Investigation of Nonlinear Free Vibration

Analysis and Critical Speeds of Lightweight

Rotor bearing System
Vinay Maheshwari, Kedar S Vaidya, Barun Pratiher*
Mechanical Engineering Department, Indian Institute of Technology Jodhpur, India-342011;

*Email: barun@iitj.ac.in

ABSTRACT

The present work deals with nonlinear free vibration analysis and resulting critical speeds of a
highly flexible rotor-bearing system consisting a rotating shaft with higher order of deformation
modeled as an Euler-Bernoulli beam and a rigid disk located at positions along the shaft. The
rotary inertia and gyroscopic effect combined with inextensible geometric condition for pinnedguided shaft element has been taken into account in deriving the governing equation of motion.
The method of Galerkin decomposition has been applied followed by method of multiple scales
to analyze the nonlinear free vibration of rotor-disk system for undamped and damped systems.
The closed-form expressions for determining linear and nonlinear forward and backward frequencies have been obtained and their behavioral pattern on changing the influenced parameters
such as rotational speed, mass of the disk, and location of the disk have been graphically portrayed. Results obtained numerically have been compared with published research and found
good in agreement. Outcomes enable significant theoretical understanding of free vibration
analysis and obtaining critical speeds of rotating system which are of great practical importance

for investigating dynamic analysis.

Keywords: Shaft-disk; Higher order deformation; Inextensible condition; Method of multiple scales;
Free vibration analysis; Critical speeds.
1

Introduction

The use of rotating structures has highly been in demand in most of the transportation applications such
as jet engines, helicopter rotors, turbines, compressors and the spindles of machine tool.The rotating
elements possess tremendous amount of energy which can be converted into vibrations due to which
the prediction and analysis of the rotor system becomes essential. As the speed of rotation increases
the amplitude of vibration often passes through a maximum that is called a critical speed. If the amplitude of vibration at these critical speeds is excessive then catastrophic failure occurs thus disrupting the
smooth functioning of the same. Rotor-bearing assembly is the most important component for transmitting power and an integral part of transportation system. Hence, dynamics of rotating shaft with disk
is therefore necessary for an accurate and reliable design. Free vibration analysis is one of the vital
steps in order to determine the system properties in terms of stiffness, damping and emanating natural
frequencies those are important and precedent parameters to investigate the effect of unwanted sources
of disturbances causing the instability of the systems.
Over the years, research on rotor-dynamics is being carried on and different mathematical models have
been adopted starting from Jeffcott model expressed by incorporating small deformation theory.The effect of shear deformation and rotary inertia of a rotor on its critical speeds was studied by Grybos [2].
Choi et al [3] derived a set of governing differential equations describing the flexural and the torsional
vibrations of a rotating shaft subjected to constant compressive axial. Using the conceptual beam and
shell theory, Singh and Gupta [4] investigated free damped flexural vibrations analysis of composite
cylindrical tubes. Jei and Leh [5] studied the whirl speeds and mode shapes of a uniform asymmetrical
Rayleigh shaft with asymmetrical rigid disks and isotropic bearings. Melanson and Zu [6] presented the

free vibrations and stability analysis of internally damped rotating shafts. Kim et al. [7] studied the free
vibrations of a rotating tapered composite timoshenko shaft. Free and forced vibrations analysis of a
rotating disk-shaft system with linear elastic bearings was investigated by Shabaneh and Zu [8].
However, linear analysis is easy to carry out and leads to an inaccurate results altogether and has very
much restricted applications. But with increasing demand for more accurate and refined solution, consideration of nonlinearities has become valuable in the context of reliability and safety in operation
which has made the process tedious.In high speed applications such as Jet engine, rotor-bearing system often gives rise to geometric non-linearity due to elastic deformation. Turbo-machinery installed in
transportation system in spacecraft and ships requires to have lightweight and hence, leads to nonlinear
curvature in the element deformation. Nonlinearities in the rotating system can be in the form of higher
order large deformations in bending, base excitation, inertial non-linearity due to gyroscopic effect,
nonlinear interaction of fluid film bearing, etc. A better result can be obtained considering the possible
subsistence of nonlinearities emanating in a specific point of application. Ji and Zu [9] analyzed the free
and forced vibration of nonlinear rotor-bearing systems by means of multiple scales method. Nonlinear
bearing pedestal was formulated using a nonlinear spring and a linear damper. A geometrically nonlinear model of a rotating shaft comprising of Von-Karman non-linearity, nonlinear curvature effects, large
order displacements and gyroscopic and shear effects was introduced by Luczko [10].Viana Serra Villa
et al. [11]used the invariant manifold approach to evaluate the dynamics of a nonlinear rotor. A reduced
order model was constructed with nonlinear normal modes and then evaluated its performance. Chang
and Cheng [12] analysed the instability and nonlinear dynamics of a slender rotating shaft with a rigid
disk at the mid-span. Free vibrations analysis of a rotating shaft with nonlinearities in curvature and
inertia has been investigated analytically in Hosseini and Khadem [13].
In this paper, a system with lightweight shaft considering large elastic deformation carrying rigid disk at
locations varied in the span of the shaft is considered. Rotary inertia and gyroscopic effects in addition

