Journal of Sound and Vibration (1988) 126(2), 345-361

MODAL ANALYSIS OF CONTINUOUS ROTOR-BEARING SYSTEMS

C.-W. LEE
AND

Y.-G. JEI

Department of Mechanical Engineering, Korea Advanced institute of Science and Technology Seoul, Korea (Received 27 November 1987, and in revised form 5 May 1988)

Modal analysis is applied to continuous rotor systems with various boundary conditions which include isotropic and anisotropic natural boundary conditions. The rotor includes the effects of rotary inertia and gyroscopic moment. In particular, the whirl speeds and mode shapes, backward and forward, of a rotating shaft are obtained as spin speed and boundary conditions vary, and the unbalance responses are calculated by using modal analysis. The effects of asymmetry in boundary conditions on the system dynamic characteristics are also investigated.

1. INTRODUCTION Various methods for transverse vibration analysis of rotor systems have been developed during the past few decades. These may be divided into two major classes according to modelling procedure. The first is the discretization method, such as the FEM and Transfer

Matrix Method, in which a rotor system is approximated by a finite-degree-of-freedom system whose motions are described by ordinary differential equations [l-4]. The second is the analytical method in which a rotor system is treated as a distributed parameter system whose motions are described by partial differential equations [5-g]. With the recent development of computer hardware and software, the discretization method has become a popular method for analysis of transverse vibrations of rotor systems, since it can be easily applied to complex rotor systems. However, it is often difficult, if not impossible, to look into, in a systematic way, the effects of system parameters such as gyroscopic moments, rotary inertia and boundary conditions on the whirl speeds, mode shapes and stability of a rotor. Furthermore, the results obtained by the discretization method may not be as accurate as desired. On the other hand, although the solution techniques are limited to relatively simple rotors, the analytical method often yields essential information on the behaviors of rotor systems. The dynamic characteristics of distributed parameter rotor systems have been studied by a few investigators. Gladwell and Bishop [5] performed a modal analysis of an Euler-Bernoulli beam supported by flexible bearings and solved the response problems associated with mass unbalance, initial curvature, and gravity. Dimentberg [6] provided an excellent review of the state-of-the-art of rotor dynamics and analytical solutions to many rotor vibration problems, including the effects of gyroscopic moment and rotary inertia. Eshleman and Eubanks [7] investigated the effects of externally applied axial torque on the critical speeds of a continuous rotor, including the effects of shear deformations. Recently, Lee et al. [9] applied modal analysis to a rotating Rayleigh beam including the effects of rotary inertia and gyroscopic moments. The difficulties in modal analysis of rotor systems which include the effects of rotary inertia and gyroscopic moments arise
345 0022-460X/88/200345+ 17 %03.00/O @ 1988 Academic
Press Limited

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from the fact that the resulting eigenvalue problems are characterized by the presence of skew symmetric matrices with differential operators as elements, due to rotation and/or damping, resulting in non-self-adjoint eigenuafue problems [9]. The resulting eigenvalue problem becomes then a standard non-self-adjoint eigenvalue problem when the equation of motion is written in state space rather than in configuration space [9, lo]. Although the boundary conditions in reference [9] were restricted to the isotropic geometric boundary conditions as in references [6,7], it was found that the forward whirl mode shapes are different from backward whirl mode shapes, which has not been observed in results obtained by the discretization methods. In practice, rotor systems are supported by bearings which may not be appropriately represented by geometric boundary conditions only. The aim in this paper is to extend the modal analysis developed in reference [9] to rotor systems having isotropic and anisotropic natural boundary conditions. The effects of rotary inertia and gyroscopic moments are also included as in reference [9]. The whirl speeds and mode shapes of a rotating shaft with various boundary conditions, and the unbalance responses, are computed. In particular, the forward and backward whirl mode shapes with the spin speed varied and the effects of the asymmetry in boundary conditions on the system dynamic characteristics are also investigated. 2. EQUATIONS OF MOTION Consider a flexible non-uniform rotor system consisting of D disks and B anisotropic bearings as shown in Figure 1. For simplicity, it is assumed that discontinuities in stiffness and inertia caused by disks and bearings are well represented by a train of delta functions along the shaft axis. The equations of motion including gyroscopic and rotary inertia effects are then expressed, in inertial co-ordinates, as

kJx)y + k,,(x)z =Sy(x,t),

(14

k&b+
and

k&b

=./Xx, ~1,

(lb)

where O<x<l

pA(x)=pAe(x)+

f
d=l

dS(x-xd),

Figure

1. General

rotor-bearing

system.

