Journal of Vibration and Control 2010 El Saeidy 403 38

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Vibration and Control
Dynamics of a Rigid Rotor Linear/Nonlinear Bearings System Subject to Rotating

Unbalance and Base Excitations
Fawzi M.A. El-Saeidy and Fred Sticher
Journal of Vibration and Control 2010 16: 403 originally published online 28 October 2009
DOI: 10.1177/1077546309103565
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Dynamics of a Rigid Rotor Linear/Nonlinear Bearings
System Subject to Rotating Unbalance and Base
Excitations
FAWZI M. A. EL-SAEIDY
FRED STICHER
Faculty of Engineering, University of Technology, Sydney, PO Box 123, Broadway, NSW 2007,
Australia (fawzi.el-saeidy@uts.edu.au)
(Received 28 November 20071 accepted 6 October 2008)
Abstract: Rotating machinery support excitations can occur if a machine is installed on a base prone to
ground motions or on-board moving systems such as ships and aircraft. This paper presents a formulation for
the dynamic analysis of rigid rotors subject to base excitations plus mass imbalance. The formulation allows
for six motions at the machine base and takes into account the linear/nonlinear spring characteristics of the
supporting bearings. Equations of motion are derived using Lagranges equations. For rotorlinear bearing
systems subject to mass imbalance plus harmonic excitations along or around lateral directions, analytical
solutions for equations of motion are derived and analytical results in the time domain are compared with
their counterparts obtained by numerical integration using the RungeKutta method and typical agreement
is obtained. The system natural frequencies as affected by rotor speed are obtained using the QR algorithm
using the DAMRO-1 program and compared with those obtained by MATLAB and excellent agreement is
obtained. The frequency response (maximum amplitude of vibrations against the base excitation frequency)
is characterized by peaks at natural frequencies of the rotating gyroscopic system. This necessitates extreme
precaution when we design such rotating systems that are prone to base motions and mass imbalance. For
systems with bearing cubic nonlinearity, results are obtained by numerical integration and discussed with
regards to the time domain, fast Fourier transform (FFT) and Poincar map. Periodic and quasi-periodic
disk/bearings motions are observed. For systems with support cubic nonlinearity and subject to mass imbal-
ance and base excitation, the FFT of disk horizontal and vertical vibrations is marked with sum and difference
tones, 1n f b 1 f s (n 2 m is always odd) where f s is the rotating unbalance frequency and f b is base excitation
frequency.
Keywords: Rigid rotor, linear/nonlinear bearing, base excitations, mass imbalance, analytical solution.
1. INTRODUCTION
Base excitation of rotating machinery could occur if a machine is installed on-board moving
systems such as ships and space vehicles, on ground that is prone to seismic motion or
Journal of Vibration and Control, 16(3): 403438, 2010 DOI: 10.1177/1077546309103565

1 2010 SAGE Publications Los Angeles, London, New Delhi, Singapore
3
Figures 516 appear in color online: http://jvc.sagepub.com

