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a
2
a
3
u u
1
a
1
u
2
u
3
= + + a
2
a
3
r = x a
1
P*
P
vinr:1ioN :N:i.sis or ro1:1iNc c:N1iirvrr nr:xs 809
Figure 1. Conguration of a rotating cantilever beam.
deformation variables are used. In the present study, however, a non-Cartesian variable
s denoting the arc-length stretch is used instead of u
1
which denotes the Cartesian distance
measure of a generic point in the axial direction of the undeformed conguration of
the beam. Thus, a hybrid set (Cartesian variables u
2
and u
3
along with the
non-Cartesian variable) is employed to derive the equations of motion. In the present
work, the RayleighRitz assumed mode method is used to approximate the hybrid set of
variables.
s(x, t) = s
m
j =1
f
1j
(x)q
j
(t) (1)
u
2
(x, t) = s
m
j =1
f
2j
(x)q
j
(t) (2)
u
3
(x, t) = s
m
j =1
f
3j
(x)q
j
(t) (3)
where f
1j
, f
2j
, and f
3j
are spatial functions. Any compact set of functions which
satisfy the boundary conditions of the cantilever beam, can be used. q
j
s are
generalized coordinates and m is the total number of modal coordinates. For
the convenience of formalism, s, u
2
, and u
3
explicitly use the same number of coordinates,
m. However, they do not use the same coordinates. For instance, f
1j
is not zero only if
j Em
1
; f
2j
is not zero only if m
1
Qj Em
1
+m
2
and f
3j
is not zero only
if m
1
+m
2
Qj Em
1
+m
2
+m
3
. In other words, m
1
, m
2
, and m
3
denote the actual numbers
of generalized coordinates for s, u
2
, and u
3
, respectively. m is the total sum of m
1
, m
2
,
and m
3
.
n. n. .oo :Nb s. n. sniN 810
Based on the assumptions given in the beginning of this section, the strain energy can
be written as
U=
1
2
g
L
0
EA
0
1s
1x
1
2
dx +
1
2
g
L
0
EI
zz
0
1
2
u
2
1x
2
1
2
dx +
1
2
g
L
0
EI
yy
0
1
2
u
3
1x
2
1
2
dx (4)
where E denotes Youngs modulus, A is the cross-sectional area, I
zz
and I
yy
are the
second area moments of the cross section, and L is the undeformed length of the beam.
The rst term in equation (4) represents the exact stretching energy of the beam since s
represents the exact stretch of the beam. With the quadratic form of strain energy
given in equation (4), the generalized active forces can be obtained by the following
equation.
F
i
=
1U
1q
i
(i =1, 2, . . . , m). (5)
The use of s results in linear generalized active forces. It, however, complicates the
formulation of generalized inertia forces in the equations of motion.
The velocity of a generic point P can be obtained as follows.
v
P
=v
O
+v
A
(r +u ) +
A
v
P
(6)
where O is a reference point identifying a point xed in the rigid frame A; v
O
is the velocity
of point O; v
A
is the angular velocity of the frame A; r is a position vector from O to
the location of P in the undeformed body; u is the elastic deformation vector ; and
A
v
P
is the relative velocity of P with respect to frame A obtained by taking the time derivative
of u in frame A. When the rigid hub (of radius r) rotates at a constant angular speed V,
these vectors can be expressed as follows.
r =xa
1
(7)
u =u
1
a
1
+u
2
a
2
+u
3
a
3
(8)
v
O
=rVa
2
(9)
v
A
=Va
3
(10)
where a
1
, a
2
, and a
3
are orthogonal unit vectors xed in A. By substituting equations
(7)(10) into equation (6), the velocity of point P can be expressed as
v
P
=(u
1
Vu
2
)a
1
+[u
2
+V(r +x +u
1
)]a
2
+u
3
a
3
(11)
u
1
and u
1
, appearing in equation (11), need to be expressed in terms of s, u
2
, u
3
, and their
time derivatives (since s instead of u
1
approximated). The geometric relation between the
arc-length stretch s and the Cartesian variables is given as follows [20]:
x +s =
g
x
0
$0
1 +
1u
1
1s
1
2
+
0
1u
2
1s
1
2
+
0
1u
3
1s
1
2
%
1/2
ds. (12)
Using a binomial expansion of the integrand of equation (12), it can be shown to give
s =u
1
+
1
2
g
x
0
$0
1u
2
1s
1
2
+
0
1u
3
1s
1
2
%
ds +(Higher Degree Terms). (13)
vinr:1ioN :N:i.sis or ro1:1iNc c:N1iirvrr nr:xs 811
Equation (13) is convenient for the derivation of the linear equations of motion.
