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Investigation of the stability and

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asymmetric rotors, using finite
element formulation

ARTICLE in JOURNAL OF SOUND AND VIBRATION · AUGUST 2001

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INVESTIGATION OF THE STABILITY AND STEADY STATE

RESPONSE OF ASYMMETRIC ROTORS, USING FINITE
ELEMENT FORMULATION
F. ONCESCU, A. A. LAKIS AND G. OSTIGUY
Department of Mechanical Engineering, ED cole Polytechnique de Montre&al, P.O. Box 6079,
Station Centre-ville, Montre& al, QueH bec, Canada, H3C 3A7. E-mail: aouni.lakis@meca.polymtl.ca

(Received 28 April 2000, and in ,nal form 22 January 2001)

The motion of a rotor of which both the bearings and the shaft cross-section are
asymmetric is generally governed by ordinary di!erential equations with periodic
coe$cients. In this paper, modi"cations are made to incorporate the e!ect of shaft
asymmetry into an existing "nite element procedure developed for rotors with symmetric
shaft. The model for the elastic asymmetric shaft takes into account rotary inertia and
gyroscopic inertia. In addition, this paper describes an existing method of investigating the
stability of a general system of di!erential equations with periodic coe$cients, and evaluates
its e$ciency when applied to asymmetric rotors. The method described is based on Floquet's
theory and involves the computation of a transfer matrix over one period of motion. The
detailed presentation of the equations of motion, both in a rotating frame of reference and in
a "xed one, is accompanied by an analysis of speci"c cases. The equations of motion for
a simpler model are obtained by modal expansion. Numerical examples are given in order to
show the "nite element formulation and the transfer matrix method as applied to
asymmetric rotors. Due to the use of linear equations, the results shown in this paper have
limited practical utility, but they are useful tools in analyzing the behavior of periodic
systems with weak non-linearities.  2001 Academic Press

1. INTRODUCTION

It is important to distinguish between the asymmetry of the rotating part and the
asymmetry of the "xed part of a rotor. If only one of the two is asymmetric, it is possible to
establish a frame of reference in which the coe$cients of the equations of motion are
constant. If both parts are asymmetric, the system equations will, in the majority of cases,
have periodic coe$cients.
The principal methods used to investigate the stability of systems with periodic
coe$cients fall into three groups: perturbation methods [1], variants of Hill's in"nite
determinant method [2, section 7.6, 3], and methods combining the use of Floquet's theory
[2, section 7.2] with numerical computation of the transfer matrix at the end of one period
[4}6].
The main advantage of the methods from the third group, here called &&transfer matrix
methods'', is their high degree of generality. It is not necessary for the equations of motion
to satisfy restrictive conditions (as is the case with the perturbation methods, where the
periodic coe$cients need to be expressed in terms of a small parameter), nor are complex
preparatory steps required before numerical procedures can be applied (as is the case with
both the perturbation and the in"nite determinant methods). The main disadvantage of

0022-460X/01/320303#26 $35.00/0  2001 Academic Press

304 F. ONCESCU E¹ A¸.

these methods is the high computational e!ort required to obtain the transfer matrix over
one period, while the stability of the motion can be evaluated for only one point in the
parameter's space at a given time.
Many studies deal with rotors having partial asymmetry: either bearing asymmetry or
disk and shaft asymmetry. Typical studies are by El-Marhomy [7], for bearing asymmetry,
and Arday"o and Frohrib [8], for shaft and disk asymmetry. In this case, it is possible to
describe the movement of the rotor using a system of di!erential equations with constant
coe$cients.
Amongst the papers dealing with rotors having full asymmetry, the majority consider
simple models, such as a massless shaft of uniform cross-section, a disk usually in plane
motion, one or two identical elastic bearings, and environmental damping acting on the
disk. Typical studies using Hill's in"nite determinant method to analyze the motion stability
are those by Brosens and Crandall [9], and Kotera and Yano [10]. Perturbation methods
are used, for example, by Black and McTernan [11], and also Iwatsubo et al. [12]. The
transfer matrix method is considered by Guilhen et al. [13], for a speci"c model with rigid
bearings at the shaft ends, one elastic bearing and one rigid disk, attached to the shaft at
di!erent stations.
The adoption of simple models of asymmetric rotors facilitates the understanding of the
behavior of such dynamic systems, but the practical use of these studies remains limited.
Nelson and McVaugh [14] developed a "nite element model for a rotor-bearing system
with asymmetric bearings and symmetric shaft, which means a rotor with partial
asymmetry. Their procedure is presented also in reference [15, chapter 3]. Inagaki et al. [16]
studied a multi-disk fully asymmetric rotor with longitudinal variation of the shaft cross-
section. The temporal equations of motion were obtained using the transfer matrix method
(&&transfer'' between two stations of the shaft). The unbalance response is deduced by the
harmonic balance method. Genta [17] applied the "nite element method to fully
asymmetric rotors, using complex co-ordinates, in order to reduce the size of the problem,
and analyzed the stability of the motion using Hill's in"nite determinant method. Kang
et al. [18] also applied the "nite element method to fully asymmetric rotors, studying the
unbalanced response using the harmonic balance method. Neither of the two studies gives
the elements of the matrices related to the shaft asymmetry.
In this paper, the "nite element procedure for rotors with asymmetric bearings and
symmetric shaft by Nelson and McVaugh [14] is extended to include shaft asymmetry. The
motion stability and the unsteady response are analyzed using the method developed by
Friedmann and associates [4, 5]. The elements of all matrices involved in the equations of
motion are included in Appendix A.

2. TRANSFER MATRIX METHOD

Rotor systems are constrained by bearings, dampers, seals, etc., to very small lateral
motion. Generally, these mechanisms are dynamic systems with weak non-linearities, and
their motion is governed by ordinary di!erential equations with periodic coe$cients,
represented in a "rst order state variable form as follows:

+xR ,"[A(t)]+x,#+ f (t),#+N (+x,, t),#+N (+x,, +xR ,, t),, (1)

 
with matrix [A(t)] and vectors + f ,, +N , and +N , periodic, of common period ¹.
 
An e!ective approach [5] to deal with the weak non-linearities combined in vectors +N ,

and +N , of system (1) is quasilinearization, consisting in an iterative evaluation of the

 ASYMMETRIC ROTOR RESPONSE 305
periodic response of system (1), as a solution of linear periodic systems. This procedure is
initiated with an initial estimation of the solution, obtained from system (1) after dropping
the non-linear terms +N , and +N ,.
 
In this paper, the discussion will center on n-degree-of-freedom dynamic systems
governed by the linear system of m"2n "rst order di!erential equations and m unknown
functions,
[xR ,"[A(t)]+x,#+ f (t),, (2)
where +x(t), is the state variable vector, [A(t)] is the system matrix, and vector
+ f (t), describes time-dependent forces, both [A(t)] and + f (t), being periodic, of common
period ¹.
It is of major interest to "nd the steady state response of system (2), i.e., the periodic
solution, and to evaluate its stability.

