Finite Element Analysis of Simple Rotor Systems

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.
in)
CHAPTER 4
FINITE ELEMENT ANALYSIS OF SIMPLE ROTOR SYSTEMS
In the past several methods have been successfully developed to analyze the dynamic behaviour of
rotor bearing systems. Of the several methods (e.g. the transfer matrix, influence coefficient,
mechanical impedance and finite element methods) amongst the most popular approaches Finite
Element Method (FEM) is one, which is particularly well suited for modeling large scale and
complicated rotor systems. Several works showed that the use of finite elements for the modeling of
rotor bearing systems makes it possible to formulate increasingly complicated problems.
Euler-Bernoulli beam accounts for the major effects of bending in beams, which is due to pure
bending. In this theory, any plane cross-section of the beam before bending is assumed to remain
plane after bending and remain normal to elasic axis. Therefore, a beam cross section has not only
translation but also rotation. Rayleigh accounts for the energy arising out of this cross-sectional
rotation, which he called rotary inertia. Subsequently, Timoshenko accounted for the shear strain
energy in the beam due to bending caused by shear force. Thus, Timoshenko beam usually refers to a
beam in which both the rotary inertia and shear deformation effects are taken into account. The effects
of rotary inertia and shear deformation are predominant in transverse vibration of beam having large
cross-section (i.e. thick beam). If the beam is rotating, then gyroscopic effects also perform an
important role along with the rotary inertia and shear effects.
4.1 Literature Review

Historically Ruhl (1970) and, Ruhl and Booker (1972) were amongst the first people to utilize the
finite element method to study the stability and unbalance response of turborotor systems. In their
finite element formulations, only elastic bending energy and translational kinetic energy are included.
However many effects such as rotary inertia, gyroscopic moments, shear deformations, internal and
external damping, which can be very important for some configurations as discussed in the book by
Dimentberg (1961) were all neglected in their finite element analysis. McVaugh and Nelson (1976)
generalized Ruhls work by utilizing a Rayleigh beam model to devise a finite element formulation
including the effects of rotary inertia, gyroscopic moments and axial load to simulate a flexible rotor
system supported on linear stiffness and viscous damping bearings. In order to facilitate the
computations of natural whirl speeds and unbalance response, the element equations were transformed
into a rotating frame of reference for the case of isotropic bearings. Also to save the computational
time Guyan reduction procedure (1965) was adopted to reduce the size of the system matrices. Zorzi
and Nelson (1977) extended the work of McVaugh and Nelson and by the inclusion of both internal
Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)
viscous and hysteretic damping in the same finite element model. At about same time, Rouch and Kao
(1979) and Nelson (1980) utilized Timoshenko beam theory for establishing shape functions and
based on these shape functions the system finite element matrices of governing equations were
derived. In these system finite element matrices, it is found that a shear parameter is included in the
shape functions to take into account the effect of transverse deformations. Comparison is made of the
finite element analysis with the classical closed form Timoshenko beam theory analysis for nonrotating and rotating shafts. Ozguven and Ozkan (1984) and Edney et. al. (1990) presented the
combined effects of shear deformations and internal damping to analyze natural whirl speeds and
unbalance responses of rotor bearing systems. By using the homogeneous solutions of the governing
equations for static deflections as the shape functions, Ueghorn and Tabarrok (1992) developed a
finite element model for free lateral vibration analysis of linearly tapered Timoshenko beams.
However the mass matrix they derived is only approximate although the stiffness matrix is exact.
Tseng and Ling (1996) developed a new finite element model of a Timoshenko beam to analyse the
small amplitude, free vibrations of non uniform beams on variable two parameter foundations. An
important characteristic of this model is that the cross sectional area, the second moment of area, and
shear foundation modulus are all assumed to vary in polynomial forms, implying that the beam
element can deal with commonly seen non-uniform beams having different cross sections such as
rectangular, circular, tubular and even complex, thin walled sections as well as the foundations of
beams which vary in general way. This new beam element model enables user to handle vibration
analysis of more general beam likes structures. Chen and Peng (1997) studied the stability of the
rotating shaft with dissimilar stiffness and discussed the influences of the stiffness ratio and axial
compressive loads. A finite element model of a Timoshenko beam is adopted to approximate the
shaft, and the effects gyroscopic moments and torsional rigidities are taken into account. Results
showed that with the existence of the dissimilar stiffness unstable zones would occur. Critical speeds
will decrease and instability regions will enlarge if the stiffness ratio is increased. The increase of the
stiffness ratio consequently makes the rotating shaft unstable. When the axial compressive load
increases, the critical speed decrease and zones of instability enlarges. Ku (1998) developed an
alternative finite element shaft model (i.e. C0 class Timoshenko beam finite element model) to study
the combined effects of shear deformations and internal damping on forward and backward whirl
speeds and the onset speeds of instability threshold of a flexible rotor systems supported on linear
stiffness and viscous damping bearings. Mohiuddin and Kulief (1999) presented a finite element
formulation of the dynamic model of a rotor bearing system. The elastodynamic model coupled
bending and torsional motion of the rotating shaft as derived using Lagrangian approach. The model
accounts for the gyroscopic effects as well as inertia coupling between bending and torsional
vibrations. A reduced order model was obtained using model truncation. Model transformations
involved the complete mode shapes of general rotor system with gyroscopic effects and anisotropic
bearings.
189
Vibrating beams are most frequently modeled using Euler-Bernoulli model of beam both because of
its simplicity and because it is well established an accurate approximation to real motion in case of
thin beams. In the present chapter Euler-Bernoulli beam theory is considered. Equations of motion are
derived using Hamiltons principle. By using Galerkin method, finite element formulation with
consistent mass matrix and stiffness matrix is obtained. For the present case whirling motion of the
beam in vertical and horizontal directions are uncoupled. The analysis in the vertical plane (i.e. x-y
plane) is presented and in the horizontal plane (i.e. x-z plane) it will be identical. For obtaining
bending natural whirl frequencies the eigen value problem formulation is also presented. Numerical
examples are presented for system natural whirl frequencies, mode shapes and unbalance responses.
4.2 Euler-Bernoulli Beam Theory