Dierentiation of the above equation with respect to time is given as
s =u
1
+
g
x
0
$0
1u
2
1s
10
1u
2
1s
1
+
0
1u
3
1s
10
1u
3
1s
1%
ds +(Higher Degree Terms). (14)
Using equations (11) and (14), the partial derivative of the velocity of P with respect to
the generalized speed q
i
(often called as the partial velocity) can be obtained as
1v
P
1q
i
=
$
f
1i
s
m
j =1
0g
x
0
f
2i,h
f
2j,h
dh
1
q
j
s
m
j =1
0g
x
0
f
3i,h
f
3j,h
dh
1
q
j
%
a
1
+f
2i
a
2
+f
3i
a
3
(15)
where h after comma denotes partial dierentiation with respect to the dummy variable
h. By dierentiating equation (11) with respect to time, the acceleration of P can be
obtained as follows.
a
P
=[u
1
2Vu
2
V
2
(r +x +u
1
)]a
1
+(u
2
+2Vu
1
V
2
u
2
)a
2
+u
3
a
3
. (16)
Based on the assumption of neglecting rotary inertia eect, the generalized inertia forces
for a beam can be derived by using the following equation.
F*
i
=
g
L
0
r
0
1v
P
1q
i 1
a
P
dx (i =1, 2, . . . , m) (17)
where r represents the mass per unit length of the beam. By linearizing the generalized
inertia forces, equations of motion are nally obtained as follows.
s
m
j =1
$0g
L
0
rf
1i
f
1j
dx
1
q
j
2V
0g
L
0
rf
1i
f
2j
dx
1
q
j
V
2
0g
L
0
rf
1i
f
1j
dx
1
q
j
+
0g
L
0
EAf
1i,x
f
1j,x
dx
1
q
j
%
=V
2
g
L
0
rxf
1i
dx +rV
2
g
L
0
rf
1i
dx (18)
s
m
j =1
$0g
L
0
rf
2i
f
2j
dx
1
q
j
V
2
0g
L
0
rf
2i
f
2j
dx
1
q
j
+
0g
L
0
EI
zz
f
2i,xx
f
2j,xx
dx
1
q
j
+V
2
6
r
0g
L
0
r(Lx)f
2i,x
f
2j,x
dx
1
q
j
+
0g
L
0
r
2
(L
2
x
2
)f
2i,x
f
2j,x
dx
1
q
j
7
+2V
0g
L
0
rf
2i
f
1j
dx
1
q
j
%
=0 (19)
n. n. .oo :Nb s. n. sniN 812
s
m
j =1
$0g
L
0
rf
3i
f
3j
dx
1
q
j
+
0g
L
0
EI
yy
f
3i,xx
f
3j,xx
dx
1
q
j
+V
2
6
r
0g
L
0
r(Lx)f
3i,x
f
3j,x
dx
1
q
j
+
0g
L
0
r
2
(L
2
x
2
)f
3i,x
f
3j,x
dx
1
q
j
7%
=0.
(20)
Since the total number of generalized coordinates is m, equations (18)(20) consist of m
equations.
