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To cite this article: Rong C. Shieh (1983) Effects of Damping and Circulatory Forces on Dynamic Instability of Gyroscopic
Conservative Continuous Systems, Journal of Structural Mechanics, 11:2, 197-213, DOI: 10.1080/03601218308907441
To link to this article: http://dx.doi.org/10.1080/03601218308907441
ABSTRACT
The title problem is studied, with emphasis on the small damping and
circulatory force case. It is shown that small internal and/or external damping
forces and/or small (as well as large) circulatory forces in general destabilize
an otherwise stable gyroscopic conservative system. A condition for no
destabilizing effects of these small forces is obtained. A concept of "perfect"
system in elastic stability of nonconservative problems is also presented. An
example problem is given for demonstration purposes.
I. INTRODUCTION
The study of dynamic instability of general gyroscopic conservative and
nonconservative systems is not only of theoretical interest, but is also of
practical interest and importance. To underscore this point, we merely need
to cite two classes of practical dynamic instability problems of gyroscopic
systems; namely, the critical rotating speeds of elastic shafts and critical
Copyright
0360-1218/83/11024197$3.50/0
198
SHIEH
199
F = F,
=
+ I(4) + m(&,
in V
+ L(4) + ~ ( 4 -) qd,
o n ST
(1)
onS-ST
4,
200
SHIEH
where P = rV, P' = Vr) and quantities A, r, B, and Tare evaluated a t State
I (obtained by solving equations governing the equilibrium State I). In Eq. 3,
V = d/aR is the gradient operator, R is the material position vector, r
(= R + @,) is the spatial position vector, A and B are elastic and viscous
tangent moduli (at State I), T is the piola Kirchhoff stress tensor of the
second kind, N is the outward unit normal vector of the undeformed
surface element, and superscript t stands for "transpose."
Equations 3 are assumed to yield the set of modal solutions
where
and
2Q1
=A/
[(Vu.P):B:(Pf.uV) ( V V . P ) : ~ : ( P ~ . V V ) ] ~ V
D,= - I
4 v
G=
-12
[U
4i
[w*.M(w)
. m(u) + v . m(v)]dv-
+ w.M(w*)]dS
+ V . M(v)]dS
4i
-1
N =
[w*.m(w) + w.m(w*)]dV -
Is.
(6~)
(64
[w*.M(w) - w.M(w*)]dS
E (Vw* .wV)dY
(r*.).(I
- a l(w*)]dV + 4;
1.
[w* .L(w)
- w .L(w*)]dS
K, D,, D,, U,C, and N are real quadratic scalar functianals of u and v ; i.e.,
the real and imaginary parts of eigenfunctions w = u
iv. The funclionals
Kw2, D p , D,o, GO, P, and N are, respectively, the equivalent (or generalized) kinetic energy (i.e., K i n Eq. 6b, with w* and w replaced by @* and
a),internal and external viscous dissipation energies per radian in the time
interval (0, 2 x / o ) , gyroscopic potential, and work per radian done by purely
circulatory force component in the time interval (0, 2x10) under the motion
4 = weiW'.
Based on the definitions of stability given earlier and Eqs. 5, the following
conditions are obtained:
(1) Asymptotic stability conditions: L > 0, R > 0 (Eq. 7a); (Rw - N)/
(2Kw - G) > 0 (Eq. 7b).
(2) Quasi-stability conditions (R = 0): L = 0, N = 0 (w t 0) (Eq. 8) for
all normal modes.
(3) Instability conditions: L < 0 for at least one normal mode or alternately (R - N)/(2Kw - G) < 0.
(4) Asymptotic critical: L = 0, Rw - N = 0 (Eq. 9) for at least one
mode, while the remaining modes satisfy Eq. 7a.
(5) Quasi-critical (for the case of N = 0): L = 0, 2Kw - G = 0 (G $ 0)
(Eq. 10) for at least one mode, while the remaining normal modes satisfy
Eq. 8.
U)3
if
4,
klgQ
(k, = const.)
(1 lb)
for the asymptotic critical normal mode 4 , and quasi-critical normal modes
p, and pQ are the loading parameters and subscripts A and Q
stand for "asymptotic critical" and "quasi-critical," respectively. It should
be noted that satisfaction of Eq. I l a does not necessarily imply p, = p,, in
general, unless critical normal modes of both systems differ only by a constant
factor, as shown in Eq. I lb.
In the case of small damping and small circulatory forces, one can write
4Q,where
where E is a small damping parameter and R' and N' have the same orders of
magnitude as those of K and G. If these forces are vanishingly small (E -t
0 +), deviations of normal modes from those of the original g.c. system are
also vanishingly small. Therefore, 4, = k l g Q and all asymptotic and quasicritical conditions become identical if the first of Eqs. I la, which now can be
written as
is satisfied for the asymptotic and quasi-critical normal modes. Note that
the side condition PQ < 0 is a necessary condition for existence of a quasicritical or flutter state, in view of the quasi-stability condition of Eq. 8 with
N m 0, which can also be expressed as
SHIEH
204
Theorem 1 : Under the influence of vanishingly small damping and circulatory forces, the quasi-critical flutter loads (if any) of the original g.c.
system are identical to the asymptotic critical flutter loads of the resulting
d.g.n. system if and only if the condition given by Eq. 13 is satisfied. The
quasi- and asymptotic critical divergence loads (if any) governed by P = 0
are always identical.