CONTINUOUS

ROTOR-BEARING

SYSTEMS

347 ; J$S(PXd),

Jr(x)=JpT(x)+

;
d=l

J7 6(x-&j),

Jp(x)=J;(x)+

d=l

b(x)

b-l

k;yS(x

-x&

k,,(x)

i
b-l

+(x

- xb),

L(x)

it b=l

k:za(x

-Xb),

k.,(x)

i b=l

kf$(x

xb).

Here PA(X) is the mass per unit length, &(x) the diametral mass moment of inertia, JP(x) the polar mass moment of inertia, El(x) the flexural rigidity, md the disk mass, I the length of the rotor, R the spin speed, x the position co-ordinate along the shaft, and fy(x, t),fr(~, t) are the distributed forcing functions in the y and z directions, respectively. The superscript e denotes the shaft and, d and b denote the dth rigid disk located at x = xd and the bth discrete bearing located at x = xb, respectively. The associated general boundary conditions are

(3)

where the superscripts and I denote the terms located at x = 0 and 2, respectively. The boundary conditions of equations (2) are associated with the shear force and the deflection at both ends, and equations (3) are associated with the bending moment and the slope at both ends of the rotor system considered. Equations (l), (2) and (3) constitute the
boundary value problem of the rotor system. It is notationally convenient to introduce the state vector

W(x, t) = {w, w ,w, w, w O}T, where

w(x, t) =

(4)

I I

e,

t) u(x,r)

u(x, t) =

1 a, I
Y(X,

I)

t)

w =w(l, t),
as

w= w(0, t),

W" = i)w/axl,,,,do = r?rr/ax(,,,.

The equations of motion (l), with the boundary

conditions (2) and (3), can be rewritten (5)

MW=LW+F

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where

The element matrices in equation (5) are provided in Appendix A.

3. MODAL ANALYSIS

METHOD

The inner product of two complex state vectors a = {a,, u*}~ and b = {b, , b2}T is defined

as (a,b)=((Il.bl)+(n2,b2)=~~~~,=(dx+ld~~L?idx where the bar denotes the complex conjugate. For the two state vectors W, and W2
(W,,W,)=(jt,,)i*>+(il,i*>+(y,,y,)+(z,,z,)+B(I,t)+B(O,r),

(6)

(7)

where B(x, r) = i,(x, f)G, t) +&CT t)&(x, r) +Y,(x, f)%(X, r)+ z,(x, rP*(x, r) Q&x, t)+yi(x, t)$(x, t)+zi(x, f)fi(X, t).

+9:(x, t)j$(x, r)+ii(x,

The eigenvalue problem associated with equation (5) and its adjoint are given by h,M+,=L+, r=l,2,3 ,..., &M*YS = L* L ,, s = 1,2,3,.
.., (8)

where M* and L*, the adjoints of M and L, respectively, are found to be M* = MT, The eigenfunction L* = LT. vector WY,are given as (9)

vector +, and the adjoint eigenfunction

4, = {A&,, 4, A&I, 4,, &4: , 44 A,& 49, &44O, d4] , f* = {UJS, &, US, where
IL: 9LJI: , $5 w, *:, MO, $t > , (10)

4, and Vr, may be biorthonormalized

so as to satisfy (L&, *S) = G%S, (11)

(M4,, J s) = a,,

where 6, is the Kronecker delta. From equation (8), if k,,(x) = -k,,(x), k$ = -kt,,, and k:, = -ki),, +, and WY,satisfy the same eigenvalue problem [9], resulting in &Jx) = K#%&) and &Z(X) = -G#J,(x), (12)

where the constant K, is to be determined from biorthonormality conditions and is provided in Appendix B. The biorthonormality conditions expressed in terms of eigenfunctions and adjoint eigenfunctions are obtained from equation (11) [9]. l/K,, a complex quantity, is a so-called modal norm.

