Journal of the Chinese Institute of Engineers, Vol. 28, No. 1, pp.

89-99 (2005)

89

THE COUPLED VIBRATION IN A SHAFT-DISK-BLADES SYSTEM

Chia-Hao Yang and Shyh-Chin Huang*

ABSTRACT
The coupling vibrations among support-longitudinal, shaft-torsion and blade-bending vibrations in a shaft-disk-blades unit are investigated. The equations of the shaft-diskblades unit are derived from the energy approach in conjunction with the assumed modes method. The present research focuses on the influence of blade number, longitudinal flexibility (K a) and stagger angle ( ) on coupling behavior. Free vibration is then studied and the results indicate that there exist two types, longitudinal-shaft-blade (LSB) and blade-blade (BB) coupling modes. Nevertheless, the LSB modes shift to SB (shaft-blade) modes at =0 and to LB (longitudinal-blade) modes at =90 . In between, the LSB mode is observed to evolve from the original SB mode in a previously studied no longitudinal case. Increasing the number of blades results in the increase or decrease of frequencies depending on which interval the frequencies lying in a frequencies axis divided by all the components frequencies fall into. This phenomenon exists as well in changing stagger angle. As to rotation effects, the frequency loci expelling or veering depends on K a, but the critical speed is irrelevant to . Key Words: shaft-disk-blades, longitudinal mode, coupling vibration, stagger angle.

I. INTRODUCTION Shaft-disk-blades units, as shown in Fig. 1, are widespread in engineering applications. For examples, in turbine generator systems, turbine engines, and rotor compressors, etc. Due to demanding precision, vibration analysis has become an important subject in the field of mechanical engineering design. Also, due to todays high speeds and high performance requirements, the investigation of coupling characteristics on the shaft-disk-blades system, which had not been seriously considered previously, becomes more important than ever. Coulped vibration analysis of a shaft-disk-blades system provides an effective approach in preventing structural damage or failures and warrants a safer and more reliable operation. The coupling behavior between shaft-disk and blade could change drastically due to the supports axial stiffness
*Corresponding author. (Tel: 886-2-27376443; Fax: 886-227376460; Email: schuang@mail.ntust.edu.tw) The authors are with the Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan 106, R.O.C.

and the blades stagger angle. The support longitudinal, shaft torsional and blade bending vibrations are believed to be coupled to a certain extent, but unfortunately can not be discussed in depth here. The present research focuses on the realization of coupling modes and that to what extent the coupling relies on supports stiffness and blades stagger angle. The vibration characteristics of blades at a constant rotating speed have been studied by many investigators, e.g., Lintins et al . (1973), Bauer (1980), Subrahmanyam et al . (1982), Sisto et al . (1983), Subrahmanyam and Kaza (1986), Ansari (1986), Bauer and Eidel (1988), Kammer and Schlack (1987a; 1987b), Yigit et al . (1988), Huang and Lin (1990) and Chiou and Yeh (1991). The blades were assumed as a rotating beam, uniform or pretwisted. And there are two analytic methods, the variational methods for simple geometries, and the finite difference or finite element methods for more complicated geometries. Some researches have been published on shaft-disk and disk-blade units, e.g., Eshleman and Eubanks (1967), Laurenson (1967), Ozguven (1984), Ewins (1973), Kushner (1980) and Omprakash and Ramamurti (1988a). Though the flexibility of disks

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Journal of the Chinese Institute of Engineers, Vol. 28, No. 1 (2005)

Blade Ka /2 Shaft Disk Ka /2

Fig. 1 A typical shaft-disk-blade model

was included, all the mentioned studies did not consider any coupling effects among components. Some research discussed coupled effects on rotor systems. Chivens and Nelson (1975) investigated the systems natural frequencies of shaft and disk coupled vibrations, and the critical speeds of a flexible shaft-disk system use Laplace transform method. The critical speeds were not significantly affected by disk flexibility, but natural frequencies were in a reverse way. Shahab and Thomas (1987) discussed the coupling effects of shaft and disk flexibility on a shaft-multiple disks system by using the finite element method. Their investigation showed that the disks rigidity imposed less effect than that of shaft torsion on system modes. Shen and Ku (1997) used the assumed modes method to study the natural frequencies and mode shapes of a shaft-multiple disks system. Wu and Flower (1992) investigated the coupling effects of shaft and disk using the transfer matrix method. Omprakash and Ramamurti (1988b) analyzed the natural frequencies of a rotating disk-blade system by a combined cycle symmetry and Rayleigh-Ritz method. Omprakash and Ramamurti (1990) discussed the influence of stagger and pretwist angle on the coupling vibration characteristics of a disk-blade system by the finite element method. They investigated the influence of disk flexibility and found that diskblades coupling frequencies approached the blades frequencies as the number of disks nodal diameters increased. When the stagger angle was zero, the disk and blades were completely uncoupled. As to the dynamic characteristics of a shaft-disk-blades unit, there are some investigations in the literature. Khader and Loewy (1990) discussed the forced response of a rotating shaft-disk-blades system by modal analysis method and addressed on the influence of Coriolis force and coupling effects on flexible disk-rigid shaft and rigid disk-flexible shaft. The frequencies of

