Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference

IDETC/CIE 2009 Proceedings of the ASME 2009 International August Design Engineering Technical Conferences Computers and 30 - September 2, 2009, San Diego, & California, USA Information in Engineering Conference IDETC/CIE 2009 August 30 - September 2, 2009, San Diego, California, USA

DETC2009-87843
DETC2009/VIB- 87843
FREE VIBRATION ANALYSIS OF ROTATING TAPERED BRESSE-RAYLEIGH BEAMS USING THE DIFFERENTIAL TRANSFORMATION METHOD
Dominic R. Jackson Dynamic and Aeroelasticity Group, School of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester M60 1QD, UK S. Olutunde Oyadiji Dynamic and Aeroelasticity Group, School of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester M60 1QD, UK ri s w UK US y rx Ixx 1 non-dimensional hub radius parameter non-dimensional rotational speed parameter transverse displacement of the beam kinetic energy strain energy distance of a differential element measured from the root of the beam rotational speed in rad/sec variational operator non-dimensional natural frequency rotary inertia parameter second moment of area about the x axis INTRODUCTION

ABSTRACT The free vibration characteristics of a rotating tapered Rayleigh beam is analysed in this study. First, the straindisplacement relationship for the rotating beam is formulated and used to derive the kinetic and strain energies in explicit analytical form. Second, Hamiltons variational principle is used to derive the governing differential equation of motion and the associated boundary conditions. Third, the Differential Transformation Method (DTM) is applied to reduce the governing differential equations of motion and the boundary conditions to a set of algebraic equations from which the frequency equation is derived. Next, a numerical algorithm implemented in the software package Mathematica is used to compute the natural frequencies of vibration for a few paired combinations of clamped, pinned and free end conditions of the beam. Also, the variation of the natural frequencies of vibration with respect to variations in the rotational speed, hub radius, taper ratio and the slenderness ratio is studied. The results obtained from the Bresse-Rayleigh theory are compared with results obtained from the Bernoulli-Euler and Timoshenko theories to demonstrate the accuracy and relevance of their application. Nomenclature EIxx F0 L T Cx Cz dy m

bending rigidity outboard force total length of the beam centrifugal force taper ratio in the xoy plane taper ratio in the zoy plane length of a beam element mass per unit length

Many structural elements of rotating machinery like helicopters, wind turbines, aircraft propellers, satellite manipulators and turbo-machinery are modelled as rotating flexible beams. The dynamic behaviour of these structures is quite different from their non-rotating behaviour due the induced centrifugally stiffening effect as they rotate. Also, the coefficients of the differential equations governing the dynamics of rotating beams are variable whilst for nonrotating beams, they are constants. Due to the variable coefficients, an exact solution of this type of problem is not always available. This challenging problem has always been of interest to researchers and a variety of exact analytical solutions, approximate and Finite Element Methods (FEM) have been used to study the modal characteristics of rotating beams. Most of these studies are either based on the BernoulliEuler or the Timoshenko beam theories. The Bernoulli-Euler theory is the most elementary of the beam theories used in vibration analysis of beams. It is known that

Author for correspondence, Phone: (0044) 161-2754348, Email: s.o.oyadiji@manchester.ac.uk.

