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MSC Nastran 2021.4 Rotordynamics User Guide
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Contents
Rotordynamics User’s Guide
Contents
Contents
Preface
About this Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Developments Introduced . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
List of MSC Nastran Guides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Training and Internet Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1 Introduction
Introduction to Rotordynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Need for Rotordynamic analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Sources of Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Basic Concepts of Rotordynamics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Reference frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Rotor Symmetry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Rotor Unbalance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Whirl of Simple Rotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Asynchronous Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Synchronous Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Campbell Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Mode Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Critical Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Torsional Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Overview of MSC Nastran Rotordynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2 Theoretical Formulation
Equations of Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Main Index
ii Rotordynamics User’s Guide
5 Rotor Usage
Rotor Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Main Index
Contents iii
Main Index
iv RotordynamicsUser’s Guide
Main Index
Contents v
Main Index
vi RotordynamicsUser’s Guide
Nomenclature
Glossary
References
Main Index
Preface
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
Preface
Main Index
2 MSC Nastran Rotordynamics User’s Guide
About this Book
Organization
The guide is divided into twelve chapters and three Appendices. A brief description of each of these is:
Main Index
Preface 3
Organization
Main Index
4 MSC Nastran Rotordynamics User’s Guide
Developments Introduced
Developments Introduced
New versions of MSC Nastran are released periodically. Details about the updates made in each released
version are described in the Release Guide provided with MSC Nastran. Rotordynamics capability was first
introduced in the MSC Nastran 2004 release. Since then significant progress have been made, and new
features have been added with each release based on customer requirements and key features identified. The
major enhancements since the MSC Nastran 2004 version are listed here:
2006 MD Nastran
Additional damping options for rotors (structural, Rayleigh, and hybrid damping) in RSPINR and
RSPINT.
NLRSFD implemented as an element.
The rotordynamics option is available in the Aerodynamic Flutter (SOL 145) and Aeroelastic Gust
Response (SOL 146) solutions. SOL 145 uses the same gyroscopic equations as Complex
Eigenvalues; SOL 146 uses the frequency response formulation.
Generation of Campbell diagrams using CAMPBLL entry.
Preliminary rotor mode tracking.
Updated equations of motion for complex eigenvalues analysis, frequency response, and transient
response by including damping and circulation terms for rotors.
Main Index
Preface 5
Developments Introduced
2008 MD Nastran R3
In this version, special options were added to SOL 106 to support blade vibration analysis.
Integrated, Multi-disciplinary Fan Blade Out (FBO) and Rotordynamics simulation in SOL 700.
Allow for user defined subroutines so the user can provide their own subroutines or applications
within an MSC Nastran execution process. For example, the user can provide their own formulation
of a squeeze film damper in rotordynamic analysis.
2010 MD Nastran
Nonlinear harmonic response for rotordynamic analysis is introduced. It is helpful for analyzing a
class of dynamic response problems where rotor/stator contact under abnormal running conditions.
2011 MD Nastran
Starting with MD Nastran 2011, the user is allowed to provide their own SCA-object to calculate
the properties of CBUSH2D elements.
Introduced ROMAC’s (University of Virginia Rotating Machinery And Controls laboratory,
http://www.virginia.edu/romac/) THPAD routine (which must be obtained from ROMAC) to
calculate the properties of a tilting pad journal bearing.
Main Index
6 MSC Nastran Rotordynamics User’s Guide
Developments Introduced
Main Index
Preface 7
List of MSC Nastran Guides
Main Index
8 MSC Nastran Rotordynamics User’s Guide
Technical Support
You may find any of these documents from MSC Software at:
http://simcompanion.hexagon.com/infocenter/index?page=home
Technical Support
For technical support phone numbers and contact information, please visit:
https://simcompanion.hexagon.com/customers/s/article/support-contact-information-kb8019304
Support Center (http://simcompanion.hexagon.com)
Main Index
Preface 9
Training and Internet Resources
The SimCompanion link above gives you access to the wealth of resources for MSC Software products. Here
you will find product and support contact information, product documentations, knowledge base articles,
product error list, knowledge base articles, and SimAcademy Webinars. It is a searchable database which
allows you to find articles relevant to your inquiry. Valid MSC customer entitlement and login is required to
access the database and documents. It is a single sign-on that gives you access to product documentation for
complete list of products from MSC Software, allows you to manage your support cases, and participate in
our discussion forums.
http://simcompanion.hexagon.com
The SimCompanion link above gives you access to the wealth of resources for MSC Software products. Here
you will find product and support contact information, product documentations, knowledge base articles,
product error list, knowledge base articles, and SimAcademy Webinars. It is a searchable database which
allows you to find articles relevant to your inquiry. Valid MSC customer entitlement and login is required to
access the database and documents. It is a single sign-on that gives you access to product documentation for
complete list of products from MSC Software, allows you to manage your support cases, and participate in
our discussion forums.
http://www.mscsoftware.com/msc-training
The MSC-Training link above points you to schedule and description of MSC Seminars. The following
courses are recommended for beginning MSC Nastran users:
Main Index
10 MSC Nastran Rotordynamics User’s Guide
Training and Internet Resources
A strong emphasis is placed on engineering process so that the student can rapidly relate the course to his or
her project needs.
Main Index
Chapter 1: Introduction
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
1 Introduction
Introduction to Rotordynamics 12
Basic Concepts of Rotordynamics 13
Overview of MSC Nastran Rotordynamics 22
Main Index
12 MSC Nastran Rotordynamics User’s Guide
Introduction to Rotordynamics
Introduction to Rotordynamics
Rotordynamics is that branch of system dynamics dealing with mechanical devices in which at least one part,
usually defined as a rotor, rotates with significant angular momentum (Genta, 2007). Rotating systems have
been around for many centuries, and a broad historical perspective of this subject is provided in a book by
Rao (Rao, 2011)
Rotating machines represent large class of machinery used in industrial applications; for example, power
stations, marine propulsion systems, aircraft engines, machine tools, transportation systems, and various
other purposes. Rotors equipped with bladed disks or impellers, rotating at high speeds in a fluid
environment allow rotating machines to produce, absorb, transform, or condition an amazing amount of
energy often in comparatively small, compact packages. The safe and sound operation of such rotating
machinery is of paramount importance. Every rotating machine consists of three principal components: the
rotor, the bearings, and their support structure. The rotor is connected to the support structure by means of
bearings, which may be of several types.
Of all the dynamic problems associated with rotating machinery, excessive vibration and instability are very
important, and the endeavor of the designer is to restrict the vibration of such systems as much as possible
and to increase the zone of stable operation. These problems unless avoided, lead to excessive vibration, wear,
operational difficulties, or even catastrophic failures. All three important modes of vibrations (lateral,
torsional, and axial modes) may be present during rotor operation. Among these modes, the lateral modes of
the rotor are of great concern, as they represent the lowest modes in most of the cases.
Main Index
Chapter 1: Introduction 13
Basic Concepts of Rotordynamics
Sources of Vibration
A rotor can vibrate in three ways: axially, torsionally and laterally. Lateral vibrations cause displacements of
the rotor: normal to the axis of rotation. These lateral motions combine to produce an orbital motion of the
rotor in a plane perpendicular to its axis of rotation. Rotor lateral vibration is usually the largest component
of vibration in most high-speed machinery. Excessive lateral vibration can cause damage to both bearings and
support structure.
Rotor unbalance is the first and best known contributing factor to vibration of a rotor. When the rotor mass
center line does not coincide with its rotational axis, then mass unbalanced inertia related rotating forces
occur. As this rotates together with the rotor and is oriented perpendicular to the rotational axis, the
unbalance excites the lateral vibration modes. Higher speeds cause much greater centripetal forces due to
imbalances, which are a function of the square of the operating frequency. The forces are usually periodic,
and therefore, produce periodic displacements observed as vibration (Vance, 2010).
The frequency of the vibration response corresponds to the frequency of the excitation force. The frequency
of unbalance response is the same as the rotational speed; thus, the unbalance related synchronous lateral
vibrations are referred to as 1 X vibrations. When the rotor system is nonlinear, more frequency components
may be excited. The corresponding frequencies usually represent multiples of the excitation frequency,
superharmonics (2 X, 3 X, and so on) and subharmonics(1/2 X, 1/3 X and so on). Another class of excitations
are “free vibrations” or “transient vibrations”, which occur when the system is excited by a short duration
impact. There also exists a third category, self-excited vibrations. These vibrations are sustained by a constant
source of energy, which may be external or internal.
Main Index
14 MSC Nastran Rotordynamics User’s Guide
Basic Concepts of Rotordynamics
Many of the concepts of rotordynamics can be explained using a simplified Jeffcott rotor (Jeffcott, 1919) as
shown in Figure 1-1. Consider a massless bar attached to springs and dampers at its ends A and B. The bar is
rotating about the Z axis oriented along its length. The X and Y axes represent lateral bending directions. A
disk with finite mass and inertia is attached to the bar at the center. The rotating bar is supported at the ends
by bearings which are modeled using linear springs and dampers. Various terms used in Figure 1-1 are
described here:
KXR and KYR Bending stiffness of the bar in the X and Y directions, respectively.
KXA and KYA Bending stiffness of the bearing at end A in the X and Y directions, respectively.
KXB and KYB Bending stiffness of the bearing at end B in the X and Y directions, respectively.
CXA and CYA Damping coefficients of the bearing at end A in the X and Y directions, respectively.
CXB and CYB Damping coefficients of the bearing at end B in the X and Y directions, respectively.
m Mass of the disk.
IP, IdX, IdY Polar and diametral moment of inertia for the disk.
Reference frame
A rotordynamic problem can be analyzed either in a fixed (inertial) reference frame or in a rotating coordinate
reference frame. Depending upon the symmetry present in the rotor and stator, an appropriate reference
frame can be selected for analysis to obtain time-independent equations of motion. When the rotor, bearings,
and support structure contain asymmetry, then the resulting equations contain time-dependent parameters
independent of the reference frame employed for analysis.
The general transformation of a time-dependent vector from a stationary coordinate system to a rotating
coordinate system at the same origin rotating at rad/sec may be written as
v p t = T t v p t
Main Index
Chapter 1: Introduction 15
Basic Concepts of Rotordynamics
Where:
cos t sin t 0
v p t = – sin t cos t 0 v p t
0 0 1
The key differences between the analysis in a fixed system and the analysis in a rotating system are given
below:
Rotor Symmetry
In order to determine whether to perform the analysis in fixed or rotating reference frames, it is important to
understand if the rotor and support structure are symmetric or not. For the simplified Jeffcott rotor shown
in Figure 1-1
The rotor is considered to be symmetric if all of the following conditions are met:
KXR = KYR
IdX = IdY
And the stator is considered to be symmetric if all of the following conditions are met:
KXA = KYA
CXA = CYA
KXB = KYB
Main Index
16 MSC Nastran Rotordynamics User’s Guide
Basic Concepts of Rotordynamics
CXB = CYB
In order to work with time-independent mass, stiffness and damping matrices in the equations of motion,
the following conditions must be satisfied.
Table 1-2 provides summary with regard to reference frame that can be used for the analysis, depending on the
symmetry in rotor and stator, in order to obtain time-independent system of equations. In Case 1, both the
rotor and stator portion of the model are symmetric and the analysis can be performed in any reference frame.
If the rotor is symmetric and the supporting structure is asymmetric, the analysis can be performed in fixed
reference frame only (most common scenario). In case the rotor is asymmetric and the stator is symmetric,
the analysis can be performed in rotating reference frame only. And finally, if both the rotor and stator are
asymmetric, it is not possible to obtained time-independent system of equations. This analysis is currently
not supported in MSC Nastran.
Rotor Unbalance
As mentioned earlier, rotor unbalance is the first and best known method contributing to vibration of a rotor.
When the rotor mass center line does not coincide with its rotational axis, then mass unbalanced inertia
related rotating forces occur. As this rotates together with the rotor and is oriented perpendicular to the
rotational axis, the unbalance acts in lateral vibration mode. Higher speeds cause much greater centripetal
forces due to imbalances, which is a function of the square of the operating frequency. The frequency of the
vibration response corresponds to the frequency of the excitation force. The frequency of unbalance response
will be the same as the rotational speed; thus the unbalance related synchronous lateral vibrations are referred
to as 1 X vibrations. Residual unbalance can occur due to various causes such as manufacturing error, thermal
deformation, material inhomogeneity, wear, and corrosion. Unbalance can also occur due to a stack up of
tolerance in assembly.
Main Index
Chapter 1: Introduction 17
Basic Concepts of Rotordynamics
The analysis presented here uses the Jeffcott rotor shown in Figure 1-1, the simplest rotor model. The Jeffcott
rotor model is allowed to vibrate simultaneously in both directions (vertical and horizontal) producing a whirl
orbit. The Jeffcott rotor undergoing whirl motion is shown in Figure 1-3. The front view of the rotor model
is also shown where a reference point P on the disk circumference is highlighted. The rotor disk assembly is
spinning in the anti-clockwise direction with a fixed angular velocity. Depending upon the applied force, two
different whirl modes are possible: forward and backward whirl. As shown in Figure 1-4, in the case of forward
whirl motion, the rotor assembly whirls in the same direction as the applied angular velocity. Whereas in the
case of backward whirl motion, the rotor whirl direction is opposite to that of the applied angular velocity.
Stability
Whirl frequencies are important in determining rotor stability. Although the whirling motion may not be at
the rotational speed, whirl modes may be unstable due to internal rotor damping or external forces due to
Main Index
18 MSC Nastran Rotordynamics User’s Guide
Basic Concepts of Rotordynamics
bearing and seals. Estimating the stability of the whirl modes is important to ensure that a system operates
smoothly.
The eigenvalues of the system appear in complex conjugate pairs in the form
p = i
where α is the damping exponent (rate of growth or decay of the modal response) and ω is the damped natural
frequency. An eigenvector, or a mode shape, corresponding to every eigenvalue can be computed. The mode
shapes also appear in complex conjugate pairs. Each complex mode represents a time-dependent curve in
space representing the rotor deformation at the corresponding whirling frequency.
System stability is investigated by checking that all eigenvalues have negative real parts; i.e., all roots of the
system characteristic equation lie in the left-hand side of the p-plane (plot with α on the x-axis and ω on the
y-axis). By varying some parameter in the rotor model, such as the rotor spin speed or the damping coefficient
at one of the bearings and computing the eigenvalues at the different parameter values, stability analysis can
be performed with respect to that parameter using a root locus plot.
Asynchronous Analysis
Calculation of response with the rotors spinning at set speeds is performed using the asynchronous option.
The user specifies the rotor speeds, the gyroscopic terms are determined and added to the equation of motion,
and the response is determined.
Synchronous Analysis
Calculation of frequency response with the excitation synchronous with the reference rotor is performed
using the synchronous option. The user specifies the rotor speed range, the gyroscopic terms are determined
for each frequency and added to the equation of motion, and the response is determined. If complex
eigenvalue analysis is performed with the “synchronous” option, the critical frequencies of the model are
obtained as output.
Campbell Diagram
For whirl frequencies analysis, the rotational speeds are specified as input, and the whirl frequencies are
computed at those speeds. Typically, a series of analyses at different rotor speeds is performed in complex or
modal complex eigenvalue solutions. It is common practice to plot the whirl frequencies versus the rotational
speed of the rotor as shown in Figure 1-5. This plot is called a Campbell diagram. Whirl frequencies for each
mode at different rotor speeds are connected to form a series of lines that represent the natural frequency
curves.
Main Index
Chapter 1: Introduction 19
Basic Concepts of Rotordynamics
Mode Tracking
For Campbell diagram plotting, it is often observed that two modes may switch order depending upon their
dependence on rotor speed, as shown in Figure 1-6(a). This may lead to confusion while analyzing modes at
higher rotor speeds. In order to avoid this, a mode tracking algorithm is required which tracks the mode shape
for each eigenfrequency. Results obtained after using a mode tracking algorithm are shown in Figure 1-6(b).
Most of the mode tracking algorithms make use of orthogonality conditions. A robust approach for mode
tracking is currently under development and will be included in future version of MSC Nastran.
Main Index
20 MSC Nastran Rotordynamics User’s Guide
Basic Concepts of Rotordynamics
Critical Speed
Critical speeds are commonly defined as the rotational speeds at which vibration due to rotor unbalance is a
local maximum. Since rotor unbalance always produces a synchronous whirling, large amplitudes of
synchronous vibration usually indicate a rotor unbalance problem. However, not all unbalance responses at
critical speeds are dangerous. There can be other rotational speeds at which subsynchronous or
supersynchronous excitation sources can produce large destructive vibration; these are called subsynchronous
and supersynchronous critical speeds.
Campbell diagrams can be used to determine the rotor critical speeds, as shown in Figure 1-7. A critical speed
of a rotor system is defined as a rotational speed of the system when a multiple of that speed coincides with
one of the system's natural frequencies. Excitation due to unbalance is usually synchronous; i.e. the rotational
speed of the rotor is equal to one of the natural frequencies. Excitation of superharmonics or subharmonics
occurs at rotational speeds that are multiples or fractions of these frequencies, respectively. One approach for
determining critical speeds is to simply generate the Campbell diagram, include all excitation frequency lines
of interest, and graphically find the intersection between the excitation line and the natural frequency curves
to define the critical speed associated with that excitation.
Main Index
Chapter 1: Introduction 21
Basic Concepts of Rotordynamics
Torsional Vibration
Individual turbomachinery rotors are generally stiff enough in torsion to put their natural frequencies of
torsional vibration above the range of most torsional excitations. (Vance, 2010)
Key differences between lateral rotor vibration and torsional vibration are listed here:
Lateral vibration is easily detected through standard instrumentation or through vibrations
transmitted to housings and foundations. Also, large amplitudes of lateral vibration are often noticed
due to rubbing of rotating seals and process wheels. On the other hand, instrumentation for
torsional vibration is not usually installed, and large amplitudes can occur silently and without much
effect on housings and foundations.
Natural frequencies of lateral vibration are influenced by rotating speed, whereas natural frequencies
of torsional vibration are independent of rotating speed and can be measured with the machine at
rest if excitation can be provided.
Lateral vibration in rotating machines can become unstable; this is very rare for torsional vibration in
machines without speed control feedback.
The most common excitation of lateral vibration is synchronous (1 X) from rotor imbalance. Rotor
imbalance has no effect on torsional vibration, except indirectly in machines with gears where the
lateral vibration produces dynamic torque.
Main Index
22 MSC Nastran Rotordynamics User’s Guide
Overview of MSC Nastran Rotordynamics
Main Index
Chapter 1: Introduction 23
Overview of MSC Nastran Rotordynamics
Benefits
Traditionally, companies have used proprietary in-house codes and customized DMAP solutions to perform
analyzes of structures with rotating components. The rotordynamics capability in MSC Nastran provides an
easy-to-use standardized procedure for analyzing rotating structures. The rotordynamics capability is
included in the standard MSC Nastran solution sequences, and invoked using case control commands and
bulk data entries. This standardization allows easier exchange of model data between in-house groups or
external vendors.
The design of the rotordynamics capability allows multiple rotors to be included in the analyses. The rotors
may spin at different rates and be aligned at arbitrary angles.
MSC Nastran rotordynamics supports analysis using 1-D elements, axisymmetric harmonic elements and 3-
D solid and shell elements in fixed and rotating reference frames. Based on the complexity of the model and
required fidelity, the user can select the appropriate modeling techniques.
The enhanced external superelement (SE) capability introduced in MSC Nastran 2014 allows the user to
have multiple rotors in multiple external SEs as well as in the residual and to employ them to form complete
rotordynamic configurations in subsequent assembly jobs for performing specific types of analysis similar to
complex eigenvalue analysis or frequency or transient response analysis. This feature also provides the
capability for handling and managing external SEs that are geometrically identical by copying and
moving/mirroring a primary external SE to generate secondary external SEs. This can greatly enhance user
convenience and productivity by eliminating the need to model geometrically identical external SEs
individually.
There are benefits of different types of modeling, for example, with the enhanced 3D Rotordynamics
capability, although it might take more computational time with 3D shell/solid elements to model the 3D
rotor(s), it is much easy to capture the exact geometry without special modeling constraints or efforts, which
would greatly reduce the time for model preparation, and the results are more accurate.
Main Index
24 MSC Nastran Rotordynamics User’s Guide
Overview of MSC Nastran Rotordynamics
Main Index
Chapter 2: Theoretical Formulation
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
2 Theoretical Formulation
Equations of Motion 26
Equations of Motion in Fixed Reference Frame 27
Equation of Motion in Rotating Reference Frame 31
Main Index
26 MSC Nastran Rotordynamics User’s Guide
Equations of Motion
Equations of Motion
Important features of a rotordynamic analysis can be explained using the simplified Jeffcott rotor model
introduced in the previous chapter. A front view of the same rotor is shown in Figure 2-1 and will be used in
the rest of the chapter to generate equations of motion in both the fixed and rotating coordinate systems.
Assumptions:
1. Disk is rigid
2. Bar is massless
3. Linear spring support
4. Damping is neglected in the analysis
5. Rotor is spinning at constant speed Ω about the Z axis.
Equations of motions are obtained using Lagrange`s principle in both fixed and rotating coordinate systems.
The general form of Lagrange`s equation is given by:
d L L D W
– + =
d t g· i g i g· i gi
where i = 1,2,3,…n
In the above equation, L is the Lagrange potential and is given by:
L = EK - U
where, EK is the kinetic energy, U is the potential energy, D is the dissipative energy and W is the work done
by non dissipative forces and {g} is the vector of generalized coordinates.
If the potential energy of the system is not dependent on time (true for most linear analyses), the above
expression can be simplified to:
d E k E k U D W
– + + =
d t g· i g i g i g· i gi
where i = 1,2,3,…n
Main Index
Chapter 2: Theoretical Formulation 27
Equations of Motion in Fixed Reference Frame
where, x , y and z are the instantaneous angular velocities about X , Y and Z which rotate with the
disk as shown in Figure 1-2 and, Ip and Id are polar and dimeteric moment of inertias, respectively.
·
The instantaneous angular velocity of the disk, with respect to axes fixed in space, is about the X-axis and
·
about the Y-axis.
Making use of the transformation matrices, angular velocities in a frame fixed to the rotor can be written as:
· ·
x cos + sin cos
· ·
y = - sin + cos cos
·
z – sin
Substituting in the above expression, the total kinetic energy is then given by,
1 2 2 1 ·2 · 2 2 1 2 · ·2 2
E K = --- m u· + v· + --- I d + cos + --- I d – 2 sin + sin
2 2 2
Assuming rotations are small, this expression can be simplified to:
1 2 2 1 ·2 · 2 1 2 ·
E K = --- m u· + v· + --- I d + + --- I d – 2
2 2 2
T
If the local coordinates are arranged in vector form g = u v , then the inertial terms from
Lagrange’s equation are given by:
Main Index
28 MSC Nastran Rotordynamics User’s Guide
Equations of Motion in Fixed Reference Frame
·· u·
m 0 0 0 u 00 0 0
·· ·
d E k E k 0 m 0 0 v 00 0 0 v
– = +
d t g i gi 0 0 I d 0 ··
0 0 0 –Ip ·
0 0 0 I d
··
0 0 Ip 0 ·
d E k E k
– = M g·· + G g·
d t g· i g i
Next, the expression for strain energy is determined based on the generalized coordinates described
previously. Since the disk and bar are assumed to be rigid in the analysis, displacements at the ends in terms
of generalized coordinates u v are given as:
At end A in X direction: u – a
At end A in Y direction: v + a
At end B in X direction: u + b
At end B in Y direction: v – b
Potential energy for deformation of the springs at the end is given by:
1 2 1 2 1 2 1 2
U = --- K XA u – a + --- K YA v + a + --- K XB u + b + --- K YB v – a
2 2 2 2
Contribution from potential energy to Lagrange’s equation is given by:
K XA + K XB 0 0 -aK XA + bK XB
u
0 K YA + K YB aK YA – bK YB 0
U v
= 2 2
g 0 aK YA – bK YB a K YA + b K YB 0
2 2
-aK XA + bK XB 0 0 a K XA + b K XB
U
= Kg
g
Thus, the equation of motion in a fixed reference frame without damping can be written as:
M g·· + G g· + K g = F
Main Index
Chapter 2: Theoretical Formulation 29
Equations of Motion in Fixed Reference Frame
Damping in Stator
If the supports include dampers: CXA, CYA, CXB, and CYB , then the dissipation energy is given by:
1 · 2 1 · 2 1 · 2 1 · 2
D = --- C XA u· – a + --- C YA v· + a + --- C XB u· + b + --- C YB v· – a
2 2 2 2
Using Lagrange`s principle, contribution from dissipative energy to the structural dynamics equation of
motion is given by:
C XA + C XB 0 0 -aC XA + bC XB
u·
0 C YA + C YB aC YA – bC YB 0 ·
D v
= ·
g· 0
2
aC YA – bC YB a C YA + b C YB
2
0
·
-aC XA + bC XB 0 0
2
a C XA + b C XB
2
D
= B S g·
g·
Thus, the equation of motion in a fixed reference frame with damping defined for the stator is given by:
M g·· + G g· + B S g· + K g = F
Damping in Rotor
Damping defined for the rotating components results in damping forces proportional to displacements
defined in the rotating system. Thus, if [BR] represents the damping matrix in the rotating reference frame,
then the damping force (FDR) in the rotating coordinate system is given by:
·
F DR = B R g
According to Chapter 1, the transformation from a fixed to a rotating frame is given by:
cos t sin t 0
v p t = T t v p t , where T t = - sin t cos t 0
0 0 1
·
Thus, g t = T t g t and g t = T g· t + T g t
where;
Main Index
30 MSC Nastran Rotordynamics User’s Guide
Equations of Motion in Fixed Reference Frame
- sin t cos t 0
T t = - cos t - sin t 0
0 0 1
Therefore, the damping force (FDF) in the fixed reference frame is given by:
T
F DF = T F DR
T
F DF = T B R T g· t + T g t
T T
F DF = T B R T g· t + T B R T g t
If B R = b R I (where I is an identity matrix), then the above expression can be simplified to:
T
F DF = b R g· t + b R T T g t
F DF = b R g· t + b R J g t
0 10
where J is a skew symmetric matrix and its given by: J = –1 0 0
0 00
Thus, the rotor damping results in an additional skew symmetric force proportional to displacement. This
additional term is referred to as a circulatory matrix due to internal damping.
Equation of motion in a fixed reference frame where damping is defined for both stator and the rotor is given
by:
M g·· + G g· + B S + B R g· + K C R + K g = F S
where,
[KG] = Differential Stiffness due to radial centrifugal load.
Main Index
Chapter 2: Theoretical Formulation 31
Equation of Motion in Rotating Reference Frame
where g t = {u, v}
T
and T 1 t =
cos t sin t .
- sin t cos t
T T
Therefore, g t = T 1 t g t + r 0 where r 0 = {x 0, y 0}
T · · T
g· t = T 1 g t + T 1 g t + r 0
Kinetic energy of the disk is given by
1 · T ·
E K t = --- m g t g t
2
T
1 T · · T T · · T
E K t = --- m T 1 g t + T 1 g t + r 0 T 1 g t + T 1 g t + r 0
2
· - sin t cos t
where, T 1 =
- cos t - sin t
The inertial terms from Lagrange’s equation are given by:
d E K E K ·· · 2
· – = M g t + 2 C g t – Z g t – f cp
d t g i g i
where;
Main Index
32 MSC Nastran Rotordynamics User’s Guide
Equation of Motion in Rotating Reference Frame
M = m 0 (mass matrix)
0 m
x
2 0
f cp = m (centripetal force)
y0
The centripetal force acting on the rotor disk is proportional to the square of the operating speed and distance
from the axis of rotation. If higher-order strain is included in the analysis, an axial load results in additional
bending stiffness, which is referred to as geometric or differential stiffness. It is denoted by: 2[KG]
Since the support stiffness is the same in both directions, the simplified stiffness matrix is the same in both
the fixed and rotating systems. Therefore, the contribution from strain energy for analysis performed in a
rotating coordinate system is given by:
U KA + KB 0 2
= + KG
g 0 KA + KB
Damping in Rotors
Damping defined for rotors can be expressed as (as described earlier):
·
F DR = B R g
Thus, the equation of motion with damping defined for rotors is given by:
·· · · 2 2
M g t + 2 C g t + B R g t + K + K G – Z g t = F R
Damping in Stator
As discussed earlier, damping defined in the fixed reference frame for the stator needs to be converted into
damping defined in the rotating reference frame using coordinate transformation.
Main Index
Chapter 2: Theoretical Formulation 33
Final Equations of Motion
Therefore, the damping force in the fixed reference frame for stator is given by:
F DS = b g· t , where b = CA + C B.