2.1. STABILITY

The study of the stability of the steady state solution of system (2) can be reduced (see
reference [2, Chapter 7]) to the study of the stability of the trivial solution of the associated
homogeneous system:
+xR ,"[A(t)]+x,. (3)
It should be noted that this result is more general, being valid for system (2) replaced with
a non-autonomous system
+xR ,"+X(+x,, t), (2b)
with the functions X being periodic, of period ¹ and system (3) replaced with the
G
variational system attached to system (2b) and to its periodic solution +p(t),,
+yR ,"[a(t)]+y,, (3b)
where +y(t), contains the small perturbations from +p(t),, and matrix [a(t)] is periodic, of
period ¹.
For system (3), the time transfer matrix is de"ned as an m;m matrix [U(t)] with its
columns consisting of a set of linearly independent solutions.
Since matrix [A(t)] is periodic, of period ¹, an extension of Floquet's theory (see reference
[2, Chapter 7]) shows that [U(t)] is fully known when its variation during one period ¹ is
known. Furthermore, it is shown that the stability of the trivial solution of equation (3) is
fully de"ned by the eigenvalues of the transfer matrix over one period [U(¹)], known as the
characteristic multipliers of system (3). The trivial solution is asymptotically stable if the
modulus of all m eigenvalues is less than one, and is unstable if the modulus of at least one of
the eigenvalues is greater than one.

2.2. STEADY-STATE RESPONSE

For non-homogeneous system (2), without considering the periodicity of matrix [A(t)]
and vector + f (t),, the general solution is given by (see reference [2, Chapter 6])

R
+x(t),"[U(t)]+x(0),#
 [U(t, s)]+ f (s), ds, (4)
306 F. ONCESCU E¹ A¸.

in which [U(t)] is the transfer matrix of the homogeneous system satisfying the initial
conditions [U(0)]"[I ], and matrix [U(t, s)] is given by
K
[U(t, s)]"[U(t)] [U(s)]\. (5)

It is clear that the "rst term on the right-hand side of expression (4) is the general solution
of the homogeneous system (3), denoted by +x (t),. Matrix [U(t, s)] makes the transfer
F
between the values at moments &&t'' and &&s'' of +x (t),:
F
+x (t),"[U(t, s)] +x (s),. (6)
F F
If matrix [A(t)] and vector + f (t), are periodic, of common period ¹, and if the modulus of
every characteristic multiplier of the corresponding homogeneous system (3) is di!erent
from one, system (2) has one and only one periodic solution [3]. This periodic solution is the
steady state response of the periodic non-homogeneous system only if the associated
periodic homogeneous system is stable, that is to say, only if the modulus of every
characteristic multiplier is less than one.
To obtain the initial conditions corresponding to the steady state response, condition
+x(¹),"+x(0), is substituted into equation (4). An algebraic system for +x(0), is derived:

2
([I ]![U(¹)])+x(0),"
K  [U(t, s)]+ f (s), ds. (7)

The steady state response can be obtained by taking the initial conditions +x(0), given by
equation (7) and numerically integrating system (2) over one period. If +x(¹), is not close
enough to +x(0),, the integration is continued over another few periods, until the desired
convergence is obtained.
In order to calculate the transfer matrix over one period [U(¹)], Friedmann et al. [4]
considered the division of the period ¹ into a number of equal parts. By denoting the
division points as

0"t (t (2(t (t "¹, (8)

  ,\ ,
a useful relation can be derived from equation (6):

[U(¹, t )]"[U(¹, t )] [U(t , t )]. (9)

G G> G> G
Matrix [U(¹)]"[U(¹, 0)] is generated by an iterative calculation, based on relation (9)
and starting with [U(¹, t )]"[I ]. The elementary transfer matrix [U(t , t )] is obtained
, K G> G
by numerically integrating the homogeneous system (3) over the corresponding elementary
interval. The iterative calculation not only gives matrix [U(¹)], to be used in the stability
evaluation, but also matrices [U(¹, t )], appearing in the right-hand term of the algebraic
G
system (7) for the initial condition +x(0),, if an integration scheme using division points (8) is
considered.
It has been shown in reference [4] that a very e$cient way to obtain the elementary transfer
matrix is by considering the fourth order Runge}Kutta scheme with Gill coe$cients.

3. CONFIGURATION

The mathematical model (Figure 1) consists of a #exible horizontal shaft, one or more
rigid disks and two or more #exible bearings.
 ASYMMETRIC ROTOR RESPONSE 307

Figure 1. General model of the rotor.

Figure 2. (a) Co-ordinate systems: OX>Z and Oxyz, "xed and rotating frames of reference; Cxyz, system of
principal axes of inertia of shaft cross-section. (b) Mass unbalance and external damping.

The shaft cross-section is asymmetric, having di!erent principal moments of inertia, and
varies step-by-step along the longitudinal axis (Figure 2(a)). However, the principal
directions of inertia of the cross-section do not vary along the shaft.
The mathematical model for a bearing is a massless spring}damper system (Figure 3). Its
characteristics (sti!ness and damping) in horizontal and vertical directions are di!erent.
The cross-coupled characteristics in the horizontal and vertical directions are also
considered. This linear and anisotropic model with eight coe$cients (four for sti!ness and
four for viscous damping) is the same as in reference [14].
We analyze the unbalance response using concentrated masses placed on disks (point
B in Figure 2(b)) and we consider an environmental viscous damping acting on the disks
(Figure 2(b)).
Two co-ordinate systems can be seen in Figure 2(a). On the "xed system OX>Z, the
>-axis is along the unde#ected horizontal shaft and the Z-axis is oriented vertically upward.
The rotating system Oxyz has the y-axis coincidental with the >-axis of the "xed system,
and x- and z-axis parallel with the principal axes x and z of the shaft cross-section (if the
angular de#ections are neglected).
The "nite element procedure for rotors with symmetric shaft, developed by Nelson and
McVaugh [14], will be considered. Modi"cations will be made to accommodate the e!ect of
shaft asymmetry. The shaft model includes the e!ect of rotary inertia and the gyroscopic
e!ect. Shear of the cross-section and internal damping will be neglected.
308 F. ONCESCU E¹ A¸.

Figure 3. Bearing sti!ness and damping.

4. KINEMATICS

We consider (Figure 4) two frames with the origin at the center of the shaft cross-section,
CX>Z, having the axes parallel with the axes of the "xed frame OX>Z, and Cxyz, whose
axes are the principal directions of inertia of the cross-section. The link between the two
frames is made through the set of Euler's angles u, h and t. To bring the shaft cross-section
from its unde#ected position to the current one, three rotations are to be applied
successively: one of angle t about the Z-axis, one of angle h about the new axis x, denoted as
x , and one of angle u about the new axis z, denoted as z .
 
Assuming the angles h and t to be small and the rotational speed uR constant and denoted
as X, the instantaneous angular velocity of the shaft cross-section has, in the xyz frame, the
components

u "hQ cos u!tQ sin u, u "X#tQ h, u "hQ sin u#tQ cos u. (10)
V W X
See reference [15, Chapter 1], for the general expressions.
In the "xed frame OX>Z (Figure 2), the position of the shaft cross-section is de"ned by
the displacements of its elastic center u, w, and by the angles t, h. The angles h and t are
approximately equal to the angular de#ections collinear with the X- and Z-axis,
respectively (Figure 5):

* *
t"! u, h" w. (11)
*y *y

In the rotating frame Oxyz (Figure 2), the position of the shaft cross-section is de"ned by
the displacements uN , wN and the slopes tM , hM . The transformation of displacements and slopes
from the "xed frame to the moving frame are de"ned by

   
u uN t tM
"[¹ ] , "[¹ ]2 , (12)
w  wN h  hM

with matrix [¹ ] given in Appendix A.


