Dynamic Design of Machines

a.a. 2021-2022
Mechatronics Engineering
Prof. Daniele Botto
Dipartimento di Ingegneria Meccanica ed Aerospaziale
daniele.botto@polito.it

Reduction techniques
Jeffcott rotor

Index

Exercise 1………………………………page 2
Exercise 2………………………………page 5
Exercise 3………………………………page 10
Exercise 4………………………………page 14
Exercise 5………………………………page 16
Exercise 6………………………………page 17
Exercise 7………………………………page 19
Exercise 8………………………………page 23

1
Exercise 1
Compute the first bending natural frequency of the structure shown in the figure, which is composed by a cantilever
shaft (whose mass can be neglected) having a flywheel of mass m and inertia Jt attached to its end.
It is requested to compare the results obtained studying the full system with those obtained using the Guyan reduction.

Data:
E = 1011 N/m2,
𝜈 = 0.3,
L = 1 m,
d = 0.03 m,
mI = 10 kg,
mII = 100 kg
Jt = 1 kgm2,

The stiffness matrix of the beam element (due to the slenderness of the shaft we refer to the Euler formulation) is:
12 6𝑙 −12 6𝑙 𝑢#$
𝐼 4𝑙 " " 𝜑
[𝐾] = 𝐸 ! ) 6𝑙 6𝑙 2𝑙 %$
12 5
𝐿 −12 −6𝑙 12 −6𝑙 𝑢#"
6𝑙 2𝑙 " −6𝑙 4𝑙 " 𝜑#"
µ1I=43.87 rad/s, µ’1I=44.13 rad/s (Guyan), µ 1II=15.273 rad/s, µ’1II=15.274 rad/s (Guyan)

Solution

1) Compute the first bending natural frequency of the structure

The beam element with the corresponding degrees of freedom is considered

Figure 1. Exercise 1.

Since the Node 1 is locked , 𝑢#$ , 𝜑%$ are equal to zero and the corresponding rows and column in the stiffness matrix K
are neglected.

2
The solution of the problem is given by:

𝑢̈ 𝑢#"
[𝑀] 8𝜑̈ #" : + [𝐾] <𝜑 = = {0}
%" %"

where

𝜋𝑑&
𝐼= = 39.76 ∗ 10'( [𝑚]
64
Therefore, the stiffness matrix is equal to:
) 12 −6𝑙 95376 −47688
[𝐾] = 𝐸 *! I J=I J
−6𝑙 4𝑙 " −47688 31792
and the mass matrix is:

𝑚 0
[𝑀] = M O
0 𝐽+

The general solution is of the following type:

{𝑢# } = 𝑢#, 𝑒 -.+ , {𝑢#̇ } = 𝑖𝜔𝑢#, 𝑒 -.+ , {𝑢#̈ } = −𝜔" 𝑢#, 𝑒 -.+

T𝜑% U = 𝜑%, 𝑒 -.+ , {𝑢#̇ } = 𝑖𝜔𝜑%, 𝑒 -.+ , {𝑢#̈ } = −𝜔" 𝜑%, 𝑒 -.+

the characteristic equation is obtained:

𝑢#,
([𝐾] − [𝑀]𝜔" ) <𝜑 = 𝑒 -.+ = {0}
%,

The first bending natural frequency can be obtained solving the previous equation:

𝑑𝑒𝑡([𝐾] − [𝑀]𝜔" ) = {0}

95376 −47688 𝑚𝜔" 0

𝑑𝑒𝑡 YI J−M OZ = {0}
−47688 31792 0 𝐽+ 𝜔"
(−𝑚𝜔" + 95376)(−𝐽𝜔" + 31792) − (47688)" = 0

If m = 10 [kg],

𝜔0 = 43.76 (rad/s)

If m = 100 [kg],

𝜔0 = 15.273 (rad/s)

2) Compare the results obtained studying the full system with those obtained using the Guyan reduction.

The Guyan reduction is an approximated method and we define master and slave degree to decrease the order of our
matrixes.

3
𝑢#" : 𝑚𝑎𝑠𝑡𝑒𝑟
𝜑%" : 𝑠𝑙𝑎𝑣𝑒

[𝑀]1203 {𝑞̈ 4 } + [𝐾]1203 {𝑞4 } = {0}

[𝐾]1203 = 𝐾$$ − 𝐾$" [𝐾"" ]'$ [𝐾"$ ]

[𝑀]1203 = 𝑀$$ − 𝑀$" [𝐾"" ]'$ [𝐾"$ ] − ([𝑀$" ][𝐾"" ]'$ [𝐾"$ ])5 + 𝐾$" [𝐾"" ]'$ [𝑀"$ ][𝐾"" ]'$ [𝐾"$ ]

