Dynamic Response Analysis

of Rotor-Bearing Systems
M. A. Mohiuddin1
Y. A. Khulief2
KFUPM P.O. Box 1767
King Fahd University of Petroleum & Minerals
Dhahran—31261
Saudi Arabia
With Cracked Shaft
A general dynamic model for a large-scale rotor-bearing system with a cracked shaft is
introduced. A finite shaft element with a crack is developed using a consistent finite
element approach. The model accommodates shafts with tapered portions, multiple disks
and anisotropic bearings. The formulation is applicable to rotor-bearing systems with
different practical design configurations including intermediate bearings, shaft overhang,
and stepped shaft assemblies. A reduced order form of equations of motion is obtained by
invoking the actual non-planar (complex) modal transformations. The time-response due
to different excitations are calculated, and comparisons are presented to establish the
validity and efficiency of the reduced order model. It is hoped that the developed compu-
tational scheme offers an efficient and essential core module in establishing other spe-
cialized crack detection schemes for rotor-bearing systems. 关DOI: 10.1115/1.1423950兴

1 Literature Review depth of 0.5 yielded 50 percent greater amplitudes as compared

Cracks occur in mechanical components due to machining im-
perfections, indentations resulting from collisions with solid ob-
jects, and the presence of any nonhomogeniety in the material.
Such small cracks are known to propagate due to cyclic loading in
rotor-bearing systems, and may eventually lead to a catastrophic
failure of the rotor.
The presence of a crack is known to introduce local flexibility
due to the stress concentration in the vicinity of the crack tip. This
consequent change in the rotor stiffness leads to considerable
changes in the dynamic response characteristics of the system.
Monitoring the changes in the dynamic behavior due to presence
of cracks in rotating components has recently received greater
attention by both engineers and dynamic analysts, 共关1兴兲. In this
regard, vibration monitoring can be used as a means of an early
crack warning, thus safeguarding against sudden failures of such
very expensive rotor systems.
Petroski 关2兴 studied the time response of a simply supported
cracked beam. He evaluated the deflection of the cracked beam
using Fourier series approximations, wherein a simple crack
model utilizing a pair of concentrated couples at the crack location
is assumed. The ineffective material adjacent to the crack is mod-
eled by an equivalent slot which size is established experimen-
tally. The time response of a simply supported cracked beam is
presented, wherein the amplitudes of vibration of the cracked
beam were found to be three times greater than that of uncracked
beam. However, the crack model used in reference 关2兴 does not
account for the change in the frequency spectrum of the beam due
to the presence of the crack.
Gounaris and Dimarogonas 共关3兴兲 presented a finite element of a
cracked prismatic beam. They modeled the crack using the con-
cepts of fracture mechanics by evaluating a local flexibility ma-
trix, and then constructing the mass and stiffness matrices of the
cracked beam using a consistent finite element approach. They
presented results of the forced vibration of a slender cantilever
beam when excited by a cyclic force at the free tip, and concluded
that vibration amplitudes are affected considerably by the crack.
The amplitudes of vibration of the cracked beam with a crack
1
Petroleum and Gas Engineering Section, Center for Petroleum & Minerals, Re-
search Institute
2
Mechanical Engineering Department
Contributed by the Design Automation Committee for publication in the JOUR-
NAL OF MECHANICAL DESIGN. Manuscript received Oct. 1998; revised May 2000.
Associate Technical Editor: H. Lankarani
with the amplitudes of vibration of the uncracked beam, as re-
ported in reference 共关3兴兲.
Collins et al. 关4兴 presented a methodology for the detection of
cracks in rotating Timoshenko shafts using axial impulses as ex-
citations. They presented the coupled equations of motion of a
rotating Timoshenko shaft due to the presence of the crack. The
system of differential equations of motion with cyclic axial im-
pulses as excitations is then solved. Their proposed methodology
for the detection of cracks is based on the difference of axial
frequency spectrum of cracked rotating shaft, compared to un-
cracked shaft. Their study, however, did not include the time re-
sponse or frequency response of the shaft due to any excitation in
bending directions. The frequency response analysis of a nonro-
tating cracked shaft for coupled longitudinal-bending vibrations
共关5兴兲, coupled torsional-bending vibrations 共关6兴兲, and with a clos-
ing crack 共关7兴兲 has been addressed. Other investigators 共关8 –11兴兲
studied the frequency response and the unbalance response of ro-
tating cracked shafts.
In the previously cited investigations, the dynamic response due
to harmonic excitations of cracked rotors has been considered.
Less attention, however, was given to the equally important dy-
namic responses; e.g. transient response, as well as time-response
due to step and impulsive excitations.
Nevertheless, the dynamic time-response calculations were car-
ried out by some investigators for the case of rotor-bearing sys-
tems without cracks. A simple lumped parameter spring-mass ro-
tor model was introduced for the purpose of control of transient
vibrations 共关12兴兲. The step-response is calculated for a shaft-disk
rotor utilizing an analytical model based on the Galerkin’s method
共关13兴兲. Another analytical model 共关14兴兲 using an asymptotic ap-
proximation in the neighborhood of the critical speed was intro-
duced for transient response analysis of a single disk rotor system.
Recently, a dynamic model of a rotating Timoshenko shaft using
the assumed modes method and the Hamilton’s principle is de-
rived for the transient response analysis of a simply-supported
shaft excited by axial as well as moving loads 共关15兴兲.
It is noteworthy to point out that we could not locate any cited
work among the investigations reported in the available literature
that tackled the problem of time-response calculations in a rotor-
bearing system with a cracked shaft. One must note, however, that
time-response calculation is of crucial importance to dynamic
analysis and control of rotors in practical situations associated
with the following loading conditions: 共a兲 sudden unbalance, 共b兲
shock loading due to start-up torque, 共c兲 sudden loss of a blade,

