Mechanism and Machine Theory, 1977,Vol. 12, pp.

271-280, Pergamon Press, Printed in Great Britain

Coupled Bending-Torsional Vibrations of Rotating Cantilever Blades--Method of Polynomial Frequency Equation

J. S. Raot and S. BanerjeeT Abstract In this paper a polynomial frequency equation method is developed to determine the natural frequencies of a cantilever blade with an asymmetric cross-section mounted on a rotating disc. Considering the blade as a discrete system, generalised polynomial expressions for the slope, linear and angular deflections are derived, using Myklestad expressions with necessary modifications. With these polynomial expressions, the polynomial frequency equation of the system is set up which can be solved to determine the natural frequencies of the system. This procedure avoids the cumbersome and time consuming methods mormally employed, e.g. formation and solution of matrix eigenvalue problems, or trial and error interpolation procedures of Holzer and Myklestad. The results obtained by this method are compared with available theoretical and experimental values. Introduction THE DETERMINATIONof natural frequencies of blading is highly important in the design of turbomachines, since fatigue failure often occurs at or near resonant frequencies. The differential equations of motion for the case of a single turbine blade are quite complex and the solution of such equations is difficult to obtain. In general, the equations of motion are six partial differential equations[I] coupled between the two bending deflections, the two shearing deflections, the torsional deflection and the longitudinal deflection. Furthermore, if the blade has a small aspect ratio, plate or shell theories may have to be applied depending on the particular case. Thus it becomes highly difficult to determine theoretically the natural frequencies of an actual turbine balde with all the factors, vix. pretwist, asymmetry of cross-section, rotation, disc radius, etc. considered simultaneously in the analysis. Various investigators in the field of turbine blade vibration considered either one or a combination of a few of the blade parameters like rotation, pretwist etc. to determine their effects on the natural frequencies. A general survey of such works is presented by Rao[2]. A historic chart on the methods of solution of turbine blade vibration problems is given in Table 1. These methods are broadly classified into two categories, viz. (a) continuum model approach which consists in solving the differential equations directly by approximate methods like Rayleigh-Ritz, etc. or transforming them to first-order differential equations and then using a Runge-Kutta procedure, and (b) discrete model approach which employs the methods of Holzer, Myldestad etc. in which a trial and error procedure is used to determine the frequency, or application of the familiar matrix, finite difference and finite element methods. The above methods either lead to an eigenvalue problem of a large size matrix, or trial and error procedures to obtain one natural frequency at a time. All these methods are time consuming.
tDepartment of Mechanical Engineering, Indian Institute of Technology, New Delhi-110029, India. ~Department of Applied Mechanics, Regional Institute of Technology, Jamshedpur, India.
271

272 Table 1. Reference chart for methods of solution of turbine blade vibration

Continuum model approach Rayleigh -Ritz Galerkin

Discrete model approach Holzer-Myklestad Matrix

Lo and Rao[9, 10](1%5, 1970) Targoff[14](1947) Renbarger[3](1952) I [ I Rao and Rosard[15] (1953) Houbolt and Carnegie[111 (1971) I Brooks[4] (1958) Krupka and I Baumanis[16](1%9) Carnegie[5](1959) Trans[orrnation I I I Rao and Swaminathan and Montoya[12] (1%6) Carnegie[17] (1973) Rao[6](1974) t Carnegie and Station Collocation Dawson[13](1%9) Functions Rao[7,8] (1%5, 1972) Mendelson and Gendler[18, 19] (1949, 1951)

Thomson[20](1950) Plunkett[21] (1951) Targoff[22](1957)

Finite ~fference

I
I I

Carnegie et al.[23](1%0)

Carnegie and Thomas[24](1%7)

Finite Element

Dokainish and Rawtani[25](1972) Thomas and Dokumaci[26](1974)

The method of polynomial frequency equation is a discrete system approach and consists in using polynomial expressions for the deflection terms of different stations of the system. Using these, a polynomial frequency equation can be set up, the solution of which gives the natural frequencies of the vibrating system. This method is successfully applied earlier for uncoupled torsion[27], uncoupled bending[28] and coupled bending-torsion[29] of cantilever beams by Rao. In this paper generalised polynomial expressions for the slope, linear and angular deflections of the blade mounted on a rotating disc are derived and frequency equation of the system is obtained. The results are compared with theoretical values determined by Galerkin's method [30].