𝐾$$ 𝐾$"
𝐼 12 −6𝑙
[𝐾] = 𝐸 I J
𝑙 ! −6𝑙 4𝑙 "
𝐾"$ 𝐾""
𝑀$$ 𝑀$"
𝑚 0
[𝑀] = M O
0 𝐽+
𝑀"$ 𝑀""
𝐸𝐼 𝐸𝐼 𝐿 𝐸𝐼 𝐸𝐼
[𝐾]1203 = 12 !
+6 " Y−6 " Z = 3 ! = 2.385 ∗ 10& [𝑁b𝑚]
𝐿 𝐿 4𝐸𝐼 𝐿 𝐿
[𝐾$" ]
[𝑀]1203 = 𝑚 + c d (𝐽 )[𝐾 ][𝑘 ]
[𝐾"" ] + "" "$

If m = 10 [kg],

23.85 ∗ 10! 𝑟𝑎𝑑

[𝑀]1203 = 12.25 [𝐾𝑔] 𝑠𝑜 𝜔0$ = h = 44.129 Y Z
12.25 𝑠

Which is higher than exact value.

If m = 100 [kg],

23.85 ∗ 10!
[𝑀]1203 = 102.23 [𝐾𝑔] 𝑠𝑜 𝜔0 = h = 15.274(𝑟𝑎𝑑/𝑠)
102.23

here by approximation, the same natural frequency is obtained.

4
Exercise 2
The rotor shown in the figure is composed by a flywheel of mass m and moments of inertia Jt and Jp attached to
the end of a shaft with negligible mass.

𝐹6

Assuming to orientate the structure vertically and to consider the effect of gravity, it requested to calculate the
critical speed in the following three cases:
a) Z axis coincident with respect to the gravitational field (mass below the constraint)
b) Z axis non coinciding with gravitational field (mass above the constraint)
c) Absence of gravity (orientation is indifferent)

Data:
E = 2x1011 N/m2,
L = 0.3 m,
d = 2.5 mm,
m = 0.5 kg,
Jt =0.0 1 kgm2
Jp =0.0 2 kgm2

The stiffness matrix for the beam element (considering the slenderness, the definition is referred to the Euler
formulation) and geometrical matrix.
12 6𝑙 −12 6𝑙
𝐼 6𝑙 4𝑙 "
6𝑙 2𝑙 "
[𝐾] = 𝐸 ! ) 1
𝐿 −12 −6𝑙 12 −6𝑙
6𝑙 2𝑙 " −6𝑙 4𝑙 "
36 3𝑙 −36 3𝑙
8" 3𝑙 4𝑙 " −3𝑙 −𝑙 "
k𝐾7 l = !,9 [ ]
−36 −3𝑙 36 −3𝑙
3𝑙 −𝑙 " −3𝑙 4𝑙 "
Results:
𝜈a=13.9 rad/s , 𝜈b=9.1 rad/s, 𝜈c=11.8 rad/s.

5
Solution

Figure 2. Exercise 2.

[𝑀]{𝑞̈ } − 𝑖Ω[𝐺]{𝑞̇ } + [𝐾]{𝑞} = {0}

where:
𝑚 0
[𝑀] = M O
0 𝐽+ This additional term is
0 0 because of coupling between
[𝐺] = M0 𝐽 O axial and bending force.
:

𝐸𝐼 12 −6𝑙 𝐹6 36 −3𝐿
[𝐾] = I " J ± I J
𝐿! −6𝑙 4𝑙 30𝐿 −3𝐿 4𝐿"

𝑘7
+ When Z axis and gravitational field are coincident. (the mass is below the constrain)
a

- When Z axis and gravitational field are not coincident. (the mass is above the constrain)
a

By having 𝐽: > 𝐽+ there is coupling in two different plane and by solving the equations in complex coordinate, the
gyroscopic matrix becomes symmetric so:
𝐽: = 𝐽+ 𝐷𝑖𝑠𝑘 𝑟𝑜𝑡𝑜𝑟
q 𝐽: < 𝐽+ 𝑙𝑜𝑛𝑔(𝑠𝑙𝑒𝑛𝑑𝑒𝑟)𝑟𝑜𝑡𝑜𝑟
𝐽: < 𝐽+ 𝑡ℎ𝑒𝑟𝑒 𝑖𝑠 𝑐𝑜𝑢𝑝𝑙𝑖𝑛𝑔 𝑒𝑓𝑓𝑒𝑐𝑡

The complex coordinates are:

𝑧
{𝑞} = <𝜙=

𝑧 = 𝑢# + 𝑖𝑢%

𝜙 = 𝜙% − 𝑖𝜙#

and the solution has the following form:

{𝑍} = 𝑧, 𝑒 -.+ , {𝑧̇ } = 𝑖𝜔𝑧, 𝑒 -.+ , {𝑧̈ } = −𝜔" 𝑧, 𝑒 -.+

{𝜙} = 𝜙, 𝑒 -.+ , {𝑧̇ } = 𝑖𝜔𝜙, 𝑒 -.+ , {𝑧̈ } = −𝜔" 𝜙, 𝑒 -.+

6
By substituting the previous expression to the general equation we reach:
𝑧,
(−𝜔" [𝑀] + 𝜔Ω[𝐺] + [𝐾]) < = 𝑒 -.+ = {0}
𝜙,
Thus,