flexibile blade-disk modes were bifurcated due to Coriolis force. Sakata et al . (1989) investigated the influence of gyroscopic moment of the shaft-diskblades system by the finite element method. Chun and Lee (1996) used the assumed mode method to investigate the influence of the forces and torques resulted from the change of the stagger and pretwist angles of blades on the dynamic coupling of a flexible shaft-disk-blades unit. This investigation arrived at some conclusions: the pretwist angle has far less influence on the system dynamics than the stagger angle and the torque and coupling effects on the shaft became the largest when the stagger angle was zero, but on the disk these effects were reversed. All the above research addressed the bending vibration of shaft, not the torsional and longitudinal vibrations. Jia et al . (1997) used the assumed mode method to investigate the longitudinal coupled vibration of a flexible shaft with multiple flexible disks. Lee and Chun (1998) investigated the effects of multiple flexible disks on the vibration modes of a flexible shaftdisk system via using the assumed modes method. The frequency bifurcations of shaft and disk coupling modes occurred due to disk flexibility. Huang and Ho (1996) were the first who employed the receptance method to explore the coupling modes between shaft torsion and blade bending in a shaft-disk-blades unit. But the support was assumed rigid because of zero stagger angle. The present research looks into the influence of supports axial stiffness and blades stagger angle on the coupling phenomena. The shaft-disk-blades system considered herein has N b-flexible blades clamped into a rigid disk with a stagger angle ( ) and undergoes shafts longitudinal and torsion vibrations around a constant rotating axis. In this paper the authors employed the energy approach and the assumed modes method for analytical studies. Cases of five and six blades are illustrated as examples. Frequency diagrams and mode shapes are given to help illustrate coupling phenomena and interpretations are given as well. II. ANALYTICAL MODEL Figure 1 shows a typical shaft-disk-blades system. The path of motion transmission can be from the blades through the disk to the shafts torsion and longitude or the reverse. In either case, the components are coupled together and the vibration can be very complicated. In the following theoretical analysis the authors intend to derive the equations for coupled vibration and to look into the parameters effects on coupling frequencies. The analyses begin with the energy derivation for all subsystems then the assumed-modes method follows to discretize equations. The total energy of the shaft-disk-blades system

C. H. Yang and S. C. Huang: The Coupled Vibration in a Shaft-Disk-Blades System

91

is decomposed into that of shaft-disk and that of blades. The energies associated with shaft-disk are the shaftdisks longitudinal and torsional vibrations and the blades bending energies. Note that in contrast to the shafts torsional rigidity, the shafts longitudinal rigidity is large enough to be assumed rigid. Instead, the whole set moves together but restricted by a pair of discrete springs at ends presumably provided by bearing supports. r s and r d denote the inner and outer radii of disk, respectively. r b is the location of blades outer end. w s is designated as the longitudinal displacement of the shaft-disk as a whole. The torsional displacement with respect to the constantly rotating frame is denoted ( Z , t ). Fig. 2 shows a typical rotating blade cantilevered off a rigid disk with a stagger angle . The ( X , Y , Z ) coordinate system is the inertia frame; ( x , y, z ) frame rotates at a constant speed and orients an angle relative to (X , Y , Z ) frame. The vb and wb are the transverse displacements of the blade in y and z directions respectively. The kinetic and strain energies associated with the shaft-disk and a single blade are derived to be

