Hindawi Publishing Corporation

Shock and Vibration

Volume 2016, Article ID 8935247, 8 pages
http://dx.doi.org/10.1155/2016/8935247

Research Article
Dynamic Modeling and Response of a Rotating
Cantilever Beam with a Concentrated Mass

Yang Yong-feng,1 Wang Yan-lin,1 Chen Hu,1,2 and Wu Min-juan3

1
Institute of Vibration Engineering, Northwestern Polytechnical University, Xi’an 710072, China
2
AECC Commercial Aircraft Engine CO., LTD, Shanghai 200241, China
3
No. 771 Institute of Aerospace Times Electronics Corporation, Xi’an 710065, China

Correspondence should be addressed to Yang Yong-feng; yyf@nwpu.edu.cn

Received 12 July 2016; Revised 28 September 2016; Accepted 11 October 2016

Academic Editor: Toshiaki Natsuki

Copyright © 2016 Yang Yong-feng et al. This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The rigid-flexible coupling system with a hub and concentrated mass is studied in this paper. Considering the second-order coupling
of axial displacement which is caused by transverse deformation of the beam, the dynamic equations of the system are established
using the second Lagrange equation and the assumed mode method. The simulation results show that the concentrated mass mainly
suppresses the vibration and exhibits damping characteristics. When the nondimensional mass position parameter 𝛽 > 0.67, the
first natural frequency is reduced as the concentrated mass increases. When 𝛽 < 0.67, the first natural frequency is increased as
the concentrated mass increases. We also find the maximum first natural frequency nondimensional position for the concentrated
mass.

1. Introduction method for the dynamic response of an elastic beam resting

A classical motion mechanism in technical field of engi-
neering and mechanical structures, such as space crafts,
the robots, wind turbine blades, aircraft rotary wings, and
the engine valves, is always reduced to a typical rotating
cantilever beam. In order to design and control the dynamic
behavior of those structures, it is necessary to estimate
the modal characteristics and dynamical response. For the
purpose of studying the basic characteristics, the model
is simplified to a rigid-flexible coupling dynamical system
consisting of both the flexible bodies and the rigid bod-
ies. Southwell and Gough [1] derive the famous Southwell
equation by using the Rayleigh energy theory to research
the natural frequency of rotating beam. Then, to investigate
further, some researchers combine Southwell equation with
Ritz method [2, 3] to get a better simulation.
With the development of the dynamic stiffening and one-
order coupling model, the study of vibration characteristics
of the flexible cantilever beam has also entered a new stage
[4–6]. Many researchers have studied the vibration control
of the flexible cantilever beam [7–10]. For example, Ding
et al. [11, 12] investigate the convergence of the Galerkin
on a nonlinear foundation with viscous damping subject
to a moving concentrated load. Zhang et al. [13] present
experimental verifications of vibration suppression for a
cantilever beam bond with a piezoelectric actuator by an
adaptive controller. Li et al. [14] discuss the effects of the mass
and position of the balance weight added in blades on the
natural frequencies and mode shapes of the blades. By using
the dynamic stiffness matrix method, Banerjee [15] studies
the free vibration of axially loaded composite Timoshenko
beams and applies his method to composite wings and
helicopter blades. For the typical helicopter and wind turbine
blades, Kambampati and Ganguli [16] assume the mass and
stiffness distributions of the tapered rotating beam to be
polynomial functions of span and find nonrotating beams
that are isospectral to a given tapered rotating beam. Lee et al.
[17, 18] give an exact power-series solution for free vibration
of a rotating inclined Timoshenko beam. It is shown that both
the extensional deformation and the Coriolis force will have
significant influence on the natural frequencies of the rotating
beam when the dimensionless rotating extension parameter
is large. Even when the system parameters are changing, the
vibration may show significant difference. In this paper, the
2 Shock and Vibration

