Journal of Sound and Vibration (1988) 126(2), 345-361

MODAL ANALYSIS OF CONTINUOUS

ROTOR-BEARING SYSTEMS
C.-W. LEE

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

Matrix Method, in which a rotor system is approximated by a finite-degree-of-freedom

system whose motions are described by ordinary differential equations [l-4]. The second
is the analytical method in which a rotor system is treated as a distributed parameter
system whose motions are described by partial differential equations [5-g]. With the
recent development of computer hardware and software, the discretization method has
become a popular method for analysis of transverse vibrations of rotor systems, since it
can be easily applied to complex rotor systems. However, it is often difficult, if not
impossible, to look into, in a systematic way, the effects of system parameters such as
gyroscopic moments, rotary inertia and boundary conditions on the whirl speeds, mode
shapes and stability of a rotor. Furthermore, the results obtained by the discretization
method may not be as accurate as desired. On the other hand, although the solution
techniques are limited to relatively simple rotors, the analytical method often yields
essential information on the behaviors of rotor systems.
The dynamic characteristics of distributed parameter rotor systems have been studied
by a few investigators. Gladwell and Bishop [5] performed a modal analysis of an
Euler-Bernoulli beam supported by flexible bearings and solved the response problems
associated with mass unbalance, initial curvature, and gravity. Dimentberg [6] provided
an excellent review of the state-of-the-art of rotor dynamics and analytical solutions to
many rotor vibration problems, including the effects of gyroscopic moment and rotary
inertia. Eshleman and Eubanks [7] investigated the effects of externally applied axial
torque on the critical speeds of a continuous rotor, including the effects of shear deformations. Recently, Lee et al. [9] applied modal analysis to a rotating Rayleigh beam including
the effects of rotary inertia and gyroscopic moments. The difficulties in modal analysis
of rotor systems which include the effects of rotary inertia and gyroscopic moments arise
345
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@ 1988 Academic

Press Limited

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C.-W.

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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

kJx)y + k,,(x)z =Sy(x,t),

(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

W(x, t) = {w, w,w, w, wO}T,

(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)

W" = i)w/axl,,,,do = r?rr/ax(,,,.

The equations of motion (l), with the boundary

conditions (2) and (3), can be rewritten

as
MW=LW+F

(5)

348

C.-W.

LEE

AND

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JEI

where

The element matrices in equation (5) are provided in Appendix A.

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,

t) +&CT t)&(x, r) +Y,(x, f)%(X, r)+ z,(x, rP*(x, r)

+9:(x, t)j$(x, r)+ii(x,

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)

where M* and L*, the adjoints of M and L, respectively, are found to be

M* = MT,
The eigenfunction

L* = LT.

(9)

vector +, and the adjoint eigenfunction

vector WY,are given as

4, = {A&,, 4, A&I, 4,, &4:, 44 A,& 49, &44O, d4],

f* = {UJS, &, US,

IL: 9LJI:, $5 w,

*:, MO,

$t>,

(10)

where

4, and Vr, may be biorthonormalized

so as to satisfy

(M4,, Js) = a,,

(L&, *S) = G%S,

(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)

where the constant K, is to be determined from biorthonormality conditions and is

provided in Appendix B. The biorthonormality conditions expressed in terms of eigenfunctions and adjoint eigenfunctions are obtained from equation (11) [9]. l/K,, a complex
quantity, is a so-called modal norm.

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.

an infinite set of independent

first-order complex ordinary

4. UNIFORM CIRCULAR SHAFT

It is convenient to introduce the non-dimensional
5=yl&

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)

mass center eccentricity is

&l(x) = Ym(XVl,

The

h,(x, 7) = 77,(x) cos T+&(X)

Ilndx)

= GAxVl.

(18)

displacement can be represented as (from equation l3)),

(19)

The set of modal equations (14), can be then rewritten in non-dimensionalized

cj;=A;oq:,+h;,

i = F, B,

r = 1,2,3, . . . ,

form as
(20)

where

h:=(h(x,

7),$&4x)>=

Gi?o,h,+k,h~)
I0

dx.