Consider a beam of length l as shown in Figure 4.1. The cross sectional area of the beam is A, mass
density is and it is acted upon by an external force q(x, t) acting in the direction of y axis. The beam
is thus subjected to lateral vibrations in y direction. For Euler-Bernoulli beam the motion in vertical
plane and horizontal plane are uncoupled. So the analysis in the two perpendicular planes can be done
separately and it will be identical. The analysis is presented here is for vertical plane x-y. The analysis
in the horizontal plane x-z will remain same. According to the Euler-Bernoulli beam theory a plane
cross section at a distance x remains plane even after bending and has a rotation about z axis given by
the slope = dv dx of the elastic curve as shown in Figure 4.2. (x, y) are the co-ordinates of point P
under consideration. Thus the displacement field of this beam can be defined as (see Figure 4.3)
u x = yv ;
u y = v ( x, t ) ;
uz = 0
(4.1)
The corresponding strain and stress field are
xx = yv ;
yy = 0 ;
xx = Eyv ; yy = 0 ;
z = 0 ;
xy = yz = zx = 0
(4.2)
zz = 0 ;
xy = yz = zx = 0
(4.3)
190
q(x,t)
y
P (y,z)
o
x
Figure 4.1 An Euler-Bernoulli beam before deformation.
v =
y
v
x
x
Figure 4.2 The Euler-Bernoulli beam after deformation.
u x = yv
v P
P
v
x
Figure 4.3 The Euler-Bernoulli beam displacement field
The strain energy is

l
U=
1
1
1
xx xx dV = Ey 2 v2 dAdx = EI zz v2 dx
2 V
20A
20
(4.4)
where I zz is second moment of area of cross section of the beam about an axis parallel to z-axis. The
kinetic energy is
191
T=
1
Av 2 dx
20
(4.5)
The work done by the external forces is
w = qvdx
(4.6)
The element equation of motion and boundary conditions can be obtained from Hamiltons principle,
which states that,
t2
(T U ) + W dt = 0
(4.7)
t1
Differential equation of motion is
EI zz v + Av = q ( x, t )
(4.8)
Boundary conditions are
EI zz v v 0 = 0
and
EI zz v v 0 = 0
(4.9)
4.3 Finite Element Formulation

Discretise the given beam into several finite elements and consider one element in co-ordinate system
x-y-z as shown in Figure 4.4. Deformations of the element are considered in x-y plane. Let v be the
nodal linear displacement and be the nodal angular displacement of the shaft element (positive sign
convention for linear and angular displacements at nodal points are shown in Figure 4.4). The element
has two nodes 1 and 2. For free vibrations the element equation (4.8) can be written as
EI zz v ( e ) + Av(e ) = 0
(4.10)
192
y
2
v1
v2
x
o
z
dx
Figure 4.4 Beam element in x-y plane

In the finite element model, the continuous displacement field can be approximated in terms of
descretised generalized displacements of the element nodes. In the present finite element model, each
element has two nodes and each nodes have two generalized displacements (one linear and other
rotational), therefore displacement can be obtained within the element by using appropriate shape
functions.
v ( e ) ( x, t ) = N ( x) {q (t )}
( ne )
(4.11)
where N ( x) is the shape function matrix, and
{q(t )}
( ne )
= v1 1 v2 2
is the nodal
displacement vector. The linear and angular displacements at the nodes 1 and 2 of the element
( v1 , 1 , v2 and 2 ) assumed to be known. Thus element has four boundary conditions and four
constants in the shape function can be determined. Therefore assume the transverse displacement v(x)
to be a cubic polynomial within the element as
v( x) = a1 x3 + a2 x 2 + a3 x + a4
(4.12)
where a1 , a 2 , a3 , and a 4 are constants to be determined from boundary conditions. The above
equation (4.12) satisfies the governing differential equation of a beam equation (4.10). In addition the
cubic displacement shape function satisfies the continuity condition of both the linear and angular
displacements at the nodes. Expressing the transverse displacement of the element as a function of
nodal degrees of freedom v1 , 1 , v2 and 2 . With the help of boundary conditions of the element at the
two nodes
v(0) = 1 = a3
v(0) = v1 = a4
v(l ) = 2 = 3a1l 2 + 2a2l + a3
v(l ) = v2 = a1l 3 + a2l 2 + a3l + a4
193
(4.13)
Solving for the four constants a1 , a 2 , a 3 , a 4 and substituting in equation (4.12), it gives
1
1
2
3
v( x) = 3 ( v1 v2 ) + 2 (1 + 2 ) x 2 ( v1 v2 ) + ( 21 + 2 ) x2 + 1x + v1
l
l
l
l
(4.14)
Collecting the terms of the nodal degrees of freedom and writing in the matrix form equation (4.11)
can be obtained
v (e ) ( x, t ) = N ( x){q (t )}
( ne )
with
N = N 1 N 2 N 3 N 4
where
N1 = 2 x 3 3x 2 l + l 3 l 3
N 2 = x 3l 2 x 2 l 2 + xl 3 l 3
N 3 = 2 x 3 + 3x 2 l l 3
N 4 = x 3l x 2 l 2 l 3
(4.15)
4.3.1 Weak Form

Substituting approximated shape functions of equation (4.11) in elemental equation of motion (4.10),
residue is given by
R (e ) = EI zz v (e ) + Av(e )
(4.16)
Galerkin method is used to minimize the residue. So applying the weight function equivalent to shape
function, residue can be minimized as
{N }R
(e)
dx = 0
(4.17)
using equations (4.11), (4.16) and (4.17), the weak form can be obtained as
{ N } A N {q}
( ne )
dx + { N }EI zz N {q}
0
which can be written as
194
( ne )
dx = {Q}
( ne )
(4.18)
[ M ]{q}
( ne )
+ [ K ]{q}
( ne )
= {Q}
( ne )
(4.19)
with
156 22l
4l 2
[M ] = {N }AN dx = Al
420
0
sym
l
54 13l
13l 3l 2
156 22l
4l 2
6l
12
4
l2
[ K ] = { N } EI zz N dx = EI3zz
l
0
sym
l
and
{Q}
( ne )
12 6l
6l 2l 2
12 6l
4l 2
= {v1 1 v2 2 }
where [M] is the mass matrix, [K] is the stiffness matrix and {Q} is the generalized force vector.
4.4 System Equations of Motion

Obtain elemental mass matrix and stiffness matrix for each element as in equation (4.19). Then by
considering connectivity add corresponding elemental mass and stiffness matrix to get global mass
and stiffness matrix. So equation of motion for whole system becomes
S
S
S
[ M ] {q} + [ K ] {q} = {Q}
(4.20)
4.5 Eigen Value Problem

For obtaining natural frequencies, reduced system of equations is obtained by applying boundary
conditions to equation (4.20). For this rows and columns are eliminated corresponding to applied
boundary conditions. This set the corresponding
natural frequencies equal to zero which are
associated with the rigid body translation and rotation. Remaining natural frequencies are obtained by
setting the determinant of reduced system of equations equal to zero. Reduced system of equations of
motion after applying boundary conditions becomes
{q} + K {q} = {Q}