As a special case, we consider the case in which internal damping forces
are absent (D, = 0) or negligibly small, compared with external damping
forces, and external forces are of the form
where E, and c, are the linear external viscous body force and surface traction coefficient tensors, respectively, and subscripts G, C, and N astand for
"gyroscopic," "conservative," and "nonconservative" (circulatory) components of the applied forces, respectively. Under these force components,
Eq. 14 is apparently satisfied if
eVZ, e, = &,I
(I = identity matrix)
(154
UH
(1 6 4
(16b)
H>O
(164
for the asymptotic critical mode. This, in turn, implies quasi-stability of the
corresponding g.c. system (cf. Eq. 14). Furthermore, it is necessary that
H > 0 for both quasi-stability and asymptotic stability. Hence, the asymptotic stability load region must be a subregion of quasi-stability.
where L,(4) and e, are defined as in Eq. 15a and subscript D stands for the
damping component of velocity-dependent forces. Strictly, small external
as well as internal damping forces in general destabilize a conservatively
loaded, rotating elastic body because the conditions of Eqs. 13 or 15b or 15d
in general cannot be satisfied. If, however, one makes the same approximations as elementary beam theory, Eqs. 17 a and b can be integrated over
the cross-sectional area A and circumferential length s to yield
207
for arbitrary w modes and a n "imperfect" system as one that does not satisfy
the above conditions. Then, quasi-stability of a n undamped g.c. system or
nongyroscopic circulatory system' represents the limiting case of asymptotic
stability for the corresponding "perfect" system, as the external damping
force parameter (and also circulatory force parameter in the gyroscopic case)
approaches zero.
There exists a wide class of "perfect" elastic systems in practical problems
of importance. For example, a n axially loaded rotating shaft under the
influence of relatively large external damping forces (compared with internal
damping forces) is such a system. Another example is the flutter problem of a
constant thickness panel situated in a supersonic airflow in which the mass
and aerodynamic damping coefficient (which is usually much larger than internal damping coefficient in normal flight range, say less than 50,000 ft) are
proportional everywhere, etc. Therefore, the quasi-stability analysis results,
which are usually simpler to obtain than the corresponding asymptotic
results, are useful in providing asymptotic stability results for a wide class
of dynamic instability problems; i.e., the entire class of dynamic instability
problems of "perfect" systems. However, before performing a quasi-stability
analysis, care must be exercised to make sure in advance that the system is
"perfect," because nonconservative problems of elastic stability are in general
"imperfection-sensitive" if the system is "imperfect" as defined above.
where [m]is the mass matrix, [dland [g] are the symmetric (damping) and
antisymmetric (gyroscopic) parts of the velocity-dependent force matrix,
respectively, [c] and I:n] are the symmetric (conservative) and antisymmetric
(purely nonconservative; i.e., circulatory) parts of the displacement-dependent force matrix, and {d}is the displacement vector. The functionals F = K,
R, or P in Eqs. 5a, 5b, and 6a are now given by
'It can be shown that R/2K = k , = const. is also a sufficient condition for the nondestabilizing effect of small damping on a nongyroscopic circulatory system.
SHIEH
and J ( = G or N ) are
[dl = 2k,[ml,
[n] = k , [ g ]
or
o = G/2K = N / R
({w} = arbitrary)
(20)
where k , is a n arbitrary proportional constant. Equation 20 essentially states
that if the damping matrix is proportional to twice the mass matrix and if
the circulatory force matrix is proportional (by the same proportional constant) to the gyroscopic force matrix, small damping and circulatory forces
d o not destabilize a n otherwise stable g.c. system. Otherwise, the former in
general destabilize the latter.
Example: Consider a rotating mass-spring-dashpot system shown in Fig. 1,
which is under the action of external axial (conservative) and damping forces.
With reference to Fig. 1, the equations of motion are
209
where
s
(m/k,)112i,
a,
a3
a4
2(1
y),
a, = 2d(l
d = v,/@L1
gZ - p)
d2[(y + 1)2 - (yp + v ) ~ ]
Y = P,/v.,
Plk,,
+ v)kl
(224
g = (mlkJ112Q
= O),
210
SHIEH
The nondestabilizing effect for the second case is predictable because, with
T = 1, the nondestabilizingcondition of Eq. 20 is satisfied (with k , = 2 ~ , / r n ) . ~
'The nondestabilizing effect for the first case (k = 1) is also readily predictable, because
in this case o = -j at a critical state and i t can be shown to satisfy the second condition
of Eq. 20 at the critical state.
F
i
g
.2
= 0).
= 5 , 1 = 5.83, 8 , =
V. CONCLUDING REMARKS
With emphasis on small damping and the circulatory force case, dynamic
instability of an elastic or Voigt-Kelvin type viscoelastic solid body subjected
to both velocity- and displacement-dependent external forces has been
studied. The stability/instability conditions formulated previously [I, 21 have
SHIEH
2x2
been first reviewed and subsequently used in studying the effect of small
damping and circulatory forces on stability of gyroscopic conservative
systems. It has been shown that these small forces in general have destabilizing
effects on the latter and a sufficient condition for nondestabilizing effect of
these small forces has been obtained. A concept of "perfect" systems in elastic
stability of nonconservative problems has also been presented for relating
the quasi-stability with the Liapunov sense of stability. For such a system,
the quasi-stability of the corresponding gyroscopic conservative or nongyroscopic circulatory system represents the limiting case in which the small
damping forces, also circulatory forces in the gyroscopic case, approach
zero.
An example problem of a conservatively loaded rotating system was
presented for demonstration purposes. It was demonstrated that for the case
of unequal spring constants and a mass matrix that is not proportional to the
external damping matrix, the undamped conservatively loaded rotating
system is destabilized by small external damping forces alone. This result,
also shown to hold for the general case, appears to be contrary to a common
belief that external damping forces alone cannot destabilize an otherwise
stable gyroscopic conservative system, such as the rotating system exemplified.
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