International Journal of Pressure Vessels and Piping 89 (2012) 170e177

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International Journal of Pressure Vessels and Piping

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Elasto-plastic deformation analysis of rotating disc beyond its limit speed

Hamid EkhteraeiToussi, Mahdi RezaeiFarimani*
Faculty of Engineering, Ferdowsi University of Mashhad, Azadi Boulevard, Mashhad, Islamic Republic of Iran

a r t i c l e i n f o a b s t r a c t

Article history: The development of new materials is leading to the production of more speedy rotating discs. The
Received 4 July 2011 knowledge of elasticeplastic response of rotating discs may be helpful in the manufacture and devel-
Received in revised form opment of discs. Using two types of material properties including the Elastic Perfectly Plastic (EPP) and
16 October 2011
RambergeOsgood models, the concepts of failure and limit speed of discs are studied. Different steps of
Accepted 3 November 2011
solution consisting of discretization and imaging process are expounded. The effect of different
parameters including the cross section profiles and material properties upon the limit speed is inves-
Keywords:
tigated. The study includes the analysis of the post failure mechanical behavior of the discs. It is seen that
Rotating disc
Imaging method
the hardening exponent in the RambergeOsgood equation controls the sensitivity of disc expansion
Variable material property relative to the increase of its rotational speed. For the special case of a disc with uniform thickness, the
Limit velocity index of sensitivity is connected to the exponent of the RambergeOsgood equation.
Yield’s criterion Ó 2011 Elsevier Ltd. All rights reserved.

1. Introduction controlled by the material behavior is another factor which forecast

Rotating disc is the basic part of different machineries such as
the turbines, flywheels, pumps, gearboxes or fans. In a rotating disc,
the distribution of stress components in radial and tangential
directions is not uniform. Consequently to reduce the weight and
production costs and to utilize the full extent of material loading
capacity, one may think of making discs with variable thickness,
while keeping the stress distribution at a uniform level. One major
risk in using of variable thickness rotating discs is the incidence of
immediate widespread yielding due to the centrifugal forces.
By increasing the rotational speed of a disc, its internal stresses
are increased and finally the plasticity will take all parts of the disc.
If such a fully plastic rotating disk is made up of ideal Elastic
Perfectly Plastic (EPP) material a small increase of rotational speed
can expand the radius rapidly and destabilizes the disk functionally
and structurally. The condition may be considered as a mode of
failure and the specific speed that brings this condition may be
called ‘limit angular velocity’ as [1]. For a real strain hardening
material, beyond the speed of fully plastic condition, yet the disc
may undergo large extent of plastic deformations without showing
an instantaneous instability behavior. In this case a disc may
experience a large level of gradually developed plastic deforma-
tions which once again may be considered as a kind of plastic
failure. The ratio of expansion to speed of the disc which is
* Corresponding author. Fax: þ98 511 8763304.
E-mail address: ma_re974@stu-mail.um.ac.ir (M. RezaeiFarimani).
the destruction risk of deformation due to a speed. These aspects of
the plasticity of rotating discs made of hardening material have not
been studied before. Accordingly in this paper the deformation of
rotating discs in angular velocities higher than its fully plastic speed
is studied. In this analysis, two kinds of material behavior consisted
of Elastic Perfectly Plastic (EPP) and RambergeOsgood stresse
strain relationships have been considered. As pointed out by Hojjati
et al. [2], the closed-form solution of rotating discs are only avail-
able for the very basic problems of uniform material and geomet-
rical properties and simple boundary conditions. Nevertheless
there are powerful numerical methods such as FEM, BEM and FDM
which are applicable in more complicated geometries and material
properties. The studies of Sterner et al. [3] show that in these cases
the quality of mesh refinement and the complexity of computa-
tional algorithms affect the speed and costs of the analyses. Gamer
[4] as one of the pioneer researchers in the nonlinear analysis of
discs, studied the numerical elasticeplastic solution of a uniform
thickness disc with linear hardening. Gamer [5] also analyzed
a uniform thickness shrink fitted disc considering the hardening of
material. Expanding the Gamer’s work, Guven [6] studied a variable
thickness and density disc. Some years later, Gamer introduced
a quasi-analytic solution for a problem of nonlinear hardening
nature [7]. Analytical method of Variable Material Properties (VMP)
was used by Jahed et al. [8] for the analysis of elasticeplastic
problems. Jahed and his colleagues have also employed VMP in
a wide range of analyses including the study of elasticeplastic
deformation of a shrink fitted disc with nonlinear hardening
material [9], the study of thermoplastic stress analysis in non-

