Applied Mathematical Modelling 40 (2016) 1754–1768

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Applied Mathematical Modelling

journal homepage: www.elsevier.com/locate/apm

Dynamics of polymer and polymer composite rotors – An

operator based finite element approach
H. Roy a,∗, J.K. Dutt b,1
a
Department of Mechanical Engineering, National Institute of Technology, Rourkela 769008, Orissa, India
b
Department of Mechanical Engineering, Indian Institute of Technology Delhi, Hauz Khas, 110016 New Delhi, India

a r t i c l e i n f o a b s t r a c t

Article history:
Received 20 September 2013
Revised 15 June 2015
Accepted 11 August 2015
Available online 30 September 2015
Keywords:
Viscoelastic composite rotor dynamics
Anelastic displacement field (ADF)
Viscoelastic model-parameters
Stability limit of spin speed
Synchronous unbalance response
This paper presents a differential time operator based approach to obtain equations of motion
of a generally viscoelastic rotor–shaft after discretizing the shaft continuum with finite beam
elements. The equations of motion are utilized to study dynamic behaviour of a generic vis-
coelastic composite rotor–shaft comprising of viscoelastic reinforcing fibres in a viscoelastic
matrix. Anelastic Displacement Field model (ADF), a time-domain material model, is used to
represent the viscoelastic constitutive relationships. The model parameters are extracted by a
Genetic Algorithm based optimisation procedure from frequency-dependent values of storage
and loss modulii. For an example the composite rotor is assumed to be made by reinforc-
ing unidirectional long graphite fibres in a PVC (Poly-Vinyl-Chloride) matrix. The equations
of motion are used for numerical simulation as well as comparison of stability limit of spin
speed and unbalance response amplitude at the disc of two rotor–shaft systems, one made of
pure PVC and the other made by reinforcing graphite fibres in the PVC matrix. It is concluded
that reinforcement of long fibre, enhances the stability limit of spin speed as well as the first
natural frequency in comparison with those of rotor–shaft made of pure PVC.
© 2015 Elsevier Inc. All rights reserved.

1. Introduction

Polymers are viscoelastic by nature meaning that any strain results in simultaneous energy storage and dissipation, and so
these are suitable for structural vibration reduction and vibration control. Nakra [1] has presented many applications of such
materials for vibration reduction. High strength to weight ratio and efficient damping mechanism are the primary inspirations
to use polymers and polymer composites for vibration reduction in structures. However, low elastic modulus in comparison
with structural materials (like steel, aluminium) is the principal disadvantage, which may be overcome sufficiently through
reinforcement. This paper attempts to present an analytical as well as numerical study of the dynamic behaviour of a viscoelastic
composite rotor–shaft-system, assumed to be made by reinforcing polymer matrix with suitable viscoelastic fibres laid parallel
to the shaft axis. Thus the suitability of such rotors for industrial use, at least for low duty and normal temperature environment,
may also be examined. The development of equations of motion through mathematical modelling of such rotor forms the basis
and this is also the primary contribution of this work.
It is well known that subject to harmonic excitations, storage modulus and loss factor of viscoelastic materials, in general, vary
with frequency of excitation. Various time domain models like rheological models and internal variable models are generally

∗
Corresponding author. Tel.: +91 9437437560/+91 661 2462526; fax: +91 6612462501.
E-mail addresses: hroy77@rediffmail.com, royh@nitrkl.ac.in (H. Roy), jkdutt@gmail.com (J.K. Dutt).
1
Tel.: +91 11 26596334.

http://dx.doi.org/10.1016/j.apm.2015.08.021
S0307-904X(15)00545-4/© 2015 Elsevier Inc. All rights reserved.
 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768 1755

Nomenclature

a polynomial coefficient for numerator

A cross-sectional area of the beam
b polynomial coefficient for denominator
B inverse of relaxation time
C material constitutive coupling parameter
D first order differential time operator, i.e. ddt()
DR , DD diameter of the rotor and disc, respectively
e disc eccentricity
E elastic modulus
EA anelastic modulus
E() modulus operator
E∗ complex modulus
f ADF for beam bending, corresponding to ɛA
F objective function
H Helmholtz free energy density function
I area moment of inertia
l element length
L length of the shaft
m mass of the disc
Myy , Mzz bending moment about y-axis and z-axis, respectively
Nf , Nm total number of dissipation field for fibre and matrix material, respectively
p vector of ADF displacements
q vector of mechanical displacements
ro outer radius of the rotor–shaft
R deformation of the rotor centre line
S constant of proportionality
SLS stability limit of spin speed
t time in seconds
tD thickness of the disc
u, v, w mechanical displacement along the x, y and z axis respectively
U disc unbalance
UBR unbalance response amplitude of the disc
vf , vm volume fraction of fibre and matrix material respectively
Wf fibre weight fraction
ɛ mechanical strain
ɛA anelastic strain
ɛE elastic strain
η loss factor
φ Hermite shape function
,  rotations about the y and z, axis respectively
ρ density of the material
σ mechanical stress
σA anelastic stress
ω whirl speed in (rad/s)
spin speed in (rad/s)

used to represent linear viscoelastic material behaviour. Bland [2], Shames and Cozzarelli [3] among others, reported different
rheological models with the help of linear spring-dashpot network. The linear viscoelastic behaviour is assumed in this work
by considering deflections of rotor–shaft, particularly a composite one, are small enough to stay within the boundary of linear
viscoelastic behaviour. Rather the design of such a rotor is such that large deflection is precluded.
Different internal variable approaches are reported in literature. Bagley and Torvik [4,5] proposed the fractional derivative op-
erator and represented a linear viscoelastic continuum by using finite elements with four empirical model parameters. Padovan
[6] conceptualized a fractional derivative model, where factional derivative operators act on both stress and strain. Golla and
Hughes [7] proposed the hereditary integral to form the viscoelastic model. Golla-Hughes model is further extended by Mc-
Tavish and Hughes [32,33] and proposed a new model named as GHM (Golla-Hughes-McTavish). The Augmenting Thermo-
dynamic Field model (ATF) is reported by Lesieutre [8], Lesieutre and Mingori [9] and Lesieutre [10], where single or multi-
ple thermodynamic field is introduced depending upon the accuracy required to take into account the dissipation. Anelastic
1756 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768