Y
co vb

y
os v bc

wb vb z Y ^b v

Ts = 1 2

Ls 0

I I s( + ) 2dZ + d ( + ) 2 2

Z = Zd

+ 1 (m s + m d )ws2 2
Us = 1 2
Ls 0

(1) (2)
Fig. 2

ws Blades coordinate systems and its deformation configuration

G sJ s(

2 ) dZ + 1 K aws2 2 Z

Tb = 1 2

rb rd

2 2 b A b{vb + wb + (vbcos + wbsin) 2 2

vb ( x , t ). The kinematic relations between these displacements are

vb k(xk, t) = vb k + xk
Z d cos

+ x 2 2 + 2x(vbcos + wbsin) }dx

wssin

zd

(5) (6)

+1 2
Ub =
rb rd

rb rd

v I b( cos + b ) 2dx x
rb rd

(3)

wb k(xk, t) = xk

Z d sin

+ wscos

E b I A 2vb ( )dx + 2 x 2

2 b A b 2 2 (r b x ) 4
(4)

[(

vb 2 wb 2 ) + ) ]dx x x

where L s, I s, and G sJ s denote the shafts length, polar rotatary inertia, and torsional stiffness, respectively. I d is the disks polar rotatary inertia. m s and m d denote the mass of shaft and disk. The upper dot denotes time derivatives and subscripts s and b are designated for shaft and blade, respectively. I A is the blades area moment of inertia about z axis, and I b is its polar moment of inertia. The total displacements of a blade, v b( x , t ) and w b( x , t ) consist of the shaft-disks torsional displacement ( Z d, t ), the shaft-disks longitudinal displacement w s , and the blades bending displacement

where the subscript k denotes the k th blade. Applying Hamiltons principle yields the equations of motion in a continuous fashion from the above energies. To search for direct solutions to the continuous equations, if not impossible, is ineffective and inefficient. The discretization process via the assumed-modes method hence applies. The mode shapes of corresponding non-rotating components are adopted as trial functions, i.e., w s( t )= W ( t ) (7) (8) (9)

(Z , t ) =

i(Z) i(t) = (Z)(t) i=1 V ki(xk) ki(t) = Vk(xk) k(t) i=1

nb

ns

vb k(xk, t) =

where W is the rigid mode shape of a shaft

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Journal of the Chinese Institute of Engineers, Vol. 28, No. 1 (2005)

longitudianal, i and V ki are the mode shapes of a shaft torsional and a blade, respectively. , i and ki are the participation factors. n s with the subscripts for designated subsystems, are the numbers of modes deemed necessary for required accuracy. Substituting the above equations into all the energy expressions and employing the Lagrange equations to yield the discretizated equations of motion in matrix notation as
Mq + ( K e 2 K )q = {0}

Table 1 Geometric and material properties of the illustrated examples Density: s Shaft Shear modulus: G s Shaft length: L s Radius: r s Mass: m s Density: d Youngs modulus: E d Location: z d Radius: r d Mass: m d Density: b Youngs modulus: E b Blade outer end: r b Cross-section: A b Area moment of inertia: I A Mass moment of inertia: I b Mass: m b Stagger angle: Longitudinal stiffness: K a Dimensionless rotational speed: * 7850 kg/m 3 75 GPa 0.6 m 0.04 m 23.675 kg 7850 kg/m 3 200 GPa 0.3 m 0.2 m 28.41 kg 7850 kg/m 3 200 GPa 0.4 m 1.2 10 -4 m 2 1.92 10 -9 m 4 1.51 10 -5 m 4 0.188 kg 30 2 10 7 N/m 0~12

(10)

Disk

where matrices M , K and K are

M ww 0 M=
T M wb 1

0 M ss
T M sb 1

M wb 1 M sb 1 M b 1b 1 0 0 0

M wbN M sbN 0 0 0 Mb N
b

(11)

Blade

T M wbN

T M sbN

b b Nb

e Kww

0
e Kss

0 0 Kb 1b 1 0 0 0 0
e Kb N b N b b e

0 Ke = 0

(12) first and second modes participating in coupling vibrations, are demonstrated in the following illustrations. Table 1 gives the geometric and material properties for the illustrated examples. Note that, the sizes of shaft, disk and blades shown in the examples are exaggerated in order to clearly magnify the coupling effects among components. Also, to illustrate how the components flexibility affects coupling vibration, the natural frequencies of individual components with the others temporarily removed or assumed rigid are calculated and listed in Table 2. To avoid dimensional dependence, the shown results are normalized with respect to the cantilevered blades first natural b=81.538 Hz), i.e., * = / b and *= frequency ( 1 1 b. The cases of five and six blades are demon /1 strated as numerical examples and in the illustrations the authors denoted the SB, LB, BB and LSB for the shaft-blades, longitudinal-blades, blade-blade and longitudinal-shaft(torsional)-blade coupling modes, respectively. Huang and Ho (1996) once investigated the coupling modes of shaft-disk-blades units with no straggle angle ( =0 ) and longitudinal motion and discovered that the coupling modes could be grouped into two categories, the shaft-blades (SB) coupling and the inter blades (BB) coupling. The present investigation will show that the entering of support longitudinal flexibility results in the transfer of SB modes into LSB modes except at the extreme case =0 . At