S
(4.21)
Assume a solution of the form, {q} = {q0 } e jt . Substituting this in equation (4.21) and setting the
determinant equal to zero, the associated eigen value problem becomes
195
{q0 } = 2 M {q0 }
S
(4.22)
equation (4.22) can be expressed in the form of
( M
p K
){q } = {0} ,
with
p =1 2
(4.23)
Pre-multiplying equation (4.23) by inverse of K the eigen value problem becomes
([ D ] p [ I ]){q } = {0}
(4.24)
where [ D ] = K
S 1
M is known as the dynamic matrix. Equation (4.24) possesses a nontrivial
solution if and only if the determinant of the coefficients
{q0 }
vanishes. Thus the characteristic
equation can be written as
( p ) = det ([ D ] p [ I ]) = {0}
(4.25)
where ( p ) is a frequency equation in the form of a polynomial of degree n in p, where n is number

of degrees of freedom. Equation (4.25) possesses n real and positive roots and pr related to the system
natural frequencies by pr = 1 r2 with r = 1, 2, , n. If {qr } , represents the eigen vector (mode
shape) corresponding to the eigen value pr , then n solutions of the eigen value problem (4.24) can be
written as
([ D ] p [ I ]) {q } = {0}
r
with r = 1, 2, , n
(4.26)
Example 4.1 Obtain natural frequencies of a continuous rotor system as shown in Figure 4.5. The
following data are given: diameter of shaft d = 10 mm, density of shaft material = 7800 Kg/m3,
Youngs modulus of shaft material E = 2.1x1011 N/m2 and length of the shaft l = 3 m.
196
Figure 4.5 A simply supported shaft
Solution: The shaft is divided into three elements as shown in Figure 4.5. From the data given, we
have
A = 7.854 10-4 m2 and I = 4.91 10-10 m4
Finite element (FE) equation for element 1 can be written as
1
156 22 54 13 w
12 6 12 6 w1 S1
1
4 13 3 w
4 6 2 w1 M 1
1.46 103
103.11
+

=
2
156 22 w
12 6 w2 S 2
2
4 w
4 w2 M 2
sym
sym
FE equation for element 2 can be written as
2
156 22 54 13 w
12 6 12 6 w2 S 2
2
4 13 3 w
4 6 2 w2 M 2
3
1.46 10
+ 103.11
=
3
156 22 w
12 6 w3 S3
4 w
4 w M 3
sym
sym
3
3
FE equation for element 3 can be written as
3
156 22 54 13 w
12 6 12 6 w2 S3
w M

w
4
13
3
4
6
2
3
3
+ 103.11
3 =
1.46 103
4
156 22 w
12 6 w4 S 4
4 w
4 w M 4
sym
sym
4
4
197
Assembled FE equation of the whole system can be obtained as
156
1.46 103
sym
1
0 w

0 w
1
22
54
13
13
312
54
13
13

0 w
2
0 w
2
312
54
3
13 w
13
3 w
3
4
156 22 w
4 w
4
12
+103.11
sym
6 12 6 0 0
4 6 2 0 0
24 0 12 6
8
0
0
0
6 2 0
24 0 12
8 6
12
w1 S
1
w1 M 1
w2 0

0 w2 0
=
6 w3 0
2 w3 0

6 w4 S4

4 w4 M 4
0
0
0
Boundary conditions are w1 = 0, w4 = 0, M 1 = 0 and M 4 = 0 for simply supported ends. Above

global equation after eliminating 1st and 7th rows and columns reduces to
3
1.46 10
sym
13 3
312 0
8
0
0
0 w1
6 2 0
4

54 13 0 w2
24 0 12
13 3
0 w2
8 6
+ 103.11
w
312 0 13 3
24
8
3 w3
sym
4 w4
0
6
2
0
0 w1 0

0 w2 0

0 w2 0
=
6 w3 0
8 2 w3 0
4 w4 0
} = n 2 {w} , hence the above equation takes the following

For simple harmonic motion, we have {w
form
198
6 2 0
4
24 0 12
8 6
103.11
24
sym
0
13 3 0
0
0 w1
4
0
312 0 54 13 0 w2
0
8 13 3
0 w2
3 2
1.46 10 n
= {0}
6
312 0 13 w3
8 2
8
3 w3

4
4 w4
sym
0
6
2
0
The above equation has the following form
([M ] [ K ]){w} = {0}

2
n
Therefore, eigen values can be obtained as

det|A| = 0 where A = [K]-1[M]
Natural frequencies can be obtained from above conditions. Natural frequencies of the simply
supported beam are given in Table 4.1. Exact natural frequencies from analytical closed-form
equations and approximate natural frequencies with the finite element method for different number of
elements have been tabulated in Table 1 for study of convergence. It is clear that with 10 elements
itself the convergence has occurred with quite accuracy.
Table 4.1 Convergence study of natural frequency (rad/sec)

Mode no.
Natural frequency by
Natural frequency by FEM (number of elements)
analytical method
(3)
(6)
(10)
(100)
14.18
14.19
14.18
14.18
14.18
II
56.12
57.39
56.77
56.73
56.72
III
127.6
141.6
128.1
127.7
127.6
Corresponding to each natural frequency there will be a corresponding mode shape. Table 4.2 shows a
typical eigen vector corresponding to the first natural frequency, corresponding to the eigen value
problem formulated above. Hence, the linear displacement corresponding to simply supported beam
for the first natural frequency can be taken out as shown in Table 4.3. Figure 4.6 shows the different
mode shapes.
199
Table 4.2 Eigen vector corresponding to the first natural frequency.