3. MODAL ANALYSIS
3.1. ri:ivisr nrNbiNc vinr:1ioN :N:i.sis
The apwise bending vibration of the rotating beam is governed by equation (20)
which is not coupled with equations (18) and (19). Several variables (e.g. r, L, I
yy
, V, t,
and x) are involved in equation (20) in which cross sectional properties of a beam
(such as area and area moment of inertia) may vary arbitrarily along the longitudinal
axis. If the cross sectional properties remain constant, it is useful to rewrite the equation
in a dimensionless form. To achieve this, the following dimensionless variables are
introduced.
t,
t
T
(21)
j,
x
L
(22)
u
j
,
q
j
L
(23)
d,
r
L
(24)
g,TV (25)
T:nir 1
Convergence of natural frequencies vs number of modes
No. of modes First Second Third
1 10837
2 10573 25418
3 10365 25352 40720
4 10257 25184 40713
5 10198 24993 40713
6 10162 24947 40135
7 10140 24883 40131
8 10126 24859 40042
9 10120 24844 40019
10 10117 24838 40015
d =0, g =100.
20
40
60
80
100
= 0.0
= 0.5
= 2.0
0 2 4 6 8 10
Di mensi onl ess angul ar speed ( )
D
i
m
e
n
s
i
o
n
l
e
s
s
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
i
e
s
(
)
20 30 40 50
Fi rst natural frequency
Second natural frequency
=
20
30
40
50
= 0.0) (
n. n. .oo :Nb s. n. sniN 814
T:nir 2
Comparison of rst and second natural frequencies in the apwise
bending vibration
First natural frequency Second natural frequency
ZXXXXXCXXXXXV ZXXXXXCXXXXXV
g Present Ref. [9] Present Ref. [9]
0 35160 35160 22035 22035
1 36816 36817 22181 22181
2 41373 41373 22615 22615
3 47973 47973 23320 23320
4 55850 55850 24273 24273
5 64495 64495 25446 25446
6 73604 73604 26809 26809
7 82996 82996 28334 28334
8 92568 92568 29995 29995
9 10226 10226 31771 31771
10 11202 11202 33640 33640
d =0.
functions of t. If u represents a column matrix which has u
j
s as its elements, it can be
expressed as
u =e
jvt
U (30)
where j represents a imaginary number, v is the ratio of the apwise bending
natural frequency to the reference frequency (inverse of T), and U is a constant
Figure 3. Angular speed and apwise bending natural frequencies.
1.0
0.5
0.0
0.5
1.0
0.0 0.2 0.4 0.6 0.8 1.0
(c) Thi rd mode shapes
1.0
0.5
0.0
0.5
1.0
0.0 0.2 0.4 0.6 0.8 1.0
(b) Second mode shapes
1.0
0.5
0.0
0.5
1.0
0.0 0.2 0.4 0.6 0.8 1.0
(a) Fi rst mode shapes
Wi thout rotati on
Wi th rotati on
Wi thout rotati on
Wi th rotati on
Wi thout rotati on
Wi th rotati on
= 1, ( = 50)
vinr:1ioN :N:i.sis or ro1:1iNc c:N1iirvrr nr:xs 815
column matrix characterizing the deection shape for synchronous motion. This
yields
v
2
MU=K
F
U (31)
where M and K
F
are square matrices, whose respective elements M
ij
and K
F
ij
are dened as
M
ij
,M
33
ij
(32)
K
F
ij
,K
B3
ij
+g
2
K
G3
ij
. (33)
In order to obtain accurate numerical results, several assumed modes are used to
construct the matrices dened in equations (32) and (33). Table 1 shows a typical trend
of converging natural frequencies for a rotating beam with zero hub radius. The natural
frequencies converge rapidly as more modes are added. In this study, ten assumed modes
Figure 4. Flapwise bending mode shape variations due to rotation.
20
40
60
80
100
= 0.0
= 0.5
= 2.0
0 2 4 6 8 10
Di mensi onl ess angul ar speed ( )
D
i
m
e
n
s
i
o
n
l
e
s
s
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
i
e
s
(
)
g
2
(42)
where v
ci
and v
4
6
8
10
vinr:1ioN :N:i.sis or ro1:1iNc c:N1iirvrr nr:xs 819
In Figure 6, three trajectories of the rst natural frequency (for d =0, d =1, and d =5)
are plotted. The tuned angular speed occurs at g =388 for d =0, but it does not exist
for d =1 or d =5. Therefore, there exists a limit value of hub radius ratio only under
which the tuned angular speed exists. The ratio is called, herein, the critical hub radius
ratio. A natural frequency trajectory should cross the straight line of v=g to have a tuned
angular speed. This crossing occurs when the asymptotic slope of the dimensionless natural
frequency trajectory is Q1. As g becomes larger, the rst term of equation (38) becomes
negligible compared to other terms. By ignoring the rst term, the eigenvalue problem
given in equation (36) can be re-formulated as follows.