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the theory is accurate enough to analyse beams with very small cross-sectional dimensions to bending wavelength ratios (slender beams or beams with high aspect ratios). The theory ignores the effects of rotary inertia and shear deformation. However, for thick beams where the ratio of the crosssectional dimensions to the bending wavelength is significant, the Bernoulli-Euler theory is known to be inadequate especially at high rotational speeds or when higher modes of vibration are considered. This error is partially corrected by the Bresse-Rayleigh theory which basically adds the rotary inertia effect to the BernoulliEuler theory. The kinetic energy of the beam in this case is assumed to be the sum of the kinetic energy due to the transverse displacement and also the rotary kinetic energy due to the angular displacement or the sectional rotation of a differential element of the beam. The addition of the rotary inertia to the Bernoulli-Euler theory according to many publications was proposed by William Strut, Lord Rayleigh [1] in 1877 and has since acquired the name, the Rayleigh beam theory. Contrary to the general view expressed in the literature that Rayleigh introduced the concept of the rotary inertia in the equations of flexural vibrations, it has been established that Bresse [2] made this correction earlier in 1866. The authors of this paper would henceforth, refer to the Rayleigh theory as the Bresse-Rayleigh theory. The theory is basically equivalent to the Bernoulli-Euler theory plus the rotary inertia effect. This acknowledgment of Bresse as being the first to propose rotary inertia correction has been made previously, for example, in [3]. Most often, the rotary inertia or the shear deformation effects are addressed as secondary effects or special cases when applying the Timoshenko theory [4]. The literature available shows that this effect is rarely treated as a special effect on its own or as a separate theory. A literature survey on the subject of rotating beam vibration reveals that exact analytical solutions for the rotating Bernoulli-Euler and Timoshenko beams were obtained by Banerjee et al. [4,5] using the Dynamic Stiffness Method (DSM). Kaya [6], zdemir and Kaya [7], Ozgumus and Kaya [8,9] and Mei [10] obtained analytical solutions for rotating beams using the Differential Transformation Method (DTM). Naguleswaran [11] and Du [12] applied a Power Series Method (PSM) to obtain exact frequencies and mode shapes of the rotating beam. There is a vast literature covering the subject using the Finite Element Method (FEM) and other approximate solutions. Amongst them are the works of Khulief [13], using the FEM, and Hunter [14], using an Integrating Matrix Method (IMM). A concise literature review of the rotating beam vibration problem is given by Bazoune [15]. In this study, the rotating beam problem is formulated by including the rotary kinetic energy in the strain-displacement relationship and energy equations. References [16], [17] are among the few available in the literature on the analysis of vibration of rotating beams considering only the rotary inertia effect. There are of course a few applications of the rotary inertia effect in the literature but for non-rotating and spinning beams [18]. The authors of this article wish to contribute to the existing literature of rotating beams by including only the

rotary inertia effect in addition to the Bernoulli-Euler model as a unique theory known as the Bresse-Rayleigh theory. It is also assumed that, the rotary inertia does not induce any shear deformations during the flexural oscillations of the rotating beam. The rotary kinetic energy is therefore integrated into the kinetic energy formulation but the strain energy remains the same as that of the Bernoulli-Euler case. In addition to that, the DTM, which has not been applied specifically to this problem according to the literature, is used to compute the natural frequencies of the rotating Bresse-Rayleigh (B-R) beam with a linear span-wise taper variation. The following section gives a summary of the mathematical formulations used in deriving the kinematic parameters, energy formulations and the differential equation of motion associated with the rotating tapered B-R beam. 2 MATHEMATICAL FORMULATIONS

Figure 1. Rotating tapered beam with a constant width in the xoy plane and a linear taper variation in the zoy plane.

Figure 1 represents a rotating tapered beam with a linear spanwise taper variation in the zoy plane. The Y axis (global) is assumed to coincide with the local y axis of the beam which is also coincidental with the elastic axis of the beam. The beam rotates uniformly in the XOY plane about the Z axis (global) which is offset rH units from the root and performs harmonic oscillations in the ZOY plane only. The oscillations in the XOY planes can easily be evaluated if the rotational speed and the oscillations in the ZOY plane are known [11]. It is assumed that, the cross section profile of the beam is symmetric. This implies that the locus of the centroids and shear centres coincide along the span of the beam and. therefore, there are no bending and torsion coupling effects. Also, it is assumed that the material properties of the beam are isotropic and homogeneous. Finally, the magnitudes of the transverse and angular displacements are assumed to be small to allow the application of the small deformation theory. The differential equation of motion is derived as follows. Geometry

The definitions of the cross sectional area A(y) and second moment of area Ixx(y) variation of the rotating tapered BresseRayleigh beam are given below as:
A( y ) = x(0)(1 Cx ) z (0)(1 Cz ) I xx ( y ) = x(0)(1 Cx ){z (0)(1 Cz )}3 12 (1)

(2)

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where 0 Cx < 1 and 0 Cz < 1 are the range of taper ratios in the xoy and zoy planes respectively. The cross sectional dimensions at the root of the beam are x(0) and z (0) . Using the equations above, the variation of the areas and the second moments of area can be derived for beams with one dimension constant in one plane and a linear taper variation in the other or a beam with taper variations simultaneously in the xoy and zoy planes. Equations describing the area and second moment of area variations of these beam configurations mentioned can be obtained simply by substituting the appropriate Cx and Cz values in equations (1) and (2). Displacements

Generally, w =

& = w ( y, t ) w ( y, t ) and w y t

Kinetic Energy

The kinetic energy of the rotating tapered Bresse-Rayleigh beam is defined as:

I xx 1 & ) 2 dy + & )2 }dy U k = A( w {(w)2 2 + (w 2 2

(10)

Let the position vector of a material point before and after deformation of the beam due to flexure and tension as a result of the centrifugal force be given respectively by r0 and r1 as:

GOVERNING DIFFERENTIAL EQUATION OF MOTION

r0 = i + (rh + y) j + k r1 = i + (rH + y + v w ) j + ( + w ) k
Velocity

(3) (4)

The governing differential equation of motion for the rotating tapered Bresse-Rayleigh beam is derived using Hamiltons variational principle which is defined as follows:
Ldt
t1 t2

= ( U K US )dt = 0
t1

t2

(11)

The velocity of a material point in the deformed state of the beam is also given by:
V=

r r r r r r r + (k r ) = Vx i + Vy j + Vz k t

where L = ( U K U S ) is known as the Lagrangian function. Substituting equations (8) and (10) in equation (11) and integrating the resulting expression by parts gives :
t2 L t1 0

(5)
&& (Tw) (Ixxw &&) + (Ixx w)}w dydt= 0 {(EIxxw) +Aw
2

where the velocity components Vx, Vy ,Vz and the magnitude V are given by the following Vx = {rH + y + v( y, t ) w ( y, t )}
Vy = Vz = v ( y, t ) w ( y , t ) t t w ( y, t ) t
2 Vx 2 + Vy 2 + Vz

(12)

The boundary conditions are also obtained as follows.

(6)

t2 t1
t2

(EI xx w )
0

w = 0
L 2

(13)

V=

&& )} {(EIxxw) Tw + Ixx w (Ixxw

0

w = 0

(14)

(7)

t1

Strain Energy

Assuming the oscillations are harmonic, then

The strain energy of the rotating Bresse-Rayleigh beam is defined as:

w = w ( y, t ) = W ( y) eit

(15)

1 1 Us = T( w ) 2 dy + EI xx ( w ) 2 dy 2 2

(8)

Substituting equation (15) in equation (12) and applying the following non-dimensional parameters,
ri = A 0 2 L4 A0 rH , rx 2 = , , 2 = EI xx L I xx L2

where T is the centrifugal force distribution defined as:

L

(16)

T = A 2 (rH + y) dy + F0
0

(9)

s2 =

A 0 2 L4 , EI xx

p2 =

F0 L2 y , = , EI xx L

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the governing differential equation of motion can be expressed generally in a compact symbolic and non-dimensional form as:

w ( y) =

k =0

k ( y y0 ) d w ( y) k k! d y

(18)
y= y0

4 cm n m W (n ) = 0 n =1 m = 0
4

(17)

If we define the differential transformation W[k] of w(y) as

W[k ] =

where the coefficients cm n given in the Appendix B are functions of the geometric, kinematic and circular frequency parameters of the beam. In the above equation, n represents the order of the derivatives of W and m represents the powers of the variable . This equation can also be expanded and expressed generally as:

k 1 d w ( y) k k! dy

(19)
y= y0

and the inverse transformation w(y) of W[k] as

w ( y) =

k =0

( y y0 )k W[k]

(20)

(c

00

+ c 01 + c 02 2 + c 033 + c 04 4 W + (c10 + c11 +

c12 2 + c133 + c14 4 W + c 20 + c 21 + c 22 2 + c 233 + c 24 4 W + c 30 + c 31 + c 32 2 + c333 + c34 4 W + c 40 + c 41 + c 42 2 c 433 + c 44 4 W = 0

4 APPLICATION OF THE DIFFERENTIAL TRANSFORMATION METHOD

then, a careful observation of equation (18) reveals that a combination of equations (19) and (20) is in fact, the Taylor series expansion of the function w(y) about the point y = y0. In the DTM technique, the inverse function w(y) can be expressed as the sum of two series expansions;

w(y) =

k (y y0 )k d w(y) k k! dy k=0

y=y0

k (y y0 )k d w(y) k k! dy k=n+1

(21)

y=y0

(18)

