Rotordynamics Unit 7:

Time Integration and Natural

Frequency Calculations
Bernhard Bettig
Mechanical Design Research Lab
Mechanical Engineering - Engineering Mechanics Dept.
Michigan Technological University
Web site: http://www.me.mtu.edu/~mdrl
1

Time Integration
Time Integration takes as input:
&& + CU
& + KU = R
- the FE Model: MU
- the initial position, velocity and
acceleration for each node:

U , 0U& , 0U&&

- a time step increment t

- parameters for the integration
scheme
2

Time Integration
The output of the time integration is:
- the position, velocity and
acceleration for each node, at each
time step: t U , t U& , t U
&&

Time Integration
One Time Integration scheme is
known as the Central Difference
method.
It assumes that:

And:

Time Integration
If we substitute those expressions
into:
then:

However, this scheme is

conditionally stable, requiring:
t tcr =

Tn

Tn is the smallest period of

the structure

Time Integration
MHYFECS uses another scheme, the
Newmark method
It assumes that:

and are parameters that can be determined to

obtain integration accuracy and stability.
= and = were proposed to provide an
unconditionally stable scheme.
6

Time Integration
Performing substitutions similar to the
Central Difference Method leads to the
following procedure*:

* Taken from K.J. Bathe, Finite Element Procedures, Prentice Hall

Time Integration

Natural Frequency Calculation

Given the homogeneous dynamic
equations: Mu
&& + Cu& + Ku = 0
assume a solution:

&& = p 2e pt
u = Ue pt , u& = pe pt , u

Substituting the solution into the eq.:

( p M + pC + K )U = 0
2

Natural Frequency Calculation

This equation can be converted into a
standard eigenvalue form:
0
I 1 I 0 pU 0

K 1 M K 1C p 0 I U = 0

For each mode, there is a solution

with real and imaginary parts:

p = a jb

j = 1
10

Natural Frequency Calculation

The natural frequency is given by the
imaginary part:

n= b
The damping ratio is given by:
a
=
a2 + b2
This must be positive for the mode to
be stable.
11

Mode Shape Calculation

Once the p = a+bj is known for a mode, we
can calculate the mode shape.
The mode shape also has real and
imaginary parts: U = U + U
real

imag

Substituting p into the equation on slide 9

and separating real and imaginary parts:

[M (a b + 2 jab) + C (a + jb) + K ][U + jU ] = 0

[(M (a b ) + Ca + K ) + j (M (2ab) + Cb)][U + jU ] = 0
[( A) + j ( B)][U + jU ] = 0
2

real

imag

real

real

imag

imag

12

Mode Shape Calculation

where:

A = M (a 2 b2 ) + Ca + K
B = M(2ab ) + Cb

real part:
imaginary part:

AUreal BUimag = 0
AUimag + BUreal = 0
13

Mode Shape Calculation

Solving,

U real = A1 BUimag

(A + BA B )U
1

imag

=0

However scaling is required. Since

the problem is homogeneous we
have an infinite number of solutions,
each scaled differently.
14

Mode Shape Calculation

We pick one nodal displacement and
set it to 1.
C12
U imag1
C
C = A + BA 1B = 11
U
,
=
imag 1

C21 C22
C11 C12 U imag1 0
C
1 = 0
C

22
21

C11Uimag1 = C12
15

Mode Shape Calculation

The procedure therefore is:
1)

1
U imag1 = C11
C12

2)

Uimag = imag1
1

3)

U real = A 1BUimag

4) Normalizing so that the maximum

displacement is equal to one.
16