𝑑𝑒𝑡(−𝜔" [𝑀] + 𝜔Ω[𝐺] + [𝐾]) = 0 𝑎𝑡 𝑐𝑟𝑖𝑡𝑖𝑐𝑎𝑙 𝑠𝑝𝑒𝑒𝑑 Ω𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 = Ω𝑤ℎ𝑖𝑟𝑙 𝑠𝑜 ∶

𝑑𝑒𝑡}Ω1; " ([𝐺] − [𝑀]) + [𝐾]~ = {0}

where

[𝑀] = I0.5
0
J
0 0.01
0 0
[𝐺] = I J
0 0.02
Considering,

𝜋𝑑 *
𝐼= = 1.92 ∗ 10+,- [𝑚* ]
64
[𝐾] = I 170.67 −25.60J ± I 19.62 −0.50J
−25.60 5.12 −0.50 0.20

1) Calculate the critical speed when both axis are coincide

Figure 3. Exercise 2 - Configuration A

7
Considering the stiffness matrix:

Axes are coincident

[𝐾] = 2 170.67 −25.606 + 2 19.62 −0.506 = 2 190.29 −26.106

−25.60 5.12 −0.50 0.20 −26.10 5.32
Solving the equation:
𝑚 0 190.29 −26.10JZ = {0}
𝑑𝑒𝑡 Y−Ω1; " M 0 𝐽+ − 𝐽: O) + I−26.10 5.32
−0.005𝜔& − 0.7571𝜔" + 331.13 = 0
𝜔0 = 13.9(𝑟𝑎𝑑/𝑠)

2) Calculate the critical speed when axes are in opposite direction:

Figure 4. Exercise 2 - Configuration B

The stiffness matrix is:

[𝐾] = I 170.67 −25.60J − I 19.62 −0.50J = I 151.05 −25.10J

−25.60 5.12 −0.50 0.20 −25.10 4.92
Solving the equation: Axes are in opposite direction

190.29 − 𝑚Ω1; " −26.10

𝑑𝑒𝑡 c• €d = {0}
−26.10 5.32 − (𝐽+ − 𝐽: )Ω1; "

−0.005𝜔& − 0.9495𝜔" + 113.156 = 0

8
 𝜔0 = 9.1(𝑟𝑎𝑑/𝑠)

3) Calculate the critical speed in the absence of gravity

In this last case, there is no additional 𝑘7 term and, so [K] is equal to:
𝐸𝐼 12 −6𝑙
[𝐾] = I J
𝐿! −6𝑙 4𝑙 "

[𝐾] = I 170.67 −25.60J

−25.60 5.12

Solving the equation:

−0.005𝜔! − 0.8533𝜔" + 218.32 = 0 → 𝜔𝑛 = 11.8(𝑟𝑎𝑑/𝑠)

Generally, by coupling axial and bending movement (coincide or opposite axes), the natural frequency of the system
increases when axes are coincident since shaft the shaft is more rigid because the effect of coupling is only on the stiffness
matrix. On the other hand, when axes are in opposite direction, the stiffness of the system becomes minimum a lower
natural frequency is obtained.

9
Exercise 3

A rotor with mass m can be modeled as a Jeffcott rotor having a deformable shaft on stiff supports with distance
L between the supports. The shaft has a full circular section area with stiffness k = 48EI/L3(𝐼 = 𝜋𝑑& /64). Given that
the mass is fixed to the rotor with eccentricity 𝜖 and that at rated speed the radius of the orbit is equal to z0=-1.2𝜖 ,
calculate:
a) The critical speed 𝜈cr;
b) The diameter of the shaft d;
c) The maximum bending stress on the shaft and the reactions on the supports at rated speed 𝜈.

Data:
E = 2*1011 N/m2,
L = 0.5 m,
m = 15 kg,
𝜖 = 100 𝜇m,
𝜈 = 10000 rpm.

Figure 5. Exercise 3.

Solution

1) Calculate the critical speed 𝜈!"

Starting with the homogeneous equation:

[𝑀]T𝑍̈U + [𝐾]{𝑍} = {0}

{𝑍} = 𝑧, 𝑒 -.+ , {𝑧̇ } = 𝑖𝜔𝑧, 𝑒 -.+ , {𝑧̈ } = −𝜔" 𝑧, 𝑒 -.+

([𝐾] − [𝑀]𝜔" )𝑧, 𝑒 -.+ = {0}

𝐾
𝜔0 = h
𝑀

10
 Figure 6. Exercise 3 - Campbell diagram of a Jeffcott rotor.

?
The cross section of these 2 lines is the Ω1; which means Ω;2+6+-20 = Ω=>-;* so Ω1; = ƒ@ (just in terms of the value.)