The Differential Transformation Method (DTM) is a semianalytic technique derived from the Taylor series expansion. The DTM can be used to solve both ordinary and partial differential equations. It provides an iterative procedure to obtain the Taylor series expansion for solving differential equations in the form of polynomials without the computation of the actual derivatives. Convergence of the DTM to the exact analytical solution of the governing differential equation of the rotating tapered Bresse-Rayleigh beam is obtained through very simple computational routines which in this analysis are implemented in Mathematica. The concept of the DTM was first introduced by Zhou [19] in 1986 for studies on electrical circuits and it has since been applied to vibration problems. Malik et al. [20, 21] and Zeng and Bert [22] are among the early researchers to apply the DTM to beam and plate vibration problems. The application of the DTM involves the transformation of each term in the governing differential equation of motion and the associated boundary conditions to a set of algebraic equations. The inverse transform of the solution of the algebraic expressions is then the required solution. Some basic definitions of the DTM are given below: Let w(y) be analytic in a given domain R* and y = y0 be a subset of this domain then, the Taylor series expansion of w(y) about the point y = y0 by definition is given by

In practical computations, the DTM solution is expressed as a finite series. It is therefore assumed that the second term of equation (21) is negligibly small and can be dropped. The first term of equation (21) therefore converges to the exact analytical solution with an acceptable degree of accuracy and the value of n determines the convergence of the solution. Applying the definitions in equations (18) to (21) together with the basic operations of the DTM in Appendix A, the governing differential equation of motion of the rotating Bresse-Rayleigh beam can be transformed to the following:
c00 W[k] + c01 + c04 + c12
k

[r 1]W[k r] + c02 [r 2]W[k r] + c03 [r 3]W[k r]

r =0 r =0 r =0 k r =0

[r 4]W[k r] +c10 (k + 1)W[k + 1] + c11[r 1](k + 1 r)W[k + 1 r] [r 2](k + 1 r)W[k + 1 r] + c13 [r 3](k + 1 r)W[k + 1 r]
r =0 k r =0 r =0 k k

+ c14

[r 4](k + 1 r)W[k + 1 r] +c20 (k + 1)(k + 2)W[k + 2] [r 1](k + 1 r)(k + 2 r)W[k + 2 r]

r =0 k r =0 k

+ c 21 + c 22

[r 2](k + 1 r)(k + 2 r)W[k + 2 r]

r =0 k
r =0

. + c23 [r 3](k + 1 r)(k + 2 r)W[k + 2 r] + c24 [r 4](k + 1 r)(k + 2 r)W[k + 2 r]

r =0 k

+ c30 (k + 1)(k + 2)(k + 3)W[k + 3] + c31 [r 1](k + 1 r)(k + 2 r)(k + 3 r)W[k + 3 r].......... .cont.
r =0 k

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. + c32 [r 2](k + 1 r)(k + 2 r)(k + 3 r)W[k + 3 r]

r =0

2 4 (1620000 + 2 ) 4 (810000 + 2 ) b12 = 6 + 62 +,.....

900

612360000000

16200000

+ c33 [r 3](k + 1 r)(k + 2 r)(k + 3 r)W[k + 3 r]

r =0 k

+ c34 [r 4](k + 1 r)(k + 2 r)(k + 3 r)W[k + 3 r]

r =0

b21 =

150 2 4 (150(810000 + 2 )) 4 (150) + +,..... 900 612360000000 16200000

(25)

+ c 40 (k + 1)(k + 2)(k + 3)(k + 4)W[k + 4] + c 41 + c 42 + c 43 + c 44

r=0 k r =0 k

2 4 (1620000 + 2 ) 2 (810000 + 2 ) b22 = 6 +,.....

900

612360000000

16200000

[r 1](k + 1 r)(k + 2 r)(k + 3 r)(k + 4 r)W[k + 4 r]

[r 2](k + 1 r)(k + 2 r)(k + 3 r)(k + 4 r)W[k + 4 r] [r 3](k + 1 r)(k + 2 r)(k + 3 r)(k + 4 r)W[k + 4 r] [r 4](k + 1 r)(k + 2 r)(k + 3 r)(k + 4 r)W[k + 4 r]. = 0 ....(21)
r =0 r =0 k

The natural frequencies of vibration i of the rotating tapered Bresse-Rayleigh beam for the given boundary conditions are computed by equating the determinant of the matrices in equations (22) and (24) to zero and evaluating the roots of the resulting polynomial equations. In this study, a numerical algorithm implemented in the software package Mathematica is used to compute the natural frequencies or eigenvalues of equations (22) and (24).