Transforming this damping force to the rotating reference frame:
T ·
F DS = b T 1 T 1 g t + T· 1 g t
T
T · ·
F DR = b T 1 T 1 g t + T· 1 g t + r 0 = b g t + b J t g t
T
·
F DS = B S g t + K C S g t
where, [BS] = b[I] and [KC] S = b[Jt].
Thus, the equation of motion in the rotating reference frame with damping defined for both the rotor and
the stator is given by:
·· · 2 2
M g t + 2 C + B R + B S g t + K + K G – Z + K C S g t = F R
Main Index
34 MSC Nastran Rotordynamics User’s Guide
Final Equations of Motion
where,
g = Degrees of freedom in the fixed reference frame
[G] = Gyroscopic Matrix
[KC]R = Circulatory matrix due to damping in rotating frame
{FS} = External force vector in fixed reference frame
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
Rotor Modeling 36
Main Index
36 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
Rotor Modeling
CBAR, CBEAM
A brief preview of each of these rotor cards is given in Figure 3-1, Figure 3-2, and Figure 3-3. Detailed
descriptions are available in the MSC Nastran Quick Reference Guide.
Current Limitation for Analysis in Fixed reference frame:
a. If shell elements are defined perpendicular to the rotor axis for a 3D rotor defined using ROTOR
entry, then the gyroscopic matrix is not available for those elements. For example, a flat disk like
a CD spinning about the center. If the shell elements are replaced by SOLID elements, then
correct gyroscopic effects can be obtained.
b. Bar elements (default version) do not have polar moment of inertia. Thus, if CBAR elements are
defined along the axis of rotation (for both ROTOR and ROTORG entries), then they do not
provide any contribution to gyroscopic matrix. The CBAR elements can be replaced by CBEAM
elements in case gyroscopic terms are needed for those elements.
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis 37
Rotor Modeling
Format:
1 2 3 4 5 6 7 8 9 10
ROTORG ROTORID GRID1 GRID2 ... GRIDn
Specifies list of elements, properties or grid points that comprise an axisymmetric model rotor.
Format:
1 2 3 4 5 6 7 8 9 10
ROTORAX ROTORID LTYPE ID1 ID2 ... ... IDn
Specifies list of grids, elements or properties that comprise the rotor 3D model.
Format:
1 2 3 4 5 6 7 8 9 10
ROTOR ROTORID FRAME
LTYPE ID1 ID2 ID3 etc.
AXIS GID1 GID2 etc.
Main Index
38 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
To illustrate this Rotordynamics functionality within MSC Nastran, let us consider the hollow rotor with
two bearing supports in Figure 3-4 and model it with the introduced ROTORG, ROTORAX and ROTOR
cards in sequence. The rotor has a length of 0.5m, an inner diameter of 0.1m, and an outer diameter of 0.2m.
Both bearing supports have horizontal and vertical stiffnesses of 1MN/m. The rotor is made of steel with a
density of 7810 kg/m3 and an elastic constant of 210 GPa.
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis 39
Rotor Modeling
elements can also be optionally associated with CBEAM elements, the PBEAM card (i.e.: CBEAM property
card) allows for the direct specification of a polar moment of inertia.
Rotors can be firmly constrained in space with SPCs or mounted with bearings supports using rigid elements
(e.g. RBAR, RBE2), interpolation elements (e.g.: RBE3) or constraint equations (e.g. MPC). For more detail
about these special elements, the user can refer to the MSC Nastran Quick Reference Guide (QRG).If
connection using conventional elements between the rotor and bearing or the support structure is detected,
a fatal error will be issued. It is important to have the rotor detached from the support structure because the
inertial properties for the calculation of the gyroscopic terms are determined using the G-size matrices.
Connections to ground or support elements may cause incorrect determination of the gyroscopic terms. For
the example shown here, the end points of the rotor are connected to ground with springs through RBE2
elements.
a. ROTORG using CBEAM elements
The rotor modeled using four CBEAM elements is shown in Figure 3-5 and the test deck for the rotor part of
this model is shown in Figure 3-6. The rotor with ID 1 is defined as consisting of nodes 1 to 5 using the
ROTORG entry. Structural properties and shape for the beam are defined using MAT1 and PBEAML
entries, respectively. In the current example, bearings are defined in the fixed reference frame. In order to
make that distinction, two grid points (Node 11 and 15) are defined coincident with existing rotor nodes.
Node 11 is connected to Node 1 and Node 15 is connected to Node 5 using RBE2 elements. Finally, spring
supports are defined on nodes 11 and 15.
For the rotor model defined using CBEAM elements as shown in Figure 3-5 and Figure 3-6, the corresponding
rotor summary in the .F06 is shown in Figure 3-7. For rotors defined using a ROTORG entry, the following
information about the rotor is provided in the output.F06 file:
a. Grid points found on each rotor.
b. Assumed direction of rotation based on the grids defined in the ROTORG entry. (The final spin
direction for each rotor is provided by the RSPINR entry.)
c. Rotor mass summary which includes details for inertia properties for each of the grid points that
comprise the rotor model. Since a CBEAM element is used in the analysis, the mass summary for
each grid point also includes polar moment of inertia. The last line in this summary shows the
Center of gravity for the rotor model.
Main Index
40 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
Figure 3-6 Test deck for rotor model with CBEAM elements
Figure 3-7 Rotor Summary in the.F06 file for the rotor defined using CBEAM element
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis 41
Rotor Modeling
Figure 3-9 Input deck for rotor model with CBAR and CONM2 elements
With reference to the test deck shown in Figure 3-6, the following changes are made in the model:
PBEAML is replaced by PBARL
CBEAM is replaced by CBAR
The material density in the MAT1 card is changed from 7810.0 to 0.0 kg/m3.
A concentrated mass is added at the center of the rotor model.
Main Index
42 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
Figure 3-10 Results for the rotor model with CBAR/CONM2 elements
The only difference in the results presented in Figure 3-7 and Figure 3-10 is in the rotor mass summary. As
expected for the model with CBAR and CONM2 elements, the entire mass and inertia of the model is located
at the center of the rotor on the grid with ID 3. Of course, the entire mass does not have to be concentrated
in one GRID point and can be distributed over several or even all of them.
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis 43
Rotor Modeling
Figure 3-12 Test deck for rotor model with axisymmetric harmonic elements
Part of the test deck for the rotor modeled using CQUADX elements is shown in Figure 3-12. The rotor with
ID 1 is defined by specifying the property of the elements that comprise the rotor and the grid points that
define the axis of rotation. For the case of ROTORAX entries, the PROP entry must point to a PAXSYMH
entry. For this particular case, the ELEM option could have also been used to define the components of the
rotor as shown below:
$ ROTOR DEFINITION
$ ROTORAX 10 PROP 1
ROTORAX 10 ELEM 1 THRU 4
The details of the PAXSYMH card used for specifying the properties of the elements is described in the MSC
Nastran Quick Reference Guide and Appendix. Note that in the current analysis, a harmonic index of 1 is used in
order to perform lateral bending analysis. For axial and torsion analysis, the harmonic index needs to be
changed from “1” to “0”.
The CQUADX and GRID entries are defined in the conventional way. In order to connect the rotor to the
conventional springs, two “3-D” grid points are defined. (A grid point associated with an axisymmetric
harmonic element is considered to be an axisymmetric harmonic grid point. As described in Appendix B of
Main Index
44 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
this manual, the axisymmetric harmonic grid points have six DOFs, and they are different from conventional
3-D grid points.) In order to make a connection between the axisymmetric harmonic grid point and the 3-
D grid, the RBAX3D connector elements are used. In the current model, two RBAX3D elements are used,
one at either end, to connect the rotor to the bearings at the ends. Once the connection to 3-D grid points
has been made, CBUSH elements can be attached to these 3-D grid points for the support. Rules related to
the usage of RBAX3D entry are given in the MSC Nastran Quick Reference Guide and Appendix B of this
manual.
The rotordynamics summary in the .F06 file for a rotor model defined using ROTORAX entry is shown in
Figure 3-13. It lists the elements defined on the axis of rotation. Any 3-D grid point attached to an
axisymmetric harmonic rotor using the RBAX3D entry is also considered part of the rotor axis grid list. The
rotor spin direction is determined based on the grid points specified under the GRID option. And finally, the
rotor mass summary for each of the rotors defined in the model is listed. It includes total rotor mass, its CG
location and moment of inertia. It can be seen here that the total mass, CG location, and polar moment of
inertia for the beam rotor and axisymmetric rotor are the same.
In some cases, it may be desirable to treat the rotor as massless and assign mass and inertia properties to a
concentrated point mass, as simulated earlier using CBAR/CONM2 elements. This can also be done using
axisymmetric harmonic elements as shown in Figure 3-14. Here an additional GRID with ID 13 is defined on
the axis of symmetry at the center of the rotor (i.e., where the point mass needs to be defined). This 3D GRID
point is connected to a point on the axisymmetric rotor using RBAX3D entry. Now, a point mass can be
defined on this 3-D grid point which will be treated as part of the rotor during the analysis. Results for this
particular case are shown in Figure 3-15. Now the Rotordynamics summary shows three points listed on the
rotor axis compared with two points listed in Figure 3-13. Also, the mass summary for each rotor includes an
additional line which lists the total mass of the axisymmetric rotor after including the additional mass defined
using the CONM2 element.
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis 45
Rotor Modeling
Figure 3-14 Test deck with axisymmetric harmonic elements and CONM2
Figure 3-15 Results for rotor defined using axisymmetric harmonic elements and CONM2
Main Index
46 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
Figure 3-17 Test deck with shell elements for analysis in fixed system
The ROTOR entry includes all the details about the reference frame for analysis (FIX), components of the
rotor (PROP 1) and grid points to define the axis of rotation (AXIS 220 221). The material properties for
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis 47
Rotor Modeling
the shell elements are defined using usual PSHELL and MAT1 entries. As shown above, RBE2 elements
(RBE3 element can also be used) are used here to connect the rotor to the bearings in the fixed frame. Also,
it can be easily seen here that the size of the model has increased by at least 40 times compared with the beam
rotor model.
The rotordynamics summary for the rotor model defined using shell elements is shown in Figure 3-18. It
follows the same format as that for the axisymmetric rotor. The .F06 file lists the grid points that lie on the
axis of rotation and define the rotor axis. The total mass and the rotor CG location obtained for the rotor
with shell elements is the same as that obtained earlier for the rotor with beam elements and the rotor with
axisymmetric harmonic elements. Note that the polar moment of inertia is zero in this case since the
rotational degrees of freedom do not include inertia effects for shell elements.
Main Index
48 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
Similarly, the 1-D rotor modeled using CBAR and CONM2 element can be defined using the ROTOR entry
as:
$ ROTOR DEFINITION
$ ROTORG 1 1 THRU 5
ROTOR 1 FIX
ELEM 21
PROP 1
AXIS 1 2
Since there is no property associated with the CONM2 elements, it is defined as part of the ROTOR entry
using the ELEM option, as observed above. The Rotordynamics summary for the above case is shown in
Figure 3-19. The rotor information provided here is similar to that listed in Figure 3-10.
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis 49
Rotor Modeling
of the case, appropriate modeling recommendation is made to obtain accurate results without significant
computational time.
Main Index
50 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
For this case, the one-dimensional rotor modeled using CBEAM elements may not capture the stiffness of
the rotor model correctly in the region where the rotor diameters varies sharply. For these kind of models, the
use of axisymmetric harmonic elements, as shown in Figure 3-21(b), is recommended. In this case, the 3-D
solid elements (Figure 3-21(c)) also captures the changes in rotor geometry correctly; however, they require
much more nodes and elements to capture the correct geometry, and thus they are computationally more
expensive.
Main Index
Chapter 3: Elements Supported for Rotordynamics Analysis 51
Rotor Modeling
Examples used in this chapter are available under the following folder: ../tpl/ugrotor. A brief description of
these examples is given below:
Table 3-3
Input File Name Description
rug_3_1 Rotor with CBEAM elements.
rug_3_2 Rotor with CBAR and CONM2.
rug_3_3 Rotor with axisymmetric elements.
Main Index
52 MSC Nastran Rotordynamics User’s Guide
Rotor Modeling
Table 3-3
Input File Name Description
rug_3_4 Rotor with axisymmetric elements and CONM2.
rug_3_5 3D rotor with shell elements.
rug_3_6 3D propeller - Symmetric Nonuniform Rotor
rug_3_7 3D crankshaft - Nonsymmetric Rotor.
Main Index
Chapter 4: Damping and Bearing Models
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
Damping and Bearing Models 54
Linear Bearings 59
Nonlinear Bearings 61
Main Index
54 MSC Nastran Rotordynamics User’s Guide
Damping and Bearing Models
Structural Damping
Sources: Param G or Field ‘G’ in DAMPING card
Application:
1. Added to stiffness matrix: [KS]G = iG K GG
Material Damping
Sources: Field ‘GE’ in material property card (eg. MAT1)
Application:
Rayleigh Damping
Sources: Field ‘Alpha1’ and ‘Alpha2’ in DAMPING card or PARAM, ALPHA1 and PARAM ALPHA2.
Main Index
Chapter 4: Damping and Bearing Models 55
Damping and Bearing Models
Application:
1. Added to Damping matrix: [BS] = 1 M GG + 2 K GG
Hybrid Damping
Sources: Field ‘HYBRID’ in DAMPING card and HYBDAMP card.
Application:
Case 1: KDAMP = No
1. Added to Damping matrix: [BS]H = [BH]
Case 2: KDAMP = Yes
1. Added to Stiffness matrix: [KS]H = i[KH]
(Only for frequency response and complex eigenvalue solutions)
KH
2. Added to Damping matrix: [BS]H = ------------- (WH from DAMPING entry)
WH
where WH ≠ 0 in transient solutions.
(Refer to QRG for further details related to matrices [BH] and [KH] under the description for bulk
data entry HYBDAMP)
Modal Damping
Sources: SDAMPING in CASE Control and TABDMP1 or TABLEDi in Bulk Data section.
Application:
1. Added to Damping matrix: [BS]
Diagonal terms of the damping matrix are given by:
bi = i i mi
where, i is the undamped vibration frequency determined using [M] and [K] matrices and i is
the dimensionless input coefficient.
Note that the modal damping matrix generated by this approach is not affected by the presence of rotors in
the model. Also, the circulation terms are not generated for damping corresponding to rotor degrees of
freedom.
Main Index
56 MSC Nastran Rotordynamics User’s Guide
Damping and Bearing Models
rotor in the model. As described previously, the presence of damping terms in rotating systems leads to a
stiffness-like circulatory matrix in the equations of motion that is proportional to rotor speed.
In the case of material damping, structural damping and hybrid damping with “KDAMP=YES” for rotors,
it is possible to add the damping term either to the [B] matrix or to the [K] matrix. The actual
implementation depends upon the type of analysis (complex eigenvalue, frequency response or transient
response) and the presence of parameters WR3, WR4, and WRH. In addition, these parameters can also be
defined individually for each rotor using RSPINR/RSPINT entries. (Here, they are referred to as WR3R,
WR4R and WRHR, respectively.)
Structural Damping
Sources: Field ‘GR’ in RSPINR/RSPINT card
Application:
1. Added to stiffness matrix: [KR]GR = i GR KR GG
Material Damping
Sources: Field ‘GE’ in material property card
Application:
Rayleigh Damping
Sources: Field ‘AlphaR1’ and ‘AlphaR2’ in RSPINR/RSPINT card
Application:
Main Index
Chapter 4: Damping and Bearing Models 57
Damping and Bearing Models
Hybrid Damping
Sources: ROTHYBD (separate bulk data entry and not in RSPINR/RSPINT) and HYBDAMP card.
Application:
Case 1: KDAMP = No
1. Added to damping matrix: [BR]H = [BHR]
Case 2: KDAMP = Yes
1. Added to stiffness matrix: [KR]H = i[KHR]
(Only for frequency response when PARAM, GYROAVG ≥ 0)
R KH
2. Added to damping matrix: [BR]H = ---------------- (WRH from PARAM, WRH)
WRH
where [KRGG] is the G-size stiffness matrix for the rotor and WRH ≠ 0.
(For complex eigenvalue analysis, frequency response when PARAM, GYROAVG < 0 and transient
analysis)
Circulation Matrix
As described in Chapter 2, the presence of rotor damping when the problem is analyzed in a fixed system
results in a circulatory matrix ( K C ) which is generated from the rotating structure. In a rotating reference
R
system, however, a circulatory matrix ( K C ) from the stator is used to present the rotor damping. This
S
matrix adds to the system stiffness matrix. It is multiplied to operating rotor speed and is skew symmetric in
nature.
·
If the damping force for the rotor is given by the following expression: F DR = c R g , then the circulation
matrix is given by: K C
R B
= c R J where [J] is a skew symmetric matrix.
For a more general case, the circulatory matrix corresponding to each 3-D grid “j” is given by:
K C R B = T I B R j + B R j T I
where,
[BR]j = Viscous damping matrix corresponding to grid point “j”,
[TI] = skew symmetric matrix with the following form in the rotor coordinate system, and
Main Index
58 MSC Nastran Rotordynamics User’s Guide
Damping and Bearing Models
0 0.5 0 0 0 0
-0.5 0 0 0 0 0
TI j = 0 0 0 0 0 0
0 0 0 0 0.5 0
0 0 0 -0.5 0 0
0 0 0 0 0 0
(The above matrix is only valid for 3-D grid points; that is, for rotors defined using ROTORG and ROTOR
entries. A different matrix is used for axisymmetric harmonic grid points where rotors are defined using
ROTORAX.) The 6x6 [TI]j matrix is repeated for each grid point that is part of the rotor.
Thus, the circulation matrix for different damping options defined is given by:
a. Viscous dampers in Rotor [BR] (described in the next section)
Corresponding circulation matrix: K C
R B
= TI BR + BR TI
b. Structural damping GR
GR C
Corresponding circulation matrix: K C = ------------ K R (if WR3 ≠ 0)
R GR WR3
C
where K R = T I KR GG + KR GG T I
c. Material damping
1 C
Corresponding circulation matrix: K C = ------------ K4 R (if WR4 ≠ 0)
R GE WR4
C
where K4 R = T I K4R GG + K4R GG T I
d. Rayleigh damping
C C
Corresponding circulation matrix: K C
R
= 1R M R + 2R K R
C
where M R = T I MR GG + MR GG T I
e. Hybrid damping
• If KDAMP = YES
1 C
Corresponding circulation matrix: K C = ------------- KH R (if WRH ≠ 0)
R KH WRH
C
where KH R = T I KHR GG + KHR GG T I
• If KDAMP = NO
C
Corresponding circulation matrix: K C
R BH
= BH R = T I BH R + BH R T I
Similar expressions are also obtained when the problem is solved in a rotating coordinate system and viscous
damping (proportional to velocity) is defined in the fixed coordinate system.
Main Index
Chapter 4: Damping and Bearing Models 59
Linear Bearings
Linear Bearings
Connections between rotor and stator (to simulate bearings) or from rotor to rotor (to simulate gears) can be
made using scalar elements, like CELASi and CDAMPi, and bushing element CBUSH.
Scalar Elements
Scalar elements are connected between pairs of degrees of freedom (at either scalar or geometric grid points)
or between one degree of freedom and ground. Scalar elements are available as springs and viscous dampers.
Scalar spring elements (CELASi) are useful for representing elastic properties that cannot be conveniently
modeled with the usual structural elements (elements whose stiffnesses are derived from geometric
properties). The scalar damper (CDAMPi) is used to provide viscous damping between two selected degrees
of freedom or between one degree of freedom and ground.
The most general definition of a scalar spring is given with a CELAS1 entry. The associated properties are
given on the PELAS entry. The properties include the magnitude of the elastic spring, a damping coefficient,
and a stress coefficient to be used in stress recovery. The CELAS2 defines a scalar spring without reference to
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60 MSC Nastran Rotordynamics User’s Guide
Linear Bearings
a property entry. The CELAS3 entry defines a scalar spring that is connected only to scalar points, and the
properties are given on a PELAS entry. The CELAS4 entry defines a scalar spring that is connected only to
scalar points and without reference to a property entry. No damping coefficient or stress coefficient is
available with the CELAS4 entry. Element force is calculated from the equation:
F = k u1 – u2
where “k” is the stiffness coefficient for the scalar element and “u1”is the displacement of degree of freedom
i listed on its connection entry. Element stresses are calculated from the equation
= SF
where “S” is the stress coefficient on the connection or property entry and is as defined above.
Grounded connections are indicated on the connection entry by leaving the appropriate scalar identification
number blank. The CDAMP1, CDAMP2, CDAMP3, CDAMP4, and CDAMP5 entries define scalar
dampers in a manner similar to the scalar spring definitions. The associated PDAMP entry contains only a
value for the scalar damper.
BUSH Elements
The generalized spring-damper element CBUSH is a structural scalar element connecting two noncoincident
grid points, or two coincident grid points, or one grid point to ground using an associated PBUSH entry for
properties. This combination is valid for any structural solution sequence. To make the PBUSH frequency
dependent it need only have an associated PBUSHT Bulk Data entry. The PBUSHT entry, for frequency
dependency, is only used in SOL 108 and SOL 111. The stiffness matrix for the CBUSH element takes the
diagonal form in the element system.
Main Index
Chapter 4: Damping and Bearing Models 61
Nonlinear Bearings
Format:
1 2 3 4 5 6 7 8
PBUSH2D PID K11 K22 B11 B22 M11 M22
CROSS K12 K21 B12 B21 M12 M21
Nonlinear Bearings
Currently, MSC Nastran does not support nonlinear analysis for Rotordynamics where the nonlinearity is
related to material property, geometry, and contact. However, in transient response, it is possible to include
the effect of nonlinear bearing forces. Nonlinear bearings that can be used for rotordynamic analysis are
briefly described here. Further details are available in MSC Nastran Dynamic Analysis User’s Guide .
Nonlinear bearings are basically elastic elements with nonlinear force-deflection relationships. Some of these
elements also exhibit nonlinearities proportional to the velocity. For the elements described here, the pseudo-
force method is used in MSC Nastran where the deviations from linearity are treated as additional applied
loads. The dynamic equations of motion can be written as:
M g·· t + B g· t + K g t = P t + N t
where, [M], [B] and [K] are system mass, damping and stiffness matrices respectively. Note that the [B] and
[K] matrices shown here include all the rotordynamic related terms. The vectors {P(t)} and {g(t)} denote
applied nodal loads (linear) and system displacements respectively, as functions of time. The vector {N(t)}
denotes nonlinear force produced by bearing elements.
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62 MSC Nastran Rotordynamics User’s Guide
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Defines a nonlinear radial (circular) gap for transient response or nonlinear harmonic response.
Format:
1 2 3 4 5 6 7 8 9 10
NLRGAP SID GA GB PLANE TABK TABG TABU RADIUS
Main Index
Chapter 4: Damping and Bearing Models 63
Nonlinear Bearings
The equations underlying the NLRGAP measure the relative radial displacement between the shaft grid (Grid
A) and the housing grid (Grid B) in the displacement coordinate system. When the relative radial
displacement is greater than the clearance (i.e., when contact has occurred), contact forces as well as frictional
forces are automatically applied to the grids. The contact and frictional forces are dependent on the contact
stiffness and the coefficient of friction.
Variables used in the analysis are described below:
K(t,u) Contact stiffness, function of time or displacement.
G(t) Radial clearance, function of time.
(t) Coefficient of friction, function of time. Positive value implies shaft rotation from axis 1 towards
axis 2.
R Shaft radius for friction induced torque calculation.
It is helpful to visualize Grid A as belonging to the shaft and Grid B as belonging to the housing. Consider
each grid to have DOF 1 and 2 in the plane of action (e.g., DOF 1 = X and DOF 2 = Y for XY orientation).
The element relative displacement in directions 1 and 2 are:
U 1 = U A1 – U B1
U 2 = U A2 – U B2
The relative radial displacement is:
2 2
r = U 1 + U 2
The force in the gap when it is open ( r G t ) is zero. When the gap is closed ( r G t ), the penetration
is defined as:
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64 MSC Nastran Rotordynamics User’s Guide
Nonlinear Bearings
P = r – G t
The nonlinear gap forces (S) are given by:
Gt
S = K (t,u) 1 – -----------
r
When transformed to the grid point coordinate system in direction 1 and 2, the nonlinear forces produced
by the NLRGAP element are given by:
N A1 = -U 1 S + U 2 S t
N B1 = -N A1 = U 1 S – U 2 S t
N A2 = -U 2 S – U 1 S t
N B2 = -N A2 = U 2 S + U 1 S t
If the shaft radius R is input, then the following friction induced torque loads are also generated. The
expression for torque is given by (acting along 6th component for the force vector):
N A6 = -RrS t
N B6 = -N A6 = RrS t
Format:
1 2 3 4 5 6 7 8 9 10
CBUSH2D EID PID GA GB CID PLANE
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Chapter 4: Damping and Bearing Models 65
Nonlinear Bearings
Allows the user to provide element property routines for use with specified Nastran elements.
Format:
1 2 3 4 5 6 7 8 9 10
ELEMUDS PID PTYPE GROUP UNAME DEPEN
“INT” IDATA1 IDATA2 IDATA3 IDATA4 IDATA5 IDATA6 IDATA7
IDATA8 IDATA9 ... ... IDATAn
“REAL” RDATA1 RDATA2 RDATA3 RDATA4 RDATA5 RDATA6 RDATA7
RDATA8 RDATA9 ... ... RDATAn
Figure 4-5 Format for ELEMUDS Entry
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66 MSC Nastran Rotordynamics User’s Guide
Nonlinear Bearings
Main Index
Chapter 4: Damping and Bearing Models 67
Nonlinear Bearings
Format:
1 2 3 4 5 6 7 8 9 10
NLRSFD SID GA GB PLANE BDIA BLEN BCLR SOLN
VISCO PVAPCO NPORT PRES1 THETA1 PRES2 THETA2 NPNT
OFFSET1 OFFSET2 GROUP NAME2
NAME
RDATA1 RDATA2 RDATA3 RDATA4 RDATA5 RDATA6 RDATA7 RDATA8
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68 MSC Nastran Rotordynamics User’s Guide
Nonlinear Bearings
is called NLRSFD and is shown in Figure 4-9. Input data required for SFD definition are: journal diameter
and clearance, land length, oil viscosity, and location of ports and boundary pressure at these points.
The squeeze-film damper model is based on work originally performed at Case Western Reserve University
(CWRU). It incorporates a numerical solution of the Reynolds lubrication equation for incompressible
laminar isoviscous films that is described in Adams, Padovan and Fertis (Adams et al., 1982). The model is
capable of handling the specified pressure boundaries at the feed (supply) and discharge (drain) ports of the
SFD. The SFD pressure distribution is determined using a one-dimensional finite difference scheme. The
one-dimensional finite difference approach accounts for static as well as dynamic deflections and is capable
of modeling general damper orbits with a broad frequency content. The model computes the oil film forces
by numerical integration of the instantaneous film pressure distribution.
SFD Model in MSC Nastran also shows the SFD model coordinate system and the supply and discharge port
locations. Either one or two ports can be used to define pressure boundary conditions for the SFD model.
The number of grid points used in the finite difference scheme to determine the film pressure distribution is
defined by the variable NGRID. For the single port model, there are NGRID points, and for the double port
Main Index
Chapter 4: Damping and Bearing Models 69
Nonlinear Bearings
model there are NGRID points between the two ports for a total of 2 x NGRID points. Typically, a value of
about 31 (an odd number is required) for NGRID will be adequate.
A SFD in operation is shown in Figure 4-11, where e is the whirl vector which shows displacement of Grid I
on the rotor from Grid J on the center of housing. Using this vector, displacement and velocities between the
two points can be written as:
x = e cos t
y = e sin t
x· = - e sin t
y· = e cos t
These values are provided as input to the SFD code for the rest of the analysis.
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70 MSC Nastran Rotordynamics User’s Guide
Nonlinear Bearings
Format:
1 2 3 4 5 6 7 8 9 10
PBUSH2D PID K11 K22 B11 B22 M11 M22
SQUEEZE BDIA BLEN BCLR SOLN VISCO PVAPCO
NPORT PRES1 THETA1 PRES2 THETA2 OFFSET1 OFFSET2
Defines connectivity of a three-dimensional nonlinear load as a function of relative deflection and velocity of
a grid pair which in turn is a function of rotor speed.
