Kungliga Tekniska Hgskolan

Sound And Vibration department

Wallenberg Laboratory
MWL Marcus
for Sound and Vibration Research

Master Thesis Topic:

Evaluation of COMSOL Multiphyscis for rotordynamical analysis

Presented by:

Hessameddin Moradi Motlagh

Supervisors:

Professor
Dr

Examiner:

Professor

Ulf
Martin

Hans

Carlsson
Karlsson

Bodn

Acknowledgment
This report is the result of my master thesis in Sound And Vibration department of
KTH university. It has been done in F Group, KTH with corporation of COMSOL
Multiphysics between November-March 2012. However, The report is delivered in
December 2012.
During my thesis working time, different people in different periods of time helped me.
At KTH university, I want to thank professor Ulf Carlsson my supervisor at KTH who
supported me through the procedure, the extension permission to deliver my report and
his great guidelines.
On f Group, I would like to thank rjan Johansson that gave me the opportunity to
do my thesis in the company and Martin Karlsson for introducing me good information
sources such as book references and his bearing parameters.
On COMSOL, Remi Magnard with his vital technical supports and Per Backlund who
gave me the permission from COMSOL to use COMSOLs license during my thesis
project time.
Also, I should thank to professor Hans Bodn at KTH to being my mentor and examinor.
Hessam Moradi
December 2012

ii

ABSTRACT
Rotary machinery systems are widely used in different industries. As they have rotational
movements, the resonances will be the function of rotational speed. Nowadays, there
are different CAE (Computer Aided Engineering ) softwares that use finite element
method to solve complex problems by simplifying the model to a limited DOF (Degree Of
Freedom) system. Some of the CAE software have built-in module for rotary machinery
to solve eigenvalue problems, unbalance response, stability, etc. COMSOL multiphysics1
is a CAE software that can deal with structural mechanics. There is not any specific
module for the rotor dynamics analysis in COMSOL multiphysics version 4.2a; however,
It is possible to make a model based on 1D beam elements or even structural mechanics
elements and solve the problem by using equivalent gyroscopic moment and unbalance
force terms. The scope of this thesis is based on 1D beam element solution. Moreover, the
result of the COMSOL solution has been compared with ANSYS based on 3D element 2 .
In this thesis, the main purpose is implementing rotor dynamics concepts in COMSOL
multiphysics based on beam element3 . Second chapter is focused on the theory part of
the rotordynamics where the equations in the stationary cases are derived which measn
the rotational speed of the rotor does not change by time; moreover, a brief overview of
finite element method has been mentioned. The third chapter covers the implementation
of the rotor dynamics in COMSOL where a very brief overview of different COMSOLs
sections that are used in this thesis are described; Moreover, load implementation , 3D
mapping based on extrusion integration and comparison a result data with ANSYS are
mentioned. In the fourth chapter rotordynamics analysis is described based on Campbell
plot4 , stability analysis and harmonic response from a model that is made in COMSOL.
Final chapter is the conclusion part about this thesis based on the results that have been
shown.

In this thesis COMSOL version 4.2a has been used

ANSYS version 13 has been used for comparison the results with COMSOL
3
It is possible to use shell or solid elements to have a better result in dynamic behavior of the rotor
which is out of the scope of this master thesis.
4
Generating Campbell plot based on eigenvalue solutions , requires a post processing code that is done
by a Matlab script available in the appendix part.
2

iii

Contents
1 Introduction
2 Theory
2.1 Unbalance . . . . . . . . . . .
2.1.1 Introduction . . . . .
2.1.2 Derivation Formula [6]
2.2 Gyroscopic . . . . . . . . . .
2.2.1 Introduction . . . . .
2.2.2 Derivation Formula . .
2.3 Finite Element . . . . . . . .

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3 COMSOL
3.1 Introduction . . . . . . . . . . . . . .
3.2 Beam Element . . . . . . . . . . . .
3.2.1 Bearing load . . . . . . . . .
3.2.2 Shaft load . . . . . . . . . . .
3.2.3 Disk load . . . . . . . . . . .
3.2.4 3D Modeling . . . . . . . . .
3.2.5 Solvers . . . . . . . . . . . . .
3.3 COMSOL modeling verification . . .
3.3.1 Verification . . . . . . . . . .
3.3.1.1 Lateral Mode . . . .
3.3.1.2 A COMSOL model
software . . . . . . .

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13 CAE
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. 22

4 Analyzing rotordynamics
4.1 Campbell Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Harmonic response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25
25
28
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5 Conclusion

32

A Appendix
33
A.1 Matlab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

iv

Contents
A.2 ANSYS batch file [5] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
A.3 Bearing plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Table of symbols5
x, y, z,r
(x , y , z )
Gr
Gc
e
Fb
Fc
Jp
J
Ip
I

Special coordinates
Rotational coordinates [rad]
Gravity center
Geometrical center
Eccentricity [m]
Bearing forces (Stiffness and Damping) [N ]
Centrifugal force [N ]
Polar mass moment of inertia [kg.m2 ]
Mass moment of inertia around x or y [kg.m2 ]
Polar area moment of inertia [m4 ]
Area moment of inertia around x or y [m4 ]
Rotational speed [rad/s]
Natural Frequency [rad/s]
Imaginary symbol
Spring constant for inclination [N.m/rad]
Mass of the shaft per unit length [Kg/m]
Tab. 0.1: Table of symbols

In this thesis bold symbols are vector or matrix notation, otherwise are scalar.

1 Introduction
Typically, combination of shafts, bladed disks that are supported by bearings make a
rotor dynamic system. The parts that can rotate (Shafts and disks) are called rotor
and the static parts as stator (like supports). Turbo-machinaries such as gas turbines,
compressors, Jet engines are some example of the rotor dynamics systems.
The rotating parts can rotate with a constant or varying rotational speed. The constant
rotational speed is called stationary and non-stationary otherwise. In this thesis all
of the derivation formula are considered in stationary case; however, in the industries
rotors usually work with varying rotational speed but if the change of the rotational
speed rate respect to time is fairly small then it is possible to consider a quasi-stationary
rotordynamic case.
One of the simplest models for rotordynamics problems is based on Jeffcot rotor where the
rotor assumed as a rigid disk that is located on a massless elastic shaft. This simple model
can be used for some kinds of analysis such as unbalance effect. Another assumption is
axial symmetry1 rotor where the dynamic study of the rotor becomes more simplified [4]
.
When the rotor parts are rotating in some specific rotational frequencies that are called
critical speeds the rotor can have high vibration amplitudes. In this case it can damage
different part of rotor, stator and any structures that are connected to them. Critical
speeds are indeed resonances of the rotor where the rotor eigenfrequencies match rotor
rotational frequencies. The first and second critical speeds 2 are more dominant and
it is possible to detected them by using Campbell plot. Before producing a product
it is important for designers to detect these frequencies in a computer modeling stage.
The results help to produce more reliable and effective products. In rotor dynamics
usually there are some supports as bearings. These supports have different types like fluid
bearings, magnet bearings, etc. Always, a bearing exerts a force to shaft to hold it in a
right position in order to prevent any contact with stator. This force can be calculated
based on the bearing type. For example in fluid bearings, the bearing parameters which
are stiffness and damping can be calculated by using CFD3 . There are some other type
1