Solving equation (21) with respect to W[k+4] and applying the definitions in Appendix A, the eigenvalue equations from which the frequency equations for any paired combination of the clamped (C), pinned (P) and free (F) boundary conditions can be derived. For example the frequency equation for the rotating tapered cantilever or Clamped-Free (C-F) BresseRayleigh beam is given as:

RESULTS AND DISCUSSIONS

a11 a12 W (2) =0 a 21 a 22 W (3)

(22)

In this section, the results obtained from the rotating tapered Bresse-Rayleigh (B-R) beam are presented in tabular and graphical form for selected geometric and kinematic parameters. Since there are no results available for the rotating tapered B-R beam in the present literature, results obtained using the Bernoulli-Euler (B-E) and Timoshenko theories from selected publications as well as B-E and Timoshenko frequencies computed using the Differential Transformation Method (DTM) are included in the tables for comparison. In Table 1, the natural frequencies for a non-rotating BresseRayleigh (B-R) cantilever beam are given with respect to the taper variation Cz for a fixed slenderness ratio rx = 1/30. Results obtained using the Bernoulli-Euler theory based on the DTM are also provided by the authors for comparison in addition to results obtained from references [5] and [18] which are also based on the Bernoulli-Euler theory. The relative error between the Bresse-Rayleigh (B-R) and the Bernoulli-Euler (B-E) results are also given in the last column.
Table 1. Fundamental natural frequencies of vibration i for nonrotating tapered cantilever Bresse-Rayleigh (B-R) beams with respect to the taper ratio Cz with rx = 1/30, ri = 0 and Cx = 0.
Cz B-R (DTM) B-E (DTM) s=0 3.517694 3.516015 3.559286 3.558702 3.607873 3.608275 3.665473 3.666749 3.735036 3.737076 3.821091 3.823785 3.931038 3.934277 4.078085 4.081712 4.293157 4.292495 4.692242 4.632978 Ref [5] s=0 3.55870 3.60827 3.66675 3.73708 3.82379 3.93428 4.08171 4.29249 4.63073 Ref[18] s=0 3.516 3.559 3.608 3.667 3.737 3.824 3.934 4.082 4.292 4.631 0.00048 0.00016 0.00011 0.00035 0.00055 0.00070 0.00082 0.00089 0.00015 0.01279

where the elements aij are given by the following expressions:

2 2 (810000+ 2 ) 4 (1620000+2 ) a11 = 2 + +,.....

900

9720000

262440000000

2 2 (810000+ 2 ) 4 (1620000+ 2 ) a12 = 6 + +,.....

900

16200000

612360000000

2 2 (810000+ 2 ) 4 (1620000+ 2 ) a 21 = +,.....

450

2430000

43740000000

(23)

2 2 (810000+ 2 ) 4 (1620000+2 ) a 22 = 6 + +,.....

300

3240000

87450000000

Analogically, the frequency equation for the rotating tapered Pinned-Free (P-F) Bresse-Rayleigh beam is given as:

b11 b12 W (1) =0 b 21 b 22 W (3)

where the elements bij are given by the following:
b11 =
150 2 2 (150(810000 + 2 )) 4 (150 + 2 ) + +,..... 900 612360000000 16200000

(24)

0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9

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Table 2 Fundamental natural frequencies of vibration i of nonrotating uniform cantilever Bresse-Rayleigh beams as a function of the slenderness ratio rx with ri = 0.
Ref[13] 3.51531 22.0337 61.6970 120.9050 199.8750 298.6090 417.1370 555.5100 713.8030 892.1290 1090.6400 1309.5500 Ref [14] 3.51602 22.03449 61.69721 120.90192 199.85953 298.55553 416.99079 555.16525 B-E (DTM) 3.51602 22.03449 61.69721 120.90190 199.85953 298.55553 416.99079 555.16525 713.07892 890.73180 1088.12400 1304.72590 rx=1/1000 3.51602 22.03435 61.69580 120.89594 199.84239 298.51613 416.91238 555.02428 712.84384 890.36191 1087.56820 1304.45120 rx = 1/30 3.51769 21.87322 60.18079 114.75634 183.15483 262.51759 350.18300 443.86650 541.73299 642.37872 744.76942 848.16524