0 0 K = 0

0
Kss ( Ksb 1) T ( Ksb N

0
Ksb 1 Kb 1b 1

0 KsbN 0

(13)
e Kb N b N b b

)T

Note that K e yields from the elastic deflection predominate at low rotational speed. 2K results from rotation and it softens the rotor at high rotational speed. The elements of matrices are given in the Appendix. q is a generalized vector, i.e.,

q = { \ \ } T

(14)

The natural frequencies and mode shapes are now solved for and the coupled behavior can be studied accordingly. III. NUMERICAL RESULTS AND DISCUSSION The systems mode shapes, showing the blades

C. H. Yang and S. C. Huang: The Coupled Vibration in a Shaft-Disk-Blades System

93

Table 2 Natural frequencies (Hz) of shaft-disk(longitudinal) & shaft-disk (torsional) and clamped blade Components N.F. Shaft-disk (longitudinal) Shaft-disk (torsional) Blade(bending)

1
139.474 207.418 81.538

2
2645.69 510.99

3
5267.204 1430.788

the opposite extreme, the SB modes transfer into LB modes at =90 . The BB modes, remain in either case. The present investigation explores the influence of blade numbers, and longitudinal stiffness K a on coupling vibrations and their frequencies as well. Figure 3 shows the mode shapes of a five-blade system. The x - y plots denote the longitudinal displacement, and the shafts torsional displacement. From the first two x - y plots one notices that at modes #2 and #5 the longitude and torsion do not participate, at mode #3 longitudinal motion dominates, and at mode #4 torsional motion dominates. Modes #2 and #5 are the so-called BB modes and the others are LSB modes. BB modes occur at exactly the frequencies of a cantilever blade (Huang and Ho, 1996) and the blades balance by themselves such that they yield no net force or torque to the shaft. Huang and Ho (1996) discovered that the inter blade modes occurs always at repeated frequencies of multiplicity N b- 1, where N b is the number of blades. The first mode (LSB) occurs at 80.848 Hz, which is slightly lower than the first natural frequency of a single cantilever blade (81.538 Hz, Table 2). At this mode, the blades first mode predominates, as seen, but the shafts torsional and longitudinal directions have both deformed and lowered the frequency slightly. Note that the longitudinal mode is relatively higher (stiffer) than the blades first mode. Therefore, the resulting natural frequency just slightly deviates from the case of rigid support as shown in Table 3. The mode #3 occurs at 138.484 Hz, in which the logitudinal mode (139.474 Hz) predominates, but, the blades first mode plays a role as a serial spring to the shaft and pulls the frequency down. Mode #4 is similar to mode #3 except that the shafts first torsional mode predominates. Mode #6 is similar to mode #1 except that the blades second mode predominates. Compared to the no longitudinal motion case, two phenomena are observed. First, due to longitudinal flexibility, the SB modes shift to LSB modes with slightly smaller natural frequencies. The second phenomenon is an additional mode #3 which is generated due to longitudinal flexibility. Mode #3, if contrasted to adjacent modes, #1 and #4, shows blade deformation very similar, except that the longitudinal mode predominates herein. Fig. 4 shows the modes

Longitudinal displacement (ws)

1

3 Mode

Angular displacement ()
1

3 Mode

80.848 Hz

LSB

81.538 Hz

BB

#1 138.484 Hz LSB

#2 202.854 Hz LSB

#3 510.99 Hz BB

#4 514.969 Hz LSB

#5

#6

Fig. 3 The first six mode shapes of a five-blade system for =30

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Journal of the Chinese Institute of Engineers, Vol. 28, No. 1 (2005)