Symmetry in shaft stiffness and moment of inertia [6]

The first one is called major critical speed [6]
3
Computational Fluid Dynamics
2

1 Introduction
of forces like unbalance force that exerts to the system. In this case, if the gravity and
the geometry centerline of rotor does not sit on each other this force shows up.
It could be typically to have unbalance effect for the beam or shaft due to installation of
the components, thermal effect or inhomogeneity of the shafts or disks. [6]
Gyroscopic moment is a typical moment that exerts to the rotating part of a rotor.
This moment shows up when an instantaneous inclination angel from bearing centerline
observes and it is a function of rotor rotational speed, mass moment of inertia and
inclination angel time derivative in stationary case. It is typical to observe the effect of
this moment when a disk is placed in a location of a rotating shaft where the lateral
displacement of the shaft inclines the disk.
In this thesis, the major work is setting the rotor dynamics equations inside COMSOLs
framework in a correct manner without focusing on finite element approach that is
handled by COMSOL engine codes. However, Matlab code is required for post processing
the results to plot the data for some king of solutions such as eigenvalue problems. To
implement rotor dynamics codes that are mentioned in chapter 2, rotors are considered
as flexible elements and disks as rigid. It means that the equation of rotor dynamics for
a disk can be set as a point load and for a beam as an edge load (load per unit length).

2 Theory
In this chapter the main theory of rotordynamic is derived based on newton second law.
The deviation formula in this section is based on massless shaft with a rigid disk and it
is assumed that no torsional moment and no displacement in z direction happen.[6]

2.1 Unbalance
2.1.1 Introduction
In dynamics when a mass rotating around an axis in a rotating frame, it produces a
centrifugal force with proportionality to 2 in the outward of the radial direction. It has
been shown in figure 2.1 as the vector Fc .

Figure. 2.1: Centrifugal force

Based on Newtons second law the total force in the radial direction should be equal
to zero as we do not have any movement in the radial direction. This means that
d
Fc = F = dt
(mv) = m 2 r
The same situation can happen in rotor dynamic system when the centerline geometry of
the bearing and the center of mass of the rotor do not coincide.

2 Theory

Figure. 2.2: Unbalance situation

2.1.2 Derivation Formula [6]

Based on figure 2.3 A, This restoring force is due to the location change of the geometry
centerline Gc that is assumed to be placed on the bearing centerline before deformation.
So F = kr cr is the restoring force that wants to push back the beam to the original
position.
By writing Newton second law at the point Gr we have
mrGr + cr + kr = 0

(2.1)

= r + e
. Where
The transformation rGr coordinate can be written as rGr = r + e. So rGr
r and e are the displacement and eccentricity respectively.
The equation 2.1 can be decomposed into x and y components. Where
r = rcos(t)i + rsin(t)j and e = ecos(t)i + esin(t)j regarding to x = rcos(t) and
y = rsin(t)
So rewriting 2.1 as two equations in x and y components. As in this thesis we are looking
for the stationary case solution, it means that all time derivation of are zero so
m(
x + ecos(t) e 2 cos(t)) + cx + kx = 0
m(
y + esin(t) e 2 sin(t)) + cy + ky = 0

(2.2)

2 Theory
As eccentricity is constant so equation 2.2 can be written as :
m(
x e 2 cos(t)) + cx + kx = 0
m(
y e 2 sin(t)) + cy + ky = 0

(2.3)

Both terms Fx = e 2 cos(t) and Fy = e 2 sin(t) are unbalance forces that exerts to
the disk due to eccentricity . Figure 2.3 A is the geometry of the problem and figure 2.1
B shows the existing forces diagram.
Equation 2.3 can be written as
m
x + cx + kx = me 2 cos(t)
m
y + cy + ky = me 2 sin(t)

(2.4)

2 Theory

Figure. 2.3: Unbalance effect derivation formula.

F = Fk + Fd is the restoring force from the beam and Fc is
unbalance force and Fk and Fd are spring and damping forces
belong to the structure respectively

The solution of equation 2.4 can be obtained by substituting x = rcos(t + ) and

y = rsin(t + ) into 2.4 and equating the coefficient of cosine and sine terms we get :
e 2
2 )2 +( c )2
( 2 n
m
1
tan ( c/m
2 2 )
n

r =
=

2 Theory

2.2 Gyroscopic
2.2.1 Introduction
Gyroscopic effect is a common phenomenon in a rotary machinery system especially in
high rotational speed. Gyroscopic effect is a moment that can be generated in a rotary
system when there are instantaneous inclinations changing in time around the rotation
axis.

Figure. 2.4: Inclination of the disk around y axis due to the beam mode shape
In this section to use Newton formula it is important to deal with vector derivation. In
vector calculus the derivative of a vector with respect to time can have a direction based
on the absolute value time derivations and the direction change of the vector. As it is
shown in 2.5 A, It is possible to decompose Wt2 Wt1 into two vectors. One of them
shows the vector direction change without changing the magnitude (W ) and the other
one shows the magnitude change without direction change (Wq ) . If the absolute value of
the vector does not change, this vector movement called stationary. In this thesis we deal
with stationary rotations that we can see the results in 2.5 B and 2.5 C. It is possible to

2 Theory
show that W is always perpendicular to Wt1 if 0.

Figure. 2.5: The derivation of a vector with respect to time.