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 共d兲 impulsive and step excitations on the floating frame of some
rotor-bearing system, e.g. in ships and airplane rotors, and 共e兲
actuator forces associated with active control techniques for sup-
pression of transient vibrations.
Although the presently cited models for transient response
analysis 共关12–15兴兲 can produce satisfactory results for some spe-
cial simple rotors, the actual complex multi-disk, multi-bearing
stepped rotors with overhang would require a more general for-
mulation utilizing the powerful finite element method. In such
large-scale rotors, the time response calculations, however, in-
volve integration of equations of motion with a wide-spread
eigenspectrum. These systems with large dimensionality often re-
sult in numerical integration difficulties, since it gives rise to a
numerically stiff system, thus causing the numerical integration
scheme to search inefficiently for a solution or may even fail to
find one.
In this paper, a general dynamic model for a large-scale rotor-
bearing system with a cracked shaft, rotating at constant speed is
introduced. The effect of the crack on the shaft stiffness has been
considered by the developed cracked finite shaft element utilizing
a consistent finite element approach. The model accommodates
shafts with tapered portions, multi-disks, and anisotropic bearings.
The formulation is applicable to rotor-bearing systems with dif-
ferent practical design configurations including intermediate bear-
ings, overhang, and stepped shaft assemblies. A reduced order
form of equations of motion is obtained by invoking the actual
non-planar 共complex兲 modal transformations. The time response
due to different excitations are calculated, and comparisons are
presented to establish the validity and efficiency of the reduced-
order model.
2 The Elastodynamic Model
Following the procedure outlined in reference 关16兴, the equa-
tions of motion of the ith rotor shaft element can be derived as
M i ë i ⫹ ␪˙ G i ė i ⫹K i e i ⫽Q i
where
M i ⫽M ti ⫹M ri ⫹M ␾i ⫹2M ie
i tion scheme which is being applied for the first time to cracked
is the composite mass matrix. The constituent matrices of M are
due to different types of motions of the rotor-shaft finite element.
These are the translational mass matrix M ti , the rotary inertia
mass matrix M ri , the torsional mass matrix M ␾i and the time de-
pendent matrix M ie , which couples the flexural and torsional mo-
tions. The matrix G i is the element gyroscopic matrix which
couples the flexural motions in two perpendicular directions, and
K i is the composite stiffness matrix given by
K i ⫽K ie ⫹K si ⫹K ␾i
The constituent stiffness matrices are the flexural stiffness matrix
K ie , the shear stiffness matrix K si and the torsional stiffness matrix
K ␾i . The vector e i is the vector of nodal coordinates of the shaft
finite element and Q i is a vector of applied forces.
The equation of motion of the rotor shaft which is obtained by
assembling the equations of motion of all the finite shaft elements.
This can be written as
M ë⫹ ␪˙ Gė⫹Ke⫽Q
where the matrices M, G and K are the assembled mass, gyro-
scopic and stiffness matrices of the rotor shaft. The vector e is the
assembled vector of all the nodal coordinates of the rotor and Q is
the assembled vector of the external forces.
A generalized rotor system comprises shaft elements, disks and
bearings. If one considers a rigid disk attached to the shaft, the
equation of motion of such a rigid disk may be written as
M d ë⫹ ␪˙ G d ė⫽Q d
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where the matrix M d is the disk mass matrix, G d is the gyroscopic
matrix and Q d is the vector of generalized forces of the disk. The
equation of motion of the rigid disk Eq. 共5兲 is written in terms of
the generalized vector of the assembled nodal coordinates of the
rotor shaft e, hence the dimensions of the mass and gyroscopic
matrices of the rigid disk in Eq. 共5兲 are equal to the dimensions of
the matrices in Eq. 共4兲. Similarly, the generalized forces associ-
