Torsional Vibration of Beams: Torsional Vibrations of Aircraft Wings Can Be Closely Modeled As Torsional Vibrations of Cantilevered Beams

SCHOOL OF MECHANICAL AND
AEROSPACE ENGINEERING
NANYANG TECHNOLOGICAL
UNIVERSITY, SINGAPORE
TORSIONAL VIBRATION OF BEAMS:

Torsional vibrations of aircraft wings can be closely
modeled as torsional vibrations of cantilevered beams.
z
x
y
l
y
Lectures 7 & 8
1/35
Torsional Vibration of Beams
Sunday, August 30, 2015

Equations of Motion:
T
2
T
y T I Py 2
y
t
T
2
IP 2
y
t
(1)
T
Mass Polar Moment

of Inertia Ip:
IP
T GI P
Lectures 7 & 8
x 2 z 2 dA
2/35
(2)
T
y
y
Elemental
strip
2
2
GI P 2 I P 2
y
t
(3)

Solution of Torsional Vibrations:
2
2
GI P 2 I P 2
y
t
(3)
( : kg / m 3 )
Based on Separation of Variables method, the solution

of satisfies (3) can be written as,
y, t X y Y t
Then,
(4)
2
2
2 X y
2 X y Y t
Y t X y Y t X Y
2
2
y
y
y
2
2
2Y t
t X Y
X
y
Y
t
X
y
X
y
Y
t 2
t 2
t 2
Lectures 7 & 8
3/35

Substitute them into (3), we have

GI X Y I X Y
P
(5)
Equation (5) can be further written as,

X Y
(6)
X
G Y
Examine equation (6), the LHS is a function of y only
while the RHS is a function of t only. If they can be
equal, both sides must be equal to a CONSTANT:
X
Y
2
(7)
X
G Y
Lectures 7 & 8
4/35
X 2 X 0
Y 2 G Y 0
(8a)
(8b)

The general solutions of (8a) and (8b) are,
X y A sin y B cos y
Y t C sin
G
t D cos

(9a)
G
t

(9b)
Constants A and B can be determined from the

boundary conditions at the ends of the beam, and C
and D can be found as functions of the given initial
beam torsional deflection and initial torsional velocity,
as will be shown in the examples followed.
Lectures 7 & 8
5/35

EX ClampedFree: A uniform circular beam of length

l=1m and diameter d=10cm is clamped at one end and is
subjected to a torque T=9000Nm at the other end. Shear
modulus G is assumed to be G=91010 N/m2 and density
=7800kg/m3. The applied torque is then suddenly
released (at t=0), determine the subsequent torsional
vibration of the beam.
Lectures 7 & 8
6/35

Free Vibration Analysis No Force/Torque Considered!

The boundary condition for clamped end becomes:
0, t 0
(10a)
For the free end, there is no torque applied (Free Vibration

Analysis),
T G IP
Lectures 7 & 8
7/35
T l G IP
l , t
0
y
l , t 0
(10b)

Recall the general solutions,
X y A sin y B cos y
Y t C sin
(9a)
G
t D cos

G
t

(9b)
So, general solution for becomes,
y, t X y Y t
A sin y B cos y C sin
Lectures 7 & 8
8/35
G
t D cos

G
t


Apply boundary condition at y=0:
0, t X 0 Y t 0
X 0 0
A sin 0 B cos 0 0
B 0
Update X(y) to become,
X y A sin y
X y A cos y
Apply boundary condition at y=l:
l , t X l Y t 0
A cos l 0
l
Lectures 7 & 8
9/35
2i 1
2
X l 0
cos l 0

2i 1
2l
1, 2,

Hence, the natural frequencies of torsional vibration

of a clamped-free beam become,
i i
G
2i 1
2l
i 1, 2,
Substitute known parameters, i becomes
i 5335.7 2i 1
i 1, 2,
Since X(y) represents the vibration mode shape,
X y A sin y
Hence mode shapes are,
y sin
Lectures 7 & 8
10/35
2i 1 y
2l
i 1, 2,

Clamped-Free Beam Torsional Vibration Mode Shapes

Lectures 7 & 8
11/35

The general solution for can now be updated to become,
y, t X y Y t
sin
i 1
2i 1y E
2l
i sin
5335.7 2i 1 t Fi cos 5335.7 2i 1 t
The initial displacement condition:

The initial displacement under constant torque becomes,
Tl l
9000 1
0 l
0.0102 rad
1
GI P
10
9 10 3.14159 0.14
32
Hence,
Lectures 7 & 8
y , 0 0.0102 y
12/35
rad

