Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.

in)

3.2 Transfer Matrix Method: (Myklestand & Prohl method)

It has an advantage over the method of influence coefficient in that the size of the matrices being
handled does not increase with the number of degrees of freedom, and so there is less demand on
computer memory. Also this method is relatively simpler. In the influence coefficient method the
shaft is divided into a number of imaginary smaller beam elements and attention is focused on the
behavior of each of these elements in order to determine the overall system behavior. The rotor mass
is similarly divided up into a number of smaller masses concentrated at the junctions (nodes) of the
beam elements so that a rotor and shaft may be modeled as shown in Figure 3.9.

i-1 i i+1
ith beam
element

Bearing location

n-1 n

ith rotor
mass element

Bearing location

Figure 3.9 Modeling a real rotor with discrete elements

Displacement at ith node in Figure 3.10 will be equal to the sum of the relative motion between ith and
(i-1)th and the absolute displacement of (i-1)th station.

Q Free

x
R

y i 1
R Qi 1

i 1

Qi

R M i 1

li

yi

Fixed
End

End

Mi

Figure 3.10 Free body diagram of a shaft segment

Figure 3.11 A cantilever beam

The displacement and slope at free end are related to the applied moment M and shear force Q by
considering the beam as though it were a cantilever as shown in Figure 3.11. The back subscript R
refers to right of that particular mass and L refers to left of that particular mass, Q shear force and M
bending moment and all directions is chosen according to the positive sign conversion of strength of
material. Then the displacement and slope of fixed end is considered to relate the displacement and
slope of free end by Q & M and displacement and slope of fixed end itself

L yi = R yi 1 R i 1l

M i l 2 L Qi l 3
+
2 EI
3EI

142

(24)

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

and
L i = L i +

M il L Qil 2

EI
2 EI

(25)

while the shear force and bending moment at the fixed end are related to those at free end by

Qi 1 = L Qi

On substituting for L Qi and

and

M i 1 = L M i L Qi l

(26)

M i from equation (26) into equations (24) and (25), both sides of the

equation can be expressed in matrix form as

{S}i = [ F ]i R{S}i 1

(27)

with

y


;
L {S }i =
M
Q
L
i

[ F ]i = 0
0

l2

2 EI

EI
1

6 EI

l2
2 EI ;
l

1 i
l3

R {S }i 1 =
M
Q
k
i 1

(28)

where [ F ]i is the field matrix for the ith shaft segment. Equation (27) is for the motion in the vertical
plane. Similarly set of equations may be written for motion in the horizontal plane. In general the state
vectors will have both in-phase and quadrature components relative to some phase reference. Equation
(27) is expanded to give the more general form as

{S }i = [ F ]i R{S }i 1

(29)

with

{S }hr
0
0
[ F ] 0

{
S
}
0
hj
0 [F ] 0

0 [F ] 0
{S }vr ; [ F ]i = 0
L {S }i =

0
0 [F ]
0
{S }v j

0
0
0
1
0
i
L

143

0
0
0 ;

0
1 i

{S }hr

{S }h j

R {S }i 1 = {S }vr

{S }v j
1
i 1
k

(30)

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

where {S } is the modified state vector and [F ] is the modified field matrix. Subscripts h and v refer
to the horizontal and vertical directions and r and j refer to in-phase and quadrature terms. The last
line has been added to facilitate inclusion of the imbalance in the analysis, as will be made clear later.

x
y

yi

ui

Mi

Mi

Mi
L

Qi

Qi

Figure 3.12 Forces and displacement

of a concentrated mass

Figure 3.12 shows the Forces and displacement of a concentrated mass, where ui is the imbalance
force at location i. The relationship between forces and displacements of a concentrated mass is given
by its equations of motion

Qi L Qi + ui = my

= m 2 yi

(31)

and similarly for moment and angular displacement, we have

M i L M i = I d

i = 2 I d i

(32)

also since displacement and slopes on each side of mass are equal, so we can write in matrix form as

{S }i = [ P]i L {S }i + {u}i

(33)

with

y
1

0

=
=
{
}
;
[
]
S
P

R
i
i
0
M

2
Q
m
R
i

0
1
2 I d
0

0 0
0 0
;
1 0

0 1i

144

y
0



0
=
=
{
}
;
{
}
S
u


L
i
i
M
0
Q
u
L
i
i

(34)

