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Modal Analysis of Continuous Rotor-Bearing Systems
Modal Analysis of Continuous Rotor-Bearing Systems
AND
Y.-G. JEI
Department of Mechanical Engineering, Korea Advanced institute of Science and Technology Seoul,
Korea
(Received 27 November 1987, and in revised form 5 May 1988)
Modal analysis is applied to continuous rotor systems with various boundary conditions
which include isotropic and anisotropic natural boundary conditions. The rotor includes
the effects of rotary inertia and gyroscopic moment. In particular, the whirl speeds and
mode shapes, backward and forward, of a rotating shaft are obtained as spin speed and
boundary conditions vary, and the unbalance responses are calculated by using modal
analysis. The effects of asymmetry in boundary conditions on the system dynamic characteristics are also investigated.
1. INTRODUCTION
Various methods for transverse vibration analysis of rotor systems have been developed
during the past few decades. These may be divided into two major classes according to
modelling procedure. The first is the discretization
method, such as the FEM and Transfer
@ 1988 Academic
Press Limited
346
C.-W.
LEE
AND
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JEI
from the fact that the resulting eigenvalue problems are characterized by the presence of
skew symmetric matrices with differential operators as elements, due to rotation and/or
damping, resulting in non-self-adjoint eigenuafue problems [9]. The resulting eigenvalue
problem becomes then a standard non-self-adjoint eigenvalue problem when the equation
of motion is written in state space rather than in configuration space [9, lo]. Although
the boundary conditions in reference [9] were restricted to the isotropic geometric
boundary conditions as in references [6,7], it was found that the forward whirl mode
shapes are different from backward whirl mode shapes, which has not been observed in
results obtained by the discretization methods.
In practice, rotor systems are supported by bearings which may not be appropriately
represented by geometric boundary conditions only. The aim in this paper is to extend
the modal analysis developed in reference [9] to rotor systems having isotropic and
anisotropic natural boundary conditions. The effects of rotary inertia and gyroscopic
moments are also included as in reference [9]. The whirl speeds and mode shapes of a
rotating shaft with various boundary conditions, and the unbalance responses, are computed. In particular, the forward and backward whirl mode shapes with the spin speed
varied and the effects of the asymmetry in boundary conditions on the system dynamic
characteristics are also investigated.
2. EQUATIONS OF MOTION
Consider a flexible non-uniform rotor system consisting of D disks and B anisotropic
bearings as shown in Figure 1. For simplicity, it is assumed that discontinuities in stiffness
and inertia caused by disks and bearings are well represented by a train of delta functions
along the shaft axis. The equations of motion including gyroscopic and rotary inertia
effects are then expressed, in inertial co-ordinates, as
(14
k&b+
(lb)
where O<x<l
and
k&b
=./Xx, ~1,
pA(x)=pAe(x)+
dS(x-xd),
d=l
Figure
1. General
rotor-bearing
system.
CONTINUOUS
Jr(x)=JpT(x)+
ROTOR-BEARING
J7 6(x-&j),
Jp(x)=J;(x)+
k;yS(x
-x&
k,,(x)
k:za(x
-Xb),
k.,(x)
L(x)
b-l
it
b=l
J$S(PXd),
d=l
d=l
b(x)
347
SYSTEMS
+(x
- xb),
kf$(x
b-l
i
b=l
xb).
Here PA(X) is the mass per unit length, &(x) the diametral mass moment of inertia,
JP(x) the polar mass moment of inertia, El(x) the flexural rigidity, md the disk mass, I
the length of the rotor, R the spin speed, x the position co-ordinate along the shaft, and
fy(x, t),fr(~, t) are the distributed forcing functions in the y and z directions, respectively.
The superscript e denotes the shaft and, d and b denote the dth rigid disk located at
x = xd and the bth discrete bearing located at x = xb, respectively. The associated general
boundary conditions are
(3)
where the superscripts and I denote the terms located at x = 0 and 2, respectively. The
boundary conditions of equations (2) are associated with the shear force and the deflection
at both ends, and equations (3) are associated with the bending moment and the slope
at both ends of the rotor system considered. Equations (l), (2) and (3) constitute the
boundary value problem of the rotor system.
It is notationally convenient to introduce the state vector
(4)
where
w(x, t) =
w=w(l, t),
e,
t)
u(x,r)
I I
w= w(0, t),
u(x, t) =
I)
1a, I
Y(X,
t)
as
MW=LW+F
(5)
348
C.-W.
LEE
AND
Y.-G.