 ASYMMETRIC ROTOR RESPONSE 309

Figure 4. Euler's angles.

Figure 5. Displacements of the shaft elastic axis.

5. EQUATIONS OF MOTION OF ROTOR ELEMENTS

5.1. DISKS

The center of mass of the rigid disk coincides with the elastic center of the shaft
cross-section. The nodal displacements vector of the disk in "xed co-ordinates is given by
+d ,"+u w t h ,2,
    
its components being the displacements of the shaft at disk attachment.

5.1.1. Equations of motion of disk in ,xed frame

The kinetic energy of the disk has the expression
¹" m(uR #wR )# (J u#J u#J u), (13)
    V V W W X X
310 F. ONCESCU E¹ A¸.

where u , u and u are the angular velocities given by equation (10), while m, J "J and
V W X V X
J are the mass and the moments of inertia of the disk.
W
By substituting equation (10) into equation (13), and also considering the e!ect of the
unbalance, we obtain

¹ " m(uR #wR )# J (hQ #tQ )#J XtQ h

"     V   W  
#m dX[uR cos(Xt#b)!wR sin (Xt#b)], (14)
S  
where X is the angular speed of the rotor, m is the unbalance mass (assumed to be small if
S
compared with m), d and b are the radius and the angle de"ning the location of the
unbalance.
The four terms in equation (14) give, in order, the translating inertia e!ect, the rotary
inertia e!ect, the gyroscopic e!ect, and the unbalance e!ect.
The virtual work of the disk weight and of damping forces acting on the disk can be
written as

d¸ "!mgdw !cuR du !cwR dw , (15)

"     
where c is the damping coe$cient, m is the mass of the disk, and g is the gravitational
acceleration.
The application of Lagrange's equations for the disk only gives

[M ]+dG ,#[C ,+dQ ,"+Q ,#+Q ,, (16)

"  "  " *
where [M ] and [C ] are the mass and damping matrices of the disk, +Q , is the load
" " "
vector and +Q , is the vector of liaison forces which will disappear at the assembly of the
*
elementary matrices.
Matrices [M ] and [C ], and also vector +Q , are given in Appendix A.
" " "
5.1.2. Equations of motion of disk in rotating frame
The nodal displacements in "xed co-ordinates are related to those in rotating
co-ordinates by the transformation equation

+d ,"[¹ ] +dM ,, (17)

  
with the matrix [¹ ] given in Appendix A. The substitution of equation (17) into equation

(16), yields the equations of motion in rotating co-ordinates as

M ]+dMG ,#[CM ] +dMQ ,#[KM ] +dM ,"+QM ,#+QM ,,

[M (18)
"  "  "  " *
where [MM ]"[M ], [CM ]"2X[M ][H ]#[¹ ]2[C ] [¹ ], [KM ]"!X[M ]
" " " "   "  " "
#X[¹ ]2 [C ][¹ ][H ] and +QM ,"[¹ ]2+Q ,, with matrices [¹ ] and [H ] given in
 "   "  "  
Appendix A. +QM , contains liaison forces that will disappear at the assembly of
*
the elementary matrices. Matrices [KM ] and [CM ], and also vector +QM , are given in
" " "
Appendix A.

5.2. THE SHAFT

While the shaft element has two nodes, the nodal displacement vector includes four
displacements and four slopes. Its expression in "xed co-ordinates is +d ,"
C
 ASYMMETRIC ROTOR RESPONSE 311
+u w t h u w t h ,2. The nodal displacements in "xed co-ordinates are related to
       
those in rotating co-ordinates by the transformation equation:

+d ,"[¹g]+dM ,. (19)
C C
with matrix [¹g] given in Appendix A.
In "xed co-ordinates, the displacements and the slopes along the shaft elements are
represented by shape functions as


u
"[N(y)]+d , (20)
w C

and

 
*
! u

  
t *y !1 0
" " [D(y)]+d ,, (21)
h * 0 1 C
w
*y

where [N] is the matrix of shape functions

   
N

0 !N

0 N

0 !N

0 *
[N]" and [D]" N .
0 N 0 N 0 N 0 N *y
   
N (y) are the typical displacement functions of a beam in bending:
G
N (y)"1!3yN #2yN , N (y)"¸yN (1!2yN #yN ), N (y)"3yN !2yN ,
  
N (y)"¸(!yN #yN ), with yN "y/¸. (22)


5.2.1. Kinetic energy

The kinetic energy for the shaft element has a form similar to the one derived for the disk
and is

* *
 
1
¹ " oA (uR #wR ) dy# o (I u#I u#I u) dy, (23)
 2  V V N W X X
 
where u , u and u are the angular velocities given by equation (10), I and I are the
V W X V X
second moments of area about principal axes x and z of the shaft, I "I #I is the polar
N V X
moment of area, A, ¸ and o are the cross-section, the length, and the density of the shaft
element.
By introducing equation (10) in equation (23), we obtain

¹ "¹ #¹ #¹ cos(2Xt)#¹ sin (2Xt)#¹g , (24)

 R P BA BQ
where ¹ " oA * (uR #wR ) dy, is the translating term, ¹ " oI * (hQ #tQ ) dy is the
R   P  K 
rotatory term), ¹ " oI * (tQ #hQ ) dy is the deviatory-cosine term, ¹ "oI * tQ h dy is
BA  B  BQ B 
312 F. ONCESCU E¹ A¸.

the deviatory-sine term and ¹g"oI X * tQ h dy is the gyroscopic term, with

N 
I " (I #I ), I " (I !I ) and I "2I .
K  X V B  X V N K

5.2.2. Strain energy

If the shear deformations are neglected, the strain energy of the shaft element is

1 *
;"
2


[EI (uN )#EI (wN )] dy,
X V
(25)

where u and wN are the displacements of the center of the cross-section in rotating co-
ordinates, I and I are the second moments of area about principal axes, E is Young's
V X
modulus, ¸ is the length of the shaft element, ( ) )"(*/*y) ( ) ), and u  and wN  are the
de#ections of bending in the directions of the principal axes.
Substituting the transformation equation (12) into equation (25), the strain energy can be
expressed as

1 * 1 *
;"
2


EI [(u)#(w)] dy#
K 2

B 
EI 1[(u)!(w)] cos(2Xt)!2uw sin(2Xt)2 dy,

(26)

where u and w are the displacements of the center of the cross-section in "xed co-ordinates,
I and I are the mean and the deviatory area moments, and X is the angular speed of the
K B
rotor.