Figure 7. Exercise 3. Amplitude of the orbit as function of the spin speed.ù

Now by having the eccentricity, since the effect of eccentricity is shown as an external force the equation will be:

[𝑀]T𝑍̈U + [𝐾]{𝑍} = 𝑚𝜀Ω" 𝑒 -A+

{𝑍} = 𝑧, 𝑒 -A+ , {𝑧̇ } = 𝑖Ω𝑧, 𝑒 -A+ , {𝑧̈} = −Ω" 𝑧, 𝑒 -A+

([𝐾] − [𝑀]Ω" )𝑧, 𝑒 -A+ = 𝑚𝜀Ω" 𝑒 -A+

So the radius of orbit, 𝑧, , can be defined as :

𝑚𝜀Ω"
𝑧, = = −1.2𝜀 ,
𝐾 − 𝑚Ω"
"B
Ω = 10000 𝑟𝑝𝑚 ∗ C, = 1047(𝑟𝑎𝑑/𝑠)

By subdividing to m

11
 Ω"
−1.2 = , −1.2Ω"1; + 1.2Ω" = Ω" , 1.2Ω"1; = 0.2Ω"
Ω"1; − Ω"
We are in the super critical region 𝑧, = −1.2𝜀 so we expected Ω > Ω1;

0.2 "
Ω1; = h Ω = 427(𝑟𝑎𝑑/𝑠)
1.2

2) Calculate the diameter of the shaft d

𝐾 48𝐸𝐼 𝜋𝑑&
Ω1; = h , 𝐾 = ! , 𝐼 =
𝑀 𝐿 64

48𝐸𝜋𝑑&
Ω1; = h
64𝐿! 𝑚

Therefore,
$
4Ω"1; 𝑙 ! 𝑚 &
𝑑=c d = 29 [𝑚𝑚]
3𝜋𝐸

3) Calculate the maximum bending stress on the shaft and the reactions on the supports at rated speed 𝝂.

Figure 8. Exercise 3 - Computaation of the reaction forces on the supports.

12
Now the rotor instead of whirling around point C (center of geometry) is whirling around P (center of mass) so the reaction
force at the supports are :

𝑟 = the distance between the center of rotation (P) and the axis of two support (point O)

𝑅$ + 𝑅" = 𝐹D = 𝑚𝑟Ω" = 𝑚(|𝑍, | − 𝜀)Ω" = 0.2𝜀𝑚Ω" = 329[𝑁]

Alternatively, we can write the reaction forces are equal to:

𝑅$ + 𝑅" = 𝐾𝑍,
𝐹
𝑅$ = 𝑅" =
2
E)
where 𝐾 = 48 9 ! is the stiffness of the shaft by considering shaft as two parallel spring where the F is applied at their
#
connection point.
9
So, in this equation 𝐿- = , the bending moment of the shaft is
"

𝐿
𝑀F = 𝑅
2
So the maximum bending stress can be calculated

𝑀F 𝑑 𝑅$ 𝐿b2 𝑑 16𝑅$ 𝐿
𝜎F = ∗ = & ∗ = = 17[𝑀𝑃𝑎]
𝐼 2 𝜋𝑑 2 𝜋𝑑!
64
whenever ΩG:-0-07 = Ω=>-;*-07 , no fatigue is on the rotor and everything is on the stator.

13
Exercise 4
A rotor with mass m can be modeled as a Jeffcott rotor having a deformable shaft on stiff supports with distance
L between the supports.
The shaft has a full circular shaft with stiffness k = 48EI/L3 (𝐼 = 𝜋𝑑& /64).
The mass is fixed to the rotor with eccentricity 𝜖, and that the rotating damping cr is null.
It is requested to calculate:
a) The critical speed 𝜈cr
b) The nonrotating damping cn necessary to keep the radius of the orbit 𝑧, below 1.25 𝜖 .
c) The radius of the orbit 𝑧, when crossing the critical speed assuming the value of cn that has been calculated in
the previous question.

Data:
E = 2x1011 N/m2,
L = 0.5 m,
d = 0.029 m,
m = 15 kg,
𝜖 = 10 𝜇m,
𝜈 = 8000 turns/min.

Results: 𝜈1; = 427 rad/s, cn = 3.61*103 Ns/m, z 0 = 17.5 𝜇m.

Solution

1) Calculate the critical speed 𝜈!"

𝐾 48𝐸𝐼
Ω1; = h =h = ‰177.759 ∗ 10! = 421.61(𝑟𝑎𝑑/𝑠)
𝑚 𝑚𝐿!

𝜋𝑑&
𝐼= = 34.7184 ∗ 10'( [𝑚& ]
64
48𝐸𝐼
𝐾= = 2.66 ∗ 10C [𝑁b𝑚]
𝐿!