Displacement Field model (ADF) is reported by Lesieutre and Bianchini [11] and Lesieutre et al. [12], where the concept of anelas-
ticity (not elasticity, i.e. where the energy stored due to a load causing deformation is not given back in full after the load is
removed) is introduced to take into account the effect of dissipation. As in the case of ATF, either single or multiple ADF may be
introduced for desired accuracy of modelling the viscoelastic behaviour. The authors applied the approach to model viscoelastic
beam continua after discretizing the same with finite beam elements.
Frequency dependent material properties, like storage modulus and loss factor, are commonly reported in literature for semi-
solids, e.g. by Nashif et al. [13], for representing viscoelastic material properties in the frequency domain. However time-domain
viscoelastic models are more generic in comparison with the frequency-domain models as the time-domain models are more
suitable for both transient and forced response analyses; however extraction of such models may be challenging. Among different
time domain models in literature, the ADF approach has been considered in this work and the corresponding viscoelastic model
parameters have been found out for Poly Vinyl Chloride (PVC) by referring to Asnani [14] and Kapur et al. [15] who extracted
4-element linear viscoelastic semi-solid model based on experimental data of frequency dependent values of storage modulus
and loss factor at different temperatures.
It is well known that material damping in spinning shaft generate rotating damping force on the shaft and such forces tend
to destabilize a rotor–shaft system. Mathematically this effect is manifested by the presence of skew-symmetric stiffness ma-
trix (called the circulatory matrix by Zorzi and Nelson [16]) in the equations of motion. Dimentberg [17], Zorzi and Nelson
[16], Ozguven and Ozkan [18] and Ku [19], of many others, have assumed the material of a rotor–shaft to follow the consti-
tutive law represented by a 2-element model or Voigt model in the spin synchronized frame and deduced the equations of
motion with respect to fixed (non spinning) frame of reference. More recently Genta [20] presented the effect of including
a hysteretic damping model to represent the dissipation law as the hysteretic dissipation is commonly followed by all struc-
tural materials. Singh and Gupta [21] used a complex modulus approach to take into account the damping in the matrix of
a composite rotor and analysed frequency response, whereas in another paper, Singh and Gupta [22], the authors adopted a
combination of viscous and hysteretic models to represent the dissipation law. Both creep and stress relaxation behaviour of
a generally viscoelastic material can closely represented by 3 or multi-element models. Papers on modelling rotor continuum
made of generally viscoelastic materials and the study of dynamics are rather few. Grybos [23] has analysed the dynamics of a
viscoelastic rotor–shaft by considering a lumped 3-element rheological model (Hooke’s and Kelvin–Voigt element, connected
in series) to represent the material behaviour of the rotor. Roy et al. [24] have used the ATF approach and have considered
the parametric values for Aluminium reported by Lesieutre [9] to extend the procedure of Zorzi and Nelson [16] for predicting
stability limit of spin speed and unbalanced response amplitude of an Aluminium rotor–shaft system. Friswell et al. [25] have
reported an internal variable based approach to study the dynamic characteristics of a viscoelastic rotor. In a recent study by
Dutt and Roy [26] have developed a finite element model to obtain the equations of motion of a generally viscoelastic rotor–
shaft system by using time operator based approach. In this approach the constitutive behaviour of the shaft material, consid-
ered to be a linear viscoelastic semisolid, is represented by a linear differential time operator and the authors have shown that
such a representation largely simplifies the formulation of the equations of motion. This paper has been utilized to formulate
the equations of motion in this work. Roy et al. [27] have reported the simulation and the dynamic behaviour of a viscoelas-
tic rotor composed of different layers of viscoelastic materials by extending the operator based approach proposed by Dutt
and Roy [26].
For an example, in the present work the equations of motion of a PVC rotor shaft reinforced by laying graphite fibres parallel
to the shaft axis are first found out by considering both PVC and graphite as viscoelastic. Finite element approach is employed to
discretize the continuum where Euler-bernowli beam theory is used. Preparation and characterisation of composite made of PVC
with carbon fiber is found from Rathy et al. [28]. The choice of PVC as a rotor material is inspired primarily by the availability of
its data rather than its utility or industrial use. For this, the ADF model parameters for PVC are first extracted by using a Genetic
Algorithm based optimisation procedure from the experimental values of storage modulus and loss factor reported by Asnani [14]
and Kapur et al. [15] at several temperatures and frequencies of excitation. The ADF model parameters for viscoelastic graphite
fibre are obtained from Lesieutre [29]. The equations of motion are next used to find the dynamic behaviours in the form of
Stability Limit of Spin-speed (SLS), and unbalance response amplitude at the rotor disc. A comparison of the dynamic behaviours
between (1) PVC and a (2) PVC-composite rotor–shaft is reported next. It is observed that reinforcement with graphite fibres laid
parallel to shaft axis postpones resonant response and increases the stability limit of spin speed of the rotor–shaft system. So
this work proposes a generic approach to find out the equations of motion of a viscoelastic rotor–shaft continuum reinforced by
a viscoelastic fibre for the study of dynamics of generally viscoelastic composite rotor–shaft-systems.