l
2
MU=K*U (43)
where
l,
v
g
(44)
K*
ij
,K
G2
ij
M
22
ij
. (45)
As dened in equation (44), l represents the slope of a dimensionless natural frequency
trajectory. Therefore, if l Q1, the tuned angular speed exists. Trajectories of ls with
varying hub radius ratios are shown in Figure 7. l Q1 only occurs with the rst natural
frequency. The approximate value of the critical hub radius, at which l =1 is 0655.
l dened in equation (44) is related to the coecient of the Southwell equation, which
is often written as
V
2
ni
=V
2
bi
+S
i
V
2
(46)
where V
ni
and V
bi
respectively denote the ith natural frequency of a beam with and without
rotational motion, V is the angular speed of the beam, and S
i
is the Southwell coecient.
Figure 6. Tuned angular speed in chordwise bending vibration.
2
Fi rst sl ope
Second sl ope
Thi rd sl ope
0 1 2 3 4 5
Hub radi us rati o ( )
S
l
o
p
e
s
o
f
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
y
l
o
c
i
4
8
6
10
12
n. n. .oo :Nb s. n. sniN 820
Figure 7. Slopes of chordwise bending natural frequency loci.
From the equation, it is easily inferred that the slope (l) of the dimensionless natural
frequency is equal to S
1/2
i
. Therefore, by solving the eigenvalue problem of equation (43),
the Southwell coecients with varying d can be calculated. The trajectories of Southwell
coecients vs hub radius ratio d are shown in Figure 8. Since the trajectories are almost
straight, they are conventionally represented by linear functions. Some precise numerical
values of them are given in Table 5.
3.3. cnorbvisr nrNbiNc vinr:1ioN :N:i.sis iNciibiNc 1nr coiiiiNc rrrrc1
If the gyroscopic coupling terms are not truncated from equations (18) and (19), the two
coupled equations should be used simultaneously for the vibration analysis. Along with
the dimensionless variables dened in the previous sections, another parameter is dened
as follows.
a,
0
AL
2
I
zz 1
1/2
(47)
a, often called the slenderness ratio, is proportional to the length to thickness ratio of a
beam. Now the following dimensionless equations of motion are used for the vibration
analysis. The right-hand side terms in equation (18) are neglected in equation (48) for the
free vibration analysis.
s
m
j =1
$
M
11
ij
u
j
2gM
12
ij
u
j
+(a
2
K
S
ij
g
2
M
11
ij
)u
j
%
=0 (48)
s
m
j =1
$
M
22
ij
u
j
+2gM
21
ij
u
j
+{K
B2
ij
+g
2
(K
G2
ij
M
22
ij
)}u
j
%
=0 (49)
20
Fi rst Southwel l coeffi ci ent
Second Southwel l coeffi ci ent
Thi rd Southwel l coeffi ci ent
0 1 2 3 4 5
Hub radi us rati o ( )
S
o
u
t
h
w
e
l
l
c
o
e
f
f
i
c
i
e
n
t
s
(
S
i
)
40
60
80
100
120
vinr:1ioN :N:i.sis or ro1:1iNc c:N1iirvrr nr:xs 821
Figure 8. Southwell coecients vs hub radius ratio.
where
K
S
ij
,
g
1
0
c
1i,j
c
1j,j
dj. (50)
Equations (48) and (49) can be expressed as a matrix equation.