Format:
1 2 3 4 5 6 7 8 9 10
NLBSH3D SID GA GB Blank LID-1 LID-2
Describer Meaning
SID Nonlinear load set identification number. (Integer > 0; Required)
GA Inner grid. (Integer > 0; Required)
GB Outer grid. (Integer > 0; Required)
LID-1 Load vs deflection group ID of a LBSH3DG (Integer > 0; Required)
LID-2 Load vs velocity group ID of a LBSH3DG (Integer > 0; Required)
Remarks:
1. NLBSH3D are selected with the Case Control command NONLINEAR = SID.
2. In order to ensure correct results, GRID points GA and GB must satisfy the following three
conditions:
Main Index
Chapter 4: Damping and Bearing Models 71
Nonlinear Bearings
LBSH3DG Tables used by an NLBSH3D to find force as function of displacement, velocity and rotor speed
Defines the force tables of NLBSH3D nonlinear loads as function of relative displacement or velocity and
current rotor speed.
Format:
FORM = ASYM (Asymmetric matrix representation)
1 2 3 4 5 6 7 8 9 10
LBSH3DG LID FORM MIN_FREQ MAX_FREQ
P11 P12 P13 P14 P15 P16
P21 P22 P23 P24 P25 P26
P31 P32 P33 P34 P35 P36
P41 P42 P43 P44 P45 P46
P51 P52 P53 P54 P55 P56
P61 P62 P63 P64 P65 P66
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Describer Meaning
LID Load identification group number for a NLBSH3D. (Integer > 0; Required)
FORM Type of Input Curves. (Character; Default SYM)
SYM Symmetric, only lower triangular terms needed
DIAG Only diagonal terms are needed
ASYM Asymmetric, all terms are needed
MIN_FREQ Minimum valid rotor speed for all the table lookups provided. (Real). See remark 2.
MAX_FREQ Max valid rotor speed for all the table lookups provided. (Real > 0.0 Required). Refer
remark 2.
Pij TABLED5 Id that provides TABLED1 ids as a function of rotor speed. The TABLED1
will have force as a function of relative displacement and/or velocity.
Remarks:
1. Values for the nonlinear forces will be determined using interpolation based on rotor speed and
relative deflection/velocity of grid pair. If the rotor speed is beyond the range specified by
MIN_FREQ and MAX_FREQ, a FATAL message will be produced. (Extrapolation will NOT be
used beyond this range).
2. For SYNC analysis, rotor speed is obtained from NLFREQ / NLFREQ1 bulk data card. For ASYNC
analysis, rotor speed is obtained from RGYRO bulk data card.
3. All the tables (TABLED5 Pij) should provide lookup tables (TABLED1) for the range of rotor speeds
between Min_FREQ and Max_Freq.
4. All of the fields for TABLED5 ids shown above are required for each FORM. For example, if
FORM=DIAG, then P11, P22, P33, P44, P55, and P66 must all be provided or a FATAL error
message will be issued.
Example:
$--01--$$--02--$$--03--$$--04--$$--05--$$--06--$$--07--$$--08--$
NLBSH3D 1001 123 133 104 200
Main Index
Chapter 4: Damping and Bearing Models 73
Nonlinear Bearings
$.......2.......3.......4.......5.......6.......7.......8.......9...
LBSH3DG 104 ASYM 1.01 1.02E4
1011 1012 1013 1014 1015 1016
1021 1022 1023 1024 1025 1026
1031 1032 1033 1034 1035 1036
1041 1042 1043 1044 1045 1046
1051 1052 1053 1054 1055 1056
1061 1062 1063 1064 1065 1066
$.......2.......3.......4.......5.......6.......7.......8.......9...
LBSH3DG 200 DIAG 2.01 2.02E5
2011 2022 2033 2044 2055 2066
TABLED5 2011
0. 3 10. 4 20. 5 ...
TABLED1 3 ...
TABLED1 4 ...
TABLED1 5 ...
In this case, TABLED1 3 is used when the speed is 0, TABLED1 4 is used when the speed is 10, and
TABLED1 5 is used when the speed is 20. If the speed is between these values, the program will interpolate.
Example (..\tpl\nlbsh3d\nlbsh3d.dat):
Rather than use a complex rotordynamics example, a simple example problem is used. As the NLBSH3D
requires rotordynamics be used, a simple rotor model is used, but the NLBSH3D is not connected to it (only
for demonstration purposes, in normal analysis, it would be used to connect the rotor to the stator).
The rotor is not shown for this example, rather only the model using the NLBSH3D is shown. As a
demonstration, an equivalent static solution will be performed on the NLBSH3D by connecting it to
CBUSH elements with stiffness only (no mass or damping).
GRIDs 77111 and 77121 are coincident GRIDs with the same displacement coordinate system. The
NLBSH3D will connect between these two GRID points. In order to retain these GRIDs in the solution set
(The D-set in dynamics), CBUSH elements will be used to add stiffness. The stiffness between the two GRID
points will be 1.0 in all 6 DOF. A CBUSH with 1.0E7 stiffness in all 6 DOF will connect GRID point 77121
to ground.
A force of 1.0 units will be applied in all 6 DOF on GRID 77111. The TABLED5/TABLED1 entries will
define a force/moment of 1.0 units of force/moment for each unit displacement/rotation (the same as the
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74 MSC Nastran Rotordynamics User’s Guide
Nonlinear Bearings
springs connecting the two GRID points). The TABLED5/TABLED1 used for velocity will give a force of
0.0 for any velocity. In this way, the spring and the NLBSH3D should each take ½ of the applied load.
The above image is an idealization of the spring/NLBSH3D model. The NLBSH3D connects between
GRID points 77111 and 77121, but is not shown. The two GRID points are coincident, and the springs are
all zero length.
Without the NLBSH3D, GRID point 77121 would have a displacement of 0.01 in all 6 DOF, however, with
the NLBSH3D, the displacements will be 0.005 (they will be slightly different, due to the 1.0E7 springs on
GRID point 77111).
Main Index
Chapter 4: Damping and Bearing Models 75
Nonlinear Bearings
The file is running SOL 128, Nonlinear Harmonic Response. The Case Control of interest for the
NLBSH3D is highlighted in red. NONLINEAR=40 selects the NLBSH3D from the Bulk Data. The output
requests are to obtain the applied load, the nonlinear forces (from the NLBSH3D) and the displacements.
The MPC request is to have the program calculate the relative displacement between the two GRID points
the NLBSH3D connects and provide that as the displacement of GRID 70000.
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76 MSC Nastran Rotordynamics User’s Guide
Nonlinear Bearings
,0.,0.,10.,10.,endt
tabled1,2210
,0.,0.,10.,10.,endt
$
As mentioned earlier, this model emulates a static response on the NLBSH3D as a way to verify that it is
working properly. The NLBSH3D connects between coincident GRID points 77111 and 77121.
CBUSH element 10009 places a large stiffness between GRID point 77111 and ground (only GRID 77111
is specified, so this is a CBUSH to ground - note, if you ask for SPCFORCE output, the force in this CBUSH
is not an SPCFORCE and will not be included in that output). CBUSH 10010 connects GRID points
77111 and 77121 with a unit stiffness in all 6 DOF. These two elements create terms in the stiffness matrix
for the two GRID points, which must be in the final solution set (The D-set) of the model. This is why GRID
77121 is not simply constrained to ground. If it were, it would not be in the solution set and a fatal error
message would be issued.
The NLBSH3D has set id 40 (referenced on the NONLINEAR Case Control command) and connects the
two GRID points together. LBSH3DG number 200 uses the relative displacements to calculate forces and
LBSH3DG 201 uses the relative velocities to calculate forces.
Looking at LBSH3DG 201, it provides tables only for the diagonal terms (no coupling). It is valid for a rotor
speed range of 0.0 to 2.02E5 cps. As it uses the DIAG option, it refers to 6 TABLED5 entries, one for each
relative displacement. For this model, we have selected TABLED5 211 for all 6 terms. This TABLED5 selects
TABLED1 212 at 0.0 cps and TABLED1 212 at 100.0 cps. This is not recommended modelling practice,
simply done for demonstration purposes. TABLED1 212 has a constant value of 0.0 for all speeds and relative
velocities. Once again, this is done only for demonstration purposes in this model, as we are interested in only
the 'static' response of the NLBSH3D.
LBSH3DG 200 is used to calculate forces based on the relative displacements of the two GRID points. It is
valid between 0.0 and 2.02E5 cps. It also uses the DIAG option, meaning there is no coupling between the
terms. Looking at the X-term, it selects TABLED5 2011. This TABLED5 selects TABLED1 2201 at 1.0 cps
and 2210 at 100.0 cps. For demonstration purposes, these both have a slope of 1:1, starting at 0.0, so the
force is equal to the relative displacement. This makes it very easy to verify that the NLBSH3D is working
properly.
The other TABLED5 entries referenced by LBSH3DG 200 are similar.
GRID point 77000 is introduced into the model to measure the relative displacement between the two GRID
points of interest. This is done using MPC equations with GRID 77000 as the dependent GRID point, as
we need to have the other 2 GRID points in the solution set.
grid,77000
$ get relative displacement used by NLBSH3D
mpc,100,77000,1,-1.,77111,1,-1.,
,,77121,1,1.
mpc,100,77000,2,-1.,77111,2,-1.,
,,77121,2,1.
mpc,100,77000,3,-1.,77111,3,-1.,
Main Index
Chapter 4: Damping and Bearing Models 77
Nonlinear Bearings
,,77121,3,1.
mpc,100,77000,4,-1.,77111,4,-1.,
,,77121,4,1.
mpc,100,77000,5,-1.,77111,5,-1.,
,,77121,5,1.
mpc,100,77000,6,-1.,77111,6,-1.,
,,77121,6,1.
Looking at the results of this run, the run solves for 3 rotor speeds, 1.5, 1.6, and 1.7 cps. We will only look
at one of the solutions, as all three with have the same displacements for the GRID points being considered.
Applied Load:
The load applied at GRID point 77121 is 0.01 units in all 6 DOF.
Displacements:
Looking at the displacements, GRID point 77000 has a displacement of 0.005 units in all 6 DOF. This might
raise a question, as with unit springs, you might expect the displacement to equal the applied load, but the
NLBSH3D acts like a set of unit springs, so ½ of the load goes to the NLBSH3D and ½ goes to the CBUSH.
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NONLINEAR FORCES:
Looking at the nonlinear forces, we see that there are equal and opposite forces of 0.005 at GRID points
77111 and 77121 resulting from the NLBSH3D.
ELEMENT FORCES:
The element force in the CBUSH is .005, which is the other half of the applied load.
Looking at the results, the displacements, nonlinear forces, and element forces are all what was expected for
this model. Obviously, it is possible to model more complicated models using the NLBSH3D. This model
was simply used to provide a demonstration where is was easy to verify the results.
TABLED5 Description
Defines a value as a function of two variables for use in generating frequency dependent and time dependent
dynamic loads.
1 2 3 4 5 6 7 8 9 10
TABLED5 TID
X(1) TID(1) X(2) TID(2) X(3) TID(3) X(4) TID(4)
... ... ENDT
Main Index
Chapter 4: Damping and Bearing Models 79
Nonlinear Bearings
The input data starts with a case control request: NONLINEAR (Case), with one or more NOLINi Bulk
Data entries to define the set. The four basic options to define a scalar nonlinear force, Ni, in terms of the
degrees of freedom, {gj}, are summarized in the table below.
The variables, gj, may be displacement or velocity components of grid, scalar, or extra points in the solution
set. In the DIRECT TRANSIENT solutions, the connected degrees of freedom, gi and gj, etc., must remain
in the solution set. In the modal transient solutions, only extra points are available for use by the NOLINi
entries. In nonlinear transient solutions, all degrees of freedom are available; however, extra points are not
supported. Note that these functions mimic the basic nonlinear function generators used in passive analog
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80 MSC Nastran Rotordynamics User’s Guide
Nonlinear Bearings
computers. They may be added together and combined with other functions such as MPCs and scalar
elements to handle a variety of problems.
The bulk data format for the NOLIN1 entry is shown in Figure 4-13 . Other NOLIN options follow a similar
format.
Defines a forcing function for transient response or nonlinear harmonic response of the form
Format:
1 2 3 4 5 6 7 8 9 10
NOLIN1 SID GI CI S GJ CJ TID
Main Index
Chapter 5: Rotor Usage
MSC Nastran Implicit Nonlinear (SOL 600) User’s GuideRotordynamics User’s Guide
5 Rotor Usage
Rotor Usage 82
Case Control Entries 82
Parameters 82
Bulk Data Entries 83
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82 MSC Nastran Rotordynamics User’s Guide
Rotor Usage
Rotor Usage
Rotor modeling techniques available in MSC Nastran were discussed in Chapter 3. In order to perform
complex eigenvalue, frequency response, or transient analysis, some other entries need to be defined in Case
Control and Bulk Data. Most of these entries are common to the three types of rotors discussed in the
previous chapter. Brief overview of these entries is provided in rest of the chapter. More details are available
in the MSC Nastran Quick Reference Guide.
RGYRO
The RGYRO Case Control command activates the rotordynamics capability, and selects the RGYRO Bulk
Data entry for use in complex modes, frequency response, and static analysis. For transient response, the
RGYRO command selects the UNBALNC (described later in this chapter) Bulk Data entry. If the
UNBALNC entry is not required, setting RGYRO to YES will include the gyroscopic effects in the transient
response calculation. Setting RGYRO to NO will deactivate gyroscopic effects in all solutions.For more
information see, RGYRO (Case).
CAMPBELL
This entry specifies parameters for the generation of the Campbell Diagram in complex eigenvalue analysis
(SOL 107). When there is a Case Control request for the Campbell diagram, the selected RGYRO Bulk Data
entry (described later in this chapter) must have the ASYNC option specified in its SYNCFLG field (Field
3). Otherwise, the program terminates the execution with an appropriate fatal message. For more information
see, CAMPBELL (Case). In V2018, second row was introduced in CAMPBLL entry to enable eigen-vector based
mode tracking.
Parameters
GYROAVG
The parameter GYROAVG is used to specify one of the two formulations for frequency response analysis
using the rotordynamic capability. The default is to determine any frequency-dependent terms for each
frequency. This option activates the frequency-dependent looping option. Setting the value < 0 uses an
‘average’ frequency formulation. This option avoids using the frequency-dependent looping and results in a
Main Index
Chapter 5: Rotor Usage 83
Bulk Data Entries
shorter execution time. For this option, PARAM WR3 /WR4 /WRH must be specified to include rotor
damping. For more information see, GUSTAERO.
WHIRLOPT
When the analysis is performed in rotating reference frame, (only available with ROTOR entry), the
synchronous analysis for forward and backward whirl modes follow different set of equations of motion. The
user has the option to select required whirl mode option using this parameter. Here, the forward whirl analysis
is treated as the default option. For more information see, WHIRLOPT.
RGYRO
The RGYRO entry in Bulk Data includes identification number (RID) that is selected by the Case Control
command. Multiple RGYRO entries with same RID can be selected at a time, and any in the input file, which
do not have the RID from the RGYRO command, are ignored. This card also specifies whether the analysis
is synchronous or asynchronous analysis using the “SYNCFLG” field. This information is a required input
for frequency response and complex modes analyses. In case of multiple rotors present in the analysis, the
“REFROTR” field specifies the reference rotor ID for the analysis. The “SPUNIT” field specifies whether
the entries SPDLOW, SPDHIGH, and SPEED are given in terms of RPM (revolutions/minute) or frequency
(revolutions (cycles)/unit time). When there is a Case Control request for a Campbell diagram, the selected
RGYRO Bulk Data entry must have the ASYNC option specified in its SYNCFLG field.
The second row defines whirl frequency for calculation of rotor damping and circulation terms for rotor
structural damping specified through GR field for asynchronous complex eigenvalue analysis only. In case any
of the whirl frequency parameters (WR3WRL) are defined along with corresponding damping parameter
(WR3 or WR3R), an appropriate FATAL message is produced. For more information see,
RGYRO.
RGYRO Rotordynamic Analysis Parameters
Specifies synchronous or asynchronous analysis, reference rotor, and rotation speed of the reference rotor.
Format:
1 2 3 4 5 6 7 8 9 10
RGYRO RID SYNCFLG REFROTR SPDUNIT SPDLOW SPDHIGH SPEED ROTRSEID
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84 MSC Nastran Rotordynamics User’s Guide
Bulk Data Entries
REFROT
Since multiple RGYRO definitions (meaning multiple reference rotors) are allowed, the REFROT entry
defines the reference rotor id for non-reference rotors which are defined in residual structure (SE 0). All
REFROT bulk data entries with RID will be invoked for any subcase having RGYRO=RID case control
command. Multiple REFROT entries with same RID are allowed. Rotor id used as REFROTID (in 3rd field)
should have a valid RGYRO entry. REFROTID should match the RGYRO's REFROTR (4th field). The 9th
field in that RGYO entry should be 0 or blank (meaning REFROTR rotor should be in residual).
REFROT Defines the reference rotor for non-reference rotors in the residual structure (SE 0), applicable
only for Complex Eigenvalue analysis (SOL 107 / 110 / 200 / 400 (ANALYSIS=DCEIG/MCEIG))
Format:
1 2 3 4 5 6 7 8 9 10
REFROT RID REFROTID NFROTID1 NFROTID2 NFROTID3 NFROTID4 NFROTID5 NFROTID6
NFROTID7 NFROTID8 -etc.-
or
1 2 3 4 5 6 7 8 9 10
REFROT RID REFROTID NFROTID1 THRU NFROTIDn BY INC
REFRTSE
Since multiple RGYRO definitions (meaning multiple reference rotors) are allowed, the REFRTSE entry
defines the reference rotor id for non-reference rotors in any superelement. The REFRTSE bulk data entry
with RID will be invoked for subcase having RGYRO=RID case control command. Multiple REFRTSE
entries with same RID are allowed. The rotor id used as REFROTID (in 3rd field) and its superelement ID
used as REFROTSE (in 4th field) should have a valid RGYRO entry. Meaning, REFROTID field should
match RGYRO's REFROTR (4th field) and REFROTSE entry should match with same RGYRO's
ROTRSEID (9th field).
REFRTSE Define the reference rotor for non-reference rotors in any superelement, applicable only for
Complex Eigenvalue analysis (SOL 107 / 110 / 200 / 400 (ANALYSIS=DCEIG/MCEIG))
Format:
1 2 3 4 5 6 7 8 9 10
REFRTSE RID REFROTID REFROTSE NFROTID1 NFROTSE1 NFROTID2 NFROTSE2 NFROTID3
NFROTSE2 NFROTID4 NFROTSE4
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Bulk Data Entries
RSPINR
The RSPINR entry specifies the relative spin rates between rotors and identifies the axis of rotation for
complex eigenvalue, frequency response, and static analysis. The positive spin direction is defined using the
right-hand rule from Grid A to Grid B. For each rotor defined in the model (either in the residual structure
or in a superelement), a corresponding RSPINR entry is required. For rotor defined in an external
superelement, GRIDA and GRIDB specified on the RSPINR must be part of the SEs ASET during creation
run. This requirement is relaxed for rotors defined in PART superelement.
If SPTID is a real number, the value is considered constant. The SPTID field specifies relative spin rate. If
SPTID is real, it is used directly as scaling factor for rotor speed. For a reference rotor identified using a
RGYRO entry, the speed of the rotor is equal to that defined in RGYRO entry itself. For a rotor which is not
a reference rotor, the speed is calculated based on the ratio of SPDIT entry of its RSPINR entry to SPDIT
field of its reference rotor RSPINR entry, times reference rotor speed from the RGYRO entry.
Example 1:
$-------2-------3-------4-------5-------6-------7-------8-------9------
$RSPINR ROTORID GRIDA GRIDB SPDUNT SPDIT ROTRSEID
$ GR ALPHAR1 ALPHAR2 WR3R WR4R WRHR
RSPINR 40 2 1 RPM 2.0
0.1
RSPINR 50 4 5 RPM 3.0
0.1
RSPINR 70 10 12 RPM 1.0
0.1
$-------2-------3-------4-------5-------6-------7-------8-------9------
$RGYRO RID SYNCFLG REFROTR SPRUNIT SPDLOW SPDHIGH SPEED ROTRSEID
$ WR3WRL WR4WRL WRHWRL
RGYRO 33 ASYNC 70 RPM 3000.0
0.07 0.07
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Example 2:
$-------2-------3-------4-------5-------6-------7-------8-------9-------
$RSPINR ROTORID GRIDA GRIDB SPDUNT SPDIT ROTRSEID
$ GR ALPHAR1 ALPHAR2 WR3R WR4R WRHR
RSPINR 40 2 1 RPM 2.0
0.1
RSPINR 50 4 5 RPM 3.0
0.1
RSPINR 70 10 12 RPM 2.0
0.1
$-------2-------3-------4-------5-------6-------7-------8-------9-------
$RGYRO RID SYNCFLG REFROTR SPRUNIT SPDLOW SPDHIGH SPEED ROTRSEID
$ WR3WRL WR4WRL WRHWRL
RGYRO 33 ASYNC 70 RPM 3000.0
0.07 0.07
i. reference rotor id 70, speed = 3000 RPM
ii. non-reference rotor id 40, speed = 2.0/2.0 * 3000 = 3000 RPM
iii. non-reference rotor id 50, speed = 3.0/2.0 * 3000 = 4500 RPM
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Bulk Data Entries
Specifies the relative spin rates between rotors for complex eigenvalue, frequency response, and static
analysis.
Format:
1 2 3 4 5 6 7 8 9 10
RSPINR ROTORID GRIDA GRIDB SPDUNT SPTID ROTRSEID
RSPINT
The RSPINT entry performs similar function as RSPINR for transient analysis. For transient analysis, the
SPTID field references a TABLED1 entry that specifies the rotor spin rate history. For more information see,
RSPINT.
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Bulk Data Entries
Format:
1 2 3 4 5 6 7 8 9 10
RSPINT ROTORID GRIDA GRIDB SPDUNT SPTID SPDOUT ROTSEID
GR ALPHAR1 ALPHAR2 WR3R WR4R WRHR
ROTHYBD
This entry is used to introduce hybrid damping option for rotors. The ROTORIDi – HYBDAMPi pair
values referencing nonexistent rotors are ignored. Hybrid damping can result in very densely populated
damping matrix causing significant performance penalty. Details about the matrices generated hybrid
damping is given in HYBDAMP card in QRG. For more information see, ROTHYBD.
Format:
1 2 3 4 5 6 7 8 9 10
ROTHYBD ROTORID1 HYBDAMP1 ROTORID2 HYBDAMP2
CAMPBLL
This entry is required for the generation of a Campbell Diagram using complex eigenvalue analysis. The
CAMPBLL option is supported in both SOL 107 and SOL 110. However, it is not supported in SOL 200
and SOL 400 for ANALYSIS=DCEIG and ANALYSIS=MCEIG. The rotor speed at which the complex
eigenvalue analysis needs to be performed for a Campbell Diagram are specified using the DDVALID field
and appropriate speed units in the TYPE field.
In V2018, two different approaches were implemented for mode tracking while generating Campbell
diagram. In both the methods, only the complex frequencies with a positive imaginary part are considered
for mode tracking.
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Bulk Data Entries
Numerical Approach
This method is used for mode tracking once the eigenvalues have been extracted for all the rotor speeds
defined for analysis using CAMPBLL and DDVAL bulk data entries. For each rotor speed, the second
derivative is computed using the central difference approach.
Eigenvector-Based Approach
Unlike the numerical approach, here both left and right eigenvectors associated with complex eigenvalues are
used for mode tracking. The method implemented is described in detail in Reference 2. As described in the
paper, Normalized Cross Complex Orthogonality (NC2O) parameter is computed for each pair frequencies
for two rotor speeds. Since V2018, the eigenvector based mode tracking approach is available for analysis in
FIXED reference frame only when HESS option is used in EIGC for eigenvalue extraction. Due to
limitations of the HESS option when working with large size models without a reduction, the use of SOL
110 or a superelement based reduction approach is recommended for analyzing large rotor models.
For more information see, CAMPBLL.
Formats:
1 2 3 4 5 6 7 8 9 10
CAMPBLL CID VPARM DDVALID TYPE
MODTRK CORU SWTTR NUMMOD PRTCOR
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DDVAL
This entry is required for generating a Campbell diagram, and it defines real rotor speed for asynchronous
complex eigenvalue analysis. For more information see, DDVAL.
DDVAL Discrete Design Variable Values
Defines real, discrete design variable values for use in discrete variable optimization, topometry optimization
or rotordynamics.
Format:
1 2 3 4 5 6 7 8 9 10
DDVAL ID DVAL1 DVAL2 DVAL3 DVAL4 DVAL5 DVAL6 DVAL7
UNBALNC
The UNBALNC entry is used to define rotating unbalanced loads for rotordynamic transient and frequency
response analysis. For transient response, UNBALNC is specified by the RGYRO Case Control command.
For frequency response, it is specified by the DLOAD Case Control command. The imbalance load will be
generated based on the mass value (Field “MASS”), offset values (Field “ROFFSET” and “ZOFFSET”),
and the rotor spin speed specified using RGYRO and RSPINR/RSPINT. UNBALNC can be applied on
reference and/or non-reference rotor, for frequency response SYNC analysis only. For other type of
analysis, it is advised to define the rotor having UNBALNC as the reference rotor.
In the case of ROFFSET field, if the entry is a real number, the value is considered constant. If the entry is
an integer number, the value references a TABLEDi entry that specifies the value as a function of time for
transient response or frequency for frequency response. The Theta is measured from the plane defined by the
z-axis and the user specified vector (X1, X2, X3). Theta = 0.0 is in the direction of the user-specified vector
(X1, X2, X3). Unbalance rotation is in the positive z-direction.
For frequency response analysis, the EPOINTs and the continuation cards are ignored. For transient analysis
in fixed reference frame, CFLAG field can be used include mass correction or speed correction or both
corrections in the analysis. The EPOINTS specified in the fourth and fifth row on the UNBALNC entry can
be used to extract these correction forces and moments. For more information see, UNBALNC.
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Bulk Data Entries
Used in rotordynamic analyses to specify a rotating unbalance load in terms of a cylindrical system with the
rotor rotation as the z-axis.
Format:
1 2 3 4 5 6 7 8 9 10
UNBALNC SID MASS GRID X1 X2 X3
ROFFSET THETA ZOFFSET T/Fon T/FOFF CFLAG
UFT1 UFT2 UFT3 UFR1 UFR2 UFR3
MCT1 MCT2 MCT3 MCR1 MCR2 MCR3
SCR1 SCR2 SCR3
Forces due to imbalance at grid “k” in rotor coordinate system for transient analysis are given by (where the
rotor axis is along Z axis):
2 ·
F
x t m t r t j t cos jk t + j t sin j t
= WTMASS ·
Fy t m t r t 2 t sin t – j t cos t
j jk j
where
m(t) Specified by the user (MASS field in UNBALNC)
r(t) Specified by the user (ROFFSET field in UNBALNC)
j t Specified by the user through RSINT/RSPINR entry
(t )
(t )
j
Derived from j
jk t
Instantaneous angular location, measured from axis 1 to axis 2 (= j t dt + k )
0
k Specified by the user (THETA field in UNBALNC)
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In the rotating coordinate system, similar equation for unbalance loads is used.
2
Fx t m t r t j t cos k
= WTMASS
F y t rot m t r t 2 t sin
j k
··
Fx t Fx t -m k t u x t
Fy t = F y t + WTMASS -m k t u··y t
F z t Corr 0 -m k t u··z t
where displacements are transformed from the global to rotor-force coordinate. The above correction
accounts for the change in the translation mass due to the imbalance mass (CFLAG = ‘MASS’).
Similarly, the correction to moments is given by:
·
M t -m t r t sin t 2 ·· ·
x t + 2 j x t + j x t
x M
x t k k jk
2 ·· · ·
My t = M y t + WTMASS -m t r t cos t y t – 2 y t – j t
k k jk j y
M z t Corr 0 2 ··
-m k t r k t z t
2
Fx mr cos k + i sin k
= WTMASS
Fy mr 2 sin – i cos
k k
For frequency response analysis, the unbalance load in rotating reference frame given by:
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2
Fx mr cos k
= WTMASS
Fy mr 2 sin
k
The moment due to ZOFFSET is given by,
Mx – F y ZOFFSET
=
My F x ZOFFSET
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MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
Introduction 96
Example Model 97
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Introduction
Introduction
For the first time for MSC Nastran Rotordynamics users, use of MSC Patran for developing the basic model
is encouraged. Once the baseline model is created using MSC Patran, other rotordynamics related features
can be easily manually included in the input file.
Right-click this icon and drag & drop it into your desired working directory and left-click Create shortcut
here. For this example, we chose > Libraries > Documents > Patran > RotorA on our system.