Wt2 = Wp + Wq where Wp = Wt1 and W is a vector which is produced because of
the direction change of Wt1 . Wq is a vector which is produced because of changing in
absolute value of Wt1 .
A: General form whenWt1 goes to Wt2 during t = t2 t1 time.
B:Wt1 goes to Wt2 when the absolute value is constant (Wt1 = Wt2 ) during t = t2 t1 time
C:Wt1 goes to Wt2 when the absolute value is constant (Wt1 = Wt2 ) during t = t2 t1 time when
t 0

2 Theory

2.2.2 Derivation Formula

Figure. 2.6: Gyroscopic term extraction

The restoring moments are My and Mx in x and y axis direction respectively.
Gyroscopic moment is Jp 1
Figure 2.6 can be used to show the effect of gyroscopic moment. Here, we have inclination
without any lateral displacement. It is assumed that the inclination angel is small .
The projected inclination angel on the plane xz and yz are x and y respectively where
x is in the y direction and y is in the x direction based on right hand screw rule.
Line OB is the tangential direction at point O. It could be possible, the centerline of
the disk does not sit on the inlination angel of the beam. In this case OA which is the
centerline of the disk does not coincide on OB . This difference is shown by angle that
is called dynamic unbalance.
When disk is rotating with rotational speed it can produce a rotational momentum
Jp in the direction of rotational speed. With the same logic in section 2.2.1 this
angular momentum direction changes by time and in the stationary case the net angular

10

2 Theory
momentum is perpendicular to it. The net of angular momentum is Jp 1 and produce
a torque Jp 1 during 4T 0.
By using Newton second law for moments which expresses that the derivative of angular
momentum is equal to the applied moment, equation 2.5 can be written. By decomposing
moments into x and y coordinates based on the important result from section 2.2.1
equation 2.6 can be written.[6]

J 1 + Jp 1 + = 0

(2.5)

+ x = 0
J 1x + Jp 1y
+ y = 0
J 1y Jp 1x

(2.6)

Where [N.m/rad] is torsional spring constant, J [kg.m2 ] is mass moment of inertia

around x or y axis and Jp [kg.m2 ] is polar mass moment of inertia
Based on figure 2.6 the inclination of the disk with respect to the beam can make the
relation between 1 and ,where 1 = + 1 . So in x and y components equation 2.7
can be derived.
(

1x = x + cos(t)
1y = y + sin(t)

(2.7)

By inserting equation 2.7 into equation 2.6 equation 2.12 can be obtained2 .
(

J x + Jp y + x = (J Jp ) 2 cos(t)
J y Jp x + y = (J Jp ) 2 sin(t)

(2.8)

From the equation 2.8 for eigenvalue solution the only terms that is depends on theta
are Jp y and Jp x . These terms are gyroscopic components in x and y direction
respectively that makes the omega dependent eigenfrequency solution. The eigenvalue
solution of 2.8 gives forward whirling and backward whirling frequencies.When the rotor
is rotating it has orbital path or circular path depends on the forces and moments that
exerts to it. In the orbital movement the motion would be composed of two frequencies
that rotates in the same or opposite direction of the shafts rotation. The one that is in
the direction of the rotational speed is called forward whirling and the other opposite
direction is called backward whirling.
1
2

is dynamic unbalance
Note that we are delivering stationary case where is constant

11

2 Theory
In section 2.2.2 gyroscopic is considered when there was not any lateral displacement. But
in overall we have six degree of freedom for solid. For rotating disk or beam with constant
the deflections in the direction of the bearing centerline is negligible in comparison
with lateral movements. Based on Newton second law we can write these equations.[6]

Fx

F
y

Mxz

Myz

= x x
= y y
= x x
= y y

(2.9)

Where , , are spring constants and for a beam depends on boundary conditions based
on beam theory. The response due to transition can be obtained by writing Newton
second law at point Gr
(

mxGr = Fx = x x
myGr
= Fy = y y

(2.10)

But xGr = x + e cos(t) and yGr = y + e sin(t) and by inserting them into 2.10 the
equation of motion becomes:
(

m
x + x + x = m e 2 cos(t)
m
y + y + y = m e 2 sin(t)

(2.11)

The same principle in section 2.2.2 can be used to drive the gyroscopic in this case. The
added terms to equation 2.8 in no damping case, are restoring moments because of the
inclination. The result would be
(

J x + Jp y + x + x = (J Jp ) 2 cos(t)
J y Jp x + y + y = (J Jp ) 2 sin(t)

(2.12)

Equation 2.11 and 2.12 can be written as matrix form.3

M
q + Gq + Kq = F

M is the mass matrix, G is the gyroscopic matrix, K is the stiffness matrix, q is the displacement
fields and F is unbalance force.

12

2 Theory

m
0
0
0

0
m
0
0

0
0
J
0

0
0
0
J

x
0
y + 0
0
0

x
y

0
0
0
0

0
0
0
Jp

0
0
Jp
0

x
0
y + 0
x
y

x
y
x
y

cos(t)
= me2 sin(t)
0
0
(2.13)

As gyroscopic terms depends on so the eigenfrequencies are dependent on rotational

speed of the rotor. Equation 2.13 can be written when damping is included too[6]. The
matrix form can be written as:
M
q + (G + C)q + Kq = F

(2.14)

M is the inertia matrix , G is the gyroscopic matrix, C is the damping matrix, K is

the stiffness matrix and q and F are displacement and force vectors respectively. For an
element the matrices are:

0
0
0
0
c11
0
c21
0

m
0
0
0
0
0
0
0

0
m
0
0

0
0
J
0

0
0
0
J

0
0
0
0
0
Jp
Jp
0
0
c12
0
c11
0
c12
0
c22
0
c21
0
c22

0 0
0 0

0 0
0 0

me 2 cos(t)
2
me sin(t)

0
0

(2.15)

It is obvious that in the bearing positions equation 2.16 hold.

(

Ktotal = Kstructure + Kbearing

Ctotal = Cstructure + Cbearing

(2.16)

13

2 Theory

2.3 Finite Element

Finite element is widely use for complex structures and approximate the solution by
limiting the number of DOF of the structure by controlling the mesh size. This method
is used in COMSOL or any other finite element software to solve the problem.
In this method the solution for each element is linear combination of the shape functions.
The shape functions are special coordinate functions that are used for interpolation data
between nodes. The shape functions have some properties such as:
Each shape function only should be 1 in one node and 0 in the rest nodes
The sum of the shape functions are 1
It should be continuous and it should be derivative up to the required order
The element matrices can be calculated in different ways. For example in structural
mechanics, the stiffness is obtained from the potential energy of an element.
1
2u
dU = EI 2 dx
2
x
Based on the finite element method u the displacement vector components can be written
as:
u =q where is the shape function matrix and q is the generalized coordinate. By
substituting it to potential energy equation and integrating over the beams element
length l, the stiffness element matrix obtains as :
ke =

l
0

T dx

EI

By using kinetic energy the mass matrix, gyroscopic matrix and force matrix can be
derived[6]
The element displacement can be written as linear combination of shape functions. The
element equation can be written as
M
q + (G + C)q + Kq = F
where for a rigid disk it has been shown in 2.15 where K = 0. For a rotor element without
damping consideration it can be shown that the symmetric element matrices are [6]:

14

2 Theory

156

0
0

l 22l
M = 420
54

2
r
120l

l
G = 420

156
22l
0
0
54
13l
0

0
13l
36
0
36
0
3l
3l
0
36
0
0
36
0
3l
3l
0

S
4l2
0
0
13l
3l2
0

Y
4l2
13l
0
0
3l2

M
156
0
0
22l

156
22l
0

4l2
0

4l2

S
4l2
0
0
13l
3l2
0

Y
4l2
3l
0
0
l2

M
36
0
0
3l2

36
3l
0

4l2
0

4l2

0
36
0
S
3l
0
0
Y
0
3l 4l2 0
M
0
36
3l
0
0
36
0
0
3l 36 0
3l
0
0
l2 3l
0
0
2
0
3l
l
0
0
3l 4l2 0

l
K = 420

12
0
12
S
2
0
6l 4l
Y
6l
0
0 4l2
M
12
0
0 6l 12
0
12 6l
0
0 12
0
6l 2l2
0
0
6l 4l2
6l
0
0 2l2 6l 0
0 4l2

These element matrices are calculated based on calculating the kinetic and potential
energy of an element (both translation and rotation) . Moreover, the shape function is
considered for two nodes beam element with eight degree of freedom.
The assembled matrix for the whole system (Disk-Shaft system) can be found in [6] where
the matrix elements have 12 12 dimensions.

15

3 COMSOL
3.1 Introduction
COMSOL multiphysics is a finite element software that supports different kinds of physics
such as structural mechanics, acoustics, etc. They can interact with each other in order
to simulate coupling physic problems.
The module that is used in this thesis is Beam physic where the solution is based on
the Euler beam theory[1].
Euler beam equations are valid when the shape of each cross section remains plane after
deformation and the curvature radios is much longer than beams thickness. [3]
Beam module is available in both 2D and 3D workspace. 3D workspace has been used as
the solution on neutral axis can be extruded to have 3D visualization of different modes
by using coupling integration that will be described later.
COMSOL has object structural form with scope definition functionality. It means that, it
is possible to define different variables to the specific part of the physics. The advantage
is saving memory and reducing calculation time. There is a special variable in COMSOL
that is called Probes. A probe has the ability to be called from parametric sweep event
handler over and over during problem solving stage. Parametric sweep is a recursive
function that runs itself over given parameters. This ability helps to solve a physic one
time with different number of parameters that should be change during the calculations.
For example in this thesis bearing data are dependent on rotational frequency of the
rotor. It means that bearings are a function of rotational speed. So it is possible to define
a parameter in parametric sweep that plays the rotational speed role for the bearing
data.
For coupled physics problems field parameters have the scope through the connections.
It means that in the connection that the material is belonging to several physics, the
field properties of any of the physics has global scope. In the case that, there is not any
connection between different physics from geometrical point of view, it is possible to
use integration operator in COMSOL to make the scope of a particular physic element
shared globally.

16

3 COMSOL
Another interesting feature in COMSOL is coupling integration. The task of coupling
part is mapping the source data to the destination data. This feature can be used for
extrusion purpose and make a 3D modeling.

3.2 Beam Element

In COMSOL beam element should design as an edge element respect to geometrical view
perspective. The cross section of any edge can be set by adding Cross section data
feature . There are different types of standard cross sections for a beam element that
can be chosen by user.
Boundary conditions in the beam can be set on points and edges. As it is mentioned
in the theoretical part, the axial displacement and torsional modes are much smaller
than lateral modes in constant rotational speed and when we have plan motion, so it is
possible to ignore them. [6]
By adding prescribed displacement/rotation feature in the beam it is possible to fix
the displacement and rotation around axial direction. In Beam physic, loads could be
point loads or edge loads. Bearing loads can directly being implemented as point load in
a beam simulation based on neutral axis. Gyroscopic moment for a disk, can be assumed
as a point load moment as the disk assumed as a point mass, however; for the beam edge
load has been used as the beams neutral axis geometry is available.

3.2.1 Bearing load

By adding point load feature1 it is possible directly enter the bearing forces as the
function of our spatial variable fields components.
"

Fbx
Fby

"

kxx kxy
kyx kyy

"

u
v

"

cxx cxy
cyx cyy

#"

u
v

or as the equation form in COMSOL :

Fx = kxx u kxy vcxx ut cxy vt
Fy = kyy v kyx ucyy vt cyx ut
1

However; it is possible to use spring load directly when there is not cross terms in the spring force
equation.

17

3 COMSOL
where kij and cij are spring constant and damping parameter respectively are diagonal
2 and cross terms3 of the bearing .

3.2.2 Shaft load

Gyroscopic moment can act to the beam the same as disks. To calculate mass moment
inertia of the disk or a cylinder around the axial axis can be written as Jp = 12 mr2 and
Jp = 12 m(ri2 + ro2 ) for a pipe where m is the mass ri and ro are inner and outer radius of
the pipe respectively. [2]
1
1
Jp = V (ri2 + ro2 ) Jp = AL(ri2 + ro2 )
2
2

(3.1)

A = (ro2 ri2 )

(3.2)

where

By substituting 3.2 in 3.1 the equation can be obtained.

1
1
Jp = (ro2 ri2 )(ri2 + ro2 )L = (ro4 ri4 )L
2
2

(3.3)

Equation 3.3 can be written per unit length as an edge load. In this case the gyroscopic
moments in both x and y directions per unit length based on gyroscopic terms in equation
2.8 becomes :
(

Mx = ( 12 (ro2 ri2 )(ri2 + ro2 )) y = 21 (ro4 ri4 ) y

My = ( 12 (ro2 ri2 )(ri2 + ro2 )) x = 21 (ro4 ri4 ) x

(3.4)

where Mx and My are the moments per unit length. Equation 3.4 can be used directly4
in COMSOL as an edge load for any pipe beam cross section form.
It is obvious that by inserting ri = 0 the equation 3.4 would be valid for a circular cross
section. 5
2

i=j
i 6= j
4
The default variables in COMSOL are = beam.rho,ro = 0.5 beam.do_pipe, ri = 0.5
beam.di_pipe,y = thyt,x = thxt
5
If the cross section selected circular instead of pipe, beam.do_pipe and beam.di_pipe are not available
in COMSOL anymore. instead they should be written based
( on beam.area. In this case 3.4 when
3

the cross section is selected as circular it can be written as

beam.area2
pi
beam.area2
pi

.5beam.rho

.5beam.rho
this formula can be used for pipe sections directly in COMSOL too.