of a flexible beam; 𝐵𝑖 (𝑡) is the 𝑖th order modal generalized

x coordinates; 𝑛 is the modal order. 𝑢𝑓 (𝑥, 𝑡) can be expressed
𝑥
as 𝑢𝑓 (𝑥, 𝑡) = −(1/2) ∫0 ∑𝑛𝑖=1 ∑𝑛𝑗=1 𝜙𝑖󸀠 (𝜎)𝜙𝑗󸀠 (𝜎)𝐵𝑖 𝐵𝑗 𝑑𝜎. Substi-
Y
y
tuting (3) into (1) and (2), we can get
d
o L
𝜃 𝑇
O
X 𝐿
a 1 2 2
= 𝜌𝐴𝜃̇ ∫ ((𝑎 + 𝑥 + 𝑢𝑓 ) + V2 ) 𝑑𝑥
2 0
Figure 1: Rigid-flexible beam coupling system with concentrated
𝐿
mass. 1
+ 𝜌𝐴 ∫ (V̇2 + 𝑢̇ 2𝑓 ) 𝑑𝑥
2 0
𝐿
2 1 2
rigid-flexible coupling system with a hub and concentrated + 𝜌𝐴𝜃̇ ∫ (−V𝑢̇ 𝑓 + V̇ (𝑎 + 𝑥 + 𝑢𝑓 )) 𝑑𝑥 + 𝐼ℎ 𝜃̇
mass is studied. Considering the second-order coupling of 0 2
(4)
axial displacement which is caused by transverse deformation 1
of the beam, the second Lagrange equation and assumed + 𝑚𝑟2𝑑̇ ,
mode method are used to establish the dynamic equations. 2
The influences of system parameters are analyzed. 𝑉
1
2. The Dynamic Equations of Rigid-Flexible = ∫ 𝐸𝜀2 𝑑V
2 V 𝑥𝑥
Coupling System
𝐿
2.1. Dynamics Mode. In Figure 1, the rigid-flexible coupling + 𝜌𝐴𝑔 ∫ ((𝑎 + 𝑑 + 𝑢𝑑 + 𝑢𝑓𝑑 ) sin 𝜃 + V cos 𝜃) 𝑑𝑥.
0
system, which moves in the horizontal plane, is composed of
the hub, flexible beam, and concentrated mass. The hub can Expand the expressions 𝑇 and 𝑉
rotate around the point 𝑂. The point 𝑜 connects the hub and
flexible beam. There is a concentrated mass on the beam. The 1 2
𝐿 2 1
extra excitation of the hub is 𝜏. A fixed coordinate system 𝑇 = 𝜌𝐴𝜃̇ ∫ ((𝑎 + 𝑥 + 𝑢𝑓 ) + V2 ) 𝑑𝑥 +
𝑂-𝑋𝑌 is established at 𝑂, and a rotating coordinate system 2 0 2
𝑜-𝑥𝑦 is established at the point 𝑜. The reverse extension line 2 2
of 𝑥-axis passes 𝑂. This system can be divided into two parts: ⋅ 𝑚 (𝜃̇ ((𝑎 + 𝑑 + 𝑢𝑓𝑑 ) + V𝑑 2 )
the hub and the flexible beam with the concentrated mass. All
𝐿
the parameters are presented in the Notations. 1
+ 𝜌𝐴𝜃̇ ∫ (−V𝑢̇ 𝑓 + V̇ (𝑎 + 𝑥 + 𝑢𝑓 )) 𝑑𝑥 +
0 2
2.2. The Dynamic Equations of the System. According to the 𝐿
model of rigid-flexible coupling system, the kinetic energy of ⋅ 𝜌𝐴 ∫ (V̇2 + 𝑢̇ 𝑓 2 ) 𝑑𝑥 + 2𝜃̇ (−V𝑑 𝑢̇ 𝑓𝑑
the whole system is 0
𝐿
1
1 𝐿 1 2 1 + V̇ (𝑎 + 𝑑 + 𝑢𝑓𝑑 )) + V̇𝑑 2 + 𝑢̇ 𝑓𝑑 2 ) = 𝜌𝐴 ∫ (𝑢2
𝑇 = ∫ 𝜌𝐴𝑟̇⃗ ⋅ 𝑟̇⃗ 𝑑𝑥 + 𝐼ℎ 𝜃𝜃̇ + 𝑚𝑟2𝑑̇ . (1) 2 0
2 0 2 2
2 2
The potential energy is elastic deformation energy + 𝑢𝑓 2 + 2𝑢𝑢𝑓 + V2 𝜃̇ − 2𝑢V
̇ 𝜃̇ − 2𝑢̇ 𝑓 V𝜃̇ + 𝑥2 𝜃̇
because the system is moving in the horizontal plane. That 𝐿
2 1 2 2
is, + 𝑢2 𝜃̇ ) 𝑑𝑥 + 𝜌𝐴 ∫ (2𝑢𝑓 𝑢𝜃̇ + V̇2 + 𝑢𝑓 2 𝜃̇
2 0
2 2
1 𝐿
𝜕2 V 1 𝐿
𝜕2 𝑢
𝑉 = 𝐸𝐼 ∫ ( 2 ) 𝑑𝑥 + 𝐸𝐴 ∫ ( 2 ) 𝑑𝑥. (2) 2 2
̇ 𝑑𝑥 + 1
+ 2𝑢𝑥𝜃̇ + 2𝑢𝑓 𝑥𝜃̇ + 2𝑥V̇𝜃̇ + 2𝑢V̇𝜃)
2 0 𝜕𝑥 2 0 𝜕𝑥 2
𝐿
2 2 2 2
The coordinate transformation equation is ⋅ 𝜌𝐴 ∫ (2𝑢𝑓 V̇𝜃̇ + 𝑎2 𝜃̇ + 2𝑎𝑥𝜃̇ + 2𝑎𝑢𝜃̇ + 2𝑎𝑢𝑓 𝜃̇
0
𝑟̇⃗ = 𝑉⃗ 𝑟 + 𝜙⃗ × 𝑟⃗
(3) ̇ 𝑑𝑥 + 1 𝑚 (𝜃̇ 2 ((𝑎 + 𝑑 + 𝑢 )2 )
+ 2𝑎V̇𝜃) 𝑓𝑑
󸀠 󸀠 2
= (𝑢̇ + 𝑢̇ 𝑓 − V𝜃)̇ 𝑖 ⃗ + (V̇ + (𝑥 + 𝑢 + 𝑢𝑓 ) 𝜃)̇ 𝑗⃗ .
1
+ 2𝜃̇ (−V𝑑 𝑢̇ 𝑓𝑑 + V̇ (𝑎 + 𝑑 + 𝑢𝑓𝑑 ) + 𝑢̇ 𝑓𝑑 2 + 𝑢̇ 𝑑 2 ) +
When using the assumed mode method, V(𝑥, 𝑡) can be 2
expressed as V(𝑥, 𝑡) = ∑𝑛𝑖=1 𝜙𝑖 (𝑥)𝐵𝑖 (𝑡), where 𝜙𝑖 (𝑥) is the 2 2 2 2
𝑖th order modal shape functions of the transverse vibration ⋅ 𝑚 (−2𝜃V̇ 𝑑 𝑢̇ 𝑓𝑑 + 𝜃̇ 𝑑2 + 𝜃̇ 𝑢𝑑 2 + 𝜃̇ 𝑢𝑓𝑑 2 + 2𝑑𝑢𝑑 𝜃̇
Shock and Vibration 3