DOF
First column
w1
-0.51
w2
-0.42
w2
-0.25
w3
-0.42
w3
0.25
w4
0.51
Table 4.3 Displacement at various nodes corresponding to the first natural frequency
DOF
values
w1
w2
-0.42
w3
-0.42
w4
Figure 4.6 Mode shapes
Analytical solution: The natural frequency for the continuous simply supported beam using analytical
method (i.e., closed form expression) is given as
200
n = n 2 2
EI
rad/sec
ml 4
where m = A is mass per unit length, l is the length of the beam and n is mode number. For the
present case, we have
n = n 2 2
1
2.1 1011 4.91 1010
= n 2 2 (2.078) 2 = 14.18n 2
4
5
7800 7.85 10 (3)
Corresponding to different modes (i.e. n) the natural frequency is tabulated in Table 4.1. MATLAB
computer codes (input and main files) are given below:
% input_file.m Geometrical and physical data of the rotor-bearing system
d = 0.01;
%m
Diameter of shaft element
E = 2.1e11; % N/m^2
Young's modulus of the shaft material
L = 3.0;
%m
Shaft span
N_element =10; %
Number of elements
N_mode_plot =5; %
Number of mode shapes to be plotted (Fixed at present)
Ndof_node = 2; %
Number of Dofs at each elemental node
rho = 7850; % kg/m^3
Mass density of the shaft element
% "simpl_supprt.m" Free Vibration of simple beams
% Reading rotor bearing geometrical and physical parameters
clear; % clear all previous variables
euler_in;
A=pi*(d^2)/4.0;
h = L/N_element;
I=pi*(d^4)/64.0;
fido=fopen('euler_out.m', 'w');
fprintf(fido,'\n Geometrical and physical parameter of rotor-bearing system \n');
fprintf(fido,' h= %8.4g m\n E= %8.4g N/m^2\n d= %8.4g m\n',h, E, d);
fprintf(fido,' A= %8.4g m^2\n I= %8.4g m^4\n rho= %8.4g kg/m^3\n',A, I, rho);
fprintf(fido,' N_element= %4f\n Ndof_node= %4f\n', N_element, Ndof_node);
% Calling elemetal stiffness and mass matrices function and printing
[k_element, m_element] = stiff_mass_mat(A, E, I, h, Ndof_node, rho);
fprintf(fido,'\n Elemetal stiffness matrix \n');
for i=1:2*Ndof_node
fprintf(fido, '%8.4g ',k_element(i,:));
fprintf(fido,'\n');
end
fprintf(fido,'\n Elemetal mass matrix \n');
for i=1:2*Ndof_node
fprintf(fido, '%8.4g ',m_element(i,:));
fprintf(fido,'\n');
end
% Assembling stiffness and mass matrices and printing
[k_global, m_global] = assm_k_m_global(k_element, m_element, N_element, Ndof_node);
201
fprintf(fido,'\n Global stiffness matrix \n');

for i=1:(2*Ndof_node+2*(N_element-1))
fprintf(fido, '%8.4g ',k_global(i,:));
fprintf(fido,'\n');
end
fprintf(fido,'\n Global mass matrix \n');
for i=1:(2*Ndof_node+2*(N_element-1))
fprintf(fido, '%8.4g ',m_global(i,:));
fprintf(fido,'\n');
end
% Applying boundary conditions (simply support)
k_global((2*Ndof_node+2*(N_element-1)-1), :) = [];
k_global(:, (2*Ndof_node+2*(N_element-1)-1)) = [];
k_global(1, :) = [];
k_global(:, 1) = [];
m_global((2*Ndof_node+2*(N_element-1)-1), :) = [];
m_global(:, (2*Ndof_node+2*(N_element-1)-1)) = [];
m_global(1, :) = [];
m_global(:, 1) = [];
% Eigen value of simply supported beam
dynm_mat = m_global\k_global; % using back division operator, Stiffness matrix is singular for free-free beam
case.
eigen_vectors = zeros(size(dynm_mat));
[eigen_vectors eigen_values] = eig(dynm_mat);
fprintf(fido, '\nNatural Frequencies of free-free beam \n');
for i = 1:(2*Ndof_node+2*(N_element-1)-2)
nat_freq(i) = sqrt(eigen_values(i, i)); % taking sqrt of diagonal terms
end
nat_freq = sort(nat_freq); % sorting nfs in ascending order
fprintf(fido, '%8.4g \n', nat_freq);
exact_nf(1:5) = [1 4 9 16 25]*(pi^2)*sqrt(E*I/(rho*A*L^4));
fprintf(fido, '\nExact first natural frequencies of simply supported beam \n');
fprintf(fido, '\n%8.4g \n', exact_nf);
%Eigen Vectors of simply supported beam
eigen_vectors = fliplr(eigen_vectors); %fliping eigen vector L to R so as to match corresponding eigen vector
fprintf(fido, '\nEigen vectors (linear displ.)\n');
jj = 0;
for i = 1:2:(2*Ndof_node+2*(N_element-1))
jj = (i) - jj;
x(jj) = jj; % making node number vector
if(isequal(i,1))
y(1, 1:N_mode_plot) = 0; %zeros(1, 1:N_mode_plot); % sorting linear displ. vetors
elseif(isequal(i,(2*Ndof_node+2*(N_element-1)-1)))
y(jj, 1:N_mode_plot) = 0; %zeros(1, 1:N_mode_plot); % sorting linear displ. vetors
else
y(jj, 1:N_mode_plot) = eigen_vectors((i-1), 1:N_mode_plot); % sorting linear displ. vetors
end
fprintf(fido, '%8.4g ', y(jj, 1:N_mode_plot));
fprintf(fido,'\n');
end;
% Plotting eigen vectors first five
plot(x, y(:, 1), 'k-o', x, y(:, 2), 'k--*', x, y(:, 3), 'k:x', x, y(:, 4), 'k-.>', x, y(:, 5), 'k-^');
legend('I mode', 'II mode','III mode','IV mode','V mode');
title('Mode Shapes for Free-Free beam');
202
xlabel('Node number --->');