5.2.3. <irtual work of the shaft weight

The virtual work of the shaft weight has the expression

*
d¸ "!g
  (oAdw) dy

 N dy#dh  N dy#dw  N dy#dh  N dy,
* * * *
"!ogA dw (27)


where N (y) are the shape functions given by equation (22), A, ¸ and o are the cross-section,
I
the length and the density of the shaft element, and g is the gravitational acceleration.

5.2.4. Equations of motion of shaft in ,xed frame

Upon substituting equations (20) and (21) into the expressions (24), (26) and (27),
Lagrange's equations provide the system

[M (t)] +dG ,#[C ] +dQ ,#[K (t)]+d ,"+Q ,#+Q ,, (28)

 C  C  C  *
with [M (t)] and [K (t)] being periodic matrices of period n/X, and [C ] being a constant
  
matrix, given by

[M (t)]"[M ]#[M ]#[M ] cos(2Xt)#[M ] sin(2Xt), (29)

 R P BA BQ
[C ]"X[G], [K (t)]"[K ]#WK X cos(2Xt)#WK X sin(2Xt). (30, 31)
  K BA BQ
 ASYMMETRIC ROTOR RESPONSE 313
In equation (28), vector +Q , represents the shaft weight, while vector +Q , contains the
 *
liaison forces that will disappear when the elementary matrices are assembled.
The gyroscopic matrix, mass matrices and sti!ness matrices of equations (29)}(31) may be
expressed as

 
*

0 !1
[G]" oI [D]2 [D] dy,
 N 1 0

* *
[M ]"oA
R  [N]2[N] dy, [M ]"oI
P K  [D]2[D] dy,
   
* *
 
1 0 0 1
[M ]"oI [D]2 [D] dy, [M ]"!oI [D]2 [D] dy, (32)
BA B 0 !1 BQ B 1 0

 
* *
 
1 0
[K ]"EI [B]2[B] dy, [K ]"EI [B]2 [B] dy,
K K BA B 0 !1

 
*

0 1
[K ]"EI [B]2 [B] dy,
BQ B 1 0

with [N], the matrix of shape functions, [D]"[(*/*y) N] and [B]"(*/*y) [N].
The elements of the matrices de"ned by the above equations, and also of vector +Q , are

shown in Appendix A.
Matrices [M ], [M ], [K ] and [K ] are proportional to the deviatory moment of
BA BQ BA BQ
area of the shaft I , and will vanish for a symmetric shaft. Matrices [M ], [M ], [K ] and
B R P K
[G], speci"c for a symmetric shaft, can be found also in reference [14].

5.2.5. Equations of motion of shaft in rotating frame

Substituting transformation equation (19) into equation (28), we obtain

M ] +dMG ,#[CM ]+dQM ,#[KM ] +dM ,"+QM (t),#+QM ,,

[M (33)
 C  C  C  *

M ], [CM ] and [KM ] are constant matrices given by

where [M
  

M ]"[M ]#[M ]#[M ],

[M [ CM ]"2X[M
M ] [H ]#X[G], (34, 35)
 R P B   

[KM ]"[K ]#[K ]!X[M

M ]#X[G] [H ], (36)
 K B  

with matrix [H ] given in Appendix A.


In equation (33), the weight vector +QM (t), is periodic, of period 2n/X. Its elements are

shown in Appendix A. Vector +QM , contains the liaison forces.
*
In equations (34)}(36), matrices [M ], [M ], [K ] and [G] are as de"ned by equation (32),
R P K
while matrices [M ] and [K ] are given by [M ]"[M ] and [K ]"[K ], with [M ]
B B B BA B BA BA
and [K ] as de"ned by equation (32).
BA
314 F. ONCESCU E¹ A¸.

5.3. BEARINGS

The nodal displacement vector of the bearing in "xed co-ordinates is given by

+d ,"+u w ,2,
N N N

its components being the displacements of the shaft center at bearing attachment.

5.3.1. Equations of motion of bearing in ,xed frame

The virtual work of the forces acting on the shaft can be written as

d¸ "!k u du !k w du !k u dw !k w dw
N SS N N SU N N US N N UU N N

!c uR du !c wR du !c uR dw !c wR dw , (37)
SS N N SU N N US N N UU N N

where k , k , k and k are the sti!ness coe$cients, and c , c , c and c are the
SS SU US UU SS SU US UU
damping coe$cients.
The application of Lagrange's equations gives

[C ]+dQ ,#[K ]+d ,"+Q ,, (38)

. N . N *

where [K ] and [C ] are the sti!ness and damping matrices of the bearing, and +Q , is
. . *
a vector containing the liaison forces between bearing and shaft. Matrices [K ] and [C ]
. .
are given in Appendix A.

5.3.2. Equations of motion of bearing in rotating frame

The nodal displacements in "xed co-ordinates are related to those in rotating co-
ordinates by the transformation equation

+d ,"[¹ ]+dM , (39)

N  N

with the matrix [¹ ] given in Appendix A.


Substituting equation (39) into equation (38), we obtain

[CM (t)]+dQM ,#[KM (t)]+dM ,"+QM ,, (40)

. N . N *

where [CM (t)] and [KM (t)] are periodic matrices, of period n/X, given by
. .

[CM ]"[¹ ]2[C ][¹ ], [KM ]"[¹ ]2[K ][¹ ]#X[CM ][H ], (41, 42)
.  .  .  .  . 

with matrices [¹ ] and [H ] given in Appendix A. The vector +QM , contains the liaison
  *
forces between bearing and shaft. Matrices [CM (t)] and [KM (t)] are given in Appendix A.
. .
There are particular cases when these two matrices are constant, the most general case being
de"ned by the conditions

k "k , k "!k , c "c "0 and c "!c .

SS UU US SU SS UU US SU
 ASYMMETRIC ROTOR RESPONSE 315
6. GLOBAL EQUATIONS OF MOTION

6.1. GENERAL CASE

By assembling the elementary matrices of shaft elements, disks and bearings, we obtain
a system of 4N second order di!erential equations and 4N unknown functions, where
L L
N is the number of nodes of the shaft partition. The global equations of motion in "xed
L
co-ordinates are

[M(t)]+dG ,#[C]+dQ ,#[K(t)]+d,"+Q (t),#+Q ,, (43)

S U
where [M(t)] and [K(t)] are periodic matrices of period ¹ "n/X, for which the time

dependency is due to the shaft asymmetry, matrix [C] is constant, +Q (t),, the unbalance
S
vector, is periodic, of period ¹ "2n/X, and +Q ,, the weight vector, is constant.
 U
In equation (43), +d, is the vector of global DOF in "xed reference frame, given as

+d,"+u w t u 2 u w t u ,2.
    ,L ,L ,L ,L
In rotating co-ordinates, the assembled global equations are