2 1 2
The condition of nonzero solution for 𝐵1 and 𝐵2 is
+ 2𝑢̇ 𝑓𝑑 𝑢̇ 𝑑 + V𝑑 2 𝜃̇ ) + 𝑚 (−2𝜃V̇ 𝑑 𝑢̇ 𝑑 + 2𝑑𝑢𝑓𝑑 𝜃̇
2
󵄨󵄨 cos (𝛽 𝐿) + cos ℎ (𝛽 𝐿) sin (𝛽 𝐿) + sin ℎ (𝛽 𝐿) 󵄨󵄨
2 󵄨󵄨 󵄨󵄨
+ 2𝑢𝑓𝑑 𝑢𝑑 𝜃̇ + V̇𝑑 2 + 2𝑑V̇𝑑 𝜃̇ + 2𝑢𝑑 V̇𝑑 𝜃̇ + 2𝑢𝑓𝑑 V̇𝑑 𝜃))
̇ , 󵄨󵄨 2 2 2 2
󵄨󵄨− sin (𝛽 𝐿) + sin ℎ (𝛽 𝐿) − cos (𝛽 𝐿) + cos ℎ (𝛽 𝐿)󵄨󵄨󵄨
󵄨
󵄨󵄨 2 2 2 2 󵄨󵄨 (11)
𝐿
1 2 = 0.
𝑉= ∫ 𝐸𝜀𝑥𝑥 𝑑V + 𝜌𝐴𝑔 ∫ ((𝑎 + 𝑑 + 𝑢𝑑 + 𝑢𝑓𝑑 ) sin 𝜃
2 V 0