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

where [ P]i is the point matrix and {u}i is the unbalance vector of the ith mass. Equation (33) can be
written for horizontal plane. In general since imbalance will also have both in-phase and quadrature
components, equation (33) can be expanded to the more general form

{S }i = [ P]i L{S }i

(35)

with

0
0
{S }hr
[ P] 0

0
{S }h j
0 [ P] 0

0 [ P] 0
{S } r ; [ P]i = 0
R {S }i =

0
0
0 [ P]
{S } j

1
0
0
0
i
0
R

{u}hr

{u}h j
{u} r ;
{u} j

1 i

{S }hr

{S }h j

{S } r
L {S }i =

{S } j
1
i 1
L

(36)

where [ P ]i is the modified point matrix. If gyroscopic effects are allowed for equation (36) will be
modified. The moment equations in the vertical and horizontal planes are given as (Figure 3.13)

M v L M v = I d

v + I p
h

(37)

and
R

M h L M h = I d

h I P
v

(38)

The first equation can be written as

) ( M cos t + M sin t ) =
I ( cos t + sin t ) + I

M vr cos t + R M v j sin t

vr

vj

vr

vj

vr

sin t + v j cos t

(39)

Separating the in-phase and quadrature parts, we get

11th equation (i.e. 11th row)

M vr L M vr = I d 2 vr + I P 2nj



6th

P11,6 = I P 2

(40)

P15,2 = I P 2

(41)

column

and
15th equation (i.e. 15th row) R M v j L M v j = I d 2 v j I P 2hr





nd

Similarly, using equation (38), we get, P3,14 = P7,10 = I p 2

145

column

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

(V)
y

z
-z

-y
z

(H)

(a)
(b)
(c)
Figure 3.13 Coordinate axes and positive angular displacement directions
In matrix [P ] the following rows and columns element will be affected: (i) Equations (37) and (38)
are the moment equation and in state vector 3rd, 7th, 11th & 15th rows are for moment equations. So
these rows will be affected. Now in equations (37) and (38) additional terms for the slope is
appearing because of gyroscopic effects, hence columns 2nd, 6th, 10th and 14th will be affected
(similarly for horizontal plane will appear). Since in equations (37-38) moment and slope term due
to gyroscopic term are indifferent plane so they will be having 900 phase different also. So

P3,14 , P7,10 , P11, 6 , P15, 2 will be affected i.e.

P3,14 = P7,10 = P11,6 = P15,2 = I p 2

(42)

where I p is the rotor polar mass moment of inertia. Equations (33) and equation (35) can be combined
for a particular station as

{S }i = [ P]i L{S }i = [ P]i [ F ]i R{S }i 1 = [U ]i R{S }i 1

(43)

where [U ]i is the transfer matrix for ith element.

n-1 n

n+1

Figure 3.14 A simply supported multi-mass rotor

The transfer matrix for all n stations in the system may be obtained in this manner (Figure 3.14), and
may be combined to give

146

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

{S }0
{S }2 = [U ]2 R {S }1 = [U ]2 [U ]1 R {S }0
R
{S }3 = [U ]3 R {S }2 = [U }3[U ]2 [U ]1 R {S }0
R

{S } = [U ]1

(44)


R

{S }n = [U ]n R {S }n1 = [U ]n R [U ]n1 [U ]1 R {S }0 = [T ] R{S }0

where [T ] is an overall transfer matrix for the complete system. The size of the matrix is 1717. To
determine the system characteristics it is first necessary to define the system boundary conditions,
which describe the system supports. For simply supported shaft : linear displacements and moments
are zero at supports (i.e. y0 = z0 = yn +1 = zn +1 = 0 and M y0 = M z0 = M yn+1 = M zn+1 = 0 ). Assigning
zero values to these parameters in equation (44), and writing down only those lines (rows) which have
zero, now, on the LHS. Whilst on RHS retaining only those terms on state vector whose values are
unknown. i.e. for simply supported rotor

[T ]{S }0 = {T }

(45)

with

t1,2
t
3,2
[T ] = t5,2


t15,2

t1,4
t3,4
t5,4

t1,6
t3,6

hr
t1,17
Q
t
hr

3,17
t1,8 t1,16
hj
t5,17

Qhj
t7,17

 ; {S }0 = ; {T } =

t9,17
vr


t11,17
Q r
t15,16

t13,17
j
t15,17
Q j

(46)