The subscript 0 in equations (19) and (20) denotes a non-dimensionalized

will be omitted henceforth for notational convenience.

term and it

350

C.-W.

LEE

AND

Y.-G.

JEI

4.1. UNIFORM SHAFI- WITH ISOTROPIC BOUNDARY

CONDITIONS
When the boundary conditions as well as the rotor are isotropic, the whirl mode shapes
become real and planar, and the whirl motion is circular [6,9]. Therefore the forward
and backward mode shape vectors in equation (10) have the forms

(21b)
The homogeneous

part of equation (16) permits a solution of the form

4+(x,T) = 4(x)q(T)

= 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)

Solving this equation with respect to a gives

(y =4r2C2(a2-2Q)fJ~t4c4(a2-2q)2+C2a2.

(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&-

c2( y&x*- &I)(&

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).

4.1.2. Shaft with isotropic spring supports at ends

When the shaft is supported by isotropic bearings at both ends (x = 0, l), the boundary
conditions are
f#J(0)+K~(O)+~2C2(U2-2~)~(0)=0,

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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JEI

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,

Substitution of equation (31) into the homogeneous

{Cl- a2c2( r2a + l)}A + 2jar2c2aB = 0,

part of equation (16) gives

-2jarcaA

+ {a-

a2c2( r*a + l)}B = 0.

(32)

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

+ A4 sinh X&X + A5 cos &,y

+ A6 sin X&X + A, cash X&X + As sinh X&X,

(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

&(x) and 4,(x)

Bi=jAi

(i=5,6,7,8).

(38% b)

of equations (35) can be rewritten as

4*(x) = 4(x) + C(x),

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

isotropic rotors. In complex notation, the non-dimensionalized

written as (from equations (19) and (22))

forced response can be

In the case when the boundary conditions become isotropic, one obtains for forward
modes from equation (21a),
$7(x)

(4Ia)

=f(i5+$&)=0,

and for backward modes from equation (21b)

9?(x)
Therefore the non-dimensionalized

5 = 5+h =

=S(#~+jG)

(4Ib)

= 0.

forced response of an isotropic rotor becomes

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)=

&(I) = 4;(I) =O,

~,(0)=~;(0)=~,(1)=9,(I)=O.

(43)

the frequency equation then becomes

sin J;,
(v,+p,)sinJv,
0
J;, cos 6,

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

Orthotropic spring supports

When a shaft is supported by orthotropic

conditions are

springs at both ends (x = 0, l), the boundary

4;(o) = 4;(l)

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

and 8, as shown in Figure 1, is the inclination angle of the orthotropic bearing at x = 0

relative to the orthotropic bearing at x = 1. By imposing the boundary conditions of (45)
on equation (35) the frequency equation is found to be

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)

Figure 4. Whirl speed of a shaft supported

in orthotropic

bearings as 0 varies (c = 20, t = 0.02).

356

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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$(x) = 0 (i = 0, l), the mode shapes become real, K, becomes a pure
imaginary value and the distributed state 5(x, T) can be rewritten, by using equation (19),
as
(48)
where g:= ql+i$

and g; = ql- ijl, r = 1,2,3, . . . , i = F, B, satisfying

~:i+hI;iIg:=(hl-;iI)h,+2~1,,

~;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

,...,

gFi(x, T) = gLi(x) cos .r+g&)

i=F,B.

sin T,
(50)

Substitution of equations (50) into equations (49) yields

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

C.-W.

LEE

AND

Y.-C.

IO

15

JEI

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

APPENDIX A: ELEMENT MATRICES OF ANISOTRPOIC ROTOR SYSTEM

The element matrices of M and L are given as follows:

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)

-[a'/ax'(EI a2/ax2)+ k,,]

-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.,.]

- [a/dx( EZ a2/i+x2) + ktz]

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;,

Q4, = a$, + a&+

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,