ylabel('Relative linear displ.--->');
% Closing all input and output files
status = fclose('all');
function [k_element, m_element]= stiff_mass_mat(A, E, I, h, Ndof_node, rho) % stiff_mass_mat.m
% STIFF_MASS_MAT elemental stiffness and mass matrices % H1 line can be seen from matlab command
line by lookfor stiff_mass_mat
% STIFF_MASS_MAT(A, E, I, h, Ndof_node, rho), where
% A is area of cross-section of beam,
% EI modulus of rigidity of beam,
% h shaft element length,
% Ndof_node is the number of degree of freedom of each node
% rho is the mass density of the shaft material
% Elemental Stiffness Matrix
k_element = zeros(2*Ndof_node,2*Ndof_node);
k_element = (E*I/h^3)*[12 6*h -12 6*h;
6*h 4*h^2 -6*h 2*h^2;
-12 -6*h 12 -6*h;
6*h 2*h^2 -6*h 4*h^2];
% Elemetal mass matrix
m_element = zeros(2*Ndof_node,2*Ndof_node);
m_element = (rho*A*h/420)*[156 22*h 54 -13*h;
22*h 4*h^2 13*h -3*h^2;
54 13*h 156 -22*h;
-13*h -3*h^2 -22*h 4*h^2];
function [k_global, m_global] = assm_k_m_global(k_element, m_element, N_element, Ndof_node)
% file name assm_k_m_global.m
% ASSM_K_M_GLOBAL Assembles elemental mass and stiffness matrices
% assm_k_m_global(k_element, m_element, N_element, Ndof_node), where
% k_element is elemental stiffness matrix of shaft element
% m_element is elemental mass matrix of shaft element
% N_element number of shaft element
% Ndof_node is the number of degree of freedom of each node
% "assm_k_global.m" Assembling stiffness matrix
k_global = zeros((2*Ndof_node+2*(N_element-1)),(2*Ndof_node+2*(N_element-1)));
for i = 1 : N_element
j=(2*i-1);
% makes sure that subsequent elemental matrix is having proper shift
k_global1 = zeros((2*Ndof_node+2*(N_element-1)),(2*Ndof_node+2*(N_element-1)));
% Assigning elemental stiffnes matrix for 1st element to the global matrix
k_global1((j:j+3), (j:j+3)) = k_element;
k_global = k_global1 + k_global;
end
% "assm_m_global.m" Assembling mass matrix
m_global = zeros((2*Ndof_node+2*(N_element-1)),(2*Ndof_node+2*(N_element-1)));
for i = 1 : N_element
j=(2*i-1);
% makes sure that subsequent elemental matrix is having proper shift
m_global1 = zeros((2*Ndof_node+2*(N_element-1)),(2*Ndof_node+2*(N_element-1)));
% Assigning elemental stiffnes matrix for 1st element to the global matrix
m_global1((j:j+3), (j:j+3)) = m_element;
m_global = m_global1 + m_global;
end
203
Example 4.2 To demonstrate the application and accuracy of the finite element model of EulerBernoulli beam, consider a simply supported continuous shaft. The analysis is performed with five
elements as shown in Figure 4.7. For the present analysis shaft is considered as uniform in cross
section. Following data is considered for the analysis: diameter of the shaft = 0.1m, length of the shaft
= 3.75m, number of elements=5, length of the each element = 0.75m, elastic modulus of the shaft
material = 2.11E11 N/m2, mass density of the shaft material = 7339.449 kg/m3. Comparisons of the
FEM results are made with the classical closed form solutions and are given in Table 4.4. Results are
also given for 10-element model. For obtaining mode shapes eigen vectors are normalized by the
highest eigen vector of corresponding eigen values for linear displacements and are plotted in Figure
4.8. For five element model first four lowest natural whirl frequencies are in good agreement with
classical closed form solutions. Results obtained by FEM are greater than classical closed form
solutions. This is because shape functions used are obtained by approximating displacement within
the element by cubic polynomial neglecting higher order terms. So displacement is less and hence
effective stiffness obtained from FEM formulation is more which increases the natural frequencies
than classical closed form solutions. Error is within 3% for all first four natural frequencies. For tenelement model error is less than 1% for all first four natural frequencies.
Element No.
Node No.
Support
Support
Figure 4.7 A five element simply supported shaft model (length of each element is 0.75m)
Table 4.4 Comparison of natural whirl frequencies by FEM with classical closed form solutions for
simply supported uniform shaft
Mode
No.,
Classical closed form

natural whirl frequency
(rad/sec)
FEM natural whirl frequency
% Error
(rad/sec)
(5)
(10)
(5)
(10)
94.0777
94.08403
94.08176
0.0072
0.0050
376.3108
376.9310
376.3604
0.1648
0.0132
846.6994
853.4207
847.1608
0.7938
0.0545
1505.2433
1539.9174
1507.7459
2.3035
0.1662
Number in bracket indicates number of elements
204
Normalised Eigen-Vectors
1.5
Mode I-94.08 rad/sec
Mode II-376.3604
rad/sec
Mode III-847.1608
rad/sec
Mode IV-1507. 7459
rad/sec
0.5
0
1
11
-0.5
-1
-1.5
Node Number
Figure 4.8 Mode shapes for simply supported beam (10-element model)
Example 4.3 Find the bearing critical speed of rotor system shown in Figure 4.9 using finite element
analysis. The following rotor data are given: m = 10 kg, I d = 0.02 kg-m2, d = 0.01 m, L = 1 m and
E = 2.11011 N/m2.
massless shaft
10 cm
Figure 4.9
0.6 m
0.4 m
Solution:
(1)
1
(2)
(3)
(4)
5
3
4
Figure 4.10 A finite element discretisation of the rotor system
On dividing the rotor in four element (i.e. h = 0.25 m) as shown in Figure 4.10, so that
EI
= 4.91 1010 N/m
h3
205
The elemental equation for element (1) can be written as
0
0
0
0
0
0
0
0
0
0
y1
0
6h 12 6h y1 S1
12

0 1 EI 6h 4h 2 6h 2h 2 1 M 1
+ 3
=
y2 h 12 6h 12 6h y2 S 2
0
2
2
0 2
6h 2h 6h 4h 2 M 2
Similarly for other elements, the elemental equations can be written by changing the corresponding
nodal variables. If disc is assumed to be in element (3), the mass matrix for element (3) becomes
0
0
[M ] =
0
0 0
0 0
0 md
0
0
0
0
Id
On assembling elemental equations for all the elements, we have
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 md
0 0
0 0
0 0
0
Id
0
0
0
0
0
0
y1
0
0 1
y2
0

0 2
y3
0
+
0 3
y
0
4
0 4
y
0
5
0 5
6h 12 6h
0
0
0
0
0
0 y1 S1
12
6h 4h3 6h 2h 2
0
0
0
0
0
0 1 M 1
12 6h 24
0
0
0
0
0 y2 0
12 6h
2
2
2
0
8h 6h 2h
0
0
0
0 2 0
6h 2h
0 12 6h 24
0
0
0 y3 0
12 6h
EI 0
+ 3
=
2
2
2
0
6h 2 h
0
8h 6h 2h
0
0 3 0
h 0
0
0
0
0
0
12 6h 24
12 6h y4 0

2
2
0
0
0
6 h 2h
0
8h 6h 2h 2 4 0
0
0
0
0
0
0
0
12 6h 12 6h y5 S5
0
0
0
0
0
0
6h 2h 2 6h 4h 2 5 M 5
206
The boundary conditions are : y1 = y 5 = 0 = y1 = y5 and M 1 = M 5 = 0 . Finally, we get the
assembled equation in which the boundary conditions have been applied in the following form
0
0
0
0
0
0
0 0 0 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 0
0 0
0 0
0 0
0 md
0 0
0
0
0
0
0
Id
0 0 0 0
0 1

0
y2
0 2

0
y3

0 3
0
y4
0 4
0 5
4h 3 6h 2h 2
0
0
0
0
12 6h
0
0
0
6h 24
2
2
2
2h
0
8h 6h 2h
0
0
12 6h 24
12 6h
0
EI 0
+ 3
2
2
h
0
6h 2h
0
8h 6h 2h 2
12 6h 24
0
0
0
0
0
2
0
0
6 h 2h
0 8h 2
0
0
0
0
6h 2 h 2
0
1 M 1

y2 0
2 0

0 y3 0
=
0 3 0
6 h y4 0

2h 2 4 0
4h 2 5 M 5
0
0
0
For free vibration, on substituting x = 2 x , in the above equation we get an eigen value problem of
the following form
n2 [M ] + [K ] = {0}
which can be solve to give the following natural frequency of the system
n2 = 867.18
1
n1 = 29.44 rad/s and
n2 = 8.3652 104 n = 289.23 rad/s.

