2011 UKSim 13th International Conference on Modelling and Simulation

Nonlinear Dynamic Analysis of Shrouded Turbine Blade of Aero-engine Subjected

to Combination Effect of Impact and Friction

Nan Guofang Ren Xingmin

Department of Engineering Mechanics Department of Engineering Mechanics
Northwestern Polytechnical University Northwestern Polytechnical University
Xi'an, China Xi'an, China
nangf@mail.nwpu.edu.cn renxmin@nwpu.edu.cn

Abstract—The nonlinear dynamic analysis of shrouded

turbine blade with combination effect of impact and friction
between shrouds is presented in this paper. Adding shrouds to
blade is for vibration reduction. It is very complex to analyze
nonlinear dynamics in the presence of nonlinearities such as
nonlinear resilience of springs and piecewise linearity. The
shrouded blade is modeled as mass-spring model due to its
features of cyclic symmetry; couplings of axial and tangential
displacement of the shrouded blade are taken into account.
The dynamic equations with nonlinear resilience of springs Figure 1. Shrouded blade of aero-engine
and piecewise linearity are numerically solved. Bifurcation
diagrams, phase portraits and Poincaré maps are employed to Shrouded blade is actually an effective dry friction
analyze the dynamic behavior of the shrouded blade system. damper. Nonlinearities arise from the dry friction damper,
The numerical results show that nonlinear shrouded blade
system exhibits a variety and complex of dynamic behaviors
i.e. interaction forces. When nonlinear systems are subjected
that include periodic, multi-periodic, chaos motion, jump to combination effect of friction and impact (piecewise
phenomena, etc. The nonlinear dynamic behavior of the system linearity) or nonlinear resilience, complex dynamic
varies with the increase of the rotational speed, nonlinear phenomena, such as bifurcations, jump, and chaos motion
factors of springs and amplitude of gas excitation force. The are observed, which may severely restrict the response range
results can be helpful in understanding physically the of the blade. However, nonlinear analysis of rotating
nonlinear phenomena of a shrouded blade of aero-engine with machines has difficulties in establishing suitable nonlinear
multiple nonlinear factors, and the bifurcation results are model of the shrouded blade. In a shrouded blade system,
practically meaningful for parametric design of shrouded the shrouds constrain the blade motions not only along the
blade.
Keywords—shrouded blade; nonlinear dynamics; impact and
contact plane (via friction) but also along the normal
friction; bifurcation direction of the contact plane (via impact), resulting in very
complex contact state. The phenomenon of friction and
I. INTRODUCTION impact in shrouded blade system is highly nonlinear and
may lead to chaos motion. The nonlinear behavior has made
Blade is an important component widely used in turbine
it difficult to predict the responses of the system accurately.
and aircraft. The dynamic loads which exert on blade are
The nonlinear dynamic of shrouded blade have been
caused by variable gas excitation forces resulting in forced
studied by many researchers because of its important role in
vibrations of the blades. The forced vibrations can lead to
the vibration reduction of aero-engine blade. In the past
high cycle fatigue (HCF) which could damage the blades.
several decades, both model construction and solution
One of the main targets in the design of turbine blade of
method have been developed to analyze the nonlinear
aero-engine is the reduction of vibration amplitudes to avoid
behavior of a shrouded blade [1]-[3]. Reference [1] carried
HCF. Shrouds are applied to the blades to reduce the
out numerical predictions of the forced vibration of a disk
amplitudes of vibration and therefore reduce the dynamic
assembly including frictional effects between the shrouds
cyclic stresses. The vibration amplitudes of the blades can
concerning engineering needs for the blade design process,
be reduced significantly to a reasonable range if adjacent
it took the friction nonlinearities into account, but the
blades are coupled by shroud contacts that increase the
impact nonlinearities was neglected. Reference [2] proposed
damping, as shown in Figure 1, shrouded blades are
a rational method for optimizing shrouded damping. Very
installed in a rotor and there are impact and friction effect
few published papers deal with the nonlinear dynamic of
between every two shrouded blades when the rotor system
shrouded blade with considering combination effect of
with shrouded blades works. It is the impact and friction
impact and friction. Reference [4] constructed a three-
that make damping for vibration reduction.