ated with the bearings can be written as
C b ė⫹K b e⫽Q b (6)
b b
where C is the bearing damping matrix, K is the bearing stiff-
ness matrix and Q b is the vector of generalized forces of the
bearings.
Now, the equation of motion of a rotor-bearing system can be
written in the assembled general form as
M s ë⫹C s ė⫹K s e⫽Q s (7)
s
where M is the assembled mass matrix of the system taking into
account the disk mass matrix associated with the corresponding
nodal degrees of freedom. Similarly, C s is the assembled gyro-
scopic matrix taking into account the disk gyroscopic matrix and
damping matrix of the bearings, K s is the assembled stiffness
matrix which includes the stiffness matrix of the bearing as well,
and Q s is the assembled generalized force vector. The vector e
comprises nodal coordinates of the whole system.
The matrices of Eq. 共7兲 are evaluated in a consistent manner.
The shape functions used to evaluate the matrices have shear and
flexibility due to crack as a parameter. The flexibility compliance
of the crack is evaluated using fracture mechanics concepts. The
graphs of non-dimensional flexibility compliance versus crack
depth are given in reference 共关5兴兲.
The assembled equations of motion of the rotor-bearing system
which are written in nodal coordinates are of large dimension.
Numerically integrating the equations of motion is not only time
consuming but also numerically inefficient. Such a large dimen-
(1) sional system spans a large frequency spectrum. For mechanical
systems, a subset of frequency spectrum, spanning the lower
modes is, in general, representative of the dynamics of the actual
full order system. Hence a reduction scheme to reduce the order of
(2)
the equations of motion is desirable. The complex modal reduc-
rotor-bearing system is invoked. The reduced modal form of the
equations of motion are integrated forward in time to predict the
time response of the rotor-bearing system due to a general forcing
function.
3 Finite Element Formulation
The ith cracked rotor shaft finite element has two nodes with
five degrees of freedom per node. The five degrees of freedom are
(3)
two flexural deformations v i and w i along two mutually perpen-
dicular directions and three elastic rotations ␤ i , ␥ i and ␾ i about
the three body axes of the finite element. A crack is present at
some position l ic along the length of the finite element. The pres-
ence of the crack introduces additional flexibility in the finite el-
ement and is modeled using the crack flexibility influence coeffi-
cient. The expression used to evaluate the crack flexibility
influence coefficient is given in Appendix A.
The additional flexibility due to the presence of the crack is
(4) modeled by assuming a discontinuity in the slope of the neutral
axis of the shaft finite element. The difference in slopes of the
either side of the crack is written in terms of the crack flexibility
coefficient and the moment acting on the shaft. Hence at the lo-
cation of the crack it is assumed that 共a兲 the deflection of the finite
element is continuous, 共b兲 the slope of the finite element is dis-
continuous to accommodate the additional flexibility, 共c兲 the mo-
ments are continuous and 共d兲 the shear forces are continuous.
Using these four compatibility conditions at the crack location
(5) along with the boundary conditions, the shape functions of the
DECEMBER 2002, Vol. 124 Õ 691
 crack rotor shaft finite element are presented in reference 共关17兴兲. Equations 共16兲–共18兲 are applicable to the left side of the cracked
Two different sets of shape functions are derived to model the beam element. Similar expressions can be written for the right
deformation of the two segments of the cracked shaft finite ele- side of the cracked beam element. The nonzero entries of K ie , K si
ment. and K ␾i which are obtained by carrying out the integration of Eqs.
共13兲, 共14兲 and 共15兲 respectively, are presented in the reference
共关17兴兲.
3.1 Element Matrices
3.1.1 Inertia Matrices. Now, the components of the mass
matrix can be written in the form 4 Modal Reduction Schemes