Matrix Method (IMM), respectively, are also given in columns 1 and 2. As expected, when rx , the (B-R) converges to the (B-E) model. This explains why the (B-R) frequencies for rx = 1/1000 are closer to the (B-E) frequencies than the non-slender case rx = 1/30. In both cases, the Bresse-Rayleigh frequencies are lower than the results taken from references [13] and [14] except the first mode for the non-slender case (rx = 1/30) which is slightly higher than the results from reference [14] with a relative deviation of 0.00167. In Table 3, the first four natural frequencies of vibration of a rotating tapered B-R beam with respect to rotational speed parameter s at given slenderness ratios rx = 0.01, 0.02 and 0.1 are given in comparison with Timoshenko and B-E taken from reference [23]. The DTM is used by the authors to estimate the fourth mode of the B-E theory in order to complete the table. The percentage deviation i between the B-E and the B-R and Timoshenko theories are also included in the table. The relative deviation increases as the mode number and also the slenderness ratio increases. In Tables 4 the frequency variation of the rotating tapered Bresse-Rayleigh beam are given for three rotational speeds 0, 5 and 10. Results from reference [5] based on the BernoulliEuler theory for s = 10 are used for comparison. The results show that the Bresse-Rayleigh frequencies are more accurate than the Bernoulli-Euler frequencies.
Table 4 Natural frequencies of vibration i of rotating tapered cantilever Bresse-Rayleigh beams as a function of the rotational speed parameter s with ri = 0, Cx = 0, Cz = 0.5 and rx = 1/30.
Rotating Tapered Bresse-Rayleigh Frequencies (DTM) s=0 s=5 s = 10 3.821091 6.735684 11.485601 18.224596 21.791126 30.023222 46.575780 50.187698 59.673719 87.797402 91.441341 101.542288 140.819265 144.446277 154.786506 204.224610 207.802697 218.165535 276.507481 280.013857 290.266925 356.167260 359.597223 369.657483 Ref [5] B-E s = 10 11.5015 30.1827 60.5639 104.612 162.677 _ _

Table 3. Natural frequencies of vibration i of rotating tapered cantilever Bresse-Rayleigh beams as a function of the rotational speed parameter s in comparison with the Bernoulli-Euler and Timoshenko theories. ri = 0, Cx = 0, Cz = 0.5 and rx = 0.01, 0.02 and 0.1. i denotes percentage deviation.
s BE[23] 1 B-R Tim[23] BE[23] 2 0 3 rx = 0.01 rx = 1 0.01 3.8238 3.8235 3.8312 18.3170 0.01 0.20 rx = 0.02 2 3.8238 3.8228 3.8176 18.3170 0.04 18.2838 0.30 17.9140 47.2650 0.13 47.0133 1.15 44.8210 90.4505 0.28 89.4682 6.7434 0.01 6.74062 0.15 6.72720 21.9050 0.05 21.8640 0.18 21.5130 50.9340 0.14 50.6615 1.02 48.5540 94.2064 0.28 93.1828 0.04 0.24 0.03 0.17 3.8238 3.7998 3.4462 18.3170 0.18 17.5283 2.25 12.0370 47.2650 0.54 41.9616 5.45 25.0210 90.4505 1.11 72.5711 6.7434 6.6745 6.1753 21.9050 0.19 20.9311 1.82 16.3600 50.9340 0.54 45.1815 4.90 30.9530 94.2064 1.10 75.5500 24.68 12.73 64.55 4.65 33.89 1.03 9.20 24.64 12.64 88.90 4.50 52.17 0.63 10.96 rx = 0.1 3

B-R 18.3089 Tim[23] 18.2620 BE[23] 47.2650 B-R 47.2016 Tim[23] 46.7270 BE[23] B-R BE[23] 90.4505 90.2020 6.7434

B-R 6.74270 Tim[23] 6.75350 BE[23] 21.9050 B-R 21.8950 Tim[23] 21.8650 BE[23] 50.9340 B-R 50.8653 Tim[23] 50.4180 BE[23] B-R 94.2064 93.9474

2 5 3

Figure 2 represents the natural frequencies of vibration of a rotating tapered Bresse-Rayleigh beam with respect to the variation of the hub radius parameter ri. The frequencies increase with the increase in ri as expected because the centrifugal force distribution is a function of the hub radius. Thus, the stiffening effect of the rotating beam increases as the hub radius increases. The frequency therefore increases as a result of the enhanced rigidity of the beam. In Figure 3, the percentage deviation of the natural frequencies of the rotating Bresse-Rayleigh and Bernoulli-Euler beams is shown. It is evident from the figure that, as the slenderness ratio increases, the Rayleigh frequencies converge to the Bernoulli-Euler frequencies. As mentioned before, the BresseRayleigh theory is more accurate in predicting the natural frequencies of rotating beams than the Bernoulli-Euler beam.