1 𝐿
𝜕𝑢 2 1 The solution for this equation is 𝛽21 𝐿 = 1.875, 𝛽22 𝐿 = 4.694,
+ V cos 𝜃) 𝑑𝑥 = 𝐸𝐴 ∫ ( ) 𝑑𝑥 + 𝛽23 𝐿 = 7.855 when 𝑖 = 1, 2, 3. When 𝑖 ≥ 3, 𝛽2𝑖 𝐿 ≈ ((2𝑖−1)/2)𝜋.
2 0 𝜕𝑥 2
2 The nature frequencies are 𝜔𝑖 = (𝛽2𝑖 𝐿)√𝐸𝐼/𝜌𝐴𝐿4 , 𝑖 = 1, 2, . . ..
𝐿
𝜕2 V
⋅ 𝐸𝐼 ∫ ( 2 ) 𝑑𝑥 The model function is
0 𝜕𝑥
𝐿 𝜙2𝑖 (𝑥) = cos (𝛽2𝑖 𝑥) − cos ℎ (𝛽2𝑖 𝑥)
+ 𝜌𝐴𝑔 ∫ ((𝑎 + 𝑑 + 𝑢𝑑 + 𝑢𝑓𝑑 ) sin 𝜃
0 + 𝜉𝑖 (sin (𝛽2𝑖 𝑥) − sin ℎ (𝛽2𝑖 𝑥)) , (12)
+ V cos 𝜃) 𝑑𝑥.
𝑖 = 1, 2, . . . ,
(5)
The dynamic equation of the system is established by where 𝜉𝑖 = (cos(𝛽2𝑖 𝑥) + cos ℎ(𝛽2𝑖 𝑥))/(sin(𝛽2𝑖 𝑥) + sin ℎ(𝛽2𝑖 𝑥)),
Hamilton least action principle 𝑖 = 1, 2, . . ..
The orthogonal condition of the transverse modal func-
𝑡2 tion of the flexible beam is
∫ (𝛿𝑇 − 𝛿𝑉 + 𝛿𝑊𝑓 ) 𝑑𝑡 = 0, (6)
𝑡1
𝐿 {0 𝑚 = ̸ 𝑛
where 𝛿 means the variation of 𝑇, 𝑉, or 𝑊. 𝑊 is the work of ∫ 𝜌𝐴𝜙𝑚 (𝑥) 𝜙𝑛 (𝑥) 𝑑𝑥 = { (13)
external force. 0 1 𝑚 = 𝑛.
{
The kinetic equation of hub is
The dynamic equations can be written by the functions
𝐽0 𝜃̈ = 𝜏. (7)
𝐵1 , 𝐵2 , and 𝜃 as
According to the knowledge of structure dynamics, we
𝐿
assume the first two model functions of this system are
∫ (𝜌𝐴𝜙1𝑇 𝜙1 𝐵̈ 1 − 2𝜌𝐴𝜙1𝑇 𝜙2 𝐵̇ 2 𝜃̇ − 𝜌𝐴𝜙1𝑇 𝜙2 𝐵2 𝜃̈
0
𝜙1 (𝑥) = 𝐴 1 sin (𝛽1 𝑥) + 𝐴 2 cos (𝛽1 𝑥) , (8)
2 2
− 𝜌𝐴 (𝑎 + 𝑥) 𝜙1 𝜃̇ − 𝜌𝐴𝜙1𝑇 𝜙1 𝐵1 𝜃̇ ) 𝑑𝑥
𝜙2 (𝑥) = 𝐵1 sin (𝛽2 𝑥) + 𝐵2 cos (𝛽2 𝑥) + 𝐵3 sin ℎ (𝛽2 𝑥)
(9) 2
+ 𝐵4 cos ℎ (𝛽2 𝑥) , − 𝑚 (𝑎 + 𝑑) 𝜙1 (𝑑) 𝜃̇ + 𝑚 (𝜙1𝑇 (𝑑) 𝜙1 (𝑑) 𝐵̈ 1

where 𝛽12 = 𝜌𝜔2 /𝐸, 𝛽24 = 𝜌𝐴𝜔2 /𝐸𝐼; 𝐴 1 , 𝐴 2 , 𝐵1 , 𝐵2 , 𝐵3 , and 𝐵4 − 2𝜙1𝑇 (𝑑) 𝜙2 (𝑑) 𝐵̇ 2 𝜃̇ − 𝜙1𝑇 (𝑑) 𝜙2 (𝑑) 𝐵2 𝜃)̈
are unknown parameters.
𝐿
For the cantilever beam, the boundary conditions in axial 2
+ ∫ (𝐸𝐴𝜙1󸀠𝑇 𝜙1 𝐵1 ) 𝑑𝑥 − 𝑚𝜙1𝑇 (𝑑) 𝜙1 (𝑑) 𝐵1 𝜃̇
direction are 𝜙(0) = 0, 𝜙󸀠 (𝐿) = 0. We can get 𝐴 2 = 0, 0
cos(𝛽1 𝑥) = 0.
= 0,
The nature frequency is 𝜔𝑖 = ((2𝑖 − 1)/2)(𝜋/𝐿)√𝐸/𝜌, 𝑖 =
1, 2, . . ., or 𝜔𝑖 = (1/2)(𝜋/𝐿)√𝐸/𝜌, 𝑖 = 1, 3, 5, . . .. The model 𝐿
functions are 𝜙1𝑖 (𝑥) = 𝐴 1 sin(((2𝑖 − 1)/2)(𝜋/𝐿)𝑥), 𝑖 = 1, 2, . . .. ∫ (𝜌𝐴𝜙2𝑇 𝜙2 𝐵̈ 2 + 2𝜌𝐴𝜙1𝑇 𝜙2 𝐵̇ 1 𝜃̇ − 𝜌𝐴 (𝑎 + 𝑥) 𝜙2 𝜃̈
0
The boundary conditions in transverse direction are
2
𝜙(0) = 0, 𝜙󸀠 (0) = 0, 𝜙󸀠󸀠 (𝐿) = 0, 𝜙󸀠󸀠󸀠 (𝐿) = 0. Here, 0 and − 𝜌𝐴𝐵1𝑇 𝜙1𝑇 𝜙2 𝜃̈ − 𝜌𝐴𝜃̇ 𝜙2𝑇 𝜙2 𝐵2 ) 𝑑𝑥 − 𝑚 ((𝑎
𝐿 mean fix side and free side of the beam. Substituting those
conditions into (9) yields 𝐵1 = −𝐵3 , 𝐵2 = −𝐵4 , and 2
+ 𝑑) 𝜙2 (𝑑) 𝜃̈ − 𝐵1𝑇 𝜙1𝑇 (𝑑) 𝜙2 (𝑑) 𝜃̈ − 𝜃̇ 𝜙2𝑇 (𝑑) 𝜙2 (𝑑)
𝐵1 (cos (𝛽2 𝐿) + cos ℎ (𝛽2 𝐿)) 𝐿
2
⋅ 𝐵2 + (𝑎 + 𝑑) 𝐻 (𝑑) 𝐵2 𝜃̇ ) + ∫ (𝐸𝐼𝜙2󸀠󸀠𝑇 𝜙2󸀠󸀠 𝐵2 + (𝑎
+ 𝐵2 (sin (𝛽2 𝐿) + sin ℎ (𝛽2 𝐿)) = 0, 0
(10) 2
− 𝐵1 (sin (𝛽2 𝐿) − sin ℎ (𝛽2 𝐿)) + 𝑥) 𝐻𝐵2 𝜃̇ ) 𝑑𝑥 + 𝑚 (𝜙2𝑇 (𝑑) 𝜙2 (𝑑) 𝐵̈ 2