to inextensible beam condition are considered in the mathematical model. A nonlinear mathematical
model of the rotor-bearing system is derived using the extended Hamiltons principle considering the
shaft to be in-extensional. To solve the nonlinear gyroscopic equations, a single mode Galerkin method
has been applied and system of equations are then solved for varying various parameters such as mass
of disk, width of the disk, radius of the disk and shaft, and position of the disk along the shaft length
in determining the natural frequencies of the rotor-bearing system. Similar to the work carried out by
Hosseini and Khadem [13], here also the method of multiple scales is applied to the discretize nonlinear
equation to evaluate the approximate solution. Unlike the work carried out in [13] , here a rotor-bearing
(i.e., flexible shaft with rigid disk ) has been considered practically more important to understand the
dynamics of turbo-machinery. The governing equation of motion derived here is different as that of
obtained in [13] and hence, the results obtained here is distinct and appropriate for rotor-bearing system
for a wide range operations. The exact solution obtained directly integrating the governing equation of
motion has been compared with perturbation result and found to be very good in agreement. In order
to verify the fundamental concept in deriving the mathematical model and computational approach, the
present results have been compared with the results obtained in Hosseini and Khadem [13] and were
found to be in accordance with their results. In addition, Campbell diagram is plotted for linear and
nonlinear forward and backward natural frequencies with varying the rotational speed of the shaft under
various system parameters. Linear and nonlinear forward and backward natural frequencies are seen to
be dependent on mass ratio of disk and shaft, position of the disk along shaft length, diametrical mass
moment of inertia, angular rotating speed and damping constant.
2

Mathematical Model

Working system considered here is modelled as pinned-roller supported flexible shaft with rigid disk
illustrated in Fig.1. Since the shaft is free to roll along one end, stretching effect is neglected and hence,
inextensible conditions holds here.Nonlinear strain-displacement due to nonlinear effect of curvature in

Fig. 1: Graphical representation of flexible shaft with rigid disk

addition to rotary inertia and linear viscous damping into the mathematical model are considered. An
uniform cross-sectional shaft with undeformed length L is spinning about longitudinal axis with a constant speed under Euler-Bernoulli theorem as effect of gravity and shear deformation is neglected.
The kinetic energy of the shaft and disk consist of two parts: translational and rotational. The translational and rotational kinetic energy of the shaft are given by as
1
Ts =
2

Z L
0

m(u2 + v2 + w 2 ) + I1 21 + I2 (22 + 23 ) dx.

(1)

The translational and rotational kinetic energy of the disk are given by as
1
Td =
2

Z L
0

M{u2 + v2 + w 2 } + I1d 21 + I2d {22 + 23 } (x d)dx.

(2)

Here, d and m are position of the disk along the length of the shaft, and mass per unit length of the shaft
respectively. I1 and I2 are the polar and diametrical mass moment of inertia of the shaft. Similarly, Id1
and Id2 are the polar and diametrical moment of inertia of the disk. 1 , 2 and 3 are angular rotation
about local system of coordinates x, y and z, respectively. Displacements u, v and w respectively are
along X, Y and Z coordinates system. Dirac delta function (x d) has been used to represent the inertia
effect of rigid disk at a location d. Therefore,total kinetic energy of the system is T = Ts + Td .

