. To illustrate the
transformation let us consider the following simple example.

Example 5.2: Obtain the state space form of the following second order differential equation.

m
x
+ cx
+ kx = 0
Solution: Let us express the velocity as

x
= v
then

v
=

c
v kx
m

which can be combined as

1 x
x
0
=

v
c / m k v

which can be written in the standard eigen value problem, as

{h
} + [ D]{h} = {0}

with

{h
} = v
;
x

-1
0
;
c / m k

[ D] =

{h} =

Let

246

Answer

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

{u
} = {v}

(5.50)

so that

[M ]{v
} = [G ]{v} [K ]{u}

or

{v
} = [M ]1 [G ]{v} [M ]1 [K ]{u}

(5.51)

Combining equations (5.50) and (5.51), we have

{h
} = [D]{h}

(5.52)

with

[D] = 1
[M ] [K ]
0

{u}
{h} =
{v}

;
1
[M ] [G ]

(5.53)

Let

{h} = {h0 } et

(5.54)

where is the eigen values. Equation (5.52) becomes

{h0 } = [D ]{h0 }

(5.55)

which is a standard eigen value problem. Eigen values of equation (5.55) appear as pure imaginary
conjugate pairs with magnitudes equal to natural whirl frequencies.

For the case when gyroscopic effect is not present, the eigen value will be of the form j
and j .

However, with gyroscopic effect it takes the form j + and j where + > >
and they correspond to forward and backward whirls, respectively.

5.5 Gyroscopic Effect (Energy Method)

The kinetic energy without gyroscopic couple is given as

247

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

Tnon gyro = 12 md ( u
y2 + u
z2 ) + 21 I d
z2 +
y2

(5.56)

In Figure 5.23 (c) the x-z plane the gyroscopic couple is I p
y which is in the opposite direction to
the angular displacement z in that plane so it give rise to additional kinetic energy.

(T ) xz plane =

1
I p
y z
2

(5.57)

Similarly in Figure 5.23(b) the x-y plane (the gyroscopic moment is in same direction as the angular
displacement)

(T ) xy -plane =

1
I p
z y
2

(5.58)

Hence, the total kinetic energy will be

1
1
1
T = md ( u
y2 + u
z2 ) + I d
z2 +
y2 + I p
z y
y z
2
2
2

V = 12 u u y2 + 12 u u z2 + 12 z2 + 12 y2 + 12 u z u y + 12 u y u z + 12 u u y z + 12 u u z y

(5.59)

(5.60)

Hamilton principle is expressed as

t2

Ldt = 0
t1

where L = Lagrangian function = T (V+W). On substituting equation (5.59) and (5.60), we get

t2

m ( u
u

d

+ u
z u
z ) + I d
z
z +
y
y u u y u y u u z u z z z y y

t1

(5.61)
t2

u ( z u y + u y z ) u ( y u z + u z y ) dt + 12 I p
z y +
z y
y z
y z dt = 0
t1

On performing integration by parts, we have

248

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

t2

t2

md u
y u y + md u
z u z + I d z z + I d y y t1 md {u

y u y + u

z u z } + I d z z + y y dt
t1

t2

u u y u y + u u z u z + z z + y y + u ( z u y + u y z + y u z + u z y ) dt
t1

1
I p y z
2

t2
t1

t2

t2

t1

t1

y z dt +
z y dt z y

t2
t1

t2
t2

+
z y dt
y z dt = 0
t1
t1

(5.62)

Since variation is defined with space, hence all the term, with time dependent limits will vanish.
Equation (5.62) can be simplified as

t2

{m u


d

+ u u y + u z } u y + {md u

z + u u z + u y } u z

(5.63)

t1

+ I d

z + z + u u y + I p
y z + I d

y + y + u u z I p
z z dt = 0
Since u y , u z , z and y are arbitrary variations, hence we can equate their coefficients in
equation (5.63) to be zero

md u

y + u u y + u z = 0;

md u

z + u u z + u y = 0
(5.64)

I d

z + z + u u y + I p
y = 0;

I d

y I p
z + u u z + y = 0

which is same as equation (5.43), obtained by the Newtons second law.

