Professional Documents
Culture Documents
Mathias Legrand
McGill University
Structural Dynamics and Vibration Laboratory
Outline
1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists
2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization
3 Structural analysis
Static equilibrium
Modal analysis
4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks
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Introduction Equations of motion Structural analysis Case studies References
Outline
1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists
2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization
3 Structural analysis
Static equilibrium
Modal analysis
4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks
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Introduction Equations of motion Structural analysis Case studies References
Structures of interest
Structures of interest
Jet engines Machine tools
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Introduction Equations of motion Structural analysis Case studies References
Mechanical components
Mechanical components
supporting components
Definitions
Supporting components: journal bearings, seals, magnetic bearings
Driving components: shaft
Operating components: bladed disk, machine tools, gears
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Introduction Equations of motion Structural analysis Case studies References
Selected topics
Selected topics
Contemporary tools
finite element method
nonlinear analysis
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Introduction Equations of motion Structural analysis Case studies References
Outline
1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists
2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization
3 Structural analysis
Static equilibrium
Modal analysis
4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks
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Introduction Equations of motion Structural analysis Case studies References
Rg
O
e2
e1
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Introduction Equations of motion Structural analysis Case studies References
Coordinates transformation
absolute displacement y = s + R(x + u) e2
eY
angular velocity matrix | R = R
Velocities
Time derivatives of positions in Rg 1
e3
Y eZ
y = s + Ru + R(x + u) = s + Ru + R(x + u) z
ex
ez
0
3 (t) 2 (t) eX
= 3 (t) 0 1 (t)
2 (t) 1 (t) 0 e1
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Introduction Equations of motion Structural analysis Case studies References
Quantities of interest
Stresses
Strains : Green measure
1
ui uj um um
ij = + + = ln nl
ij + ij
2 xj xi xi xj
Constitutive law
Generalized Hooke law = C
C linear elasticity tensor
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Introduction Equations of motion Structural analysis Case studies References
Strain energy
1
Z
U= T CdV
2
V
Displacement discretization
Displacement discretization
Discretized displacement field
n
Rayleigh-Ritz formulation
X
u(x, t) = i (x)ui (t)
Finite Element formulation i=1
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Introduction Equations of motion Structural analysis Case studies References
Displacement discretization
Displacement discretization
Generic equations of motion
Mu + (D + G()) u + K(u) + P() + N() u = R() + F
Structural matrices
mass matrix M = T dV
R
V
gyroscopic matrix G = V 2T dV
R
centrifugal stiffening matrix N = V T 2 dV
R
angular acceleration stiffening matrix P = V T dV
R
stiffness matrix K = V T dV = V T (u)C(u)dV nonlinear in u
R R
damping matrix D (several different definitions)
Displacement discretization
Displacement discretization
Generic equations of motion
Mu + (D + G()) u + K(u) + P() + N() u = R() + F
Outline
1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists
2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization
3 Structural analysis
Static equilibrium
Modal analysis
4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks
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Introduction Equations of motion Structural analysis Case studies References
Static equilibrium
Static equilibrium
Solution and pre-stressed configuration
Find displacement u0 , solution of:
V0 V V (t)
ui0 , 0ij , ij0 ui , ij , ij
Applications
slender structures
plates, shells
shaft with axial loading
radial traction and blade untwist
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Introduction Equations of motion Structural analysis Case studies References
Modal analysis
Modal analysis
Eigensolutions
Defined with respect to the pre-stressed configuration V
State-space formulation
0 K(u0 ) + N() u
M D + G() u 0
+ = (1)
0 M u M 0 u 0
Consider:
u
y= = Aet and find (y, ) solution of (1)
u
Comments
-dependent complex (conjugate) eigenmodes and eigenvalues
Right and left eigenmodes
Whirl motions
Campbell diagrams and stability conditions
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Introduction Equations of motion Structural analysis Case studies References
Modal analysis
Modal analysis
Campbell diagrams
Coincidence of vibration sources and -dependent natural resonances
Quick visualisation of vibratory and design problems
9
8 80
7 60
unstable
forward whirl 40
6
frequency (Hz)
20
5
()
0
4
-20
3
-40
2
-60
backward whirl
1 -80
0
0 2 4 6 8 10 12 0 2 4 6 8 10 12
(Hz) (Hz)
Stability
i | (i ) > 0 unstable
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Introduction Equations of motion Structural analysis Case studies References
Outline
1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists
2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization
3 Structural analysis
Static equilibrium
Modal analysis
4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks
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Introduction Equations of motion Structural analysis Case studies References
Kinetic Energy
ZL ZL " 2 2 # ZL
S 2 2 I u w 2 u w
EK = (u +w )dy + + dy +IL 2I dy
2 2 y y y y
0 0 0
ZL " 2 2 #
2u 2w
EI
Strain Energy U = + dy
2 y 2 y 2
0
Bearing forces
Hj = 1 Zj cos( + ) + Xj sin( + )
G = Zj sin( + ) + Xj cos( + ) 2 Zj cos( + ) Xj sin( + )
Z Z
RLb 3 G sin( + ) RLb 3 G cos( + )
Fx = d; Fz = d
2c 2 Hj 3 2c 2 Hj 3
0 0
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Introduction Equations of motion Structural analysis Case studies References
Linearization
Equilibrium position Xe , Ze
First order Taylor series of the nonlinear forces
FX FX FZ FZ
KXX = ; KXZ = ; KZX = ; K ZZ =
X e Z e X e Z e
FX FX FZ FZ
CXX = ; CXZ = ; CZX = ; CZZ =
X e Z e X e Z e
Field of displacement
N
X N
X
U(x , t) = i (x )ui (t); W (x , t) = i (x )wi (t) x = (u, w)T
i=1 i=1
Comments
Kb circulatory matrix destabilizes the system
Cb symmetric damping matrix
both matrices act on the shaft at the bearing locations (external virtual work)
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Introduction Equations of motion Structural analysis Case studies References
1.5
10
1
5
0.5
()
()
0 0
-0.5
-5
-1
-10
-1.5
-2 -15
0 5 10 15 20 25 30 35 40 45 0 5 10 15 20 25 30 35
(Hz) (Hz)
0
300
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200
250
200
(Hz) 100 150
100
0 50
0
Frequency(Hz)
Introduction Equations of motion Structural analysis Case studies References
1.5
10
1
5
0.5
()
()
0 0
-0.5
-5
-1
-10
-1.5
-2 -15
0 5 10 15 20 25 30 35 40 45 0 5 10 15 20 25 30 35
(Hz) (Hz)
3
Amplitude
0
300
200
250
200
(Hz) 100 150
100
0 50
0
Frequency(Hz)
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Introduction Equations of motion Structural analysis Case studies References
conical modes
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Introduction Equations of motion Structural analysis Case studies References
Definition
Closed replication of a sector
Cyclic-symmetry
Mathematical properties
Invariant with respect to the axis of rotation
Block-circulant mass and stiffness matrices
Pairs of orthogonal modes with identical frequency
Numerical issues
No damping and gyroscopic matrices
Determination of M and K
Notion of mistuning
Constant
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Introduction Equations of motion Structural analysis Case studies References
Numerical issues
No damping and gyroscopic matrices
Determination of M and K
Notion of mistuning
Constant
Next-generation calculations
Nonlinear terms
Supporting+transmission+operating components
Damping, gyroscopic terms, stiffening
Time-dependent 26 / 27
Introduction Equations of motion Structural analysis Case studies References
References
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