JEI
where
3. MODAL ANALYSIS
METHOD
The inner product of two complex state vectors a = {a,, u*}~ and b = {b, , b2}T is defined
as
(a,b)=((Il.bl)+(n2,b2)=~~~~,=(dx+ld~~L?idx
(6)
where the bar denotes the complex conjugate. For the two state vectors W, and W2
(W,,W,)=(jt,,)i*>+(il,i*>+(y,,y,)+(z,,z,)+B(I,t)+B(O,r),
(7)
where
B(x, r) = i,(x, f)G,
Q&x, t)+yi(x,
t)$(x,
t)+zi(x,
f)fi(X, t).
The eigenvalue problem associated with equation (5) and its adjoint are given by
h,M+,=L+,
r=l,2,3
,...,
&M*YS = L*L,,
s = 1,2,3,.
..,
(8)
L* = LT.
(9)
IL: 9LJI:, $5 w,
*:, MO,
$t>,
(10)
where
so as to satisfy
(11)
where 6, is the Kronecker delta. From equation (8), if k,,(x) = -k,,(x), k$ = -kt,,, and
k:, = -ki),, +, and WY,satisfy the same eigenvalue problem [9], resulting in
&Jx) = K#%&)
and
&Z(X) = -G#J,(x),
(12)
CONTINUOUS
ROTOR-BEARING
349
SYSTEMS
The distributed state u(x, 2) can be expanded in terms of the system eigenfunctions
follows
as
The summation indices F and B in equation (13) implicitly indicate the resonances of
the rotor in forward and backward precessions, respectively. Since u is the real state
vector, the complex conjugates of +lql always exist in the summation of equation (13).
Substitution of equation (13) into equation (5) yields an infinite set of modal equations,
i = F, B,
&=A,q,+f,,
r=l,2,3
,...,
(14)
where
~=(W,V\Y:(x))=
Equation (14) represents
differential equations.
;(&&+ihf,)dx.
x=x/&
variables
77=z/l,
r = R/21,
c2 = pAe14R2/ EI,
7=0t,
5=u/l,
Wx, 7) =_I-IPA~~~~,
(13
where u(x, t) = y(~, t) +jz(x, t), the complex displacement function, and f(x, t) =
f,(x, t) +ifr(x, r) the complex forcing function. Then the equation of motion of a uniform
circular shaft with no disks and bearings on 0 < x < 1 can be reduced in non-dimensionalized form, from equation (l), as
a25
a41
g-r (aX2ar2
2
--2j-
a5
+L!%=h
ax2a7 >
c2
ax4
(16)
the boundary conditions (2) and (3), can also be rewritten in non-dimensionalized form.
For a rotor with distributed mass center eccentricity y,(x), z,,,(x)), the equivalent
unbalance force is given as
&(x, 7) = &(x) cos T- W(X) sin 7,
where the non-dimensional
non-dimensionalized
sin 7,
(17)
The
= GAxVl.
(18)
i = F, B,
r = 1,2,3, . . . ,
form as
(20)
where
h:=(h(x,
7),$&4x)>=
Gi?o,h,+k,h~)
I0
dx.
term and it
350
C.-W.
LEE
AND
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JEI
(21b)
The homogeneous
= I&ejG
ejpr
(22)
where 5(x, 7) = 6(x, T) + jn(x, 7). The value of a characterizes the mode shapes and a is
the natural frequency. Since the whirl frequency is given by w = aR, a = 1 at the critical
speeds where the whirl speed coincides with the spin speeds. Substitution of equation
(22) into the homogeneous part of equation (16) yields
a2 - r2c2(u2 - 2a)a - c2a2 = 0.
(23)
(24)
The expression for a shows that, for a constant value of c2, each value of the natural
frequency a will result in two values of a, one always being positive and the other
negative. Therefore, the mode shape functions 4(x) will take the form
4(x) = A, cos &x + A2 sin &x + A3 cash ax
+ A, sinh 4~
(25)
where -p and v are the two values of a which satisfy the relation (23). Normally the
positive values 1~and v are different from each other (unlike the case of the Euler-Bernoulli
shaft), satisfying the relations
-/I + v = r2c2(a2 -2a),
~1.y= c2a2.
(26)
For c2 given, equations (26) constitute two equations with three unknowns, V, p and a.
One additional constraint comes from the frequency equation, which depends on the
boundary conditions specified. Two typical isotropic (natural as well as geometric)
boundary conditions will now be considered. For cases of fixed or simply supported ends
(x =0, l), the frequency equations are given in reference [9].