On LHS of equation (44) 1st, 3rd, 5th, 7th, 9th, 11th, 13th, 15th will be having zero values. So these
equation will be retained and only unknowns will be s and Qs. Equation (45) can be used to solve
the unknown value of shear forces and slopes at stations 0 and (n+1). Now element in the vector

{S }0 are all known. Equation (44) can be used to determine the system response at all other stations.
Having obtained the in-phase and quadrature components of all parameters, the net parameter
amplitudes may then be obtained by vector summation. If only the system critical speeds are required,
and not the net forced response, the RHS of equation (46) reduces to zero and system natural
frequencies are those which satisfy the following equation

147

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

[T ]{S }0 = 0

(47)

T = 0

(48)

that is

The equation (48) gives a polynomial in terms of the natural frequency. The frequency can be
obtained by iterative or any other convenient numerical analysis routine.

Example 3.3 Obtain the first two transverse natural frequencies and corresponding mode shapes of a
rotor system as shown in Figure 2. Take the mass of the disc, m = 10 kg, the diametral mass moment
of inertia, Id = 0.02 kg-m2 and the disc is placed at 0.25 m from the right support. The shaft is having
diameter of 10 mm and total length of the span of 1 m. Consider the shaft as mass less. Take the shaft
Youngs modulus E = 2.1 1011 N/m2. Neglect the gyroscopic effects. Take one plane motion only.
Compare the results by influence coefficient method.

l=a+b

Figure 3.15 A rotor system

Solution: Station numbers are shown in Figure 3.15. The overall transformation matrix is given as

{S }2 = [ F ]2 [ P ]1 [ F ]1 {S }0

which can be expanded as

{S }2

0
=
0

0.5 l

1
0
0

l2 1

0.5 l 0
1
6

1
0

with l1 = a , l2 = b , 1 = a

l 0
2
1 2 mn

EI

and 2 = b

0
1
I
0

2
n d

EI

On multiplication of matrices, it takes the form

148

0 0 1

0 0 0
1 0 0

0 1 1 0

0.5 l

1
0
0

1
0

l2

0.5 l
1
6

1 1

{S }0

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

{S }2

1 + 61 m1 2l22 2

2
0.5m1 2l2
=
2
m1l2

m1 2

l2 0.5 I d1 2l2 2

0.5 2l2

1 I d1 2 2

I d1

2l22 1 l 0.5 l 1 l 2
6

0.5 2l2 0 1
0.5 l

{S }0

1
6

l2

0 0
0 0

1
0

1 1

which finally takes the following form

y t11 t12
t
21 t22
=
M t31 t32
Q t41 t42
R
2

t13 t14 y
t23 t24

t33 t34 M

t43 t44 Q 0

with

) (

t11 = 1 + 16 m1 2l22 2 ;

t12 = l1 1 + 16 m1 2l22 2 + l2 0.5 I d1 2l2 2 ;

t13 = 0.51l1 1 + 16 m1 2l22 2 + 1 ( l2 0.5 I d 1 2l2 2 ) + 0.5 2l2 ;

t14 = 61 1l12 1 + 16 m1 2l22 2 + 0.51l1 ( l2 0.5 I d 1 2l2 2 ) + l1 ( 0.5 2l2 ) + 61 2l22 ;

t22 = l1 ( 0.5m1 2l2 2 ) + 1 I d1 2 2 ;

t21 = 0.5m1 2l2 2 ;

t23 = 0.51l1 ( 0.5m1 2l2 2 ) + 1 1 I d1 2 2 + 2 ;

t24 = 16 1l12 ( 0.5m1 2l2 2 ) + 0.51l1 1 I d1 2 2 + l1 ( 2 ) + 0.5 2l2 ;

(
)
=ml ;
t = l ( m l ) + ( I ) ;
= 0.5 l ( m l ) + ( I ) + 1;
= l ( m l ) + 0.5 l ( I ) + l + l ;
= l ( m ) ; t = 0.5 l ( m ) ; t =

t24 = 16 1l12 ( 0.5m1 2l2 2 ) + 0.51l1 1 I d1 2 2 l1 ( 2 ) + 0.5 2l2 ;

t31
t33
t34
t42

1 2

32

11

1
6

2
11

1 2

d1

1 2

(A)

d1

t41 = m1 2 ;

1 2

11

d1

43

11

44

1
6

1l12 ( m1 2 ) + 1;

The following boundary conditions are applied for the present case:

y0 = M 0 = R y2 = R M 2 = 0;
On application of boundary conditions following set of equations will be obtained