0308-0161/$ e see front matter Ó 2011 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ijpvp.2011.11.001
 H. EkhteraeiToussi, M. RezaeiFarimani / International Journal of Pressure Vessels and Piping 89 (2012) 170e177 171

homogeneous discs of variable thickness [10] and the study of

loading-unloading of discs [11]. You et al. [12] used a numerical
method based on stress function approach for the study of a vari-
able thickness and density disc. Hojjati et al. [2] considered a VMP
disc with variable thickness and density with bilinear hardening
characteristics and compared the results with the works done by
You et al. [12]. Using the approach of You et al. [13] and applying
perturbation method, the elastic and plastic limit angular velocities
of rotating discs with linear and nonlinear hardening was obtained
by Eraslan et al. [1]. Despite the existing of various numerical and
semi analytical methods in the study of discs, a comprehensive
study in the plastic instability of high speed fully plastic discs has
never been done.
In order to characterize the performance of a rotating disc
beyond its fully plastic condition, the mathematical model of an
elasto-plastic rotating disc is presented in Section 2. Then the
forceedisplacement relationship of a thin annulus of the disc is
derived. The semi analytical method used in this paper is
Fig. 1. A thin anular element in a rotor.
expounded in Sections 3 and 4. Geometrical characteristics and
material properties are provided in Section 5. By using the newly
defined terminology of deformation sensitivity, in Section 6 the
effect of some material parameters upon the deformation and 3εpeq
stability in a fully plastic disc is considered. 4 ¼ (5)
2seq
wherein εpeq and seq are the equivalent plastic strain and equiv-
2. Mathematical model
alent stress respectively. From Eqs. (2)e(5) one can conclude
that [2],
In this section, primarily the governing equations of a rotating
disc along with elastic stressestrain constitutive equation are 1 þ neff n
introduced. The equations are used to obtain the radial displace-
εij ¼ sij  eff skk dij (6)
Eeff Eff
ment of a rotating thin ring. Accordingly, the correlation between
the displacement, stress and the rotational speed are obtained. where Eeff and neff are called effective Young’s modulus and effec-
tive Poisson’s ratio respectively. Eq. (6) is similar to Eq. (2) from
them one can obtain [2],
2.1. Governing equations
3E
Eeff ¼ (7a)
Once the thickness of a disc is small compared to its radius, the 3 þ 2E4
axial component of stress will be negligible. In other words in this
case a state of plane stress can be assumed [12,14]. Having this 3n þ E 4
neff ¼ (7b)
assumption in mind, in an axisymmetric situation for an infinites- 3 þ 2E4
imal variable thickness element of a rotating disc, the equilibrium
assumption yields [15],
2.2. Deformation of a thin annular ring
dðhr sr Þ
 hsq þ hru2 r 2 ¼ 0 (1) According to Eq. (2), the stress as a function of elastic strain may
dr
be written as,
where sr and sq are the radial and circumferential stresses
respectively, r is the density and u is the angular velocity of disc.
Elastic strain tensor εeij is related to the stress tensor by the
Hooke’s law [15]. That is,

1þn n
εeij ¼ s  s d (2)
E ij E kk ij
where n and E are the Poisson’s ratio and Young’s modulus,
respectively and dij is the Kroneker’s delta.
Total strain εij is the sum of elastic strain εeij and plastic strain εPij
[2],
p
εij ¼ εeij þ εij (3)

According to Hencky’s deformation theory [8], the plastic strain

is given by,

εpij ¼ 4sij (4)

where the deviatoric part of stress sij is replaced by sij ¼ sij  1/

3skkdij and 4 is the scalar proportionality constant. That is [2], Fig. 2. Imaging method on stressestrain curve.
172 H. EkhteraeiToussi, M. RezaeiFarimani / International Journal of Pressure Vessels and Piping 89 (2012) 170e177

Table 1
Geometrical and mechanical properties in the case studies.