Example 5.3: Develop a finite element analysis with gyroscopic effects for an overhang rotor as
shown in Figure 5.24. Treat shaft as flexible and massless.

y
m, I d

Figure 5.24 A cantilever rotor system

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

Elemental EOM in x-y plane as shown in Figure 5.25 (a) (without gyroscopic effect) can be written as

156 22l

4l 2
Al
420

sym

54
13l
156

13l u

y1
12 6 12 6 u y1 S y1
2


4 6 2 z1 M z1
3l z1 EI
+

=

22l u

y 2 l 3
12 6 u y 2 S y 2

4l 2

z 2
4 z 2 M z 2
sym

(A)

Elemental EOM in z-x plane as shown in Figure 5.25 (b) (without gyroscopic effects) can be written
as
156 22l 54 13l u

z1
12 6 12 6 u z1 S z1

2
2

l
l
l
4
13
3
4 6 2 y1 M y1
Al
y1 + EI
=

156 22l u

z 2 l 3

12 6 u z 2 S z 2
420

4l 2

y 2
4 y 2 M y 2
sym
sym

(B)

1
u y1 , z1

u y 2 , z 2

u z1 , y1

(a) Element in x-y plane

2
u z 2 , y 2

(b) Element in z-x plane

Figure 5.25 Rotor elements

EOM of the element with gyroscopic couple can be written as

0
156 22l 0

2
4l
0
0

156 22l

4l 2

sym

54

13l

13l
0

3
0

0
54

0
13l

0
22

13l
0

3l
0

(156 + m / m )

( 4l

+ Id / m)

(156 + m / m )

22

( 4l

250

+ Id

u


y1


z1
u


z1


y1

u

y 2


z 2

u

z 2



/ m ) y 2

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

0
0

+
0

0
0

0 0 0 0
0 0 0 0
0 0 0 0
0
0
0
0
0

0
0
0
0
0

0
0
0
0
0

0
0
0

0 0
0 0
0 0
0 0
0 I p

0
0
0
0
0
0
0
0

0 u
y1
0
0 u y1
12 6 0 0 12 6

0 z1
4 0 0 6 2
0
0 z1

0 u
z1

12 6 0
0 12 6 u z1

0 y1 EI
4 0
0 6 2 y1
+

0 u
y 2 l 3
12 6 0
0 u y 2

I p
z 2
0 z 2
4
0

0 u
z 2
12 6 u z 2

0
y 2
4 y 2
sym

0 S y1
0 _ M
z1

0 S z1

0 M y1
= +

0 S y 2
0 M z 2

0 S z 2
0 M
y2
with

m=

(C)

AL
420

Boundary conditions (BCs) are given as

u y1 = u z1 = z1 = y1 = 0

and

M y2 = S y2 = M z2 = Sz2 = 0

(D)

After application of BCs EOMs become

0 u

y 2
0 0
156 22l 0



0 0

4
0
0 z2
AL


+
0 0
156 22 u z 2
420

4 y 2
sym
0 I p

0 u
y 2
12 6 0 0 u y 2 0

0 I p z 2 EI
4 0 0 z 2 0
+ 3

=
0 0 u
z 2 l
12 6 u z 2 0

0 0
y 2
4 y 2 0
sym
0

which is a standard EOMs of the following form.

[M ]{u

} + [G ]{u
} + [k ]{u} = {0}

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

Exercise 5.2 Derive equations of motion and boundary conditions of a rotor system for transverse
(bending) vibrations by using the Hamiltons principle for the following strain energy, U, and kinetic
energy, T, terms.

U = (1 / 2) EI 2 + 2 dx
0

and
l

T = (1 / 2) A v
2 + w
2 dx + (1 / 2) I d
2 +
2 dx + 2 I p dx I p
dx
0

with

= dv / dx;

= dw/dx

where v and w are the rotor translational displacements in the vertical and horizontal directions
respectively, Id and Ip are the diametral and polar mass moment of inertia of the shaft respectively, EI
is the modulus of rigidity of the shaft, A is the cross-sectional area of the shaft, l is the length of the
shaft, is the mass density of the shaft material, is the shaft rotational frequency and dot, and
prime, represent the time and spatial (in the shaft axial direction, x) derivatives respectively. Give the

physical significance of contributions of the each term in the strain and kinetic energy expressions.