149

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

0 t12
=
0 t32

t14

t34 Q 0

t22
=
Q
t42
R 2

and

t24

t44 Q 0

(B)

From the first set of equations, the frequency equation takes the following form

t12t34 t14t32 = 0
On substituting from equation (A), we get

) (

l1 1 + 16 m1 2l22n2 + l2 0.5 I d 2l2n2 16 1l12 ( m1l2n2 ) + 0.51l1 I d n2 + l1 + l2

1
1

1
1
1
2
2
2
2
2
6 1l1 1 + 6 m1 2l2 n + 0.51l1 l2 0.5 I d1 2l2n + l1 ( 0.5 2l2 ) + 6 2l2

l1 ( m1l2n2 ) + I d1n2 = 0

which simples to

1
9

(m I

1 d1

1 2l12l22 ) n4 13 ( l12 + 1 + l12 2 ) I d + ( 1 + 2 ) l12l22 m1 n2 + ( l1 + l2 ) = 0

1

On substituting numerical values, we get

n = 29.45 rad/sec

and

n = 289.23 rad/sec
2

Discuss numerical procedure?

(i) For n1 = 29.45 rad/sec: For obtaining other unknowns in the system, let us assume 0 =1, from
equation (B), we have

Q0 =

t12
= 6.12 102
t14

2 = t22 0 + t24Q0 = t22

t24t12
= 1.39
t14

Q2 = t42 0 + t44Q0 = t42

t44t12
= 1.93 103
t14

150

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

y 1

0
=
M 0
Q 0
L
1

l 0.5 l 16 l 2 y 1 l 0.5 l 16 l 2 0 0.299

1
0.5 l 0 1
0.5 l 1 0.805
=
=

l M 0 0
l 0 496.197
0
1
1

0
0
1 1 Q 0 0 0
0
1 1 t12 / t14 2 661.596

y 1
0

=
M 0
Q m 2
1
R

0
1
2 I d
0

0 0
0 0
1 0

0 1 1

y 1

0
=
M 0
Q m 2
1
L

0
1
2 I d
0

0 0 0.299 0.299
0 0 0.805 0.805

1 0 496.197 482.234

0 1 661.596 1928.937
1

(i) For n2 = 289.23 rad/sec: Let us assume 0 =1. For this case also, on same line as for the
previous case we will be having following results

Q0 =

t12
= 1.116 103
t14

2 = t22 0 + t24Q0 = t22

t24t12
= 1.088
t14

Q2 = t42 0 + t44Q0 = t42

t44t12
= 1.033 10 4
t14

y 1

0
=
M 0
Q 0
L
1

l 0.5 l 16 l 2 y 1

1
0.5 l 0
=
l M 0
0
1

0
0
1 1 Q 0 0

y 1
0

=
M 0
Q m 2
1
R

0
1
2 I d
0

0 0
0 0
1 0

0 12

l 0.5 l 16 l 2 0 0.011

1
0.5 l 1 2.044

l 0 836.783
0
1

0
0
1 1 t12 / t14 2 1115.7

y 1

0
=
M 0
Q m 2
1
L

151

0
1
2 I d
0

0 0 0.011 0.011
0 0 2.044 2.044

1 0 836.783 2580

0 1 1115.7 1033
2

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

{S }2

1 + 1 m2 2l22 2
6
0.5m l 2
2 2 2
=
m l 2
2 2

m2 2

l1 1 + 16 m2 2l22 2 + ( l2 0.5 I d 2 2l2 2 )

(
l ( m l ) + ( I
l (m )

l1 ( 0.5m2 2l2 2 ) + 1 I d2 2 2
2

2 2

d2

2)

0.5 1l1 1 + 16 m2 2l22 2 + 1 ( l2 0.5 I d 2 2l2 2 ) + 0.5 2l2

(
0.5 l ( m l ) + ( I
0.5 l ( m )

0.5 1l1 ( 0.5m2 2l2 2 ) + 1 1 I d2 2 2 + 2

2

11

2 2

d2

2 ) +1

11

1
6

1l12 (1 + 61 m2 2l22 2 ) + 0.51l1 ( l2 0.5 I d 2l2 2 ) + l1 ( 0.5 2l2 ) + 61 2l22