+ 𝐵2 (cos (𝛽2 𝐿) − cos ℎ (𝛽2 𝐿)) = 0. + 2𝜙1𝑇 (𝑑) 𝜙2 (𝑑) 𝐵̇ 1 𝜃)̇ = 0,

4 Shock and Vibration

𝐿 𝐿
∫ 𝜌𝐴 (𝜃̈ ((𝑎 + 𝑥)2 + 𝐵2𝑇 𝜙2𝑇 𝜙2 𝐵2 + 𝐵1𝑇 𝜙1𝑇 𝜙1 𝐵1 M11 = ∫ 𝜌𝐴𝜙𝑇1 𝜙1 𝑑𝑥 + 𝑚𝜙𝑇1 (𝑑) 𝜙1 (𝑑) ,
0 0

+ 2 (𝑎 + 𝑥) 𝜙1 𝐵1 − 𝐵2𝑇 (𝑎 + 𝑥) 𝐻𝐵2 )) 𝑑𝑥 𝐿
M22 = ∫ 𝜌𝐴𝜙𝑇2 𝜙2 𝑑𝑥 + 𝑚𝜙𝑇2 (𝑑) 𝜙2 (𝑑) ,
0
+ 𝐵1𝑇 𝜙1𝑇 (𝑑) 𝜙1 (𝑑) 𝐵1 + 2 (𝑎 + 𝑑) 𝜙1 (𝑑) 𝐵1 − (𝑎 + 𝑑) 2
K11 = K1 − 𝜃̇ M11 ,
𝐿
⋅ 𝐵2𝑇 𝐻 (𝑑) 𝐵2 + (𝑎 + 𝑑) 𝜙2 (𝑑) 𝐵̈ 2 + ∫ 𝜌𝐴 ((𝑎 + 𝑥) 2 𝑇
0 Q1 = 𝜃̇ (U11 + 𝑎U10 ) ,
⋅ 𝜙2 𝐵̈ 2 + 𝐵1𝑇 𝜙1𝑇 𝜙2 𝐵̈ 2 − 𝐵2𝑇 𝜙2𝑇 𝜙1 𝐵̈ 1 − 𝐵2𝑇 (𝑎 + 𝑥) 𝐻𝐵̇ 2 𝐿
K1 = ∫ 𝐸𝐴𝜙󸀠𝑇 󸀠
1 𝜙1 𝑑𝑥,
+ 2𝜃̇ ((𝑎 + 𝑥) 𝜙1 𝐵̇ 1 )) 𝑑𝑥 + 𝐵1𝑇 𝜙1𝑇 (𝑑) 𝜙2 (𝑑) 𝐵̈ 2 0
𝐿
K2 = ∫ 𝐸𝐼𝜙󸀠󸀠𝑇 󸀠󸀠
2 𝜙2 𝑑𝑥,
− 𝐵2𝑇 𝜙2𝑇 (𝑑) 𝜙1 (𝑑) 𝐵̈ 1 + 2𝜃̇ ((𝑎 + 𝑑) 𝜙1 (𝑑) 𝐵̇ 1 0
2 2
K22 = K2 − 𝜃̇ M22 + 𝜃̇ (D1 + 𝑎D0 ) ,
+ 𝐵1𝑇 𝜙1𝑇 (𝑑) 𝜙1 (𝑑) 𝐵̇ 1
𝐿
𝐿 U1𝑗 = ∫ 𝜌𝐴𝑥𝜙𝑗 (𝑥) 𝑑𝑥 + 𝑚𝑑𝜙𝑗 (𝑑) , 𝑗 = 1, 2,
+∫ 𝜌𝐴 (2𝜃̇ (𝐵1𝑇 𝜙1𝑇 𝜙1 𝐵̇ 1 + 𝐵2𝑇 𝜙2𝑇 𝜙2 𝐵̇ 2 )) 𝑑𝑥 0
0
Q𝜃 = −2𝜃̇ (B𝑇1 M1 Ḃ 1 + B𝑇2 M2 Ḃ 2 + (U11 + 𝑎U10 ) Ḃ 1
+ 𝑚 (𝜃̈ ((𝑎 + 𝑑)2 + 𝐵2𝑇 𝜙2𝑇 (𝑑) 𝜙2 (𝑑) 𝐵2
− B𝑇2 (D1 + 𝑎D0 ) Ḃ 2 ) ,
+ 𝐵2𝑇 𝜙2𝑇 (𝑑) 𝜙2 (𝑑) 𝐵̇ 2 − (𝑎 + 𝑑) 𝐵2𝑇 𝐻 (𝑑) 𝐵̇ 2 )))
𝐿
D0 = ∫ 𝜌𝐴Z (𝑥) 𝑑𝑥 + 𝑚Z (𝑑) ,
= 𝜏, 0