978-0-7695-4376-5/11 $26.00 © 2011 IEEE 212

DOI 10.1109/UKSIM.2011.48
dimensional shroud contact model and predicted the
periodic response of blades having three-dimensional
nonlinear shroud constraint. It presented the three-
dimensional nonlinear shroud constraint; however, it is
under nonrotational state. Reference [5] addressed
multiharmonic forced response analysis of a turbine blade
coupled by nonlinear contact forces. Reference [6] reported
nonlinear stochastic dynamics analysis for a single degree of
freedom model of a rotor blade. Reference [7] developed a
nonlinear model for coupled effect between shaft torsional
vibration and blade bending vibration in rotors and
investigated the couplings in the different forms. Reference
[8] studied nonlinear response of a non-rotating rotor blade
to a periodic gust; however, the model is under the state of
non-rotating. All of the numerical studies up to now are
confined to friction nonlinearity; very few studies of the
impact nonlinearity or combination nonlinearity of impact
and friction in shrouded blade dynamics have been
investigated.
In this paper, considering the combination effect of
impact and friction nonlinearities, the effects of several
parameters of shrouded blade system on the nonlinear
dynamic response of the blade are addressed, including
rotating speed, nonlinear factors of resilience and amplitude
of gas excitation force. Numerical results indicate that the
shroud generates complex and rich nonlinear dynamic
characteristic for certain parameter range. The results can be
helpful in understanding physically the nonlinear
phenomena of a shrouded blade and parametric design of
shrouded blade.
II. MODEL AND EQUATIONS OF MOTION
(a) (b)
Figure 2. Schematic view of shrouded blade for aero-engine: (a) cyclic
symmetric shrouded blade; (b) Classical Coulomb Friction Model
Figure 2 shows schematic view of shrouded blade for
aero-engine: (a) cyclic symmetric shrouded blades which
are installed in a rotor and the gap between every two
shrouds is δ ; (b) classical coulomb friction model where
friction F is direct proportion of normal load N and
F = µ N when the direction of relative speed v rel is certain;
F = − µ N with opposite direction. The xyz coordinate
system (called blade coordinate system) is defined in
accordance with the radial (x), tangential (y), and axial (z)
directions.
The shrouded blades system is a cyclic symmetry
structure, so one shrouded blade is investigated which can
characterize the dynamic characteristic of integral system.
Figure 3 shows the lumped parameter model (mass-springs
213
model) of shrouded blade. Blade coordinate system is the
same as Figure 2’s. This is the main analytical model in this
paper. The system is composed of a lumped mass M and
some mass-less springs with stiffness coefficient k, gap
δ between every two shrouds. Every blade is coupled by
shrouds with the adjacent Blades. This coupling is a
combination effect of impact and friction. The classic
coulomb contact model is employed to represent contact
forces (mainly include friction and normal pressure)
between shrouds (see Figure 2-b), where friction is a
function of velocity, the relationship is as follows:
⎧ µk N v r el > 0 (1)
⎪
F (vrel ) = ⎨ − µs N ≤ F (vrel ) ≤ µ s N v r el = 0
⎪− µ N
⎩ k v r el < 0
Figure 3. Lumped parameter model of shrouded blade
Where F (vrel ) is friction force, µk is friction coefficient
for slide, µs is friction coefficient for static, N is normal
force on interface between two shrouds, vrel is the relative
velocity for slide between two shrouds. The value is zero at
certain time span when the interface between shrouds is at a
state of stick. F (vrel ) is in the range of µs N and −µs N.
The displacement of x direction is ignored because it has
very little effect on investigation in this paper. So the end of
the shrouded blade has two displacements y direction and z
direction. The resilience force and friction force between
shrouded blades are as follows:
⎧−k ( y − δ ) y >δ 2
⎪
f y = ⎨0 −δ < y < δ
⎪
⎩−k ( y + δ ) y < −δ
3
f z = F (vrel )
Where f y and f z are respectively normal force and
friction force between contact surfaces of shrouds. K is the
coefficient of stiffness between shrouds, δ is the value of
gap between shrouds, y is the relative displacement between
shrouded blades, v r el is the relative velocity for z direction
when two shrouded blades touch each other. The impact and
friction forces are added to the model and then construct the
equation of motion, seen in Figure 3. An integral shrouded
blades system is cyclic symmetry system, the equations of
motion of one blade distracted from the integral blades
system in the tangential direction and axial direction are coupled equation of motion of shrouded blade with
displayed consideration of nonlinear resilient force.
[M]{& }+[K]{x} ={F(t, x, x&,δ )}+{Q(t)}
}+[C]{x&
x& 4
B. Equation of Motion with Nonlinear Springs and
Where [ M ] [C ] [ K ] are respectively mass matrix, Combination Effect of Impact and Friction
damping matrix and stiffness matrix. {F (t , x, x&, δ )} is When the contact angle of shrouds (the contact angle of
nonlinear force caused by effect of impact and friction shrouds refers to the angle between interface of shrouds and
between shrouded blades, the displacement vector is tangential direction) is not vertical, there is a combination
{x} = { y z} effect of impact and friction on interface of shrouds. Let the
T