Polynomial Frequency Equation Figure 1 shows a cantilever blade with discrete masses mo, ml . . . . . rn, i, m~, m,+, . . . . and
inertias Jo, J, . . . . . A t, A, A+, . . . . located at stations 0, 1. . . . . (A - 1), A, (A + 1). . . . respectively. Let the horizontal distances between the centers of fluxure and the corresponding centroids at stations 0, 1. . . . . ( A - 1),A,(A + 1) . . . . be s,,, s, . . . . . S~-l, s~, s~+, . . . . respectively. Also, let the

asymmetry

about y-z

plane
mop
Jo ~TELASTIC AXIS7

DISC PERIPHERY--7
-Y -y ,/

mn_~,m~.~.t, m~.o m~_l, mr,

Jn-f JA~-I J Jl-I JI

.....................

Ro

Figure 1. Rotating asymmetric beam in undeflected position.

273
lengths between stations 0 and 1, 1 and 2 . . . . . ( A - l ) and A, ;t and ( A + I ) . . . . be Lo, L, . . . . . L - , , L~ . . . . . and the distances from the root to the stations 0, 1. . . . . (A - 1), A, (A + 1). . . . along the axial direction be zo, z, . . . . . z~ ,, z~, z~+~. . . . respectively. The deflected position of the elastic axis through the centre of flexure of blade cross-section is shown in Fig. 2. Let yo, y, . . . . . y~_,, y~, y~+, . . . . be the linear deflections of the elastic axis, and 0o, O,. . . . . Oh-,, Oh, Oh+,. . . . be the angles of twist at stations O, 1. . . . . (A - 1), h, (h + 1) . . . . respectively.

rotation in x-z plane

AXrS OF | - y ROTATION ~-ELASTIC AXIS IN THE MEAN POSITION -Y~ FELASTIC AXIS IN DEFLECTED POSITION

o~: --/~r~_(~ ,n ~ /
4-y

~y~+i

~Yx

Yo~

.,
, R0

+Lo
]

Figure 2. Deflection of the rotating blade.

For a blade mounted on the periphery of a disc of radius R, rotating with a constant angular velocity to, with the axis of symmetry of blade cross-section set in the plane of disc rotation, the shear force, the bending moment and the twisting moment for any station A can be written, by a modification of Myklestad's expressions[31], as
h

S~ =
i =O A--I

mjp2(y~ + s,O,) - a~ ~
i =0

m,R,to ~,

(1)

M , = ~ , m,pZ(y, + s,O,l(R, - R , )
i=O A--I

- ~
i=O

m , R , o f l ( y , + s,O, - y . - s . O . )

(2)

and

T~

(m,siy~ + JiO~)p 2 - a~ ~
i=O i=O

m,R,s,to z

(3)

where R~ = R + z,. (4)

Assuming that the sections of the blade are short and the slopes a, linear deflections y and torsional deflections 0 at stations 0, 1. . . . . A are known, the corresponding quantities at station (;t + l) can be expressed as
a~+, = a~ - vF~S~ - v M ~ M ~ ,

(5)
(6)

y~+~ = y~, - L~a~+, - dF~S~ - d M ~ M ~ and

0~,+, = 0~, - vT~,T~,

(7)

274

where dF~ and vF~ denote deflection and slope respectively at station A, relative to station (A + 1), due to a unit force applied at station A ; dM. and vM. are deflection and slope at slation A, relative to station (A+ 1), due to a unit moment applied at station A; and, vT~ represents torsional deflection at station A, relative to station (A + 1) due to a unit torque applied at station A. With
Z=p ~

