Beruflich Dokumente
Kultur Dokumente
Rotors Frequency and Time Response of Torsional Vibration Using Hybrid Modeling
M. Tahani
Assistant professor, Ferdowsi
University of Mashhad, Iran
mtahani@ ferdowsi.um.ac.ir
S. Soheili
PhD student, Ferdowsi
University of Mashhad, Iran
soheili78@yahoo.com
M. Abachizadeh
MSc of Mechanical Engineering,
Ferdowsi University of Mashhad, Iran
m_abachizadeh@yahoo.com
A. Farshidianfar
Associate professor, Ferdowsi
University of Mashhad, Iran
farshid@ferdowsi.um.ac.ir
Abstract
In this paper, the application of distributed-lumped
(hybrid) modeling technique (DLMT) in modeling of
the forced torsional vibration of systems is investigated.
To illustrate the simplicity and efficiency of the method,
an industrial example of rotating shaft with a lumped
element subjected to various torques is analyzed.
Natural frequencies obtained by this method are
compared with those obtained by using finite element
and Holzer's method. In addition, time responses of the
system subjected to three different types of torsional
forces are computed by this method.
Keywords: Distributed, Lumped, Modeling, Frequency
response, Time response.
Introduction
The question of vibration model of industrial systems,
especially rotating shafts, is the basic consideration in
engineering design of dynamic systems. Not only the
avoidance from natural frequencies of such systems
have been observed since long before, but the condition
monitoring (CM) of highly sensitive and precious plants
such as turbines and jet rotors are applied widely using
accurate vibration model of systems. Condition
Monitoring for rotating machinery incorporates a wide
range of techniques, such as oil analysis, wear-debris
analysis, ultrasonic, corrosion, and vibration analysis.
Vibration condition monitoring is, arguably, the oldest
type of machinery condition monitoring. Measured
vibration signals can reveal important and detailed
information about possible fault which may exist in a
machine [1]. Fault identification in rotating machinery
using vibration analysis is a constantly expanding field.
Developments are continually made with the use of new
analysis methods, increased computing power,
measurement techniques, and so on.
Among different methods of modeling systems such as
lumped-lumped modeling technique (LLMT) and
distributed-lumped modeling technique (DLMT), or
numerical and approximate methods such as transfer
matrix method (TMM) and finite element method
(FEM), it is clear that the model combined with both the
distributed and lumped elements, is the best
representative of complex and accurate systems [2].
Many industrial systems can be modeled as a rotating
shaft with disks on it, such as gear systems, propellers,
2k
2
2k 0
x
in which, k is the main function as:
k ( x, s ) or T ( x, s )
and
s
E
The general solution of equation (8) is given by:
k r1e x r2 e x
where
e x cosh x sinh x
T ( x, t )
2 ( x, t )
J
x
t 2
(1)
( x, t )
1
T ( x, t )
(2)
x
GJ
where ( x, t ) and T(x,t) are the torsional angle and
torque functions, respectively; x is the distance along a
section and t is time.
Differentiating equation (2) with respect to x and
substituting for T x in equation (1) yields:
2 ( x, t )
x 2
2 ( x, t )
G
t 2
(3)
3 ( x, t )
1 2T ( x, t )
(4)
GJ
xt 2
t 2
Moreover, differentiating equation (1) with respect to x
gives:
2T ( x, t )
3 ( x, t )
(5)
J
x 2
xt 2
and substituting equation (4) into (5) results in:
2T ( x, t )
2T ( x, t )
(6)
G
x 2
t 2
Equations (3) and (6) are the main equations of
torsional vibration of the shaft. Assuming zero initial
conditions, Laplace transformation of equations (6) and
(3) gives:
2T ( s, t )
x
2
( s, t )
s 2T ( s, t ) 0
s ( s, t ) 0
G
(7)
x 2
where s is the Laplace transform variable. Equations (7)
can be written in the compact form as follows:
e x cosh x sinh x
(8)
(9)
(10)
(11)
(12)
( x, s ) C sinh x D cosh x
(13)
(14)
Js 2 ( x, s ) A sinh x B cosh x
(16)
1
T ( x, s ) C cosh x D sinh x
GJ
Upon substitution of x=0 in equations (16), the following
results would be obtained:
G (0, s ) (0, s )
B sJ
1
(17)
T (0, s ) T (0, s )
E
Hence, the solution of equations (7) for the jth element
can be expressed in the matrix form as follows:
C
sJ
cosh x sinh x
T j (x, s) j j j T j (0, s)
1 sinh x cosh x
j (x, s) j j j (0, s)
j
(18)
where
j sJ
jG j
(19)
According to Figure 2, for the jth element at x=0 there
would be:
j
T j (0, s ) T j 1 ( s )
j (0, s ) j 1 ( s )
(20)
cosh jl j j sinh jl j
T j (s)
T j1(s)
1 sinh l cosh l
j (s) j j j j j1(s)
j
(21)
0.15 m
137.837 kg
7800 kg/m3
200 GPa
80 GPa
100 kg
1m
50 kgm2
0.08 m
DLMT Solution
To represent the main hybrid model of the system, one
should notice that the system is combined of two
distributed and one lumped elements (Figure 3). For the
distributed elements 1 and 3 the transfer matrices can be
written according to equation (21) as follows:
T1 T0 T3 T2
TD 1 , TD 3
1 0 3 2
(24)
where
cosh l sinh l
TD 1 sinh l cosh l
(25)
(23)
Illustrative Example
In this section, the methodology outlined previously is
applied to a shaft with a disk on its middle (see Figure
2), which is a simplified model for useful and common
industrial systems. The properties of the system
considered here are shown in Table 1. As mentioned
already, the present method can be used for analyzing
systems with any number of distributed and lumped
elements without any increasing in difficulty.