The initial velocity condition:

The initial velocity is assumed to be zero,
y , 0 0
Substitute initial displacement condition,
y, 0 X y Y 0
i 1
2i 1y
E
sin
i sin
2l
2i 1y
F sin
i 1
Lectures 7 & 8
2l
13/35
5335.7 2i 1 0 Fi cos 5335.7 2i 1 0
0.0102 y

So, the initial displacement condition leads us to,
2i 1y
F sin
i
i 1
0.0102 y
(11)
Multiply (11) by sin[(2j-1)y/2] and integrate over the

length,
0
i 1
2i 1y sin 2 j 1y dy
F sin
i
0.0102 y sin
2 j 1y dy
2
Based on the orthognality properties of mode shapes,
Fi 0.0204
Lectures 7 & 8
14/35
2i 1y
y sin
dy 1 i 1
2
0.0816
2i 1
2 2
i 1, 2,

Torsional velocity becomes,
y , t X y Y t
2i 1y
sin
5335.7 2i 1
2l
Ei cos 5335.7 2i 1 t Fi sin 5335.7 2i 1 t
i 1
Substitute initial velocity condition,
i 1
5335.7 2i 1 Ei
2i 1y
sin
2
(12)
Multiply (12) by sin[(2j-1)y/2] and integrate over the

length,
Ei 0 i 1, 2,
Lectures 7 & 8
15/35

Hence, the final solution becomes,
y, t
Lectures 7 & 8
i 1
16/35
0.0816
0.0816 1 i 1
2 2i 1 2
2i 1y
sin
cos 5335.7 2i 1 t
2

Natural Frequencies and Mode Shapes of Other

Boundary Conditions - Clamped-Clamped:
The boundary conditions for Clamped-Clamped case,
0, t l , t 0
(13a, 13b)
Applying the first boundary condition at y=0 leads to,
0, t X 0 Y t 0
A sin 0 B cos 0 0
X 0 0
B 0
Update the solution of X,
X y A sin y
Lectures 7 & 8
17/35

Applying the second boundary condition at y=l leads to,
l, t X l Y t 0
A sin l 0
l i
X l 0
sin l 0 ( Why not A 0 ? )
i 1, 2,
Therefore, natural frequencies are given by,
i i
G
i
i 1, 2,
Mode shapes are given by,
iy
i y sin y sin
l
Lectures 7 & 8
18/35
i 1, 2,

Clamped-Clamped Beam Torsional Vibration Mode Shapes

Lectures 7 & 8
19/35

Free-Free Boundary
Conditions:
The boundary conditions for Free-Free case,
0, t l , t 0
(14a, 14b)
(No torques)
0, t X 0 Y t 0
X 0 0
X y A sin y B cos y
X y A cos y B sin y
X 0 0 A cos 0 B sin 0 0
X y B cos y
Lectures 7 & 8
20/35
A0
X y B sin y

l , t X l Y t 0
B sin l 0
l i
X l 0
sin l 0
OR
i 0, 1, 2,
Therefore, natural frequencies are given by,
i i
G
i
i 0, 1, 2,
Mode shapes are given by,
iy
i y cos y cos
l
Lectures 7 & 8
21/35
i 0, 1, 2,

When i=0 (=0), 0=0 is called Rigid Body mode. The

corresponding mode shape of a rigid body mode is a
constant:
0 y cos 0 1
Lectures 7 & 8
22/35

Free-Free Beam Torsional Vibration Mode Shapes

Lectures 7 & 8
23/35

EX ClampedFree: A uniform circular beam of length

l=1m and diameter d=10cm is clamped at one end and is
subjected to a torque Tl(t)=5000sin2000t Nm. Also, a
continuously distributed torque q(y, t)=8000sin2000t N is
applied along the beam. Shear modulus G is assumed to
be G=91010 N/m2 and density =7800kg/m3. Determine the
torsional vibration of the beam.
Lectures 7 & 8
24/35

The generalized torque becomes
i t
l
0
F y , t i y dy
l
0
l
0
2i 1y
2l
T0 sin t y l sin
2i 1y
q0 sin t sin
dy
dy
2l
2q0 l
i 1
sin t
1 T0 sin t
2i 1
Where, T0 5000 Nm, q0 8000 N , 2000 rad / s, l 1m.
Recall the equation for i-th generalized coordinate,
l
l 2
i t
i i t i t
(Vibration of Strings)
2
2
l I P
l I P 2
i t
i i t i t (Beam Torsional Vib)
2
2
Lectures 7 & 8
25/35