2. Constitutive relations by using multiple-ADF approach

The composite shaft material is assumed to be made by uniformly reinforcing continuous long fibres parallel to the shaft-
axis in a polymer matrix, where both fibre and the matrix are assumed to be viscoelastic in nature. In this case constitutive
relationships of both are modelled by considering multiple ADFs (Anelastic Displacement Fields) for accuracy. The longitudinal
strain is assumed to be uniform in both the fibre and the matrix. Considering Nf ADFs for fibre and Nm ADFs for the matrix (the
subscripts ‘f’ and ‘m’ represent fibre and matrix respectively) interact among each other. Helmholtz free energy for fibre and
matrix material is given by Eq. (1) after following Lesieutre [29] and Lesieutre et al. [12]. Corresponding expressions for stress
 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768 1757

are given by Eq. (2).

   
   2 
Nf
1  1 
m N
E f ε2 − 2E f εε Afj − E Afj ε Af j E m ε2 − 2Em εεm εA
2
A A
Hf = ; Hm = − Em j mj
, (1)
2 2 j
j=1 j=1

 Nf
  
∂Hf  ∂ Hm 
Nm
σf = = Ef ε − ε f j ; σm =
A
= Em ε − εm j ,
A
(2a)
∂ε j=1
∂ε j=1

∂Hf   ∂ Hm  
σ fAj = − = E f ε − C f j ε Afj ; σmA j = − A = Em ε − Cm j εm
A
. (2b)
∂ε f j
A ∂εm j j

In the preceding equations E is the elastic or un-relaxed modulus of the material, σ is the total mechanical stress, ɛ is the
total mechanical strain, σ A is the anelastic stress, ɛA is the anelastic strain, EA is the anelastic material modulus and C is the
A
material constitutive coupling parameter given by C = EE . The subscripts f, m, j stand for fibre, matrix and the index for jth ADF,
respectively.
The time rate of change of anelastic strain is considered to be proportional to anelastic stress or in a way proportional to the
difference between the actual and equilibrium value of anelastic strain. This gives rise to a first order differential equation or
relaxation equation as obtained for fibre and matrix in (3a).
   
ε̇ Afj = Sσ fAj = −B f j ε Afj − ε̄ Afj ; ε̇mA j = SσmA j = −Bm j εmA j − ε̄mA j . (3a)

In the preceding equation Bj is the inverse of relaxation time for the jth field, S is a constant of proportionality, and ε̄ Aj denotes
the values of ε Aj at equilibrium, when σ jA = 0. Putting σ jA = 0 in Eq. (2b), the values of ε̄ Aj are obtained as follows:
ε̄Aj = C j ε.
1

The jth relaxation equation for fibre and matrix are rewritten as follows:
Bfj Bm j
ε̇ Afj + B f j ε Afj = ε ; ε̇mA j + Bm j εmA j = ε, (3b)
Cfj Cm j
or,
Bfj 1 Bm j 1
ε Afj = ε; εmA j = ε, (3c)
Cfj Bf j + D Cm j Bm j + D

where the differential time operator D = ddt() .

Puttting the values of ɛA from Eq. (3c) in Eq. (2a), the constitutive relationship for fibre and matrix are rewritten as follows:
 Nf
  
 Bfj 1 
Nm
Bm j 1
σf = Ef 1 − ε = E f ()ε ; σm = Em 1 − ε = Em ()ε ; (4)
Cfj Bfj + D Cm j Bm j + D
j=1 j=1

As the strain is assumed to be uniform both in fibre and matrix material, a situation valid for perfect bonding between the
fibre and the matrix, the equivalent longitudinal stress in the composite material is obtained by using the rule of mixture as in
Eq. (5a).
 
σ = σ f v f + σm vm = E f ()v f + Em ()vm ε = E()ε . (5a)

In (5a), E () is the differential modulus operator. Putting the expressions of σ f and σ m from Eq. (4) and after simplification
Eq. (5a) may be written in the form as follows:
N f +Nm
Nu(D ) j=0
a jD j
E() = = . (5b)
Dn(D ) N f +Nm
b jD j
j=0

In (5b), aj ’s and bj ’s are the coefficients of the numerator and denominator polynomials and  Dj  indicates the jth order of
differentiation i.e. D j = d ()j
j

dt
The instantaneous stress σ is obtained from the Eq. (5a) by operating the expression of instantaneous strain (ε ) by the mod-
ulus operator. It may be seen that the time operator portion of E () yields a non-zero value only if the strain is dynamic and
gives rise to dynamic stress. Examining the form of the operator in (5b) it may be seen that the numerator and denominator
have polynomials of ‘D’ of order (N f + Nm ). The advantage of using a generic expression of the operator is that, by using suit-
able values of Nf and Nm in the constitutive relationships, any number of anelastic fields may be used to represent the material
constitutive property. For an example, the generic expression of the modulus operator of a viscoelastic material modelled with
two ADF, say two fields for the matrix and no field for the fibre, which is considered elastic (Nf = 0, Nm = 2) and a viscoelastic
1758 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768

composite modelled with single ADF each for both matrix and reinforcing material (Nf = 1, Nm = 1), is given by Eq. (5c), however
the coefficients will be different.
a0 + a1 D + a2 D2
E() = , (5c)
b0 + b1 D + b2 D2
Bm1 Bm2
where a0 = Em Bm1 Bm2 (1 − 1
Cm1 − 1
Cm2 ), a1 = Em (Bm1 + Bm2 − Cm1 − Cm1 ), a2 = Em , b0 = Bm1 Bm2 , b1 = Bm1 + Bm2 , b2 = 1 for the
viscoelastic isotropic material and for the viscoelastic composite.

1 1
a0 = E f B f1 Bm1 v f 1 − + Em B f1 Bm1 vm 1 − ,
C f1 Cm1
1 1
a1 = E f B f1 v f 1 − + E f Bm1 v f + Em Bm1 vm 1 − + Em B f1 vm , a2 = E f v f + Em vm , b0 = B f1 Bm1 ,
C f1 Cm1
b1 = B f1 + Bm1 , b2 = 1.