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Now, right-click this newly created shortcut to Patran and left-click Properties. Delete the path in the Start
in: field which is the one that was chosen during installation on your system. So the Start in: field should
now be blank as shown. Click OK.
So, every time you start Patran from this particular shortcut, the default directory will be RotorA. While one
could alternatively manage Patran’s default directory, this shortcut technique is found to be very useful.
Example Model
As a first example, a hythothetical hollow cantilever rotor model is developed using Patran. The hollow rotor
is 0.5m long, and has an inner diameter of 0.05m and outer diameter of 0.1m, as shown in Figure 6-2. The
rotor is made up of steel and is spinning at 10,000 RPM. In this example, the rotor needs to be modeled
using 5 CBEAM elements and Node 1 is constrained.
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Patran Model
Here are the main steps involved in the development of the Patran model. These steps are described in more
details in the later sections. Steps 1 to 6 are standard for any MSC Nastran model and further details about
these steps are available in the MSC Nastran’s Linear Statics Users Guide and in the MSC Nastran’s Dynamics
User`s Guide. Step 7 and Step 8 are required only if the model contains rotors. Currently, MSC Patran
supports 1D rotors defined using ROTORG only.
For Post-Processing, MSC Patran supports generation of mode shapes and animations for the eigenvectors in
complex eigenvalue analysis. If the input file includes an option for generating Campbell Diagram, then it
can also be plotted. These features are described in Steps 10 and 11.
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3. In the New Model Preference tab, select Tolerance -> Default, as shown in Figure 6-4.
4. Click OK
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3. Specify the length of the rotor which measures 0.5 meters (see Figure 6-5(b)). Accepting MSC
Nastran’s basic coordinate system, specify a line from the origin to the <X Y Z> coordinate <0.5 0 0>.
(see Figure 6-5(b))
4. Click Apply.
Patran now shows this line in the GUI, as shown in Figure 6-6.
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2. Specify the beam_prop in the Property Set Name field, see Figure 6-11.
3. Select the General Section (CBEAM) element option in the Options: dropdown.
4. Click the Input Properties button in the tool interface, place the cursor in the Material Name field
and click the Mat Prop Name icon to open the Select Material interface. Select the previously defined
‘steel’ entry and verify that the Material Name field now contains the ‘m:steel’ string.
5. The Bar Orientation indicates the bending direction of the beam. Since our beam is directed along
the x-axis, we can either specify Y (i.e. vector <0,1.,0>), as shown, or Z (i.e. vector <0,0,1.> . Here, Y
direction is selected as the bending direction by specifying vector <0,1,0> in the Bar Orientation
field.
6. Since the rotor is represented by a hollow tube, we use the built-in beam library for convenience.
Access the Beam Library by clicking its icon. Beam Library that opens is shown in Figure 6-12.
7. The “less than” and “greater than” icons allow you to scroll through the library. The first click on the
“greater than” icon reveals the appropriate icon for the parametric representation of a hollow tube in
the top left corner of the displayed 3x3 icon matrix.
8. Click on the hollow cross section icon and specify the New Section Name as “rotor_section”.
9. Enter the values for the respective outer and inner radii R1 = 0.1 and R2 = 0.05.
10. Click the Apply button to save this particular section among the Existing Sections in this model.
11. Click the Calculate/Display button to verify the beam section. This presents cross sectional details,
as shown in Figure 6-13.
12. Close the Section Display window.
13. Click OK to close the Beam Library window.
Notice that rotor_section now populates the [Section Name] field, as shown in Figure 6-14.
14. Click OK to close the Input Properties window.
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3. Select Action: Create, Object: Mesh, Type: Curve. (see Figure 6-17)
4. MSC Patran allows the user to control the starting node ID and elements ID while meshing. The
default value used is 1.
5. Set the curser in the Curve List input field and click on the line in the GUI. This populates the field
with the ID ‘Curve 1’ as shown. (Alternatively, you could simply type ‘Curve 1’ into that field.)
6. Uncheck Automatic Calculation in the Global Edge Length category and set the value to 0.1 as
shown. (Note that since we have already generated mesh seeds for the current curve, this value has no
significance. However, it can be used to control mesh size for more complicated geometries.)
7. Click the Select Existing Prop button and choose the earlier defined beam_prop set. This step
associates the entire beam_prop set with the CBEAM card and its underlying element formulation.
Click Apply.
8. Click on the Home tab (see Figure 6-18(a)), click the Label Control tool button. This allows us to
verify placement of nodes and elements of the previous meshing operation, as shown in Figure 6-18(b).
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9. At the end, you should see the “Cantilever_Rotor” listed as the boundary condition under Existing
sets as shown in Figure 6-21.
10. Click Apply. The Patran display should show the boundary condition being applied to Node 1. This
verifies that all translations and rotations of this particular vertex are constrained as shown in
Figure 6-22.
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1. Click on Tools menu in Patran’s top tool bar, select the Modeling option, and click on
Rotordynamics as shown in Figure 6-23.
2. This sets Action: Create, Analysis: Steady State, and Object: Rotor as shown.
3. Choose a Rotor Name for this rotor data set such as ‘hollow_rotor’.
4. Click the cursor into the Rotor Node List field and rubber-band select all rotor nodes. Alternatively,
you could simply type ‘Node 1:6’. You will later see that this populates the ROTORG card.
5. To specify the orientation of the rotor, select any two line rotor nodes. Node 2 and Node 3 are
specified for Spin Direction Node 2 and Spin Direction Node 3, respectively.
6. Click the Spin Profile button and specify ‘1.’ in the Speed Values field. This value is a multiplier
which we are setting to unity. Although Patran has some logic to distinguish between intended scalar
indices and decimals, it is good practice to distinguish between the two explicitly by using the decimal
point for the latter.
7. Click OK to close the Spin Profile tool tab.
8. Click Apply to commit the hollow_rotor to the Existing Rotors.
9. Click the Close button to close the Rotor Dynamics tool tab.
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2. As shown in Figure 6-26, enter Job Name as “hollow_rotor_test”. This will be the name of the input
deck created by Patran. You can add some descriptive SUBTITLE (e.g. CBEAM Rotor) and LABEL
(e.g. Cantilevered, Left) if you like. However, this is not absolutely necessary for the configuration of
this model.
3. Click the Solution Type.
4. Select COMPLEX EIGENVALUE and choose Direct in the Formulation drop-down menu. Verify
that Solution Sequence 107 is now posted near the bottom of the Solution Type tab. Next click on
Solution Parameters
5. Select Mass Calculations as Coupled for better accuracy. Next click on COMPLEX EIGENVALUE
tab. This opens the Eigenvalue Extraction window.
6. Here, select “Complex Lanczos” as the Extraction Method. Set the Number of Desired Roots = field
to 12. Click OK in the Eigenvalue Extraction pop-up window to close it.
7. Click on Results Output Format to control the format for output. As shown in the Results Output
Format pop-up window, the default options are XDB and Print. Click OK to close this pop-up.
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8. Click OK in the Solution Parameters pop-up window to close it. Click OK on the Solution Type
tool tab to close it.
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9. Next, click the Subcases as shown in Figure 6-28. This opens the Subcases pop-up window.
10. Since the Subcase Name is already set to ‘Default’ and the ‘Default’ in the Available Load Cases
contains all applied boundary conditions, simply click the Subcase Parameters button to modify the
Default Subcase.
11. Check Enable Rotor Dynamics in the Subcase Parameters window. Click the Specify Spinning
Properties.
12. Choose the Option: Asynchronous, select the previously defined “hollow_rotor”, set the Speed Unit
to RPM and specify Speed = 10000. This is the second speed entry that is used in RGYRO.
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13. Click OK to close the Spinning Properties window. Click OK to close the Subcase Parameters
window. Click Apply to commit these changes to the Default subcase.
14. Click Cancel to close the Subcases window.
Some of the benefits of having forced Patran to write everything into the RotorA directory are now becoming
evident: All of the pertinent files are nicely collected here. In addition to the hollow_rotor_test.db database
file that we needed to define initially, Patran also kept a session file (i.e. *.ses.*) that tracks all of our moves,
and most importantly, Patran wrote the *.bdf input deck that is passed to MSC Nastran upon invocation.
Once the computation completes, output databases with *.MASTER, *.DBALL, and *.xdb extension are
observed. Also, it is encouraged that the user should look into the .F06 and search for the presence of FATAL
MESSAGE before further post processing.
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2. This invokes the Action: Access Results, Object: Attach XDB, and Method: Result Entities as shown
in Figure 6-32.
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3. Next click the Select Results File and select the *.XDB file just created from the MSC Nastran run.
4. Click the OK button in Select File and Apply button in Analysis tab.
Notice that a successful results file attachment is indicated in the message field on the bottom left, as shown
in Figure 6-33.
5. Next, click on the Results tab and then click the Fringe/Deformation tool in the Quick Plot set (see
Figure 6-34).
6. In the Select Result Cases field, click on Mode 1 as shown in Figure 6-35.
7. In the Select Fringe Result field, click on Eigenvectors, Translational. In the Select Deformation
Result field, click on Eigenvectors, Translational. Click Apply. This generates the first mode shape
as shown in Figure 6-36.
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8. This Image can be saved using following steps: Click on File and then Images. This open the Output
Tab as shown in Figure 6-37.
9. In the Output tab, select “Current Viewport” as Source and pick any desired output format from the
Image Format menu.
10. Animate the mode by clicking the Animation Options button as shown in Figure 6-38.
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11. In the Number of Frames field, specify 32 as shown and click Apply.
12. Click the Select Results button and then check Animate and click Apply. Click the No Graphics
Refresh button to stop the animation.
Repeat this procedure to investigate first-order forward and backward whirling bending modes 1
through 4, axial modes 5 and 6, second-order FW and BW bending modes 7 through 10, and
potentially further.
13. Patran animations can be saved for future usage in presentations by checking the MPEG option in
the animation box as shown in Figure 6-38.
Note that the main purpose of this exercise and Patran use in general is the configuration of analysis input
decks (i.e. preprocessing) and the visualization of results (i.e. postprocessing). Since the analysis preference
was chosen to be MSC Nastran in this exercise, an MSC Nastran Bulk Data File or *.bdf input deck was
written.
It is highly recommended that users investigate the input deck created by Patran and understand different
cards defined in the model. Details of each card are available in MSC Nastran’s Quick Reference Guide. A
snapshot Snapshot of the MSC Nastran input file is shown in Figure 6-39.
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Patran is extremely useful when working in the overall geometric context and orientation of large
subassemblies that contain rotors such as engines or entire systems such as airframes. At the same time, we
would like to emphasize MSC Nastran’s modularity that allows the user to go seamlessly between component,
subassembly, and system contexts.
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When this modified input file is run in MSC Nastran, two additional files, namely campbell_freq.op4 and
campbell_rpm.op4 are generated. These files are required as input for generating a Campbell diagram in
Patran.
Here are the steps involved in generating a Campbell diagram.
1. Click on Utilities under the main menu Figure 6-41(a). And then click on Results and Campbell
Diagram. This will open a tab as shown in Figure 6-42(b).
2. In the Campbell Diagram Creation tab, click on Select Rotating speed file. In the pop-up window,
select the campbell_rpm.op4 file which was created during the Nastran run. Click OK to close the
window. (see Figure 6-43)
3. Similarly, click on Select Frequency File, and select the campbell_freq.op4 file.
4. Next, enter [0 1] in the Rotation Speed Multiplier to generate the reference line where rotor speed is
equal to the eigenfrequency. And finally, click on Apply to generate the Campbell diagram. The
Campbell Diagram generated for this particular problem is shown in Figure 6-44.
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Examples used in this chapter are available under the following folder: ../tpl/ugrotor. A brief description of
these examples is given below:
Table 6-1
Input File Name Description
rug_6_1 Rotor model developed using Patran.
rug_6_2 Rotor model modified to generate campbell diagram.
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7 Complex Eigenvalue
Analysis for Rotors
Complex Eigenvalue Analysis for Rotors 132
Example 142
Summary for Equation of Motion 160
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Complex Eigenvalue Analysis for Rotors
Equations of motion
For complex eigenvalue analysis, final equation of motion in a fixed coordinate system, as derived in Chapter
2, is given by:
2
M g·· + B S + B R + G g· + K + K C R + K G g = F S
The centrifugal stiffening matrix K G is important for 3D rotors where the model includes rotating
components away from the axis of rotation. For simplicity, this term is removed from the equations presented
in rest of the chapter.
pt
Let the DOF vector be given by: g = g a p where, g a p is the amplitude of motion
(independent of time) and p is complex eigenvalue for the model.
In order to determine whirl frequencies, the above equation is solved for p (complex eigenvalue) and
g a p (mode shape) with the rotor spin rate Ω specified by the user (asynchronous option). Here,
p = + i
where, α is the real component of the eigenvalue while ω is the imaginary component. Thus, ω represents the
oscillation frequency for the model and Re{ga (p)} represents the corresponding modeshape. For this case, the
damping coefficient produced as output in the complex eigenvalue analysis is given by:
Damping Coefficient (g)= -2α/ω
Thus, the system is considered unstable when (-2α/ω) < 0.
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Complex Eigenvalue Analysis for Rotors
Critical speeds can be obtained by using the synchronous option is RGYRO as described in the previous
chapter.
2
p M + p BS + BR + G + K + KC R ga p = 0
Above equation can be further expanded to include different options available for defining damping for rotor
and stator portion in the model. The final expression as included in MSC Nastran is given by:
2
p M +
B S + 1 M S + 2 K S + BH S +
n j ref G j + B R + BH R + 1 Rj M R + 2 Rj K R +
p j j j +
GR j
1 1
-----------
- K + -----------
- K4 + ------------
- KH
j = 1 WR3 R j WR4 R j WRH R j ga p = 0
1 + iG K S + i K4 S + i KH S +
n C C C C
B R j + BH R j + 1 Rj M R + 2 Rj K R j +
K +
R j j ref GR C 1 C 1 C
j = 1 -----------
WR3
- K R j + ------------ K4 R j + ------------- KH R j
WR4 WRH
where
[M] Total mass matrix for the model
i
–1
p Complex eigenvalue of the model
[BS] Viscous damping from dampers in the stator portion
[MS] Mass matrix for the stator portion
[KS] Stiffness matrix for the stator portion
[BHS] Hybrid damping for the stator portion
α1, α2 Rayleigh damping parameters for stator portion
Ωref Rotor speed of the reference rotor (specified by the user)
Ωj Rotor speed for the jth rotor
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134 MSC Nastran Rotordynamics User’s Guide
Complex Eigenvalue Analysis for Rotors
C C
1 M R + 2 K R Circulation matrix due to Rayleigh damping for rotors
Circulation matrix due to structural damping for rotors
GR- C
----------- K
WR3 R
In the above equation, it is assumed that the parameters WRH, WR3, and WR4 are defined in the analysis
(either through PARAM or through RSPINR for each rotor) and not equal to zero. In case any of these
parameters are not defined, the damping defined using GR, GE and KH and corresponding circulation terms
are ignored in the analysis.
Synchronous Analysis
For the complex modes analysis with synchronous excitation, the excitation frequency is equal to the spin rate
of the reference rotor; that is, = ref = . In case multiple rotors are present in the analysis, the rotor
speed for each rotor is written as a linear function dependent on the reference rotor spin rate:
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 135
Complex Eigenvalue Analysis for Rotors
ref = j + j ref . The scaling factors, αj and βj are determined from the relative spin rates specified
by the user. For this case, the equation of motion to be solved is obtained by substituting p= iΩ in the previous
equation:
2
– M + i B S + B R + + G + K + + K C R g a = 0
2
– M – i G + i B S + B R + G – i K C R + K + K C R g a = 0
The above equation can be expanded based on different options available for defining damping for the stator
and for rotors. If parameters WR3, WR4, and WRH are defined in the analysis and not equal to zero, the
expanded version of the equation is given by:
n
2
–
M – i j j +
G
j=1
B S + 1 M S + 2 K S + BH S +
B R j + BH R j + 1 Rj M R j + 2 Rj K R j +
+
j G j + GR j 1 1
n -----------
WR3
- K R + ------------ K4 R + ------------- KH R
j WR4 j WRH j
i +
ga = 0
B C + BH C + 1 M C + 2 K C +
j = 1 R j R j Rj R j Rj R j
– i j GR j
C 1 -
------------ K R j + -----------
C 1 C
K4 R j + ------------- KH R j
WR3 WR4 WRH
1 + iG K S + i K4 S + i KH S +
n C C C C
B R j + BH R j + 1 Rj M R j + 2 Rj K R j +
KR + j
j GR- C 1 C 1 C
----------- K + ------------ K4 R j + ------------- KH R j
j=1 WR3 R j WR4 WRH
Note that for the analysis in fixed reference frame, the synchronous complex eigenvalue analysis produces
both forward and backward whirl modes. Identification of these modes can be done using Campbell diagram
or by post processing the eigenvectors produced as part of output.
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136 MSC Nastran Rotordynamics User’s Guide
Complex Eigenvalue Analysis for Rotors
·· · 2 2
M g + B S + B R + 2 C g + K – Z + K G + K C S g = F R
pt
Substituting g = g a p e and {FR} = 0 in the above equation
2 2 2
p M + p B S + B R + 2 C + K + K C S – Z + K G g a p = 0
Asynchronous Analysis
Expanded version of the above equation for asynchronous analysis is given by:
2
p M +
B S + 1 M S + 2 K S + BH S +
n +
p
2 C j + B
R j + BH R j + 1 Rj M
R j + 2 K
Rj R j
j = 1
g p = 0
1 + iG K S + i K4 S + i KH S + a
C C C C
B S + BH S + 1 M S + 2 K S +
n
2 2
K R j 1 + iGR j + i K4 R j + i KH R j – Z j + K G j
j = 1
Note that in case multiple rotors are present in the analysis, they are constrained to have the same rotational
speed and axis of rotation for the analysis in rotating reference frame.
Synchronous Analysis
In rotating reference frame, different sets of equations exist to determine forward whirl and backward whirl
critical frequencies. And thus, separate analysis need to be performed to obtain the backward whirl critical
frequencies with the parameter WHIRLOPT turned on.
In order to obtain the forward whirling critical speeds, the criteria used is: ω = 0 or (p = 0).
Substituting this expression in the simplified equation, the following equation is obtained:
2 2
K + KC S – Z + KG ga = 0
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 137
Complex Eigenvalue Analysis for Rotors
2
– Z – K G + i – i K C S + K g a = 0
Backward whirl critical frequencies can be obtained by using the following substitution:
ω = 2Ω, that is, p = i(2Ω)
Substituting this expression in the above equation, the equation to determine backward whirl critical
frequencies is given by:
n
–2 4 M +
– 4i C j + Z j – KG j +
j=1
2 B + 1 M + 2 K + BH +
S S S S
n
i 2 B R j + BH R j + 1 Rj M R j + 2 Rj K R j +
ga = 0
j = 1
C C C C
– i B S + BH S + 1 M S + 2 K S
1 + iG K S + i K4 S + i KH S +
n
K
R j 1 + iGR j + i K4
R j + i KH R j
j=1
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138 MSC Nastran Rotordynamics User’s Guide
Complex Eigenvalue Analysis for Rotors
Pardiso Solver
In MSC Nastran, Intel MKL Pardiso direct solver is introduced that can help in achieving upto 80%
reduction in total elapsed time versus the default MSC solver. Further details about the Pardiso solver is
provided in the MSC Nastran Release Guide. Note that Intel MKL Pardiso is only available with the Lanczos
(CLAN) method for eigenfrequency analyses.
You are required to use the SPARSESOLVER command in the executive section to indicate that the new
Pardiso solver should be used in the simulation. The following is example of choosing the new sparse direct
solver using the keywords PRDLU (for unsymmetric matrices),
SOL 107
SPARSESOLVER CEAD (FACTMETH=PRDLU,ORDMETH=PRDSMPMS)
CEND
Mode Tracking
Since V2018, two different approaches were implemented for mode tracking while generating Campbell
diagram. In both the methods, only the complex frequencies with a positive imaginary part are considered
for mode tracking.
Numerical Approach
This method is used for mode tracking once the eigenvalues have been extracted for all the rotor speeds
defined for analysis using CAMPBLL and DDVAL bulk data entries. For each rotor speed, the second
derivative is computed using the central difference approach.
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 139
Complex Eigenvalue Analysis for Rotors
For any rotor speed (Ωi), if the kth mode is tracked for the previous two rotor speeds (Ωi-1 and Ωi-2), then
the second derivative is computed for all the N modes using:
f j i + f k i – 2 – 2f k i – 1
f j'' = ---------------------------------------------------------------------------
-
i – i – 1 i – 2 – i – 1
where, 1<j<N, N being the number of eigenvalues with positive imaginary part. Of all the frequencies at rotor
speed Ωi, the one which results in least absolute value for second derivative ( f '' ) is matched to the kth mode.
For the second rotor speed in the analysis, where the results for Ωi-2 are not available, the first derivative is
used to check the continuity. This method is the default option for mode tracking due to its robustness.
Eigenvector-Based Approach
Unlike the numerical approach, here both left and right eigenvectors associated with complex eigenvalues are
used for mode tracking. The method implemented is described in detail in Reference 2. As described in the
paper, Normalized Cross Complex Orthogonality (NC2O) parameter is computed for each pair frequencies
for two rotor speeds. Since V2018, the eigenvector based mode tracking approach is available for analysis in
FIXED reference frame only when HESS option is used in EIGC for eigenvalue extraction. Due to
limitations of the HESS option when working with large size models without a reduction, the use of SOL
110 or a superelement based reduction approach is recommended for analyzing large rotor models.
Additional features added to make the eigenvector-based mode tracking more robust are described below:
Parameter CORU: Ideally, for tracked pair of modes, the value of parameter NC2O is very close to 1.
However, for complex models involving large stator component and dynamic reduction, this value can be
significantly lower. Thus, the default value is set to 0.7. Based on the model complexity and NC2O matrix
obtained for two rotor speeds, the user may wish to change this value.
Parameter SWITR: In case of mode tracking failure at a particular rotor speed, user has the option to
continue mode tracking for rest of the rotors speed by:
SWITR = 1: Updating modes corresponding to rotor speed with failed mode tracking, or
SWITR = 0: Using the modes from last rotor speed with successful mode tracking. (Default)
In cases where the Campbell diagram includes multiple mode switching and/or there are new modes entering
the analysis, use of SWITR=1 is recommended.
Parameter NUMMODE: As mentioned earlier, only the complex eigenvalues with positive imaginary part
are considered for mode tracking analysis. As a result, the number of eigenvalues available for mode tracking
may not be same at all the rotor speeds considered in the analysis. This may lead to mode tracking failure.
One way to avoid this issue is to pick NUMMODE to be less than half of the number of complex eigenvalues
extracted using EIGC bulk data entry. Thus, the analysis uses only the first NUMMODE frequencies with
positive imaginary part for mode tracking at each rotor speed.
Parameter PRTCOR: When this parameter is turned to 1, the code prints NC2O matrix corresponding to
each rotor speed in the F06 file. This information can be very useful in identifying reasons for mode tracking
failure.
Additional guidelines and limitations for mode tracking are described below:
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140 MSC Nastran Rotordynamics User’s Guide
Complex Eigenvalue Analysis for Rotors
CAMPBLL option is not supported in SOL 200 and SOL 400 for ANALYSIS = DCEIG/MCEIG.
Only the modes with positive imaginary part are used for mode tracking (to avoid repeated
eigenvalues.)
Eigenvector based mode tracking is not supported for analysis in rotating reference frame.
For both approaches, damping ratio is also tracked while tracking eigenfrequencies. The
results produced from mode tracking can be extracted in OP4 using following assign
statements:
$ Extract results for numerical mode tracking
ASSIGN OUTPUT4='freq_nmt.op4',UNIT=71,FORM=FORMATTED,DELETE $ MODE FREQS
ASSIGN OUTPUT4='rot_nmt.op4',UNIT=72,FORM=FORMATTED,DELETE $ ROTOR SPEED
ASSIGN OUTPUT4='dmp_nmt.op4',UNIT=73,FORM=FORMATTED,DELETE $ DAMPING RATIO
$ Extract results for eigenvector based mode tracking
ASSIGN OUTPUT4='freq_evmt.op4',UNIT=81,FORM=FORMATTED,DELETE $ MODE FREQS
ASSIGN OUTPUT4='rot_evmt.op4',UNIT=82,FORM=FORMATTED,DELETE $ ROTOR SPEED
ASSIGN OUTPUT4='dmp_evmt.op4',UNIT=83,FORM=FORMATTED,DELETE $ DAMPING RATIO
These OP4 files can be imported in MSC PATRAN to produce Campbell Diagram.
Mode Identification
Complex eigenvectors for rotors demonstrate whirl motion. It can be forward whirl or backward whirl in
nature. Using complex eigenvectors, it is possible to determine the nature of the whirl motion (Reference 2).
This approach makes use of complex displacement in the two directions orthogonal to rotor spin axis. As a
result, this method may not work well when rotors are reduced using normal modes.
For a rotor spinning about the Z axis with the X and Y axis being orthogonal to the spin axis, let the complex
displacement be given by:
u x = u x R + iu x I
u y = u y R + iu y I
Whirl motion at each rotor grid can be expressed as a combination of forward whirl and backward
whirl motion. Using the approach described in Ref 2, it is possible to determine the magnitude of
forward whirl and backward whirl radii. Final expression for these radii is given by:
1 2 2
Forward whirl radius: w f = --- u x R + u y I + – u x I + u y R
2
1 2 2
Backward whirl radius: w b = --- u x R – u y I + u x I + u y R
2
Whirl direction is determined by looking at the difference between the two radii:
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 141
Complex Eigenvalue Analysis for Rotors
wb – wf
w = ------------------------
wb + wf
If (w<0), then it represents forward whirl motion, while if (w>0) then it represents backward whirl motion.
In case w=0, it indicates pure bending motion. This analysis can be done for each rotor grid to determine the
whirl direction.
In the current implementation, it is possible to extract values of w, wf, and wb for each rotor grid, if desired.
Since V2018, the mode identification approach is available for 1D rotors defined using ROTORG entry.
Mode Identification
In order to identify a mode, the following values are determined using all the rotor grids:
max(w),min(w)
Based on the value of these parameters, the whirl mode is identified using following rules:
|wmax| > 0.8 and |wmin| < 0.005 : Backward Whirl Mode (BW)
|wmax| > 0.1 and |wmin| < 0.005 : Partial Backward Whirl Mode (BP)
|wmax| < 0.005 and |wmin| > 0.8 : Forward Whirl Mode (FW)
|wmax| < 0.005 and |wmin| > 0.1 : Partial Forward Whirl Mode (FP)
|wmax| > 0.005 and |wmin| > 0.1 : Mixed Whirl Mode (MX)
|wmax| > 0.1 and |wmin| > 0.005 : Mixed Whirl Mode (MX)
If any of the above criterion are not satisfied, code looks for the presence of axial (AX) and torsion
(TR) modes.
Consider following example where the value of parameter “w” is obtained for four different modes
for all the rotor grids.
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142 MSC Nastran Rotordynamics User’s Guide
Example
For Mode A, |wmax|=0.9998 and |wmin|=0.0005. Thus, according to the first criteria, this mode
is identified as a Backward Whirl (BW) mode.
For Mode B, |wmax|=0.0027 and |wmin|=0.9987. Thus, according to the third criteria, this mode
is identified as a Forward Whirl (FW) mode.
For Mode C, |wmax|=0.0039 and |wmin|=0.4142. Thus, according to the fourth criteria, this mode
is identified as a partial Forward Whirl (FP) mode.
For Mode D, |wmax|=0.2724 and |wmin|=0.0054. Thus, according to the sixth criteria, this mode
is identified as a Mixed Whirl (MX) mode.
Example
In this section, above equations are used to determine whirl and critical frequencies for a representative rotor
model. The analysis is performed in both fixed and rotating coordinate systems. For the purpose of
comparison, same rotor is modeled using 1-D elements (ROTORG), axisymmetric harmonic elements
(ROTORAX), and solid elements (ROTOR). For each case, first the Campbell diagram is obtained using
asynchronous analysis, and then in the next step, critical frequencies are obtained using synchronous analysis.
The finite element models used in the analysis are shown in Figure 7-1. Since the rotor model is symmetric,
the problem can be analyzed in both fixed and rotating reference frame. When analyzed in rotating reference
frame, the user needs to ensure that the stator portion of the model is symmetric.
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 143
Example
Critical frequencies can be obtained using the Campbell diagram by determining the point of intersection of
whirl frequency line with 45 degree line (dotted black line) as shown in Figure 7-2. Critical frequencies can
also be obtained by performing synchronous complex eigenvalue analysis by selecting SYNC option in
RGYRO. Results obtained for different models are listed in Table 7-1. Mode shapes for the first three forward
whirl bending critical frequencies is shown in Figure 7-3. The results show that the mode shapes captured by
beam model and solid element model for this simple rotor model look similar.