404 F. M. A. EL-SAEIDY and F. STICHER
other similar environments. Mass unbalance is the most common source of harmonic ex-
citation of rotating machinery. Imbalance could be introduced at the manufacture stage of
machine components or as a result of the assembly process. Even a rotor that is relatively
well balanced at the beginning of its service can have its balance deteriorate with use. A
rotating machine with its own mass unbalance excitation could be excited at its base by
another harmonic excitation that in turn could arise from, for example, vibration from an
adjacent unbalanced rotating machine. The reduction of unwanted high vibration amplitudes
is of paramount importance. It is necessary for a designer to have at their disposal dynamic
models to predict the vibrational behavior of rotating machines operating under such multi-
frequency excitations at the design stage to avoid expensive design modifications or in-field
catastrophic failure.
Rigid/elastic rotor systems supported on linear/nonlinear elastic bearings have many in-
dustrial applications including the rotating equipment used in electric power stations, on-
board space vehicles, and in power transmission gear trains, etc. There are many studies
on rigid rotor systems subject to rotating mass unbalance. Adiletta et al. (1996a) presented
theoretical and experimental results from an analysis of a rigid rotor supported on short
journal bearings and subject to mass imbalance. Later Adiletta et al. (1996b) studied a Jeff-
cott rotor with nonlinear restoring forces due to supporting ball bearings. Bearing restoring
forces are represented by the cubic nonlinearity of bearing deflections. A pair of coupled
Duffing equations with coupling terms being neglected are used and the rotor is analyzed
under unbalance. Their theoretical and experimental results concluded that for fairly small
amounts of damping, rigid disk motions can be periodic, or at most quasi-periodic, but never
chaotic. El-Saeidy (2000a) studied unbalanced rigid rotor-defected ball-bearing systems us-
ing a finite element method (FEM). He retained rigid body modes using only a finite element
(FE) solution to model the rigid rotor. The results were in the time and frequency domains.
Chang-Jiang and Chen (2007) used a simplified model to study the effect of rotating unbal-
ance and rub between the rigid rotor and its stator on the response of a rigid shaft housing,
long journal bearings, nonlinear suspension system. The rigid shaft disk is lumped at the
shaft midpoint and is allowed to vibrate in two lateral directions without taking into account
the disk gyroscopic (rotation) effect. Rigid housing (suspension) has two lateral degrees of
freedom (DOFs) and is supported by nonlinear springs with the cubic nonlinearity of housing
lateral displacements. Damping is linear in this system. Coupling between the suspension
and rotor is achieved through lubricant film generated dynamic forces. Numerical integration
was used and results are discussed using nonlinear dynamic analysis tools, Poincar maps,
etc.
Ge and Chen (1992, 1996) studied the response of a single-axis rate gyro mounted on a
space vehicle spinning sinusoidally around the gyro spin axis. Sinusoidal excitation parame-
ters cause parametric excitation and the gyro exhibits nonlinear dynamical behavior. Chen
(2003) studied feedback control of a two-axis gyro mounted on a space vehicle. The gyro
is supported on rigid bearings and excited by sinusoidal velocity about its spin axis. Re-
sults in the time domain are discussed using Poincar maps, phase planes, etc. Based on the
work of Timoshenko (1955) and Ziegler (1968), Asmis and Duff (1978) studied the dynamic
response of a heat transport pump in the CANDU reactor. They used a reduced two-DOF
model and treated the pump as a rigid body on linear springdampers. Base excitation was a
unit step. Gyroscopic moments greatly affected the response.

RIGID ROTOR LINEAR/NONLINEAR BEARINGS SYSTEM SUBJECT 405
The equations of motion of a rigid rotor supported by linear springs and dampers subject
to seismic base excitations were derived using Newtons law and numerically integrated to
obtain the time domain response by Soni and Srinivasan (1983). The rotor has five DOFs and
axial vibration was taken to be elastically and inertially uncoupled from the other four DOFs.
In their equations, the first term of the load vector due to base oscillations (denoted hereafter
by F4 in equation 39 of the dynamic model of our paper) is missing. The missing term
was also noted by Suarez et al. (1992). Kim (1986, Chapters 2 and 3) used the same model
and equations of motion as Soni and Srinivasan (1983) and studied rigid rotor-linear bearings
under earthquake excitation using the method of Monte Carlo simulation. A summary of Kim
(1986, Chapters 2 and 3) is presented by Samali et al. (1986)1 however, in these two works,
the missing term of vector F4 also went undetected. Suarez et al. (1992) presented, without
any derivations/information, equations of motion of a rigid rotor (disk) in the context of a FE
analysis of an elastic shaft supported on linear springdampers under base excitations. They
neglected axial vibration and used four DOFs (two lateral, two rotational). With no details on
their derivation, their FE matrices and load vectors associated with base excitations contain
typical line integrals that cannot be computed owing to inconsistencies in the dimensions of
their respective matrices and load vectors. Hori (1988) reviewed 19 works mostly on the
base excitation effect on the dynamics/stability of rotor-fluid film bearings systems. He used
a two-DOF model to study a symmetrical rotor composed of a mass and a massless shaftoil
film bearings under base excitation. He used his numerical results to confirm excitation-
induced dynamical patterns, namely self-excited whirl of the rotor owing to internal damping
and oil whip, reported in the works he reviewed. Hori and Kato (1990) used a similar two-
DOF model to study a Jeffcott rotorjournal bearings under artificial sinusoidal shock in the
horizontal direction and a real seismic wave at the bearing pedestal.
Ganiev and Lyutyi (1972) analytically studied the stability of heavy rigid gyroscope
rigid bearings under three external sinusoidal accelerations (at most) at its base. Equations
of motion are obtained using Lagranges equation. Kuzma (1980) studied the same problem
but under base random motions. Sakata et al. (1995) presented equations of motion of a
rigid rotorlinear springdampers subject to only a supporting frames pitching (rotational
one-DOF) motion. Their analyses are applicable to rotors, on-board aircraft, experiencing
pitching (turning) motion only. In the studies of Ganiev and Lyutyi (1972), Asmis and Duff
(1978), Kuzma (1980), Soni and Srinivasan (1983), Kim (1986), Samali et al. (1986), Hori
(1988), Hori and Kato (1990), Suarez et al. (1992), and Sakata et al. (1995), rotor unbalance
is neglected and results are only in the time domain. Doughty (2001) used a one-DOF model
and Lagranges equation to study a circuit breaker (rigid crank slider mechanism) under base
sinusoidal excitation. Results are in the time domain only.
Rotating machinery could be supported on ball bearings. These bearings exhibit asym-
metrical nonlinearity in their restoring forces (Ishida, 2000). Bearing nonlinearity is mod-
eled using restoring forces with cubic stiffness and linear damping coefficients (Yamamoto
et al., 1975, 19811 Ishida and Yamamoto, 19931 Ishida, 2000). Bearing nonlinear restoring
forces can induce associated superharmonics, subharmonics and summed and differential
oscillations as well as jumps in the systems response. Ishida and Yamamoto (1993) used a
two-DOF rotor model to study entrainment phenomena at a critical speed of 1/2 order sub-
harmonic oscillations of forward and backward whirling modes. Supporting bearings restor-
ing forces were modeled using a polynomial up to the third power of bearing deflections.