CONTINUOUS

ROTOR-BEARING

SYSTEMS

349 as

The distributed state u(x, 2) can be expanded in terms of the system eigenfunctions follows

The summation indices F and B in equation (13) implicitly indicate the resonances of the rotor in forward and backward precessions, respectively. Since u is the real state vector, the complex conjugates of +lql always exist in the summation of equation (13). Substitution of equation (13) into equation (5) yields an infinite set of modal equations,
&=A ,q ,+f ,, i = F, B,

r=l,2,3

,...,

(14)

where ~=(W,V \Y:(x))= Equation (14) represents differential equations. I ;(&&+ihf,)dx. first-order complex ordinary

an infinite set of independent

4. UNIFORM CIRCULAR SHAFT It is convenient to introduce the non-dimensional x=x/& 5=yl& 77=z/l,
r = R/21,

variables 5=u/l, 7=0t, (13 Wx, 7) =_I-IPA~~~~,

c2 = pAe14R2/ EI,

where u(x, t) = y(~, t) +jz(x, t), the complex displacement function, and f(x, t) = f,(x, t) +ifr(x, r) the complex forcing function. Then the equation of motion of a uniform circular shaft with no disks and bearings on 0 < x < 1 can be reduced in non-dimensionalized form, from equation (l), as

g-r ( aX2ar2
2
--2j-

a25

a41

a 5

ax2a7 >

+L!%=h
c2

ax4

(16)

the boundary conditions (2) and (3), can also be rewritten in non-dimensionalized form. For a rotor with distributed mass center eccentricity y,(x), z,,,(x)), the equivalent unbalance force is given as &(x, 7) = &(x) cos T- W(X) sin 7, where the non-dimensional The &l(x) = Ym(XVl, non-dimensionalized h,(x, 7) = 77,(x) cos T+&(X) Ilndx) = GAxVl. sin 7, (17) (18) mass center eccentricity is

displacement can be represented as (from equation l3)), (19)

The set of modal equations (14), can be then rewritten in non-dimensionalized

cj;=A;oq:,+h;, i = F, B, r = 1,2,3, . . . ,

form as (20)

where

h:=(h(x,

7),$&4x)>=

Gi?o,h,+k,h~) I0

dx.
term and it

The subscript 0 in equations (19) and (20) denotes a non-dimensionalized will be omitted henceforth for notational convenience.

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4.1. UNIFORM SHAFI- WITH ISOTROPIC BOUNDARY CONDITIONS When the boundary conditions as well as the rotor are isotropic, the whirl mode shapes become real and planar, and the whirl motion is circular [6,9]. Therefore the forward and backward mode shape vectors in equation (10) have the forms

(21b)
The homogeneous part of equation (16) permits a solution of the form 4+(x,T) = 4(x)q(T)
= I&ejG ejpr (22)

where 5(x, 7) = 6(x, T) + jn(x, 7). The value of a characterizes the mode shapes and a is the natural frequency. Since the whirl frequency is given by w = aR, a = 1 at the critical speeds where the whirl speed coincides with the spin speeds. Substitution of equation (22) into the homogeneous part of equation (16) yields a2 - r2c2(u2 - 2a)a - c2a2 = 0. Solving this equation with respect to a gives (y =4r2C2(a2-2Q)fJ~t4c4(a2-2q)2+C2a2. (24) (23)

The expression for a shows that, for a constant value of c2, each value of the natural frequency a will result in two values of a, one always being positive and the other negative. Therefore, the mode shape functions 4(x) will take the form 4(x) = A, cos &x + A2 sin &x + A3 cash ax + A, sinh 4~ (25)

where -p and v are the two values of a which satisfy the relation (23). Normally the positive values 1~and v are different from each other (unlike the case of the Euler-Bernoulli shaft), satisfying the relations -/I + v = r2c2(a2 -2a), ~1.y = c2a2. (26)