(8)

and Z, = w 2 (9)

the slopes, linear deflections and angular deflections can be built up from the free end station 0 onwards until any station (A + 1) by the use of eqns (1)-(7). The relations for station Ot + 1) are
a,+, = a~ - Z v F , ~
i=O A I

m,(y, + s,0,) + Z, vF~a,

i=O

m,R,

Z v M . ~_. m , ( y , + s,O,)(R, - R D
i=0 A i=0 I

+ Z, vM~ ~ , m,R,(y, + s,O, - y~ - s~OD,

(10)

y~+~ = yA - L~a~+, - ZdFx 2 m~(y, + s~O,)

i=O

+ Z, dF~ot~
i =0 A i=O I

m,R, - ZdM~ ~
i =0

m,(y, + s,O,)(R, - R~ )
(11 )

+ Z, vM. ~ . miR~(yi + s,E - y. - s.O.)

and
0~+, = O. - Z v T . ~ (m,s,yi + JiO,) + Z, v T . a .
i =0 i =0

m,R3,.

(12)

Assuming a numerical value for Z = p2, the slope, linear deflection and angular deflection at the root of the blade can be determined in terms of ao, yo and Oo for a given Z, = w 2. Using the boundary conditions and fixing a unit value for either yo or 0o, a sufficient number of trials can be made to determine a proper value of Z satisfying the boundary conditions. For the value of Z thus determined, the linear and angular deflections at all stations can be evaluated to give the mode shape. Such is the Holzer-Myklestad method to determine the coupled frequency. The polynomial expressions are being presented below for the slope, linear and angular deflections for any station A. Equations (10)-(12) indicate that the slope, linear deflection and angular deflection at every station depend on ao, yo, 0o and Z, in addition to the system characteristics. A close examination further reveals that the slope, linear and angular deflections involve powers of Z which increase as the station number increases. With these observations in mind, the following generalised polynomial expressions for station A can be written.
A--I A A

- yoE
i=O

i=O

B , .', Z ' - O o ~

C~.,Z'.

(13)
(14)

i=0 2 i =0

Y~ = Y o ~ A,.,Z' - ao ~ . A'~.,Z' + Oo
i =0 i =0
t i

,~

A--i

C'~.,Z'.

O,,=Oo~,D~,.,Z'-yo O,.,Z +,~oY, E,.,Z'.

i~O i~O i=O

!15)

275

If the relations for slopes, linear deflections and torsional deflections given by eqns 03)--05) are truly representative, they must be identically equal to those given by eqns (10)-(12). Equating set by set the relations for slope, linear deflection and angular deflection from eqns (10)-(12) and (13)-(15), the coefficients B, B ' , . . etc., of the corresponding polynomials can be evaluated. The generalised relations are given in Appendix. The boundary conditions for the cantilever blade are
Ol 0 -~- OlO,

yo = 1, 00 = 00 and

(16)

a.=y.=O.=O.
From eqns (13), (14), (16) and (17), ao and 00 can be written as

(17)

B ".,Z' ~ C'.,Z' - ~ C , . , Z ' ~ A,.,Z'

Q~O ~ iffiO n--I

, 2 B..,Z 2 C'.,Z' i~O i~O iffiO

i~O n

i--O

iffiO n--I

(18)

C,.,Z' 2 A..,Z' '

iffiO

and
n--I n--I

B ' , Z ' 2 A'.,Z' - 2 B". iZi ~. A..,Z' fl 1 O i--O i ~0 i O Oo= ~ ._~

(19)

2 B".'Zi ~" C ' . , Z ' - ~

i ~0 i ~0 i O

C,.,Z' 2 A'.,Z'
i O

Using eqns (18) and (19) in eqn 05) for the fixed end, i.e. eqn (17), the following polynomial frequency equation is obtained for the vibrating blade. 2 O ,.iZ '
i ~0 \i --0

' ' B ,.~Z 2 A,.iZ ' ' '

i~O i O

A..iZ '
1~ O

B,,..,Z) l A..IZ
l ~O

i O

..~Z

B..~Z B'..~ 71
i =0

C..iZ 1 O

C..iZ C..,Z
l ~O

+ 2 E,.IZ'
i ~0

, C...,Z i -

A..tZ' = O.