Main Index
144 MSC Nastran Rotordynamics User’s Guide
Example
Bending
Mode 1
Bending
Mode 2
Bending
Mode 3
In the first test case, bearings stiffness used at the ends did not include cross-stiffness. It is possible to include
the effects of cross-stiffness in springs indirectly using CBUSH or DMIG entry. In case KXX = KYY and KXY=
KYX, it is possible to define cross stiffness using CBUSH. However, for more general cases, use of DMIG
entry is recommended. In this modified case, following values are used for spring stiffnesses in the analysis.
Case 2: KXX = KYY = 3.5025 x 107 N/m2
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 145
Example
In the next case, the damping is introduced in the fixed system through the spring supports at the end (also
referred as external damping).
Case 3: KXX = KYY = 4.38x107 N/m2
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146 MSC Nastran Rotordynamics User’s Guide
Example
Same damping can also be introduced in the rotating system by defining spring supports on grid points which
are part of the rotor, as shown in Figure 7-5 (also referred as internal damping). When internal damping is
present in the system, circulation terms are generated and included in equation of motion.
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 147
Example
The effect of internal and external damping on complex eigenfrequencies and damping ratios is shown in
Figure 7-6 and Figure 7-7, respectively. The Campbell diagram presented in Figure 7-6 shows small effect of
damping on eigenfrequencies. However, the damping ratios shown in Figure 7-7 show very different results for
the internal and external damping cases. In case of external damping (defined in nonrotating portion),
damping results in positive damping ratio indicating increase in system stability. The results also show
increase/decrease in damping ratio with rotor speed, depending on the whirl mode. However, for the case
with internal damping, forward whirl modes demonstrates significant decrease in damping ratio with increase
in rotor speed and highlight that these modes may become unstable at certain rotor speed.
Main Index
148 MSC Nastran Rotordynamics User’s Guide
Example
The Campbell diagram obtained using eigenvector based mode tracking is presented in Figure 7-9. It matches
the Campbell diagram shown in Figure 7-8. Here, it appears that mode tracking has failed for mode 5 and 6
at 144000 RPM (2400 Hz) speed. This can be observed in the output provided in F06 file for this particular
rotor speed.
The mode tracking information produced in F06 file when PRTCOR parameter is turned to 1 is described
below:
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 149
Example
The modal correlation matrix is the value of NC2O parameter for each pair of mode at two rotor speeds
where frequencies are being tracked.
MODAL CORRELATION MATRIX (PRINTED ROW-WISE)
0.9982 0 0.0001044 0 0.0004881 0.0001539 0 0 0 0.0001434 0
0 0.9984 0 0 0 0 0 0.000197 0 0 0
0 0 0.9972 0 0.001529 0.0004959 0 0 0.0001572 0.0001493 0
0 0 0 0.9994 0 0 0 0.0001159 0 0 0.0001963
0 0 0.0002733 0 0.6113 0.3881 0 0 0 0 0
0.0005172 0 0.001699 0 0.3854 0.6108 0 0 0.0002347 0.0005181 0
0 0 0 0 0 0 0.9999 0 0 0 0
0 0.0002442 0 0.0001368 0 0 0 0.9942 0 0 0.004252
0 0 0.0001635 0 0.0001765 0 0 0 0.9992 0.0002286 0
0 0 0 0.0001813 0 0 0 0.004441 0 0 0.9939
0.0001403 0 0.0001281 0 0.0004396 0.0001396 0 0 0.0002357 0.9981 0
Each term of the NC2O matrix is compared to CORU parameter, and it is turned to 1 if its greater than
CORU and turned to 0 if it is less than CORU.
MODAL CORRELATION MATRIX AFTER FILTER
1 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0
0 0 0 1 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 1 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 1 0
Based on the result obtained above, it is determined if the modes have switched or if modes have failed to
track.
MAPPING WITH RESPECT TO PREVIOUS ROTOR SPEED
1 1
2 2
3 3
4 4
5 5 MODE FAILED
6 6 MODE FAILED
7 7
8 8
9 9
10 11 MODE SWITCHED
11 10 MODE SWITCHED
For this particular case, mode tracking failure is due to two modes being very close to each other at a particular
rotor speed. It is possible to avoid this mode tracking failure by excluding this rotor speed from the analysis.
Main Index
150 MSC Nastran Rotordynamics User’s Guide
Example
Here, the modal correlation matrix for rotor speed of 2800 Hz can be visualized as:
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 151
Example
The Campbell diagram for this case and the mixed whirl modes identified are shown in Figure 7-12. In the
mixed whirl modes identified for this model, they appear at the intersection of forward and backward whirl
modes.
Main Index
152 MSC Nastran Rotordynamics User’s Guide
Example
According to the results presented in Campbell Diagram, one of the mixed whirl mode appears at 5000 RPM.
The value of parameter “w” for the mixed whirl mode at 5000 RPM is presented in Table 7-3. It can be seen
here that nodes 5 and 7 have forward whirl motion while the remaining nodes have backward whirl motion.
The corresponding mode shape is shown in Figure 7-13. The mixed whirl nature of the mode can be seen in
the animated mode shape.
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 153
Example
Main Index
154 MSC Nastran Rotordynamics User’s Guide
Example
K R 1 GR 1 K R 2 GR 2
B R = --------------------------------------------------------- + ---------------------------------------------------------
1 ref – WR3WRL 2 ref – WR3WRL
where, 1 ref and 2 ref are user-specified rotor speeds for Rotor 1 and Rotor 2 respectively.
For this rotor damping terms, corresponding circulation matrices are also generated and included in the
analysis.
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 155
Example
u u 0 cos t + u
=
v v 0 cos t + v
where u and v are lateral rotor displacement perpendicular to the axis of rotation and u and v are
corresponding phase differences. If Ω is the rotor speed, the corresponding mode shape in the rotating
reference is given by:
u cos t sin t u 0 cos t + u
=
v – sin t cos t v 0 cos t + v
Using the sum and difference formulae for sine and cosine, it can be shown that the frequencies
appear in the solution. For example, the expression for u is given by:
1
u = --- u 0 cos + t + u + cos – t + u –
2
1---
v sin + t + v + sin – t + v
2 0
This shows that the eigenfrequencies σ in the fixed reference frame are transformed to frequencies
in the rotating reference frame. For the purpose of demonstration, consider a simple Jeffcott rotor model
shown in Figure 7-16. The rotor shaft is considered to be massless and rigid. The disk is attached at the center
of the shaft.
Main Index
156 MSC Nastran Rotordynamics User’s Guide
Example
The Campbell diagram for this case is shown in Figure 7-17. Here, mode 1 and mode 2 correspond to the
translational motion whereas the mode 3 and mode 4 correspond to rotation of the shaft. The variation of
these modes with rotor speed is different in fixed and rotating coordinate reference frame. However, for this
simple case, it is possible to obtain the Campbell diagram in a rotating coordinate reference frame using the
Campbell diagram in a fixed reference frame by using the following expressions:
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 157
Example
Main Index
158 MSC Nastran Rotordynamics User’s Guide
Example
introduced in the MDLPRM entry. The parameter is allowed to take values of 1, 2, 4, 8, 16 or any
combination of it them except both 4 and 8 are included, such as 12, 13, 14, etc. Default value for this
parameter is 0.
Modified equation of motion when “MDLPRM, RDBOTH, 1” is used in the analysis is given by:
··
Mgt +
n
B + 1 M + 2 K + BH + g· t +
S j ref j R j
G + B
j=1 = Ft
n
GR- C
K + B C j + -----------
1 + iG K S + i K4 + i KH + R j j ref R WR3 R j K
j=1
Note that here Rayleigh Damping parameters, α1 and α2, defined for the non-rotating component are
applied to the mass and stiffness matrix of the complete model (including rotors).
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 159
Example
··
Mgt +
B S + 1 M S + 2 K S + BH S +
n j ref G j + B R j + BH R j + 1 Rj M R + 2 Rj K R j + g· t +
GR j 1 1 - = Ft
------------ K + ------------ K4 R j + ------------ KH R j
j = 1 WR3 R j WR4 WRH
n
1 + iG K S + i K4 S + i KH S + K R j
j=1
Effects of stress stiffening are important for 3-D rotors, especially when the model includes large flexible
structure away from the axis of rotating, high rotational speeds, and/or large diameter blades. In order to
demonstrate its effect, a hollow shell rotor model is analyzed in rotating reference frame as shown in
Figure 7-19. Results shown in Figure 7-20 highlight the increase in stiffness with increase in rotor speed. The
flag for generating differential stiffness can be turned on by one of the following options:
MDLPRM RDBOTH 4
OR
MDLPRM RDBOTH 8
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160 MSC Nastran Rotordynamics User’s Guide
Summary for Equation of Motion
Solid Line: without stress stiffening, Dotted Lines: with stress stiffening
Table 7-6
[M]eq [B]eq [K]eq
ASYNC [M] [B]S + [B]R + Ω[G] [K]+Ω[KC]R
SYNC [M]-iβ[G] [B]S + [B]R + α[G] -iβ[KC]R [K]+ α[KC]R
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 161
Summary for Equation of Motion
Table 7-7
[M]eq [B]eq [K]eq
ASYNC [M] [B]S +[B]R+2Ω[C] [K]+Ω[KC]S – Ω2[Z] + Ω2[KG]
SYNC (FWD) [Z] - [KG] -i[KC]S [K]
SYNC (BWD) 4[M] +4[C]+[Z]-[KG] 2[BS]+2[BR]-i[KC]S [K]
Damping and circulation terms used for analysis in Fixed Reference Frame
Table 7-8
Damping Circulation
Solution: ASYNC option (PARAM WR3, WR4 and WRH defined)
B R + 1 R M R + 2 R K R + B C + 1 M C + 2 K C +
R R R R R
GR-
----------- 1 - GR
-----------
i WR3 K R + WR4 K4 R + ref -----------
C 1 -
- K + -----------
C
K4 R +
WR3 R WR4
1 - KH
------------
WRH R 1 -
------------ C
KH R
WRH
B R + 1 R M R + 2 R K R +
C C C
B R + 1 R M R + 2 R K R +
R
GR-
----------- 1 - GR 1 - 1
-----------
i WR3 K R + WR4 K4 R +
C C C
-----------
WR3
- K R + -----------
WR4
K4 R + ------------- KH R
WRH
1 - KH C C C
------------
WRH R B R + 1 R M R + 2 R K R +
+ R
GR C 1 - C 1 C
-----------
WR3
- K R + -----------
WR4
K4 R + ------------- KH R
WRH
If RDBOTH=16, the following damping and stiffness terms will be used for Complex Modes (either ASYNC
or SYNC option) in Fixed Reference Frame.
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162 MSC Nastran Rotordynamics User’s Guide
Summary for Equation of Motion
B R + 1 R M R + 2 R K R + BH R
GR 1
+ ------------ K R + ------------ K4 R changes to
The damping i WR3 WR4
1 -
+ ------------
KH R
WRH
Examples used in this chapter are available under the following folder: ../tpl/ugrotor/ and ../tpl/rotv18/. A
brief description of these examples is given below:
Table 7-9
Input File Name Description
rug_7_1 NM Rotor with CBEAM elements, Campbell Diagram (ROTORG).
rug_7_2 NM Rotor with CBAR elements, campbell Diagram (ROTORG).
rug_7_3 NM Rotor with CQUADX elements, campbell Diagram (ROTORAX).
rug_7_4 NM Rotor with Solid elements, campbell Diagram (ROTOR).
rug_7_5 NM Rotor with CBEAM elements, Synchronous Analysis (ROTORG).
rug_7_6 M Rotor with CBAR elements, Synchronous Analysis (ROTORG).
rug_7_7 NM Rotor with CQUADX elements, Synchronous Analysis (ROTORAX).
rug_7_8 NM Rotor with Solid elements,Synchronous Analysis (ROTOR).
rug_7_9 NM Rotor with CBEAM elements, Synchronous Analysis (ROTORG) - Case 2.
rug_7_10 NM Rotor with CBAR elements, (ROTORG)- Case 2.
rug_7_11 NM Rotor with CQUADX elements, (ROTORAX)- Case 2.
rug_7_12 NM Rotor with Solid elements, (ROTOR)- Case 2.
rug_7_13 NM Rotor with CBEAM elements, Synchronous Analysis (ROTORG) - Case 3,
Internal Damping.
rug_7_14 NM Rotor with CBEAM elements, Synchronous Analysis (ROTORG) - Case 3,
External Damping.
rug_7_15 CBEAM ROTOR in rotating co-ordinate system, Campbell Diagram.
rug_7_16 CBEAM ROTOR in rotating co-ordinate system, Forward whirl.
rug_7_17 CBEAM ROTOR in rotating coordinate system, Backward whirl.
Main Index
Chapter 7: Complex Eigenvalue Analysis for Rotors 163
Summary for Equation of Motion
Table 7-9
Input File Name Description
rug_7_18 Shell model without differential stiffness.
rug_7_19 Shell model with differential stiffness.
../tpl/rotv18/r3dmd 3D NM rotor model for mode tracking
tr2.dat
../tpl/rotv18/r1d10 Mode Identification test case
7mdchk_30.dat
Main Index
164 MSC Nastran Rotordynamics User’s Guide
Summary for Equation of Motion
Main Index
Chapter 8: Frequency Response Analysis
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
8 Frequency Response
Analysis
Introduction 166
Equation used in the Analysis (Reference Frame) 166
Main Index
166 MSC Nastran Rotordynamics User’s Guide
Introduction
Introduction
Frequency response analysis is a method used to compute structural response to steady-state oscillatory
excitation. Frequency response analysis can be performed with the rotors spinning at user specified rates or
excitation that is synchronous with the reference rotor. In frequency response analysis the excitation is
explicitly defined in the frequency domain. All of the applied forces are known at each forcing frequency.
Forces can be in the form of applied forces or synchronous loads due to unbalance in rotor.
In MSC Nastran, direct frequency response can be obtained using SOL 108 while modal frequency response
analysis can be performed using SOL 111. Note that SOL 111 option is available for rotors defined using
ROTORG only.
Asynchronous Analysis
Calculation of response with the rotors spinning at set speeds is performed using the asynchronous option in
RGYRO. The user specifies the rotor speeds, and the corresponding gyroscopic terms are determined by the
code and added to the equation of motion, and the response is determined. Asynchronous analysis is required
when the excitation frequency is independent of the rotor speed and usually originating from outside the
rotor component.
Synchronous Analysis
Calculation of frequency response with the excitation synchronous with the reference rotor is performed
using the synchronous option in RGYRO. The user specifies the rotor speed range, the gyroscopic terms are
determined for each frequency and added to the equation of motion. There are two methods for determining
the gyroscopic terms. The first method calculates the terms for each frequency and adds them to the equation
of motion (default option). The second method estimates the gyroscopic terms using a least-mean-squared
fit of the terms within the analysis range (PARAM, GYROAVG < 0).
Asynchronous Analysis
For frequency response with asynchronous excitation, Ω for each rotor is constant and can be determined
from the rotation speed of the reference rotor, Ωref, and relative rotation rates specified by the user. The
equation of motion to be solved is:
2
– M + i G + B S + B S + K + K C
R g= F
ω Natural frequency of the system
[M] Mass matrix
i
Main Index
Chapter 8: Frequency Response Analysis 167
Equation used in the Analysis (Reference Frame)
Ω(ω)Rotor Speed
[G] Gyroscopic matrix
[BS] Stator damping matrix
[BR] Rotor damping matrix
[K] Stiffness matrix
C
K R Circulation terms due to damping in rotating system
g(ω)Complex frequency response
Expanding the above equation to include all options available to define damping
2
– M +
B S + 1 M S + 2 K S + BH S +
n
i G + B + BH + 1 M + 2 K +
j ref j R j R j Rj R Rj R j
j=1
1 + iG K + i K4 + i KH + ga = F
S S S
K R j 1 + iGR j + i K4 R j + i KH R j +
n
C C C C
B R j + BH R j + 1 Rj M R + 2 Rj K R j +
j ref
j = 1 GR C 1- C 1- C
-------
- --- ---
K R j + K4 R j + KH R j
where j references individual rotors. The factor 1/ω will be determined for each excitation frequency, similar
to frequency-dependent elements.
For the option to bypass the frequency-dependent lookup of rotor speeds (PARAM,GYROAVG,-1), the
equation of motion to be solved is:
Main Index
168 MSC Nastran Rotordynamics User’s Guide
Equation used in the Analysis (Reference Frame)
2
– M +
B S + 1 M S + 2 K S + BH S +
n G + B + BH + 1 M + 2 K +
i j ref j R j R j Rj R Rj R j +
GR 1 1
------------ K R + ------------ K4 R + ------------- KH R
j = 1 WR3 j WR4 j WRH j
ga = F
1 + iG K + i K4 + i KH +
S S S
n B C + BH C + 1 M C + 2 K C +
R j R j Rj R Rj R j
K R j + ref GR
j 1 -
-----------j- K C + ----------- C 1 - C
K4 + ------------ KH
j = 1 WR3 R j WR4 R j WRH R j
The main difference here is the usage of parameters WR3, WR4 and WRH for structural damping terms.
Use of these parameters avoids the division by excitation frequency observed in the previous equation. Also,
in case the parameters WR3, WR4 and WRH are not defined in the analysis, then the corresponding
structural damping terms are not included in the analysis.
Synchronous Analysis
For frequency response with synchronous excitation, the excitation frequency is equal to the spin rate of the
reference rotor, that is, ω = Ωref. The spin rates of the additional rotors can be determined from the relative
spin rates specified by the user. The equation of motion to be solved is:
– 2 M + i B + B + G + K + K
S R j C R g= F
Substituting = ref
– 2 M + i B + B + G + K + K
ref ref S R j ref j ref C R g ref =
F ref
The above equation can be expanded based on different options available for defining damping for the stator
and for rotors.
Main Index
Chapter 8: Frequency Response Analysis 169
Equation used in the Analysis (Reference Frame)
2
– M +
B S + 1 M S + 2 K S + BH S +
n
i +
j G j + B
R j + BH
R j + 1 Rj M R + 2 K
Rj R j
j=1
1 + iG K + i K4 + i KH + ga = F
S S S
K R j 1 + iGR j + i K4 R j + i KH R j
n
C C C C
B R j + BH R j + 1 Rj M R + 2 Rj K R j +
+ j
j = 1 GR C 1- C 1 C
-------
- K R j + ---
K4 R j + ---- KH R j
As compared to the asynchronous analysis, the gyroscopic and the circulation terms for synchronous analysis
are treated differently.
For the option to bypass the frequency-dependent lookup of rotor speeds (PARAM,GYROAVG,-1), Ωj for
each rotor is written as a linear function dependent on the reference rotor spin rate:
j = j + j ref
The scaling factor, j and j , is determined from the relative spin rates specified by the user on the RSPINR
entries. The Ωref in the 1/ Ωref terms are replaced by the values of user parameters WR3 and WR4. The
equation of motion to be solved is:
Main Index
170 MSC Nastran Rotordynamics User’s Guide
Equation used in the Analysis (Reference Frame)
n
2
–
ref M – i j j +
G
j=1
B S + 1 M S + 2 K S + BH S +
B R j + BH R j + 1 Rj M R j + 2 Rj K R j +
+
j G j + GR j 1 1
n -----------
WR3
- K R + ------------ K4 R + ------------- KH R
j WR4 j WRH j
i ref +
g a ref = 0
B C + BH C + 1 M C + 2 K C +
j = 1 R j R j Rj R Rj R j
– i j GR
1 -
-----------j- K C + ----------- C 1 - C
K4 + ------------ KH
WR3 R j WR4 R j WRH R j
1 + iG K S + i K4 S + i KH S +
n C C C C
B R j + BH R j + 1 Rj M R j + 2 Rj K R j +
KR +
j j GR C 1 C 1 C
j = 1 -----------
- K + ------------ K4 R j + ------------- KH R j
WR3 R j WR4 WRH
As in the asynchronous case with GYROAVG parameter, in case the parameters WR3, WR4 and WRH are
not defined in the analysis, then the corresponding structural damping terms are not included in the analysis.
Main Index
Chapter 8: Frequency Response Analysis 171
Equation used in the Analysis (Reference Frame)
of the excitation frequency. Also, the displacement results show a peak at the first forward whirl critical speed,
as expected.
Effect of Damping
In the next step, damping is introduced in the analysis through the spring supports. It is possible to define
damping in the fixed or rotating reference frame though CBUSH elements as shown in Figure 8-2. If the
damping is defined in the rotating coordinate reference frame, then the corresponding circulation terms are
included for analysis in the equations of motion.
Figure 8-2 Defining spring supports in fixed and rotating reference frame
Main Index
172 MSC Nastran Rotordynamics User’s Guide
Equation used in the Analysis (Reference Frame)
Results obtained with external damping, internal damping, and internal damping without circulation effects
(RDBOTH=2) are shown in Figure 8-3. As compared to the displacement results obtained in Figure 8-1, the
displacement obtained with internal damping is almost the same as no damping case, as shown in
Figure 8-3 (a). That means the viscous damping effect is almost canceled by the viscous damping circulation
terms when the damping is defined as the rotating components. For the external damping (defined on the
non-rotating components) case, the displacement obtained in Figure 8-3 (b) is much smaller due to the viscous
damping. If the circulation effect is turned off by setting RDBOTH=2, the internal and external damping
cases have the same results since the circulation terms are generated from the rotating components only in
the Fixed Coordinate. For this particular case, the difference between the displacements obtained with
external and internal damping including the circulation effect is significant, and using the external damping
definition and solving frequency response in the Fixed Reference Frame (FIX) is recommended to include the
viscous damping effect properly. For the same reason, using internal damping and solving frequency response
in the Rotating Reference Frame (ROT) is recommended for this beam rotor.
(a) (b)
Main Index
Chapter 8: Frequency Response Analysis 173
Equation used in the Analysis (Reference Frame)
PBUSHT Frequency Dependent or Nonlinear Force Deflection Spring and Damper Property
Defines the frequency dependent properties or the stress dependent properties for a generalized spring and
damper structural element.
Format:
1 2 3 4 5 6 7 8 9 10
PBUSHT PID “K” TKID1 TKID2 TKID3 TKID4 TKID5 TKID6
“B” TBID1 TBID2 TBID3 TBID4 TBID5 TBID6
“GE” TGEID1 TGEID2 TGEID3 TGEID4 TGEID5 TGEID6
“KN” TKNID1 TKIND2 TKNID3 TKIND4 TKIND5 TKIND6
FDC FUSE DIR OPTION LOWER UPPER
FSRS LRGR
Main Index
174 MSC Nastran Rotordynamics User’s Guide
Equation used in the Analysis (Reference Frame)
Modifications made in the bulk data to introduce the PBUSHT entry are shown below:
CBUSH 201 211 1091 0
CBUSH 202 211 1111 0
Figure 8-6 Use of PBUSHT entry for frequency dependent bearing properties
Main Index
Chapter 8: Frequency Response Analysis 175
Equation used in the Analysis (Reference Frame)
In Case Control
Change the solution sequence number and include a method card
SOL 111
CEND
METHOD = 100
Bulk Data
Include real eigenvalue analysis in the deck which points to METHOD defined in the case control.
EIGRL 100 10
The results obtained using SOL 111 show forces and displacement requested as part of output, just like direct
frequency response analysis. It also shows real eigenvalue analysis performed to extract the mode shapes for
modal analysis (see Figure 8-7).
Modal frequency response was performed using 10 eigenvalues and again with 50 eigenvalues. Results
obtained for these cases are shown in Figure 8-8 and compared with those obtained using SOL 108. It can be
seen that for all the three cases, the response is almost identical.
Main Index
176 MSC Nastran Rotordynamics User’s Guide
Equation used in the Analysis (Reference Frame)
Figure 8-8 Displacement obtained from real and modal frequency response analysis
Rotating Frame
The frequency response of the same beam rotor in rotating reference frame is approached by changing the
rotor definition as following. The damping from the spring support is defined as internal damping (CBUSH
attached to rotating portion).
As mentioned in Table 1-1, there are differences between analysis performed in the Fixed and the Rotating
reference system. To compare the results of fixed and rotating frames, both the rotating structure and the non-
Main Index
Chapter 8: Frequency Response Analysis 177
Equation used in the Analysis (Reference Frame)
rotating need to be axisymmetric about the spin axis. Under that limitation, the magnitude relationship
between the frames is MAG fix 2 = MAG rot as explained briefly in Figure 8-9 for a circle orbit.
Results obtained using this transformation are compared with those obtained in the rotating reference frame
for a beam element rotor and a solid element rotor, as shown in Figure 8-10 and Figure 8-11. The results match
well for the beam element rotor. For the complicated solid element rotor case, the response in the rotating
reference frame is slightly ahead of the results in the fixed reference frame.
Figure 8-10 Frequency response in fixed and rotating frames - Beam rotor
Main Index
178 MSC Nastran Rotordynamics User’s Guide
Equation used in the Analysis (Reference Frame)
Figure 8-11 Frequency response in fixed and rotating frames - Solid rotor
The damping from the spring support can also be defined as external damping (CBUSH attached to non-
rotating portion) as mentioned previously in fixed analysis frame (FIX). For the external damping in rotating
analysis frame (ROT), ignoring the circulation effects for frequency response, however, is recommended by
setting RDBOTH to 2 through the Bulk Data entry MDLPRM.
Examples used in this chapter are available under the following folder: ..\tpl\ugrotor. A brief description of
these examples is given below:
Table 8-1
Input File Name Description
rug_8_1 Unbalance response for 1D beam rotor.
rug_8_2 Unbalance response for 1D beam rotor with external damping.
rug_8_3 Unbalance response for 1D beam rotor with internal damping.
rug_8_4 Unbalance response for 1D beam rotor with external damping and param
GYROAVG.
rug_8_5 Use of PBUSHT.
rug_8_6 Modal Analysis
rug_8_7 Unbalance response for beam rotor (ROT frame)
rug_8_8 Unbalance response for 3D solid element rotor (SOL111, FIX frame)
rug_8_9 Unbalance response for 3D solid element rotor (SOL111, ROT frame)
Main Index
Chapter 9: Transient Response Analysis
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
Introduction 180
Equation of motion 180
Input file for transient analysis 183
Comparison with axisymmetric and 3D rotors 188
Usage of Nonlinear Elements 189
Mass and speed correction for Unbalance Loads 191
Rotating Frame Transient Analysis 196
Main Index
180 MSC Nastran Rotordynamics User’s Guide
Introduction
Introduction
Transient analysis with rotordynamics includes gyroscopic terms and option to specify rotor imbalance. Both
nonlinear and direct linear transient response solutions internally calculate the gyroscopic and unbalance
force terms for each time step. The transient excitation is explicitly defined in the time domain. All of the
external forces applied to the structure are known at each instant in time. Transient analysis also supports
usage of nonlinear bearing elements like NLRGAP, NLRSFD and NOLINi. Details related to general
transient analysis in MSC Nastran in provided in MSC Nastran Dynamic Analysis User’s Guide . Only details related
to rotordynamic analysis are provided in this section. Note that the modal transient solution sequence, SOL
112, is not supported for rotordynamic analysis. However, external SE approach can be used to obtain model
reduction, if required.
For transient analysis with rotordynamics, use of nonlinear transient solver like SOL 400 is recommended
due to enhanced numerical stability.
Equation of motion
Equation of motion solved in transient analysis is given by:
· T
M g·· t + B S + B R + t G g· t + K + t K C R + t K g t = F S t
where, [KT] is a skew symmetric matrix and for each grid point in the model it is defined by:
0 0 0 0
0 0
0 0 0 0
0 0
T 0 0 0 0
0 0
Kr =
0 0 0 0
0 0
0 0 0 0
0 I 11
0 0 0 0 -I 11 0
Note that the equation of motion used for the transient analysis includes effect of rotor spin rate. Expanded
version of the above equation is given by:
Main Index
Chapter 9: Transient Response Analysis 181
Equation of motion
M g·· t +
B S + 1 M S + 2 K S + BH S + ------- G- 1 1
K + -------- K4 S + --------- KH S
W3 S W4 WH
n j t G j + B R + BH R + 1 Rj M R + 2 Rj K R +
j j j g· t +
GR 1 1
------------ K R + ------------ K4 R + ------------- KH R
j = 1 WR3 j WR4 j WRH j
KS +
n B C + BH C + 1 M C + 2 K C +
R j T g t = F t
R j Rj R Rj R j ·
K R j + j t GR + j t K R j
1 -
-----------j- K C + ----------- C 1 C
j = 1 K4 R j + ------------- KH R j
WR3 R j WR4 WRH
where,
[M] Total mass matrix for the model
[BS] Viscous damping from dampers in the stator portion
[MS] Mass matrix for the stator portion
[KS] Stiffness matrix for the stator portion
[BHS] Hybrid damping for the stator portion
α1, α2 Rayleigh damping parameters for stator portion
αj(t) Rotor speed for the jth rotor
[G] Gyroscopic matrix for the rotor
[BR] Viscous damping from dampers for the rotor
[MR] Mass matrix for the rotor
[KR] Stiffness matrix for rotor
[BHR] Hybrid damping for the rotor
α1R, α2R Rayleigh damping parameters for the rotor
GR Structural damping for the rotor defined in RSPINR
[K4R] Material damping for the rotor part
[KHR] Hybrid damping for the rotor part
WR3, WR4, WRH Parameters to convert structural damping to equivalent viscous damping.