4.1.1. Cantilever shaft
with a tip disk
When a tip disk is attached at the free end of a cantilever shaft, the boundary conditions
are
4(O) = 4(O) = 0,
9(1)-C2(y:a2-y~a)~(l)=0,
c#J(1)+/3c2a2~(1)+r2c2(a2-2a)~(l)=0,
(27)
where /3= m/pAi, y\ = J:/pAe13, and y; = J,lpAl. Imposing the boundary conditions (27) on equation (25) gives the frequency equation as
CrCqVC2C3=0,
(28)
CONTINUOUS
ROTOR-BEARING
351
SYSTEMS
where
C2 = v cos &+
C3 = -&(p
p cash G-
cos &+
C,= (p&sin&-
sin &+&
sinh a),
v coshG)+pca*[sin&-(&I&)
v&sinhG)+Pc2a2(cos
sinh &I,
fi-cash
&>.
By using the relations of (26), (27) and (28) a set of Ai( i = 1,2,3,4), v and p together
with a are determined. As discussed in reference [9], each natural frequency corresponds
to a single mode shape, implying that the mode shapes corresponding to forward and
backward precessions are different.
The whirl speeds and mode shapes of the cantilever shaft with a tip disk are shown in
Figures 2 and 3. Figure 2 indicates that the gyroscopic moments increase the forward
whirl speed and decrease the backward whirl speed as the spin speed increases. Figure
3 shows that the distance between the neighboring nodes tends to decrease (increase) in
the forward (backward) mode shapes as the spin speed increases. The solid line denotes
the mode shape of non-rotating shaft. This phenomenon confirms the change in the whirl
speeds of the forward and backward precessions.
25 -
2F
1
zo---_
---___
--___
-28
--_
In 15E
f
IO5-
IF
IO
15
20
, 18
25
30
Spin speed
Figure 2. Whirl speed of cantilever shaft with a tip disk (r = 0.02, /3= 0.7, y: = 0402, yf = 0404).
4(O) = #( 1) = 0,
4(l)-K+(1)+r2c2(a2-2a)4(1)=0,
(29)
where K = kl-/ EI = K;~ = it),,, and K = k13/ EI = K& = KS,,. Imposing the boundary
conditions of (29) on equation (25) gives the frequency equation 1S
0
-vsinJ;
-jL&
Q
--v
-vcos&
K
D2
0
p sinh&
P
k cosh&
0
VG
03
K
04
0,
(30)
352
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Fig. 3. Mode shapes of cantilever shaft with a tip disk (c = O-40, @= 0.7, 7: = O+W2,7; = 0@04) (a) Second
mode; (b) third mode. -.-,
Forward; ----, backward.
where
D,=p\/;;cosfi-Ksinfi,
D,=v&cosh&-Ksinh&,
D,=p&sin&-K1cosfi,
D = v&sinh&-Kcosha.
As before, a set of Ai( i = 1,2,3,4), p and v are determined from equation (30) by using
the relations (26). The more general problem of an anisotropic spring support is treated
in detail in the next section.
4.2.
UNIFORM
SHAFT
WITH
ANISOTROPIC
BOUNDARY
CONDITIONS
The mode shapes of a rotor system with anisotropic boundary conditions are complex
and non-planar, and the whirl motions are not circular. With the assumption that
KL,
= Kit<
i = 0, l), that is, orthotropic bearings, the homogeneous part of equation (16)
permits a solution of the form
77(x, T) = &(x)4(7) = B ej+e@.
(31)
6(x, 7) = &(,y)q( 7) = A ejG ej,
-2jarcaA
+ {a-
CONTINUOUS
ROTOR-BEARING
353
SYSTEMS
From equations (32), the condition for existence of non-trivial A and B yields
a2-rZC2(u2+2a)a-c2a2=0.
ff2-r2c2(a2-2a)a-c2a2=0,
(3%
b)
Equation (33a) is identical to equation (23), whereas equation (33b) corresponds to the
isotropic rotor rotating in the opposite direction. Solving these equations for a gives
a
=fr2~2(a2-2a)*.J~r4c4(a2-2a)2+c2aZ,
Cl!
=$r2c2(aZ+2a)*tJ
(344
fr4c4(c2+2u)2+
c2u2.
(34b)
The expressions for a show that, for a constant value of c2, each value of the natural
frequency a will have four values of a, two always being positive and others negative.