To simplify, let
2
2q0l
i 1
1 T0
T i
2i 1
l IP
Then,
i t i2 i t T i sin t
The corresponding general solution becomes,

T i
i t Ai sin i t Bi cos i t 2
sin t
2
i
So, the solution can be written,
y, t
i y i t
i 1
T i
2i 1y
sin
sin t
Ai sin i t Bi cos i t 2
2
2l
i

i 1
Lectures 7 & 8
26/35

Consider the initial displacement,
2i 1y
y , 0 0 sin
Bi 0 Bi 0 i 1,2,
2l
i 1
(Previously discussed)
Consider the initial velocity,
T
i
Aii cos i t Bii sin i t
cos
2
2
i 1
i
T i
2i 1y
0
y , 0 0 sin
Aii 2
2
2l
i

i 1
Multiply both sides by sin((2j-1)y/2l) and integrate over [0, l],
y , t
i 1
2i 1y
sin
2l
F
i
Aii
2
2
Lectures 7 & 8
27/35
l
0
2i 1y
2 j 1y
sin
sin
dy 0
2l
2l

Aii T i
2
2
2 0
T i
Ai
i (i2 2 )
y, t
i 1
i 1, 2,
i 1, 2,
T i
2i 1y
sin
2
2
2l
i
sin t
sin i t
i
Substitute known values,
i 5335.7 2i 1
i 1, 2,
2000 rad / s
Lectures 7 & 8
28/35

2
2q0l
i 1
1 T0
T i
2i 1
l IP
2
6
7800 1 9.82 10
1.306 10 1
5
y, t
i 1
i 1
5000 1
i 1
1.330 10 5
2i 1
1
i2 4 10 6
5
1
.
330
10
i 1
5
1
.
306
10
2i 1
2i 1y
sin
where, i 5335.7 2i 1
Lectures 7 & 8
29/35
5093
2i 1
2000
sin 2000t
sin i t
i
i 1, 2,

Natural Frequencies and Mode Shapes of Torsional Beam

on Elastic Support:
The boundary condition at y=0 becomes,
0, t 0
y , t X y Y t
(15a)
y , t X y Y t
At y=l, apply the moment equation,
G I P l , t kT l , t G I P X l kT X l
Lectures 7 & 8
30/35
(15b)

0, t X 0 Y t 0
A sin 0 B cos 0 0
X 0 0
B 0
X y A sin y
X y A cos y
G I P X l kT X l
G I P A cos l kT A sin l
kT l
l cos(al )
sin l (16)
G IP
Define a dimensionless support parameter as,
G IP
kT
Lectures 7 & 8
31/35

Then, equation (16) becomes,
sin l l cos l 0
This transcendental
equation has infinite
set of roots which
cannot be found in
closed form.
However, for any
given value of
support parameter ,
can be solved from
(17) numerically. The
first 4 il (i=1,2,3,4)
are shown:
Lectures 7 & 8
32/35
(17)
l versus

When = 0, it is the case of Clamped-Free boundary

conditions and when , it becomes a case of
Clamped-Clamped boundary conditions we have
discussed. Hence, the curves start with il values
corresponding to Clamped-Free case and approach
values of the Clamped-Clamped case as becomes large.
Having computed the values of i (i=1,2,), the
corresponding natural frequencies of the elastically
supported beam become,
i i
i 1, 2,
(18)
And the mode shapes become,
i y sin i y
Lectures 7 & 8
33/35
i 1, 2,
(19)

Mode Shapes of Elastically Supported Beam =1.0

NB: These mode shapes are no longer orthogonal !!
Lectures 7 & 8
34/35

SUMMARY
1.
Governing differential equation for torsional

vibration of beam has been developed;
2.
Torsional vibration natural frequencies and
mode
shapes have been derived based on
Separation of Variable;
3.
Various boundary conditions have been
investigated to establish vibration properties;
4.
Free and forced torsional vibration analyses
have been studied.
Lectures 7 & 8
35/35

Torsional Vibration of Beams: Torsional Vibrations of Aircraft Wings Can Be Closely Modeled As Torsional Vibrations of Cantilevered Beams

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Torsional Vibration of Beams: Torsional Vibrations of Aircraft Wings Can Be Closely Modeled As Torsional Vibrations of Cantilevered Beams

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