APPENDIX 1

Introduction to Complex Numbers

A complex number consists of a real (Re) and an imaginary (Im) part. For instance the
complex number a b jc has the real part Re b and imaginary part Imc,
j

1
p
. The complex number a can be presented in the complex number plane (Re, Im)
as a two-dimensional vector with the length

b
2
c
2
p
and angular orientation, measured
from the axis Re, as arctan (c/b):
a

b
2
c
2
_
e
j arctan c=b

b
2
c
2
_
e
j

b
2
c
2
_
cos j sin A1:1
where arctanc=b (Figure A1.1). Note the important relationship, which ties complex
number to trigonometric functions:
e
j
cos j sin
Using this equation, for the specific angles the following relationships hold true:
e
j90

j, e
j180

1, e
j270

j, e
j0

1
The exponential function e
j
can also be denoted exp ( j).
A complex conjugate of the number a b jc is a b jc.
Figure A1.1 Complex number as a vector in the complex number plane.
989
2005 by Taylor & Francis Group, LLC
Note that in engineering use of complex numbers the imaginary part of the complex
number is often called quadrature, in order to avoid connotations with unreality. The
real part of the complex number is called direct.
Using Eq. (A1.1), the relationship between trigonometric and exponential functions can
be derived as follows:
cos
e
j
e
j
2
, sin
e
j
e
j
2j
j
e
j
e
j
2
The hyperbolic functions look somewhat similar to the above functions, but they do not
involve complex numbers in their exponential functions. The hyperbolic sine and cosine are
as follows:
sin h
e

2
, cos h
e

2
The corresponding inverse functions are:
arcsin hA ln A

A
2
1
_
_ _
, arccos hA ln A

A
2
1
p
_ _
Similarly, the hyperbolic functions tangent and cotangent, and inverse functions arctan h,
arccotan h, are introduced.
The addition (subtraction) of two complex numbers, a
1
, a
2
is as follows:
a
1
a
2
b
1
jc
1
b
2
jc
2
b
1
b
2
jc
1
c
2

The addition (subtraction) of the complex numbers presented in the exponential format is
as follows:
Ae
j
Be
j
Ce
j
where
C

A
2
B
2
2ABcos
_
, arctan
Asin Bsin
Acos Bcos
The multiplication of complex numbers is as follows:
a
1
a
2
b
1
jc
1
b
2
jc
2
b
1
b
2
c
1
c
2
jb
1
c
2
c
1
b
2

b
2
1
c
2
1
_
e
j arctanc
1
=b
1

b
2
2
c
2
2
_
e
j arctanc
2
=b
2

b
2
1
c
2
1
b
2
2
c
2
2

_
e
j arctanc
1
=b
1
arctanc
2
=b
2

b
2
1
c
2
1
b
2
2
c
2
2

_
e
j arctan b
1
c
2
c
1
b
2
=b
1
b
2
c
1
c
2

990 ROTORDYNAMICS
2005 by Taylor & Francis Group, LLC
The division of complex numbers is as follows:
a
1
a
2

b
1
jc
1
b
2
jc
2

b
1
jc
1
b
2
jc
2

b
2
jc
2
b
2
jc
2

b
1
b
2
c
1
c
2
jc
1
b
2
b
1
c
2

b
2
2
c
2
2

b
2
1
c
2
1
_

b
2
2
c
2
2
_ e
j arctanc
1
=b
1
arctanc
2
=b
2

b
2
1
c
2
1
_

b
2
2
c
2
2
_ e
j arctan c
1
b
2
b
1
c
2
=b
1
b
2
c
1
c
2

In the latter transformations the following trigonometric relationships were used (see also
arctanA arctan B arctan C, where A c
1
=b
1
, B c
2
=b
2
, where A tan , B tan , C tan
tan tan tan
tan tan
1 tan tan

A B
1 AB
C tan
c
1
=b
1
c
2
=b
2

1 c
1
c
1
=b
1
b
2

c
1
b
2
b
1
c
2
b
1
b
2
c
1
c
2
A radical of a complex number is a complex number:

a jb
_
c jd
a jb c
2
2jcd d
2
a c
2
d
2
, b 2cd
From these real and imaginary parts, the unknown c and d can be calculated:
c
2

b
2c
_ _
2
a, c
4
ac
2

b
2
4
0
c

1
2
a

a
2
b
2
_
_ _
_
, d

1
2
a

a
2
b
2
_
_ _
_
Thus

a jb
_

1
2
a

a
2
b
2
_
_ _
_
j

1
2
a

a
2
b
2
_
_ _
_
The solution of a quadratic equation with complex coefficients, such as the characteristic
equation of linear systems s
2
a jbs c jd 0 is as follows:
s
a jb
2

a jb
2
_ _
2
c jd
_
INTRODUCTION TO COMPLEX NUMBERS 991
2005 by Taylor & Francis Group, LLC
Appendix 6):
and further, using the formulas developed above:
s
a
2

2
p

a
2
b
2
4
c

a
2
b
2
4
c
_ _
2

ab
2
d
_ _
2
_

_
_
_
_
_

j
b
2

2
p

a
2
b
2
4
c

a
2
b
2
4
c
_ _
2

ab
2
d
_ _
2
_

_
_
_
_
_

_
_

_
_

_
There are four solutions resulting from four combinations of signs of the quadratic
equation with complex numbers. These four solutions are actually two pairs of complex
conjugate numbers.
In vibration measurements, the use of complex numbers in the representation of
measured amplitudes and phases of the vibration waveforms, filtered to specific frequencies,
makes data processing easier. The amplitude A and phase are presented in the form of a
complex vector, Ae
j
. In industry, the formal representation of measured amplitudes and
phases are usually presented in the notation A (amplitude A at angle ) and for algebraic
transformations, the formulas are given following the above formal derivation. This is often
applied in the routines of the one- or two-plane balancing.
992 ROTORDYNAMICS
2005 by Taylor & Francis Group, LLC