2

1
6

l ( 0.5m2 2l2 ) + 0.51l1 (1 I d 2 ) + l1 ( 2 ) + 0.5 2l2

2
11

1
6

l ( m2l2 ) + 0.51l1 ( I d 2 ) + l1 + l2
2
11

1
6

l ( m2 ) + 1
2
11

{S }
0

Exercise 3.6 Find transverse natural frequencies and mode shapes of the rotor system shown in Figure
E3.6. B is a fixed end and D1 and D2 are rigid discs. The shaft is made of steel with modulus of
rigidity G = 0.8(10)11 N/m2 and uniform diameter d =10mm. The various shaft lengths are as follows:
BD1 = 50 mm, and D1D2 = 75 mm. The diametral mass moment of inertia of discs are: Id1 = 0.04 kg-m2
and Ip2 = 0.1 kg-m2. Consider the shaft as massless and use the transfer matrix method.

D1

D2

Figure E3.6 A two-disc overhang rotor

Example 3.4 Obtain the bending critical speed of the rotor system as shown in Figure 7. Take the
mass of the disc, m = 5 kg and the diametral mass moment of inertia, I d = 0.02 kg-m2. Take shaft
length a = 0.3 m and b = 0.7 m. The diameter of the shaft is 10 mm. Use the transfer matrix method.
Neglect the gyroscopic effects. E = 2.1 1011 N/m2.

152

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

Figure 3.16 An overhang rotor system

Solution: Figure 3.17 shows the station numbering and free body diagram of various
segments and supports.

Q0

C
L

Q1

(1)

M0

M1

A (2)
R

L
R

Q1

Q1

Q2

(b) FBD of segment (1)

(c) FBD of segment (2)

A
Ra

Q1

(d) Free body diagram at support A

Figure 3.17 Free body diagram of rotor segments
For branch (1), the state vector can be related as

{S }1 = [ F ]1[ P]1{S}0 = [U ]1{S}0

(A)

with

[U ]1 = [ F ]1[ P]1
For second branch, the state vector can be written as

M2

(a) Rotor system

L

M1

{S }2 = [ F ]2 R {S }1 = [U ]2 R {S }1

(B)

with

153

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

[U ]2 = [ F ]2
End conditions for the overhang rotor as shown in Figure 3.17 can be written as

At node 0

Q0 = M 0 = 0

At node 1

y1 = 0;

(C)

M1 = R M1 0

and

Q1 R Q1 + Ra = 0

(D)

where, Ra is support reaction at A.

At node 2

y2 = 0

and

M2 = LM2 = 0

(E)

From first branch, on application of end conditions, we have

0 u11 u12
u
21 u 22
=
M u 31 u 32
Q u 41 u 42
1
L

u14 y
u 24

u 34 0

u 44 1 0 0

u13
u 23
u 33
u 43

(F)

with

u1
u
[U ]1 = u21
31

u41

u12
u22
u32
u42

u13 u14 1
u23 u24 0
=
u33 u34
0
u43 u44
0

m 2l 3
1 +
6 EI

2 2
= m l 2 EI

m 2l

m 2

I d 2l 2

l2

0
0
2 EI

I d 2l

I d 2
0

EI

6 EI 1
0
l2
2 EI
0
l 2
m
1 1
l3

2 EI

EI
1
0

l2
l

2 EI

EI
1
0

0
1

2 I d
0

0 0
0 0
1 0

0 1 1

(l 3 / 6 EI )

l2

2 EI
l

1
1

From equation (F), the first set of equation will give

0 = u11 y0 + u12 0 0 =

u11
y0
u12

(G)

154

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

On using equation (G) in equation (F), we get state vectors in the left of node 1 as

y1 = 0

= u21 y0 + u22 ( u11 / u12 ) y0 = ( u21 + u22u11 / u12 ) y0

L 1

(H)
L

M 1 = u31 y0 + u32 ( u11 / u12 ) y0 = ( u31 + u32u11 / u12 ) y0

Q1 = u41 y0 + u42 ( u11 / u12 ) y0 = ( u41 + u42u11 / u12 ) y0

Now noting equations (D) and (H) we can have state vectors in the right of node 1 as

y1 = L y1 = 0

= L1 = ( u21 + u22u11 / u12 ) y0

R 1

(I)
R

M 1 = L M 1 = ( u31 + u32u11 / u12 ) y0

Q1 = L Q1 + Ra = ( u41 + u42u11 / u12 ) y0 + Ra

Equation (I) can be written as

y 0

u21
=
M u31
Q u41
1
R

0
0 y0

0 Ra

with

u21 = u21

u u
u22u11
; u31 = u31 32 11
u12
u12

and u41 = u41

which can be written as

155

u42u11
u12

(J)