For c2 given, equations (26) constitute two equations with three unknowns, V, p and a. One additional constraint comes from the frequency equation, which depends on the boundary conditions specified. Two typical isotropic (natural as well as geometric) boundary conditions will now be considered. For cases of fixed or simply supported ends (x =0, l), the frequency equations are given in reference [9]. 4.1.1. Cantilever shaft with a tip disk When a tip disk is attached at the free end of a cantilever shaft, the boundary conditions are 4(O) = 4 (O) = 0, 9(1)-C2(y:a2-y~a)~ (l)=0, (27)

c#J (1)+/3 c2a2~(1)+r2c2(a2-2a)~ (l)=0,

where /3= m /pA i, y\ = J:/pAe13, and y; = J ,lpA l . Imposing the boundary conditions (27) on equation (25) gives the frequency equation as CrCqVC2C3=0, (28)

CONTINUOUS

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351

where

C2 = v cos &+ C3 = -&(p

p cash G-

c2( y&x*- &I)(&

sin &+&

sinh a), sinh &I, &>.

cos &+

v coshG)+p c a*[sin&-(&I&) fi-cash

C,= (p&sin&-

v&sinhG)+P c2a2(cos

By using the relations of (26), (27) and (28) a set of Ai( i = 1,2,3,4), v and p together with a are determined. As discussed in reference [9], each natural frequency corresponds to a single mode shape, implying that the mode shapes corresponding to forward and backward precessions are different. The whirl speeds and mode shapes of the cantilever shaft with a tip disk are shown in Figures 2 and 3. Figure 2 indicates that the gyroscopic moments increase the forward whirl speed and decrease the backward whirl speed as the spin speed increases. Figure 3 shows that the distance between the neighboring nodes tends to decrease (increase) in the forward (backward) mode shapes as the spin speed increases. The solid line denotes the mode shape of non-rotating shaft. This phenomenon confirms the change in the whirl speeds of the forward and backward precessions.

25 -

2F
1 zo---_ ---___ --___ -28 --_

In 15E f IO5I 0 I I 1

IF
, 18

IO

15 Spin speed

20

25

30

Figure 2. Whirl speed of cantilever shaft with a tip disk (r = 0.02, /3= 0.7, y: = 0402, yf = 0404).

4.1.2. Shaft with isotropic spring supports at ends When the shaft is supported by isotropic bearings at both ends (x = 0, l), the boundary conditions are 4(O) = # ( 1) = 0,
f#J (0)+K~(O)+~2C2(U2-2~)~ (0)=0,

4 (l)-K +(1)+r2c2(a2-2a)4 (1)=0,

(29)

where K = k l- / EI = K;~ = it),,, and K = k13/ EI = K& = KS,,. Imposing the boundary conditions of (29) on equation (25) gives the frequency equation 1S 0 -vsinJ; -jL&
Q --v

-vcos&
K D2 0

0 p sinh&
VG 03

P k cosh&
K 04 0

0,

(30)

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Fig. 3. Mode shapes of cantilever shaft with a tip disk (c = O-40, @= 0.7, 7: = O+W2,7; = 0@04) (a) Second mode; (b) third mode. -.-, Forward; ----, backward.

where D,=p\/;;cosfi-K sinfi, D,=v&cosh&-K sinh&, D,=p&sin&-K1cosfi, D = v&sinh&-K cosha.