M ]+dMG ,#[CM (t)]+dMQ ,#[KM (t)]+dM ,"+QM ,#+QM (t),,

[M (44)
S U
where [MM ] is a constant matrix, [CM (t)] and [KM (t)] are periodic matrices of period ¹ "n/X,

for which the time dependency is due to bearing asymmetry, +QM ,, the unbalance vector, is
S
constant, and +QM (t),, the weight vector, is periodic of period ¹ "2n/X.
U 
Each of the above systems can be transformed into a "rst order di!erential system, with
8N equations and 8N unknown functions. From a numerical point of view, it is more
L L
convenient to consider the equations of motion in rotating co-ordinates, because mass
matrix [M M ] is constant. Substituting also u"Xt for the variable t, system (44) can be
expressed as

   
d +d, +d,
"[A(u)] #+ f (u),, (45)
du +d, +d,

with

i e
[0] [1] g +0, g
[A(u)]" , + f(u),"j f.
1 1 g 1 [M
! [MM ]\[KM (u)] ! [M
M ]\[CM (u)] M ]\+QM (u), g
X X k X h

Matrix [A(u)] has a periodic variation with frequency of p, due to bearing asymmetry,
while vector + f (u), has a periodic variation with frequency of 2p, due to rotor weight.
To study only the stability of the motion, the transfer matrix [U(¹)], with ¹"n, is
calculated using the method described in section 2, and its 8N eigenvalues are evaluated.
L
In order to study the stability and to obtain the steady state response at the same time,
the period to be considered is ¹"2n. Calculated values of matrix [U(¹, u)] at the division
points of the period ¹ are used to build the algebraic system of type (7) for the initial
conditions +x(0),. If the periodic non-homogeneous system (45) is integrated using
Simpson's rule, the number of intervals per period N must be even.
316 F. ONCESCU E¹ A¸.

6.2. MASSLESS SHAFT, ASSOCIATED WITH UNDAMPED BEARINGS

If the shaft mass is ignored, matrix [M] in equation (43) becomes constant. Reordering
the equations of system (43) and also the elements of the global DOF vector +d,, we can
highlight the contribution of the N disks, as follows:
B

          
[M ] [0 ] +dG , [C ] [0 ] +dQ , [K ] [K ] +d , +Q ,
BB BP B # BB BP B # BB BP B " B ,
[0 ] [0 ] +dG , [0 ] [C ] +dQ , [K , +K ] +d , +0 ,
PB PP P PB PP P PB PP P P
(46)

where index &&d'' refers to disks, and index &&r'' refers to the rest of the rotor. Vector +d ,
B
contains the 4N displacements associated with the N disks.
B B
If the damping of the bearings is also ignored, we have [C ]"[0 ] and the last
PP PP
4(N !N ) equations of system (46) give
L B
+d ,"![K ]\[K ]+d ,. (47)
P PP PB B
Consequently, the "rst 4N equations (46) become
B
[M ]+dG ,#[C ]+dQ ,#[K* (t)]+d ,"+Q ,, (48)
BB B BB B BB B B
with

[K* (t)]"[K ]![K (t)] [K (t)]\[K (t)]. (49)

BB BB BP PP PB
In equations (48) and (49), the variable matrices are periodic, of period ¹ "n/X, and the

time dependency is due to the shaft asymmetry.
System (48) can be transformed into a "rst order di!erential system of type (45), with 8N
B
equations and 8N unknown functions. The advantage of this formulation is the capability
B
to re"ne the "nite element partition of the shaft, without increasing the size of the motion
equations system.

6.3. SYMMETRIC SHAFT

If the shaft cross-section is symmetric, matrices [M] and [K] from equations (43) are
constant, and the motion is governed by a linear system with constant coe$cients, de"ned
as

[M]+dG ,#[C]+dQ ,#[K]+d,"+Q (t),#+Q ,. (50)

S U
To evaluate the motion stability, we have only to analyze the eigenvalues of a constant
matrix. The evaluation of the steady state response, with its components, the weight
response and the unbalance response, is given below. The weight response is the solution of
the algebraic system de"ned as

[K]+d ,"+Q ,. (51)

U U
To obtain the unbalance response, we express the unbalance vector from equation (50) as
+Q (t),"Re(+<,e Xt#b) ), where +<, is a constant vector with complex elements. It is easy
S
 ASYMMETRIC ROTOR RESPONSE 317
to show that the unbalance response will be obtained as

+d (t),"Re(+z , e Xt ), (52)
S 
where +z , is a constant vector with complex elements, de"ned as the solution of the

algebraic system

([K]!X[M]#iX[C])+z ,"+<,e @. (53)



7. EQUATIONS OF MOTION, BY MODAL EXPANSION

In order to test the "nite element formulation, the equations of motion for a simpler
model will be obtained using the Rayleigh}Ritz method.
The new model consists of a #exible horizontal shaft, a rigid disk and two #exible
bearings (Figure 6). The shaft is of uniform cross-section along its longitudinal axis and has
two di!erent sti!nesses along its two principal directions (Figure 2(a)). Its mass is supposed
to be small compared with that of the disk, and consequently negligible. For bearings, only
the direct sti!nesses, denoted as k and k , are considered. The unbalance is de"ned as
S U
shown in Figure 2(b). The only damping considered is the external one, acting on the disk
(Figure 2(b)).
The shaft displacements in the x and z directions can be expressed as



y y y
u(y, t)" 1! u (t)# u (t)#f (y)q (t), w(y, t)" 1! w (t)
¸  ¸  V ¸ 

y
# w (t)#f (y)q (t), (54)
¸  X

where ¸ is the shaft length, u , w , u and w , are the displacements of the shaft ends, q and
    V
q are generalized independent co-ordinates, and f (y) is the displacement function.
U

Figure 6. Simpli"ed model of the rotor: (a) location of the disk, (b) bearing sti!ness.
318 F. ONCESCU E¹ A¸.

By substituting equations (54) into equation (11), we obtain the slopes of the shaft axis:

w !w *f u !u *f
h(y, t)"  # q and t(y, t)"!  ! q . (55)
¸ *y X ¸ *y V

For y"y , the four equations (54) and (55) provide the displacements of the shaft ends

(u , w , u , w ) as functions of the displacements of the center of the disk (u , w , t , h ) and
       
of the generalized co-ordinates (q , q ):
V X
u "u #y t !( f !y g )q ,
       V
u "u !(¸!y )t ![ f #(¸!y )g ]q ,
       V
w "w !y h !( f !y g )q ,
       X
w "w #(¸!y )h ![ f #(¸!y )g ]q , (56)
       X
where f "f (y ) and g "(df/dy) (y ).
   
The kinetic energy of the disk and the strain energy of the shaft are given by the
expressions (14) and (26) respectively.
By introducing equations (54) in equation (26), the strain energy may be expressed as

;"k (q#q)#k [(q!q) cos(2Xt)!2q q sin(2Xt)], (57)

 K V X  B V X V X
where k and k are the mean and the deviatoric sti!nesses of the shaft, given by
K B
* *
k "EI
K K

f  (y) dy and k "EI
B B


f (y) dy.