G Structural damping for the stator portion
[K4S] Material damping for the stator portion
[KHS] Hybrid structural damping for stator
C Circulation matrix due to [BR]
BR
C Circulation matrix due to [BHR]
BH R
C C Circulation matrix due to Rayleigh damping for rotors
1 MR + 2 KR
GR- C Circulation matrix due to structural damping for rotors
----------- K
WR3 R
1 - C Circulation matrix due to structural damping for rotors
----------- K4 R
WR4
Main Index
182 MSC Nastran Rotordynamics User’s Guide
Equation of motion
Used in rotordynamic analyses to specify a rotating unbalance load in terms of a cylindrical system with the
rotor rotation as the z-axis.
Format:
1 2 3 4 5 6 7 8 9 10
UNBALN SID MASS GRID X1 X2 X3
C
ROFFSET THETA ZOFFSET T/Fon T/FOFF
UFT1 UFT2 UFT3 UFR1 UFR2 UFR3
MCT1 MCT2 MCT3 MCR1 MCR2 MCR3
SCR1 SCR2 SCR3
Using these variables, forces and moments generated by unbalance loads can be expressed as:
Main Index
Chapter 9: Transient Response Analysis 183
Input file for transient analysis
2 ·
F1 t m t r t j t cos jk t + j t sin j t
= WTMASS ·
F2 t m t r t 2 t sin t – j t cos t
j jk j
M1 t F t
0 –1 1
= Z
M2 t 1 0 F2 t
Changes required in different sections of the input file for transient analysis are described below:
a. Case Control Section
ECHO = SORT
SPC = 2
RGYRO = 10
TSTEP = 1
SET 99 = 41
SET 98 = 95,92,93,94
DISP(SORT2,PHASE)=99
OLOAD(SORT2,PHASE)=99
NLLOAD(SORT2,PHASE)=99
SDISP(SORT2) = 98
Main Index
184 MSC Nastran Rotordynamics User’s Guide
Input file for transient analysis
Main Index
Chapter 9: Transient Response Analysis 185
Input file for transient analysis
Figure 9-4 Unbalance loads and corresponding displacement from transient analysis
Figure 9-5 shows the variation of loads in X-Y direction due to rotor unbalance. Note that rotor is oriented
along the Z-direction and XY plane is perpendicular to the axis of rotation. It can be seen in the results that
loads in X and Y direction have a phase difference of 90 deg, as expected. The loads in the Y direction are
lagging behind by 90 deg.
Main Index
186 MSC Nastran Rotordynamics User’s Guide
Input file for transient analysis
The displacement shown in Figure 9-4 show increase in amplitude of displacement with time as the rotor speed
increases. However, after 0.37 seconds, there is decrease in amplitude and the amplitude is steady after 0.5
seconds. The variation of displacement between 0.35 to 0.55 seconds is shown in Figure 9-6. It highlights the
transition zone described earlier. This behavior for displacement can be explained by plotting displacement
along with rotor speed, as shown in Figure 9-7 and Figure 9-8. In these figures, the right axis (in green) shows
variation of rotor speed provided as input. The results presented in these figure show that the peak amplitude
in displacement is observed near 0.375 sec where the rotor speed is around 285 Hz. This frequency coincides
with the first forward whirl critical speed observed in the complex eigenvalue analysis of the rotor model.
Main Index
Chapter 9: Transient Response Analysis 187
Input file for transient analysis
Figure 9-8 Variation of rotor speed and displacement with time near the forward whirl critical speed
Main Index
188 MSC Nastran Rotordynamics User’s Guide
Comparison with axisymmetric and 3D rotors
to the externally damped bearing case. Thus, internal damping needs to be carefully analyzed as it may lead
to higher vibration or instability in the rotordynamic analysis.
Main Index
Chapter 9: Transient Response Analysis 189
Usage of Nonlinear Elements
Main Index
190 MSC Nastran Rotordynamics User’s Guide
Usage of Nonlinear Elements
Main Index
Chapter 9: Transient Response Analysis 191
Mass and speed correction for Unbalance Loads
Here, the CFLAG field can take following values: NONE (Default), SPEED, MASS and BOTH. In this
particular case, the value of mass used on the UNBALNC entry is unusually high while the radial distance
used is small to highlight how the correction terms can influence the results. Without the correction terms,
the unbalance forces generated depend only on the product of unbalance mass with radial distance. However,
when correction terms are included, both mass and variation of rotor speed with time can influence the
unbalance loads generated.
The unbalance loads generated (as output through various EPOINTS) are shown in Figure 9-14 to Figure 9-18.
As expected, the basic unbalance loads generated without the correction terms are identical in all the four
cases considered, see Figure 9-14 and Figure 9-15. The effect of mass correction on forces and moments is shown
in Figure 9-16 and Figure 9-17, respectively. Here, the results obtained using CFLAG=MASS and
CFLAG=BOTH show large forces and non-zero moments being generated due to mass correction terms.
Similarly, CFLAG=NONE and CFLAG=SPEED produce similar results since they do not include mass
Main Index
192 MSC Nastran Rotordynamics User’s Guide
Mass and speed correction for Unbalance Loads
corrections. The moments produced due to speed correction terms is shown in Figure 9-19. It can be seen here
that only CFLAG=SPEED produces noticeable moments due to speed correction. The moments generated
in this case are dependent on the variation of rotor speed with time and rotational displacement. As a result,
the moment produced diminishes to zero after 0.5 seconds after which the rotor speed stays constant. The
case with CFLAG=BOTH also generates moments due to speed correction, however due to smaller rotational
displacements (see Figure 9-19 and Figure 9-20), its magnitude is negligible as compared to the case where
CFLAG=SPEED. The displacement and rotation due to unbalance loads for different CLFAG options are
shown in Figure 9-19 and Figure 9-20, where the effect of large unbalance mass can be observed for the case
where CFLAG=MASS and CFLAG=BOTH.
Figure 9-14 Variation of unbalance forces without correction (Output from EPOINTs 202, 203 & 204)
Main Index
Chapter 9: Transient Response Analysis 193
Mass and speed correction for Unbalance Loads
Figure 9-15 Variation of unbalance moments without correction (Output from EPOINTs 205, 206 & 207)
Figure 9-16 Forces generated due to mass correction (Output from EPOINTs 208, 209 & 210)
Main Index
194 MSC Nastran Rotordynamics User’s Guide
Mass and speed correction for Unbalance Loads
Figure 9-17 Moments generated due to mass correction (Output from EPOINTs 211, 212 & 213)
Figure 9-18 Moments generated due to speed correction (Output from EPOINTs 214, 215 & 216)
Main Index
Chapter 9: Transient Response Analysis 195
Mass and speed correction for Unbalance Loads
Main Index
196 MSC Nastran Rotordynamics User’s Guide
Rotating Frame Transient Analysis
As mentioned in Table 1-1, there are differences between analysis performed in the Fixed and the Rotating
reference system. To compare the results of fixed and rotating frames, both the rotating structure and the non-
rotating need to be axisymmetric about the spin axis. The results are given in Figure 9-21 and Figure 9-22. The
magnitude of the time transient results in the rotating reference frame are compared with the displacement
of the time transient results from X or Y direction in the fixed reference frame (see the displacement equations
in Figure 8-9). As shown in the figures, the time transient results match very well for the beam rotor, especially
SOL400.
Main Index
Chapter 9: Transient Response Analysis 197
Rotating Frame Transient Analysis
Examples used in this chapter are available under the following folder: ../tpl/ugrotor. A brief description of
these examples is given below:
Table 9-1
Input File Name Description
rug_9_1 Analysis with unbalance loads in SOL 129.
rug_9_2 Analysis with unbalance loads in SOL 400.
rug_9_3 Analysis with unbalance loads in SOL 129 with internal Damping - case 1.
rug_9_4 Analysis with unbalance loads in SOL 129 with internal Damping - case 2.
rug_9_5 Unbalance analysis with ROTORAX.
rug_9_6 Unbalance analysis with solid rotor elements.
rug_9_7 Transient analysis with nonlinear bearing element.
rug_9_8 Analysis with unbalance loads in SOL 129 (ROT frame)
rug_9_9 Analysis with unbalance loads in SOL 400 (ROT frame)
Main Index
198 MSC Nastran Rotordynamics User’s Guide
Rotating Frame Transient Analysis
Main Index
Chapter 10: Nonlinear Frequency Response
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
10 Nonlinear Frequency
Response
Introduction 200
User Interface 201
Analysis Setup 205
Theoretical Details 209
Examples 211
Main Index
200 MSC Nastran Rotordynamics User’s Guide
Introduction
Introduction
There is a class of dynamic response analyses where a structure exhibiting nonlinearities is subjected to a
harmonic excitation in which the response is essentially periodic. That is to say that the degree of nonlinearity
in the system is light enough that the response may be described sufficiently accurately by a combination of
harmonic responses, i.e. periodic; this is achieved using Fourier series.
Some examples of this class of dynamic response problems are rotor/stator contact under abnormal running
conditions, an overload condition in an oscillating mechanism causing periodic contact or perhaps just
simply a nonlinear bearing stiffness. The response of such systems may exhibit multiple solutions in a steady-
state vibration response scenario, possibly with amplitude jumps as the system moves from one frequency to
another, such as might occur in a rotor that is increasing or decreasing in speed. These jumps reveal different
behavior of the dynamic system with increasing or decreasing excitation frequency.
The nonlinear harmonic response solution sequence uses the harmonic balance method to calculate the
periodic response of a non-linear system under harmonic excitation. This requires the definition of a
frequency domain problem in the presence of nonlinearities. The harmonic balance method assumes the
steady-state response consists of a sum of sinusoidal responses finding the coefficients of the sinusoids to
satisfy the equations of motion. Harmonic balance is only efficient if a small number of sinusoids are
necessary to approximate the solution to a desired accuracy and this is why the nonlinearities in the system
must be mild.
As with any nonlinearity, it must only be present in the residual structure, but this does not preclude the use
of superelements or ASET degrees of freedom to perform static condensation or dynamic reduction using
CMS (Component Mode Synthesis). In fact this is a recommended technique in order to keep the number
of degrees of freedom for harmonic balance to a minimum.
Nonlinear harmonic response is available in the presence or absence of rotors, but there must be at least one
degree of freedom defined on nonlinear force type entries such as the NLRGAP, NLRSFD and NOLINi
entries. Other types of nonlinearity that may be defined include the CBUSH2D element or indeed any
elements having frequency dependent properties.
MSC Nastran, which incorporates SCA technology, adds the possibility of creating a user defined service
whereby the NLRSFD entry is able to call external user defined behavior to replace the standard NLRSFD
behavior.
Its limitation therefore is that it can only capture harmonic components, so any frequencies which are not
pure sub- or super-harmonics of the excitation will be lost. It is also possible that either no solution exists (an
unstable dynamic system), or that more than one solution is possible. The nonlinear system being studied
may exhibit bifurcation or turning points, points for which a small incremental change in frequency results
in more than one solution. In addition the system may exhibit a step change in the response from one
frequency to the next, what is referred to in the literature as “jump phenomena”. In its present form, the
presence of bifurcation or turning points cannot be determined in nonlinear harmonic response analysis and
the resulting solution is just one of the possible states. Jump phenomena are revealed by examining the
response curves.
In a system with bearing clearance, like hydrodynamic or magnetic bearings, the stiffness of the system
changes depending on whether the bearing forces overcome the clearance in the bearing resulting in contact
or no-contact conditions. Each of the contact/no-contact states may have essentially linear behaviour, but the
Main Index
Chapter 10: Nonlinear Frequency Response 201
User Interface
overall behavior is nonlinear if the system changes from one state to another. Probably the simplest example
of such a system is the Duffing oscillator. The Duffing equation is:
3
ax·· + bx· + cx + dx = f cos t (10-1)
and is defined in any text book on nonlinear dynamics. This equation exhibits jump phenomena for certain
frequency values f where the solution “jumps” from one significantly different value to another for a small
change in frequency. To complicate matters, the jump differs depending on whether the change in frequency
is positive or negative.
When the system is nonlinear, there is also the possibility of sub and super harmonic responses. The response
frequencies in linear harmonic analysis are the same as the forcing frequency. Permanent oscillations whose
frequencies are a fraction of the forcing frequency (½, ¼, ...) may occur in a nonlinear system; these
oscillations are known as sub-harmonic response. Sub-harmonic responses require special conditions (e.g.
particular damping characteristics and a non-symmetric stiffness) whereas super-harmonic responses, i.e.
permanent oscillations whose frequencies are a multiple of the forcing frequency (2, 3, …), are always present;
whether they show significant response levels depends on the damping in the system. These are complex
phenomena which may in themselves exhibit jumps further complicating matters. Refer to book on Shock
and Vibration (Harris, 1987) for a more complete discussion of sub and super harmonic responses.
Nonlinear harmonic response uses an iterative procedure to find the coefficients for the combination of
sinusoids that form the steady-state response. Newton’s method of iteration is employed to solve a system of
nonlinear algebraic equations. A trial solution is attempted for displacements and the corresponding forces
in any NLRGAP, NLRSFD or NOLINi entries are calculated from the user supplied data. The residual forces
in the system are calculated and a convergence error is obtained. Based on the size of the convergence error,
the solution is either accepted or an updated displacement scaling is calculated and the new displacements
calculated. The sequence loops until either a diverging system is detected or convergence obtained.
User Interface
Frequency dependent loading for SOL 128 can be applied through standard forcing functions available in
MSC Nastran or through the unbalance loads in case rotors are present in the model.
Executive Section
Nonlinear harmonic response is available as SOL 128 or SOL SENLHARM. This is a complete solution
sequence based around linear frequency response (SOL 108) in which nonlinearities may be taken into
account.
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User Interface
Case Control
The case control entry NLHARM has been added for nonlinear harmonic response to reference the
NLHARM bulk data entry. The existing NONLINEAR case control entry, previously dedicated to transient
response analysis, may now also be used in nonlinear harmonic response to reference nonlinear force bulk
data entries (NOLIN1, NOLIN2, NOLIN3, NOLIN4, NLRGAP, NLRSFD).
NLHARM
The NLHARM case control entry is dedicated to nonlinear harmonic response; it is used to reference a bulk
data NLHARM entry.
NLHARM=n
where n is the ID of the NLHARM bulk data entry.
NONLINEAR
The existing NONLINEAR case control entry, which was previously dedicated to transient linear and
transient nonlinear analysis, may now be used in nonlinear harmonic response analysis.
The NONLINEAR case control command is used in exactly the same way in nonlinear harmonic response
as it is in transient response to refer to the collection of nonlinear force entries (NLRGAP, NLRSFD and
NONLINi).
NLHARM
The NLHARM bulk data entry is used to define the parameters for nonlinear harmonic response.
1 2 3 4 5 6 7 8 9 10
NLHARM ID SUBFAC NHARM NLFREQ
ID Identification number referenced by the NLHARM case control entry (integer > 0).
SUBFAC Factor for capturing sub-harmonic response (Integer >=1, Default= 1). See remark 3.
NHARM The number of harmonics to include in the solution (integer > 0). See remark 2.
NLFREQ Identification number of the NLFREQ or NLFREQ1 entry specifying the forcing
frequency list (integer >0).
Remarks
1. The NLHARM ID must be unique among all NLHARM entries.
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Chapter 10: Nonlinear Frequency Response 203
User Interface
2. The greater the degree of nonlinearity, the larger the number of harmonics required to find a solution.
The number of harmonics (NHARM) may therefore influence the ability of the algorithm to find
solutions to the nonlinear problem posed. However, the larger the number of harmonics, the more
computational effort is required to compute a solution.
3. The response frequencies in linear harmonic analysis are the same as the forcing frequency. Permanent
oscillations whose frequencies are a fraction of the forcing frequency (½, ¼, ...) may occur in a
nonlinear system; these oscillations are known as sub-harmonic response (Harris, 1987).
NLFREQ
The NLFREQ entry is used to define the forcing frequencies for nonlinear harmonic response.
1 2 3 4 5 6 7 8 9 10
NLFREQ ID F1 F2 F3 … Fn
Remarks
The frequencies may be specified in any order; they do not have to be in ascending or descending order.
Only one NLFREQ or NLFREQ1 entry with the same ID is allowed.
NLFREQ1
The NLFREQ1 entry is used to define the forcing frequencies for nonlinear harmonic response by using a
start frequency, a frequency interval and a number of intervals.
1 2 3 4 5 6 7 8 9 10
NLFREQ1 ID F1 DF NDF
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User Interface
Remarks
1. If DF is positive, it defines a frequency increment. In this case, the first excitation frequency will be
F1 with all subsequent excitations frequencies being of larger value than F1. If DF is negative, it
defines a frequency decrement. In this case, the first excitation frequency will still be F1, but now all
subsequent excitations frequencies will be of smaller value than F1. In both cases, the initial
conditions for a frequency are the response configuration at the previous excitation frequency. The
initial conditions for the first frequency are zero.
2. Only one NLFREQ or NLFREQ1 entry with the same ID is allowed.
TABLED5
The TABLED5 entry is used generally to define a value as a function of two variables for use in generating
frequency-dependent and time-dependent dynamic loads. In nonlinear harmonic response it is used to define
an NLRGAP whose force-penetration characteristics vary with frequency.
1 2 3 4 5 6 7 8 9 10
TABLED5 TID
X(1) TID(1) X(2) TID(2) X(3) TID(3) X(4) TID(4)
… … ENDT
Remarks
1. This table returns a value that is a function of 2 variables . The first variable value x is specified on
this entry as X(i), the function versus y for the specified value for X(i) is specified on the referenced
table TID(i).
2. When used with the NLRGAP entry to define a frequency dependent gap force as a function of
penetration, the frequency values are input as X(i) and the variation of force vs. penetration is input
on a series of TABLED1 entries referenced by the table values TID(i), one for each required change
in properties with respect to frequency.
3. 2D linear interpolation is carried out for values of (x,y) not specified on the tabular entries.
NLRGAP
The NLRGAP entry defines a nonlinear radial (circular) gap for transient response or nonlinear harmonic
response.
Main Index
Chapter 10: Nonlinear Frequency Response 205
Analysis Setup
NLRSFD
The NLRSFD entry defines a nonlinear radial squeeze film damper for transient response or nonlinear
harmonic response.
Analysis Setup
Setting up a nonlinear harmonic analysis is relatively easy and is a natural progression from a direct frequency
response analysis (SOL 108). It is strongly recommended that you set up the analysis to run linear direct
frequency response and establish a healthy model. Linear CELASi elements along with rigid elements, if
necessary, may be used to connect the degrees of freedom (DOFs) at which the nonlinearities will eventually
be defined. It is also possible at this stage to establish a condensation strategy in order to reduce the number
of degrees of freedom that will be retained for the eventual nonlinear harmonic response analysis. SOL 128
is a completely integrated implementation and it is therefore possible to use any of the condensation methods
usually available for linear and nonlinear analysis. These include:
Superelements with or without CMS
A-set definition with or without CMS
O-set definition with or without CMS
Automated CMS (MDACMS)
Generally, it is desirable to retain only the DOFs (degree of freedom) connected to nonlinearities for the
resolution of the nonlinear problem, but ultimately the user decides which DOFs to retain. The only
requirement is that the DOFs attached to nonlinearities must be retained; thereafter, any other DOFs may
be added to the retained set. Typically, the number of DOFs connected to nonlinearities is small, even if the
total number of DOFs in the model is large, so using a condensation strategy can yield a significant saving in
elapsed time for the calculation. Condensation may be carried out using static (Guyan) reduction or using
modal synthesis (CMS). To learn more about these methods please refer to the MSC Nastran Superelements and
Modules User’s Guide.
Once you have the linear direct frequency response set up, there are only a few simple modifications necessary
to turn this into a nonlinear harmonic response analysis.
1. Change SOL 108 to SOL 128
2. Remove the FREQUENCY= specification in the case control.
In SOL 108, the FREQUENCY= case control command is used to call the set of FREQi entries in
the bulk data which define the set of excitation frequencies for the frequency response problem. In
nonlinear harmonic response, the excitation frequencies are a sequence of frequencies where the initial
conditions of one frequency are the steady state response from the previous excitation frequency.
Consequently, the excitation frequencies are defined on either an NLFREQ or NLFREQ1 bulk data
entry referenced by the NLHARM bulk data entry.
3. Add a case control NLHARM (Case)= entry which references the ID of a bulk data NLHARM entry.
4. Add a NONLINEAR (Case)= case control entry which refers to the set of nonlinear force entries (NOLINi,
NLRGAP, NLRSFD).
5. Remove the modelling technique you used in place of the nonlinear forces.
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Analysis Setup
If CELASi and/or rigid elements were used, these should be removed ready to be replaced by one or
more of the nonlinear force entries NOLINi, NLRGAP or NLRSFD. Note: you may actually wish
to retain some or all of these entries in order to avoid singular structures. This may happen if the
nonlinear force specification results in zero forces between an otherwise unconnected component; in
this case a small spring stiffness between the potentially singular structures can be used to stabilize an
otherwise unstable problem.
6. Add nonlinear force entries at the required degrees of freedom.
There must be at least 1 dof referenced by a nonlinear force entry. The set ID of the collection of
NOLIN1, NOLIN2, NOLIN3, NOLIN4, NLRGAP and NLRSFD entries is called up by the ID of
the case control NONLINEAR= entry.
7. Add a bulk data NLHARM entry.
This is referenced by the case control NLHARM= entry and defines any sub-harmonic content
(optional), the number of harmonics (required), and the NLFREQ or NLFREQ1 entry which defines
the set of excitation frequencies. See the section above for the format of the NLHARM entry.
8. Add an NLFREQ or NLFREQ1 entry.
If you want to excite the structure at specific frequencies, use the NLFREQ entry. Use the NLFREQ1 entry
to define an increasing or decreasing frequency sequence. See the section above for the format of the
NLFREQ and NLFREQ1 entries.
It is recommended for the first run that the nonlinear force entries define linear characteristics. This will
allow the results to be checked against the linear direct frequency response; the answers should be the same,
even though the problem will be solved using an iterative technique.
PARAM, MXICODE0, 5
In nonlinear harmonic response analysis, if the solution fails to converge more than MXICODE0 times in
succession, a new trial displacement vector is calculated. MXICODE0 allows the number of successive failed
convergences to be modified before a new trial displacement vector is calculated. (Default is 5).
PARAM, NHPLUS, 20
In nonlinear harmonic response analysis, in order to avoid aliasing in the calculation of the Fourier
coefficients, a certain number of extra evaluation points are used. NHPLUS allows the number of extra points
to be defined. (Default is 20).
This technique comes from a paper (Bellinger, 1995) where the number of time steps, S, selected should be
in the range (2K-1) S 3(2K-1) and K is the number of frequencies present in the signal.
Main Index
Chapter 10: Nonlinear Frequency Response 207
Analysis Setup
There may come a time when it is judicious to change the initial conditions particularly when the next
excitation frequency becomes distanced from the last converged frequency after a sequence of failed to
converge excitation frequencies. In this situation, where the initial conditions for an excitation frequency have
become somewhat distanced from the previously converged excitation frequency, it may not mean very much
physically to continue to use the initial conditions from that previously converged excitation frequency.
It would perhaps therefore be favorable to start from zero conditions as always happens for the first frequency
of an analysis starting from scratch. There is some difficulty in deciding how far away from the previously
converged excitation frequency is acceptable to return to zero initial conditions.
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Analysis Setup
No method of resetting initial conditions to zero is programmed as standard, except starting from cold an
analysis with a different frequency specification. For the current implementation, the user must take action
to initiate a strategy.
It is possible that the solution at a particular frequency falls directly on a bifurcation point which creates a
singular problem.
Main Index
Chapter 10: Nonlinear Frequency Response 209
Theoretical Details
Figure 10-1 shows a bilinear force-displacement variation for a nonlinear bushing stiffness. In order to avoid a
step change in the definition of the nonlinear force-displacement characteristics, a cubic law may be used to
configure a close match to the bilinear variation using a NOLIN3 and NOLIN4 entry, rather than defining
the bilinear behaviour directly on a NOLIN1 and TABLED1 entry. In some cases, it may not be possible to
do this; in this case, ensure many points are used to define the characteristics on the TABLED1, seeking
gradual changes in characteristics rather than step changes.
Response analysis in the frequency domain involves handling complex quantities to define the real and
imaginary parts of the response. This notion is more easily understood as the magnitude and phase angle of
the response quantities. It must be remembered, however, that nonlinear force definition involves only real
quantities. This is entirely consistent with the way in which the nonlinear harmonic response problem is
solved as the frequency domain (complex) problem is transform to a time domain (real only) problem by
Fourier coefficients in order that an iteration procedure may establish force equilibrium. Once force
equilibrium is established (convergence), the resulting time domain response is then transformed to the
frequency domain using the same Fourier coefficients.
Theoretical Details
Harmonic balance intrinsically uses a linear combination of sinusoidal responses to represent the total
response. If the steady-state response consists of just a few dominant sinusoids, which may easily be the case
if the nonlinearities are mild, then harmonic balance is able to represent the periodic response accurately.
The harmonic balance method converts a system of nonlinear differential equations into a system of
nonlinear algebraic equations, the solution to which is the set of coefficients for the sinusoids making up the
steady-state response. The nonlinear algebraic equations are solved using Newton’s method of iteration.
The general equation of motion reads:
M u·· t + B u· t + K u t = P t (1)
where:
[M] System mass
[B] System damping
[K] System stiffness
{u(t)} Displacement at time t
u· t Velocity at time t
u··
t Acceleration at time t
{P(t)} Applied load at time t
To include nonlinear displacement, velocity, and acceleration dependent properties, these can be added as
·· t u· t u t
nonlinear forces F u nl
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Theoretical Details
where
ω is 2f 0
f0 is the assumed fundamental frequency of the response
v is the sub-factor for sub-harmonic response
F̂ n nl is the Fourier Transform of F u·· t u· t u t nl
The presence of nonlinear forces requires an iterative procedure to minimize the function R u n . A
common method to solve this type of problem is Newton’s method, but before applying this procedure,
equation is split into real and imaginary parts and written in matrix format.
Newton’s Method uses the following approximation to attempt to solve nonlinear problems,
R u
R u + u = R u + ---------------- u = 0 (5)
u
or
R u -
---------------
u = – R u (6)
u
The solution uses an iterative approach:
1. The harmonic response is converted to a time-domain response.
2. Nonlinear bearing force derivatives are determined using the responses from step 1.
3. The new bearing force derivatives are used to recalculate the harmonic response.
4. This procedure is repeated until the solution converges.
Main Index
Chapter 10: Nonlinear Frequency Response 211
Examples
R u i
------------------ u i + 1 = – R u i (7)
u
where
u i + 1 = u i + u i + 1 (8)
Examples
Example 1
This example from (Zu and Ji, 1998) shows a rotor bearing system (see Figure 10-2) in which an out-of-balance
load excites a rigid overhung disk mounted on a flexible shaft turning in bearings exhibiting nonlinear
stiffness.
The round solid shaft of diameter 0.1 meter is 1.0 meter long and runs in two bearings, one located at one
end of the shaft while the other is positioned just inboard of the disk such that the disk is overhung. The
bearings are mounted on an isolation material that exhibits nonlinear stiffness varying with a cubic law. The
overhung massive rigid disk exhibits a small eccentricity in its mass distribution.
Shaft material properties:
Young’s modulus 2.07E+11 Nm-2
Density 7750 kgm-3
Disk properties:
Mass of disk 2000 kg
Inertia (polar) 200 kgm2
Inertia (diametral) 100 kgm2
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Examples
Firstly, the analysis is run in a linear direct frequency response with linear bearing properties. The analysis is
then repeated in the nonlinear harmonic solution sequence, still with linear bearing properties and the answer
is compared. Finally, the nonlinear bearing stiffness properties are added and the response compared against
theory (Zu and Ji, 1998).