3. Finite element model of viscoelastic rotors

First a viscoelastic beam is discretized with equal finite beam elements of length ‘l’ each; one such element is shown in Fig. 1
below with nodal displacement variables. The effects due to rotary inertia and gyroscopic action (generated by vibratory motion
of spinning rotor–shaft and rotor–disc) have been taken into account to derive the equations of motion. The effect due to shear
deformation may easily be included, however the same, has been left out at present for simplicity. Mechanical and anelastic
displacements are denoted by qiy , qiz (i = 1–4) and pky , pkz , (where k = 1–2) respectively, where pky , pkz , are the coordinates
showing the internal variable (single ADF).
For defining the kinematics, Fig. 2 is drawn. This shows the displaced position of the cross section of the shaft defined by
the coordinates of its centre (v, w) at a distance u from any suitable inertial reference frame and an element of differential
radial thickness dr at a distance r (where r varies from 0 to r0 ) subtending a differential angle d( t) where is the spin speed
in rad/s and t varies from 0 to 2π . Due to simultaneous transverse vibration and spin, the rotor–shaft cross-section has two
simultaneous rotations (i) due to spin, causing a rotary motion about the axis of the shaft and (ii) due to whirl, which is caused by
the vibratory motion, as a result of which the rotor-section rotates about the bearing centre-line, respectively. Both the rotations
of an infinitesimal shaft element at the instant ‘t’ are measured from the horizontal as shown.
Let σ x and ɛx denote respectively the dynamic normal mechanical stress and strain induced in the element at the tth instant of
time. Zorzi and Nelson [16] expressed the mechanical strain in the ‘x’ direction, which is along the length of the shaft as follows:

∂ 2 R(x, t )
εx = −r cos [( − ω)t] . (6)
∂ x2

q1 y q3 y q1z q3 z
q4 y q4 z
q2 y q2 z
y z
p1 y p2 y p1z p2 z
l l

x a x
b
Fig. 1. A damped beam bending element showing the nodal displacements of two fields.

z
d (Ω t )
dr

r ( Ωt )
v

r0
R w

(ω t )
y

Fig. 2. Displaced position of the shaft cross-section.

 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768 1759

Expression of the bending moments Myy and Mzz at the tth instant about the y and z-axes, are expressed respectively as given
in Eq. (7a) below.
2π ro
Mzz = −(v + r cos ( t ))σx rdrd( t )
0 0
(7a)
2π ro
Myy = (w + r sin ( t ))σx rdrd( t ).
0 0

Following Dutt and Roy [26] the expression of σ x from Eq. (5a) is substituted in the expression of bending moment (Eq. (7a))
and then utilizing the expressions of ε x given in Eq. (6), the expressions for bending moments are rewritten as in Eq. (7b) below.
2π

ro
∂ 2 R(x, t )
Mzz = −(v + r cos t )E() −r cos ( t − ωt ) rdrd( t )
0 0 ∂ x2
2π
 (7b)
ro
∂ 2 R(x, t )
Myy = (w + r sin t ) ()
E −r cos ( t − ω t ) rdrd( t ).
0 0 ∂ x2
It may be noted in Eq. (7b) that the operator E () is a combined generic differential time operator to represent the overall
constitutive relationship of a generally linear viscoelastic behaviour where the viscoelastic semisolid may have reinforcing vis-
coelastic materials laid in the continuum. In this paper the reinforcing fibres have been considered to be laid parallel to the shaft
axis, however the approach detailed here may be applied in general i.e. for situations where fibres are laid at different angles
layer-wise; such a study will be reported later. It may also be noted by following Dutt and Roy [26] that the operator is operated
exclusively on the terms inside the square bracket [] containing the expression of strain to give the expression of stress but does
not work on other terms, (v + r cos ( t) and w + r sin ( t)) forming the instantaneous moment arms in the respective planes at
any instant of time. Hence the expressions of moment arms are perceived as constants as far as the operation of the operator E ()
is concerned. With this reasoning the expressions of the moment arm may safely be included inside the square bracket []. This is
a very important point in this analysis. Following this logic the Eq. (7b) may be rewritten again.
For a total number of ADF = 1 e.g. 1 ADF for modelling the matrix and no ADF for the fibre i.e. for (N f + Nm ) = 1, when the
fibre is considered purely elastic the expression of bending moments are as follows:
2π
1 ro
∂ 2R ∂ 3R
Mzz = r2 (v + r cos t ) a0 cos ( t − ω t ) + a1 cos ( t − ω t ) 2 ,
b0 + b1 D 0 0 ∂x 2 ∂ x ∂t

∂ 2R
−a1 ( − ω) sin ( t − ω t ) 2 drd( t )
∂x
2π
1 ro
∂ 2R ∂ 3R
Myy = − r2 (w + r sin t ) a0 cos ( t − ω t ) + a cos ( t − ω t ) .
b0 + b1 D 0 0 ∂ x2 1
∂ x2 ∂ t

∂ 2R
− a1 ( − ω) sin ( t − ω t ) 2 drd( t )
∂x
After performing the integrations as follows:
I
Mzz = [a0 v + a1 v̇ + a1 w ],
b0 + b1 D
I
Myy = − [a0 w + a1 ẇ − a1 v ],
b0 + b1 D
or,
     
Mzz I a0 a1 v a1 0 v̇
= + , (8a)
Myy b0 + b1 D a1 −a0 w 0 −a1 ẇ

where, the area moment of inertia is given by I = A y2 dA, and the symbols ‘.’ (dot over a variable), ‘ ’ (prime over a variable)
denote single differentiation of the variable with respect to time ‘t’ and space ‘x’, respectively.
Similarly the expressions of bending moments for a total number of ADF = 2 i.e. (N f + Nm ) = 2, are given as follows:
2π
1 ro
∂ 2R ∂ 3R
Mzz = r2 (v + r cos t ) a0 cos ( t − ω t ) + a1 cos ( t − ω t ) 2
b0 + b1 D + b2 D2 0 0 ∂x 2 ∂ x ∂t
∂ 2R ∂ 4R
− a1 ( − ω) sin ( t − ω t )
+ a2 cos ( t − ω t ) 2 2
∂x 2 ∂ x ∂t