Material constants Density r Young’s modulus E Poisson’s ration n Yielding stress so K

Quantity 7860 Kg/m3 207 GPa 0.3 220 MPa 1
Geometrical constants Inner thickness hi Outer thickness ho Inner radius ri Outer radius ro
Quantity 0.15 m 0.05 m 0.05 m 0.7 m


E 3n þ 1 E c2
sr ¼ ½εr þ nεq  (8a) sq ¼  ru2 r2 þ c 1 ð1 þ n Þ  ð1  nÞ (14b)
1  n2 8 1  n2 r2
The boundary conditions for the annular ring are,
E
sq ¼ ½ε þ nεr  (8b) 
1  n2 q sr ¼ s1 at r ¼ r1
(15)
where sr, εr are radial and sq, εq are circumferential stress and strain sr ¼ s2 at r ¼ r2
components, respectively. Assuming a disc with constant and small
thickness, Eq. (1) yields, Replacing the above boundary conditions into Eq. (14a) results
in,
dsr sr  sq
þ ¼ rr u2 (9) 3 þ w 2 4 
dr r s1 r12  s2 r22  ru r2  r14
c1 ¼ 8 (16a)
Substituting Eqs. (8a) and (8b) into Eq. (9) results in,  2  E
r1  r22
1n
d 1  n2 2 2
r ðεr þ nεq Þ þ ð1  nÞðεr  εq Þ ¼  rr u (10)
dr E
3 þ n 2 2 
The radial displacement u and strain components are related as, ðs1  s2 Þr12 r22  ru r2  r12 r12 r22
c2 ¼ 8 (16b)
 2  E
du u r1  r22
εr ¼ ; εq ¼ (11) 1þn
dr r
Substituting Eq. (11) into Eq. (10) yields, Combining Eqs. (16) and (13) results in,

d2 u 1 du u 1  n2 1 1  n2 2 3
þ  ¼  rru2 (12) uðrÞ ¼ ðq1 þ s1 Þ r þ ðq2 þ s2 Þ  ru r (17)
dr 2 r dr r 2 E r 8E
which its solution is as follows [17], In which q1, q2, s1 and s2 are as follows [2],

1  n2 2 r 3

uðrÞ ¼ 
c
ru þ c1 r þ 2 (13) 1n F2 2 F1 2
E 8 r q1 ¼   r 2  r1 (18a)
E r12  r22 h h
Substituting Eq. (13) into Eq. (11) and then the resulted strain
components into Eq. (8) provides [17],

 ð1  nÞr12 r22 F2 F1
3þn 2 2 E c2 q2 ¼  2   (18b)
sr ¼  ru r þ c 1 ð1 þ n Þ  ð1  nÞ (14a) E r1  r22 h h
8 1  n2 r2

Fig. 3. Closed-form and paper solutions for the test study.