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

{S }1 = [U 1 ]{S1 }

(K)

with

0
u
U = 21
1
u31

u41

0 0 0
0 0 0
;
0 0 0

0 0 1

y0
0
{S }1 = 0

Ra

and

For second branch i.e. equation (B) and noting equation (K), we have

{S }2

= [U 2 ][U1 ]{S1} = 0
0

l2

2 EI

EI
1

6 EI 0
u21
l2
2 EI
u
l 31
u
1 2 41
l3

0 0 0 y0
0 0 0 0

0 0 0 0

0 0 1 Ra

(L)

On simplifying equation (L), we get

(lu 21 + (l 2 / 2 EI )u 31 + (l 3 / 6 EI )u 41 )
y

(u 21 + (l / EI )u31 + (l 2 / 2EI )u 41 )

(u 31 lu 41 )
M

Q
(u 41 )

L
2

0 0
0 0
0 0
0 0

(l
(l

3
2

)
)

/ 6 EI y 0

/ 2 EI 0

l 0

1
Ra

(M)

On expanding equation (M), we have

y2 = L y2 = 0 = ( l2u21 + (l2 2 / 2 EI )u31 + (l2 3 / 6 EI )u41 ) ( y0 ) + ( l23 / 6 EI ) Ra

2 = L 2 = ( u21 + (l2 2 / EI )u31 + (l2 2 / 6 EI )u41 ) ( y0 ) + ( l2 2 / 2 EI ) Ra

(N)

M 2 = L M 2 = 0 = (u31 l2u41 )( y0 ) l2 Ra

Q2 = L Q2 = Rb = u41 ( y0 ) + Ra

From first equation, we have

156

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

Ra =

y0 ( l2u21 + (l2 2 / 2 EI )u31 + (l23 / 6 EI )u41 )

(l

(O)

/ 6 EI )

On substituting equation (O) in the third equation of the set of equations (N), and noting that
since y 0 0 , we get

l22
l23
l2 l2u21 +
u31 +
u41
2 EI
6 EI
=0
(u31 l2u41 ) +
3
l2
6 EI

(P)

On simplifying equation (P), we get

or

u 21 + (2l 2 / 3EI )u 31 = 0

(Q)

which is the frequency equation. On substituting equation (J) in equation (Q), we have

u u
u u 2l
u 21 22 11 + 2 u 31 32 11 = 0
u12
u12 3EI

(R)

Hence noting equation (F), the frequency equation (R) becomes

l13
l1
l13
2
2
2
2
+

+
1

m
I
I
m
(
)
d
d

6 EI
6 EI
EI 2l2
2l
l2

+
m 2l1 ) 2
m 2 1
(
2
2
2 EI
3EI
3EI

l1
l1
2
2
l1 I d

l1 I d

2 EI
2 EI

=0

which can be simplified as

mI d l13 ( 3l1 + 8l2 ) n4 + EI (12ml13 + 36 I d l1 + 24ml12l2 + 24 I d l2 ) n2 + 36 E 2 I 2 = 0

For the present problem, we have

I d = 0.02 m 4 ,

l1 = 0.3 m,

l2 = 0.7 m;

m = 5 kg ; d = 0.01 m

157

(S)

Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

I=

64

(0.01) 4 = 4.909 1010 m 4 ;

EI = 1.031106 Nm

On substituting in equation (18), we get

0.01755 4 1.0032 103 4 + 3.8254 105 = 0

which gives

n1 = 19.59 rad/sec

and

n2 = 238.28 rad/sec

Exercise 3.7 Obtain the transverse critical speed of a rotor system as shown in Figure 3.7. Take the
mass of the disc, m = 5 kg and diametral mass moment of inertia, Id = 0.02 kg-m2. Take shaft length a
= 0.3 m and b = 0.7 m; modulus of elasticity E = 2.1 1011 N/m2. The diameter of the shaft is 10 mm.
Consider two different cases i.e. when bearing A is (i) simple support and (ii) flexible and provides a
bending stiffness equal to 5 percent of the bending stiffness of a cantilevered shaft segment having
length a and bearing B is a fixed bearing. Use the transfer matrix method.
B

Figure E3.7 An overhang rotor system

158