resolution of contact force (including friction and normal

The impact and friction forces between shrouded blades
force) be along tangential direction and axial direction. The
are as follows
coupled equation of motion of shrouded blade system can be
⎧ fy ⎫ 5
{F ( x, x&, t , δ )} = ⎨ ⎬ written as
⎩ fz ⎭ ⎪⎧my&&+ c1 y&+ k1 y + α1 y 3 = f n sin θ + fτ cos θ + f 0 sin(ωt ) + f1 sin(3ωt )
⎨
Where f y and f z are derived from equations (1) ~ (3), &+ c2 z&+ k2 z + α 2 z 3 = f n cos θ + fτ sin θ
⎪⎩mz& (9)
{Q (t )} is cyclic gas excitation force. Where dot on the head of letter denotes the derivative
⎧ f sin(ωt ) + f1 sin(3ω1t ) ⎫
Q(t ) = ⎨ 0
6 with respect to dimensionless time parameter t; f n and fτ
⎬
⎩ 0 ⎭ are the dimensionless components of the interface force in
Where f 0 sin(ωt ) is the excitation force caused by the normal and tangential directions of interface,
centrifugal force ω = 2π f d where f d is dynamical respectively. Introduce the dimensionless variables and
define the following dimensionless coefficients
frequency of the blade, f1 sin(3ω1t ) is gas excitation force c1 c k k ω ω
ξ1 = , ξ 2 = 2 , ωn21 = 1 , ω n22 = 2 ,τ = ω t , Ω1 = = Ωκ1 , Ω 2 = = Ωκ 2
from the nozzle, ω1 is the circular frequency. If there is no 2 mω 2 mω m m ω n1 ωn 2
y z kb k f0 f1 α δ2 α δ2
gas excitation forces, f1 = 0 . Vibration characteristics with Y= ,Z = , K1 = , K 2 = b , F0 = , F1 = , ε1 = 1 2 , ε 2 = 2 2
δ δ k1 k2 mδω 2 mδω 2 mω mω
muzzle are investigated in this paper. Seen from equations Equation (9) is divided by mδω 2 and then dealt with
(1) ~ (3), one cyclic can be divided into several linear dimensionless method; the equation is represented as
sections according to the spring stiffness and the value of follows
resilience force. Consequently, this system is called ⎧ ′′ 1 K1 K2
⎪Y + 2ξ1Y ′ + Ω2 Y + ε1Y = − Ω2 (Y ± 1)sin θ − µk Ω2 (Y ± 1) cos θ + F0 sin(τ ) + F1 sin(3τ )
3