Exercise 5.3 Develop the finite element formulation for the following equations of motion of a rotor

EI

4
2 x
3 y
4x
2 x

=0
+
+

m
mr
z 2 t 2
t 2
z 2 t
z 4

EI

4
2 y
3x
4 y
2 y

=0
+

m
mr
z 2 t 2
t 2
z 2 t
z 4

and

Exercise 5.4 Derive equations of motion and boundary conditions of a rotor system for transverse
(bending) vibrations by using the Hamiltons principle for the following strain energy, U, and kinetic
energy, T, terms.

U = (1 / 2) EI 2 + 2 dx
0

and
l

T = (1 / 2) A v
2 + w
2 dx + (1 / 2) I d
2 +
2 dx + 2 I p dx I p
dx
0

with

= dv / dx;

= dw/dx

252

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

where v and w are the rotor translational displacements in the vertical and horizontal directions
respectively, Id and Ip are the diametral and polar mass moment of inertia of the shaft respectively, EI
is the modulus of rigidity of the shaft, A is the cross-sectional area of the shaft, l is the length of the
shaft, is the mass density of the shaft material, is the shaft rotational frequency and dot, and
prime, represent the time and spatial (in the shaft axial direction, x) derivatives respectively. Give the
physical significance of contributions of the each term in the strain and kinetic energy expressions.

Exercise 5.5 Obtain the finite element formulation for the derived equations of motion by using the
Galerkin method (There is no need to obtain elements of the mass matrix, stiffness matrix etc. instead
keep them in the integral form). Comment about the shape function, whether there would be any
changes as compared to the Euler-Bernoulli beam model.

Exercise 5.6 Formulate the standard eigen value problem for the following rotor system equations of
motion
[ M ]{q

} [G ]{q
} + [ K ]{q} = {F }

where [M], [G] and [K] are mass, gyroscopic and stiffness matrices respectively, {q} and {F} are the
response and force vectors respectively and is the rotational frequency of the rotor. Discuss
characteristics of the eigen values and interpret them physically for the above case.

Exercise 5.7 Find bending critical speeds of a rotor system shown in Figure 1 by using preferably the
finite element analysis. Take the following shaft property: massless shaft, E = 2.11011 N/m2. The disc
properties about its principal axis are Ip = 0.02 kg-m2 and Id = 0.01 kg-m2 and disc tilting from vertical
axis = 20. Discuss whether gyroscopic effect will be present or not? Obtain critical speeds
accordingly.

10 cm

Figure-E5.7

0.5 m

0.5 m

Exercise 5.8 A shaft EI of total length l is supported freely at its ends. At a quarter length between
the end bearings the shaft carries a disc of mass m and of diameter moment of inertia Id. Find
a. The non-rotational natural frequency.
b. The whirl frequency.

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

For the circular cylinder following relations for the polar moment of inertia, Ip, and diametral moment
of inertias, Id, are given
I p = 12 mr 2 , and I d = 121 m ( 3r 2 + l 2 )
where m is the mass of the cylinder, r is the radius of the cylinder and l is the length of the cylinder.

Exercise 5.9 Consider a rotor bearing system shown in Figure 3. The shaft is having distributed mass
and stiffness properties. Bearings B1 and B2 are simply supported bearings. The span of the shaft is 3
m, the diameter of the shaft is 10 mm, the mass density of the shaft material is 7800 kg/m3 and
Youngs modulus of the shaft material is 2.1(10)11 N/m2. Proceed with dividing the beam in three
elements and writing the elemental and global equations and application of the boundary conditions.
Determine only the first bending critical speed of the rotor system by using the developed finite
element system equations.

Figure E5.9

B1

B2

Exercise 5.10 The rotor of a turbine 13.6 kg in mass is supported at the mid span of a shaft with
bearings 0.4064 m. apart. The rotor is known to have an unbalance of 0.2879 kg-cm. Determine the
forces exerted on the bearings at speed of 6000 rpm if the diameter of the steel shaft is 2.54 cm.
Assume the shaft to be simply supported at the bearings. Take E=200 GN.m-2. (Answer: RA = RB =679.2
N)

Exercise 5.11 A shaft of total length l on end bearings carries two disks at the quarter-length points.
The disks have mass m and inertia Id, the shaft stiffness is EI.
(a) Set up the equations for the whirling shaft, where the whirling frequency is equal to spin speed.
(b) Make the frequency equation dimensionless in terms of the critical speed function

K2 =

Id
ml 2 2
disk and the effect D = 2 .
ml
EI

(c). Find the whirling speed for the following three cases:
D = 0, D

and D = 1/12.

254