Assuming the displacement function to be the "rst mode shape in the bending of a beam
with constant cross-section, simply supported at both ends, i.e., f (y)"sin(ny/¸), the
sti!nesses become

n EI n EI
k " K and k " B.
K 2 ¸ B 2 ¸

The expression for the virtual work is

d¸"!k u du !k w dw !k u du !k w dw !cuR du !cwR dw !mgdw ,

S   U   S   U       
(58)

where u , w , u and w , are the displacements of the shaft ends, u and w are the
     
displacements of the center of the disk, k , k , k and k are the sti!ness coe$cients of
S U S U
the bearings, c is the damping coe$cient, m is the mass of the disk, and g is the gravitational
acceleration. Substituting equations (56) into equation (58), the virtual work becomes
a function of the disk displacements u , w , t , h and generalized co-ordinates q , q .
    V X
Considering the expressions for the kinetic energy, strain energy and virtual work, the
application of Lagrange's equations gives

          
[M][0 ] +dG , [C] [0 ] +dQ , [K ] [K ] +d , +Q,
  #   #  O  " ,
[0 ] [0 ] +dG , [0 ] [0 ] +dQ , [K ] [K ] +d , +0 ,
  O   O O O O 
(59)
 ASYMMETRIC ROTOR RESPONSE 319
where matrices [M], [C] and vector +Q, are identical to [M ], [C ] and +Q ,, respectively,
" " "
from equation (16):

+d ,"+u w t h ,2, +d ,"+q q ,2,

     O V X

k #k 0 k y !k (¸!y ) 0
S S S  S 
k #k 0 !k y #k (¸!y )
[K ]" U U U  U  ,
 k y#k (¸!y ) 0
S  S 
(sym) k y#k (¸!y )
U  U 

k ( f !y g )
S   
0
[K (t)]" #k [ f #(¸!y )g ]
O S   
k( f !y g )
0 U   
#k [ f #(¸!y )g ]
U   

   
1 0 cos 2Xt !sin 2Xt
#k #k ,
K 0 1 B !sin 2Xt !cos 2Xt

!k ( f !y g )
S   
0
!k [ f #(¸!y )g ]
S   
!k ( f !y g )
0 U   
[K ]"[K ]2" !k [ f #(¸!y )g ]
O O !k y ( f !y g ) U   
S    
0
#k (¸!y ) [ f #(¸!y )g ]
S    
k y ( f !y g )
0 U    
!k (¸!y ) [ f #(¸!y )g ]
U    

The last two equations of system (59) give

+d ,"![K (t)]\[K ]+d ,,

O O O 

and therefore, the "rst four equations provide the system, and

[M]+dG ,#[C]+dQ ,#[K(t)]+d ,"+Q(t),, (60)

  

where

[K(t)]"[K ]![K ][K (t)]\ [K ].

 O O O

System (60) gives a "rst order di!erential system of type (45), with eight equations and
eight unknown functions.
320 F. ONCESCU E¹ A¸.

8. NUMERICAL RESULTS

Two models are used for testing the "nite element method and the transfer matrix method
as applied to asymmetrical rotors. Model 1 is as shown in Figure 6, but the mass of the shaft
is not neglected, and the bearings are as shown in Figure 3. The "xed characteristics of
model 1 are given in Table 1. The variable parameter is the factor of shaft asymmetry,
de"ned as the rate between the deviatory and the mean area moments of the shaft
cross-section, I /I . Model 2 is similar to model 1, only the bearing damping is replaced by
B K
an external damping of coe$cient c"50 N s/m, and the sti!ness cross-coe$cients of the
bearings are neglected.
Using the "nite element formulation, the shaft is simulated by two elements, delimited by
disk station and shaft ends. It was proven that when using four elements (dividing each of
the previous elements by two), the e!ect on calculated critical speeds and steady state
response is insigni"cant.
The number of intervals per period was set at N"90 for stability analysis and N"360
for steady state response evaluation. These values were established as the minimum
acceptable by testing the convergence of numerical calculations. The response amplitude is
observed at the disk-to-shaft attachment.
If the shaft is symmetric, the motion of the rotor can be observed in both the "xed and the
rotating frames of reference. In the "rst case, the steady state response is obtained as the
solution of a system of di!erential equations with constant coe$cients (see section 6.3),
while in the second case we are dealing with the numerical integration of a periodic system
(see section 6.1). Figure 7 gives the results obtained by the two methods, for model 1. The
rotational speed was varied from 75 to 300 rad/s, in increments of 5 rad/s. As can be
observed, there are two peaks, corresponding to principal critical speeds excited by the mass
unbalance. The relative error has an average value of 1)3% and a maximum value of 3)4%
(at 75 rad/s). The accuracy of the algorithm used to "nd the steady state solution of
a periodic system is veri"ed by this example.
The e!ect of shaft asymmetry on the steady state response is studied next, using model 1,
and the results are plotted in Figure 8(a), for a rotational speed increment of 5 rad/s, and in
Figure 8(b), for a rotational speed increment of 1 rad/s. As can be observed from Figure 8(a),
when the factor of shaft asymmetry passes from 0 to 0)2, each one of the two peaks from
Figure 7 splits into two other peaks. Additionally, there are two new peaks, corresponding
to secondary critical speeds excited by the rotor weight (at 105 and 115 rad/s). To
understand this behavior, we need to analyze the stability of the motion.

TABLE 1
Details of model 1

Element Details

Disk m"2 kg, J "J "0)005 kg m, J "0)01 kg m

V X W
m d"0)004 kg m, b"453
S
Shaft y "0)4 m, ¸"1 m, E"2;10 N m, o"7750 kg/m

I "4;10\ m, A"0)693;10\ m
K

   
Bearing*y"0 3)5 !1 26 !8
[K ]" ;10 N/m, [C ]" N s/m
N !1 5)5 . !8 20

   
Bearing*y"¸ 4)5 !1 24 !4
[K ]" ;10 N/m, [C ]" N s/m
N !1 3 . !4 30
 ASYMMETRIC ROTOR RESPONSE 321

Figure 7. Steady state response for model 1, with symmetric cross-section of shaft. Comparison between the
responses obtained using the autonomous system of motion in "xed frame of reference and the periodic system of
motion in rotating frame of reference: **, "xed frame; 䉱, rotating frame.

Figure 8. Steady state response for model 1. (a) E!ect of shaft asymmetry: **, symmetrical; } } } } }, factor of
shaft asymmetry 0)2. (b) Detail of the region of main critical speeds.

Figure 9 gives the regions of instability obtained for model 1, for factors of shaft
asymmetry varying from 0 to 0)3, with increments of 0)05. The results were obtained by
varying the rotational speed between 75 and 300 rad/s, in increments of 1 rad/s. For the
symmetric shaft, no instability interval has been identi"ed. For the asymmetric shaft, there
are three regions of instability, of widths increasing with the shaft asymmetry until joining
into a single band. For a factor of shaft asymmetry of 0)2, the 6 critical speeds delimiting the
three regions of instability are 200, 210, 213, 223, 226 and 239 rad/s. Consequently, the split
of the two peaks observed in Figures 8(a) and (b) indicates two regions of instability. The
evaluation of the steady state response could not identify the middle region of instability.
One may note that the periodic solution is meaningless inside the instability regions.
The response amplitudes of models 1 and 2 are compared next, for a factor of shaft
asymmetry of 0.2. For model 2, Figure 10 shows two peaks corresponding to principal
critical speeds excited by the mass unbalance and one peak for a secondary critical speed
excited by the rotor weight. A stability analysis shows a single instability region, bounded
by the speeds of the two principal peaks. The di!erent behavior for model 1 is due basically
to the bearing cross-sti!ness. Replacing the bearing damping with the external damping
322 F. ONCESCU E¹ A¸.