Table 1 Properties of the system
Shaft Length 2l
4m
T2 T1 fr
TL 2
2 1 0
(26)
J 2d s 2
1
0
Substituting equations (24) into (26) yields [6,7]:
TL 2 1
(27)
cos
h
s
i
n
h
1
d 1 2
d 2 2 [ D]
c osh2l J2 s sinh 2l sinh 2l J2 s cosh l 1
T3 2
T0 sinh l coshl
3 1sinh 2l J d 2s2 sinh2 l cosh2l 1 J d 1s2 sinh 2l 0
2
2
2
coshl sinhl fr
1
sinh l coshl 0
(30b)
(28)
Equation (23) may be shown in the simple form as:
T3 T0 fr
C D
3 0 0
(31)
1 C12 D1
0
T0 C1 C1 T3 D1 fr
1 d 1 2
d 2 2
cosh 2l 2 J2 s sinh 2l sinh 2l J2 s cosh l C21 C21C12 C21 0
3 C2 0 D1 D21 0
[C]
1 sinh 2l J d 2s2 sinh2 l cosh 2l 1 J d 1s2 sinh 2 C l C C
2
2
1
1
1
(29)
where
(30a)
(32)
theta3/theta0
0.5
0.4
0.3
0.2
0.1
0
0.4
0.6
0.8
1.2
1.4
w(rad/s)
1.6
1.8
x 10
C1 C1 C2 C1
T C C12 C D1 D21 C 0 fr
3 21 21 3 21
1 C D
T0 2 0 21 0 0
C 21 C 21 C 21
1.2
C11T0 0
Clamped-Clamped System
In this case, the boundary conditions are expressed as:
0 0
3 0
(34)
x 10
1
0.8
theta1/fr
(33)
C 21T0 3
The first equation is satisfied when C11 0 , which is
another reason for computing the roots of C11 to find
the natural frequencies as well. The results for this case
are listed in Table 2.
(35)
0.6
0.4
0.2
0
1.4
1.6
1.8
2.2
2.4
w(rad/s)
2.6
2.8
3.2
x 10
FEM Solution
To contrast and confirm the results with another method,
the finite element method is used to investigate the
natural frequencies. The system is modeled by ANSYS
(9) software, and meshed using brick 45 (8 nodes 3D)
elements. Block Lanczos solver of ANSYS is used in
the analysis,and each distributed part is divided into 100
elements. The natural frequencies are listed in Tables 2
and 3. The first two mode shapes for clamped-free and
clamped-clamped boundary conditions are shown in
Figures 6-9.
Holzer's Method
In order to verify the results of the two techniques,
Holzer's method is also applied to obtain the natural
frequencies of the mentioned system.
1
2
x( ) e
i t
(36)
In equation (36), x ( ) is 0 fr , 3 fr or 1 fr
which are obtained from equations (32) or (26). Since
the referred functions are complex, the integral relation
can be expressed numerically as:
x (t )
A( r ) cos( r t ) B( r ) sin( r t )
r 1
(37)
where
r r
(38)
y (t )
f ( ) x(t )d
(39)
1500
x 10
-4
1.5
1
theta1(rad)
Torque (N.m)
1000
500
0.5
0
-0.5
-1
-1.5
-500
0.1
0.2
0.3
0.4
0.5
t(second)
0.6
0.7
-2
0.8
0.1
0.2
0.3
0.4
t(second)
0.5
0.6
0.7
0.8
1500
1.5
x 10
-3
0.5
theta3(rad)
Torque (N.m)
1000
500
-0.5
0
-1
-500
0.05
0.1
0.15
0.2
0.25
t(second)
0.3
0.35
-1.5
0
0.4
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
t(second)
1500
2000
1500
1000
500
T0(N)
Torque (N.m)
1000
500
-500
-1000
-1500
-500
0.1
0.2
0.3
0.4
0.5
t(second)
0.6
0.7
0.8
-2000
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
t(second)
Modulus of
elasticity
k
Stiffness
References
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Mechanical and Hydraulic Plant: A Concise
introduction and guide, London: Chapman and Hall
Company.
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202 (C6), 421-428.
[3] Bartlett, H., Whalley, R., 1995, "Gas Flow in Pipes
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Journal of System and Control Engineering, 209,
41-52.
[4] Meirovitch, L., 2001, Fundamentals of Vibration,
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Vibration with Applications, Prentice Hall, 5th
edition.
[6] Aleyaasin, M., Ebrahimi, M., 2001, Whalley, R.,
"Flexural Vibration of Rotating Shafts by
Frequency Domain Hybrid Modeling," Journal of
Computers and Structures, 79, 319-331.
[7] Tahani, M. and Soheili, S., 2005, "Frequency and
time response of rotors longitudinal vibration using
hybrid modeling", Proceeding of 13th Annual
Mechanical Engineering Conference (ISME),
Isfahan, Iran.
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