Strain energy of the rotating shaft due to large elastic deformation is expressed as Vs
Z L

Us =

(A11 ee + D11 1 1 + D22 2 2 + D22 3 3 ).

(3)

Here, A11 , D11 , and D22 are the axial rigidity, torsional rigidity and bending rigidity, respectively. Similar to the procedures as in [13], applying the extended Hamiltonian principal, tt12 (T U + We ) dt = 0


and in-extensible beam conditions (1 + u0 )2 + v02 + w02 = 1 to total kinetic energy and the strain enR

ergy of shaft-disk elements, one may obtain the following differential equation of motion of a rotating
shaft-disk system.


Z Z
Z
00
02
0
02
0
0
02
0
02
0
0
0
0
0
m v v
(v + v v + w + w w )dd v
(v + v v + w + w w )d M v(x
d)+
L


Z
00
M v

0
02

(v + v0 v0 + w 02 + w 0 w0 )dd v0


0
02
0
0
0

(v + v v + w + w w )d (x d)+
02



1 02 00
1 02 00
1 02 00
0 00 0
0 00 0 1 02 00
0 00 0
0 00 0
00
00

w w + w w w + w + v v w + v w |x=d
I1 ( w w +w w w + w +v v w + v w )+I1d
2
2
2
2


00 + 2w 0 v0 0w0 + 2w0 v0 w00 + 00 w0 + 2w00 v0 w0 +
I1 w00 + 0 w 0 + w02 v00 + 2w 0 v0 w00 + w


00 + 2w 0 v0 0w0 + 2w0 v0 w00 + 00 w0 + 2w00 v0 w0 |x=d +
I1d w00 + 0 w 0 + w02 v00 + 2w 0 v0 w00 + w


I2 v00v02 + v00 + v0 w0 w00 + v00 w02 + 2v0 v0 v00 + v0 w00 w 0 + 2v0 v0 v00 + v00 w0 w 0 + v02 + 2v0 w00 w 0 +


I2d v00v02 + v00 + v0 w0 w00 + v00 w02 + 2v0 v0 v00 + v0 w00 w 0 + 2v0 v0 v00 + v00 w0 w 0 + v02 + 2v0 w00 w 0 |x=d
D11 (000 w0 + 200 w00 + 0 w000 + 4w0 v000 w00 + w02 v0000 + 2w002 v00 + 2w0 v00 w000 )
D22 (4v0 v00 v000 + w0 v0 w0000 + w0 v00 w000 + 3v0 w00 w000 + v00 w002 + v003 + v02 v0000 + v0000 ) = 0, (4)



Z Z
Z
00
02
0
02
0
0
02
0
02
0
0
0
0
0

m w w
(v + v v + w + w w )dd w
(v + v v + w + w w )d M w(x

d)+
L



Z Z
Z
00
02
0
02
0
0
02
0
02
0
0
0
0
0

M w
(v + v v + w + w w )dd w
(v + v v + w + w w )d (x d)
L



1 02 00
1 02 00
1 02 00
1 02 00
0 00 0
0 00 0
0 00 0
0 00 0
00
00

I1
v v + v v v + v + w w v + w v + I1d
v v + v v v + v + w w v + w v |x=d
2
2
2
2


00 + 2v0 w0 0v0 + 2v0 w 0 v00 + 00 v0 + 2v00 w 0 v0 +
+ I1 ( v00 + 0 v0 + v02 w00 + 2v0 w 0 v00 + v




0 0 00
00 02
0 00
0 00 0
0 00
00 0 0
0 00 0

0
0
02
00
02
00

I2 w w + w + w v v + w v + 2w w w + w v v + 2w w w + w v v + w + 2w v v +


0 0 00
00 02
0 00
0 00 0
0 00
00 0 0
0 00 0

00
02
00
0
0
02

I2d w w + w + w v v + w v + 2w w w + w v v + 2w w w + w v v + w + 2w v v |x=d
D11 (000 v0 + 200 v00 + 0 v000 + 4v0 w000 v00 + v02 w0000 + 2v002 w00 + 2v0 w00 v000 )
D22 (4w0 w00 w000 + v0 w0 v0000 + v0 w00 v000 + 3w0 v00 v000 + w00 v002 + w003 + w02 w0000 + w0000 ) = 0, (5)

( v0 w0 w 0 v0 ) + D11 (w0 v000 + v00 w00 + 00 )(I1 + I1d (x d)) = 0.