 H. EkhteraeiToussi, M. RezaeiFarimani / International Journal of Pressure Vessels and Piping 89 (2012) 170e177
Fig. 4. The influence of division upon the reproduced stressestrain.
ð1  nÞð3 þ nÞ 2  2  When the rotational speed increases it is possible that some or
s1 ¼ ru r1 þ r22
8E
ð1 þ nÞð3 þ nÞ 2  2 2 
s2 ¼ ru r1 r2
8E
F1 and F2 are the components of the internal and external forces
respectively per unit length of the ring perimeter. So F1 is equal to
s1h1 and F2 is equal to s2h2.
3. Discretization
In this work, the discretization is considered to be a mathe-
matical process in which a structure is decomposed to several
fictitious elements so small that in each part, material properties
may be approximated by some constants. This assumption mainly
causes the solution algorithm to be changed from nonlinear to
linear approximation. The method of discretization is closely
related to the numerical technique employed in the analysis. For
a comprehensive description of discretization technique used in
this article, one can refer to Jahed et al. [8]. In discretization step the
Fig. 5. The distributions of some variables in the studied rotating disc: (a) Stress, (b) Strain, (c) Effective Young’s modulus, (d) Effective Poisson’s ratio.
173
disc is divided into several thin rings as shown in Fig. 1. Each ring is
so thin that one may assume that all material properties are
constant throughout its body. Accordingly Eq. (18) is applicable to
each ring. The force in the outer radius of a ring is equal to the force
in the inner radius of the subsequent ring. That is,
F2i r2i ¼ F1iþ1 r1iþ1 (19)
in which superscript ‘i’ designates ith ring. Moreover based on the
continuity one may write,
ui ðr2 Þ ¼ uiþ1 ðr1 Þ (20)
Applying Eq. (20) to all annular rings forming the entire disc and
using Eqs. (17) and (18), one obtains a set of equations which can be
used to provide the internal and external forces applied to each
ring. Having the amount of these forces in hand, the stresses can be
calculated from Eq. (14).
4. Elasticeplastic imaging method
(18c) all parts of a rotating disc experience plastic deformation. In this
case the Poisson’s ratio and Young’s modulus which are elastic
constants must be substituted by the modified neff and Eeff
(18d) parameters defined in Eq. (7).
To do this, primarily it is assumed that the disc is totally in an
elastic condition. Then a through elastic solution is performed.
Generally, the calculations are performed in mean radius of any
ring. Following the solution it can be seen that as in Fig. 2 the
calculated stressestrain path does not coincide with true elas-
ticeplastic curve at some rings.
So, one may go for the modification of the Poisson’s ratio and
Young’s modulus to overcome this shortcoming. To do this, similar
to point m in Fig. 2, the strain computed from the elastic solution is
projected onto the stressestrain curve. The new effective Young’s
modulus is [2],
s
Eeff ¼ lim (21)
s/sm ε
Eq. (7) can be used to calculate the proportionality constant 4
and its corresponding effective Poisson’s ratio, neff.
174 H. EkhteraeiToussi, M. RezaeiFarimani / International Journal of Pressure Vessels and Piping 89 (2012) 170e177

Table 2
Deformation of the inner radius versus the angular velocity with d ¼ 0.

Speed (rad/s) 380 381 382 383 384 385 386 387 388
Deformation (m) 0.6537 0.6717 0.6913 0.7130 0.7656 0.7998 0.8454 0.9381 N

(
s
ε ¼ ; s  s0 (22)
E
s ¼ s0 ; s  s0
The equation of RambergeOsgood is written as [16],

n
ε s s
¼ þK (23)
ε0 s0 s0
In these equations, s0 and ε0 are yield stress and yield strain
respectively, K and n are material constants.
The yield criterion of von Misses is given by [17],
 1
seq ¼ s2q þ s2r  sr sq
2
(24)

Another characteristic of this analysis is that the disc thickness is

not uniform. Rather the thickness of the disc is a function of radius.
That is,

Fig. 6. The ratio of plastic radius to outer radius versus the angular velocity.
The procedure must be repeated for all rings to modify their
Poisson’s ratio and Young’s modulus. Once again using the modified
coefficients the stresses can be computed according to the formu-
lations given in Section 2.2. As long as the calculated stressestrain
curve does not agree with the given true stressestrain curve,
similar to points m0 and m00 in Fig. 2, this projection procedure must
be repeated.
5. Material and geometrical parameters
In this analysis, two material behaviors including Elastic
Perfectly Plastic (EPP) and RambergeOsgood models are employed.
The uniaxial stressestrain relationship for the elastic perfectly
plastic model is provided as,
r  ri d
hðrÞ ¼ ðho  hi Þ þhi (25)
ro  ri
in which h(r) is the thickness at any radius r, hi and ho are the inner
and outer thicknesses of the disc respectively and d is the power of
the equation.
The mechanical and geometrical parameters used in typical
analyses are represented in Table 1. The sample data resembles
a typical steel rotor (gears, pulleys, fans, etc.) used in many indus-
trial applications.
6. Verification and results
To study the plastic deformation of different homogeneous,
uniform or non-uniform thickness rotating discs the imaging
method has been used. To show the efficiency of the method, the
deformation of a typical rotating EPP disc with uniform thickness
and based on the Tresca’s yield condition has been analyzed. The

Fig. 7. Disc cross section profiles for different exponents of Eq. (25):(a) d ¼ 1, (b) d ¼ 0.5, (c) d ¼ 1.5.
 H. EkhteraeiToussi, M. RezaeiFarimani / International Journal of Pressure Vessels and Piping 89 (2012) 170e177 175

Table 3
Limit speed in different profiles of EPP disc.