Table 2 represents the first ten natural frequencies for a nonrotating uniform (B-R) beam for two relatively extreme slenderness ratios rx = 1/1000 and rx = 1/30. Frequencies based on the Bernoulli-Euler (B-E) theory using the DTM are also included for comparison in column 3. Results taken from references [13] and [14] which are based on the (B-E) theory and on the Finite Element Method (FEM) and Integrating

Copyright 2009 by ASME

The figure shows that the deviation in the frequencies increases as the mode number increases. Figure 4 shows the trend in the variation of the first six natural frequencies of vibration of the rotating beam based on the Bresse-Rayleigh and Bernoulli-Euler theories. The graph shows that, the frequencies diverge further from each other as the mode number increases. The natural frequencies also increase when the rotational speed increase. This is obviously due to the increase in the centrifugal force which tends to stretch the beam and as a result enhances its bending rigidity
350

----- Bernoulli - Euler thoery ___ Rayleigh theory

i
6

300

250

200 4

225

150

200

100

3 2 1

175

5
150

50

125

0
4

12

15

100

75

3 2

Figure 4 Natural frequencies of vibration I of rotating uniform

Rayleigh beams as a function of rotational speed parameter s with ri = 0 and rx = 1/30

50

25

1
0.0 0.5 1.0 1.5 2.0 2.5 3.0

ri

Although this paper has focused on out-of-plane vibrations of the rotating beam, the in-plane vibrations can be evaluated if the rotational speed and the out-of-plane vibrations are known using the following expression [11],
2 2 ip = 2 op s

Figure 2. Variation of the natural frequencies of vibration of a rotating tapered Bresse-Rayleigh beam as a function of the hub radius (ri) with Cx = 0, Cz = 0.5, ri = 0 and s = 0

(26)

16

where ip and op are the in-plane and the out-of-plane nondimensional frequencies of corresponding modes of vibration, respectively, and s is the non-dimensional rotational speed.

6
12 5

CONCLUDING REMARKS

8 4

The Differential Transformation Method (DTM) is used to solve the free vibration problem of a rotating tapered beam based on the Bresse-Rayleigh beam theory. The theory is valid for beams with different taper configurations and also for the special case of a uniform beam with a wide range of applications in rotating machinery design. The derivations of the governing equation of motion and all the algebraic manipulations are achieved by simple symbolic codes written in Mathematica. A numeric algorithm is also implemented in Mathematic to compute the natural frequencies of vibration with very accurate results in comparison with the selected references in the literature available. It is also demonstrated in the numerical routines that the DTM technique is quite simple and converges quickly to the exact solution with very minimal computational effort and resources.

4 3 2 0 15 1 20 25 30 35 40 45 50 55

rx

60

65

70

75

80

85

90

Figure 3. Variation of the slenderness ratio (rx) with respect to the percentage deviation () of the first six natural frequencies between the Rayleigh and Bernoulli Euler tapered beams with Cx = Cz = 0.5, ri = 0 and s = 0.

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Furthermore, the Bresse-Rayleigh theory is proved to give more accurate results as compared to results obtained using the Bernoulli-Euler theory without requiring any significant extra effort in the solution procedure. The study therefore demonstrates the reliability and convenience of the application of the Bresse-Rayleigh theory. This investigation is also intended to form the foundation for the application of the B-R theory to other rotating beam problems.