Table 3 Natural frequencies (Hz) associated with blades first mode and its multiplicity (n) for up to seven blades systems Single cantilever blade N.F. System Flexible shaft Rigid support Rigid shaft Flexible support Flexible shaft Flexible support Flexible shaft Rigid support Rigid shaft Flexible support Flexible shaft Flexible support Flexible shaft Rigid support Rigid shaft Flexible support Flexible shaft Flexible support Flexible shaft Rigid support Rigid shaft Flexible support Flexible shaft Flexible support Flexible shaft Rigid support Rigid shaft Flexible support Flexible shaft Flexible support Flexible shaft Rigid support Rigid shaft Flexible support Flexible shaft Flexible support 81.538

1
81.284 SB 81.515 LB 81.261 LSB 81.157 SB 81.503 LB 81.123 LSB 81.030 SB 81.491 LB 80.985 LSB 80.903 SB 81.479 LB 80.848 LSB 80.777 SB 81.467 LB 80.711 LSB 80.651 SB 81.455 LB 80.575 LSB

2
81.538 BB 81.538 BB 81.538 BB 81.538(double) BB 81.538(double) BB 81.538(double) BB 81.538(triple) BB 81.538(triple) BB 81.538(triple) BB 81.538(four) BB 81.538(four) BB 81.538(four) BB 81.538(five) BB 81.538(five) BB 81.538(five) BB 81.538(six) BB 81.538(six) BB 81.538(six) BB

3
139.087 LB 139.082 LSB 138.895 LB 138.884 LSB 138.704 LB 138.684 LSB 138.514 LB 138.484 LSB 138.325 LB 138.281 LSB 138.136 LB 138.078 LSB

4
205.509 SB 205.518 LSB 204.586 SB 204.606 LSB 203.683 SB 203.719 LSB 202.799 SB 202.854 LSB 201.935 SB 202.013 LSB 201.088 SB 201.193 LSB

2 Blades

3 Blades

4 Blades

5 Blades

6 Blades

7 Blades

of a six-blade case. The same as the five-blade case, modes #1, #3, #4 and #6 are longitudinal and torsional coupled vibrations and modes #2 and #5 are the BB modes as discovered in a rigid support system. Table 3 intends to illustrate the torsional and longitudinal effects for up to seven blades. It is concluded from the table that both torsion and longitudinal flexibility pull the first coupled mode down and each flexibility creates an extra coupled mode ( 3 or 4).

The effects of blade number on frequencies are summarized in Fig. 5 for up to seven blades. BB frequencies do not change with blade number as expected. The first three LSB frequencies, in which the blades bend at their first modes, decrease with blade number. The LSB modes, associated with blades second or higher modes, increase with blade number. This phenomenon can be explained as follows. The first two dimensionless frequencies of the

C. H. Yang and S. C. Huang: The Coupled Vibration in a Shaft-Disk-Blades System

95

Longitudinal displacement (ws)

LSB BB LSB LSB 7 6

BB LSB

BB LSB

Number of blade
1 2 3 4 Mode 5 6

5 4 3 2 1 1.711 2.544 6.267 17.547

Angular displacement ()

Natural frequencies *

Fig. 5 Frequency loci due to blades number first blades mode predominates longitudinal mode predominates torsional mode predominates second blades mode predominates third blades mode predominates

3 Mode

80.711 Hz

LSB

81.538 Hz

BB

#1 138.281 Hz LSB

#2 202.013 Hz LSB

#3 510.99 Hz BB

#4 515.722 Hz LSB

#5

#6

Fig. 4 The first six mode shapes of a six-blade system for =30

shaft-disks torsional modes are 2.544 and 32.45. The first blade mode ( *=1) associated modes are relatively softer than the torsional mode. Further addition of blades results in pulling the frequencies down. The second blades mode ( *=6.267) related modes are relatively stiffer than the shafts first mode and more blades cause higher frequency. From the theory