∂ 3R ∂ 2R
−2a2 ( − ω) sin ( t − ω t ) 2 − a2 ( − ω) cos( t − ω t ) 2 drd( t ),
2
∂ x ∂t ∂x
1760 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768

2π
1 ro
∂ 2R ∂ 3R
Myy = − r2 (w + r sin t ) a0 cos ( t − ω t ) + a1 cos ( t − ω t ) 2 .
b0 + b1 D + b2 D2 0 0 ∂x 2 ∂ x ∂t
∂ 2R ∂ 4R
−a1 ( − ω) sin ( t − ω t )
+ a2 cos ( t − ω t ) 2 2
∂ x2 ∂ x ∂t 
∂ 3R ∂ 2R
− 2a2 ( − ω) sin ( t − ω t ) 2 − −a2 ( − ω) cos( t − ω t ) 2 drd( t )
2
∂ x ∂t ∂x
After performing the integration as follows:
I
Mzz = [a0 v + a1 v̇ + a1 w + a2 v̈ + 2 a2 ẇ − 2
a2 v ],
b0 + b1 D + b2 D2
I
Myy = − [a0 w + a1 ẇ − a1 v + a2 ẅ − 2 a2 v̇ − 2
a2 w ],
b0 + b1 D + b2 D2
or,
       
Mzz I a0 − a2 2
a1 v a1 2a2 v̇ a2 0 v̈
= + + . (8b)
Myy b0 + b1 D + b2 D2 a1 −a0 + a2 2 w 2a2 −a1 ẇ 0 −a2 ẅ
For the 2-noded finite beam element with 4 degrees of freedom per node the displacements v (x, t), w(x, t) along and slopes
(x,t),  (x,t) about ‘y’ and ‘z’ axes are given by Eq. (9), where [φ (x)] gives the shape function matrix and {q(t)} denotes the nodal
displacement vector. The arguments ‘x’ and ‘t’ have been dropped later for convenience.
 
v(x, t ) ∂w ∂v
= [φ(x)] {q(t )};  = − ; =
T
. (9)
w(x, t ) ∂x ∂x
   T  Mzz
The differential bending energy is given by dPBe = Myy
} and this expression may be integrated over the length of the
1
2
element to obtain the expression of the total bending energy, which comprises strain energy and dissipation function, is given as
follows:
 T  
1 l
v Mzz
PBe = dx (10)
2 0 −w Myy

At tth instant of time, the expressions of generalized force vectors due to bending are obtained, in terms of nodal displacement
vector and time derivatives, by utilizing the bending moment Eqs. (8) and (9) in Eq. (10), the bending energy expression. The
stiffness, circulatory as well as damping matrices (generally identified in a rotating system) may be obtained from the expression
of generalized forces. The diagonal elements in the expression of bending moment give rise to direct stiffness, direct damping
matrix whereas the off-diagonal elements give rise to cross coupled elements resulting in the circulatory matrix. Ref. [18] may be
seen for details. The expressions of generalized force vectors comprising of forces and moments acting in the x-y and z-x planes
are given by:
For 1-ADF model (i.e. (N f + Nm ) = 1)
 
{Fxy }(4x1) I  
{F } = = a0 [Kb ](8×8) {q}(8×1) + a1 [Kc ](8×8) {q}(8×1) + a1 [Kb ](8×8) {q̇}(8×1) . (11a)
{Fzx }(4x1) (b0 + b1 D)
Similarly for 2-ADF model (i.e. (N f + Nm ) = 2)
⎡ ⎤
  (a0 − a2 2 )[Kb ](8×8) {q}(8×1) + a1 [Kc ](8×8) {q}(8×1)
{Fxy }(4x1) I
{F } = = ⎣+a1 [Kb ](8×8) {q̇}(8×1) + 2a2 [Kc ](8×8) {q̇}(8×1) ⎦. (11b)
{Fzx }(4x1) (b0 + b1 D + b2 D2 )
+a2 [Kb ](8×8) {q̈}(8×1)
l l 0 1
I[φ  (x)][φ  (x)] dx, [Kc ] =
I[φ  (x)] −1 [φ  (x)] dx, in
T T
The expression of [Kb ] and [Kc ] are given as follows: [Kb ] = 0 0 0
{φxy (x)} {0} 
which, the Hermite shape function matrix [φ (x)], (refer to Rao [30]) is given by [φ(x)] = {0} {φzx (x)} , with subscripts in
the elements showing the respective planes.
By incorporating these forces with the inertia forces, which are obtained from the expression of kinetic energy [Rao [30]], the
equation of motion are given as follows:
[M]{q̈} + [G]{q̇} + {F } = {P }. (12a)
After operating the operand on the nodal displacement vector and time derivatives and arranging terms with same orders
of differentiation together, the equations of motion of one shaft element for 1-ADF and 2-ADF are given below in Eqs. (12b) and
(12c) respectively where it is assumed that the rotor rotates at a uniform speed of (rad/s).
...
b1 [M]{ q } + (b0 [M] + b1 [G]){q̈} + (b0 [G] + a1 [Kb ]){q̇} + (a0 [Kb ] + a1 [Kc ]){q} = (b0 + b1 D){P } (12b)
 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768 1761

.... ...
b2 [M]{ q } + (b1 [M] + b2 [G]){ q } + (b0 [M] + b1 [G] + a2 [Kb ]){q̈}
 
+(b0 [G] + a1 [Kb ] + 2a2 [Kc ]){q̇} + a0 [Kb ] + a1 [Kc ] − a2 2
[Kb ] {q}
 
= b0 + b1 D + b2 D2 {P }. (12c)
In the preceding equation {P} is the external nodal force vector, [M](8x8 ) = [MT ](8x8 ) + [MR ](8x8 ) , [MT ](8x8) is the translational
inertia matrix, [MR ](8x8) is the rotary inertia matrix, [G](8x8) is the gyroscopic matrix. The expressions of translational mass matrix,
rotary inertia matrix and gyroscopic matrix are given below after following Rao [30].
l l l