Exponent d 0 (h ¼ ho) 0.2 0.5 1 1.5 2.5 3.5 N (h ¼ hi)

Limit speed (rad/s) 387.92 415.94 429.97 432.50 429.98 423.31 417.81 387.92

equivalent strains. Accordingly, once a complete analysis of stress is

Fig. 8. Two graphs of deformation of the inner radius and the ratio of plastic to outer
radiuses against angular velocity in constant thickness disc (d ¼ 0) for Ram-
bergeOsgood model with n ¼ 200.
results are compared with the exact solution provided by Blazynski
[17]. In this study the rotational speed is assumed to be u ¼ 350 rad/
s. All other presumed parameters are given in Table 1. As in Fig. 3
a close agreement is seen between the results.
To have an estimation of the proper number of divisions, the
equivalent stressestrain curve reproduced by the following solu-
tion is compared with initially provided true stressestrain curve. In
this regard, one can mention that the equivalent total strain εeq is
p grate the disc. There is not such a controlling barrier in fully plastic
the sum of equivalent plastic strain εeq and equivalent elastic strain
εeeq . That is,
p
εeq ¼ εeq þ εeeq (26)
Combining Eqs. (4) and (5) one may obtain the equivalent plastic
strain as,
performed, it is possible to calculate the stress and strain of each
ring and reconstruct the equivalent stressestrain curve. Fig. 4
depicts such curves along with the exact RambergeOsgood curve
with n ¼ 5. The angular velocity is assumed to be u ¼ 425 rad/s. The
procedure confirms that the proper number of rings has been
selected in analyses.
Fig. 5 depicts the radial distribution of stress, strain, effective
Young’s modulus and effective Poisson’s ratio in a disc of uniform
thickness h ¼ 0.05 m and angular velocity u ¼ 350 rad/s with elastic
perfectly plastic mechanical behavior. The picture shows that the
level of the equivalent stress in the inner part of the disc is greater
than it in the outer part. That is the reason why the transition from
elastic to plastic deformation is initiated inside and extended to the
outside radii of the disc. It is seen that the plastic radius rp is
approximately 0.323 m.
In Table 2 the radial displacement at the internal radius of the
typical disc is represented versus the angular velocity.
As it is seen from Table 2, beyond a certain angular velocity the
displacement tends to infinity. This velocity may be called critical or
limit speed since this condition shows a kind of plastic instability.
Our more accurate calculation shows that the limit speed is about
387.918 rad/s.
The ratio of plastic radius to outer radius versus the angular
velocity is depicted in Fig. 6. It can be seen from Table 2 and Fig. 6
for d ¼ 0 that by reaching the limit speed, all parts of the disc have
experienced the plastic deformation. Hence, we can deduce that
limit speed is a speed in which all parts of a disc become plastic. In
fact the presence of an elastic region similar to an imaginary band
round the yielded region prevents large deformations to disinte-
disc, so the instability will happen.
Now the effect of the disc thickness profile on the limit speed is
studied. Here we study the influence of the exponent ‘d’ in Eq. (25)
and/or Fig. 7 upon the critical speed of the disc.
The limit speeds versus the power d are listed in Table 3.
It can be seen from Table 3 that the convexity or concavity of disc
affects the limit speed and the more is the deviation of profile

p εpeq 1 exponent from the linear state, i.e. d ¼ 1, the less is the limit speed
εr ¼ sr  s (27)
seq 2 q of a disc. Considering the first and the last columns in Table 3
p
indicates that the quantity of thickness does not affect the limit
At the same time the plastic part of strain εr can also be written as, speed in the disc with uniform thickness. More trials show that this
characteristic is also valid for any thickness of the disc.
1
εpr ¼ εr  ðsr  nsq Þ (28) Now, following the study of the limit speed of an EPP disc (see
E Table 2) a similar analysis is performed for a disc made of Ram-
p
Using Eqs. (27) and (28) the equivalent plastic strain εeq is found bergeOsgood material. In this regard primarily it should be noted
as a function of stress. Similarly the equivalent elastic strain is that the definitions of elastic or plastic limit speed do not comply
found to be, with a material of RambergeOsgood nature. The reason is that in
power law plasticity any deformation of material is a kind of plastic
seq
εeeq ¼ (29) deformation. So, to have an analysis close to the scheme seen in the
E literature in this paper the limit speed is simply defined as the
Now, the amount of the total equivalent strain as a function of rotational velocity in which the equivalent stresses exceed the yield
equivalent stress is achievable by adding the elastic and plastic strength in all parts of the disc. Taking the radius of yielding rp as

Table 4
Limit speed values corresponding to different profiles for RambergeOsgood model.