(20)

The frequency equation of a cantilever blade having n number of stations, as given above, is of degree (3n - l) in Z. However, such a system should have only 2n coupled frequencies. This means that there are (n - 1) more terms in the polynomial frequency equation. For the case of a stationary beam, Rao [29] showed that the coefficients of Z2"-1-Z 3"-~ terms for an n-stationed system are zero. Similar argument holds good for the rotating blade as well, and this can be further checked by the numerical example given in the following section.

Numerical Example
Based on the above procedure, a computer programme is developed in Fortram IV language and run on IBM 370/155 computer in Madras. A uniform cantilever blade with the following data is chosen for study. L = 8.0 in., R = 6.0 in., I~ = 2.408 x 10-3 in. 4, C = 1.1084 x 105 lb in.2/rad, and E = 30 x l06 lb/in/

w = 10.188 x 10-2 lb/in., Ict= 15.9046 x 10-3 lb/in.

276

The polynomial frequency equation for coupled bending-torsion vibrations with 0.117 in. and ~o = 419rad/sec, the blade being divided at 9 stations, is as followingt 1.7484533
-- 1 . 4 9 7 1 0 2 0 X

r~

10 6Z 4- 6.7378945 x 10
3Oz4 --

'"Z:

- 8,5700914 10 22Z' + 4.3714485 x 10

1.0606396 x 10 38Z'

+ 1.4300209 X 10 47Z~- 1.1800796 x 10 '6Z7 + 6.3574702 x 10 ~ Z ~ -- 2.3359541 10 75Z'~+ 6.0276025 10 8~Z'- 1.1121001
1094Z ''

+ 1.4793405 10 14ZJ2- !.4169373 10-114Zl~+ 9.6510697 X 10 12~ZJ4 -- 4.5457845 X 10 13~Z'5+ 1.4029679 x 10 '4~Z TM- 2.5444333 x 10 ~5~Z'7 + 2.0489740 X 10 '~7Z~8- 1.5798644 10 '87Z~9-8.2284605 x 10-'~"Z ~ --5.2805410 10-28Z=l - 2.4214437 x 10 2tSz22- 4.9045446 -- 2.0526833 10-24Z24- 1.6704779 x 10-Z52Z25- 2.0391576
x 1 0 2 2 9 Z 23 x 10-262Z 26 =

0.

(21)

The above equation shows that there is a sudden decrease in the values of coefficients as the degree of Z becomes more than 18. The coefficients of Z,~-Z26 are taken as zero, consistent with numerical error. The 18-degree polynomial then gives 18-coupled frequencies for the 9-stationed system. Similar trends are observed with n = 11, 13 and 15. As expected[29] the standstill uncoupled frequencies calculated by this procedure for the lowest three uncoupled bending and torsion modes are observed to be lower than the well-known standard values. With an increase in the number of stations (i.e. shorter sections) they attain higher values, fairly approaching the standard results when n = 15. As such, 15-station solutions have been used in further analysis on coupled vibrations. It is also noted (see Fig. 3, as an illustration) that, close to an uncoupled bending frequency, there is a corresponding coupled frequency for which the bending mode shape is almost similar, but the torsion mode shape is usually distorted and has a comparatively small magnitude. Such a coupled frequency will be called a "coupled bending frequency". Following a similar reason, a "coupled torsion frequency" has been designated. Coupled frequencies calculated by the polynomial frequency equation method by discretising the blade at 15 equally spaced stations are compared (see Table 2) with experimental results [30] and theoretically obtained values [30] from Galerkin analysis using 6-term solutions, and a close agreement is shown between these results.