Therefore, C&(X) and 4,(x) will take the forms
&(x) = A, cos fix
+ A2 sin fix
+ A, cash Gx
(35a)
~$,(x)=B,cos~x+B~sin~~+B,cosh~~+B~sinh~~+B,cos&&
+ Bs sin fix
+ B, cash &x
+ B8 sinh X&X,
(3Sb)
where Y, and -p, are the two values of a satisfying equation (33a), and v2 and -p2 the
two values of a satisfying equation (33b): i.e.,
-1, + VI= r2c2(u2 -2a),
p, v, =
c2a2,
(364
r2c2(a2+2a),
p2v2 =
c2a2.
(36b)
-/.Lz+
vz=
For c2 given, equations (36) are four equations with five unknowns, kl, p2, vI , v2 and
a. One additional constraint comes from the frequency equation which depends on the
boundary conditions specified. When a solution for a is found, then it can be readily
shown, from equations (36), that -a will automatically become another solution with CL,
and vl interchanged with cc2and v2, respectively, in &(x) and 4,(x). On the other hand,
the mode shapes associated with a and -a should be a complex conjugate pair. Therefore,
the following relations hold
A,lii,=A,lA,=A,/A,=A,lA4=c,,
A,/A,=A,/A,=A,IA,=A,lA,=c,,
B,ll?,=B,lB,=B,l~,=B,lB,=c,,
&I&
B2/
&
I?,/
B,
B,/
ii,
c4
(37)
Here A,, Bi are the mode shape coefficients with -a and evaluated with p, and v, being
interchanged with p2 and v2, respectively. The CiS(i = 1,2,3,4) are the complex constants.
From equations (32) one also obtains the relations
(i = 1,2,3,4),
Bi = -jAi
Therefore
Bi=jAi
(i=5,6,7,8).
(38% b)
4,(x) =
-j{++(x) - d-(x)),
(39)
where
4(x) = A, cos 4~
4-(x)=A,cos&&+A
6 sin fix
+ A2 sin &x
+ A3 cash &x
+ A, cash J&
+ A4 sinh Gx,
+ AB sinh &x,
i-(x)
= c,J(x).
Here 4(x) and c#-(x) are the mode shapes associated with two different isotropic rotors,
one rotating in the specified direction and another in the opposite direction, respectively,
implying that the anisotropic rotor is conceptually equivalent to these two kinds of
354
C.-W.
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AND
Y.-G.
JEI
In the case when the boundary conditions become isotropic, one obtains for forward
modes from equation (21a),
$7(x)
(4Ia)
=f(i5+$&)=0,
5 = 5+h =
=S(#~+jG)
(4Ib)
= 0.
2 (4TF(x)qf+
&B(x)4rS),
implying that d:(x) and &LF(x) play a role in the forced respnse only when the system
remains anisotropic. In fact, it has been already shown in reference [9] that the eigenvalue
problem associated with isotropic rotor systems, when written in complex notation, yields
a single eigenvalue corresponding to each mode. Although the complex conjugates
associated with #FE(x) (d;(x)) in forward (backward) modes seem naturally to become
additional eigensolutions, they actually result from the rotor rotating not in the specified
direction but in the opposite direction. They exist only as a pure mathematical consequence, never contributing to the forced responses or resonances. In this respect, the
observation that half of the anisotropic rotor resonances disappears suddenly as the
anisotropy becomes null is clearly explained.
Two typical anisotropic boundary conditions can now be considered.
4.2.1. Dissimilar fixing conditions in two perpendicular bending planes
When a shaft is simply supported in two perpendicular bending planes at one end
(x = 0), and fixed in one bending plane and simply supported in another bending plane
at the other end (x = l), the boundary conditions become
de(O) = MO)=
~,(0)=~;(0)=~,(1)=9,(I)=O.
(43)
sinh a,
0
0
&, cash X&
0
( y2+ 1~~)sin fi,
sin Jv,
- 6, cos &,
0
0
sinh G2
- fiz cash &
= 0.
(4)
Here each natural frequency corresponds to a single mode shape, implying that the mode
shapes corresponding to forward and backward precessions are different. Due to the
anisotropic boundary condition the mode shapes, &(x) and C&(X), are different and one
additional resonance corresponding to each mode appears.
CONTINUOUS
4.2.2.
ROTOR-BEARING
SYSTEMS
355
4;(0)=@(1)=0,
(0)9&(O)+ r2c2a2[d;(0)
~;(O)+KO~~(~)~C(O)+KOC?