Model Data
The bulk data for the model is shown; this data is common to all runs (common.dat).
PARAM,GRDPNT,0
PARAM,COUPMASS,1
$
$ ROTOR
ROTORG,1,1,2,3,4
RGYRO,66,SYNC,1,FREQ
RSPINR,1,1,4,FREQ,1.
GRID,1
GRID,2,,.5
GRID,3,,1.
GRID,4,,.99
CBEAM,1,1,1,2,,1.
CBEAM,2,1,2,4,,1.
CBEAM,3,1,4,3,,1.
PBEAM* 1 1 7.8539820-3 4.9087390-6
* 4.9087390-6 9.8174780-6
+
.68 .68
MAT1,1,2.07+11,,.27,7.75+3
$
$ DISK MASS & INERTIA
CONM2,6,3,,2000.
,200.,,100.,,,100.
$
$ STATOR
GRID,5
GRID,6,,.99
$
$ ROTOR TO STATOR CONNECTION
RBE2,941,5,123456,1
RBE2,953,6,123456,4
$
$ GROUND
GRID,105
Main Index
Chapter 10: Nonlinear Frequency Response 213
Examples
GRID,106,,.99
$
$ BEARING DAMPING
CDAMP2,20442,1.72+4,105,2,5,2
CDAMP2,20443,1.72+4,105,3,5,3
CDAMP2,20552,1.72+4,106,2,6,2
CDAMP2,20553,1.72+4,106,3,6,3
$
$ REMOVE SINGULAR DOFS
SPC1,1,14,2,3,5,6
SPC1,1,123456,105,106
$
$ OUT OF BALANCE FOR ROTOR
UNBALNC,77,2000.,3,,1.
,1.4142-3
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214 MSC Nastran Rotordynamics User’s Guide
Examples
SPC=1
RGYRO=66
DLOAD=77
NONLINEAR=1000
NLHARM=2000
BEGIN BULK
include ‘common.dat’
$
$ LINEAR BAERING STIFFNESS (HALVED)
CELAS2,10442,7.5+6,105,2,5,2
CELAS2,10443,7.5+6,105,3,5,3
CELAS2,10552,7.5+6,106,2,6,2
CELAS2,10553,7.5+6,106,3,6,3
$
$ LINEAR BEARING STIFFNESS (HALF PROVIDED BY NOLIN1)
NOLIN1,1000,5,2,-1.,5,2,1001
NOLIN1,1000,5,3,-1.,5,3,1001
NOLIN1,1000,6,2,-1.,6,2,1001
NOLIN1,1000,6,3,-1.,6,3,1001
TABLED1, 1001,
, -1.0, -7.5+6, 1.0, 7.5+6, ENDT
$
NLFREQ1,88,9.549296,.0530516,240
NLHARM,2000,1,1,88
$
ENDDATA
For these two linear analyses, the magnitude response of grid point 3 in Y direction is shown in Figure 10-4.
The linear frequency response curve is hidden by the nonlinear harmonic response curve; this demonstrates
that the linear problem can be solved using the 2 different methods (SOL 108 and 128) and the response is
the same.
Main Index
Chapter 10: Nonlinear Frequency Response 215
Examples
CELAS2,10552,1.5+7,106,2,6,2
CELAS2,10553,1.5+7,106,3,6,3
$
$ CUBIC NONLINEAR STIFFNESS (TENSION)
NOLIN3,1000,5,2,-1+12,5,2,3.
NOLIN3,1000,5,3,-1+12,5,3,3.
NOLIN3,1000,6,2,-1+12,6,2,3.
NOLIN3,1000,6,3,-1+12,6,3,3.
$ CUBIC NONLINEAR STIFFNESS (COMPRESSION)
NOLIN4,1000,5,2,-1+12,5,2,3.
NOLIN4,1000,5,3,-1+12,5,3,3.
NOLIN4,1000,6,2,-1+12,6,2,3.
NOLIN4,1000,6,3,-1+12,6,3,3.
$
$ Spin up
NLFREQ1,88,9.549296,.1591549,240
$ Spin down
$NLFREQ1,88,47.74648,-.1591549,240
NLHARM,2000,1,1,88
$
ENDDATA
The analysis is run in two parts, the first starting from a cyclical frequency of 9.55 Hz (60 radians/second)
with an increasing frequency up to a frequency of 47.7 Hz (300 radians/second); this simulates a spin-up
event where each frequency is considered in its steady state condition. The second part of the analysis
simulates a spin-down event starting from a cyclical frequency of 47.7 Hz with a decreasing frequency.
The magnitude of the Y direction response of GRID point 3 is plotted against rotational frequency with the
resulting two curves:
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216 MSC Nastran Rotordynamics User’s Guide
Examples
Clearly there is a zone of bifurcation just before 23 Hz; that is to say, after 23 Hz, two possible states exist. In
the spin-down case, the solution jumps from one solution to the other and then retraces the spin-up response
curve; an unstable condition exists between these two.
The results are in good agreement with those reported in reference (Zu and Ji, 1998).
Example 2
Use of NLRGAP element
The NLRGAP element can be used to define nonlinear force-displacement relation as a function of frequency
for nonlinear frequency response analysis performed using SOL 128. Brief description of this feature is given
in QRG description of NLRGAP element.
For nonlinear harmonic response either a TABLED1 entry or a TABLED5 entry may be referenced leading
to three possible scenarios:
a. The number entered in the TABK field is a positive integer referencing a TABLED1 entry. In this
case, the pairs of values defined on the TABLED1 entry are frequency vs. gap stiffness.
b. The number entered in the TABK field is a negative integer, the absolute value of which references
a TABLED1 entry. In this case, the pairs of values defined on the TABLED entry are gap
penetration vs. gap force.
c. The number entered in the TABK field is a positive integer referencing a TABLED5 entry. In this
case, the pairs of values defined on the TABLED5 entry are frequency vs. a TABLED1 ID that
defines pairs of gap penetration vs. gap force.
Example: Consider the NM rotor used earlier in the analysis.
The rotor used in this example problem is shown in Figure 10-4. The unbalance load is defined on the Grid
41 while the rotor is supported using linear bearings at Grid 91 and Grid 111. For this analysis, additional
nonlinear bearing elements are defined at Grid 91. Nonlinear element used in this analysis is NLRGAP and
it defines nonlinear force-deflection relationship which varies with frequency, see Figure 10-5. Changes made
in the input file to introduce the nonlinear bearing element is described below:
Main Index
Chapter 10: Nonlinear Frequency Response 217
Examples
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218 MSC Nastran Rotordynamics User’s Guide
Examples
For this particular case, introduction of the nonlinear NLRGAP elements results in an increase in the stiffness
of support structure. As a result, the peak frequency is shifted to the right, as seen in Figure 10-6.
Examples used in this chapter are available under the following folder: ..\tpl\ugrotor. A brief description of
these examples is given below:
Table 10-1
Input File Name Description
rug_10_1 Linear response
rug_10_2 Linear response in SOL 128
rug_10_3 Nonliner response in Spin up.
rug_10_4 Nonlinear response in spin down.
rug_10_5 NM model with nonlinear NLRGAP element.
Main Index
Chapter 11: Superelement Analysis with Rotors
MSC Nastran Implicit Nonlinear (SOL 600) User’s Guide
Introduction 220
Support for Copy and Move/Mirror Capability 221
Sample Problem 223
Results from External SE Analysis 231
Main Index
220 MSC Nastran Rotordynamics User’s Guide
Introduction
Introduction
The principle used in superelement (SE) analysis is often referred to as substructuring. That is, the model is
divided into a series of components, each of which is processed independently resulting in a set of matrices
that are reduced to a boundary and describe the behavior of the component as seen by the rest of the structure.
Often these components are comprised of logical groupings of elements (an engine, a wing, a fender, the
exhaust system, etc.), hence the term superelement.
There are three methods available for defining superelements:
List Superelement: Commonly referred to as “SESET” superelements
PART Superelement: Commonly referred to as “BEGIN SUPER” superelements
External Superelement: Commonly referred to as “EXTSEOUT” or “EXTOUT” or “DMIG”
superelements
Of the three available methods, rotors can be defined in PART or External SEs
PART Superelements
PART superelements are defined by defining each superelement in its own Partitioned Bulk Data section.
These separate sections of the bulk data are self-contained in that each section contains all geometry,
elements, properties, constraints, parameters, and loading data for that component of the model. When
PARTs are used the program works in a manner similar to an assembly process. That is, a series of separate
components are assembled into the final finite element model, i.e. the residual structure.
External Superelements
The external superelement (SE) capability involving the use of the EXTSEOUT Case Control command was
added to MSC Nastran in 2004. Since then, this capability has become the most popular and most widely
employed SE usage. External Superelements are similar to PART superelements in many respects, except
rather than solving the model in a single run, the superelement can be processed and output for use at a later
time. There are many advantages of external superelements: 1) the reduced matrices are compact and can be
added to another structure while maintaining full fidelity of the component behavior on the system, 2) they
can be easily re-used as many times as necessary at a very low runtime cost, 3) they can protect design
information (proprietary geometry) and material information (composite layup), 4) key results can be
monitored without the need for full data recovery, 5) files can be easily shared and maintained across different
organizations or design groups.
Support for rotors in external SE was implemented in V2014, while support for rotors in PART SE is
introduced since V2018. With these enhancements in MSC Nastran, any number of ROTORG, ROTOR
(in fixed reference) and/or ROTORAX Bulk Data entries that define rotors may be specified in external or
part SEs and the residual, but Bulk Data entries that pertain to usage of rotors (like RGYRO, RSPINR,
RSPINT and UNBALNC entries) are allowed and processed only in the residual.
This design has the advantage that, once the rotors are defined in the SEs, different variations of their usage
may be accomplished in the assembly job by having different variations of the RGYRO, RSPINR and/or
RSPINT rotor usage entries. Thus, this design gives the user the freedom to form different Rotordynamic
Main Index
Chapter 11: Superelement Analysis with Rotors 221
Support for Copy and Move/Mirror Capability
configurations in assembly jobs for performing specific types of analysis like complex eigenvalue analysis or
frequency or transient response analysis.
With the above design, gyroscopic matrices and other rotor related matrices are computed for rotors in the
SE in which they are defined (whether it be an external SE, part SE or the residual). Speed factors are applied
to rotor related matrices of all rotors only in the residual. All of these matrices are then combined
appropriately to perform the analysis specified by the user.
The above scenario also introduces another interesting aspect into the design. With the enhancements in
MSC Nastran 2014, it is quite possible that there may very well be rotors with duplicate IDs across external
and part SEs and the residual. In order to allow for this scenario, rotors whose usage is specified in the
assembly job need to be identified not only by their rotor IDs, but also by the IDs of the SEs in which they
are defined. To facilitate this, a field called ROTRSEID has been added to the existing RGYRO, RSPINR
and RSPINT Bulk Data entries to specify the ID of the SE in which a particular rotor is defined.
Yet another point to consider is that the mass summary information for rotors is generated and output only
in the jobs that define the rotors. Thus, for instance, if there are rotors in both SEs and the residual, the
assembly job generates and outputs rotor mass summary information only for the rotors defined in the
residual. The mass summary information for the rotors defined in upstream external SEs is available only in
the corresponding external SE creation jobs. The program points this out via an appropriate user information
message in the assembly job if any rotors defined in external SEs are referenced in the assembly job.
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222 MSC Nastran Rotordynamics User’s Guide
Support for Copy and Move/Mirror Capability
Main differences in the implementation for supporting rotors in the external SE and the part SE are as
follows:
Main Index
Chapter 11: Superelement Analysis with Rotors 223
Sample Problem
Sample Problem
The sample problem consists of a model plane with two identical engines is analyzed where each engine
includes two axisymmetric rotors. For this case, rotors are defined in SEs one level below the residual. Thus,
this problem can be solved using any of the external SE or PART SE approaches. Here only the external SE
approach is demonstrated, however, similar steps can be used for PART SE approach too.
In order to compare the results, three different cases are considered as indicated below.
a. Single-shot run: Here, the complete plane with both the engines is analyzed at once, without the
usage of external superelements (see Figure 11-2)
b. External SE assembly run using two external SEs: In this case, the left and right engines are part
of two separate external superelements with IDs of 200 and 400, respectively. The model used for
the creation run of the right engine is shown in Figure 11-3. The model includes both rotating and
non-rotating components. Besides the physical DOFs of the boundary points shown in
Figure 11-3, modal DOFs for the complete model are also used in the analysis performed in the
assembly run.
The model for the assembly run with the left and right engines included as external superelements
is shown in Figure 11-4.
c. External SE assembly run using one external SE and the MIRROR feature: In this case, only the
external SE model for the right engine is used. The left engine is attached to the residual structure
by mirroring the right engine about the mirror plane as shown in Figure 11-5.
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224 MSC Nastran Rotordynamics User’s Guide
Sample Problem
Main Index
Chapter 11: Superelement Analysis with Rotors 225
Sample Problem
Figure 11-5 Model with left engine obtained using mirror feature
File Management
$ ASSIGN STATEMENTS FOR STORING EXTERNAL MATRICES IN THE OP2 FILE
ASSIGN OUTPUT2='freedom_103a_op2' UNIT=35 DELETE
Case Control
$ INCLUDE THE EXTSEOUT COMMAND
extseout(asmbulk=auto, extbulk, extid=200, dmigop2=35)
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226 MSC Nastran Rotordynamics User’s Guide
Sample Problem
Figure 11-6 ASET and QSET DOFs for the creation run
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Chapter 11: Superelement Analysis with Rotors 227
Sample Problem
Successful execution of the input file for creation run generates following files at output
a. *.asm File
This file identifies SE in the model and ID corresponding OP2 file. This file can be included anywhere in
the assembly run. Snapshot of the file is shown in Figure 11-7.
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228 MSC Nastran Rotordynamics User’s Guide
Sample Problem
b. *.pch File
The PCH files includes all the bulk data entries pertaining to the external SE. It identifies external boundary
points, and lists out grid location of all the ASET DOFs to be used in the assembly run. Information
regarding modal DOFs is also included in this analysis. Snapshot of the PCH file is shown in Figure 11-8
c. OP2 file
This file contains all the matrices generated during the creation run.
Assembly Run
The analysis for the assembled structure with all the external SEs created earlier can be performed in any of
the solution sequences where rotors are supported. In order to include an external SE with rotor in the
residual run, following changes need to be made in the assembly run:
Main Index
Chapter 11: Superelement Analysis with Rotors 229
Sample Problem
Copying an External SE
Copying an external SE created apriori and then relocating it to a different location in the model requires
usage of the SEBULK and SELOC bulk data entries.
SELOC Partitioned Superelement Location
Defines a partitioned superelement relocation by listing three noncolinear points in the superelement and
three corresponding points not belonging to the superelement.
Format:
1 2 3 4 5 6 7 8 9 10
SELOC SEID PA1 PA2 PA3 PB1 PB2 PB3
In the example shown below, a new external SE with SE ID 4 is created by repeating SE with ID 3. And then
it is repositioned in the model by defining three points (19, 20, and 36) that belong to the SE and three points
(1027, 1028, and 1042) that are part of residual model.
SEBULK,4,REPEAT,3
SELOC,4,19,20,36,1027,1028,1042
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230 MSC Nastran Rotordynamics User’s Guide
Sample Problem
points in the residual model to make the connection between the new external SE and residual. This
connection can be verified by looking at the output in.F06 file, as shown in Figure 11-11.
SEMPLN Superelement Mirror Plane
Format:
1 2 3 4 5 6 7 8 9 10
SEMPLN SEID “PLANE” P1 P2 P3
sebulk,200,repeat,400
sempln,200,plane,800001,800002,800003
POINT 800001 0.00.00.0
POINT 800002 1.00.00.0
POINT 800003 0.00.01.0
Main Index
Chapter 11: Superelement Analysis with Rotors 231
Results from External SE Analysis
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232 MSC Nastran Rotordynamics User’s Guide
Results from External SE Analysis
Main Index
Chapter 11: Superelement Analysis with Rotors 233
Results from External SE Analysis
Figure 11-14 Campbell diagram for the external SE assembly run with two external SEs (without tracking)
Figure 11-15 Campbell Diagram for external SE assembly run using mirror feature (without tracking)
Further comparison is performed for frequencies 1, 5, 9 and 13, as shown in Figure 11-16. The results obtained
in this section demonstrate that the complex eigenfrequencies obtained for each of the three cases are similar,
thus validating the implementation for the external SE analysis.
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234 MSC Nastran Rotordynamics User’s Guide
Results from External SE Analysis
Main Index
Chapter 11: Superelement Analysis with Rotors 235
Results from External SE Analysis
Main Index
236 MSC Nastran Rotordynamics User’s Guide
Results from External SE Analysis
Main Index
Chapter 11: Superelement Analysis with Rotors 237
Multilevel SE Setup
Multilevel SE Setup
This feature is supported for rotors defined in PART SE only. The user interface for this feature is similar to
the existing approach used for standard Part SEs and for defining rotors in External SE. Here, the rotor is
defined in the BEGIN SUPER section of the model and corresponding RSPINR/RSPINT entries and
RGYRO entry are defined in the MAIN BULK DATA section of the deck. Unlike external superelements,
the grids specified on the RSPINR/RSPINT need not be part of the ASET for part SE rotor is defined in.
However, if unbalance loads need to be applied on any of the rotors in upstream superelements, then the grid
where unbalance loads are defined, MUST be part of the ASET and should have a corresponding connection
point in the residual.
A hypothetical test case is shown in Figure 11-21 where multiple rotors are defined in multilevel PART SE
setup.
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238 MSC Nastran Rotordynamics User’s Guide
Multilevel SE Setup
BEGIN SUPER=44
ROTORG 5 17 THRU 19
ASET 140 123456 18 123456
QSET1 0 1001 THRU 1016
SPOINT 1001 THRU 1016
SPOINT 12001 THRU 12012
SPOINT 15001 THRU 15014
Rotor definition and SE connection in Residual
SECONCT 88 44
200 20 2001 THRU 2012 12001 THRU 12012
SECONCT 441 44
5001 THRU 5012 15001 THRU 15012 220 20
RSPINR 4 21 22 RPM 1. 88
RSPINR 14 41 42 RPM 1. 88
RSPINR 5 18 19 RPM 1. 44
RSPINR 12 25 26 RPM 1. 442
RSPINR 15 51 52 RPM 1. 442
RSPINR 6 7 12 RPM 1.
SEs are analyzed based on the process order determined using description provided in SETREE.
Main Index
Chapter 11: Superelement Analysis with Rotors 239
Multilevel SE Setup
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240 MSC Nastran Rotordynamics User’s Guide
Multilevel SE Setup
Examples used in this chapter are the same as those used in the v2014 release guide. These examples are
available in the following folder: ../tpl/extsecopy/ and ../tpl/rotv18/
Table 11-3
Input File Name Description
freedom_103a.dat Creation run for the left engine
freedom_103b.dat Creation run for the right engine
freedom_107a.dat Assembly run for model with two ext SEs in SOL 107
freedom_107b.dat Assembly run for model with mirrored ext SE in SOL 107
freedom_107s.dat Single-shot run for freedom plane in SOL 107
freedom_108a.dat Assembly run for model with two ext SEs in SOL 108
freedom_108b.dat Assembly run for model with mirrored ext SE in SOL 108
freedom_108s.dat Single-shot run for freedom plane in SOL 108
freedom_109a.dat Assembly run for model with two ext SEs in SOL 109
freedom_109b.dat Assembly run for model with mirrored ext SE in SOL 109
freedom_109s.dat Single-shot run for freedom plane in SOL 109
../tpl/rotv18/r1d10 Multiple Rotors in residual (No PART SE case)
7nops_18.dat
../tpl/rotv18/rbd10 Rotors defined using ROTOR and ROTORG in multilevel PART SEs
7mlps_19.dat
../tpl/rotv18/r1d10 Rotors defined using ROTORG in multilevel part SE
7mlps_20.dat
Main Index
Chapter 12: Multiple Rotors In Fixed System
Introduction 242
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242 MSC Nastran Rotordynamics User’s Guide
Introduction
Introduction
MSC Nastran supports multiple rotors in an analysis model. They can be all of the same type or different
(ROTORG, ROTORAX, or ROTOR). (In case, the ROTOR entry is used for analyzing a rotating structure
in rotating reference frame, then ROTORAX and ROTORG cannot be used since they are defined in fixed
reference frame.)
For analysis in the fixed reference frame, rotor speed of each rotor can be specified independently. User has
the option to specify rotor speed as a real multiple of the reference rotor`s speed or using a table lookup. For
complex eigenvalue analysis and for frequency response analysis, both asynchronous and synchronous
analysis are supported. For synchronous analysis in SOL 107 and synchronous analysis in SOL 108 with the
GYROAVG option, the rotor speed of each rotor is approximated as linear function of reference rotor`s
speed. For all other cases, actual rotor speed of each rotor is used in the analysis. (See further details in QRG
under the RSPINR entry, or equations in Chapter 7 and Chapter 8)
Example
For the purpose of demonstration, consider a second cantilever rotor defined next to a NM rotor as shown
in Figure 12-1. Here, both the rotors are defined using ROTORG and they are completely independent of each
other.
NM Rotor
Cantilever Rotor
Main Index
Chapter 12: Multiple Rotors In Fixed System 243
Introduction
Table 12-1 Real and critical eigenvalue for cantilever rotor (Hz)
Mode Real Eigenvalues Critical Frequencies
1 189.91 188.47
2 189.91 191.38
3 1152.22 1088.12
4 1152.22 1222.50
5 1236.60 1236.60
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Introduction
Here, the MSC Nastran results do not identify corresponding dominant rotor for the critical frequencies
obtained. However, MSC Nastran provides rotor energies for each mode as shown in Figure 12-2. Based on
this information, the dominant rotor for each critical frequency was identified as shown in Table 12-2.
In case the rotors are spinning at different rotor speeds, there are two options currently available in MSC
Nastran to provide different rotor speeds as a function of reference rotor spin speed. These options are shown
below:
Case 2: Rotors spinning at different speed
Option 1
RSPINR 1 9 10 RPM 1.
RSPINR 2 21 22 RPM 2.
Option 2
RSPINR 1 9 10 RPM 11
DDVAL 11 100. 200.
Main Index
Chapter 12: Multiple Rotors In Fixed System 245
Introduction
RSPINR 2 21 22 RPM 22
DDVAL 22 200. 400.
In this first option, the speed of second rotor is direct multiple of reference rotor speed. However, in case
option 2, any generic piecewise linear variation can be specified. Critical frequencies obtained for this case
are shown in Table 12-3 and compared with those obtained earlier in Table 12-4. Note that the critical
frequencies of the second rotor have shifted slightly in this case. This is due to the fact the synchronous
analysis is now looking for the frequencies where the rotor speed is half of the structural frequency. Critical
speeds for the reference rotor is the same both cases.
For the analysis with multiple rotors spinning at different speeds, correct critical frequencies for Rotor 2 can
be obtained by performing the synchronous complex eigenvalue analysis again with Rotor 2 as the reference
rotor.
RGYRO 1 SYNC 2 RPM 1000.0
RSPINR 1 9 10 RPM 1.
RSPINR 2 21 22 RPM 2.
Results obtained for this case are shown in Table 12-4. It should be noted that in this case, the critical
frequencies obtained for Rotor 1 will be incorrect.
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246 MSC Nastran Rotordynamics User’s Guide
Introduction
Main Index
Chapter 12: Multiple Rotors In Fixed System 247
Introduction
Transient Analysis
MSC Nastran supports transient analysis with multiple rotors operating at different rotor speeds. In this
analysis, no approximation is made for determining the rotor speeds. Multiple unbalance loads or any kind
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248 MSC Nastran Rotordynamics User’s Guide
Introduction
of external loads can be applied to the rotating or non-rotating components of the model. Changes to be
made in the input file to model multiple rotors are described below.
Main Index
Chapter 12: Multiple Rotors In Fixed System 249
Introduction
due to unbalance for the rotor speed variation described earlier is shown in Figure 12-6. Here, the loads
increase with square of rotor speed till 0.5 sec and then it stays constant.
The displacement produced due to unbalance loads is shown in Figure 12-7. For each of the rotor maximum
response is observed when the rotor speed is near the first forward whirl critical speed. For rotor 1, maximum
amplitude is observed at 0.375 sec where the rotor speed is around 290 Hz. Similarly, for the second rotor,
maximum amplitude is observed at 0.137 sec where the rotor speed is around 200 Hz. Both these frequencies
are in the neighborhood of their respective rotor`s first forward whirl critical speed.
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250 MSC Nastran Rotordynamics User’s Guide
Introduction
Examples used in this chapter are available under the following folder: ../tpl/ugrotor. A brief description of
these examples is given below:
Table 12-5
Input File Name Description
rug_12_1 Real Eigenvalue Analysis for Rotor 2
rug_12_2 Synchronous complex eigenvalue analysis for Rotor 2
rug_12_3 Synchronous complex eigenvalue analysis for model with 2 rotors
rug_12_4 Synchronous complex eigenvalue analysis for model with 2 rotors, at different
speeds
rug_12_5 Synchronous complex eigenvalue analysis for model with 2 rotors, at different
speeds with Rotor 2 as reference rotor
rug_12_6 Complex frequency analysis for model with 2 rotors
rug_12_7 Transient analysis for model with 2 rotors
Main Index
Chapter 13: Kinks and Offsets on a Rotor
Introduction 252
User Interface 253
Guidelines and Limitations 258
Examples 259
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252 MSC Nastran Rotordynamics User’s Guide
Introduction
Introduction
Rotors can have initial deformations, which means that the rotor center axis may not be a straight line. This
can be due to manufacturing defects or thermal effects. The presence of “kinks and offsets”, “bends” or “initial
deformations” in the rotor can result in additional loads on the structure, even for very small deformation.
A new input entry, ROTBENT, has been developed for the analysis of the initially deformed line rotors,
considering both the rotor model and the support structure. This feature is available in SOL 400 for static
analysis, complex eigenvalues and frequency response.
Through the new ROTBENT input, the initial rotor geometry is calculated and a static solution, pulling the
rotor into the support structure, is performed in STEP 1. Subsequent steps will perform the requested
rotordynamic analysis using the static solution from STEP 1 as the starting point.
The ROTBENT entry provides a convenient method to perform rotordynamic analysis of line rotors which
have initial deformations (kinks and offsets).
The ROTBENT entry has the following features:
ROTBENT is available for SOL 400 only.
Model the straight-line rotor using line elements with the axis of rotating at geometric center.
Define rotor via ROTOR entry.
Model any supports and bearings
Define the rotor kinks and offsets using a ROTBENT entry.
Assign LOAD, SPC, MPC sets in the subcase for the initially deformed rotor.
In STEP 1, the program automatically modifies the rotor geometry using the kinks and offsets and
calculates the offsets between the rotor GRID points and those of the support structure. MPC
equations, SPOINTs, SPCs, and SPCD entries are created to 'pull' the rotor and support structure
together at the listed GRID points on the ROTBENT entry.
STEP 1 is nonlinear static (NLSTAT) analysis to obtain rotor static deformation, and the
subsequent STEP is for rotordynamic analysis using the results from STEP 1.
ROTBENT can process rotor kink and offset information of the defined ideal axisymmetric 1D rotor
through ROTOR entry and ROTBENT case control parameter. In SOL 400, the first step of the analysis
needs to be a NLSTATIC analysis, the following step is the related rotordynamic analysis.
Main Index
Chapter 13: Kinks and Offsets on a Rotor 253
User Interface
The rotor must be defined using the ROTOR entry. In SOL 400, the 1st step of the SUBCASE must have
ANALYSIS=NLSTAT. The following step defines the rotordynamic analysis to be performed after the rotor
and support structure are 'pulled' together.
Format:
ANALYSIS = type
SPC = n
MPC = n
LOAD = n
Examples:
SOL 400
SUBCASE 10
STEP1
ANALYSIS=NLSTAT
LOAD=1
SPC=1
MPC=10
STEP2
ANALYSIS=DCEIG/MCEIG (solution type for the rotordynamic analysis)
SPC=1
MPC=10
Remarks:
1. The load set ID should match the LOAD ID in ROTBENT card entry.
2. Same SPC ID or MPC ID should be used in all steps. Changing the SPC or MPC set between steps
is not supported when a ROTBENT entry is used.