Mu+Cu +Ku =0 (51)
T:nir 5
Southwell coecients vs hub radius ratio
d S1 S2 S3
00 00217 5112 1437
02 03229 6695 1831
04 06212 8264 2221
06 09180 9826 2609
08 1214 1138 2996
10 1509 1294 3383
12 1804 1449 3769
14 2098 1604 4155
16 2393 1759 4541
18 2687 1914 4927
20 2981 2069 5312
50
Coupl i ng i gnored
Coupl i ng consi dered
0 20 40 60 80
Di mensi onl ess angul ar speed ( )
100
S1
B3
B2
B1
150
200
250
100
D
i
m
e
n
s
i
o
n
l
e
s
s
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
i
e
s
(
)
120
= 0.1, ( = 70)
n. n. .oo :Nb s. n. sniN 822
Figure 9. Coupling effect on the natural frequency variations.
where
M,
$
M
11
0
0
M
22
%
(52)
C,
$
0
2gM
21
2gM
12
0
%
(53)
T:nir 6
Comparison of the rst chordwise natural frequencies with and without the
coupling effect
Coupling Coupling
d g ignored included Error (%)
0 2 362 362 0
10 505 497 158
50 105 755 281
1 2 440 440
10 133 131 150
50 616 414 328
5 2 665 664 015
10 277 273 144
50 136 742 454
105
100
22 21 23 24
Di mensi onl ess angul ar speed ( )
110
S1
B3
115
120
130
125
25
D
i
m
e
n
s
i
o
n
l
e
s
s
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
i
e
s
(
)
26
= 0.1, ( = 70)
vinr:1ioN :N:i.sis or ro1:1iNc c:N1iirvrr nr:xs 823
K,
$
a
2
K
S
g
2
M
11
0
0
K
B2
+g
2
(K
G2
M
22
)
%
(54)
where M
ab
, K
S
, K
B2
and K
G2
are the matrices which have M
ab
ij
, K
S
ij
, K
B2
ij
, and K
G2
ij
as their
elements, respectively. Since matrix C is not symmetric, the real modal analysis method
(used in the previous section) cannot be used for equation (51). In order to use a complex
modal analysis method, equation (51) is transformed into the following form.
Az +Bz =0 (55)
where
A,
$
M
0
0
I
%
(56)
B,
$
C
I
K
0
%
(57)
z,
6
u
u
7
(58)
where I represents a unit matrix. Fromequation (55), an eigenvalue problemcan be derived
by assuming that z is a harmonic matrix function of t expressed as
z =e
st
Z (59)
Figure 10. Magnicient of the abrupt veering region.
1.0
0.5
0.2 0.0
(b) Bendi ng mode shape vari ati on
0.4 0.6 0.8 1.0
0.5
0.0
1.0
= 21
= 23.47
= 26
1.0
0.5
0.2 0.0
(a) Stretchi ng mode shape vari ati on
0.4 0.6 0.8 1.0
0.5
0.0
1.0
= 21
= 23.47
= 26
n. n. .oo :Nb s. n. sniN 824
where s is the complex eigenvalue and Z is the complex mode shape. Substitution of
equation (59) into equation (55) yields
sAZ+BZ=0. (60)
Ten stretching and ten bending modes are used to obtain the numerical results shown
in Figure 9. The lowest four natural frequency loci are plotted with solid lines in the gure.
Dimensionless variables of d =01 and a =70 are used. The value of a =70 guarantees
the assumption of Eulerian beam (to neglect shear and rotary inertia eects). The dotted
lines in the gure represent the results of ignoring the coupling terms. At g =0, the rst
three of them represent the lowest three bending natural frequencies and the fourth
represents the rst stretching natural frequency. In the results obtained by ignoring the
coupling eect, the bending natural frequencies increase and the stretching frequency
decreases as the angular speed increases. However, this is not true when the coupling eect
Figure 11. Mode shape variations along the third locus (in the abrupt veering region).