(6)

Boundary conditions associated with these equations at x = 0 and x = L are

v = 0,

D11 (0 w0 + w02 v00 ) + D22 v00 = 0,

w = 0,

D22 w00 = 0,

= 0.

In comparison to flexural inertia and stiffness terms, one may neglect the torsional inertia terms ()
which is expressed as =

R x 0 00
0 w v dx + .... The effect of nonlinear terms due to rotary inertia can be

neglected as the shaft element is considered to be slender. Following non-dimensional quantities are
used for further analysis.
x
x = ,
L
M=

Md
,
m

= ,
L
I2 =

I2
,
mL2

,
L

I2d
=

v
v = ,
L
I2d
,
mL2

w =

w
,
L

cL2
c =
.
mD22

t =

D22
t,
mL4

s
=

mL4
,
D22

Substituting expression and non-dimensional quantities into eq.(4) and eq.(5) and considering I1 =
2I2 , one may obtain the nonlinear non-dimensional equations by dropping the asterisk from the nondimensional terms and neglecting the effect of torsional inertia.
00

Z Z

02

(v + v0 v0 + w 02 + w 0 w0 )dd + v0

v + v
(v02 + v0 v0 + w 02 + w 0 w0 )d) I2 (2w 00 + v00 )+
L 0
0


Z Z
M v + v00
(v02 + v0 v0 + w 02 + w 0 w0 )dd (x d)+
0

 Z x



0
02
0
02
0
0
0

M v
(v + v v + w + w w )d (x d) I2d 2w 00 + v00 |x=d + cv+

v02 v0000 + v0 w0 w0000 + 3v0 w00 w000 + v00 w002 + v003 + v0000 + w0 v00 w000 + 4v0 v00 v000 = 0,

Z Z

(7)

w + w00
(v02 + v0 v0 + w 02 + w 0 w0 )dd + w0 (v02 + v0 v0 + w 02 + w 0 w0 )d + I2 (2v00 w 00 )
L 0
0


Z Z
00
02
0
02
0
0
0

+ M w + w
(v + v v + w + w w )dd (x d)+
0

 Z



0
02
0
02
0
M w
(v + v0 v + w + w 0 w )d (x d) + I2d 2v00 w 00 |x=d + cw+

w02 w0000 + w0 v0 v0000 + 3w0 v00 v000 + w00 v002 + w003 + w0000 + v0 w00 v000 + 4w0 w00 w000 = 0.

(8)

The boundary conditions are

v = 0,

v00 = 0,

w = 0,

w00 = 0

at x = 0

and x = 1.

We now apply multiple scales method.By means of following single mode Galerkin approach, the partial
differential equations of motion is discritized into temporal equation of motion.
v(x,t) = (x)V (t),
Here, (x) =

w(x,t) = (x)W (t).

(9)

2 sin x, is the admissible function obtained by satisfying the boundary conditions stated

earlier whereas V , and W are time modulation representing the approximate solution of nonlinear oscillations. Substituting eq.(9) into eq.(7) and eq.(8) and taking inner product of each equation with

its corresponding mode shape, and using orthogonality properties of the mode shape, the discretized
equations of motion become:
(A1 + A1d )V + cA2V + A3V + 2(A4 + A4d )W + A5 (V 3 +VW 2 )+
(A6 + A6d )(V V 2 +V W 2 +V 2V +VW W ) = 0,

(10)

(A1 + A1d )W + cA2W + A3W 2(A4 + A4d )V + A5 (W 3 +V 2W )+

(A6 + A6d )(W V 2 +W W 2 +VW V +W 2W ) = 0.

(11)

Here,
A1 = 1 + 2 I2 ;

A1d = 2M sin2 (d) + 2I2d 2 sin2 (d);

A2 = 1; A3 = 6 ;
 2

3
4
2
2
2
6
A4 = I2 ; A4d = 2 I2d sin (d); A5 = ; A6 =

;
8
3

 2 2


p
sin2 (d) 2
2
2
2
A6d = 2M sin (d)
+

M cos (d) sin (d) sin 2(d) + 2(d) .