2) Calculate the nonrotating damping cn necessary to keep the radius of the orbit 𝒛𝟎 below 1.25E

[𝑀]T𝑍̈U + [𝐶]T𝑍̇U + [𝐾]{𝑍} = 𝑚𝜀Ω" 𝑒 -A+

{𝑍} = 𝑧, 𝑒 -A+ , {𝑧̇ } = 𝑖Ω𝑧, 𝑒 -A+ , {𝑧̈} = −Ω" 𝑧, 𝑒 -A+

No matter the system has viscous rotating damping or not, in the equation of motion, the non-rotating viscous damping
on the stator only is present:

(−Ω" 𝑚 + 𝐶0 𝑖Ω + 𝐾)𝑧, 𝑒 -A+ = 𝑚𝜀Ω" 𝑒 -A+

𝑚𝜀Ω"
𝑍, =
−Ω" 𝑚 + 𝐶0 𝑖Ω + 𝐾

14
The amplitude of z0 is expressed by a complex number

𝑚𝜀Ω" (𝐾 − Ω" 𝑚) 𝑚𝜀Ω" (𝐶0 Ω)

𝑍, = − 𝑖
(𝐾 − Ω" 𝑚)" + (𝐶0 Ω)" (𝐾 − Ω" 𝑚)" + (𝐶0 Ω)"
The absolute value of 𝑧, is calculated as

𝑚𝜀Ω"
|𝑍, | =
‰(𝑘 − 𝑚Ω" )" + (𝐶0 Ω)"

(𝑍, )" ((𝑘 − 𝑚Ω" )" + (𝐶0 Ω)" ) = (𝑚𝜀Ω" )"

𝑚𝜀Ω" "
(𝐶0 Ω)" = ( ) − (𝑘 − 𝑚Ω" )"
𝑍,

" "
hY𝑚𝜀Ω Z − (𝑘 − 𝑚Ω" )"
𝑍 ,
𝐶0 =
Ω
2𝜋 𝑟𝑎𝑑
Ω = 8000(𝑟𝑝𝑚) = 8000 ∗ = 837.756 Y Z
60 𝑠
𝐶0 = 3.58 ∗ 10! [𝑁𝑠b𝑚]

3) Calculate the radius of the orbit 𝒁𝟎 when crossing the critical speed assuming the value of 𝑪𝒏 computing in the previous
step.

−𝐶0 −𝐶0 " + 4𝐾𝑚

𝜔=Y Z𝑖 ± h
2𝑚 4𝑚"

Ω1; = 𝜔;H6* = 403.55 (𝑟𝑎𝑑/𝑠)

(−Ω" 𝑚 + 𝐶0 𝑖Ω + 𝐾)𝑧, 𝑒 -A+ = 𝑚𝜀Ω" 𝑒 -A+

𝑚𝜀Ω"
|𝑍, | =
‰(𝑘 − 𝑚Ω" )" + (𝐶0 Ω)"

𝜀Ω"
|𝑍, | = = 16.6[𝜇𝑚]
"
ƒ(Ω1; " − Ω" )" + ‹𝐶0 ΩŒ
𝑚

15
Exercise 5

A rotor with mass m can be modeled as a Jeffcott rotor having a deformable shaft with bending stiffness k. The
bearings have a known viscous damping coefficient cn; the relative total damping 𝜁= (cn + cr) / ccr is evaluated with
tests. It is requested to calculate the threshold of instability of the rotor.

Data:
k = 50 kN/m,
m = 30 kg,
𝜁= 0.05,
cn = 100 Ns/m.

Result: 𝜈+> = 226 rad/s.

Solution

The relative total damping is equal to

𝐶0 + 𝐶; 𝐶0 + 𝐶;
𝜁= =
𝐶1; 2√𝐾𝑚
Where K is the total stiffness and m is the mass of the system
𝐶0 + 𝐶; 𝑁𝑠
0.05 = → 𝐶; ≈ 22 [ ]
2√30 ∗ 50 ∗ 10! 𝑚

When viscous rotational damping on the rotor and viscous non-rotational damper on the stator are present, the
threshold of instability for the rotor is:

𝐶0 𝐾 𝑟𝑎𝑑
Ω < Y1 + Z h , → Ω < 226 Y Z.
𝐶; 𝑚 𝑠

16
Exercise 6

A Jeffcott rotor is constituted by a mass m, having eccentricity e, fixed in the middle of a deformable shaft with length l
and diameter d suspended on elastic supports having stiffness 𝑘1 . Assuming structural rotating damping, having loss factor
𝜂; , and viscous nonrotating damping 𝑐0 , it is requested to calculate:
a) The critical speed of the rotor,
b) The viscous nonrotating damping 𝑐0 needed to guarantee stability,
c) The amplitude and phase of the response to static unbalance at rated speed Ω.

Solution

1) Compute the critical speed of the rotor

Figure 9. Exercise 6.

The equivalent stiffness is given by the series connection of Ks (Ks= 2*Kc, a parallel connection of two spring) and Kr
(stiffness of the rotating part). Thus, the stiffness of the shaft is:
1 1 1
= +
𝐾HI 𝐾G 𝐾;
𝑁
𝐾G = 2 ∗ 5 ∗ 10J = 10C [ ]
𝑚
𝜋𝑑&
𝐼= = 2.484 ∗ 10'( [𝑚& ]
64
48𝐸𝐼 𝑁
𝐾; = !
= 3.726 ∗ 10J [ ]
𝐿 𝑚
𝑁
𝐾HI = 2.715 ∗ 10J [ ]
𝑚