Dynamic unbalance forces were considered. Linear and nonlinear springs were studied. Nu-
merical and experimental results were presented with good correlations.
Based on the work of Yamamoto et al. (1975, 1981), Ishida et al. (1990), Ishida and Ya-
mamoto (1993), Lee et al. (1993) and Zu and Ji (1996, 1998) numerically studied unbalanced
rotorball bearing systems. Bearing restoring forces are represented by cubic nonlinearity
up to the third power of bearing deflections. Damping was linear. Ishida (2000) presented
a comprehensive analytical study on rotors supported on ball bearings. Bearing restoring
forces were represented by cubic nonlinearity up to the third power of bearing deflections.
Rotor unbalance was included. Analytical and experimental results are presented with good
agreement. None of the above studies had considered the effect of base excitations on rotors
supported on bearings with cubic nonlinearity restoring forces.
As one can see, the available works on rotors under base excitations are limited in their
applications and in some cases they use analyses that are incomplete/erroneous. Further-
more, no attempt had been made before to include the effects of disk mass imbalance and
bearing cubic nonlinearity on the dynamics of rotors subject to base excitations.
This study fills in these gaps and therefore has two contributions:
(1) A Lagrangian formulation is presented for dynamic analysis of rigid rotorlinear bearing
systems subject to mass imbalance and base excitations1 to the best of the authors
knowledge this formulation is new1
(2) the effect of the cubic nonlinearity of bearing restoring forces on the response of rigid
rotors under base excitations and unbalance is included1 this effect has not been consid-
ered previously.
The reader should not confuse the analyses on rotors under base excitations developed
in this paper and other works on rotor-casing/foundation interaction, for example, Kramer
(1993), Gash (1976), Gash et al. (1984), Subbiah et al. (1988), El-Saeidy (1991), and
Bachschmid et al. (1992). Subbiah et al. (1988) used six DOFs to model a three-level (rotor
pedestalfoundation) support bearing system with two lateral DOFs for each of the three
components that are interconnected by linear springdampers. The foundation is subject to
two lateral motions. Their equations of motion are missing time-varying matrices M2 , M3 ,
M4 2 from Equation 37 and load vectors F1 , F2 , F3 , F4 from Equation 39 of our formulation
that arise from base excitations. These matrices and load vectors are essential parts of any
complete/correct dynamic formulation on machinery under base excitations. Although ball
bearing reaction forces are indeed a rotating load vector rolling over the bearing elastic casing
(El-Saeidy, 2000c, 2001), El-Saeidy (1991) and Bachschmid et al. (1992) neglected this
rotation, analyzed rotorball bearing systems and treated the bearing casing as rigid with no
base excitations. Kramer (1993), Gash (1976), and Gash et al. (1984) studied both rigid
and elastic casing/foundationrotorelastic bearings interactions and their analyses do not
include any excitations at the machine base. If an inexperienced engineer attempts to apply
these analyses to rotors under base/ground motions, again the resulting equations of motion
will be missing the matrices and load vectors mentioned above. That is, these analyses and
other similar studies (not mentioned here) are not applicable to the analysis of rotors under
base excitations.