Exponent d 0 (h ¼ ho) 0.2 0.5 1 1.5 2.5 3.5 N (h ¼ hi)

Limit speed (rad/s) 424.77 458.93 477.01 484.44 483.03 475.39 468.18 424.77
176 H. EkhteraeiToussi, M. RezaeiFarimani / International Journal of Pressure Vessels and Piping 89 (2012) 170e177
Fig. 9. Post limit speed inner radius deformation of a uniform thickness disc (see Table 1) versus the angular velocity in the logarithmic scale, for different exponent n.
a length in which the equivalent stress exceed the yield strength
the relative radius of yielding (i.e., rp/ro) is related to the rotational
speed in Fig. 8. The rotational speed also affects the deformation of
the inner radius of the disc. For instance, internal radius of a disc
with uniform thickness and RambergeOsgood exponent n ¼ 200 in
different speeds is shown in Fig. 8. In this manner the limit speed is
approximately 425.79 rad/s and its relevant displacement at the
inner radius ua is 1.92 mm. In this case unlike the EPP material, the
jump in the limit speed is not infinite.
Now, using the model of RambergeOsgood the limit speed of
a disc with the profile exponent d is listed in Table 4. Here, it can be
seen that similar to the EPP material for a disc of RambergeOsgood
material any deviation of the disc profile from the linear case (i.e.,
d ¼ 1) decreases the limit speed. Moreover a comparison of the first
and the last columns in Table 4 show that in a uniform disc the
quantity of thickness does not affect the limit speed.
Here, the effect of RambergeOsgood exponent n upon the limit
speed of a disc is investigated. To perform this study, the loga-
rithmic graph of the inner radius displacement ua versus the
angular velocity beyond the incidence of fully plastic state for
different quantities of exponent n is depicted in Fig. 9. Based on
Fig. 9 there is a linear connection between the disc deformation and
its rotational speed in the logarithmic scale. The slope of these lines
labeled as m is called rotation-deformation sensitivity or just the
sensitivity. The feature of linearity in the graphs of Fig. 9 intuits the
existence of a power law correlation between m and n.
Fig. 10. The sensitivity index m vs. the RambergeOsgood exponent n.
On the other hand, if any line which corresponds to a definite
RambergeOsgood exponent n is identified by a specific exponent
m, one may think of finding a relation between the sensitivity
exponent m and its relevant property exponent n. Fig. 10 is a graph
showing this relationship. As it is seen, in a wide range of the
variations of m and n these two quantities may be correlated by
a simple linear formula. This simplicity means that one may predict
the near critical speed behavior of the disc by means of the expo-
nent of its RambergeOsgood equation. Unlike a disc of EPP mate-
rial, in power law hardening model there is not an infinite branch in
the graph of U vs. u. In this case the slope of the speed-deformation
curve or rotation-deformation sensitivity m may be interpreted as
a measure of the rate of gradual rise in the disc size down to the
increase of speed. Therefore, based on Fig. 10 for a disc of uniform
thickness the ratio of sensitivity index to the material property
index which is the slope of the curve in Fig. 10 is found to be 2.175. It
does not need to emphasize that this ratio is valid for any material
obeying RambergeOsgood equation.
7. Conclusions
The comprehensive plastic deformation of discs due to high
speed causes the radial expansion of discs and increase of the
damage risk. In this paper, investigating this phenomenon, the
discretization and imaging procedures are used to analyze the limit
speed and the disc behavior beyond this velocity. Unlike the EPP
material, in the RambergeOsgood model it is seen that touching
the limit speed does not necessarily result in an unlimited level of
deformation. However, in RambergeOsgood material, the increase
of rotational speed beyond the limit speed increases the deforma-
tion of the disc gradually. Our experience of solving the equations
reveals that a disc profile of linear shape has a limit speed higher
than a profile with convex or concave shape. Moreover it is seen
that if the thickness profile of the disc is uniform (i.e., constant
thickness disc) the quantity of thickness does not affect the limit
speed.
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