𝐾HI
Ω1; = h = 184 (𝑟𝑎𝑑/𝑠)
𝑚

17
2) Compute the viscous nonrotating damping 𝒄𝒏 needed to guarantee stability

In the case of having viscous non-rotating damping on the stator and structural damping on the rotor, for
being safe the nonrotating viscous damping coefficient must be
𝐾/ 𝜂/
C. >
Ω0/
3.726 ∗ 101 ∗ 0.002 𝑁𝑠
C. > → C. = 4.05 ? B
184 𝑚

3) Compute the amplitude and phase of the response to static unbalance at rated speed 𝛀

Now again by solving the equation of motion by considering the effect of eccentricity:

}−Ω" 𝑚 + 𝐶0 𝑖Ω + 𝐾HI ~𝑧, 𝑒 -A+ = 𝑚𝜀Ω" 𝑒 -A+

𝑚𝜀Ω" 𝜀Ω"
𝑍, = =
𝐾HI 𝐶0 Ω
( − mΩ" ) + (𝐶0 Ω)𝑖 (Ω"1; − Ω" ) + ( 𝑚 )𝑖
𝑚
Dividing the real and imaginary part
𝐶
𝜀Ω" (Ω"1; − Ω" ) 𝜀Ω! ( 𝑚0 )
𝑍, = − 𝑖
𝐶0 Ω " 𝐶0 Ω "
(Ω"1; − Ω" )" +‹ 𝑚 Œ (Ω"1; − Ω" )" +‹ 𝑚 Œ

Therefore,

𝜀Ω"
|𝑍, | = = 1.18 ∗ 10'J [𝑚]
"
ƒ(Ω"1; − Ω" )" + ‹𝐶0 ΩŒ
𝑚
𝐶0 Ω
𝑍, -467 − 𝑚
'$ '$
|𝜑, | = tan Y Z = tan – " — ≈ −0.4°
𝑍, ;H6* Ω1; − Ω"

18
Exercise 7

Obtain the bending critical speeds and the corresponding mode shapes for the system shown in the figure. The
system is represented by two beam elements using the lumped parameter approach and neglecting the distribution
of the mass along the beam elements.

Data:
E = 2×1011 N/𝑚" ,
L = 0.5 m,
d = 0.015 m,
m = 3 kg,
𝐽+ = 0.04 kg𝑚" ,
𝐽: = 0.08 kg𝑚" .

;63
Results: Ω1; = 41.5
G

Solution

1 2
3

[𝑀]{𝑞̈ } − 𝑖Ω[𝐺]{𝑞̇ } + [𝐾]{𝑞} = {0}

{𝑞̈ } = 𝑞, 𝑒 -L+ , {𝑞̇ } = 𝑖ω𝑞, 𝑒 -L+ , {𝑞̈ } = −ω" 𝑞, 𝑒 -L+

(−𝜔" [𝑀] + [𝐺]Ωω + [𝐾])𝑞, = {0}

At critical speed Ω = 𝜔 means the Ω;2+6+-20 = Ω=>-;*

(−Ω" ([𝑀] − [𝐺]) + [𝐾])𝑞, = {0}

Here again 𝐽: > 𝐽+ so there is a coupling in two different plane and for having the symmetric gyroscopic matrix we use
the complex coordinate:

𝑧 = 𝑥 + 𝑖𝑦
𝜙 = 𝜙% − 𝑖𝜙#

𝑢-/ Ι 𝑢-0 ΙΙ 𝑢-.

𝜑2,
1 𝜑2- 2 𝜑23 3

Figure 10. Exercise 7. Set of degrees of freedom.

19
Element I

12 6𝑙 −12 6𝑙 𝑢#$
E) 6𝑙 4𝑙 " 6𝑙 2𝑙 " 𝜙%$
[𝐾] = ) 12 5
*! −12 −6𝑙 12 −6𝑙 𝑢#"
6𝑙 2𝑙 " −6𝑙 4𝑙 " 𝜙%"
Element II

12 6𝑙 −12 6𝑙 𝑢#"
E) 6𝑙 4𝑙 " 6𝑙 2𝑙 " 𝜙%"
[𝐾] = ) 12 5
*! −12 −6𝑙 12 −6𝑙 𝑢#!
6𝑙 2𝑙 " −6𝑙 4𝑙 " 𝜙%!
by applying the boundary conditions, node 1 is totally locked 𝑢#$ , 𝜑%$ = 0 and at node 2 we don’t have
any movement in the x-direction 𝑢#" = 0 that we can the overall [K] is

therefore, a 3x3 matrix is obtained:

As at the lamped mass is at the last node so this node can be defined as a master DoF
𝑍
{𝑞4 } = 8 ! :
𝜑!
{𝑞G } = {𝜑" }

The definition of [𝑀]1203 , [𝐺]1203 and [𝐾]1203 is then needed.