M ti ⫽ 冕 0
i
lc T
N vi 1 ␮ i A i N vi 1 dx i ⫹ 冕 li

i
lc
T
N vi 2 ␮ i A i N iv 2 dx i (8)
The finite element method is often used to model complex
rotor-bearing systems. This involves writing the equations of mo-
tion in terms of nodal coordinates. The use of nodal coordinates,

冕 冕
i however, results in a large dimensionality, thus inhibiting the ef-
lc T li T
M ri ⫽ N ␤i 1 I D
i
N i␤ 1 dx i ⫹ N ␤i 2 I D
i
N ␤i 2 dx i (9) ficiency of the finite element solution. Moreover, the use of nodal
0
i
lc coordinates results in a dynamic model of widely spread eigen-

冕 冕
i li
lc T T
M ␾i ⫽ N ␾i 1 I iP N ␾i 1 dx i ⫹
i
0 lc
where M ti is the translational mass matrix, M ri is the rotary inertia
mass matrix, M ␾i is the torsional mass matrix, I D i
is the diametral
i
mass moment of inertia and I P is the polar mass moment of iner-
tia. The matrices N iv , N i␤ , and N ␾i are the shape functions for
flexural, rotary and torsional deformations, respectively. The sub-
scripts 1 and 2 denote the left and right side of the shaft finite
element. The explicit expressions of the element translational
mass matrix M ti , the rotary inertia mass matrix M ri and the el-
emental torsional mass matrix M ␾i are obtained by carrying out
the integration of Eqs. 共8兲, 共9兲 and 共10兲, respectively. The nonzero
entries of M ti , M ri and M ␾i are presented in the reference 共关17兴兲.
The gyroscopic matrix G i is defined by
T
G i ⫽Ĝ i ⫺Ĝ i
where, for constant rotating speed, Ĝ i can be calculated by
spectrum that includes many insignificant modes.
In order to alleviate this problem, reduced order models using
N ␾i 2 I iP N ␾i 2 dx i (10) modal coordinates were introduced. Likins 关18兴 introduced modal
reduction using complex modes in his early formulation of the
elastic appendage equations. Gunter et al. 共关19兴兲 utilized modal
transformations to obtain a reduced order modal form of the equa-
tions of motion. Although they 共关18,19兴兲 recognized that the actual
vibration modes of a rotor system are complex, they have used
planar modes in their evaluation of the unbalance response of the
rotor. They have also referred to the numerical difficulties associ-
ated with using complex modes. Nevertheless, they recommended
that complex modes 共damped modes兲 be considered in the final
analysis. Laurenson 共关20兴兲 addressed the issue of complex mode
shapes in rotating flexible structures. It was suggested, however,
that planar modes be used in modal reduction of complex geomet-
ric configurations by employing the technique presented in 共关21兴兲
for converting the complex eigenvalue problem to one defined by
real matrices. In this regard, one can also refer to the general area
(11) of flexible multibody applications 共关22–25兴兲 where planar modes
were employed to obtain reduced order models inspite of the ex-
istence of damping and gyroscopic forces.

冕 冕
lc
i li
Kane and Torby 共关26兴兲 referred to the different methods for
T T
Ĝ i ⫽ i
N ␤␥ I i N i dx i ⫹
1 P ␤␤ 1
i
N ␤␥ I i N i dx i
2 P ␤␤ 2
(12) reducing the size of the finite element model while preserving the
0
i
lc lower 共significant兲 frequencies. It was stated that the static reduc-
tion usually results in poor accuracy at higher modes, therefore,
The explicit expressions for the elemental gyroscopic matrix G i cannot be applied to general rotor systems because it is derived
are obtained by integrating Eq. 共12兲, and then substituting into Eq. for systems having symmetric mass and stiffness matrices. There-
共11兲. The nonzero entries of G i are presented in the reference fore, they introduced a modal transformation based on complex
共关17兴兲. modes that resulted in reduced mass and stiffness matrices, and
3.1.2 Stiffness Matrices. The constituent matrices of the demonstrated how the reduced model preserved the same modal
stiffness matrix K i are given by characteristics of the original finite element model. Their work,
however, was not carried out to the dynamic response analysis
K ie ⫽ 冕 0
i
lc T
B̂ ie 1 E i I i B̂ ie 1 dx i ⫹ 冕 li

i
lc
T
B̂ ie 2 E i I i B̂ ie 2 dx i (13)
stage.
Having examined the previously cited investigations, one rec-
ognizes a strong view in support of using complex modes in