Figure 9. Instability regions for model 1; e!ect of shaft asymmetry.

Figure 10. Steady state response, for a factor of shaft asymmetry of 0)2. Comparison between models 1 and 2:
))))))), model 1; **, model 2; } } } } }, model 2, massless shaft.

c"50 N s/m has a smaller e!ect, while the direct damping of the two bearings equals the
external damping (c"c #c "c #c ).
S S U U
Figure 10 shows also that if we ignore the mass of the shaft, the instability region of model
2 passes from 210}235 rad/s to 345}385 rad/s. This e!ect is very big because the mass of the
shaft is 2)7 times larger than the mass of the disk (see Table 1).
The response amplitudes obtained by "nite element formulation are compared next with
those obtained by the Rayleigh}Ritz method. Two factors of shaft asymmetry are used for
model 2. As can be observed from Figure 11, the results obtained by the two methods are
very close, which validates the "nite element formulation developed for asymmetric rotor-
bearing systems.

9. CONCLUSIONS

In this paper, a "nite element procedure for rotor-bearing systems is generalized to

include the e!ects of the shaft asymmetry. In order to deal with the particular form of the
 ASYMMETRIC ROTOR RESPONSE 323

Figure 11. Steady state response for model 2. Comparison between the responses obtained using the "nite
element method (FEM) and the Rayleigh}Ritz method (RRM), for two factors of shaft asymmetry (fsa): **,
FEM, fsa 0)2; )))))), RRM, fsa 0)2; } } } } }, RRM, fsa 0)4.

equations of motion (ordinary di!erential equations with periodic coe$cients), the "nite
element method is applied in conjunction with a time-transfer matrix method, based on
Floquet's theory. The time-transfer matrix method was tested by observing the motion of
a rotor with symmetric shaft in both "xed and rotating frames of reference. The "nite
element procedure was compared, for a rotor-bearing system with a massless shaft and
undamped bearings, with a modal expansion method.
Numerical examples have shown that the "nite element method in conjunction with the
time-transfer matrix method is a convenient way to predict the behavior of asymmetric
rotors.

REFERENCES

1. A. H. NAYFEH 1981 Introduction to Perturbation ¹echniques. New York: John Wiley.

2. L. MEIROVITCH 1970 Methods of Analytical Dynamics. New York: McGraw-Hill Book Co.
3. S. T. NOAH and G. R. HOPKINS 1982 Journal of Applied Mechanics 49, 217}223. A generalized
Hill's method for the stability analysis of parametrically excited dynamic systems.
4. P. FRIEDMANN, C. E. HAMMOND and T. H. WOO 1977 International Journal for Numerical
Methods in Engineering 11, 1117}1136. E$cient numerical treatment of periodic systems with
applications to stability problems.
5. P. FRIEDMANN 1990 Computers and Structures 35, 329}347. Numerical methods for the treatment
of periodic systems with applications to structural dynamics and helicopter rotor dynamics.
6. S. C. SINHA, R. PANDIYAN and J. S. BIBB 1996 Journal of <ibration and Acoustics 118, 209}219.
Liapunov}Floquet transformation: computation and applications to periodic systems.
7. A. A. EL-MARHOMY 1991 Journal of Applied Mechanics 58, 1056}1063. Dynamic stability of
elastic rotor-bearing systems via Liapunov's direct method.
8. D. ARDAYFIO and D. A. FROHRIB 1976 Journal of Engineering for Industry 98, 1161}1165.
Instabilities of an asymmetric rotor with asymmetric shaft mounted on symmetric elastic
supports.
9. P. J. BROSENS and S. H. CRANDALL 1961 Journal of Applied Mechanics 28, 355}362. Whirling of
unsymmetrical rotors.
10. T. KOTERA and S. YANO 1980 Bulletin of the Japan Society of Mechanical Engineers 23,
1194}1199. Instability of motion of a disc supported by an asymmetric shaft in asymmetric
bearings (in#uence of external damping).
324 F. ONCESCU E¹ A¸.

11. H. F. BLACK and A. J. MCTERNAN 1968 Journal of Mechanical Engineering Science 10, 252}261.
Vibration of a rotating asymmetric shaft supported in asymmetric bearings.
12. T. IWATSUBO, R. KAWAI and T. MIYAJI 1980 Bulletin of the Japan Society of Mechanical Engineers
23, 934}937. On the stability of a rotating asymmetric shaft supported by asymmetric bearings.
13. P. M. GUILHEN, P. BERTHIER, G. FERRARIS and M. LALANNE 1988 Journal of <ibration,
Acoustics, Stress and Reliability in Design 110, 288}294. Instability and unbalance response of
dissymmetric rotor-bearing systems.
14. H. D. NELSON and J. M. MCVAUGH 1976 Journal of Engineering for Industry 98, 593}600. The
dynamics of rotor-bearing systems using "nite elements.
15. M. LALANNE and G. FERRARIS 1990 Rotordynamics Prediction in Engineering. New York: John
Wiley.
16. T. INAGAKI, H. KANKI and K. SHIRAKI 1980 Journal of Mechanical Design 102, 147}157. Response
analysis of a general asymmetric rotor-bearing system.
17. G. GENTA 1988 Journal of Sound and <ibration 124, 27}53. Whirling of unsymmetrical rotors:
a "nite element approach based on complex coordinates.
18. Y. KANG, Y.-P. SHIH and A.-C. LEE 1992 Journal of <ibration and Acoustics 114, 194}208.
Investigation on the steady-state responses of asymmetric rotors.

APPENDIX A: MATRICES

A.1. TRANSFORMATION MATRICES

     
cos Xt sin Xt [¹ ] [¹ ]
[¹ ]" , [¹ ]"  , [¹ ]"  .
 !sin Xt cos Xt  [¹ ]2  [¹ ]
 
(A.1}3)

     
0 1 [H ] [H ]
[H ]" , [H ]"  , [H ]"  .
 !1 0  [H ]2  [H ]
 
(A.4}6)

A.2. DISK MATRICES

m c
m c
[M ]" , [C ]" , (A.7, 8)
" J " 0 JX
V W
J !J X 0
V W
i sin(Xt#b) e i0e
g cos(Xt#b) g g1g
+Q ,"m dX j f !mg j f , (A.9)
" S 0
g g g0g
k 0 h k0h

c 2Xm
!2Xm c
[CM ]" , (A.10)
" 0 X(J !2J )
W V
!X(J !2J ) 0
W V
 ASYMMETRIC ROTOR RESPONSE 325
!Xm Xc
!Xc !Xm
[KM ]" , (A.11)
" X(J !J )
W V
X(J !J )
W V
i sin(b) e i sin (Xt) e
g cos(b) g g cos (Xt) g
+QM ,"m dX j f #mg j f. (A.12)
" S
g 0 g g 0 g
k 0 h k 0 h

A.3. SHAFT ELEMENT MATRICES

156 0 !22¸ 0 54 0 13¸ 0

156 0 22¸ 0 54 0 !13¸
4¸ 0 !13¸ 0 !3¸ 0
oA¸ 4¸ 0 13¸ 0 !3¸
[M ]" , (A.13)
R 420 156 0 22¸ 0
(sym) 156 0 !22¸
4¸ 0
4¸

36 0 !3¸ 0 !36 0 !3¸ 0

36 0 3¸ 0 !36 0 3¸
4¸ 0 3¸ 0 !¸ 0
oI 4¸ 0 !3¸ 0 !¸
[M ]" K , (A.14)
P 30¸ 36 0 3¸ 0
(sym) 36 0 !3¸
4¸ 0
4¸

36 0 !3¸ 0 !36 0 !3¸ 0

!36 0 !3¸ 0 36 0 !3¸
4¸ 0 3¸ 0 !¸ 0
oI !4¸ 0 3¸ 0 ¸
[M ]"[M ]" B ,
BA B 30¸ 36 0 3¸ 0
(sym) !36 0 3¸
4¸ 0
!4¸

(A.15)
326 F. ONCESCU E¹ A¸.