piecewise linear system. ⎪

⎨
1 1 2

⎪ Z ′′ + 2ξ Z ′ + 1 Z + ε Z 3 = − K1 (Y ± 1) cos θ − µ K 2 (Y ± 1)sin θ
⎪⎩
A. Equation of Motion with Nonlinear Springs
2 2 k
Ω22 Ω12 Ω22
(10)
The equation of motion of the system with nonlinear Where dot (‘) represents the derivative with respect to
springs can be written as dimensionless time parameter τ . This is the dimensionless
&+ c1 y&+ k1 y + α1 y3 = fn + f0 sin(ωt) + f1 sin(3ωt)
⎧⎪my& (7) coupled equation of motion of shrouded blade with
⎨
&+ c2 z&+ k2 y + α2 z3 = fτ
⎪⎩mz& consideration of nonlinear resilient force and combination
Where dot on the head of letter denotes the derivative effect of impact and friction.
with respect to time parameter t; f n and fτ are the III. NUMERICAL RESULTS AND ANALYSIS
dimensionless components of the interface force in the The presented dynamic model is exemplified by the
normal and tangential directions of interface, respectively. numerical analysis of shrouded blade coupled by adjacent
Introduce the dimensionless variables and define the shrouds shown in Figure 2 (a) and Figure 3. Numerical
following dimensionless coefficients calculations based on Equations (7) – (10) with nonlinear
c1 c k k ω ω
ξ1 = , ξ 2 = 2 , ω n21 = 1 , ω n22 = 2 ,τ = ω t , Ω1 = = Ωκ1 , Ω 2 = = Ωκ 2 resilience or piecewise are carried out. The first half of the
2 mω 2 mω m m ω n1 ωn 2
data which have been gotten from calculation are
y z kb k f0 f1 αδ2 α δ2
Y= ,Z = , K1 = , K 2 = b , F0 = , F1 = , ε1 = 1 2 , ε 2 = 2 2 deliberately excluded from the nonlinear dynamic
δ δ k1 k2 mδω 2
mδω 2
mω mω
investigation so as to ensure that the data used is under the
Equation (7) is divided by mδω 2 and then dealt with non-di steady state.
mensional method; the equation can be expressed as follows There are usually some methods in the nonlinear
⎧ 1 K1
dynamic field to verify chaotic motion of the system, such
⎪Y ′′ + 2ξ1Y ′ + Ω 2 Y + ε1Y = − Ω 2 (Y ± 1) + F0 sin(τ ) + F1 sin(3τ )
3

⎪
⎨
1 1
as bifurcation diagram, phase portrait, Poincaré maps, and
⎪ Z ′′ + 2ξ Z ′ + 1 Z + ε Z 3 = − µ K 2 (Y ± 1)
⎩⎪
2
Ω2 2 2
(8)
k
Ω 22 waveform and so on. In order to study the complex
Where dot (’) represents the derivative with respect to nonlinear features, bifurcation diagrams, phase portraits and
dimensionless time parameter τ . This is the dimensionless Poincaré maps are chosen as tools to investigate the
nonlinear dynamic behavior of the system. Bifurcation

214
diagrams provide a summary of the essential dynamics. 12
13

Phase portraits and Poincaré maps can accurately identify 10

the dynamic behavior of the shrouded blade at certain 8
parameters such as rotational speed, nonlinear factors of
6
spring and amplitude of gas excitation force.
4
)
A. Rotating Speed T
n(
Y
′ 2

-2

-4

-6
-4 -3 -2 -1 0 1 2 3
Y(nT)
(a)
13
15

10

0
′
Y

-5
Figure 4. Bifurcation diagram of response of the shrouded blade system
as a function of rotating speed -10

Based on dimensionless equation (10), the nonlinear -15

-4 -3 -2 -1 0 1 2 3 4 5

factor of spring ε1 and ε 2 are chosen to be ε1 =0.007 and

Y
(b)
35

ε 2 =0.004 respectively, the dimensionless rotating speed

-2

factor Ω varies in the range from 0 to 40. Figure 4 shows

-4

the bifurcation diagrams of dynamic response of the -6

shrouded blade system, which is a summary of nonlinear -8

dynamics of system. When rotating speed is in the ranges T
)
n(
′
from 2.8 to 8.7 and from 11.4 to 16.4, the system exhibits a Y -10

chaotic phenomenon. When rotating speed is in other range, -12

the system shows periodical motion. In order to investigate

the dynamic behavior in these ranges, Poincaré maps, phase -14

portraits and orbit of centroid are chosen, as shown in -16

-6 -4 -2 0 2 4 6 8

Figure 5. At a rotating speed factor Ω =13, the system (c)