As before, a set of Ai( i = 1,2,3,4), p and v are determined from equation (30) by using the relations (26). The more general problem of an anisotropic spring support is treated in detail in the next section. 4.2.
UNIFORM SHAFT WITH ANISOTROPIC BOUNDARY CONDITIONS

mode shapes of a rotor system with anisotropic boundary conditions are complex and non-planar, and the whirl motions are not circular. With the assumption that KL, = Kit< i = 0, l), that is, orthotropic bearings, the homogeneous part of equation (16) permits a solution of the form 77(x, T) = &(x)4(7) = B ej+e@. (31) 6(x, 7) = &(,y)q( 7) = A ejG ej ,
The

Substitution of equation (31) into the homogeneous

part of equation (16) gives + {a a2c2( r*a + l)}B = 0. (32)

{Cl - a2c2( r2a + l)}A + 2jar2c2aB = 0,

-2jar c aA

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353

From equations (32), the condition for existence of non-trivial A and B yields
ff2-r2c2(a2-2a)a-c2a2=0, a2-rZC2(u2+2a)a-c2a2=0. (3% b)

Equation (33a) is identical to equation (23), whereas equation (33b) corresponds to the isotropic rotor rotating in the opposite direction. Solving these equations for a gives a
Cl! =fr2~2(a2-2a)*.J~r4c4(a2-2a)2+c2aZ, (344

=$r2c2(aZ+2a)*tJ

fr4c4(c2+2u)2+

c2u2.

(34b)

The expressions for a show that, for a constant value of c2, each value of the natural frequency a will have four values of a, two always being positive and others negative. Therefore, C&(X) and 4,(x) will take the forms &(x) = A, cos fix
+ A2 sin fix

+ A, cash Gx

+ A4 sinh X&X + A5 cos &,y (35a)

+ A6 sin X&X + A, cash X&X + As sinh X&X,

~$,(x)=B,cos~x+B~sin~~+B,cosh~~+B~sinh~~+B,cos&& + Bs sin fix + B, cash &x + B8 sinh X&X, (3Sb)

where Y, and -p, are the two values of a satisfying equation (33a), and v2 and -p2 the two values of a satisfying equation (33b): i.e., -1, + VI= r2c2(u2 -2a),
-/.Lz+ vz=

p, v, = p2v2 =

c2a2, c2a2.

(364 (36b)

r2c2(a2+2a),

For c2 given, equations (36) are four equations with five unknowns, kl, p2, vI , v2 and a. One additional constraint comes from the frequency equation which depends on the boundary conditions specified. When a solution for a is found, then it can be readily shown, from equations (36), that -a will automatically become another solution with CL, and vl interchanged with cc2and v2, respectively, in &(x) and 4,(x). On the other hand, the mode shapes associated with a and -a should be a complex conjugate pair. Therefore, the following relations hold
A,lii,=A,lA,=A,/A,=A,lA4=c,, A,/A,=A,/A,=A,IA,=A,lA,=c,,

B,ll?,=B,lB,=B,l~,=B,lB,=c,,

&I&

B2/

&

I?,/

B,

B,/

ii,

c4

(37) Here A,, Bi are the mode shape coefficients with -a and evaluated with p, and v, being interchanged with p2 and v2, respectively. The Ci S (i = 1,2,3,4) are the complex constants. From equations (32) one also obtains the relations
Bi = -jAi (i = 1,2,3,4), Bi=jAi (i=5,6,7,8). (38% b)

Therefore

&(x) and 4,(x)

of equations (35) can be rewritten as 4,(x) =

4*(x) = 4 (x) + C(x), where 4 (x) = A, cos 4~

4-(x)=A,cos&&+A 6 sin fix + A2 sin &x

-j{++(x) - d-(x)),
+ A4 sinh Gx, i-(x)

(39)

+ A3 cash &x

+ A, cash J&

+ AB sinh &x,

= c,J (x).

Here 4 (x) and c#-(x) are the mode shapes associated with two different isotropic rotors, one rotating in the specified direction and another in the opposite direction, respectively, implying that the anisotropic rotor is conceptually equivalent to these two kinds of