0 1
[MT ] = ρ Aφ(x)φ(x)T dx, [MR ] = ρ Iφ  (x)φ  (x)T dx, [G] = 2 ρ I φ  ( x) φ  (x)T dx.
0 0 0 −1 0

It may be noted that the 3rd and 4th order differential equations of motion result in this process where the order of the
differential equation depends on the number of anelastic displacements fields (ADF) used to represent the viscoelastic material
behaviour or the constitutive relation. For an example it may be cited that Dutt and Nakra [31] obtained a third order differential
equation as they modelled the rotor supports of an elastic rotor–shaft system by using a 4-element spring-dashpot model.
Eq. (12) can be rewritten as follows:
(N f +N
m )
+2 (N f +Nm )

[A j ](8×8) D j ({q}(8×1) ) = b j D j ({P }(8×1) ). (13)
j=0 j=0

In the above equation the matrix [Aj ](8 × 8) denotes the matrix coefficient to the jth order of differentiation of {q}(8 × 1) and ‘bj ’
are the coefficients to the ‘jth ’ order of differentiation of the external force given by the vector {P}(8 × 1) .
Eq. (13) may be further expressed in the state space as follows in (14):
 
[A] Ẋ + [B]{X } = {P }, (14)

where for 1-ADF model i.e. (N f + Nm ) = 1,

⎡ ⎤ ⎡ ⎤ ⎧ ⎫ ⎧ ⎫
[A3 ] [0] [0] [0] −[A3 ] [0] ⎨{q}⎬ ⎨{0}⎬
[A] = ⎣ [0] [A3 ] [0] ⎦, [B] = ⎣ [0] [0] −[A3 ]⎦, {X } = {q̇} , {P } = (b0 + b1 D) {0}
⎩ ⎭ ⎩ ⎭
[0] [0] [A3 ] [A0 ] [A1 ] [A2 ] {q̈} {P}
For 2-ADF model i.e. (N f + Nm ) = 2,
⎡ ⎤ ⎡ ⎤
[A4 ] [0] [0] [0] [0] −[A4 ] [0] [0]
⎢ [0] [A4 ] [0] [0] ⎥ ⎢ [0] [0] −[A4 ] [0] ⎥
[A] = ⎣
[0] ⎦
[B] = ⎣
−[A4 ]⎦
, ,
[0] [0] [A4 ] [0] [0] [0]
[0] [0] [0] [A4 ] [A0 ] [A1 ] [A2 ] [A3 ]
⎧ ⎫ ⎧ ⎫
⎪ {q} ⎪ ⎪{0}⎪
⎪ ⎪
⎨ {q̇} ⎬ ⎪ ⎪
  {0}⎬
⎨
{X } = , {P } = b 0 + b1 D + b2 D2
⎪
⎪ {q̈} ⎪ ⎪{0}⎪
⎩ ... ⎪⎭ ⎩ ⎪
⎪ ⎭
{ }
q {P}

4. Stability limit of the spin speed and synchronous unbalance response of the disc

Since the set of Eq. (14) represents a Linear Time Invariant (LTI) system, so, stability of the system is determined from the
eigenvalues estimated from the equation of motions for free vibration corresponding to (14). A code written in MATLAB has been
used to find out the eigenvalues at a spin speed of the rotor. The eigenvalues are in general complex; the system is stable only
if the maximum real part of the eigenvalues is less than zero and unstable otherwise. Existence of purely imaginary eigenvalue
signifies sustained oscillations in the system about the point of equilibrium and also signifies instability to be on the conservative
side. Stability limit of the spin speed (SLS) is the maximum spin-speed till which all the eigenvalues have negative real parts.
Synchronous Unbalance Response Amplitude (UBR) at the location of a disc for speeds less than SLS is obtained from the
equation of motion. The force vector is obtained from unbalance force; {P } = {U 2 0 −iU 2 0}T , where unbalance, U =
me, m, e and i are the disc mass, eccentricity, imaginary unit, respectively. By putting {P } = {P̄ }ei t in Eq. (14), where the angle
t is measured from the y-axis in the direction of rotation of the rotor. For the steady state vibration, using the same pattern for
response with excitation i.e. {X } = {X̄ }ei t in the equations of motion, the response amplitude is written as follows:
{X̄ } = [B]+i [A]]−1 {{P̄ }}. (15)
The disc response amplitude is given by UBR = max |Real(X̄y−disc ei t ) + iReal(X̄
z−disc ei t )| where X̄y−disc and X̄z−disc are the
complex elements in {X̄ } at the disc node along y and z directions.
1762 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768

5. Results and discussion

This section shows the simulation results to study the dynamic behaviours of a pure (not reinforced) and a composite (re-
inforced) rotor–shaft system. Poly-Vinyl-Chloride (PVC) is considered as the shaft material. Such a choice is driven more by the
availability of data on elastic modulus and loss factors at different frequencies of excitation, and not by the technical suitability of
PVC as a material for industrial rotors. However it may be emphasized that for low duty operations with cold surroundings, the
suitability of such a material may not be irrational. Stability limit of the spin speed (SLS) and synchronous unbalanced response
amplitude of the disc (UBR) are found out for the study. For this, the model parameters of PVC are first extracted.