;however,

18

3 COMSOL

3.2.3 Disk load

Gyroscopic moment can act on disk the same way as on a shaft but as a point load.
Moreover, as in the simulation the disk is considered as a point mass, mass contribution
effect should be considered in order to compensate the lack of disk in simulation.
In this case the gyroscopic moment can be entered directly as a point load moment.
(

Mx = ( 21 r4 t) y
My = ( 12 r4 t) x

Where t is the thickness of the disk. For the mass contribution by adding a point mass
load and substituting the moment of inertia of the disk in x, y, z directions, the lack of
the disk can be compensated.

F = m 2 u

M = J 2
x
x
x
2

My = Jy y

Mz = Jz z

3.2.4 3D Modeling
6 In

order to make a 3D model version based on neutral axis solution of beam element,
COMSOL has different solutions. The one that has been used in this thesis is General
Extrusion in coupling model option. The task of this extrusion is mapping source
displacement field to destination geometry displacement. This transformation matrix
can be written as
"
# "
#"
#

xnew
cos(thz) sin(thz)
x

ynew
sin(thz) cos(thz)
y

"
# "
#"
#

ynew
=

znew

"
# "

z
new

xnew

cos(thx) sin(thx)
sin(thx) cos(thx)
#"
cos(thy) sin(thy)
sin(thy) cos(thy)

u = xnew x

v=y

new

w=z
new z
6

y
z
#
z
x

(3.5)

(3.6)

I should have special thank from Remi Magnard in COMSOL who helped me to implement 3D mapping

19

3 COMSOL

x = genext(thx)

= genext(thy)

= genext(thz)
z

(3.7)

Where u, v, w, thx, thy, thz are COMSOLs displacement and rotation field components.
By inserting equation 3.6 and 3.7 in 3.5 and use super position of the displacements , the
result becomes :

xnew = genext(u) + x (cos(y ) + cos(z ) 2) y sin(z ) + z sin(y )

= genext(v) + x sin( ) + y (cos( ) + cos( ) 2) z sin( )

new
x
z
z
x

z
new = genext(w) x sin(y ) + y sin(x ) + z (cos(x ) + cos(y ) 2)

(3.8)

where genext is the name of the coupling function for the displacement field mapping.
To use equation 3.8 it is important that coupling function should be defined beforehand
in COMSOL and the neutral axis of the beam should be selected in the source term.
Figure 3.3 has been created by 3D extrusion mapping based modeling.

Figure. 3.1: 3D mapping in COMSOL based on extrusion from the model in figure 3.3

20

3 COMSOL

3.2.5 Solvers
There are different kinds of solvers to deal with different study types in COMSOL
multiphysics. In this thesis, all of the analyzing parts has been done in Eigenfrequency
and Frequency domain solvers. In all of the solvers it is possible to use Parametric Sweep
that is an interesting feature in COMSOL. This feature can make an event dispatcher
to the solver each time when its value being called by the solver. To generate campbell
plots and root locus diagrams, this feature has been used to call the appropriate bearing
parameters7 in the equations as well as gyroscopic omega dependency.

3.3 COMSOL modeling verification

3.3.1 Verification
This section is verifying the results of simple models in COMSOL multiphysics. Lateral
mode verification has been shown analytically in the first step. Afterward a model from
COMSOL multiphysics and ANSYS 13 commercial software have been compared in
eigenvalue solution for campbell plot to investigate gyroscopic whirling modes. The
model in ANSYS 13 is based on 3D modeling finite element solution. The ANSYS model
is based on [5] where small changes are considered. The code is available in appendix.
3.3.1.1 Lateral Mode
To evaluate the lateral mod, a simple model is designed in COMSOL based on these
parameters:

=
=
=
=

1000 mm
100 mm
211 109 P a
kg
7850 m
3

(3.9)

For a beam with simply supported boundary condition, the first bending eigenfrequency
can be obtained theoretically as

f=
2

EI
mL3

(3.10)

Where E is Young Modulus, I is area moment of inertia around center of the cross
section, m is mass and L is the length of beam.
7

In rotating machinery, bearing parameters are dependent

21

3 COMSOL
By substituting the parameter values from 3.9 in 3.10 the first bending eigenfrequency
can be obtained analytically.
f=

211109 4 .054
7850 4 0.14 14

= 203.59 Hz

The corresponded model in COMSOL is shown in figure 3.2 that corresponded with
analytical solution.

Figure. 3.2: COMSOL first lateral mode at 203.59 Hz

3.3.1.2 A COMSOL model comparison with ANSYS 13 CAE software
Figure 3.3 shows the geometry part of the problem. The model is a simple beam that is
rigidly supported at one end and free in the other end. The campbell plot can be seen
from both COMSOL and ANSYS 13 CAE software in Figure 3.4.

Figure. 3.3: The comparison model. Dimensions are in millimeter

22

3 COMSOL
kg
N
E [m
[m
[] Poissons ratio
2 ] (youngs modulus)
3 ] Density
211E9
7850
0.3
Tab. 3.1: Model properties

Figure. 3.4: Campbell plot. COMSOL versus ANSYS13

Dashed lines: ANSYS13 solution data
Solid lines : COMSOL multiphysics data
The first and second backward and forward whirling modes due to gyroscopic effect are
shown in Figure 3.4. The first critical speed appears at ( = 135 RP M, f = 2.21 Hz)
and the second one at ( = 143 RP M, f = 2.44 Hz) . The interesting part in figure 3.4 is
that the first whirling mode time derivative inclinations between x and y is not strong
as the second whirling modes. The gyroscopic term in the second whirling is stronger
than the first one as the whirling modes are better separated.

23

3 COMSOL
At ( = 345 RP M, f = 5.721 Hz) one lateral or torsional mode can be seen in the model
and as the beam and disk are homogenous, the corresponded spring matrix is constant
and so it can be seen as a constant line.
The ANSYS and COMSOL model solutions are fairly following each other. The error
increases for higher natural frequencies where the mesh shape and density of the mesh is
dominant to get a closer result to the exact solution. In ANSYS everything is calculated
based on 3D modeling finite element and therefore it is more reliable and closer to
the exact solution; however, both results still based on numerical solutions. In 3D
modeling ANSYS, moment of inertia is totally dependent on mesh quality; however in
COMSOL based on 1D Euler beam solution, moment of inertia has been calculated
based on geometry model and cross section of the beam mathematically . So it is totally
independent of mesh.