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isotropic rotors. In complex notation, the non-dimensionalized written as (from equations (19) and (22))

forced response can be

In the case when the boundary conditions become isotropic, one obtains for forward modes from equation (21a), $7(x) =f(i5+$&)=0, (4Ia)

and for backward modes from equation (21b) 9?(x) Therefore the non-dimensionalized =S(#~+jG) = 0. (4Ib)

forced response of an isotropic rotor becomes

5 = 5+h =

2 (4TF(x)qf+

&B(x)4rS),

implying that d:(x) and &LF(x) play a role in the forced respnse only when the system remains anisotropic. In fact, it has been already shown in reference [9] that the eigenvalue problem associated with isotropic rotor systems, when written in complex notation, yields a single eigenvalue corresponding to each mode. Although the complex conjugates associated with #FE(x) (d;(x)) in forward (backward) modes seem naturally to become additional eigensolutions, they actually result from the rotor rotating not in the specified direction but in the opposite direction. They exist only as a pure mathematical consequence, never contributing to the forced responses or resonances. In this respect, the observation that half of the anisotropic rotor resonances disappears suddenly as the anisotropy becomes null is clearly explained. Two typical anisotropic boundary conditions can now be considered. 4.2.1. Dissimilar fixing conditions in two perpendicular bending planes When a shaft is simply supported in two perpendicular bending planes at one end (x = 0), and fixed in one bending plane and simply supported in another bending plane at the other end (x = l), the boundary conditions become de(O) = MO)= &(I) = 4;(I) =O, ~,(0)=~;(0)=~,(1)=9 ,(I)=O. (43)

the frequency equation then becomes sin J;, (v,+p,)sinJv, 0 J;, cos 6, sinh a, 0 0 &, cash X& 0 ( y2+ 1~~)sin fi, sin Jv, - 6, cos &, 0 0 sinh G2 - fiz cash &

= 0.

(4)

Here each natural frequency corresponds to a single mode shape, implying that the mode shapes corresponding to forward and backward precessions are different. Due to the anisotropic boundary condition the mode shapes, &(x) and C&(X), are different and one additional resonance corresponding to each mode appears.

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4.2.2.

Orthotropic spring supports

When a shaft is supported by orthotropic conditions are 4;(0)=@(1)=0,

springs at both ends (x = 0, l), the boundary 4;(o) = 4;(l) = 0,

(0)9&(O)+ r2c2a2[d;(0) ~;(O)+KO~~(~)~C(O)+KOC?

~~(1)-K~~~~(1)+r2C2U2[~;(1)-j(2/~)~~(l)l=0, ~~(O)+KO??(~)~?(O)+KO~~

-.iW~MiAO)l =O,

(~)~,(0)+~ c2~ [~~(~)+j(2/~)~~(0)1=0

(45)

d~(l)-K1?~?(1)+r2c2U2[~~(1)+j(2/u)d;(1)l=0,
where

and 8, as shown in Figure 1, is the inclination angle of the orthotropic bearing at x = 0 relative to the orthotropic bearing at x = 1. By imposing the boundary conditions of (45) on equation (35) the frequency equation is found to be

IQiil = 0,

(4)

where the matrix elements Qij( i,j = 1,2,3,4) are as given in Appendix C. When the principal axes of two orthotropic bearings coincide, i.e., K&( 6) = 0, the values of Qij become real, resulting in real mode shapes. Figure 4 shows the whirl speeds as functions of 8 when the bearing properties are given as
K$=K;~=80

and

0 - 1 =LM) K11)-K19 .

(47)

The whirl speeds change significantly as 8 varies, but are insensitive to a change in the spin speed, due to the small gyroscopic effect of the uniform slender shaft considered. For 8 = 0 and 5, the mode shapes, &(x) and 4,(x), are shown in Figure 5. When 8 is

24 -

%
E f

I 45

1 90

I 135

180

Angle kgrees)

Figure 4. Whirl speed of a shaft supported

in orthotropic

bearings as 0 varies (c = 20, t = 0.02).