3. Campbell diagram has been extended to SOL400 (ANALYSIS=DCEIG/MCEIG). The case control
(CAMPBELL) and Bulk Data (CAMPBLL) entry are same in SOL 107/110
User Interface
Case Control
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254 MSC Nastran Rotordynamics User’s Guide
User Interface
Format:
ROTBENT= n
Example:
ROTBENT = 10
Remark:
1. ROTBENT option is only supported for SOL400 analysis. ROTBENT analysis will require 2 step
analysis, with step 1 being NLSTATIC and step 2 being rotordynamic analysis.
ROTBENT(Case) Define kinks and offsets to be applied on a rotor, pull the rotor on to its bearing
and then carry out rotordynamic analysis (SOL 400 only).
Format:
1 2 3 4 5 6 7 8 9 10
ROTBENT Bent ID Rotor ID Load ID
Unbcord x1 x2 x3
Kink Station Kink angle Phase angle
Offset Station Offset Phase angle
value
Brgdpr Rotor Grid Stator Grid
ID ID
Example:
ROTBENT 101 10 99
Unbcord 1.0 0.0 0.0
Kink 30.0 0.06 135.0
Brgdpr 1 111
51 151
81 181
ROTBENT 200 10 1
Offset 3.82 0.001 30.0
15.54 0.002 130.0
28.45 0.003 230.0
38.45 0.004 330.0
Kink 10.35 0.06 45.0
22.02 0.12 145.0
Main Index
Chapter 13: Kinks and Offsets on a Rotor 255
User Interface
Describer Meaning
Bent ID Identification number of ROTBENT. (Integer > 0, required, no default).
Rotor ID Rotor identification number for which the kinks and offsets are defined. See Remark 2., 3.
(Integer > 0, required, no default).
Load ID Load identification number, to be selected by LOAD case control in the first STEP. See
Remark 4. (Integer > 0, required, no default).
Unbcord Components of the vector to determine the X-Y plane of the rotor system for Kinks and
Offsets. See Remark 6. (Real, required, no default).
Kink Flag indicating that the next 3 fields are for kink definition. See Remark 7. (Character,
optional)
Station Location on rotor from ROTOR ID 1st grid along the rotor axis, from where the Kink starts.
(Real, required if kink is specified, no default).
Kink angle Kink angle based on Unbcord defined rotor Z-axis. See Remark 8. (Real, DEG, required if
kink is specified, no default).
Phase Phase angle about the rotor X-axis, based on Unbcord defined rotor X-Y plane. (Real, DEG,
angle required if kink is specified, no default).
Offset Flag indicating that the next 3 fields are for offset definition. See Remark 7. (Character,
optional)
Station Location on rotor from ROTOR ID 1st grid along the rotor axis, from where the Offset starts.
(Real, required if offset is specified, no default).
Offset Offset value on the axis of the rotor. (Real, required if offset is specified, no default).
value
Phase Phase angle based on Unbcord defined rotor X-Y plane. (Real, DEG, required if offset is
angle specified, no default). A phase angle of 0.0 results in an offset in the positive Rotor Y-axis.
Brgdpr Flag indicating that the next 2 fields are for paired grids. See Remark 12. (Character, required).
GRID IDi Paired grids ID to indicate paired connection between rotor and support after initial
deformation. (Integer > 0, required, no default). First grid should be part of ROTOR and
second grid should be part of Stator.
Remarks:
1. ROTBENT is supported only in SOL 400 analysis.
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256 MSC Nastran Rotordynamics User’s Guide
User Interface
2. One ROTBENT entry with unique BENT ID value is allowed. ROTBENT analysis is supported for
only one SUBCASE definition, having 2 STEP analyses. STEP1 analysis should be
NLSTATIC/NLSTAT. STEP 2 analysis runs rotordynamics analysis (complex eigenvalue, frequency
response).
3. ROTBENT only support 1D element rotor defined by ROTOR entry.
4. ROTBENT uses Load ID to perform STEP 1 NLSTATIC analysis.
5. In a ROTBENT bulk data card, the keywords (Kink, Offset, or Brgdpr) can only be defined once.
Multiple rows for each keyword are allowed, except for Unbcord.
6. ROTBENT can take only one set of 'Unbcord' input, with three REAL values. The first 2 grids in
AXIS option of ROTOR entry determine the X-axis of the Rotor system, with origin of this system
to be at the first grid entry in AXIS option. Unbcord entries will form the vector used to determine
the X-Y plane of Rotor system, defined using the CD of the first grid on AXIS option of ROTOR
entry linked to the Rotor ID.
7. A rectangular coordinate (rotor system) formed in remark 6., is used to determine the phase angle,
which starts from the X-Y plane based on UNBCORD, and the kink angle, which rotates about Z-
axis. In the following figures in the Rotor system, the rotor axis is X, and X-Y plane is determined by
the Unbcord vector.
8. Kink is calculated in the rotor system X-Y plane, where the phase is zero (See Remark 7.), by rotating
the shaft at the station point about Z-axis to the defined kink angle, then the Kink shaft is rotated
about the shaft axis (X) to the defined phase angle from the X-Y plane.
9. Offset is calculated in the rotor X-Y plane, where the phase is zero (See. Remark 7.) then the Offset
is rotated about the shaft axis (X) to the defined phase angle from the X-Y plane and applied to the
rotor.
Main Index
Chapter 13: Kinks and Offsets on a Rotor 257
User Interface
10. Offsets and Kinks are calculated separately at the shaft axis or the shaft center line. All the Kinks and
Offsets are then accumulated to generate the initial unconstrained rotor geometry. Grid coordinate
of unconstrained rotor will be printed out in f06 file.
11. Brgdpr entry needs at least one pair of existing GRID IDs. First id of the pair of entries of Brgdpr
keyword should be part of referenced rotor and second id should be part of bearing (stator) connected
to the rotor. All the first grid ids of each pair of entry should be added to AXIS option of reference
ROTOR. It is recommended that both grid ids should not be part of any MPC, RBEs definition.
12. The initial step (NLSTATIC) updates the rotor geometry, writes the bulk data (program internally
created MPC, SPOINTs, SPC1 & SPCD) entries to pull the rotor into the bearings and runs the
static solution. This static solution step will result in the deformed shape of the model with the rotor
pulled into the bearings. At this point, the rotor and bearing GRIDs of BRGDPR entry are
coincident.
13. It is advised to have both grid entries of Brgdpr keyword to be at the same axial location. A small Kink
angle is assumed (<1 deg) and the deformation in axial direction (axial and angular displacement) of
the rotor grids is ignored.
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258 MSC Nastran Rotordynamics User’s Guide
Guidelines and Limitations
14. The following figures are the brief description of the Kinks & Offsets in a rotor, where B1 and B2 are
support locations and are paired with rotor grids in Brgdpr keyword.
Main Index
Chapter 13: Kinks and Offsets on a Rotor 259
Examples
Examples
Rotordynamic analysis of a beam rotor with initial deformation defined by ROTBENT is performed in the
examples (..\tpl\rotbent\ rotbent01.dat, rotbent02.dat). The beam rotor is defined by
ROTOR entry:
The supports are three bearings connect to the ground. The other ends are connected to the grids located on
the rotor axial center line, are not connect to the rotor grids directly. These bearing grids are paired with the
rotor grids to pull the initial deformed rotor into the bearing locations.
The initial rotor deformation is defined by ROTBENT entry. In the examples, the rotor axis is X-axis; the X-
Y plane is defined by the rotor axis and the Unbcord vector (0,1,0); the kink rotates about Z-axis. As
mentioned earlier, three paired grids pull the rotor into the bearings.
In SOL 400, the first STEP is NLSTATIC analysis, and the following STEP is the subsequent rotordynamic
analysis. Analysis types, SPCs, MPCs, and LOADs case control commands are chosen in the steps.
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260 MSC Nastran Rotordynamics User’s Guide
Examples
As mentioned earlier, the rotor's initial geometry due to kinks and offsets is calculated first, and the MPC,
SPC, and SPCD entries are automatically generated to calculate the rotor's final static deformation by pulling
the rotor into the paired bearing locations.
The calculated rotor deformation due to kinks and offsets from STEP1:
Main Index
Chapter 13: Kinks and Offsets on a Rotor 261
Examples
The Campbell Diagram and unbalance response. Campbell diagram has been extended to SOL 400
(ANALYSIS=DCEIG/MCEIG). The case control (CAMPBELL) and Bulk Data (CAMPBLL) entry are
same as SOL 107/110.
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262 MSC Nastran Rotordynamics User’s Guide
Examples
Main Index
Appendix A: Axisymmetric Harmonic Elements for Rotordynamic Analysis
Axisymmetric Harmonic
A Elements for Rotordynamic
Analysis
Introduction 264
Element Details 264
Main Index
264 MSC Nastran Rotordynamics User’s Guide
Introduction
Introduction
In the MSC Nastran 2013.1 release, axisymmetric harmonic elements were introduced for rotordynamic
analysis. For this purpose, two new axisymmetric harmonic elements are developed: CQUADX and
CTRIAX. These are similar to solid elements since the degrees of freedom are displacements (not rotations).
The CQUADX element has four vertex points and up to four (optional) mid edge points. The CTRIAX
element has three vertex points and up to three (optional) mid edge points. These elements resemble the
existing shell elements available in MSC Nastran (MSC Nastran Reference Guide, 2014) but refer to the
PAXSYMH card to define material properties.
A detailed description about dynamics of rotors and finite element discretization using axisymmetric
harmonic elements is provided in Geradin and Kill (1984) and Stephenson et. al (1989). In this appendix,
additional details related to implementation inside MSC Nastran are provided. The process used for
developing axisymmetric finite element models from an axisymmetric 3-D solid structure is shown in Finite
element modeling using axisymmetric harmonic elements.
Element Details
Axisymmetric harmonic element analysis is performed in a cylindrical coordinate system. In the following,
“x” is the radial coordinate, “y” is the axial coordinate, and “θ” is the azimuthal angle in an element coordinate
system. Grid points lie in the (x,y) plane with “x” greater than or equal to zero, as shown in Finite element
modeling using axisymmetric harmonic elements. An error check is performed inside the code to ensure that
the axisymmetric rotor model being analyzed does not violate this requirement.
Let {r, y, θ}T represent the position vector for a grid point in the cylindrical coordinate system (r=radial,
y=axial, and θ=azimuthal). The displacements at a grid point using Fourier coefficients can be written as:
symmetric antisymmetric
c s
Ur = cos n U r n + sin n U r n
n=0
c s
Uy = cos n U y n + sin n U y n
n=0
Main Index
Appendix A: Axisymmetric Harmonic Elements for Rotordynamic Analysis 265
Element Details
s c
U = sin n U n – cos n U n
n=0
where, “n” is the harmonic index and “θ” is the azimuthal angle. In this manner, non-axisymmetric solutions
may be found for axisymmetric structures. For linear analysis, the harmonics are not coupled, and the
harmonic analysis finds the solution for a single specified “n”. The value for “n” may be 0, 1, 2, 3, …. For
rotordynamic problems, n = 1 is used for lateral-bending analysis and n = 0 is used for axial/torsion analysis.
The solution variables are not local displacements, but coefficients of either or. For the Ur and Uy
displacements, the coefficients of represent solutions symmetric about the (x,y) plane while the coefficients
of represent solutions anti-symmetric about the (x,y) plane. For n = 0, and are used for expansion and is
used for torsion; is uncoupled from the other two.
For rotordynamic analysis, bending deformation that corresponds to n = 1 is sufficient to capture the
gyroscopic effects. For harmonic n = 1, the simplified equations are:
c s
U r cos U r + sin U r
c s
U y = cos U y + sin U y
U s c
sin U – cos U
The strain displacement law for axisymmetric harmonic elements is given by:
d
0 0
dr
d
rr 0 0
dy
rr
1--- 1--- d U r
0
= r r d U
= y
rr d d
0 U
dy dr
yy
1d d
r 0 ---
r d dr
1--- d 1
0 d – ---
r d dr r
This expression is used to determine the stiffness matrix for these elements.
The element displacement vector at each node can be written as:
T
c c s s s c
x = Ur Uy U Ur Uy – U
Main Index
266 MSC Nastran Rotordynamics User’s Guide
Element Details
For interpolation, standard Lagrangian shape functions [N] can be used. Using these shape functions, the
displacements can be written as:
Ur x1
·
U y = N :
U xi
where i = number of nodes in the element.
Based on the kinetic energy expression (Geradin and Kill, 1984), the element mass matrix is the following:
T T
M = N N dV = N N r d dr dz
V
The gyroscopic matrix for the element is given by:
2
G = g r dr dz
where
g 1 1 g 1 2 g 1 n
g g g 2 n
g = 2 1 2 2
· · · ·
: : : :
g n 1 g n 2 g n n
0 0 0 0 0 0
N j
0 0 0 0 0 -------- N i
y
N i
0 0 0 0 -------- N j 0
g i j = y
0 0 0 0 0 0
N j
0 0 – -------- N i 0 0 0
y
N i
0 – -------- N j 0 0 0 0
y
Main Index
Appendix A: Axisymmetric Harmonic Elements for Rotordynamic Analysis 267
Element Details
The material properties may be isotropic or anisotropic, and they can also be temperature dependent. The
material temperature is assumed to be axisymmetric. If an anisotropic material is used, it is required that the
material be axisymmetric. Material damping is also supported in the analysis.
Constraints/Boundary Conditions
A configuration consisting of the new axisymmetric harmonic elements need not always define a rotating
structure. It could very well define a stationary structure like the casing of an engine or a water tank. A point
is defined to be on the axis of symmetry if its “X” coordinate is less than 1.E-4 from the axis of symmetry (see
Finite element modeling using axisymmetric harmonic elements). Points on the axis of symmetry require
special constraints to ensure continuity of displacements. These constraints are automatically supplied by the
program. For externally applied forces and thermal loads, it is necessary to be consistent with the convention
used for matrices. The stiffness, mass and gyroscopic matrices are for 2π radians.
The new axisymmetric harmonic elements may share grid points with other spring and damper elements.
However, much care is needed. This connection is made between the harmonic displacement components of
the axisymmetric harmonic elements and the global displacement components of other elements. The usage
of the new connector element RBAX3D to make connections to a 3-D grid point is recommended.
The new RBAX3D connector helps to connect points of the axisymmetric harmonic elements to regular 3-
D points on the axis of symmetry. This has only been implemented for harmonic n=1and n=0.
Multi-point constraints may also be used with axisymmetric harmonic elements. Rigid body elements are
generally not compatible with these elements since rotation degrees of freedom are not used. However, they
can be used for the special case when there are two coincident grid points (no offset).
Main Index
268 MSC Nastran Rotordynamics User’s Guide
Element Details
Main Index
Appendix B: User Defined Subroutines Using CBUSH2D
Analysis in Windows Machine 270
Analysis on Linux 277
Main Index
270 MSC Nastran Rotordynamics User’s Guide
Analysis in Windows Machine
2. Also you need to copy the three files SConopts,SConscript,SConstruct to the same folder as
E:\test_cbush2d
3. Put the buildit.bat into the same location as E:\test_cbush2d
4. Modify the buildit.bat so that the scons is pointing from:
C:\MSC.Software\SDK\ver_num\Tools\sconsi8
(or the correct directory on your computer)
Main Index
Appendix B: User Defined Subroutines Using CBUSH2D 271
Analysis in Windows Machine
Main Index
272 MSC Nastran Rotordynamics User’s Guide
Analysis in Windows Machine
7. In order to run MSC Nastran using your dll, it is recommend that you use a bat file to set the SCA
environment variables, and also point to the MSC Nastran exe correctly.
8. The following bat file is used: run_test.bat
set SCA_SERVICE_CATALOG=E:\test_cbush2d\sdk\apps_local\res\SCAServiceCatalog.xml
set SCA_RESOURCE_DIR=E:\test_cbush2d\sdk\apps_local\res
set SCA_LIBRARY_PATH=E:\test_cbush2d\sdk\apps_local\WIN8664I8\lib
set SCA_KERNEL_DEBUG=SvcLoad=all,ShrLibLoad=all,SvcTableDump=all,SvcCatalogDump=all
call nastver_num.exe beam_108_cbush2d old=no scr=yes notify=no
Name of the BAT file: run_test.bat. Make sure that your library path, and the MSC Nastran exe is at the
correct path.
In the DOS prompt you can type: run_test
Modifying ext_cbush2d.F
The information provided in the ELEMUDS is made available to ext_cbush2d.F through the following
arrays:
iarray : for integers
rarray : for real numbers
ciarray: for characters
The input variable “freqva” corresponds to the frequency currently being used in the analysis. The code inside
ext_cbush2D.F can be customized to generate 2x2 stiffness and damping matrices for the current frequency
“freqva” using the inputs provided through ELEMUDS.
Example
Spring stiffness that needs to be included in the analysis:
Table 2-1
Frequency(f) KXX KYX KXY KYY
f=0 3.503e7 8.756e6 8.756e6 3.503e7
0 < f ≤ 45. 3.503e7 8.756e6 8.756e6 3.503e7
45 < f ≤ 85. 4.503e7 7.756e6 7.756e6 4.503e7
85 < f ≤ 115. 5.503e7 6.756e6 6.756e6 5.503e7
f > 115. 6.503e7 5.756e6 5.756e6 6.503e7
Main Index
Appendix B: User Defined Subroutines Using CBUSH2D 273
Analysis in Windows Machine
CXX=CYX=CXY=CYY=0
Changes required to input test deck and ext_cbush2d.F to obtain this distribution is described below:
a. Changes in input file:
File management statement:
CONNECT SERVICE TESTF 'SCA.MDSolver.Obj.Uds.Elements.cbush2d'
In Bulk data:
CBUSH2D 16 1000 911 912 XY
PBUSH2D 1000 0.0 0.0
ELEMUDS 1000 PBUSH2D TESTF cbush2d FREQ
real 0.0 3.503+7 8.756+6 8.756+6 3.503+7 0.00.0
0.0 0.0 45.4.503+7 7.756+6 7.756+6 4.503+7
0.00.00.00.0 85.5.503+7 6.756+6
6.756+6 5.503+7 0.00.00.00.0115.
6.503+7 5.756+6 5.756+6 6.503+7 0.00.00.0
0.0
b. ext_cbush2D.F
subroutine ext_cbush2d(freqva, iarray, rarray, ciarray, kxx, kyx,
& kxy, kyy, cxx, cyx, cxy, cyy, len_iarray, len_rarray,
& len_carray, elid, error_code)
implicit none
character(len=4) :: carray
integer err
integer :: scaReturn
integer i
integer, external :: printf06
if (len_carray > 0) carray = transfer(ciarray, carray)
err = printf06("hello worldyy")
write(6,*) 'ext_cbush2d top: freqva', freqva
write(6,*) 'len_iarray, len_rarray',len_iarray,len_rarray
write(6,*) (rarray(i), i=1,len_rarray)
if (freqva.eq.rarray(1)) then
c
c nominal frequency call
c
Main Index
274 MSC Nastran Rotordynamics User’s Guide
Analysis in Windows Machine
kxx = rarray(2)
kyx = rarray(3)
kxy = rarray(4)
kyy = rarray(5)
cxx = rarray(6)
cyx = rarray(7)
cxy = rarray(8)
cyy = rarray(9)
else if (freqva.le.rarray(19)) then
kxx = rarray(11)
kyx = rarray(12)
kxy = rarray(13)
kyy = rarray(14)
cxx = rarray(15)
cyx = rarray(16)
cxy = rarray(17)
cyy = rarray(18)
else if (freqva.le.rarray(28)) then
kxx = rarray(20)
kyx = rarray(21)
kxy = rarray(22)
kyy = rarray(23)
cxx = rarray(24)
cyx = rarray(25)
cxy = rarray(26)
cyy = rarray(27)
else if (freqva.gt.rarray(28)) then
kxx = rarray(29)
kyx = rarray(30)
kxy = rarray(31)
kyy = rarray(32)
cxx = rarray(33)
cyx = rarray(34)
cxy = rarray(35)
Main Index
Appendix B: User Defined Subroutines Using CBUSH2D 275
Analysis in Windows Machine
cyy = rarray(36)
endif
Example
In order to verify if the code works as expected, analysis is performed using SOL 107 and SOL 108 and results
obtained are compared with those obtained for a test deck using DMIG entries.
SOL 107
For the SOL 107 analysis, the spring and damping stiffness corresponding to f = 0 Hz are used in the analysis.
Corresponding DMIG entries in beam_107_sync_dmig.dat
DMIG STIF 0 1 1
DMIG STIF 91 1 91 1 3.503+7
91 2 8.756+6
DMIG STIF 91 2 91 1 8.756+6
91 2 3.503+7
Test deck with CBUSH2D used for comparison is: beam_107_sync_cbush2d.dat
Identical results are obtained for critical frequencies using both the decks, as shown below.
SOL 108
Frequency range used for the analysis:
FREQ1 100 30.0 10.0 10
In order to compare the results, four different test cases are used with varying spring stiffnesses set up
Main Index
276 MSC Nastran Rotordynamics User’s Guide
Analysis in Windows Machine
Table 2-2
Test Deck KXX KYX KXY KYY
beam_108_dmig1.dat 3.503e7 8.756e6 8.756e6 3.503e7
beam_108_dmig2.dat 4.503e7 7.756e6 7.756e6 4.503e7
beam_108_dmig3.dat 5.503e7 6.756e6 6.756e6 5.503e7
beam_108_dmig4.dat 6.503e7 5.756e6 5.756e6 6.503e7
Main Index
Appendix B: User Defined Subroutines Using CBUSH2D 277
Analysis on Linux
Analysis on Linux
Requirements:
1. MSC Nastran ver_num i8 version
2. SDK installation is separate and must be installed. In this example as shown below it is installed in
/scratch/ssp/sdk_ver_num. Make a note of the Tools Folder. The sconsi8 executable resides here.
Main Index
278 MSC Nastran Rotordynamics User’s Guide
Analysis on Linux
Only files pertaining to CBUSH2D under the elements subdirectories need to be present. Others can be
deleted. This will improve the compilation time.
Your directory structure should look similar to images shown below.
Main Index
Appendix B: User Defined Subroutines Using CBUSH2D 279
Analysis on Linux
2. Change over to src directory where the routine is located. (shown in image below.)
This step will go thru and creation of Object and Apps local directories and end with
scons: done building targets.
Main Index
280 MSC Nastran Rotordynamics User’s Guide
Analysis on Linux
After the successful build in the services folder other directories would have been created and folder will look
as follows.
Environment variables to this path must be setup prior to the running MSC Nastran.
For mode = i8, libcbush2d.so is available in:
/scratch/ssp/services/ LX8664I8_RHE63/Implementations/Elements/src/cbush2d
6. Following SCA environment variables needs to be set prior to running the MSC Nastran. Depending
on the shell being used following environment variables should be set.
Following is the example using csh.
setenv SCA_SERVICE_CATALOG
/scratch/ssp/services/Apps/res/SCAServiceCatalog.xml
setenv SCA_RESOURCE_DIR /scratch/ssp/services/Apps/res
setenv SCA_LIBRARY_PATH /scratch/ssp/services
/Apps/LX8664I8_RHE63/lib
7. After setting the environmental variables MSC Nastran job can be submitted using following
command.
prod_ver test_cbush2d old=no scr=yes notify=no mode=i8
Main Index
Appendix B: User Defined Subroutines Using CBUSH2D 281
Analysis on Linux
Main Index
282 MSC Nastran Rotordynamics User’s Guide
Analysis on Linux
Main Index
Nomenclature
MSC Nastran Implicit Nonlinear (SOL 600) User’s GuideRotordynamics User’s Guide
Nomenclature
Main Index
284 MSC Nastran Rotordynamics User’s Guide
C
BH R Circulation matrix due to [BHR]
Main Index
Nomenclature 285
D Dissipative energy
G Structural damping parameters for stator
GR Structural damping parameters for rotor
g Damping Coefficient
g(ω) Complex frequency response
i
–1
{ga(p)} Modeshape corresponding to complex eigenvalue p
L Lagrange`s Potential
Id, Ip Diametral and polar moment of inertia
N(t) Nonlinear forces due to bearing elements
p Complex eigenvalue
U System`s Potential Energy
W Work done by non-dissipative forces
W3, W4, WH Parameters for converting structural damping to equivalent viscous damping for
stator
WR3, WR4, WRH Parameters for converting structural damping to equivalent viscous damping for
rotors
u,v Translational velocities in the fixed system in X and Y direction
α, β Parameters determined by a least-mean-square fit of the relative rotor speeds
input on the RSPINR between SPDLOW and SPDHIGH of the reference rotor
α1, α2 Rayleigh Damping Parameters for stator
α1R, α2R Rayleigh Damping Parameters for rotor
Ω Rotor Operating Speed
Main Index
286 MSC Nastran Rotordynamics User’s Guide
·
Derivative with respect to time
Main Index
Glossary
Glossary
Main Index
288 MSC Nastran Rotordynamics User’s Guide
Asynchronous Analysis Analysis where the rotor speed is specified by the user and independent of
frequency of excitation of eigenfrequency.
Axisymmetric harmonic Elements defined using Fourier coefficients for rotordynamic analysis, mostly
elements analyzed with harmonic index = 1 for lateral bending.
Campbell Diagram Plot that shows the variation of whirl frequencies with rotor speed.
Centrifugal Softening Reduction in bending stiffness observed when the problem is solved in a
rotating reference frame. It is proportional to the square of rotor speed.
Circulatory matrix Skew symmetric matrix proportional to rotor speed generated when the
damping defined in a rotating reference frame is transferred to a fixed reference
frame and vice versa, added to stiffness matrix [K].
Coriolis Matrix Skew symmetric matrix proportional to rotational speed for analysis in a
rotating reference frame, added to damping matrix [B].
Critical Speed Rotational speeds at which vibration due to rotor unbalance is a local
maximum.
Main Index
Glossary 289
Backward Whirl: Here, the rotor whirl direction is opposite to that of the
applied angular velocity.
Forward Whirl: Here, the rotor assembly whirls in the same direction as the
applied angular velocity.
Synchronous Analysis Analysis where rotor speed is same as the actuation frequency (for frequency
response analysis) or same as the eigenfrequency (for complex eigenvalue
analysis)
Main Index
290 MSC Nastran Rotordynamics User’s Guide
Main Index
References
MSC Nastran Implicit Nonlinear (SOL 600) User’s GuideMSC Nastran DMAP Program-
mer’s Guide
References
Main Index
292 MSC Nastran Rotordynamics User’s Guide
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Bellinger, D. (1985), Dynamic Analysis by the Fourier Transform Method with MSC.Nastran, Proceedings
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Dimarogonas, Andrew D., Stefanos A. Paipetis, and Thomas G. Chondros. (2013) Analytical methods in rotor
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Friswell, M. I., Penny, J. E. T., Garvey, S. D. and Lees, A. W. (2010). Dynamics of rotating machines.
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Genta, Giancarlo (2007). Dynamics of rotating systems. Springer Science & Business Media.
Geradin M. and Kill N., (1984), “A new Approach to Finite Element Modeling of Flexible Rotors. “
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Harris, C. M. (1987), Shock and Vibration Handbook, Page 4-8, 3rd Edition, McGraw Hill
Jeffcott, H. H. (1919). XXVII. The lateral vibration of loaded shafts in the neighbourhood of a whirling
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Angeles, CA.
MSC Nastran Quick Reference Guide, Version 2017 (2017), MSC Software, Newport Beach, Los Angeles, CA.
MSC Nastran Reference Guide, Version 2017 (2017), MSC Software, Newport Beach, Los Angeles, CA.
MSC Nastran Superelements and Modules User’s Guide, Version 2017 (2017), MSC Software, Newport Beach,
Los Angeles, CA.
MSC Nastran User Defined Services User`s Guide, Version 2017 (2017), MSC Software, Newport Beach, Los
Angeles, CA.
MSC Nastran SCA Service Guide, Version 2017 (2017), MSC Software, Newport Beach, Los Angeles, CA.
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Nelson, H. D. and Vaugh, J. M. (1976), “The Dynamics of Rotor-Bearing Systems Using Finite Elements”,
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Main Index
References 293
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rotordynamic analysis”, Journal of Sound and Vibration, Volume 297, Issues 3–5, Pages 664-679.
Stephenson R. W., Rouch K. E. and Arora R., (1989), “Modelling of Rotors with Axisymmetric Solid
Harmonic Elements” Journal of Sound and Vibration 131(3), 431-443.
Ushida, A. and Chua, L.O. (1984), Frequency-domain analysis of nonlinear circuits driven by multi-tone
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Vollan, Arne, and Louis Komzsik (2012). Computational techniques of rotor dynamics with the finite element
method. CRC Press.
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Wiley & Sons.
Vollan, Arne, and Komzsik, L. (2012). Computational Techniques of Rotor Dynamics with the Finite Element
Method. CRC Press.
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Main Index
294 MSC Nastran Rotordynamics User’s Guide
Main Index