20
 ém 0 0ù 𝑍̈
!
[𝑀]1203 = ê 0 J t 0úú q𝜑̈ ! ›,
ê
êë 0 0 0úû 𝜑̈ "

é0 0 0ù 𝑍
!
[𝐺]1203 = ê0 J p 0úú œ𝜑! •,
ê 𝜑
êë0 0 0úû "

[𝐾]1203 = [𝐾$$ ] − [𝐾$" ][𝐾"" ]'$ [𝐾"$ ]

𝐸𝐼 12 −6𝑙 −6𝑙 1
[𝐾]1203 = YI J − I " J [−6𝑙 2𝑙 " ] Z
𝑙 ! −6𝑙 4𝑙 " 2𝑙 6𝑙 "
6𝐸𝐼 −4𝐸𝐼
! 𝑙" 1
[𝐾]1203 =) 𝑙
−4𝐸𝐼 10𝐸𝐼
𝑙" 3𝑙

The equation to be solved is:

(−Ω" ([𝑀]1203 − [𝐺]1203 ) + [𝐾]1203 )𝑞, = {0}

𝑑𝑒𝑡(−Ω" ([𝑀]1203 − [𝐺]1203 ) + [𝐾]1203 ) = {0}

6𝐸𝐼 −4𝐸𝐼
−𝑚Ω" +
𝑑𝑒𝑡 ) 𝑙! 𝑙" 1 = {0}
−4𝐸𝐼 10𝐸𝐼
− }𝐽+ − 𝐽: ~Ω"
𝑙" 3𝑙

Therefore,

𝐸𝐼 6 10 60𝐸 " 𝐼 " 16𝐸 " 𝐼 "

Ω& 𝑚}𝐽: − 𝐽+ ~ − Ω" Y Z c}𝐽: − 𝐽+ ~ " + 𝑚d + −
𝑙 𝑙 3 𝑙& 𝑙&

0.12Ω& + 8985.76Ω" − 1.5808576 = 0

𝑟𝑎𝑑 𝑟𝑎𝑑
Ω" = 1720 Y Z 𝑠𝑜 Ω1; = ±41.47 Y Z
𝑠 𝑠
The negative result does not have any physical meaning because the Ω1; is in the first quarter and as we expect J: > J+ ,
we have stiffening effect and just have only one critical speed.

Now for computing the mode shape:

21
 0 0 0 𝐸𝐼 6𝑙
"
−6𝑙 2𝑙 " 𝜙,"
Ÿ−Ω " 0 𝑚 0 ¡+ −6𝑙 12 −6𝑙 ¡¢ œ 𝑍,! • = {0}
0 0 𝐽+ − 𝐽: 𝑙! 𝜙
2𝑙 " −6𝑙 4𝑙 "
,!

By setting 𝜙," = 1,
𝜙," 1
œ 𝑍,! • = œ0.822•
𝜙,! 1.933

22
Exercise 8
A rotor having stiff supports, deformable shaft whose inertia can be neglected, has inertia properties m, 𝐽+ , 𝐽: . The flywheel
is attached with an eccentricity 𝜖 and angular error 𝜒 (a = 0). Calculate the critical speed and the amplitude of the response
due to unbalance at spin speed equal to Ω.

Data: E = 2×1011 N/𝑚" , a = 0.08 m, b = 0.32 m, d = 0.022 m, m = 6 kg, 𝐽+ = 1.4 kgm2, 𝐽: = 2.6 kg𝑚" , 𝜖=20 mm, 𝜒 = 0.01
rad, Ω = 2000 rad/s.

Solution: Ω1; = 1491 rad/s, 𝑧,,N = -5.1·10'J m, 𝑧,,O = 1.0·10'! m, 𝜙,,N = -1.0·10'J rad, 𝜙,,O = -1.0·10'" rad.

Solution

[𝑀]{𝑞̈ } − 𝑖Ω[𝐺]{𝑞̇ } + [𝐾]{𝑞} = {0}

{𝑞̈ } = 𝑞, 𝑒 -L+ , {𝑞̇ } = 𝑖ω𝑞, 𝑒 -L+ , {𝑞̈ } = −ω" 𝑞, 𝑒 -L+

(−𝜔" [𝑀] + [𝐺]Ωω + [𝐾])𝑞, = {0}

At critical speed, Ω = 𝜔
(−Ω" ([𝑀] − [𝐺]) + [𝐾])𝑞, = {0}

Complex set of coordinates is considered

𝑧 = 𝑥 + 𝑖𝑦

𝜙 = 𝜙% − 𝑖𝜙#

𝑢-/ Ι 𝑢-0 ΙΙ 𝑢-.

𝜑2,
1 𝜑2- 2 𝜑23 3

Figure 11. Exercise 8.

Element I

12 6𝑙 −12 6𝑙 𝑢#$
E) 6𝑙 4𝑙 " 6𝑙 2𝑙 " 𝜙%$
[𝐾] = ) 1 2𝑢 5
*! −12 −6𝑙 12 −6𝑙 #"
6𝑙 2𝑙 " −6𝑙 4𝑙 " 𝜙%"

Element II
12 6𝑙 −12 6𝑙 𝑢#"
E) 6𝑙 4𝑙 " 6𝑙 2𝑙 " 𝜙%"
[𝐾] = ) 12 5
*! −12 −6𝑙 12 −6𝑙 𝑢#!
6𝑙 2𝑙 " −6𝑙 4𝑙 " 𝜙%!