5.1. Finding out the model parameters

The viscoelastic model parameters are first obtained by minimizing the error between the frequency dependent theoretical
and experimental values of storage modulus and loss factor denoted by E(ω) and η(ω), respectively. For undamped material the
storage modulus is called elastic or Young’s modulus and loss factor is zero. The frequency-dependent complex modulus E∗(ω)
in terms of storage modulus and loss factor for any viscoelastic material is given by:

E ∗ (ω) = E (ω)(1 + iη(ω)). (16a)

Putting D = (iω) in Eq. (5b) and separating the real and imaginary parts, the complex modulus for multiple ADF model can
be derived as follows:
⎛ ⎞ ⎛   ⎞
N f +Nm N f +Nm ω
⎜  1 1 ⎟  ⎜1 Bj ⎟
E ∗ (ω) = E ⎝1 −  2 ⎠ + iE ⎝C  2 ⎠. (16b)
Cj ω j ω
j=1 1+ Bj
j=1 1+ Bj

Putting Eq. (16b) in the same form as in (16a), theoretical expressions of storage modulus and loss factor are obtained as in
Eq. (16c).
   
⎛ ⎞ N f Nm
1
ω
Bj

Cj  2
N f +Nm
⎜  1 1 ⎟ j=1 1+ Bω
E (ω) = E ⎝1 −  2 ⎠, η(ω) =  .
j
(16c)
Cj ω N f +Nm
j=1 1+ 1− 1 1
Bj
Cj  2
j=1 1+ Bω
j

Parameters for 1 and 2 ADF model (E, Bj , Cj ) (where j = 1 for 1 ADF and j = 1–2 for 2 ADF), are estimated for Poly-Vinyl-Chloride
(PVC) from the experimentally obtained frequency-dependent values of storage modulus and loss factor reported by Asnani [14]
and Kapur et al. [15] at different temperatures. Following Kapur et al. [15], a curve fitting technique is used to extract the model
parameters. Genetic Algorithm (GA) toolbox of MATLAB has also been used for finding out the viscoelastic model parameters that
minimize the scalar objective function given in Eq. (17), which is actually the error between the theoretical and experimental
values of storage modulus and loss factor at any frequency of excitation for a particular temperature. The data extracted from
curve fitting technique are taken as initial values to initiate the GA toolbox of MATLAB. The values from GA are used again to look
for any local minimum in a smaller frequency domain. The objective function, F is written below as follows:
2 2

n
Etheo (ω) − Eexp (ω) 
n
ηtheo (ω) − ηexp (ω)
F= + (17)
k=1
Etheo (ω)
k k=1
ηtheo (ω) k

The total frequency range is divided into n divisions, k = 1–n. The subscripts ‘theo’ and ‘exp’ indicate the theoretical and
experimental values of storage modulus and loss factor, respectively.
With the values of the extracted viscoelastic model parameters in this process, the values of E(ω)theo and η(ω)theo are cal-
culated from Eq. (16c) and plotted against frequencies as shown in Figs. 3 and 4 for comparing closeness of the fit with the
experimental data. Poisson’s ratio for PVC is taken as 0.42. It is seen from Figs. 3 and 4 that 2-ADF model fits the experimental
data at any frequency more closely than the 1-ADF model. Values of the model parameters for both 1-ADF and 2-ADF mod-
els at different temperatures are given in Tables 1 and 2. The maximum error for storage modulus and loss factor between the
theoretical model and experimental data are also included in the tables.

5.2. The rotor–shaft system

A rotor–shaft system, shown schematically in Fig. 5 has been considered for presenting a numerical example. This has a PVC
rotor–shaft (density of PVC assumed to be 1390 Kg/m3 ) of length L = 0.35 m, and diameter DR = 0.035 m mounted on bearings at
the ends, assumed to generate simply supported boundary conditions. A disc (diameter DD = 0.1 m, and thickness tD = 0.02 m)
made of PVC is assumed to be placed non-centrally with an unbalance, U = 10 g mm.
 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768 1763

Fig. 3. Storage modulus.

Table 1
1-ADF model parameters for different temperatures.

Temperature (°C) E (Pa) b1 c1 Error in E Error in η

17 7.6410e+07 429.0250 1.5998 10.7876 8.1321

20 6.4563e+07 535.8042 1.6706 6.5994 16.8248
24 4.0569e+07 378.3029 1.8591 4.6306 6.2754
27.5 2.4696e+07 356.7279 2.0138 2.5579 5.7139
30 2.0958e+07 352.4992 2.2882 1.4674 5.5060

Table 2
2-ADF model parameters for different temperatures.

Temperature (°C) E (Pa) b1 B2 c1 C2 Error in E Error in η

17 4.7773e+08 60.1063 8.8167e+03 14.4733 1.0954 2.3680 3.1801

20 4.0032e+08 159.4867 1.1730e+04 25.1428 1.1067 1.4269 0.5502
24 2.3328e+08 160.4874 1.0461e+04 21.5882 1.1381 0.6602 0.7884
27.5 1.2884e+08 192.0564 1.1570e+04 18.9331 1.1717 1.3611 1.8515
30 1.0672e+08 199.7878 1.2913e+04 20.7101 1.1867 1.7612 2.2026

5.3. Validation of finite element formulation

As a preliminary check between the 1-ADF and 2-ADF finite element formulation of the rotor–shaft system, the maximum
real part of all eigen values are plotted in Fig. 6, for different values of C2 at 24 °C. The new value of C2 is written as C2∗ . The solid
line in Fig. 6 shows the maximum real part of all the eigenvalues by using the 1-ADF model, which is obtained by discarding
the parameters of second ADF (viz. B2 , C2 ). From the constitutive relation (Eq. (4)), it is seen that, as the value of C2 goes on
increasing, the 2-ADF model tends to the 1-ADF model in the limit. Hence it is seen from the figure that progressive increment
of C2 , tends to make the 2-ADF model behave same as the 1-ADF model and as a result the plot for 2-ADF model coincides with
that of the 1-ADF model for value of C2∗ = 100C2 . This plot also serves as a validation of results and a proof of the generic nature
of viscoelastic modelling.
1764 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768

Fig. 4. Loss factor.

y tD

l L
C B
DR A DD
x

z
Fig. 5. Schematic diagram of the rotor.