= 0,
-.iW~MiAO)l =O,
~~(1)-K~~~~(1)+r2C2U2[~;(1)-j(2/~)~~(l)l=0,
~~(O)+KO??(~)~?(O)+KO~~
(~)~,(0)+~c2~[~~(~)+j(2/~)~~(0)1=0
d~(l)-K1?~?(1)+r2c2U2[~~(1)+j(2/u)d;(1)l=0,
(45)
where
IQiil = 0,
(4)
where the matrix elements Qij( i,j = 1,2,3,4) are as given in Appendix C. When the
principal axes of two orthotropic bearings coincide, i.e., K&( 6) = 0, the values of Qij
become real, resulting in real mode shapes. Figure 4 shows the whirl speeds as functions
of 8 when the bearing properties are given as
K$=K;~=80
0 - 1 =LM)
K11)-K19
.
and
(47)
The whirl speeds change significantly as 8 varies, but are insensitive to a change in the
spin speed, due to the small gyroscopic effect of the uniform slender shaft considered.
For 8 = 0 and 5, the mode shapes, &(x) and 4,(x), are shown in Figure 5. When 8 is
24 -
%
E
f
I
45
1
90
I
135
180
Angle kgrees)
in orthotropic
356
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LEE
AND
Y.-G.
JEI
CONTINUOUS
ROTOR-BEARING
357
SYSTEMS
0, the mode shapes are real and planar, and the relative phase angle between d,(x) and
4,(x) is 90. The relative phase angle of 90 implies that the major and minor axes of
whirl orbit coincide with the 5, n axes. When 6 = Y, the mode shapes become complex
and non-planar, and the relative phase angles are no longer 90. In general, the mode
shapes &(x) and 4,(x) corresponding to the forward and backward whirls are different,
as shown in Figure 5.
When K&(X) = K$(x) = 0 (i = 0, l), the mode shapes become real, K, becomes a pure
imaginary value and the distributed state 5(x, T) can be rewritten, by using equation (19),
as
(48)
where g:= ql+i$
~;i+A:~lg;=2~~~+(hl-~l)hl,,
r=1,2,3
,...,
i=F,B,
(49)
with
To calculate the forced vibration due to the lack of mass balance, gTi and g;, may be
assumed to have the forms, from equation (17),
g:(x, r) = g:(x)
cos r+ g:(x)
sin 7,
r=l,2,3
,...,
sin T,
(50)
The steady state unbalance response can be obtained from equations (48), (50) and
(51). For the non-dimensionalized
mass center eccentricity given as t,,,(x) =
O-02 S(x -0.25) and am
= O-0, Figure 6 shows the unbalance responses of the shaft
with the bearing properties of equation (45), with 0 = 0. The unbalance responses have
been calculated with retention of 10 modes. In Figure 6 the solid and broken lines denote
the unbalance responses observed at x = 0.25 in the n and 6 directions, respectively. The
first backward whirl occurs, as the spin speed increases, in the region between the first
358
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LEE
AND
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15
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20
25
Spin speed. c
Figure 6. Unbalance response of a shaft supported in orthotropic bearings (I = 0.02, 8 = 0). F, forward; B,
backward; scale factor (SF.) = l/1001. ---, &-Direction; -,
n-direction.
and second criticals, but the second backward whirl appears not at the third critical but
at a speed far below the third critical.
5. CONCLUSIONS
Modal analysis of a continuous Rayleigh shaft with various boundary conditions which
include isotropic and anisotropic natural boundary conditions has been performed. The
mode shapes and whirl speeds of a uniform rotating shaft with typical boundary conditions, and in particular, the unbalance responses and the non-planar mode shapes of a
uniform rotating shaft supported in anisotropic bearings have been calculated by modal
analysis. The effects of the asymmetry in boundary conditions on the system dynamic
characteristics have also been investigated.
REFERENCES
1. J. W. LUND 1974 Journal of Engineering for Industry %(2), W-517. Stability and damped
critical speeds of a flexible rotor in fluid-film bearings.
2. H. D. NELSON and J. M. MCVAUGH 1976 Journal of Engineeringfor Zndustry 98(2), 593-600.
The dynamics of rotor bearing systems using finite elements.
3. E. HASHISH and T. S. SANKAR 1984 Transactions of the American Society of Mechanical
Engineers, Journal of Vibration Acoustics, Stress, and Reliability in Design l%( 1) 80-90. Finite
element and modal analysis of rotor-bearing under stochastic loading conditions.
4. Y. D. KIM and C. W. LEE 1986 Journal of Sound and Vibration 111(3), 441-456. Finite element
analysis of rotor bearing systems using a modal transformation matrix.