[10] Mei, C., 2006, Differential transformation approach for free vibration analysis of a centrifugally stiffened Timoshenko beam, Journal of Vibration and Acoustics, Transactions of the ASME, Vol. 128(2), pp. 170-175. [11] Naguleswaran, S., 1994, Lateral vibration of a centrifugally tensioned uniform EulerBernoulli beam, Journal of Sound and Vibration 176, 613-624. [12] Du, H., Lim, M.K. and Liew, K.M., 1994, A power series solution for vibration of rotating Timoshenko beam, Journal of Sound and Vibration, Vol. 175(4), pp. 505-523. [13] Khulief, Y.A. and Laejoon., Y., 1988 Lead-Lag vibrational frequencies of a rotating beam with end mass, Computers and Structures Vol. 29 (6), pp. 10751085. [14] Hunter, W., 1970, Integrating matrix method for determining the natural vibration characteristics of propeller blades, NASA Technical note TN D - 6064. [15] Bazoune, A., 2005, Survey on Modal Frequencies of centrifugally Stiffened Beams, The Shock and Vibration Digest, Vol. 37 (6), pp. 449-469. [16] Al-Ansary, M. D., 1998, Flexural vibrations of rotating beams considering rotary inertia, Computers and Structures Vol. 69, pp 321-328. [17] Auciello N.M., 1996, Transverse vibrations of a linearly tapered cantilever beam with tip mass of rotatory inertia and eccentricity. Journal of Sound and Vibration, Vol. 194(1), pp. 14-23. [18] Firouz-Abadi, R.D., Haddadpour, H., Novinzadeh, A.B., 2007, An asymptotic solution to transverse free vibrations of variable-section beams, Journal of Sound and Vibration, Vol. 304, pp. 530540. [19] Zhou, J.K., 1986, Differential Transformation and its Application for Electrical Circuits, Huazhong University Press, Wuhan. [20] Malik, M. and Dang, H.H., 1998, Vibration of continuous systems by differential transformation, Applied Mathematics and Computation, 96, 17-26. [21] Malik, M. and Allali, M., 2000, Characteristic equations of rectangular plates by differential transformation, Journal of Sound and Vibration, 233, 359-366. [22] Zeng, H. and Bert, C.W., 2001, "Vibration Analysis of a Tapered bar by Differential Transformation", Journal of Sound Vibration 242, 737-739. [23] Banerjee, J.R. and Ewen, J.N., 2007, Dynamic Stiffness Formulation using Timoshenko Theory for Free Vibration of Rotating Beams, Proc. 48th

ACKNOWLEDGEMENTS

The award of a scholarship award to D. R. Jackson by the School of Mechanical, Aerospace and Civil Engineering is gratefully acknowledged.

REFERENCES

[1] Strutt, J. W., 1877, Theory of Sound. London, Macmillan Publications Co., Inc. [2] Bresse, J.A.C., 1866, Cours de Mecanique Applique, Part 1, Gauther-Villars, Second Edition. [3] Oyadiji, S.O. and Tomlinson, G.R., 1985, Vibration Transmissibility Characteristics of Reinforced Viscoelastic Pipes Employing Complex Moduli Master Curves, Journal of Sound and Vibration, 102, 347-367. [4] Banerjee, J.R., 2001, Dynamic stiffness formulation and free vibration analysis of centrifugally stiffened Timoshenko beams, Journal of Sound and Vibration, Vol. 247 (1), pp 97-115. [5] Banerjee, J.R., Su, H., Jackson, D.R., 2006, Free vibration of rotating tapered beams using the dynamic stiffness method, Journal of Sound and Vibration, Vol. 284, pp. 455-466. [6] Kaya, M.O., 2006, Free vibration analysis of rotating Timoshenko beams by differential transform method, Aircraft Engineering & Aerospace Technology, 78(3), 194203. [7] zdemir, . and Kaya, M.O., 2006, Flapwise bending vibration analysis of a rotating tapered cantilever Bernoulli-Euler beam by differential transform method, Journal of Sound Vibration 289, 413-420. [8] Ozgumus, O.O. and Kaya, M. O., 2006, Flapwise bending vibration analysis of double-tapered rotating EulerBernoulli beam by using the differential transform method. Meccanica Vol. 41 pp. 661670. [9] Ozgumus, O.O. and Kaya, M. O., 2008, Flapwise bending vibration analysis of double-tapered Timoshenko beam, Archive of Applied Mechanics, Vol. 78 (5), pp. 379-392.

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AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, Honolulu, Hawaii.

Coefficients of the differential equation of motion

9 A

APPENDICES Basic operations using the DTM

Functional Form

f Hx L = w H x L f Hx L = w H x L + g Hx L f Hx L = w H x L * g H x L f Hx L = d m w Hx L dy m

f Hx L = x m

Transformed Function
F@k D = W @k D F@k D = W @k D + G@k D
k

F@k D = W @rD G@k - rD

Hk + m L !
r=0

F@k D =

F@k D = d@k - mD where d is the Kronecker delta

k!

W @k + mD

Boundary Conditions
w H0L = 0 W @0D = 0 dw H0L = 0 W @1D = 0 dy
x =0

d2 w H0L = 0 W @2D = 0 dy2 d3 w H0L dy3

x = 1

= 0 W @3D = 0

w H1L = 0 W @k D = 0
dw H1L = 0 k W @k D = 0 dy k=0

k=0

d2 w H0L d3 w H0L dy3 dy2

= 0 k Hk - 1L W @k D = 0

k=0

= 0 k H k - 1L H k - 2L W @ k D = 0

k=0

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