K si ⫽ 冕0
lc
i
T
B̂ si 1 ␬ G i A i B̂ si 1 dx i ⫹ 冕 i
lc
li T
B̂ si 2 ␬ G i A i B̂ si 2 dx i (14)
modal transformations of systems with gyroscopic matrices,
though acknowledging the associated numerical complexities. To
avoid such numerical difficulties, another view suggested the use

冕 冕
i
of planar modes obtained after modifying the mass matrix to in-
lc T li T
K ␾i ⫽ B̂ ␾i 1 G i J i B̂ ␾i 1 dx i ⫹ B̂ ␾i 2 G i J i B̂ ␾i 2 dx i (15) clude the gyroscopic effects. Nevertheless, other investigators, es-
0
i
lc pecially those concerned with dynamic response analysis, have
consistently employed planar modal transformations. It is note-
As defined earlier, K ie is the elastic stiffness matrix, K si is the shear worthy to mention, to the best of the author’s knowledge, that no
stiffness matrix and K ␾i is the torsional stiffness matrix. where dynamic response analysis study that invoked complex modal
transformations was reported in the available literature. In the
dN ␾i 1 following section, the complex modal reduction scheme is pre-
B̂ ␾i 1 ⫽ (16) sented.
dx i
4.1 Complex Modal Transformation. The elastodynamic
dN ␤i 1 model of Eq. 共7兲 can be represented in the state-space form as
B̂ ie 1 ⫽

冋 册再 冎 冋 册再 冎 再 冎
(17)
dx i 0 ⫺M s Ms 0
ë ė 0
⫹ ⫽ (19)
dN vi 1 M s
C s ė 0 Ks e Qx
B̂ si 1 ⫽ i ⫺N ␤ 1
i
(18)
dx Or simply as