5.4. SLS and UBR of the disc on the PVC rotor

Stability Limit of Spin speed (SLS) of the PVC rotor–shaft system at different temperature are found from decay rate plot,
which is a plot between maximum real part of all eigen values vs. spin speed, as shown in Fig. 7(a). For doing this study it is
assumed that the temperature of the shaft continuum is steady. The thermo-mechanical analysis with non-stationary value of
temperature of the continuum before reaching the steady state has not been addressed in this work. SLS is that spin speed of
shaft till which the maximum value of the real part of all the eigenvalues is just below the zero line. Beyond this speed the system
becomes unstable and does not reach any steady state. It is seen from Fig. 7(a) that the SLS as well as relative stability increase
with decrease in temperature as PVC becomes stiffer. Steady state synchronous Unbalance Response Amplitude (UBR) of the disc,
when the disc is placed in the middle of the shaft is plotted in Fig. 7(b) within the respective stable speed zones of operation (i.e.
below the unstable zone marked by UZ) of the PVC rotor–shaft for different temperatures.
As the shaft increases in length, its stiffness falls and so Fig. 8 shows a plot of the effect of the length of the rotor–shaft at
different temperatures to obtain stable rotor operation at a chosen speed of 200 rpm. It is seen that the maximum length to
diameter ratio of the shaft increases as the material stiffens i.e. with decreasing temperature.
Fig. 9 shows the effect of different positions of the disc along the shaft on the SLS at different temperatures. It is seen that
at any temperature SLS has the lowest value when the disc is placed in the middle of the shaft. This happens as the gyroscopic
stiffening due to the disc is the minimum when it is at the centre and increases when the disc is gradually displaced from the
mid span to the ends.
Fig. 10(a) and (b) show respectively the time response of the disc due to unbalance for speeds below and over the SLS corre-
sponding to 20 °C and 30 °C, when the rotor disc is assumed to be located in the middle span. When the rotor attains a steady
 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768 1765

Fig. 6. Transition of maximum real part from 2-ADF model to 1-ADF model.

temperature of 20 °C, and spins at 300 rpm, the rotor orbit quenches from a chosen initial displacement because the speed is
below the SLS at this temperature and the orbit grows monotonically for the rotor temperature 30 °C as at this temperature, the
speed of 300 rpm is outside the SLS. So the steady state temperature of such a rotor is very important in deciding the stability of
a rotor–shaft system.

b
Fig. 7. UBR for various spin-speeds within stable zone.
1766 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768

Fig. 8. Instability due to length of the rotor–shaft.

5.5. Dynamic analysis of composite rotor

In this section, a study of dynamics of a composite rotor–shaft system is presented. For this the same rotor–shaft system as
shown in Fig. 5 is considered but the shaft is assumed to be made of a composite obtained by reinforcing long unidirectional
fibre (Brominated P100 graphite) in PVC matrix. Following Lesieutre [29], the properties and ADF model parameters of graphite
are obtained as Ef = 695.9e9 Pa, ρ f = 2300 Kg/m3 , B f1 = 3730 s−1 , C f1 = 117.28. Properties and ADF model parameters of PVC at
24 °C are considered as Em = 4.0569e+07 Pa, ρ m = 1390 Kg/m3 , Bm1 = 378.3029 s−1 , Cm1 = 1.8591. The viscoelastic parameters
are found by correlating complex modulus between ADF approach and operator based approach. Their values are a0f =6.959e11,

Fig. 9. SLS for various disc positions.

 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768 1767

b
Fig. 10. Rotor orbit at the disc.

400
% Increase of FNF

300

200

100 Classical
FEM
0
0 0.5 1 1.5 2 2.5
%W
f

400
% Increase of SLS

300

200

100

0
0 0.5 1 1.5 2 2.5
% Wf

Fig. 11. SLS and FNF for various fibre weight fraction.

a1f =2.681e3, b0f =1, b1f =1.302e-9, a0m =4.056e7, a1m =3.495e4, b0m =1, b1m =6.869e-4. The relation between the fibre volume
fraction and fibre weight fraction is given as follows:
Wf
Vf = ρ (18)
W f + (1 − W f ) ρmf
Fig. 11 shows the increase of First Natural Frequency (FNF) and Stability limit of spin speed (SLS) for various weight fraction of
the fibre. With increament in fibre weight fraction, the shaft becomes stiffer, therefore FNF and SLS also increase. FNF for present
finite element model is also compared with classical model to validate its correctness. Classical model is done by considering a
single degree freedom of a lumped mass system.
1768 H. Roy, J.K. Dutt / Applied Mathematical Modelling 40 (2016) 1754–1768

6. Conclusions

(1) This paper uses the differential time operator based approach to formulate the constitutive relationship of a viscoelas-
tic rotor–shaft continuum reinforced by viscoelastic fibres. The utility of this approach is that firstly, different operator
based constitutive relationships of the matrix and the fibre materials can be easily amalgamated to arrive at an overall
constitutive relationship and secondly, the constitutive relationship so formulated can be used easily to draw up the equa-
tions of motion of a discretized continuum. This paper uses the anelastic Displacement Field variables as the viscoelastic
parameters.
(2) Temperature of the rotor continuum or more accurately the temperature distribution inside the continuum during the
transient conditions forms a very important parameter in deciding the model of the material as well as the dynamic
behaviour. This will be investigated later.
(3) Adding fibre, it is possible to widen the stability limit of spin speed, reduce the unbalance response amplitude by postpon-
ing the first critical speed and thus increase the speed zone of rotor operation. The operator based approach may be easily
extended to find out the constitutive relationship in case of different layer-wise orientation of fibre to form the composite
and as a result study the dynamic behaviour of rotor–shaft systems built with the composite.

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