Figure 1. A rigid rotorelastic bearingsrigid base configuration.
Figure 2. Orientation of a rigid rotor in space.
2. ANALYTICAL MODEL
Figure 1 shows a rigid disk mounted through its center to a rotating rigid shaft which in
turn is mounted on two elastic bearings. Bearings are mounted into their rigid housings that
are firmly attached to a rigid base (platform). The position of the disk along the shaft axis
is at distances L r and L l (not shown) from the right and left bearings, respectively. Rigid
shaft inertia is neglected compared with disk inertia and therefore the system mass center
(center of gravity) is at the disk geometric center. Orientation of vibrating rigid rotor in
space (Figure 2) is monitored using Euler angles (Figure 3). Here X Y Z is an inertial (fixed
in space) frame and the frame X b Yb Z b is attached to the machine base. Initially X b Yb Z b
and XY Z are parallel. The origin of the X b Yb Z b frame (point Ob ) is subject to three rigid
body translational motions denoted by the vector rb 5 [xb yb z b ]T where xb , yb , and z b are
perturbational motions along X b , Yb , and Z b axes, respectively, plus three small rotations,
1 bx , 1 by , and 1 bz , around X b , Yb , Z b , respectively. In Figure 2, X s Ys Z s is a base fixed
frame parallel to X b Yb Z b (see Figure 1). Its origin (the point Os ) is at the left bearing pedestal
center. The triad abc is a body fixed coordinates system that rotates with the rotor differential
element and represents its principal directions where i a , i b , and i c are unit vectors along axes
a, b, and c, respectively. The machine base angular velocity vector 1b is

Figure 3. Euler angles.
. . .
1b 5 1 bx i bx 2 1 by i by 2 1 bz i bz 2 (1)
where i bx , i by , and i bz (not shown) are unit vectors along X b , Yb , and Z b , respectively. The
rotor angular velocity relative to the machine base is 1s 5 3a i a 2 3b i b 2 3c i c where 3a ,
3b , and 3c are its components expressed in the abc frame. Rotor absolute angular velocity
vector is 1 5 1s 2 1b . Since oscillations of each of rotor and machine base are small and
frames abc and X b Yb Z b are initially parallel, then i bx 6 i a , i by 6 i b , and i bz 6 i c . Thus, the
absolute vector 1 can be expressed in the abc frame as
. . .
1 5 43a 2 1 bx 5i a 2 43b 2 1 by 5i b 2 43c 2 1 bz 5i c 6 (2)
In Figure 3, X Y Z is an inertial frame, abc is a body fixed frame (see Figure 2), and
x y z is an auxiliary (moving) frame that initially coincides with X Y Z. Euler angles are not
unique and are adopted as:
(1) rotation 1 about the Z axis results in the X axis coinciding with the axis x1
(2) rotation 7 about x results in the moving frame coinciding with cx y1
(3) spinning 8 about the c axis results in the moving frame coinciding with the abc frame.
Components of the vector 1 in the abc frame are (see El-Saeidy (1998, 2000a,b)1 see
also the derivation of 1 components in terms of Euler angles by, for example, El-Saeidy
(1998)):
3a 2 1 bx 5 1 sin 7 sin 8 2 74 cos 82
. .
5 1 sin 7 cos 8 7 74 sin 82

. .
3b 2 1 by
. . .
3c 2 1 bz 5 1 cos 7 2 86 (3)
Here 4 denotes differentiation with respect to time (t). The disk has five DOFs: three trans-
lational along X s , Ys , and Z s , plus two rotational motions around the X s and Ys axes. The
local displacement vector of the disk is
1 2T
h5 u 9
7a 7b 2 (4)
where u, 9 and
are translational displacements along a, b and c axes, respectively, 7 a and
7 b are rotations around a and b, respectively, and superscript T denotes a matrix transpose.