of structural combination, the LSB modes located in [0, 2.544] will decrease and those located in [2.544, 32.45] will increase with the increase of blade number. This increasing/decreasing phenomenon happens alternatively depending on which interval the frequency is located in. This phenomenon is illustrated by Huang and Ho (1996). In order to realize how the modes evolved with the stagger angle, Fig. 6 shows the frequencies loci of modes for a five-blade case. In this figure, the solid curves denote the present case and the dashed curves denote the rigid support case. At =0, the vibration characteristics of the system are completely uncoupled from the longitudinal vibration. That means the systems natural frequencies are related only to the shafts torsion and the blades bending and are irrelevant to the support longitudinal mode. This phenomenon is understandable since at =0 there is no force exerted on the shaft in the longitudinal direction. This explains why Huang and Ho (1996) did not consider the support longitudinal flexibility in their case ( =0 ). At the other extreme, = /2, the longitudinal support and blades are coupled but they exert no net torque or forces in the shafts torsional direction. As with in between, the three components are usually coupled (LSB modes). Fig. 6 clearly shows the shift of modes. For instance, the first SB mode locus at =0 is predominated by the blades first mode and with the increase of the SB mode transfers into the LSB mode and then to the LB mode at =90 . The natural frequency locus bends to the right (becomes larger) with increasing . It is due to the fact that the support longitudinal mode is more rigid than the shafts first torsional mode and

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Journal of the Chinese Institute of Engineers, Vol. 28, No. 1 (2005)

90
Blades stagger angle (degree)

LB BB LB S

BB LB

75 60 45 30 15 0 SB BB L 1 1.711 SB 2.544 Natural frequencies *

Fig. 6 Frequency loci due to blades stagger angle first blades mode predominates longitudinal mode predominates torsional mode predominates second blades mode predominates rigid support flexible support
Stiffness Ka & Kt (N/m)

LSB SB

BB LSB SB

LSB

BB SB

LSB

BB 6.267

SB

Kt= Ka= Kt=GsJs Ka= Kt=GsJs Ka=2e8 Kt=GsJs Ka=1e8 Kt=GsJs Ka=4e7 Kt=GsJs Ka=2e7 Kt=GsJs Ka=1e7 Kt=GsJs Ka=4e6

BB SB LSB SB BB LSB LSB L L L L L L 1 2.544 BB

BB BB LSB

6.267

Fig. 7 Frequencies changes due to K a for =30 first blades mode predominates longitudinal mode predominates torsional mode predominates second blades mode predominates natural frequency of torsional mode for Kt=GsJs natural frequency of longitudina mode for Ka

larger means more participation of support than the shaft. As increases, the L mode transfers into the LSB mode and eventually transfers into the LB mode. As to the modes where the blades second mode dominates, the blades participation decreases with and therefore the systems natural frequency decreases with . For BB modes, the stagger angle has no effect on their frequencies. Figure 7 shows the frequency loci with the longitudinal stiffness for a five-blade case and =30 . In this figure, the mark denotes the natural frequencies of shaft-disks first torsional mode for K t= G sJ s and the marks + denote the natural frequencies of shaft-disk longitudinal mode for different K a values. In the first row ( K t= and K a= ) is the systems natural frequency as the shaft torsional and support longitudinal are rigid. There exist exactly the frequencies of cantilever blades, denoted BB. The second row denotes the release of torsion rigidity ( K t= G s J s and K a= ). As we have discovered, the original BB modes split into SB and BB modes, the torsion flexibility creates coupled modes. In addition, an extra torsion predominating SB mode appears. If the support longitudinal flexibility is further released, as shown in the third row ( K t= G sJ s and K a= 2 10 8 N/m), the original SB modes all shift to LSB modes and an extra longitudinal predominating mode generates. The following rows represent a decreasing trend of K a, and the results show that the natural frequencies of LSB modes decrease as expected. Last, the authors study the effects of the shafts rotational speed on the systems natural frequencies.

Figs. 8(a-d) show the frequency loci for different values with R a=4 10 7 N/m. In these figures, the BB frequencies increase with rotation due to increasing centrifugal forces. The first shaft related modes show a very important phenomenon, the loci intersect the abscissa at approximately *=8.5 no matter the value. These intersections refer to the so-called critical speeds. Eq. (10) proved that this could happen if 2K were large enough. Further examination revealed that this critical speed is attributed to Eq. (A9), and it is irrelevant to . As is increasing, LSB and BB loci are getting closer to each other. It is because of the torsional effect being less significant with . At =0 , the longitudinal mode is independent of rotation speed. Similarly, in the extreme case of = /2, the shaft-disks torsional mode has no effect. The values of K a are compared in Figs. 9(a-b). In these figures, one important phenomenon is shown. If K a is raised high enough, herein the longitudinal frequency exceeds 2.544, then the LSB loci create expelling and veering phenomena. IV. SUMMARY The authors investigated the coupling vibrations among support-longitudinal, shaft-torsion and bladebending in a shaft-disk-blades unit via the energy approach in conjunction with the assumed modes method. From numerical results the authors have arrived at the following conclusions. The entering of support longitudinal flexibility