1.0
0.5
0.2 0.0
(b) Bendi ng mode shape vari ati on
0.4 0.6 0.8 1.0
0.5
0.0
1.0
= 21
= 23.47
= 26
1.0
0.5
0.2 0.0
(a) Stretchi ng mode shape vari ati on
0.4 0.6 0.8 1.0
0.5
0.0
1.0
= 21
= 23.47
= 26
vinr:1ioN :N:i.sis or ro1:1iNc c:N1iirvrr nr:xs 825
is included. For instance, the rst bending natural frequency does not increase
monotonically. The dierence between the solid lines and dotted lines, however, remains
insignicant when the angular speed ratio is small (roughly Q10). Table 6 shows the
dierence quantitatively. When the coupling eect is included, there exists an angular speed
where the rst bending natural frequency becomes zero. Note that the rst stretching
natural frequency becomes zero at the same angular speed when the coupling eect is
ignored. The rotating cantilever beam will buckle at the zero natural frequency. The
angular speed will be called, herein, the buckling speed. The buckling speed has relation
with the slenderness ratio a. The buckling speed, however, has nothing to do with the hub
radius ratio. Since the buckling speed is proportional to a, the increment of slenderness
ratio results in the increment of the buckling speed. This might sound weird since the beam
becomes more fragile as it becomes slender. However, the centrifugal inertia force (which
Figure 12. Mode shape variations along the fourth locus (in the abrupt veering region).
1.0
0.5
0.2 0.0
(b) Bendi ng mode shape vari ati on
0.4 0.6 0.8 1.0
0.5
0.0
1.0
= 45
= 63
= 85
1.0
0.5
0.2 0.0
(a) Stretchi ng mode shape vari ati on
0.4 0.6 0.8 1.0
0.5
0.0
1.0
= 45
= 63
= 85
n. n. .oo :Nb s. n. sniN 826
plays the role to buckle the beam) also decreases as the beam becomes slender. The
discrepancy between the results obtained by ignoring the coupling eect and those by
including the coupling eect decreases at an angular speed if the buckling speed increases.
This implies that the coupling eect becomes less signicant as the slenderness ratio of the
beam increases.
Another interesting phenomenon can be observed in Figure 9. The two eigenvalue loci
(third and fourth) veer at g =238. The veering region, magnied in Figure 10, clearly
shows that the two loci veer rather than cross. The variations of the two veering mode
shapes are shown in Figures 11 and 12. Stretching and bending mode shapes are plotted
in the gures. As the angular speed increases, the mode shapes change abruptly around
the veering region. Another veering exists between the second and the third bending
freuqency loci. Dierent from the previous one, this veering occurs gradually. The
corresponding mode shape variations are shown in Figures 13 and 14.
Figure 13. Mode shape variations along the second locus (in the gradual veering region).
1.0
0.5
0.2 0.0
(b) Bendi ng mode shape vari ati on
0.4 0.6 0.8 1.0
0.5
0.0
1.0
= 45
= 63
= 85
1.0
0.5
0.2 0.0
(a) Stretchi ng mode shape vari ati on
0.4 0.6 0.8 1.0
0.5
0.0
1.0
= 45
= 63
= 85
vinr:1ioN :N:i.sis or ro1:1iNc c:N1iirvrr nr:xs 827
Figure 14. Mode shape variations along the third locus (in the gradual veering region).
4. CONCLUSION
In this paper, three sets of linear equations of motion for rotating cantilever beams were
derived based on a new dynamic modelling method. By using the set governing apwise
bending motion which was uncoupled with other two sets, apwise bending vibration
analyses were performed. The natural frequencies were shown to increase as the angular
speed and the hub radius increased. It was veried that the tuned angular speed did not
exist in the apwise bending vibration. The equation set governing chordwise bending
motion was shown to be coupled with the set governing stretching motion. When the
coupling eect was ignored, the behaviour of the natural frequency loci was similar to the
one obtained from the apwise bending vibration. However, the tuned angular speed was
shown to exist in the chordwise bending vibration. A modal formulation to obtain the
tuned angular speed was derived. When the coupling eect was considered, quite dierent
natural frequency loci were exhibited, especially in the high angular speed region. The
n. n. .oo :Nb s. n. sniN 828
buckling speed and natural frequency loci veering phenomena were observed. It was
proved that the coupling eect became negligible as the slenderness ratio of the beam
increased.
ACKNOWLEDGEMENT
This work is supported by Korea Ministry of Education through the Research Fund
(01E0937), for which the authors are grateful.
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