24

4 Analyzing rotordynamics
In this chapter, three cases rotor dynamics test are discussed . The first case is an
eigenvalue solution and plot campbell diagram which is eigenfrequency versus shaft
rotational speed in order to detect critical speeds. The second case is stability analyzing by
using root locus diagram and the third one is harmonic response to track the displacement
field magnitude and phase difference with unbalance force excitation. The model that
has been used here to show the results, have supports that are not rigid at the both sides
of the shaft . Instead, the supports are flexible with cross term bearing parameters. The
plots of the bearing parameters are available in the Appendix. The model geometry is
shown in figure 4.1 with the properties in the below table.
kg
N
E [m
[m
[] Poissons ratio
2 ] (youngs modulus)
3 ] Density
209E9
7850
0.28
Tab. 4.1: Model properties

Figure. 4.1: COMSOL model geometry

4.1 Campbell Diagram

Campbell diagram is one of the most important diagrams in the very first step of analyzing
rotor dynamic system. It shows natural frequency behavior of the rotor when rotor

25

4 Analyzing rotordynamics
speed changes and mainly is used to find specific eigenfrequencies of the system that are
equal with the rotational speed of the rotor. In this diagram horizontal axis is rotational
frequency of the rotor and vertical axis is the eigenfrequency. It is possible to visualize the
critical speeds if we find the intersection of line Y = 1 with Yi = f (i ) 2 for any i where
Yi is the eigenfrequency of the system solution for ith mode for different rotational speed
of the rotor. These are the frequencies that should be avoided as we have resonances.
The main reason is because of unbalance force that could exist in a rotary system. This
unbalance force is proportional to squared of rotational speed of the rotor and when it
reach any of the natural frequencies frequency of the rotor, it could reach stator and
damage the rotor because of high vibration amplitude.
In COMSOL eigenvalue solution is based on the assumption of Y = A(x, y, z)et where
is eigenvalue. By using this definition the characteristic equation, gives the natural
frequency of the system as the imaginary part of the eigenvalue solution. So = jd
where d is the damped natural frequency.

1
2

: Shaft rotational speed

i : Eigenfrequency for any i

26

4 Analyzing rotordynamics

Figure. 4.2: Campbell plot example Model 1 figure 4.1 with bearing parameters
It is assumed that the rotor speed is between 0 to 9000 CPM3 . The intersections of the
black line with first and second eigenfrequencies which are the first backward and forward
whirling modes are 887 RPM and 893 RPM. The third critical speed whirling modes
happens at 3942 RPM. The critical speed belongs to the second forward whirling modes
are far away from the rotor working frequency range, so there is not any concern about
it.
Another example of a campbell plot is shown in figure 4.3. The geometry and boundary
condition belongs to figure 3.3 and the rotor working frequency is between 0 to 140 Hz.
In this case, the whirling modes belong to gyroscopic terms are in the range of the rotor
speed.

Cycle Per Minute

27

4 Analyzing rotordynamics

Figure. 4.3: Campbell plot example

The first critical speed is fc1 = 14.5 Hz as the lateral mode and the second one is
fc2 = 65.82 Hz which is the first backward whirling mode because of the gyroscopic term
existence.

4.2 Stability
Generally, stability means the amplitude of the eigenvalue solution should not growth
in time when there is no external excitation. Otherwise, it is unstable system. As it is
discussed, in rotor dynamics the solution of eigenvalue depends on rotational speed due
to gyroscopic moment. To detect the stability in rotor dynamics it is common to use
Root-Locus plot where the modal damping ration is in X direction and eigenfrequencies
of the rotor is in Y direction. When modal damping ratio is negative it means that the
system is self-excited and bearing forces feeding energy to the system.
Figure 4.4 shows root-locus plot for model in figure 4.1 when the supports are not rigid.

28

4 Analyzing rotordynamics

Figure. 4.4: Stability example

As it has been shown in figure 4.4 the solution is stable for most of the frequency
range;however, for close to whirling mode motions the solution has more unstable
tendency as they have negative modal damping ratio.

4.3 Harmonic response

Harmonic response is an important analyzing process in rotor dynamics. The idea is that
rotor should not have large displacement in any points due to any external forces in order
to not reach stator. As it is mentioned already in section 2.1 the unbalance force has
harmonic nature and this harmonic force can make high displacement amplitude. It is
possible to cancel large displacement locations due to unbalance force by using external
mass in an appropriate position which is not belong to this thesis scope.
In harmonic balance in the stationary case , if u is the solution of the displacement, the
amplitude and phase can be written as :

29

4 Analyzing rotordynamics
u

img
)
= arctan( ureal

uamp =

u2img + u2real

The result of harmonic response for the model based on figure 4.1 are shown blew.

Figure. 4.5: Displacement of the disk

Eccentricity unbalance is considered 0.01 m. As it has been shown in the figure 4.5 the
maximum displacement happens in the same frequency of the critical speeds in figure 4.2
.
The phase difference of the same model has been shown in figure 4.6. As it has been
shown in both critical speed frequencies the phase difference is 2 or 270o .

30

4 Analyzing rotordynamics

Figure. 4.6: Phase difference between excitation and displacement of the disk

31

5 Conclusion
Using 1D element is simple method but it does not possible to use it for some certain
problems e.g. disks contains blades. In COMSOL,moreover; 3D mapping gives an
intuition about mode shapes of the beam in a tangible way but all disks are considered as
solid elements in point load and mass contribution load implementation. It means that
no deformation on disks can be demonstrated. Besides, 3D mapping is just extruding the
solution of neutral axis of the beam to another geometry which does not show the real
solution of the other locations of the beam in space. A closer solution to the reality can
be achieved if 3D element approach being implemented like the ANSYS model that has
been shown for comparison. In 3D modeling it is possible to make a complex geometry
for disks that contain different type of blades and work on meshing part freely. Moreover;
it is possible to have complex boundary conditions contain surface or volume loads.
The implementation of gyroscopic in COMSOL is easy even for beam where edge load
should be used. The reason belongs to the load implementation in COMSOL as it will
automatically multiply to the shape function and integrated along the domain to get the
force vector.
That would be the next working approach in COMSOL that solve everything in structural
mechanics instead of 1D beam. Fortunately, COMSOL made this project very easy, as no
finite element code is written particularly for this project . It means that all discretization
and assembling of matrices has been done in COMSOL in the background stage and that
is the purpose of using any CAE software. Loads are implemented based on analytical
solutions that are available in any rotordynamics textbooks and the most important
task in this project was dealing with COMSOL to implement rotordynamics analytical
formula based on Unbalance and Gyroscopic terms in the appropriate fields and solving
progress and post processing of data.
One restriction in the loading section that has been used in this thesis, is modeling only
a disk as in COMSOL it is not possible to define one node as a beam element. Maybe
one idea is to resolve this problem by making two elements (three points) and make
their length very small and use point load approach and mass contribution to solve the
gyroscopic implementation; however, implementing boundary conditions for the disk is
not an easy task.