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 Aq̇⫹Bq⫽ f (20)
where q⫽ 兵兵 ė 其 , 兵 e 其 其 . One can write the following two homo-
T T T
geneous adjoint equations:
Aq̇⫹Bq⫽0 (21)
and
A T q̇ ⬘ ⫹B T q ⬘ ⫽0 (22)
Let R and L denote the complex modal matrices of the differential
operators of Eqs. 共21兲 and 共22兲, respectively, 共关27兴兲. Introducing
the transformation
q⫽Ru (23)
where u is the vector of modal coordinates. If only a subset of
significant modes are to be retained, the truncated modal form of
the equations of motion can be written as
L T ARu̇⫹L T BRu⫽L T f (24)
Or, simply as
A r u̇⫹B r u⫽L T f (25)
where R and L contain only those complex eigenvectors that rep-
resent a subset of selected modes. In general, a subset of eigen-
vectors which spans the frequency spectrum of the forcing func-
tion are retained as significant modes.
5 Results and Discussions
A computer scheme is developed to integrate forward in time
the full-order as well as the reduced order equations of motion
obtained by complex modal reduction as presented by Eq. 共25兲.
The predicted time responses are presented in non-
dimensionalized form. The time response can be evaluated either
by applying external force or by specifying initial conditions.
When the time response is due to external forces, it is normalized
with respect to the static deflection. When it is evaluated by speci-
fying initial conditions, the static deflection cannot be used for
normalizing, instead the maximum value of deflection in the time
response of the uncracked shaft is used. For the transverse deflec-
tions, the non-dimensional generalized displacement parameter ␨
is defined as
v 5.2 Rotating Tapered Shaft. Consider a cracked tapered
␨ v⫽ (26)
⌳
where v is the deflection and ⌳ is the maximum static deflection
of the shaft in the direction of the force. For the torsional deflec-
tion the non-dimensional generalized displacement parameter is
defined as
␾
␨ ␾⫽ (27)
2⌳/d
where ␾ is the torsional deformation and d is the diameter of the
shaft at the point of measurement. The impulse response is evalu-
ated for some initial velocity input while the forcing vector is
zero. In this investigation the impulse response is normalized with
respect to the maximum value of deflection in the unit impulse
response of the uncracked shaft.
5.1 Comparison With ANSYS. As a first example, a uni-
form steel shaft rotating at a spin speed of ⍀⫽400 rad/s and
supported at the two ends by rigid ball bearings 共simply sup-
ported兲 is considered. The shaft is of diameter d⫽10.16 cm and
length l⫽127 cm. The density and elastic modulus of the shaft
material are ␮⫽7833 kg/m3 and E⫽2.068⫻1011 N/m2 , respec-
tively. This particular example is selected to validate the results of
the dynamic analysis code developed during this study by com-
paring them to the results from the commercially available finite
element software ANSYS.
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Fig. 1 Comparisons of the deflections of the rotating shaft
due to unit step force
The rotating shaft is divided into six equal finite elements and is
excited by a unit step force in Y-direction at the midpoint of the
shaft. The response of the system is computed using both the
programs. Figure 1 gives a comparison of the deflection in
Y-direction of the midpoint of the rotating shaft, when the re-
sponse is computed using
共a兲 the currently developed code with full dimension state
space matrices
共b兲 the currently developed code with 共4⫻4兲 reduced dimen-
sion state space matrices with complex modal reduction,
and
共c兲 ANSYS software with full dimension matrices
The response of the shaft using the dynamic analysis code de-
veloped during this study is in a good agreement with the re-
sponse computed using ANSYS software. Hence, the validation of
the developed dynamic analysis code using the complex modal
reduction technique can be established.
shaft rotating at a spin speed of ⍀⫽3000 rad/sec with a crack of
depth ⌬⫽0.5 at ␳⫽0.3 and taper ratio equal to 0.5, which is sup-
ported at the widest end by a rigid journal bearing, is excited by a
step force near the crack. The tapered shaft is of length L⫽1 m
and slenderness ration R 1 /L⫽0.125. The shaft is divided into 11
equal finite elements. The excitation is applied at node 5. The time
responses of the rotating tapered shaft in the two planes of vibra-
tion obtained using the full order models are plotted in Fig. 2. In
this example, the unit step force is acting in the direction of vi-
bration along which the crack is present. It is clearly shown in the
figure that the deflection in the plane in which the crack is present
is greater than that in the other plane. Although the excitation is
only in one plane we record a deflection in the other plane because
the two flexural motions are coupled by the gyroscopic moments.
The response computed using the complex reduction scheme is
also shown in the figure. In Fig. 3, the time responses at node 5 of
an uncracked tapered rotating shaft excited by unit step at node 5
is plotted. It is observed that the vibration of the shaft in the two
planes is exhibiting out of phase beating phenomenon. Comparing
Figs. 2 and 3 one can infer that the amplitudes of vibration of the
cracked shaft have increased in the plane of crack.
In Fig. 4, the response of the cracked rotating shaft at node 5,
when excited by a unit impulse at node 5 is shown. The response
computed using full order matrices is compared to the response
computed using the complex reduction model. The compared re-
sponses are in good agreement.
DECEMBER 2002, Vol. 124 Õ 693