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CONTINUOUS

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357

0, the mode shapes are real and planar, and the relative phase angle between d,(x) and 4,(x) is 90. The relative phase angle of 90 implies that the major and minor axes of whirl orbit coincide with the 5, n axes. When 6 = Y, the mode shapes become complex and non-planar, and the relative phase angles are no longer 90. In general, the mode shapes &(x) and 4,(x) corresponding to the forward and backward whirls are different, as shown in Figure 5. When K&(X) = K$(x) = 0 (i = 0, l), the mode shapes become real, K, becomes a pure imaginary value and the distributed state 5(x, T) can be rewritten, by using equation (19), as (48) where g: = ql+i$ and g; = ql- ijl, r = 1,2,3, . . . , i = F, B, satisfying ~:i+hI;iIg: =(hl-;iI)h ,+2~1,, ~;i+A:~lg; =2~~~+(hl-~l)hl,, with r=1,2,3 ,...,
i=F,B, (49)

To calculate the forced vibration due to the lack of mass balance, gTi and g; , may be assumed to have the forms, from equation (17), g: (x, r) = g:(x) cos r+ g:(x) sin 7, ,..., gFi(x, T) = gLi(x) cos .r+g&)
i=F,B.

sin T,
(50)

r=l,2,3

Substitution of equations (50) into equations (49) yields

The steady state unbalance response can be obtained from equations (48), (50) and (51). For the non-dimensionalized mass center eccentricity given as t,,,(x) = O-02 S(x -0.25) and am = O-0, Figure 6 shows the unbalance responses of the shaft with the bearing properties of equation (45), with 0 = 0. The unbalance responses have been calculated with retention of 10 modes. In Figure 6 the solid and broken lines denote the unbalance responses observed at x = 0.25 in the n and 6 directions, respectively. The first backward whirl occurs, as the spin speed increases, in the region between the first

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IO

15

20

25

Spin speed. c

Figure 6. Unbalance response of a shaft supported in orthotropic bearings (I = 0.02, 8 = 0). F, forward; B, backward; scale factor (SF.) = l/1001. ---, &-Direction; -, n-direction.

and second criticals, but the second backward whirl appears not at the third critical but at a speed far below the third critical.
5. CONCLUSIONS

Modal analysis of a continuous Rayleigh shaft with various boundary conditions which include isotropic and anisotropic natural boundary conditions has been performed. The mode shapes and whirl speeds of a uniform rotating shaft with typical boundary conditions, and in particular, the unbalance responses and the non-planar mode shapes of a uniform rotating shaft supported in anisotropic bearings have been calculated by modal analysis. The effects of the asymmetry in boundary conditions on the system dynamic characteristics have also been investigated.
REFERENCES 1. J. W. LUND 1974 Journal of Engineering for Industry %(2), W-517. Stability and damped critical speeds of a flexible rotor in fluid-film bearings. 2. H. D. NELSON and J. M. MCVAUGH 1976 Journal of Engineeringfor Zndustry 98(2), 593-600. The dynamics of rotor bearing systems using finite elements. 3. E. HASHISH and T. S. SANKAR 1984 Transactions of the American Society of Mechanical Engineers, Journal of Vibration Acoustics, Stress, and Reliability in Design l%( 1) 80-90. Finite element and modal analysis of rotor-bearing under stochastic loading conditions. 4. Y. D. KIM and C. W. LEE 1986 Journal of Sound and Vibration 111(3), 441-456. Finite element analysis of rotor bearing systems using a modal transformation matrix. 5. G. M. L. GLADWELL and R. E. D. BISHOP 1959 Journal of Mechanical Engineering Science 1, 195-206. The vibration of rotating shafts supported in Bexible bearings. 6. F. M. DIMENTBERG 1961 Flexural Vibrations of Rotating Shafts. London: Butterworth. 7. R. L. ESHLEMAN and R. A. EUBANKS 1969 JournaZofEngineeringforZndustry 91(4), 1180-1188. On the critical speeds of a continuous rotor. 8. Y. D. KIM and C. W. LEE 1985 Proceedings of the Institution of Mechanical Engineers 199(Cl), 19-25. Determination of the optimal balancing head location on flexible rotors using a structural dynamics modification algorithm. 9. C. W. LEE, R. KATZ, A. G. ULSOY and R. A. SCOTT 1988 Journal of Sound and Vibration 122(l), 119-130. Modal analysis of a distributed-parameter rotating shaft. 10. L. MEIROVITCH and L. M. SILVERBERG 1985 Jouranal of Optimization 7?teory and Applications 47(l), 77-90. Control of non-self-adjoint distributed parameter systems.