32

A Appendix
A.1 Matlab Code
function out = correctionTable (s , referenceColumn , scale , sort , sortType)
% Function to adapt output tables from COMSOL with Ansys model export for better %visualization
lineIndex=1;
fid=fopen( s ) ;
repeatIndex=1;
objectIndex=1;
TYPES={ac , dc };
stringValues={Model: , Version : , Date: , Table : };
i f (nargin==2)
scale=1;
sort=0;
elseif (nargin==3)
[temp1 temp2]=size( scale ) ;
i f (temp1~=1 && temp2~=1)
disp( scaleargumentshouldbeavector ) ;
return
elseif (temp2==1)
scale=scale ;
end
for i =1:length( scale )
i f (~isnumeric( scale ( i ) ) )
disp( Thescaleargumentshouldbeavectorofnumbers ) ;
return
end
end
sort=0;
else
i f (nargin==4)
sortSize=size(sort) ;
i f (~isnumeric(sort) )
disp( Error : Thedataselectioninthesortingvectorshouldcontainsnumericalvalues
! )
return
end
i f (nargin==5)
i f (~strcmpi( sortSize (1) , 1 ) && ~strcmpi( sortSize (2) , 1 ) )
disp( Error : Thefourthargumentshouldbearoworcolumnvectorthat i d e n t i f i e s
thecolumnwhichsortingshouldbedone . )
return
else
i f (strcmpi( sortSize (2) , 1 ) )
sort=sort ;
end

33

A Appendix
end
sortType=ac % Ascending
else
i f (~strcmpi(sortType ,TYPES(1) ) && ~strcmpi(sortType ,TYPES(2) ) )
sortType=TYPES(1) ;
end
end
end
end
headerNames={};
for i=length( s ):1:1
i f (strcmpi( s ( i ) , . ) )
endIndex=i 1;
for j=i 1:1:1
i f (strcmpi( s ( j ) , \ ) | | strcmpi( s ( j ) , / ) )
name=s ( j+1:endIndex) ;
break
end
end
break
end
end
temp=textscan ( fid , %s , whitespace , \n ) ;
for i =1:length(temp{1})
header=1;
temp2=temp{1}( i ) ;
i f (~strcmpi(char(temp2{1}(1)) , % ) ) %Remove comments
currentLine=char(temp{1}( i ) ) ;
colLine ( lineIndex )=textscan (currentLine , %s ) ;
%Errors
i f (length( colLine{lineIndex})<3)
return
elseif (referenceColumn>length( colLine{lineIndex}))
display ( Error , thereferenceColumnnumber i s biggerthanthesizeofarray )
return
elseif (length( scale )~=length( colLine{lineIndex})1)
i f (nargin==2)
scale=ones(1 ,length( colLine{lineIndex})1);
else
display ( Error , lengthofthescaleargumentshouldbethesameoftheinput
table scolumn1 )
return
end
else
for j=1:length(sort)
i f (sort( j )>length( colLine{lineIndex}))
disp( Error : oneoftheelementsinthesortargument i s biggerthanthe
numberofavailablecolumns )
return
elseif (nargin>=4 && sort( j )<=0)
disp( Error : Oneofthesortingvectorhasnegativeorzerovalue . )
return
end
end
end
% Separation and scaling
i f ( lineIndex>1)

34

A Appendix
i f (strcmpi( colLine{lineIndex1}(referenceColumn) , colLine{lineIndex}(
referenceColumn) ) )
for j=1:length( colLine{lineIndex})
i f ( j<referenceColumn)
scaleIndex=j ;
else
scaleIndex=j 1;
end
i f ( j~=referenceColumn)
colLine{lineIndex}{ j}= num2str( str2double ( colLine{lineIndex}{ j })scale
( scaleIndex ) ) ;
i f (~sort)
out{objectIndex}{repeatIndex}=[out{objectIndex}{repeatIndex} char
(9) colLine{lineIndex}{ j } ] ;
else
% Sorting
for k=1:length(sort)
i f (sort(k)==objectIndex)
tempNum=str2num(out{objectIndex}{repeatIndex}) ;
i f (strcmpi(sortType ,Type(1) ) )
i f (tempNum(length(tempNum) )colLine{lineIndex}{ j}>0)
out{objectIndex}{repeatIndex}=[out{objectIndex}{
repeatIndex} char(9) colLine{lineIndex}{ j } ] ;
else
out{objectIndex}{repeatIndex}=[out{objectIndex}{
repeatIndex} char(9) colLine{lineIndex}{ j } ] ;
end
else
end
end
end
%end Sorting
end
objectIndex=objectIndex+1;
end
end
objectIndex=1;
else
repeatIndex=repeatIndex+1;
for j=1:length( colLine{lineIndex})
i f ( j<referenceColumn)
scaleIndex=j ;
else
scaleIndex=j 1;
end
i f ( j~=referenceColumn)
colLine{lineIndex}{ j}=num2str( str2double ( colLine{lineIndex}{ j })scale (
scaleIndex ) ) ;
out{objectIndex}{repeatIndex}=[colLine{lineIndex}{referenceColumn}
char(9) colLine{lineIndex}{ j } ] ;
objectIndex=objectIndex+1;
end
end
objectIndex=1;
end

35

A Appendix
else
for j=1:length( colLine{lineIndex})
i f ( j<referenceColumn)
scaleIndex=j ;
else
scaleIndex=j 1;
end
i f ( j~=referenceColumn)
colLine{lineIndex}{ j}=num2str( str2double ( colLine{lineIndex}{ j })scale (
scaleIndex ) ) ;
out{objectIndex}{repeatIndex}=[colLine{lineIndex}{referenceColumn}
char(9) colLine{lineIndex}{ j } ] ;
objectIndex=objectIndex+1;
end
end
objectIndex=1;
end
lineIndex=lineIndex+1;
else
% Header Making
currentHeaderLine=char(temp{1}( i ) ) ;
colLineHeader( lineIndex )=textscan (currentHeaderLine , %s ) ;
for j=1:length( stringValues )
i f (strcmpi(char(colLineHeader{lineIndex }(2) ) , char( stringValues{ j })) )
header=0;
break
end
end
i f (header)
spaceData=isspace(currentHeaderLine) ;
tempName= ;
for j=3:length(currentHeaderLine)
i f (spaceData( j )==1 && j~=length(currentHeaderLine) && (spaceData( j+1)==1 | |
strcmpi(currentHeaderLine( j ) , \t ) ) )
indexJ=j ;
break
end
end
j=indexJ ;
while j<=length(currentHeaderLine)
i f (spaceData( j )==0)
tempName=[tempName currentHeaderLine( j ) ] ;
elseif ( j~=length(currentHeaderLine) && spaceData( j+1)==0)
tempName=[tempName currentHeaderLine( j ) currentHeaderLine( j+1) ] ;
j=j+1;
else
i f (~isempty(tempName) )
headerNames{length(headerNames)+1}=tempName;
end
tempName= ;
end
i f ( j==length(currentHeaderLine) && ~isempty(tempName) )
headerNames{length(headerNames)+1}=tempName;