Table 2. Comparison of results, rx = 0.117 in.

Coupled bending frequency, c/s
to rad/sec Mode No. I II III I II Ill Galerkin method [30] 158.3 916.9 2538.0 170.2 928.5 2550.0 Experiment [ 3 0 ] 155 902 2460 165 914 2475 Frequency equation 158.0 910.8 2509.0 170.0 922.6 2522.0

Coupled torsion frequency, c/s

Galerkin Frequency method [30] equation 1700 5123 8554 1700 5123 8554 1699 5096 8448 1699 5096 8448

262

366

Conclusions
The polynomial frequency equation method has been successfully applied to the vibration problem of an asymmetric cantilever blade mounted on a rotating disc. Several frequencies are simultaneously obtained by means of a digital computer without any trial and error, an obvious advantage over the well-known methods of Holzer and Myklestad. tThe coefficientsreported here are after calculationby handfromthe computerresults. The computerprogrammeis written such that the coefficientsare not less than 10-7~.

277
b~ =,4.19 rad/sec., R = 6 ill

Y 0

1--....,o,;/
"~'~'~"

-1.0 L
(a)

-I.C
FREQUENCY = 4044.94 C/S

FREQUENCY = 932. 40 C/S

Uncoupled

Bendin 9 and T o r s i o n

Mode

Shapes, rx =0

y
0 I I

-O.I

(b)

Coupled

Bending

Mode,

r x=.117 in , F r - e o v u e n c y = 9 3 0 . 0 0 c / s .

e
YO ~

O
- I-O ~ X ~ L

i IO /

S
5

- 0.25

~-

(c)

Coupled Torsion

M o d e , r x =.117in , F r e % u e n c ~ J = 5 0 9 6 . 2 4 c / s

Figure 3. II Mode shapes.

The f r e q u e n c i e s determined by this p r o c e d u r e are lower bound because of the discretisation of the system. F o r a greater a c c u r a c y the blade should be divided into shorter sections. The utility of the m e t h o d is particularly p r o n o u n c e d w h e n the distribution of the blade properties is non-uniform.
Acknowledgement--The financial support accorded by the Aeronautics Board, R & D, Ministry of Defence, India is thankfully acknowledged.

References
1. D. K. Rao and J, S. Rao, Equations of motion of rotating pretwisted blades in bending-bending-torsion with effects of warping, shear, rotary inertia, etc. Proc. Silver Jubilee Session of Aere. Soc. of India Paper No. 4.3 (1973). 2. J. S. Rao, Natural frequencies of turbine blading--a survey. Shock and Vibration Digest 5, 1 (1973). 3. H. Lo and J. Renbarger, Bending vibrations of a rotating beam. Proc. Ist U.S. Nat. Cong. Appld. Mech. p. 75 (1952). 4. J. C. Houbolt and G. Brooks, Differential equations of motion for combined flapwise bending, chordwise bending and torsion of twisted non-uniform rotor blades. NACA Report 1346 (1958). 5. W. Carnegie, Vibrations of rotating cantilever blading: Theoretical approaches to the frequency problem based on energy methods. J. Mech. Engng. Sci. 1,235 (1959). 6. M. Swaminathan and J. S. Rao, Effects of taper and centrifugal force on the frequencies of a rotating blade: Theoretical analysis. Preprint of Proc. 19th Cong. ISTAM p. 27 (1974). 7. J. S. Rao, Fundamental torsion vibration of a cantilever beam of triangular cross-section with uniform taper. Proc. IOth Cong. ISTAM p. 66 (1%5). 8. J. S. Rao, Coupled bending bending torsion vibration of cantilever beams. J. Aero. Soc. o/India 24, 265 (1972). 9. J. S. Rao, The fundamental flexural vibration of a cantilever beam of rectangular cross-section with uniform taper. Aero Q. 16, 139 (1965). 10. J. S. Rao, The effect of depth taper on torsional vibration of tapered cantilever beams. J. Sci. Engng. Res. 14, 55 (1970).