(14) 𝐿
D1 = ∫ 𝜌𝐴𝑥Z (𝑥) 𝑑𝑥 + 𝑚𝑑Z (𝑑) ,
0
𝑥 𝐿
where 𝐻 = ∫0 (𝜕𝜙2 /𝜕𝜉)𝑇 (𝜕𝜙2 /𝜕𝜉)𝑑𝜉.
U10 = ∫ 𝜌𝐴𝜙1 (𝑥) 𝑑𝑥,
From (14), the ordinary differential equations can be 0
rewritten into matrix form as 𝐿
R = ∫ 𝜌𝐴𝜙𝑇1 𝜙2 𝑑𝑥 + 𝑚𝜙𝑇1 (𝑑) 𝜙2 (𝑑) ,
0
𝑀𝜃𝜃 M𝜃1 M𝜃2 𝜃̈ 0 0 0 𝜃̇
[ ] [ ] 𝐿
[M M ]
0 ][ ̈ ] ̇ [ ] [ ̇ ] U20 = ∫ 𝜌𝐴𝜙2 (𝑥) 𝑑𝑥 + 𝑚𝜙2 (𝑑) ,
[ 1𝜃 11 [B1 ] + 2𝜃 [0 0 G12 ] [B1 ] 0
[ M2𝜃 0 M22 ] [B̈ 2 ] [0 G21 0 ] [Ḃ 2 ] 𝑑
(15) Z (𝑑) = ∫ 𝜙󸀠𝑇 󸀠
0 0 0 𝜃 Q𝜃 2 (𝜎) 𝜙2 (𝜎) 𝑑𝜎.
0
[0 k ] [ ] [
0 ] [B1 ] = [Q1 ] (16)
+[ 11 ],
[0 0 k22 ] [B2 ] [0]
3. Dynamical Simulations
where 3.1. First Natural Frequency Analysis. For the study of [6],
the coupling effect between stretching and bending motions
𝐿
can be ignored for slender beams and the natural frequencies
𝑀𝜃𝜃 = ∫ 𝜌𝐴 (𝑥 + 𝑎)2 𝑑𝑥 + 𝑚 (𝑑 + 𝑎)2 + B𝑇1 M11 B1 of stretching motion are far greater than those of bending
0 motion. Therefore, the bending vibration equation of the
beam can be expressed as
+ B𝑇2 M22 B2 + 2 (U11 + 𝑎U10 ) B1 − B𝑇2 (D1 + 𝑎D0 )
2 2
⋅ B2 , 𝑀22 𝐵̈ 2 + (𝐾2 − 𝜃̇ 𝑀22 + 𝜃̇ (𝐷1 + 𝑎𝐷0 )) 𝐵2 = 0, (17)