36

A Appendix
end
j=j+1;
end
end
end
end
% Header correction
for i =1:length(headerNames)
tt=char(headerNames( i ) ) ;
indexes=regexp( tt , [AZaz09 . ] ) ;
for j=length(indexes):1:2
i f (indexes( j )indexes( j1)~=1)
i f (strcmpi( tt (indexes( j ) ) , ) )
headerNames( i )={tt (indexes( j+1): indexes(length(indexes) ) ) };
else
headerNames( i )={tt (indexes( j ) : indexes(length(indexes) ) ) };
end
break
end
end
end
% Saving
a= ;
k=1;
for i =1:length(headerNames)
save( [name _ char(eval ( [ headerNames( num2str( i ) ) ; ] ) ) . txt ] , a s c i i , a )
a= ;
f i l e=fopen( [name _ char(eval ( [ headerNames( num2str( i ) ) ; ] ) ) . txt ] , w ) ;
for m=1:length(out{ i })
i f (~isempty(a) )
eval( a=[eval ( [ a ; ] ) char(10)out{ i }{m} ] ; ) ;
else
eval( a=[out{ i }{m} ] ; ) ;
end
end
fprintf( f i l e , a) ;
fclose( f i l e ) ;
end

37

A Appendix

A.2 ANSYS batch file [5]

/PREP7
! Defines the elements
ET,1 ,MESH200
ET,2 ,SOLID186
KEYOPT,1 ,1 ,7
KEYOPT,1 ,2 ,0
! Defines the material data
MAT,1 ,
MP,Ex,1 ,211e9
MP, dens,1 ,7850
MP, prxy,1 ,0.3
! Defines the 2D model
BLC4,0 ,0 ,1 ,0.015
BLC4,1 ,0 ,0.05 ,0.3
aadd, a l l
l s e l , , loc , x,0
lesize , all , , , 1
allsel
l s e l , , loc , y, ,0
l s e l , a , loc , y,0.015
l s e l ,u, loc , x,1 ,1.05
lesize , all , , ,25
allsel
l s e l , , loc , x,1 ,1.05
l s e l ,u, loc , x,1
l s e l ,u, loc , x,1.05
lesize , all , , , 2
allsel
l s e l , , loc , x,1
l s e l , a , loc , x,1.05
lesize , all ,0.03
allsel
type,1
amesh, a l l
! Rotate the 2D model 360 degrees
type,2
EXTOPT,ESIZE,3 ,0 ,
EXTOPT,ACLEAR,1
EXTOPT,ATTR,1 ,1 ,2
VROTAT, all , , , , , ,1 ,2 ,360 , ,
ACLEAR, a l l
cm,e_model, elem
FINISH
/SOLU
asel , , loc , x,0
DA, all ,ALL,
allsel
eplo
c or i ol i s , on, , ,on
pi=acos(1)
antype ,modal
modopt,qrdamp,5 ,0.1 , ,on,
! Solving the modal analysis and writes out the result to utdata2 . txt
do, i ,1 ,51
spn=(i 1)142pi/60

38

A Appendix
cmomega,e_model, spn, , ,0 ,0 ,0 ,1 ,0 ,0
mxpand,5
solve
enddo
finish
/post1
neigv=5
nint=51
speeddel=14
pi=acos(1)
dim, rew, table , nint , neigv+1
dim,imw, table , nint , neigv+2
do, i ,1 , nint
nrpm=(i 1)speeddel
set , rew( i ,1) ,nrpm
set ,imw( i ,1) ,nrpm
set ,imw( i ,2) ,nrpm/60
do, j ,1 , neigv
set , i , j ,0 ,0
get , rew( i , j+1) , active , , set , freq
set , i , j ,0 ,1
get ,imw( i , j+2) , active , , set , freq
enddo
enddo
cfopen , utdata2 , txt
i i=1
vwrite ,imw( i i ,1) ,imw( i i ,2) ,imw( i i ,3) ,imw( i i ,4) ,imw( i i ,5) ,imw( i i ,6) ,imw( i i ,7)
( f7 .0 , f6 .1 , f8 .2 , f8 .2 , f8 .2 , f8 .2 , f8 .2)
cfclose

39

A Appendix

A.3 Bearing plots

Figure. A.1: Stiffness data

40

A Appendix

Figure. A.2: Damping data

41

Bibliography
[1] COMSOL Manual Help, COMSOL Multiphysics.
[2] www.livephysics.com.
[3] A.C, N., VibroAcoustics part1, KTH, 2008.
[4] Genta, G., Vibration Dynamics and Control, Wiley Series in Nonlinear Science, 2009.
[5] Samuelsson, J., Rotor dynamic analysis of 3d-modeled gas turbine rotor in ansys,
Masters thesis, Linkping University of Technology, 2009.
[6] Toshio Yamamoto, Y. I., Linear and Nonlinear Rotordynamics: A Modern Treatment
with Applications, Wiley Series in Nonlinear Science, 2002.

42

List of Figures
2.1
2.2
2.3
2.4
2.5
2.6

Centrifugal force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unbalance situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unbalance effect derivation formula.
. . . . . . . . . . . . . . . . . . . . . .

4
5
7
Inclination of the disk around y axis due to the beam mode shape . . . . . . . . . .
8
The derivation of a vector with respect to time. . . . . . . . . . . . . . . . . .
9
Gyroscopic term extraction . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.1
3.2
3.3
3.4

3D mapping in COMSOL based on extrusion from the

COMSOL first lateral mode at 203.59 Hz . . . . . .
The comparison model. Dimensions are in millimeter
Campbell plot. COMSOL versus ANSYS13 . . . . .

4.1
4.2
4.3
4.4
4.5
4.6

COMSOL model geometry . . . . . . . . . . . . . . . . . . . . . .

Campbell plot example Model 1 figure 4.1 with bearing parameters
Campbell plot example . . . . . . . . . . . . . . . . . . . . . . . .
Stability example . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Displacement of the disk . . . . . . . . . . . . . . . . . . . . . . .
Phase difference between excitation and displacement of the disk

. .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .

model in figure 3.3

.
.
.
.
.
.

.
.
.
.
.
.

.
.
.
.
.
.

.
.
.
.
.
.

.
.
.
.

20
22
22
23

.
.
.
.
.
.

25
27
28
29
30
31

A.1 Stiffness data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

A.2 Damping data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

43

List of Tables
0.1

Table of symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1

Model properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.1

Model properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

44