0 !36 0 !3¸ 0 36 0 !3¸

0 3¸ 0 36 0 3¸ 0
0 4¸ 0 !3¸ 0 !¸
oI 0 3¸ 0 !¸ 0
[M ]" B , (A.16)
BQ 30¸ 0 !36 0 3¸
(sym) 0 !3¸ 0
0 4¸
0

0 !36 0 !3¸ 0 36 0 !3¸

0 !3¸ 0 !36 0 !3¸ 0
0 4¸ 0 !3¸ 0 !¸
oI 0 !3¸ 0 ¸ 0
[G]" N , (A.17)
30¸ 0 !36 0 3¸
(skew}sym) 0 3¸ 0
0 4¸
0

12 0 !6¸ 0 !12 0 !6¸ 0

12 0 6¸ 0 !12 0 6¸
4¸ 0 6¸ 0 2¸ 0
EI 4¸ 0 !6¸ 0 2¸
[K ]" K , (A.18)
K ¸ 12 0 6¸ 0
(sym) 12 0 !6¸
4¸ 0
4¸

12 0 !6¸ 0 !12 0 !6¸ 0

!12 0 !6¸ 0 12 0 !6¸
4¸ 0 6¸ 0 2¸ 0
EI !4¸ 0 6¸ 0 !2¸
[K ]"[K ]" B ,
BA B ¸ 12 0 6¸ 0
(sym) !12 0 6¸
4¸ 0
!4¸

(A.19)
 ASYMMETRIC ROTOR RESPONSE 327
0 !12 0 !6¸ 0 12 0 !6¸
0 6¸ 0 12 0 6¸ 0
0 4¸ 0 !6¸ 0 2¸
EI 0 6¸ 0 2¸ 0
[K ]" B , (A.20)
BQ ¸ 0 !12 0 6¸
(sym) 0 !6¸ 0
0 4¸
0

i 0 e i !sin Xt e
g 1 g g cos Xt g
g 0 g g  ¸ sin Xt g
g ¸ g g  ¸ cos Xt g
+Q ,"ogA¸ j  f, +QM ,"!ogA¸ j  f. (A.21, 22)
   
g 0 g g !sin Xt g
g 1 g g cos Xt g
g 0 g g ! ¸ sin Xt g
k ! ¸ h k ! ¸ cos Xt h

A.4. BEARING MATRICES

   
k k C C
[K ]" SS SU , [C ]" SS SU , (A.23, 24)
. k k . C C
US UU US UU

 
 
k #k c !c 1 0 k #k c !c 0 1
[KM ]" SS UU!X SU US # SU US!X SS UU
. 2 2 0 1 2 2 !1 0

 
k !k c !c cos(2Xt) sin(2Xt)
# SS UU#X SU US
2 2 sin(2Xt) !cos(2Xt)

 
k #k c !c !sin(2Xt) cos(2Xt)
# SU US#X SS UU , (A.25)
2 2 cos(2Xt) sin(2Xt)

     
c #c 1 0 c !c 0 1 c !c cos(2Xt) sin(2Xt)
[CM ]" SS UU # SU US # SS UU
. 2 0 1 2 !1 0 2 sin(2Xt) !cos(2Xt)

 
c #c !sin(2Xt) cos(2Xt)
# SU US . (A.26)
2 cos(2Xt) sin(2Xt)

APPENDIX B: NOMENCLATURE

A cross-section area of the shaft

[A(t)] periodic matrix of dimension m;m
[B(y)] matrix de"ned by [B]"(*/*y) [N]
328 F. ONCESCU E¹ A¸.

c external damping coe$cient

c ,c ,c ,c damping coe$cients of the bearings, Figure 3
SS SU US UU
[C] damping matrix (subscripts D, A, P: disk, shaft, bearing)
d radius de"ning the unbalance position, Figure 2
[D(y)] matrix given by [D]"[(*/*y)N]
E Young's modulus
f (y) displacement function
+ f, force vector of dimension m
g gravitational acceleration
[G] gyroscopic matrix
W HX constant transformation matrices, Appendix A
H H
[I ] m;m unity matrix
K
I second moments of area for shaft (subscripts x, z, m, d, p: along x- and z-axis,
mean, deviatoric, polar)
J moment of inertia of the disk (subscripts x, y: transverse, polar)
k ,k ,k ,k sti!ness coe$cients of the bearings, Figure 3
SS SU US UU
k ,k mean and deviatory sti!ness of the shaft
K B
[K] sti!ness matrix (subscripts D, A, P: disk, shaft, bearing)
¸ length of a shaft element, also shaft length
d¸ virtual work of external forces (subscripts D, A, P: disk, shaft, bearing)
m mass of the disk
m mass of the unbalance
S
[M] damping matrix (subscripts D, A, P: disk, shaft, bearing)
N number of intervals in a period
N,N number of disks, number of nodes of the shaft partition
B L
[N(y)] matrix of shape functions for shaft elements
q generalized displacements (subscripts x, z: along X- and Z-axis)
+Q, forces vector (subscripts D, A, P, ¸, u, w: disk, shaft, bearing, liaison, unbalance,
weight)
t time
¹ period
¹ kinetic energy (subscripts D, A: disk, shaft)
W ¹X periodic transformation matrices, Appendix A
H H
u, w lateral de#ections of the shaft in the in "xed frame
; strain energy
+x, vector of dimension m, containing displacements and velocities
(xyz) rotating frame
(xyz) principal axes of the shaft cross-section
(X>Z) "xed reference frame
y axial distance along shaft element or shaft
b angle de"ning the unbalance position, Figure 2
+d, nodal displacements vector (subscripts 0, e, p: disk, shaft element, bearing)
h, t angular de#ections of the shaft
o mass per unit volume for shaft
u angle of rotation of the rotor
u, h, t Euler's angles
[U(t)], [U(t, s)] transfer matrix of system (1)
u , u and u angular velocities of the shaft cross-section
V W X
X rotational speed of the rotor

Special symbols
xR "dx/dt di!erentiation with respect to time
x"dx/du di!erentiation with respect to angle of rotation
xN , +xN ,, [XM ] with reference to the rotating frame (for scalars, vectors or matrices)