2
Example 4.4 A typical simply supported rotor disc system as shown in Figure 4.11 is analyzed to
show the application of the present finite element model. The physical properties of the rotor bearing
system are given as: diameter of shaft = 0.1 m, length of shaft = 3.5 m,Youngs modulus of material
of shaft = 4.08E11 N/m2, mass density of the shaft material= 7830 kg/m3, number of rigid disks = 4
and mass of each rigid disk = 60.3 kg. The rotor is modeled as seven element, Figure 4.11 and
fourteen-element member Figure 4.12. In case of seven element member, two identical rigid bearings
are located at node number two and seven, and four rigid disks are located at node numbers three,
207
four, five and six. In case of fourteen element member, two identical rigid bearings are located at node
number three and thirteen, and rigid disks are located at node numbers five, seven, nine and eleven.
The shaft is considered as uniform in cross section.
Rigid disks are considered as point masses and these point masses are added to mass matrix
corresponding to the locations of rigid disks. Also assembled mass and stiffness matrices are obtained,
boundary conditions are applied and dynamic matrix is calculated. The natural whirl frequencies are
obtained by solving eigen value problem and mode shapes can be drawn by using MATLAB package.
Natural whirl frequencies are obtained for 7 elements and 14 elements model and are given in Table
4.5. Results show that convergence has already occurred with 7 elements model. Mode shapes are
shown in Figure 4.13.
Rigid discs
Bearing
Bearing
0.1 m
Figure 4.11 Rotor Bearing System with Rigid Disks (7-elements of 0.5 m each)
Rigid discs
Bearing
Bearing
Figure 4.12 Rotor Bearing System with Rigid Disks (14-elements of 0.25 m each)
208
Table 4.5 Natural whirl frequencies of rotor bearing system with rigid disks.
Mode No.
Natural whirl frequencies (rad/sec)

For 7 elements
For 14 elements
116.1756
115.8136
438.4482
438.2795
861.5609
860.7477
1209.4922
1207.0327
Normalised Eigen-Vectors
1.5
1
Mode I-116.1756
rad/sec
0.5
Mode II- 438.4482

rad/sec
0
1
Mode III-861.5609
rad/sec
-0.5
Mode IV-1209.4922
rad/sec
-1
-1.5
Node Number
Figure 4.13 Mode shapes for rotor bearing system with rigid disks (7-element model)
Exercise 4.1 Obtain the bending critical speed of the rotor system as shown in Figure E4.1. Take the
mass of the disc, m = 5 kg and the diametral mass moment of inertia, Id = 0.02 kg-m2. Take shaft
length a = 0.3 m and b = 0.7 m. The diameter of the shaft is 10 mm. Neglect the gyroscopic effects.
Figure E4.1 An overhang rotor system
Exercise 4.2 Find critical speeds of the rotor system shown in Figure E4.2. Take EI = 2 MN.m2 for
the shaft and mass moment of inertia of disc is negligible.
209
3m
1.5 m
Fixed end
80 kg
100 kg
Figure E4.2 An overhang rotor system
Exercise 4.3 Find the fundamental bending critical speed of the rotor system shown in Figure E3.7.
B1 and B2 are simply supported bearings and D1 and D2 are rigid discs. The shaft is made of steel with
modulus of rigidity E = 2.1 (10)11 N/m2 and uniform diameter d = 10 mm. The various shaft lengths
are as follows: B1D1 = 50 mm, D1D2 = 75 mm, and D2B2 = 50 mm. The mass of discs are: md1 = 4 kg
and md2 = 6 kg. Consider the shaft as massless and neglect the diametral mass moment of inertia of
both discs.
Figure E4.3 Example 4.3
B1
B2
D1
D2
Exercise 4.4 Find the transverse natural frequency of a rotor system as shown in Figure E4.4.
Consider shaft as massless and is made of steel with 2.1 (10)11 N/m2 of Youngs modulus, E, and
7800 kg/m3 of mass density, . The disc has 10 kg of mass. The shaft is simply supported at ends (In
10
30
Figure 3.4 all dimensions are in cm).
40
60
Figure E4.4 Example 4.4
210
4.6 Forced Vibration Analysis (The consistence load matrix)

In the present section elemental force vector has been obtained for various types of loading over the
element.
Case (a): For F(x, t) to be uniform distributed load.

F(x, t) = F(t)
Figure 4.14 A beam element under uniform loading
The consistent force vector is given as
( ne )
{P}
12 F (t )h
1
2
h
12 F (t )h
= F (t ){N }dx = 1
0
2 F (t ) h
1 F (t ) h 2
12
(4.27)
Case (b): For the concentrated load acting at x = x0 , it can be
written as
F ( x, t ) = F0 * ( x x 0 )
(4.28)
The consistent force vector can be written as

h
{P}( ne ) = F0 * ( x x0 ){N }dx = F0 {N ( x0 )}
(4.29)
F0
F0
F0
h/2
(a)
(b)
h
(c)
Figure 4.15 A beam element under concentrated loads at different positions
For concentrated load as shown in Figure 4.15, the following elemental force vector can be obtained
211
(i) For
x0 = 0, {P}( ne ) = F0 {1 0 0 0}
(ii) For
x0 = h, {P}( ne ) = F0 {0 0 0 1}
(iii) For
h
1
x0 = , {P}( ne ) = F0
2
2
1
h
8
1
2
(4.30)
T
1
h
8
Case (c): For the load varying linearly over the element as shown in Figure 4.16, let us assume that
F (e ) ( x, t ) = a + bx
(4.31)
From Figure 4.16, we have
at
x=0
F ( ) ( x, t ) = F1 (t ) => F1 = a
and
x=h
F ( ) ( x, t ) = F2 (t ) => F2 = a + bh
which gives
a = F1 and
b=
F2 F1
h
Figure 4.16 A linearly varying loading
The assumed form of the force becomes
F (e) ( x, t ) = F1 +
F2 F1
x x F
x = 1 1 = N f {F}( ne)
h
h h F2
Hence the consistent load vector will be
212
(4.32)
{P}( ne ) = {N } N f dx{F }( ne )
0
207 h
1 2
h
= 203
20 h
1 2
30 h
(
(
(
(
)
)
)
)
207 F1 + 203 F2 h
h
1 F + 1 F h2
h F1 20 1 30 2
h F2 3 F1 + 7 F2 h
20
20
1
h
30 F1 201 F2 h 2
3
20
1
2
30
7
20
1
20
(4.33)
Case (d) For load varying quadratically as shown in Figure 4.17 at least three nodes are required
and corresponding force values must be specified; the element force can be written as
F ( x, t ) = a + bx + cx = N f 1
(e)
Nf2
F1
( ne )