M1𝜃 = M𝑇𝜃1 = −RB2 , 1 1

where 𝑀22 = ∫0 𝜙2𝑇 𝜙2 𝑑𝜉 + 𝛼𝜙2𝑇 (𝛽)𝜙2 (𝛽), 𝐾2 = ∫0 𝜙2󸀠󸀠𝑇 𝜙2󸀠󸀠 𝑑𝜉,
M𝜃2 = M𝑇2𝜃 = U12 + B𝑇1 R + 𝑎U20 , 𝜉 𝑇 1
𝑍(𝜉) = ∫0 (𝜕𝜙2 /𝜕𝜂)𝑇 (𝜕𝜙2 /𝜕𝜂)𝑑𝜂, 𝑈12 = (∫0 (𝛿 + 𝜉)𝜙2 𝑑𝜉 +
1 𝛽
G12 = −G𝑇21 = −R, 𝛼𝜙2 (𝛽))𝑇 , 𝐷1 = ∫0 (𝛿+𝜉)𝑍(𝜉)𝑑𝜉+𝛼⋅(𝛿+𝛽) ∫0 𝜙2󸀠𝑇 (𝜉)𝜙2󸀠 (𝜉)𝑑𝜉.
Shock and Vibration 5

The nondimensional form of (17) can be obtained: 14

𝑇
𝑀22 𝑘̈ 2 + (𝐾2 − 𝛾2 𝑀22 + 𝛾2 𝐷1 ) 𝑘2 = −𝜒𝑈12 , (18) 12

First natural frequency f

where the nondimensional parameters are 10

𝑡 8
𝜁= ,
𝑇
𝑥 6
𝜉= ,
𝐿
4
𝐵
𝑘2 = 2 ,
𝐿 2
𝑎
𝛿= ,
𝐿 0
0 2 4 6 8 10
𝛾 = 𝑇𝜃,̇ (19) Nondimensional angular speed 𝛾

𝑚 m=0 m = 1.2
𝛼= , m = 0.6 m = 1.8
𝜌𝐴𝐿
Figure 2: Effect of the concentrated mass on the first natural
𝑑 frequency.
𝛽= ,
𝐿
𝜒 = 𝑇2 𝜃,̈
14.8
4 1/2
𝜌𝐴𝐿 14.6
𝑇=( ) .
𝐸𝐼
14.4
The natural frequency of rotating cantilever beam with a
First natural frequency f

14.2
concentrated mass can be studied by solving the eigenvalue
problem for (18). The harmonic function of the nondimen- 14
sional time 𝜁 can be expressed as 13.8

𝑘2 = 𝑒𝑗𝑓𝜁 Θ, (20) 13.6

13.4
where 𝑗 is an imaginary number; 𝑓 is nondimensional
frequency; Θ is a constant column matrix. Substituting (18) 13.2
into (20) yields 13

𝜔2 𝑀Θ = 𝐾𝐶Θ, (21) 12.8

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Nondimensional position 𝛽
where 𝑀 and 𝐾𝐶 are square matrices, which are, respectively,
defined as 𝑀 = 𝑀22 , 𝐾𝐶 = −𝛾2 𝑀22 + 𝛾2 𝐷1 . m=0 m = 0.8
The simulation parameters are as follows: length of beam m = 0.4 m = 1.2
𝐿 = 8 m, radius of the hub 𝑎 = 8 m, cross section area of Figure 3: Effect of the concentrated mass location on the first
the beam 𝐴 = 7.2968 × 10−5 m2 , moment of inertia of cross natural frequency.
section 𝐼 = 8.2189×10−9 m4 , density 𝜌 = 2.7667×103 kg/m3 ,
and elastic modulus 𝐸 = 6.8952 × 1010 N/m2 .
Figure 2 shows the effect of the concentrated mass on
the first natural frequency. The nondimensional position for crossover point of these curves is around 𝛽 = 0.67. When
the numerical results is 𝛽 = 1 (at the free end of cantilever 𝑚 = 0.4 kg, the maximum value position of first natural
beam). The natural frequency curves are lowered when the frequency is 𝛽 = 0.442. When 𝑚 = 0.8 kg, the maximum
concentrated mass increases. However, the lowering effect is value position is 𝛽 = 0.429. When 𝑚 = 1.2 kg, the maximum
attenuated as the concentrated mass ratio increases. value position is 𝛽 = 0.42. The maximum values position
Figure 3 shows the effect of the location of a concentrated decreases with the increasing of mass.
mass on the first natural frequency. With the concentrated
mass moving from the fixed end to the free end, the first
natural frequencies first increase and then decrease. The 3.2. The Effect of the Concentrated Mass on the Flexible Beam.
variation increases as the concentrated mass increases. The The angular velocity of large range motion is supposed as an
6 Shock and Vibration

0.01 0.02

0 0.015
−0.01
Transverse deformation (m)

0.01

Transverse velocity (m/s)

−0.02
0.005
−0.03
0
−0.04
−0.005
−0.05
−0.01
−0.06

−0.07 −0.015

−0.08 −0.02
0 5 10 15 20 0 5 10 15 20
t (s) t (s)

m=0 m=0
m = 0.1 m = 0.1
(a) (b)

Figure 4: Effect of the concentrated mass on the response when flexible beam is subjected to acceleration process, (a) deformation and (b)
velocity.