Applying the boundary conditions,

23
 B3 $
𝐼= C&
= 1.149 ∗ 10'P [𝑚& ]

𝐸𝐼
= 4488281.25
𝑎!
𝐸𝐼
= 70129.395
𝑏!
The stiffness matrices are

𝐸𝐼 4𝑙
"
−6𝑙 2𝑙 " 𝜑%$ 114900 −2154375 57450 𝜑%$
[𝐾]Q = ! −6𝑙 12 −6𝑙¡ œ #" • = •−2154375 53859375 −2154375€ œ 𝑢#" •
𝑢
𝑙
2𝑙 " −6𝑙 4𝑙 " 𝜑%" 57450 −2154375 114900 𝜑%"
𝑢#" 841552.74 13468.4384 13468.4384 𝑢#"
𝐸𝐼 12 6𝑙 6𝑙
" ¡ œ𝜑%" • = 13468.4384
[𝐾]QQ = 6𝑙 "
4𝑙 2𝑙 28725 −2154375 ¡ œ𝜑%" •
𝑙 ! 2𝑙 " " " 𝜑%! 14362.5 14362.5 28725 𝜑%!
2𝑙 4𝑙

é0 0 0 0 0 0ù
ê0 𝑢̈ #$
ê 0 0 0 0 0úú ⎧𝜑̈ ⎫
⎪ %$ ⎪
ê0 0 m 0 0 0ú ⎪ 𝑢̈ #" ⎪
[M]= ê ú ,
ê0 0 0 Jt 0 0ú ⎨𝜑̈ %" ⎬
⎪ 𝑢̈ ⎪
ê0 0 0 0 0 0ú ⎪𝜑̈ #! ⎪
ê ú ⎩ %! ⎭
ëê0 0 0 0 0 0ûú

é0 0 0 0 0 0ù
ê0 𝑢̇ #$
ê 0 0 0 0 0úú ⎧𝜑̇ ⎫
⎪ %$ ⎪
ê0 0 Jp 0 0 0ú ⎪ 𝑢̇ #" ⎪
[G]= ê ú
ê0 0 0 0 0 0ú ⎨𝜑̇ %" ⎬
⎪ 𝑢̇ ⎪
ê0 0 0 0 0 0ú ⎪𝜑̇ #! ⎪
ê ú ⎩ %! ⎭
êë0 0 0 0 0 0úû

The associated homogenous equation is

[𝑀]{𝑞̈ } − 𝑖Ω[𝐺]{𝑞̇ } + [𝐾]{𝑞} = {0}

Therefore,

{𝑞̈ } = 𝑞, 𝑒 -L+ , {𝑞̇ } = 𝑖ω𝑞, 𝑒 -L+ , {𝑞̈ } = −ω" 𝑞, 𝑒 -L+

(−𝜔" [𝑀] + [𝐺]Ωω + [𝐾])𝑞, = {0}

24
At critical speed Ω = 𝜔

(−Ω" ([𝑀] − [𝐺]) + [𝐾])𝑞, = {0}

𝑧 = 𝑥 + 𝑖𝑦
𝜙 = 𝜙% − 𝑖𝜙#
𝑍"
{𝑞}4 = 8 :
𝜙"
𝑍$
{𝑞}G = 8 :
𝑍!

ém 0 0 0ù
ê0 J - J 0 0úú 𝑞,4
[M]-[G]= ê
t p
< =
ê0 0 0 0ú 𝑞,G
ê ú
ë0 0 0 0û

[𝐾]1203 = [𝐾$$ ] − [𝐾$" ][𝐾"" ]'$ [𝐾"$ ]

−3.4988 −0.1010
[𝐾]1203 = I J ∗ 10R
−0.09449 0.00108
Solving the equation

7.2Ω& + 42633600Ω" − 4.737194 ∗ 10$" = 0

Ω1; = 1491 (𝑟𝑎𝑑/𝑠)
𝑍, -A+ 𝑚𝜀e-S
[𝑘 − Ω" (𝑀 − 𝐺)] 8 :𝑒 =8 : Ω" e-A+
𝜑, 𝜒(𝐽+ − 𝐽: )
"
Δ = −𝑚}𝐽: − 𝐽+ ~Ω" +[𝐾$$ }𝐽: − 𝐽+ ~ + 𝑚𝐾"" ]Ω" + 𝐾$$ 𝐾$" − 𝐾$"

𝑚𝜀Ω" 𝑚𝜀Ω"
𝑧,T = ‹}𝐽: − 𝐽+ ~Ω" + 𝐾"" Œ , 𝜑,T = (𝐾$" )
Δ Δ
𝜒Ω" 𝜒Ω"
𝑧,O = ‹}𝐽: − 𝐽+ ~𝐾$" Œ , 𝜑,O = }𝐽 − 𝐽+ ~(𝑚Ω" − 𝐾$$ )
Δ Δ :

25