5. G. M. L. GLADWELL and R. E. D. BISHOP 1959 Journal of Mechanical Engineering Science 1,
195-206. The vibration of rotating shafts supported in Bexible bearings.
6. F. M. DIMENTBERG 1961 Flexural Vibrations of Rotating Shafts. London: Butterworth.
7. R. L. ESHLEMAN and R. A. EUBANKS 1969 JournaZofEngineeringforZndustry 91(4), 1180-1188.
On the critical speeds of a continuous rotor.
8. Y. D. KIM and C. W. LEE 1985 Proceedings of the Institution of Mechanical Engineers 199(Cl),
19-25. Determination of the optimal balancing head location on flexible rotors using a structural
dynamics modification algorithm.
9. C. W. LEE, R. KATZ, A. G. ULSOY and R. A. SCOTT 1988 Journal of Sound and Vibration
122(l), 119-130. Modal analysis of a distributed-parameter
rotating shaft.
10. L. MEIROVITCH and L. M. SILVERBERG 1985 Jouranal of Optimization 7?teory and Applications
47(l), 77-90. Control of non-self-adjoint
distributed parameter systems.
CONTINUOUS
ROTOR-BEARING
359
SYSTEMS
m=
pA-d/dx(J,
pA-a/ax(J,
pA -a/ax(J,
a/ax)
alaw,
k=
-Rd/ax(J,
d/itx)
R ij/dx( J, a/dx)
a/ax)
0
pA -
pA - a/ax(J, d/ax)
a/ax)
a/ax)
-k:,
-k,:
-[i)/iix(
El i?/iix*) +
where
0
,'=
0
L m+J,a/ax
my=
m-
m'+J;a/ax
:
m+J;a/ax
0
JpT a/ax
-n(J;
mO- Jq ii/ax
m"- J$ a/ax
1 '
a/ax)
a/ax)
k;= i
J,
flJ(:
J; 0
0
J,
-f2Jo,
0
0
- kbz
[a/ax(EI
-k:,,
J:.
J:0
-EI 0a/ax
- EI d/ax
a2/ax2) - ki,]
'
0
m-J,a/ax
0
J;
d2/ax2) - k_i,,]
[a/ax(EZ
m-J;a/ax
k;=
m+J,dlax
mi=
m+J,a/ax
k;=
n(J;
0
-n(Je,
m"- J; a/ax
a/ax)
0
-k;,
0
- [a/ax( EI a/ax*) + ky.,.]
EI alax
19
360
C.-W.
APPENDIX
APPENDIX
C:
B: MODAL
FREQUENCY
LEE
AND
Y.-G.
JEI
NORM OF ANISOTROPIC
EQUATION
ANISOTROPIC
OF THE
SPRINGS
Q3,=a:S,+a:S3+a:,
Q32=&+&,+~~,
Q3,=u~Ss+u;S,+u~,
Q34= u:S,+u:S,+u;,
a;,
Q43=u$5+u;S,+u:,
ROTOR SYSTEM
ROTOR
SUPPORTED
Q42=U~S2+U~S4+U~,
Q44=u$6+u$,+a~,
where
sin J;;
S1=(-cosJ;;+coshJ;;;)
sin J11,
s3=(-cosJ;;+coshdj&
ss=
(-cos
s, =
sin J;;
&+cosh
sin J;;
(-cos Jv,+cosh
sinh &
-(-cosJ;;+coshJ;;):
=
s,= -
a)
a)
sinh X&
-(-cosJv,+coshx&)
sinh X&
(-cos &+cosh
CL2
&)
sinh X&
-(-cosJv,+coshJCc,)
BY
CONTlNUOUS
ROTOR-BEARING
361
SYSTEMS
and
ai = p,x&
a:
v&
sinh a-
sin J;;
K:~
cash a+
r2a2c2
KX
a6= -v,~cos~-K~~sinJY,+r2a2c2
a:=p2~sinh&-tc~tcosh&+r2a2c2
a:=v,Jv,sinJ;;-K&cosJY,-r2a2c2
a!
p,&
at = +,a
sinh \j;l;-
~1,
cash x& -
K:,,
a:=-v2Jv,sinJ;;;+Ki,
8
a6=
sinh t&-I-
r2a2c2
cos J;;+
r2a2c2
l,J;;C0S&+Kf7n
a;
-p2&
sinh a+
if,,
cash a--
r2a2c2
ai
-b2&
cash a+
K&,
sinh a-
r2a2c2
( >
1+-
&sin
6,