N f 3 F2 = N f { F }
F
3
x 2 x
1 h 1 h
x 2x
where N f = N f
1

h h
4x x
1
h h
(4.34)
Hence, the load vector can be obtained as
{P}( ne ) = { N }N f dx{F }( ne )
(4.35)
Obtained the same as an exercise.
Example 4.5 Perform the forced vibration analysis of the rotor system as shown in Figure 4.17. The
shaft is having diameter of d = 10 mm and disc has mass of mdisc = 1.5 kg. Unbalance mass in
formation is given as: mumb = 0.005 kg, rumb = 0.05 m, umb = 300 phase. The phase is measured with
respect to some physical reference on the shaft. Let us assume that reference mark is designed with yaxis. The angular speed, , is in counter clockwise direction as seen from left. Let us assume disc in
element 2. The shaft element is taken such that the disc is always at the node point.
213
Figure 4.17 A single disc rotor system
Figure 4.18 Unbalance on the disc
Solution: Let us assume the disc is on element 2. The shaft element is taken such that the disc is
always at the node point. The phase is measured with respect to some physical reference on the shaft.
Let us assume that reference mark is aligned with y-axis at time t = 0. The angular speed, , is in
counter-clockwise direction as seen in Figure 4.18. FE equation for element 1 in the vertical plane x-z
is given as
1
156 22 54 13 w
12 6 12 6 w1 0 S1
1
4 13 3 w
4 6 2 w1 0 M 1
1.46 10 3
103.11
+

= +
2
156 22 w
12 6 w2 0 S 2

2
4 w
4 w2 0 M 2
sym
sym
EOM in the horizontal plane (x-y) is given as

156 22 54 13 v1
12 6 12 6 v1 0 S1
4 13 3 v1
4 6 2 v1 0 M 1
1.46 x103
+ 103.11
= +
156 22 v2
12 6 v2 0 S2
4 v2
4 v2 0 M 2
sym
sym
On combining elemental equations and for vertical & horizontal plane, we get
1
0 54 13 0
0 w
0
0 w1 0 S1z
156 22 0
12 6 0 0 12 6
1
4
0
0 13 3
0
0 w
4 0 0 6 2
0
0 w1 0 M 1z
156 22 0
0
54 13
12 6 0
0 12 6 v1 0 S1
v1

v
6 2 v1 0 M 1y
4
0
0
13
3
4
0
0
1 + 103.11
1.40 x103
= + z
2
156 22 0
0 w
12 6 0
0 w2 0 S2

w
4
0
0
4
0
0
w2 0 M 2
156 22 v2
12 6 v2 0 S2y
4 v2
4 v2 0 M 2y
sym
sym
214
In FE equation for element 2, since rows 5th & 7th are EOM corresponding to displacements w3 and
3 and mdisc v3 .

v3 , the lumped mass at node 3 of the disc will contribute mdisc w
0
156 22 0
4
0
0
156 22
1.46 103
sym
54
13
13
3
0
0
0
0
0
0
54
13
(156 + 1.5 /1.46 10 )

3
22
(156 + 1.5 /1.46 10 )

3
0 w
0
0 w2
2
12 6 0 0 12 6
0 w
4
0
0
6
2
0
0 w2
2
13 v
v2
12
6
0
0
12
6
2

3 v
4
0
0
6
2
v2

+ 103.11
0 w
12 6 0
0 w3
3
3
4
0
0
0 w
w3

v

v
12
6
22 3
3
v
4 v3
sym
4 3
0
S2z
z
0
M 2
0
S2
y
0
j t M 2
=
e + z
6
( j)2.5 10 [0.866 + j0.5]
S3
M 3z
0
y
6
2.5 10 [0.866 + j0.5]
S3
My
0
The unbalance force is obtained by mb rb e j in the horizontal direction F4, and the unbalance force in
the vertical direction F3 can be obtained by using Figure 4.19.
Fy = mb rb e j e jt
y
Fy = mb rb e j e jt
z
Fz = ( j ) Fy
z
Fz = jF y
(a)
(b)
Figure 4.19 Unbalance forces in the horizontal and vertical directions for different direction of rotor
rotations (a) Counter clockwise rotor rotation direction (b) Clockwise rotor rotation direction
FE equation for element 3 is given as
215
3
0 54 13 0
0 w
0
0 w3 0 S3z
12 6 0 0 12 6
156 22 0
3
4
0
0 13 3
0
0 w
4 0 0 6 2
0
0 w3 0 M 3z
156 22 0
0
54 13 v3
12 6 0
0 12 6 v3 0 S3
6 2 v3 0 M 3y
4
0
0
13
3
4
0
0
v
+ 103.11
1.46 x103
= + z
4
156 22 0
0 w
12 6 0
0 w4 0 S 4

4
0
0
4
0
0
w
w4 0 M 4
156 22 v4
12 6 v4 0 S 4
y
4 v4
4 v4 0 M 4
sym
sym
Global FE equation : On assembling all elemental equations, we get

0
54
13
0
0
0
0
0
0
0
0
0
0
156 22 0
4
0
0
13
3
0
0
0
0
0
0
0
0
0
0
1
156 22
0
0
54
13
0
0
0
0
0
0
0
0 w
1
4
0
0
13
3
0
0
0
0
0
0
0
0 w

v1
(156
(22
0
0
54
13
0
0
0
0
0
0

v1
+156) +22)

2
(4 + 4)
0
0
13
3
0
0
0
0
0
0 w

(156 + (22 +
w
0
0
54
0
0
0
0 2
13

156)
22)
v2
3
(4 + 4)
0
0
13
0
0
0
0
v2
3
1.46 x10

w
+
(1183.4
(
22
0
0
54 13 0
0 3
w

+156)
22)
3
v3
(4
4)
0
0
13
3
0
0
+

v
(1183.4 ( 22
0
0
54 13 3

+156)
+22)
w4
4
(4 + 4) 0
0
13 3 w
156 22 0
0 v4

4
0
0 v4
156 22
4
sym
6
0
0
0
0
0
0
0
0
0 0
12 6 0 0 12
4
0
0
6
2
0
0
0
0
0
0
0
0
0
0
S1z
12
0
12 6
0
0
6
0
0
0
0
0
0 0 0 w1
0
4
0
0
6
2
0
0
0
0
0
0
0
0
1