2
2
2
The effects of damping should be balanced with nonlinearities due to which c is replaced with c2 .
Following the standard procedures in [14], the displacements can be represented in terms of different
time scales (T0 , T2 ) for first order solutions and a book keeping parameter as follows:
V (t) = V1 (T0 , T2 ) + 3V3 (T0 , T2 ) + ....,

(12)

W (t) = W1 (T0 , T2 ) + 3W3 (T0 , T2 ) + ....

(13)

Here,Tn = nt are slow time scales, while T2 is being slower than T0 and is a small dimensionless
parameter. T0 is a fast time scale characterizing motions occurring at the spin rates and the natural
frequencies of the rotor system while T2 is a slow-time scale characterizing the modulation of the amplitude and phase due to nonlinearity and damping. Substituting eq(12) in eq(10,11), and equating the
co-efficients of the same power of , one may obtain the following expressions.

O()
(A1 + A1d )D20V1 + A3V1 + 2(A4 + A4d )D0W1 = 0,
(A1 + A1d )D20W1 + A3W1 2(A4 + A4d )D0W1 = 0.

(14)

O(3 )
(A1 + A1d )D20V3 + A3V3 + 2(A4 + A4d )D0W3 = 2(A1 + A1d )D0 D2V1 A2 cD0V1
2(A4 + A4d )D2W1 A5V1 3 A5V1W1 2 2(A6 + A6d )(D20V1 3 + D0 2V1W1 2 ),
(A1 + A1d )D20W3 + A3W3 2(A4 + A4d )D0V3 = 2(A1 + A1d )D0 D2W1 A2 cD0W1 +
2(A4 + A4d )D2V1 A5W1 3 A5W1V1 2 2(A6 + A6d )(D20W1 3 + D0 2W1V1 2 ).

(15)

Solution of eq (14) can be written as

V1 (T0 , T2 ) = F1 (T2 )eN f T0 i + F2 (T2 )eNb T0 i + F 1 (T2 )eN f T0 i + F 2 (T2 )eNb T0 i ,
W1 (T0 , T2 ) = iF1 (T2 )eN f T0 i + iF2 (T2 )eNb T0 i + iF 1 (T2 )eN f T0 i iF 2 (T2 )eNb T0 i .
Here, i =

(16)

1. F1 (T2 ) and F2 (T2 ) are higher order valued functions determined by higher order level

approximation. N f and Nb are forward and backward linear natural frequencies obtained through finding


of eigenvalues of dynamical matrix [m][k]1 of the rotor-bearing system those are defined as
p
2 (A4 + A4d )2 + A3 (A1 + A1d )
,
Nf =
A1 + A1d
p
(A4 + A4d ) 2 (A4 + A4d )2 + A3 (A1 + A1d )
Nb =
.
A1 + A1d
(A4 + A4d ) +

(17)

Now, substituting eq (16) in eq (15), one may have the following expressions.
(A1 + A1d )D20V3 + A3V3 + 2(A4 + A4d )D0W3 = R1 (T2 )eN f T0 i + S1 (T2 )eNb T0 i +CC + NST,
(A1 + A1d )D20W3 + A3W3 2(A4 + A4d )D0V3 = R2 (T2 )eN f T0 i + S2 (T2 )eNb T0 i +CC + NST.

(18)

Here, CC and NST are complex-conjugate and Non-Secular Terms respectively and R1 (T2 ),R2 (T2 ),
S1 (T2 ) and S2 (T2 ) are given as

R1 (T2 ) =2i((A4 + A4d ) (A1 + A1d )N f )D2 F1 (T2 ) iA2 cN f F1 (T2 ) 4A5 F12 F 1
+ (2(A6 + A6d )(N f + Nb )2 8A5 )F1 F2 F 2 ;

(19)

R2 (T2 ) =2((A4 + A4d ) (A1 + A1d )N f )D2 F1 (T2 ) A2 cN f F1 (T2 ) + 4iA5 F12 F 1
i(2(A6 + A6d )(N f + Nb )2 8A5 )F1 F2 F 2 ;

(20)

S1 (T2 ) = 2i((A4 + A4d ) + (A1 + A1d )Nb )D2 F2 (T2 ) iA2 cNb F2 (T2 ) 4A5 F22 F 2
+ (2(A6 + A6d )(N f + Nb )2 8A5 )F1 F2 F 1 ;

(21)

S2 (T2 ) =2((A4 + A4d ) + (A1 + A1d )Nb )D2 F2 (T2 ) A2 cNb F2 (T2 ) 4iA5 F22 F 2
+ i(2(A6 + A6d )(N f + Nb )2 8A5 )F1 F2 F 1 .