CONTINUOUS

ROTOR-BEARING

SYSTEMS

359

APPENDIX A: ELEMENT MATRICES OF ANISOTRPOIC ROTOR SYSTEM The element matrices of M and L are given as follows:
0 0 0 0 pA-a/ax(J, 0

a/ax) -Rd/ax(J,

pA - a/ax(J, d/ax)
d/itx) I 0
0

m=

pA-d/dx(J, 0

a/ax)

0 pA -a/ax(J, 0 a/ax)

0 R ij/dx( J, a/dx) 0

pA k=

alaw,
0

a/ax)

0 -[a'/ax'(EI a2/ax2)+ k,,]

-k,: -[i) /iix ( El i?/iix*) +

-k:,

where
0 0

m'+J;a/ax
:

,'= 0 L m +J ,a/ax
0
0 my=

0
-n(J;

m +J;a/ax
0

a/ax)

mO- Jq ii/ax 0
a/ax

0 -n(Je,

0 mi=

J; 0

0 J, flJ(: 0

m-

0 JpT a/ax

0
n(J;

0
a/ax)

m"- J$ a/ax 1 ' a/ax)

0

0 0

0 J,

J; 0

0
-f2Jo,

0 m +J ,a/ax

m"- J;

0 m +J ,dlax 0 0 J:. 0 J: 0 0 [a/ax(EZ

0 0 d2/ax2) - k_i,,] -k:,, 0 0 1 [a/ax(EI

k;=

0
0

0 0 - kbz
a2/ax2) - ki,]

k;=

-EI 0a/ax

'

0
m-J;a/ax 0 m-J ,a/ax 0

0
0

- EI d/ax
0 0 -k;, - [a/dx( EZ a2/i+x2) + ktz]

k;= i

0 - [a/ax( EI a /ax*) + ky.,.]

1 9

EI alax

360

C.-W.

LEE

AND

Y.-G.

JEI

APPENDIX

B: MODAL

NORM OF ANISOTROPIC

ROTOR SYSTEM

APPENDIX

C:

FREQUENCY

EQUATION ANISOTROPIC

OF THE SPRINGS

ROTOR

SUPPORTED

BY

Q3,=a:S,+a:S3+a:, Q3,=u~Ss+u;S,+u~,
Q4, = a$, + a&+
Q43=u$5+u;S,+u:,

Q32=&+&,+~~,
Q34= u:S,+u:S,+u;, a;,
Q42=U~S2+U~S4+U~,

Q44=u$6+u$,+a~,

where sin J;; S1=(-cosJ;;+coshJ;;;) sin J11, s3=(-cosJ;;+coshdj& = sinh & -(-cosJ;;+coshJ;;): = a) a) 2 s,= sinh X& -(-cosJv,+coshx&) sinh X& (-cos &+cosh
CL2

ss=
(-cos

sin J;; &+cosh

&)

s, =

sin J;; (-cos Jv,+cosh

sinh X& -(-cosJv,+coshJCc,)

CONTlNUOUS

ROTOR-BEARING

SYSTEMS

361

and

ai = p,x&

sinh a-

K:~

cash a+

r2a2c2

a:

v&

sin J;;

KX

a6= -v,~cos~-K~~sinJY,+r2a2c2 a:=p2~sinh&-tc~tcosh&+r2a2c2

a:=v,Jv,sinJ;;-K&cosJY,-r2a2c2

a!

p,&

sinh \j;l;-

~1,

at = +,a

cash x& -

K:,,

sinh t&-I-

r2a2c2

a:=-v2Jv,sinJ;;;+Ki,
8 a6=

cos J;;+

r2a2c2

( >
1+a

&sin

6,

l ,J;;C0S&+Kf7n

a;

-p2&

sinh a+

if,,

cash a--

r2a2c2

ai

-b2&

cash a+

K&,

sinh a-

r2a2c2