M1
v1
S1y
0
(12 +
( 6
12
0
0
6
0
0
0
0
0 0
y
+6)
0
12)
v1
M 1
6
0
(4 + 4)
0
0
2
0
0
0
0
0 0 w2
0
0
(12 +
w2
0
12
(6 + 6)
0
0
6
0
0
0 0
v
0
12)
0
6
0
(4 + 4)
0
0
2
0
0
0 0 v2
jt 0
+103.11
e +
w
2.5 10 [0.5 j0.866]
(12 +
0
12 6 0 0 3
(6 + 6)
0
0
w3
0
12)

6 2 0 0 v3 2.5 106 [0.866 + j0.5]
(4 + 4)
0
0
0
v
(12 +
0
3
(6 + 6) 0
0 6 2
12)
0
S4
w4
Mz
(4 + 4)
0
0 6 2 w4
0

12 6 0 0 v4
S 4y
0

v
4
0
0
0
M4
12 6
4
sym
Boundary conditions :
and
w1 = 0, v1 = 0, w4 = 0, v4 = 0
M 1z = 0, M 1y = 0, M 4z = 0, M 4y = 0 .
216
Correspondingly we will be having : 2, 4, 5, 6, , 12, 14, 16 (total 12 equation) with RHS known.
Rest of 4 equation can be removed since it contain shear forces as additional unknown. From
displacement information we will be having 1st, 3rd, 13th and 15th column multiplied by zero (i.e.
corresponding displacement from B.Cs.) so these columns can also be eliminated since it will not
contribute any term in totality. Shear forces which are nothing but forces being transmitted through
the bearing can be obtained once displacements are known.
FE equation after applying B.Cs. reduces to
1
0
0
0
0
0
0
0 w
4 0 13 3 0

v
4
0
0
13
3
0
0
0
0
0
0
w2
312 0
0
0
54
0
0
0
0
13

2
8
0
0
13
3
0
0
0
0
w
+
312 0
0
0
54
0 v2
13 0

3
8
0
0
13
0
0 v2
1.46 x103

1339.4 0
0
0 13 0 w
3
3
8
0
0 13 0 w
v
1339.4
0
0
13
8
0 13 v3

4
4
0 w
sym
4 v4
0
0
0
0
0
0
0 w1
0
4 0 6 2 0
4
0
0
13
3
0
0
0
0
0
0
0
1
13
312 0 0
0
54
0
0
0
0 w2
0

3
8 0
0
13
0
0
0
0 w2
0
13 0
312 0
0
0
54
0 v2
0
3
8
0
0
13
0
0 v2
0
j t
=
+103.11
e

1339.4 0
0
0 13 0 w3 2.5 106 [0.5 j0.866]
3
8
0
0
0 w3
0
1339.4 0
0 13 v3 2.5 10 [0.866 + j0.5]
3 v3
8
0
0

4
0 w4
0
sym
4 v4
0
} = 2 {w} , where {W} is a

Since excitation is a simple harmonic i.e., {w} = {W } e jt , hence {w
vector contains complex quantity i.e., magnitude and phase information of various displacement
components. Hence EOM can be written as
2 [ M ]{W }e jt + [ K ]{W }e jt = {F }e jt
which can be solved as
{W } = [ K ] 2 [ M ] {F }
217
where is the rotor spin speed. It should be noted that matrices [M] and [K] contain real quantities,
whereas force vector {F} and corresponding displacement vector {W} will contain complex terms.
The response (amplitudes and phases) can be plotted with respect to shaft speeds.
(a) Response amplitudes versus speeds
(b) Response phases versus speeds

Figure 4.20 Forced response variations with respect to spin speed of the shaft
Exercise 4.5 For exercises 4.1 to 4.4 plot linear and angular displacements (with both amplitude and
phase) of the discs with respect to the rotational speed of the rotor (take the rotational frequency of the
rotor minimum of 0.1 rad/s and maximum at least 5 rad/s above the second critical speed). Assume
imbalances of 20 gm-mm at one of disc with 30-degree phase with some shaft reference point. Check
whether critical speeds are in agreement with the obtained by free vibration analysis.
References
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Booker, J.F., and Ruhl, R.L., 1972, A Finite Element Model for Distributed Parameter Turborotor
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Shafts, Computers & Structures, vol. 40, pp. 741-747.
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Den Hartog, J.,P., Mechanical Vibration, Dover Publications, Inc.,1985, pp. 262 263.
Diana, G., Massa, E., and Pizzigoni, 1975, Finite Element Method for Computing Oil Whirl
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of Sound and Vibration, vol.153, No.1, pp. 89-96.
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220

Finite Element Analysis of Simple Rotor Systems

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

FINITE ELEMENT ANALYSIS OF SIMPLE ROTOR SYSTEMS

4.1 Literature Review

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

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

4.2 Euler-Bernoulli Beam Theory

The corresponding strain and stress field are

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

The strain energy is

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

The work done by the external forces is

Differential equation of motion is

Boundary conditions are

4.3 Finite Element Formulation

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

Figure 4.4 Beam element in x-y plane

where N ( x) is the shape function matrix, and

v(l ) = 2 = 3a1l 2 + 2a2l + a3

v(l ) = v2 = a1l 3 + a2l 2 + a3l + a4

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

4.3.1 Weak Form

which can be written as

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

4.4 System Equations of Motion

4.5 Eigen Value Problem

natural frequencies equal to zero which are

{q} + K {q} = {Q}

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

equation (4.22) can be expressed in the form of

Pre-multiplying equation (4.23) by inverse of K the eigen value problem becomes

M is known as the dynamic matrix. Equation (4.24) possesses a nontrivial

solution if and only if the determinant of the coefficients

vanishes. Thus the characteristic

equation can be written as

where ( p ) is a frequency equation in the form of a polynomial of degree n in p, where n is number

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

Figure 4.5 A simply supported shaft

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

Assembled FE equation of the whole system can be obtained as

Boundary conditions are w1 = 0, w4 = 0, M 1 = 0 and M 4 = 0 for simply supported ends. Above

} = n 2 {w} , hence the above equation takes the following

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

The above equation has the following form

([M ] [ K ]){w} = {0}

Therefore, eigen values can be obtained as

Table 4.1 Convergence study of natural frequency (rad/sec)

Natural frequency by FEM (number of elements)

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

Table 4.2 Eigen vector corresponding to the first natural frequency.

Figure 4.6 Mode shapes

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

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

fprintf(fido,'\n Global stiffness matrix \n');

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

xlabel('Node number --->');

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

Classical closed form

FEM natural whirl frequency

Number in bracket indicates number of elements

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

Mode I-94.08 rad/sec

Figure 4.10 A finite element discretisation of the rotor system