(22)

In order to obtain the solvability condition for a set of gyroscopic ordinary differential equations, one
may represent V3 and W3 expressed as
V3 (T0 , T2 ) = F11 (T2 )eN f T0 i + F12 (T2 )eNb T0 i ;
W3 (T0 , T2 ) = F21 (T2 )eN f T0 i + F22 (T2 )eNb T0 i .

(23)

On substituting eq (23) in eqs.(18) and equating the co-efficients of eN f T0 i and eNb T0 i , one may receive
the following expressions.
((A1 + A1d )N 2f + A3 )F11 (T2 ) + 2i(A4 + A4d )N f F21 (T2 ) = R1 (T2 ),
((A1 + A1d )N 2f + A3 )F21 (T2 ) 2i(A4 + A4d )N f F11 (T2 ) = R2 (T2 ).

(24)

((A1 + A1d )Nb2 + A3 )F12 (T2 ) + 2i(A4 + A4d )Nb F22 (T2 ) = S1 (T2 ),
((A1 + A1d )Nb2 + A3 )F22 (T2 ) 2i(A4 + A4d )Nb F21 (T2 ) = S1 (T2 ).

(25)

The solvability condition of the system of two inhomogeneous algebraic for F11 (T2 ), F21 (T2 ), F12 (T2 )
and F22 (T2 ) can be written as [14].




 A (A + A )N 2 R (T )
 3
1
1 2 
1d
f

 = 0;


2i(A + A )N

R
(T
)

4
2 2 
f
4d



 A (A + A )N 2
 3
1
1d b


2i(A + A )N

4
4d b



S1 (T2 )
 = 0.

S2 (T2 )

(26)

i1 D2 F1 (T2 ) 2iA2 cN f F1 (T2 ) 8A5 F1 (T2 )2 F 1 (T2 ) + F1 (T2 )F2 (T2 )F 2 (T2 ) = 0,
i2 D2 F2 (T2 ) 2iA2 cNb F2 (T2 ) 8A5 F2 (T2 )2 F 2 (T2 ) + F1 (T2 )F2 (T2 )F 1 (T2 ) = 0.

(27)

By applying the similar procedures as explained in [13], one may obtain the following expressions for
the displacements v and w in Y and Z directions for rotor-bearing system.
v = (x)[A f cos(Q11 A2b + Q22 A2f +C3 + N f T0 ) + Ab cos(Q33 A2f + Q44 A2b +C4 + Nb T0 )],
w = (x)[A f sin(Q11 A2b + Q22 A2f +C3 + N f T0 ) + Ab sin(Q33 A2f + Q44 A2b +C4 + Nb T0 )].

(28)

Here,
A f = C1 eP1 T0 ;
Q11 =

2
;
21 cNb

Ab = C2 eP2 T0 ;
Q22 =

2A5
;
A2 cN f

A2 cN f
A2 cNb
; P2 =
;
1
2
1
2A5
Q33 =
; Q44 =
.
22 cN f
A2 cNb
P1 =

Here, C1 ,C2 ,C3 and C4 are integration constants determined by initial conditions for free vibration
analysis. Newton-Rapson scheme has been adopted to obtain numerically the integration constants.
Both forward and backward frequencies are excited and the above equations depict the free vibration of
the system with nonlinear curvature, inertia effect of gyroscopic force. A clear and different closed form
solution is obtained for finding the backward and forward natural frequencies for rotor-bearing system
which are not earlier explored with reference to the solutions obtained for shaft element only.
3

Numerical Findings and Graphical Observations

Initially, the time history has been portraited in order to verify the correctness of the fundamental