Vector h is related to the disk global displacement vector q measured in X s Ys Z s coordinates

by the transformation matrix Qs such that
1 2T 1 2
q 5 x y z 7x 7y 2 h 5 Qs q2 Qs 5 diag Qt Qr (5)
3 6
cos s t sin s t 0 9
4 7 cos s t sin s t
Qt 5 4
57 sin s t cos s t 07
82 Qr 5 6 (6)
7 sin s t cos s t
0 0 1
Here Qt and Qr are orthogonal transformation matrices. The subscripts t and r denote trans-
lational and rotational motions, respectively. In the vector q, the disk displacements x, y,
and z are along the X s , Ys , and Z s axes and 7 x and 7 y are rotational motions around the X s
and Ys axes. The displacement vectors h of Equation 4 and q of Equation 5 are partitioned
as
1 2T 1 2T 1 2T
h 5 hTt hrT 2 ht 5 u 9
2 hr 5 7 a 7 b (7)
1 T 2T 1 2T 1 2T
q 5 qt qrT 2 qt 5 x y z 2 qr 5 7 x 7y 6 (8)
Using Equations 58, one obtains
ht 5 Qt qt 2 hr 5 Qr qr 6 (9)
Vectors qt and qr are related to the vector q as

3 6
1 0 0 0 0 9
4 7 0 0 0 1 0
qt 5 Nt q2 qr 5 Nr q2 Nt 5 4 7
50 1 0 0 08 2 Nr 5 6 (10)
0 0 0 0 1
0 0 1 0 0
Substituting from Equations 10 into Equation 9, one obtains
ht 5 Qt Nt q2 hr 5 Qr Nr q6 (11)
The absolute position vector of the mass center (center of gravity) measured along X Y Z
axes is r:
r 5 rb 2 rc 2 rc 5 roc 2 qt 5 roc 2 Nt q2 (12)
where rc is position vector of the disk relative to X b Yb Z b in the displaced state. roc 5 rob 2ro
is the position of the center of gravity in the undisplaced state. Here rob 5 [x ob yob z ob ]T gives
the fixed distance between points Ob and Os and ro 5 [xo yo z o ]T is the position vector of the
center of gravity relative to the X s Ys Z s frame in the undisplaced state of the rigid disk. The
absolute velocity vector of the center of gravity is r4 5 r4 b 2 r4 c 2 3b 8 rc , where 8 denotes a
vector cross product, or

3 . . 6
0 71 bz 1 by
4 . 7
4 . 7
r4 5 r4 b 2 r4 c 2 3
b rc 2 b 5 4 1 bz
1 0 71 bx 7 6 (13)
5 8
. .
71 by 1 bx 0
Here r4 b 5 [x4b y4b z4 b ]T is the base absolute translational velocity vector and 1 b is associated
with 1b of Equation 1. Since roc in Equation 12 is time invariant, the velocity vector of the
4 Here q4 is the velocity vector of the center of
center of gravity relative to X b Yb Z b is r4 c 5 Nt q.
gravity. Put rc 5 roc 2Nt q of Equation 12 and r4 c into the right-hand side of r4 of Equation 13,
then
1 2T
r4 5 r4 b 2 Nt q4 2 3
b 4roc 2 Nt q52 q4 5 x4 y4 z4 74 x 74 y 6 (14)
2.1. Kinetic Energy
Expressed in the X Y Z frame, the system translational kinetic energy is
1 1 2
1t 5 r4 T Mt r4 2 Mt 5 diag m d md md 6 (15)
2
Here Mt is the translational mass matrix, m d is the disk mass. Translational velocity vector
r4 is from Equation 14. Expressed in abc frame, system rotational kinetic energy 1r is
1 1 2T
1r 5 IrT Ii Ir 2 Ir 5 3 9 i a 3 9 ib 3 9 ic 6 (16)
2
1
Here 12 is from Equation 2 and 9 denotes a vector inner product. The matrix Ii 5 diag Idd
Idd I pd is the rotor inertia tensor about the a, b, and c axes. Here I pd and Idd are disk polar
and diametral moments of inertia, respectively. Rewrite the expression for 1r in terms of
vectors q and q4 as follows. Angles of absolute rotation around the .
X and
.
Y axes are 8 x and
8 y , respectively, and the corresponding rotational velocities are 8 x and 8 y , such that
8 x 5 74 x 2 1 bx 2 8 y 5 74 y 2 1 by 6
. . . .
8 x 5 7 x 2 1 bx 2 8 y 5 7 y 2 1 by 2 (17)
4 are
Vectors of total rotations about the X and Y axes and corresponding velocities, 2 and 2,
2 5 qr 2 2b 2 4 5 q4 r 2 2
2 4 b2
1 2T 1 2T . T
q4 r 5 74 x 74 y 4 b 5 1 bx
.
2b 5 1 bx 1 by 2 4
5 Nr q2 2 1 by 6 (18)
The disk rotational motion vector qr is from Equation 10. Here q4 r is the disk rotational
velocity. The subscript b refers to the machine base. From Figure 3 we have, for small
angles of rotations, 8 x 5 7 cos 1 and 8 y 5 7 sin 1. Differentiate 8 x , 8 y with respect to
time, then