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97

Fig. 8 Variation of natural frequencies with rotation speed of five blades and K a=4 10 7 N/m for (a) =0 (b) =30 (c) =60 (d) =90

Fig. 9 Variation of natural frequencies with rotation speed of five blades and =30 for (a) K a =4 10 6 N/m (b) K a =4 10 8 N/m

causes the following changes: (1) The original SB modes transfer into LSB modes, but the BB modes retain the same multiplicity. (2) An extra longitudi-

nal-predominating mode is generated. (3) The number of blades may increase or decrease individual modes depending on which component predominates at that

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Journal of the Chinese Institute of Engineers, Vol. 28, No. 1 (2005)

mode. The effects of stagger angle ; at =0 longitudinal flexibility did not couple and at =90 , shafts torsion did not contribute. As changes from one extreme (0 ) to the other (90 ), the authors observed from frequency loci the following phenomena: (1) The LSB modes loci where the frequencies are lower than the longitudinal frequency bend to the right (become larger). (2) The L mode locus increases with and eventually transfers into LB modes. As to the effects of * and K a, some conclusions can be drawn: (1) The critical speed associated with the first shaft mode is irrelevant to . (2) If one increases K a up to a certain value, the loci will produce phenomena of expelling and veering. NOMENCLATURE

q, , ,
V ki vb k vb, wb

*
b 1

*
( )s ( )b ( ) ki

vectors consisting of generalized coordinates i th mode shape of the k th blade kth blade displacements with respect to the x axis blade displacements with respect to the Y and Z axes stagger angle shaft-disk torsional displacement relative to rotation frame rotational speed of shaft speed dimensionless rotational speed ( * = b) / 1 the first nature frequency of single cantilever blade natural frequency dimensionless natural frequency ( * = b) / 1 shaft blade i th term of the k th blade REFERENCES

Ansari, K. A., 1986, On the Importance of Shear Deflection, Rotatory Inertia, and Coriolis Forces in Turbines Blade Vibrations, ASME, Journal of Engineering for Gas Turbines and Power , Vol. 108, No. 2, pp. 319-324. Bauer, H. F., 1980, Vibration of a Rotating Uniform Beam Part I : Orientation in the Axis of Rotation, Journal of Sound and Vibration , Vol. 72, No. 2, pp. 177-189. Bauer, H. F., and Eidel, W., 1988, Vibration of a Rotating Uniform Beam Part II : Orientation Perpendicular to the Axis of Rotation, Journal of Sound and Vibration , Vol. 122, No. 2, pp. 357-375. Chiou, Y. F., and Yeh, W. C., 1991, Prediction of

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99

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Vibration and Acoustics, Vol. 114, No. 2, pp. 242248. Yigit, A., Scott, R. A., and Galip Ulsoy, A., 1988, Flexural Motion of a Radially Rotating Beam Attached to a Rigid Body, Journal of Sound and Vibration , Vol. 121, No. 2, pp. 201-210. Manuscript Received: Dec. 15, 2003 Revision Received: Mar. 04, 2004 and Accepted: Apr. 08, 2004 APPENDIX The element matrices are given as

M ww = m s + m d + b A b
M wb k = b A b
rb rd

Nb

rb rd

k=1

dxk

(A 1) (A 2)

WVsindxk

M ss =

Ls 0

I s T dZ + I d [ T ] Z = Z d
Nb rb rd 2 [ T ] xk Z = Z d dxk

+ bA b

k=1

(A 3)

M sb k = b A b M b kb k = b A b

rb rd

xk T

Z = Z d Vk cos dxk

(A 4)

rb rd

T Vk Vkdxk

(A 5) (A 6) (A 7) (A 8)

e K ww = K aWW

e Kss =

Ls 0

G sJ s T dZ
rb rd N

Kb kb k = E b I bA

TV dx Vk k k
rb rd

b Kss = 1 b A b 2 k=1

2 3 x 2)[ T ] (r b k Z = Z d dxk

(A 9)

Ksb k = b A b[ 1 2
rb rd

rb rd

xk T

Z = Z d Vk cos dxk Z = Z d Vkcos dxk ]

2 x 2) T (r b k

(A 10)

K b kb k = b A b

rb rd

T Vk Vkcos 2dxk rb

1 bA b 2

rd

2 x 2)V V dx (r b k k k k

(A 11)