Fig. 2: Time history for shaft element neglecting disk effect in Y direction

Fig. 3: Time history for shaft element in Z direction

concept of physics if deriving the mathematical model and computational procedures adopted in this
present work.The exact solution has been obtained by numerically integrating the governing equation
of motion. Figures 2 and 3 depict the exact and perturbation time history for shaft element at mid-point
displacements for v and w and it has been found that obtained results are in very good agreement. The
initial conditions considered for the system are v = 0.01; w = 0; v = 0 and w = 0 similar to that considered in [13].It has been observed that though, the input excitation has been given only in one plane
i.e. v plane, the effect of excittaion has also been observed in w plane as well due to strong gyroscopic

Fig. 4: Time history for shaft with disk system in Y direction

Fig. 5: Time history for shaft with disk system in Z direction

effect in both shaft and disk elements.The period of beating i.e., time between the points of maximum
amplitude observed is unlike for two different vibration response of v and w. It has observed that beating
period for vibration in w is less than that of beating period of v as the frequency of shaft speed is closer
to forward natural frequency as frequency of vibration of v i.e., N f = 2, small quantity .The reduction rate in vibration amplitude is higher for the response of w than the counter-part v as the excitation
is taking place in v plane.
Time histories for the rotor-bearing system are illustrated in Figs. 4 and 5 considering same initial con-

ditions as that of shaft for M = 1.5 and I2 = 0.00625. The perturbation result obtained from eq (28)
are verified with the exact solution for the system. The perturbation solution agrees well with the exact
solution.

A comparison between the amplitudes of v and w for shaft only and shaft-disk system

Fig. 6: Time history for shaft, and shaft with disk system in Y direction

Fig. 7: Time history for shaft, and shaft with disk system in Z direction

are shown in Figs. 6 and 7. It can be noted that due to additional inertia effect of disk, the settling
time is higher than observed in shaft only. Hence, the time taken for the system to damp out increases.

Fig. 8: Time history for rotor-bearing system in Y direction

Fig. 9: Time history for rotor-bearing system in Z direction

Similar to the shaft case, here the beating period is higher for the vibration of v than the vibration of
w. The amplitude of vibration reduction is observed to be higher for the response of w as the plane of
response of w is out-of plane vibration in nature. The effect of damping on the dynamic behaviours has
been demonstrated in Figs.8 and 9. A clear indication has been observed that with increase in damping,
reduction in vibration amplitude is displayed in both response of v and w. Hence, the amplitude of

vibration becomes diminished under moderately high value of damping constant.It is interesting to note
that beating period does not get affected by increasing the damping constant of the system as damped
natural frequencies remain unchanged.
From eq (17), it is observed that the forward and backward linear natural frequencies depend upon I2 ,

Fig. 10: Forward and backward natural frequencies of shaft element only

Fig. 11: Forward and backward natural frequencies of shaft with disk element

, mass ratio (M) of disk and shaft, and position of the disk (d).The Campbell diagram for representing

natural frequencies N f and -Nb with respect to for different values of I2 in the absence of disk which
is in accordance with [13] is plotted in Fig.10. The variation of N f and Nb of the shaft-disk system with
is depicted in Fig.11. With increase in , both the forward and backward linear natural frequencies
increase while with decrease in I2 , the rate of increase in N f and Nb decreases with .
In Fig.12, forward and backward linear natural frequencies for rotor-bearing are plotted with respect

Fig. 12: Effect of mass ratio on forward and backward natural frequencies of shaft with disk system

Fig. 13: Effect of disk location on forward and backward natural frequencies of shaft with disk system

to angular speed for different values of parameter M. It is observed through the plot that the rate of
increase of N f and Nb decreases with increase in mass of disk and the unstable frequency decreases
as well. With increase in mass ratio M, critical speeds start at lower value and shape of the diagram
remains unchanged. Hence, rate of changing forward and backward natural frequencies is quite same in
order and but in opposite directions. The influence of disk location along the shaft is illustrated in Fig.
13. The increase in slope of forward linear natural frequency is more as compared to backward linear
natural frequency. According to Fig.13, it is observed that the rate of frequency increment increases as
the disk is moved away from the mid-point of the shaft. The maximum natural frequencies is observed
at the condition when location of the disk is closest to either of the bearing ends. This may reduce the
rotor-bearing system to shaft system and values of fundamental natural frequencies are similar to that of
the values for shaft element alone.
Fig.14 shows a comparison between N f and Nb for shaft and shaft-disk system with I2 = 0.000625 and