8 x 5 74 cos 1 7 7 1 sin 12
. .
8x 5 7 cos 12 8 y 5 7 sin 12
5 74 sin 1 2 7 1 cos 16
. .
8y (19)
From Equation 3,
. . 2 . . . 2
43c 2 1 bz 52 5 8 2 28 1 cos 7 2 1 41 7 sin2 756
Using sin 7 6 7, cos 7 6 1 7 7 2 2, then

. .
43c 2 1 bz 52 5 2s 7 s 17 2 2 (20)
. . . . .
where s 5 4821) is the rotor spin speed. Using Equation 19, we have 8 y 8 x 78 x 8 y 5 17 2 .
Substituting this result into right-hand side of Equation 20, then
. . .
43c 2 1 bz 52 5 2s 7 s 48 y 8 x 7 8 x 8 y 56 (21)
However, from Equation 17,

. .
8 y 8 x 7 8 x 8 y 5 I1 2 I2 2 I3 2 I4 2 (22)
where
I1 5 74 y 7 x 7 74 x 7 y 2 I2 5 74 y 1 bx 7 74 x 1 by 2
. .
I3 5 7 x 1 by 7 7 y 1 bx 2
. .
I4 5 1 by 1 bx 7 1 bx 1 by 6 (23)
Using Equations 17 and 18, in matrix form Equations 23 become
I1 5 7q4 rTI22 qr 2 I2 5 7q4 rTI22 2b 2

9
0 1
I3 5 qrTI22 2
4 b2 I4 5 4 Tb I22 2b 2 I22
72 5 6 (24)
71 0
Substitute qr 5 Nr q and q4 r 5 N. r q4 into Equation

.
24 and put I1 to I4 into the right-hand side
of Equation 22 and then take (8 y 8 x 7 8 x 8 y ) from Equation 22 into the right-hand side of
Equation 21, we obtain

43c 2 1 bz 52 5 2s 2 s q4 T NrTI22 Nr q 2 2
4 Tb I22 2b 2 q4 T NrTI22 2b 7 qT NrTI22 2
4b 6
.
(25)
. .
Using (3b 2 1 bx ) and (3c 2 1 by ) from Equation 3 and sin 7 6 7, then
2
43a 2 1 bx 52 2 43b 2 1 by 52 5 74 2 7 2 1 6
. . 2 .
(26)