acceleration process
𝜔 𝜔0 2𝜋
{ 0
̇𝜃 = 𝑇 𝑡 − 2𝜋 sin ( 𝑇 𝑡) , 0 ≤ 𝑡 ≤ 𝑇
{ (22)
{𝜔0 ,
When the time is 𝑇 = 15 s, the angular speed of the
flexible beam became rotating with a constant speed 𝜔0 =
10 rad/s. The simulation parameters are as follows: length of
beam 𝐿 = 8 m, radius of the hub 𝑎 = 0, cross section area
of the beam 𝐴 = 7.2968 × 10−5 m2 , moment of inertia of
cross section 𝐼 = 8.2189 × 10−9 m4 , density 𝜌 = 2.7667 ×
103 kg/m3 , and elastic modulus 𝐸 = 6.8952 × 1010 N/m2 .
When the concentrated mass position parameter 𝛽 = 1, the
effects of concentrated mass on the dynamical response are
shown in Figure 4. The free end vibration of flexible beam
has been increased by the concentrated mass. The velocity
and deformation with concentrated mass are bigger than
those without concentrated mass. The variable of response is
aggravated by concentrated mass at the free end.
For another situation, supposing that there is a sine
function couple on the hub. The couple with time variable can
be written as
{𝜏0 sin ( 𝑡) ,
𝜏 (𝑡) = {
{0,
where 𝜏0 = 1 N⋅m, 𝑇 = 10 s. The parameter 𝛽 is 1. After
10 s, the couple is 0. Figure 5 shows the response of angular
displacement and transverse deformation. From 0 to 10 s, the
angular displacement of the free end of the beam has been
depressed by the concentrated mass increasing. There exist
periodic vibrations after the couple of forces change to 0.
The transverse deformation has been slightly increased by
concentrated mass. However, the concentrated mass stables
the vibration of the free end of the beam. All these show that
the concentrated mass mainly suppresses the vibration and
exhibits damping characteristics.
𝑡 > 𝑇.
4. Conclusion
By establishing the dynamics model of rigid-flexible coupling
system, the dynamic equation of the flexible beam with con-
centrated mass is derived in this paper. The main conclusions
were as follows:
(1) When the nondimensional mass position parameter
𝛽 > 0.67, the first natural frequency is reduced
when the concentrated mass increases. When 𝛽 <
0.67, the first natural frequency is increased when
the concentrated mass increases. By considering the
high order coupling, the critical value 0.67 is a better
prediction and a simulation value for this system.
Further experiment is needed to get the true value.
(2) The maximum first natural frequency position is
near 0.42 (nondimensional mass position parameter)
when the concentrated mass increases, comparing
with the result 0.4 in [6] which does not consider the
2𝜋
0≤𝑡≤𝑇 high order coupling.
𝑇 (23)
(3) The concentrated mass mainly suppresses the vibra-
𝑡 > 𝑇,
tion and exhibits damping characteristics.
Notations
Summary of the General Notation Used in Figure 1
𝑎: Radius of the hub
𝐽𝑜ℎ : Moment of inertia of the central rigid body
around 𝑂
Shock and Vibration 7

2 1.8913

1.8
1.8913
1.6
1.8913
1.4

Angular displacement
Angular displacement

1.2 1.8912

1
1.8912
0.8
1.8912
0.6

0.4 1.8912

0.2
1.8912
0
0 5 10 15 10 11 12 13 14 15
t (s) t (s)

m = 0.1
m=0
(a) (b)
×10−3
0.1 2

0.08
1.5
0.06
1
0.04
Transverse deformation
Transverse deformation

0.5
0.02

0 0

−0.02 −0.5
−0.04
−1
−0.06
−1.5
−0.08

−0.1 −2
0 5 10 15 10 11 12 13 14 15
t (s) t (s)
m = 0.1 m = 0.1
m=0 m=0
(c) (d)

Figure 5: Effect of the concentrated mass on the angular displacement and transverse deformation when flexible beam is subjected to a sine
function couple: (a) angular displacement, (b) local diagram of angular displacement, (c) transverse deformation, and (d) local diagram of
transverse deformation.

𝐿: Length of the flexible beam Competing Interests

𝜌𝐴𝐿: Mass of the flexible beam
𝐸𝐴: Tension and compression stiffness of the flexible The authors declare that there is no conflict of interests
beam regarding the publication of this paper.
𝐸𝐼: Bending stiffness of the flexible beam
𝐽𝑜𝑏 : Moment of inertia of the flexible beam around
𝑂 Acknowledgments
𝑚: Quality of concentrated mass
𝑟𝑑 : Concentrated mass position on the beam This work was supported by the National Natural Science
𝑑: Distance between the concentrated mass and 𝑜 Foundation of China (Grant nos. 11272257 and 11672237) and
𝜃: Angle between the beam and the 𝑥-axis. NPU Aoxiang New Star.
8 Shock and Vibration

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