Fig. 14: Forward and backward natural frequencies of shaft and shaft with disk

M = 1.5 where the unstable frequency for combined system is lower than for shaft alone. Due to fact
that adding the disk, overall mass of the rotor-bearing system increases which renders the lower value
of natural frequencies.However, addition of disk lengthens the range between forward and backward

natural frequencies.
The natural frequencies of the system consists of linear and nonlinear parts. The forward (F) and

Fig. 15: Nonlinear forward and backward natural frequencies of shaft

Fig. 16: Nonlinear forward and backward natural frequencies of shaft with disk

backward(B) natural nonlinear frequency are given by FNNF = Q11 A2b + Q22 A2f N f and BNNF =
Q33 A2f + Q44 A2b Nb with T0 = 1 depend on parameters diametrical mass moment of inertia (I2 ),angular
rotational speed(),Mass ratio (M), position of disk (Ld ) and external damping constant c. Figures

Fig. 17: Effect of disk location on nonlinear forward and backward natural frequencies of shaft with
disk system
15-17 show the first mode for variation of FNNF and BNNF with for parameters I2 , M and Ld respectively. Similar nature of variation has been observed in determining the nonlinear natural frequencies as
that of seen for linear part. Due to gyroscopic effect, the change of FNNF and BNNF is more at higher
value of I2 . FNNF increases whereas BNNF decreases for all values of I2 and the rate of increase of
FNNF is becoming more than the rate of decrease of BNNF with increasing rotating speed.
Unlike the linear part, length between BNNF and FNNF is more prominent and enlarged for the varia-

Fig. 18: Nonlinear forward and backward natural frequencies of shaft and shaft with disk

tion of diametrical mass moment of inertia.The rotor-bearing system experiences lower nonlinear natural
frequencies when the mass ratio becomes increased as the inertia of the disk increases with the effect
of high displacement rotation. The effect of varying the disk location leads to a insignificant variation
of both nonlinear frequencies in response to the linear frequencies. It is true that there is an effect of
nonlinearity in calculating the natural frequencies at the location of disk near to the mid-point of the
shaft due to large geometric deflection of the flexible shaft. Fig. 18 compares FNNF and BNNF for
shaft with shaft-disk combined system. It is seen that the rate of increase of FNNF and rate of decrease
of BNNF is more for combined system than for shaft alone. Overall, it is observed that the unstable for
combined system is always less than for shaft alone.
4

Conclusion

A rotating shaft-disk system with rotary inertia, gyroscopic effect and nonlinear curvature has been analyzed for determining the natural frequencies and resulting free vibration response under the influences
of various control parameters. Using the multiple scales method, perturbation expressions for nonlinear
free vibration in two planes have been derived and effects of various parameters have been observed.
The forward and backward linear and nonlinear natural frequencies have been evaluated for different
parameter values. In nonlinear free vibration,it has been seen that due to gyroscopic effect, when one
plane is excited the other plane oscillates as well.The results from exact analysis and perturbation analysis agreed well. The results of the combined system are compared with that of shaft alone and it has
found to have lower natural frequency and first node appears before it appears for shaft. Also, the system
amplitude diminshes slowly for the combined rotor-bearing system. The linear forward frequency and
backward frequency increase with angular rotating speed but rate of increase of forward frequency is
more compared to backward linear frequency.
The variation of the same with mass ratio showed that the unstable frequency decreases with increase in
the mass ratio. Also, increasing slope of forward frequency is less as compared to backward frequency.

The variation of linear frequencies with location of disk denoted that with disk moving away from centre, the rate of increase of frequencies increases. The rotor-bearing has been reduced to simple shaft
element by moving the disk nearest to either of the bearing ends.
The nonlinear forward natural frequency has found to increase whereas the nonlinear backward frequency decreases with increasing angular speed and similar behavioural patterns are observed as linear
part of natural frequencies. The present outcomes enable the insight of theoretical aspect of determining
critical speeds and evaluating the free vibration behaviour required in designing and developing flexible
rotor-bearing performing under high speed operations.
Acknowledgements
Theoretical outcomes from this present work are the part of the project supported by Department of Science and Technology (DST), Government of India and authors are really grateful to DST for providing
the financial grant with project no S/SERB/BP/20140012.

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