Y(nT)

shows chaos phenomenon which can be identified by 15

35

Poincaré map and phase portrait, as shown in Figure 5(a)

and (b). Figure 5 (c) where there are only three points and 10

(d) exhibit 3-period motion with the rotating speed factor

Ω =35 in accordance with results of the bifurcation diagram 5

shown in Figure 4. Figure 5 (e) and (f) are the motive orbit ′
0

of centroid with rotating speed factor Ω equals to 16.3 and

Y

35 respectively. In short, from the figure 4 and 5, it is -5

observed that the dynamic responses of the shrouded blade -10

system are sensitive to the variation of rotating speed. The
system shows rich and complicated nonlinear dynamic -15
-10 -8 -6 -4 -2 0 2 4 6 8 10
characteristics. (d)
Y

215
 16.3
25

20

15

10

0
Z
-5

-10

-15

-20 (c)
-25
-6 -4 -2 0 2 4 6 Figure 6. Bifurcation diagram of response with various nonlinear factor of
(e)
Y
spring groups(a) ε1 =0.07, ε 2 =0.04; (b) ε1 =0.7, ε 2 =0.4; (c) ε1 =7, ε 2 =4.
35
25

20
The dimensionless rotating speed factor Ω varies in the
15 range from 0 to 40; nonlinear factor of spring ε1 and ε 2 are
10
chosen to be three groups respectively: (a) ε1
5

Z
0 =0.07, ε2 =0.04; (b) ε1 =0.7, ε2 =0.4; (c) ε1 =7, ε2 =4.
-5 Figure 6 shows the bifurcation diagrams of dynamic
-10 response of the shrouded blade system. It can easily be seen
-15 from Figure 6 (a) that when the rotating speed is in the
-20 ranges from2.5 to 9.3 and 11.2 to 17.2, the system shows a
-25 chaotic motion; Figure 6 (b) and (c) exhibit the motion state
-10 -8 -6 -4 -2 0 2 4 6 8 10
Y of system is transforming between chaos and period as
(f)
rotating speed increases. It can be seen from Figure 6 (a)-(c)
Figure 5. Poincaré maps and phase portraits of system :(a)-(d); orbit of that nonlinear factor of spring ε changes the system show
centroid: (e)-(f)
different nonlinear traits. In short, Figure 7 illustrates that
B. Nonlinear Factor of Spring nonlinear factor of spring ε has a significant effect on
nonlinear dynamic behavior of shrouded blade system in
certain range of parameter.
C. Bifurcation as a Function of Amplitude of Gas
Excitation Force

(a)

Figure 7. Bifurcation as a function of amplitude of gas excitation force

The dimensionless amplitude of gas excitation force F

varies in the range from 0 to 20; damping ξ1 and ξ2 are
(b) chosen to be ξ1 =0.1, ξ2 =0.09. Figure 7 shows the bifurcation
diagrams of dynamic response of the shrouded blade system

216
as a function of amplitude of gas excitation force. It can
easily be seen that the system shows chaotic motion when
the amplitude of gas excitation force is in the range from 2.8
to 3.7 and the system shows period motion when amplitude
of gas excitation force in other range. In short, Figure 7
illustrates that amplitude of gas excitation force has
significant effect on nonlinear dynamic behavior of
shrouded blade system in certain range of parameter.
IV. CONCLUSIONS
In this paper, considering the combination effect of
impact and friction, the effects of several parameters of
shrouded blade system, including rotating speed, nonlinear
factors of spring and amplitude of gas excitation force, on
the nonlinear dynamic responses of the system are
addressed. Numerical results indicate that the adding shroud
to blade generates rich and complex nonlinear dynamic
behaviors for certain parameter range, such as the 3-period,
the multi-period, jump and chaotic motions. The results can
be helpful in understanding physically the nonlinear
phenomena of a shrouded blade system of aero-engine with
multiple nonlinear factors, and the bifurcation results are
practically meaningful for parametric design of shrouded
blade.
ACKNOWLEDGMENT
The author acknowledges the support of Professor Ren
X.M. and associate Professor Yao M. H., for this work.
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