278

I I. J. S. Rao and W. Carnegie, Determination of the frequencies of lateral vibrations of tapered cantilever beams by the use of Rilz-Galerkin process. Bull. Mech. Engng. Educ. 10, 239 (1971). 12. J. Montoya, Coupled bending torsion vibrations of a twisted rotating blade. Brown Boveri Review 53, 216 (1%6). 13. W. Carnegie and B. Dawson, Vibration characteristics of straight blades of asymmetrical aerofoil cross-section. Aero. Q. 20, 178 (1969). 14. W. P. Targoff, The associated matrices of bending and coupled bending torsion vibration. J. Aero. Sci. 14, 579 (1947)~ 15. D. D. Rosard, Natural frequencies of twisted cantilevers. J. Appld. Mech., Trans. ASME 20, 241 (1953). 16. R. M. Krupka and A. N. Baumanis, Bending-bending mode of a rotating tapered-twisted turbomachine blade including rotary inertia and shear deflection. J. Engng Ind., ASME 91, 1017 (1%9). 17. J. S. Rao and W. Carnegie, Numerical Prodecure for the determination of the frequencies and mode shapes of lateral vibration of blades allowing for the effects of pre-twist and rotation. Int. J. Mech. Engng Educ. 1, 37 (1973). 18. A. Mendelson and S. Gendler, Analytical determination of coupled bending torsion vibrations of cantilever beams by means of station functions. NACA TN 2185 (1949). 19. A. Mendelson and S. Gendler, Analytical and experimental investigations of effect of twist on vibration of cantilevers NACA TN 2300 (1951). 20. W. T. Thomson, Matrix solution for the vibration of non-uniform bars. J. Appld. Mech. 17, 337 (1950). 21. R. Plunkett. Free and forced vibration of rotating blades. J. Aero. Sci. 18, 278 (1951). 22. W. P. Targoff, The bending vibrations of a twisted rotating beam. Proc. 3rd. Midwestern Con[. solid Mech. p. 177 (1957). 23. W. Carnegie, C. Stirling and J. Fleming, Vibration characteristics of turbine blading under rotation--Results of an initial investigation and details of a high speed test installation. Appld. Mech. Convention, Proc. Inst. Mech., Engrs. Paper No. 32 (1%6). 24. W. Carnegie and J. Thomas, Natural frequencies of long tapered cantilevers. Aero. Q. 18, 309 (1%7). 25. M. A. Dokainish and S. Rawtani, Pseudo-static deformation and frequencies of rotating turbomachinery blades. AIAA Z 10, 1397 (1972). 26. J. Thomas and E. Dokumaci, Simple finite elements for pretwisted blading vibration. Aero. Q. 25, 109 (1974). 27. J. S. Rao, Vibration of cantilever beams in torsion. J. Sci. Engng. Res. Part 2, p. 351 (1964). 28. J. S. Rao, A tabular procedure for the determination of uncoupled bending frequencies of a cantilever beam. J. Sci. Engng Res. 10, 187 (1%6). 29. J. S. Rao, Coupled bending torsion vibrations of cantilever beams. Proc. 2nd Int. Cong. Theory of Mech. and Machines, 3, 199 (1%9). 30. S. Banerjee and J. S. Rao, Coupled bending-torsion vibrations of rotating blades. Presented at ASME Gas Turbine and Fluids Engng Conf. 76-GT-43. New Orleans (1976). 31. N. O. Myklestad, Vibration Analysis. McGraw-Hill, New York (1944).

Appendix
The generalised relations for the coefficients B', A, D', etc. are given below.

B'+,.s = B'~j + vF, ~

(m,A,j_, - m,s,D'~.~_,)

+ vM~ ~
i-j x I

(m,A,.~_]- m,s~D'i.j_,)(R,- R~)

+ vF, Z, ~. m,R,B'k J
i=o

+ vM, Z, ~_~ (m,R,A,j- m~R,s~D'J

i-o A-I

- vM~Z~ ~ (m~R~A,j - m,R,s~D',j);

i=j

j : 0.1.2 . . . . . (i + 1).