Fig. 2 Step response of the rotating tapered cracked cantile-
ver shaft using complex modal reduction
Fig. 3 Step response of the rotating tapered uncracked canti-
lever shaft
Fig. 4 Impulse response of the rotating tapered cracked can-
tilever shaft using planar modal reduction. „ Perpendicular
to Force, Direction of Force, " " " " Complex Reduction….
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Fig. 5 Step response of a cracked rotating tapered simply
supported shaft using planar modal reduction. „ Perpen-
dicular to Force, Direction of Force, " " " " Complex Re-
duction….
As another example, a simply supported rotating tapered
cracked shaft is considered. Other details of the shaft are similar
to those of the earlier example. The response of the simply sup-
ported rotating shaft to unit step force is shown in Fig. 5. The
amplitudes of vibration in the plane in which the crack is present
are much higher when compared to the amplitudes of vibration in
the other plane of vibration. This is due to the inertial coupling
matrix which couples the flexural and torsional vibrations of the
shaft. In Fig. 6 the torsional deflection of the simply supported
shaft due to a unit step force in the flexural direction is shown.
The torsional deflection is solely due to coupling with the flexural
motion because no torsional load is applied to the shaft. In addi-
tion, the response due to a unit step force computed using the
complex reduction model is in good agreement with that com-
puted using full order matrices.
In Fig. 7 the step response of a tapered rotating uncracked shaft
is plotted. The tapered shaft is simply supported at both ends and
is rotating at a spin speed of ⍀⫽3000 rad/sec. The comparison of
Figs. 6 and 7 show the difference in the behavior of the rotating
Fig. 6 Torsional response of a cracked rotating simply sup-
ported shaft due to inertial coupling
Transactions of the ASME
 Fig. 7 Step response of an uncracked rotating tapered simply
supported shaft
Fig. 8 Time response of cracked rotating tapered cantilever
shaft due to a force sin„3000t …. „ Perpendicular to Force,
Direction of Force, " " " ". Complex Reduction….
Fig. 9 The multi-stepped rotor-bearing shaft
shaft due to the presence of crack. The time responses of the
uncracked rotating shaft have out-of-phase vibrations exhibiting
the beating behavior. The step response of the cracked rotating
shaft does not exhibit the above characteristics. The deflection in
the plane of crack is much higher when compared to the deflection
in the other plane.
In Fig. 8, the response at node 5 of the cantilever shaft due to a
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Fig. 10 Step response of cracked multi-stepped system due to
excitation at node 13
force sin(3000t) applied at node 5 is shown. In this case, the
frequency of the applied force is selected far from the lowest
natural frequency of the shaft, hence the phenomenon of beating
will not take place, however, this is a case of unbalance response
because the frequency of applied force is equal to the spin speed
of the rotor shaft. It is also observed that the amplitude of vibra-
tion in the plane of crack is higher than the amplitude of vibration
in the other plane.
5.3 Rotating Multi-Stepped Shaft. The complex multi-
stepped rotor-bearing system shown in Fig. 9 is now simulated to
study the time response of an actual large-scale rotor system. The
rotor-bearing system is rotating at a spin speed of ⍀⫽2000 rad/
sec. The shaft is supported by two bearings which are flexible and
damped. The stiffness coefficients of the bearings are K y y ⫽K zz
⫽3.503⫻107 N/m and K yz ⫽K zy ⫽⫺8.756⫻106 N/m. The damp-
ing coefficients are C y y ⫽C zz ⫽1.752⫻103 N.s/m and C yz ⫽C zy
⫽0. The mass properties of the disk are mass 1.401 kg, polar
moment of inertia 0.002 kg/m3, and diametral inertia 0.00136
kg-m2. The multi-stepped shaft is divided into 18 elements of
Fig. 11 Step response of cracked multi-stepped shaft at node
1 due to excitation at node 13
DECEMBER 2002, Vol. 124 Õ 695
 which some are hollow. The total number of degrees of freedom
of the shaft are 95, therefore the state space full order model is of
order 共190⫻190兲. The full order model is reduced to an order of
共20⫻20兲 by retaining the first ten complex conjugate modes of the
full order model.
Let a crack of depth ⌬⫽0.5, be present near mode 13 and the
shaft be excited by a unit step force at node 13. The deflection at
node 13 of the cracked shaft due to step force is plotted in Fig. 10.
Comparison of Figs. 10 and 11 show that the amplitudes of vibra-
tion in the direction of force have increased appreciably for the
cracked shaft.
6 Conclusions
A general dynamic model and computational scheme of time-
response analysis of a large scale rotor-bearing system is devel-
oped. The model utilizes the powerful finite element method while
accommodating the crack effects within a consistent finite element
formulation. A reduced order model invoking complex modal
transformations is obtained and validated. It is hoped that the
developed formulations and computational scheme serve as effi-
cient tools for both dynamic analysts and engineers in the field of
rotor dynamics who endeavor establishing early crack warning
schemes.
Acknowledgment
The authors appreciate the support provided by the Research
Institute and Mechanical Engineering Department at King Fahd
University of Petroleum & Minerals during this research.
Appendix A
The Crack Model. The crack model introduced by Pap-
adapoulos and Dimarogonas 关5,10兴 is used in this investigation,
wherein the dimensionless form of the flexibility influence coef-
ficient is given by
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