(AI)

A,.~.j = A,. 1 + L~B'.u - dF, ~

i~/--I X--I

(m~A~j_, - m~s~D~.~ ,)

- dM~ ~
i=j-t k
-

(m,A,.~_,- m,s,D'~.j_otg, - RD

dF, Z~ ~_~ m,R,B'~.~

i=o

- dM~Zi ~ (m,R,A,.j - m,g,sAD~.j)

i-o

+ dM~Zt ~ (m~RjA,.~- m~R,s~D',.j);

j = 0, 1, 2. . . . . (A + 1).

(A2)

DL,.j = D',.I + vT~ ~

i-I-I

(m,s,A~.~_,- J~DI.j-0
] = 0 , 1 , 2 . . . . . (I+1). (A3)

+ v T ~ Z , ~ m,R,s,B,.j;

279
C,+,.~ = C,., + v E ~ , (m,C',.,_, + m,s,D,j_,)
i-j-i k--I

+ vM~ ~
i-J-1

(m,C'~.j_, + m,s,Du_0(R, - R~)

+ vF, Z, ~ m,R,C,.j
x-I

+ vM, Z, ~ (m,R,C'a + m,R,s~D~.~)

i-O

- vM~Z, ~ . (m,R,C',j + m,R,s,D,j);

j = O, 1.2 . . . . . (A + 1).

(A4)

t _ t t C,+,a - C~.i + L~C~+,.j - dF~ ~. (m,C,j_, + m,s,D,.~_,) ,_,

i-I-I

k-I

- dM. ~
i-1-1 x

(m,C'~a-~ + m,s,D~j_0(R, - R.)

- dF, Z, ~_~ m,R,C~j

i-o x-I

- dM, Z, ~ (m,R,C'~j + m,R,s, D J

i=O x l=j I

t + dMJ~ ~ (m,R, Cu + m~R,sjDu),

j = 0, 1, 2 . . . . . (A + 1).

(A5)

D~+,.~ = D , j -

vTA~
l-j x 1

(J, D u - I +

m,s, Cla-,)
] = 0 , 1 , 2 . . . . . (A + l).

-vT~.Z~..m,R,s,C~a;
a

(A6)

BA,a = B.a + oF^ ~ (m,A;~_, - m,s,Eu_O

i-j

+ vM~ Y~ (m,A',.j_, - rn,s,E,j_,)(R, - R~)

t-1 x

+ vFAZ, ~ m~R,B~.j
i-O

+ vM.Z, ~_~ (m,R,ALj- m,Ris.E~a)

i-O

- vMAZ~ ~
i--l+l

(m,R,A'u - m,R, sjEu);

X

] = O, 1, 2 . . . . . .L

(A7)

A. ,a - A . j + L~B.,.j - d ~ ._, (m~Au_, - m,s,E,.~_,)

1-1 A-!

- dMA ~ (m,ALj_, - m,s,Eu_,)(R, - R,)

A

- dF.Z~ ~ . m,R,B~j
x-!
,

+ dM~Z, ~_~ (m,R,A,a - m,R,s,E~),

I--/+l X

j = O, 1, 2. . . . . A.

(A8)

+ vT.Z, ~ m,R,s,B,~;

j = 0. I, 2 . . . . . I.

(A9)

28O

tk 2;'#71c17o 7PA:~Ir~W;q

~csDf~e - ~3Fa~OT~H HI~X qgCTCT BFa::ar,:::m,{c~ ~4CKe.

MgTO~

COCTaJIeHFA [IOZMHOMItaIBHOFO

qCOTOTHODO

ypaBHSH]4~{ ~Jl}] ov,peT]eJieH]~A CO(JCTBe} ~ceqeH::~, yCTaHOS.~eHNo~ Ha

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