2 2 2
Using Equations 19, then 8 x 2 8 y 5 74 2 7 2 1 . However, Equations 17 and 18 give
. . 2 .
2 2
4 T2
4 5 q4 rT q4 r 2 2q4 rT 2 4 Tb 2
4b22 4 b6
. .
8x 2 8 y 5 2
Thus,
2
74 2 7 2 1 5 q4 rT q4 r 2 2q4 rT 2b 2 2
4 Tb 2
4 b6
2 .
(27)
Substituting from Equation 27 into the right-hand side of Equation 26 and recalling that
q4 r 5 Nr q,
4 then
4 Tb 2
4b 22 4b
. .
43a 2 1 bx 52 2 43b 2 1 by 52 5 q4 T NrT Nr q4 2 2q4 T NrT 2 (28)
Substitute from Equations 28 and 25 into Equation 16 to obtain the expression for 1r . Put
r4 of Equation 14 into the expression for 1t of Equation 15. Then the total kinetic energy
1 5 1r 2 1t is
1 T 1
1 5 r4 b Mt r4 b 2 rToc 3 Tb Mt 3 b roc 2 rToc 3
Tb Mt r4 b
2 2
1 2 d 1 2
2 s I p 2 s I pd 24 Tb I22 2b 2 Idd 2 4 Tb 2
4 b 2 q4 T Mt 3 b roc 2 r4 b 2 q4 T M2 q
2
1 T 2
2 qT Mt 3 Tb 3
b r4 b 2 3 b roc
11 T 2
2 q M3 q 2 4q5 4 b 2 q4 T Mq4 2 q4 T S2 2
4 T Gq 2 q4 T S1 2b 7 qT S1 2 4b (29)
2
T T
T T
rb 5 rTb 021 2 roc 5 rToc 021 2
1 2 T
T
b 5 diag 3
3 b 022 2 2b 5 031 2Tb 6 (30)
b is from Equation 13, 0i j is an i 8 j null matrix, Mt is the translational mass matrix,

Here 1
Mt of Equation 15, in an expanded form. The matrices M and G are the disk inertia and
gyroscopic matrices. Matrices S1 , S2 , M2 , and M3 arise from base excitations:
1 2
M 5 diag Mt Idd I22 2 G 5 diag 033 s I pdI22 2 S1 5 G2
1 2 1 2
S2 5 diag 033 2Idd I22 2 Mt 5 diag Mt 032 2
1 2 1 2
b 022 2
M2 5 diag Mt 1 Tb 1
M3 5 diag Mt 1 b 022 6 (31)

2.2. Disk Mass Unbalance
Let a and b be center-of-gravity eccentricities along the a and b axes. The disk generalized
T 1 2T
unbalanced force vector Fu 5 2s Qs Mt a b 0 0 0 or
Fu 5 Fuc cos s t 2 Fus sin s t (32)

1 2T 1 2T
Fuc 5 m d 2s a b 0 0 0 2 Fus 5 m d 2s 7 b a 0 0 0 6 (33)
2.3. Linear Bearings Forces, Potential Energy, and Dissipation Function
For small oscillations and angles of rotation, right and left bearing forces are
Fxr 5 K r 4x 2 L r 7 y 5 2 Cr 4x4 2 L r 74y 52 Fxl 5 K l 4x 7 L l 7 y 5 2 Cl 4x4 7 L l 74y 52
Fyr 5 K r 4y 7 L r 7 x 5 2 Cr 4 y4 7 L r 74x 52 Fyl 5 K l 4y 2 L l 7 x 5 2 Cl 4 y4 2 L l 74x 52
Fzr 5 a
K r z 2 a C r z4 2 Fzl 5 a K l z 2 a C l z4 2 (34)
where K and C are spring and damper coefficients, superscript a denotes axial motion,
subscripts x, y, and z denote the X s , Ys , and Z s axes and r and l denote the right and left
bearings. Let a K 5 a K r 2 a K l , a C 5 a Cr 2 a Cl , then the potential and dissipation functions,
2 , 3, are
Kr 1 2 Kl 1 2 aK 2
2 5 4x 2 L r 7 y 52 2 4y 7 L r 7 x 52 2 4x 7 L l 7 y 52 2 4y 2 L l 7 x 52 2 z 2
2 2 2
Cr 1 2 Cl 1 2 aC 2
3 5 4x4 2 L r 74 y 52 2 4 y4 7 L r 74 x 52 2 4x4 7 L l 74 y 52 2 4 y4 2 L l 74 x 52 2 z4 6 (35)
2 2 2
2.4. Equations of Motion
Use q of Equation 5, q4 of Equation 14, 1 of Equation 29, Fu of Equation 32, 2 and 3

of Equation 35 and apply Lagranges equations in Equation 36 to obtain the equations of
motion of Equation 37:

d 1 1 3 2
7 2 2 5 Fu j 2 j 5 x2 y2 z2 7 x 2 7 y 2 (36)
dt q4 j q j q4 j q j
4 2 2 K5q 5 F2
Mq
2 4C 2 M2 2 G5q4 2 4M3 2 M (37)

4
F 5 Fu 2 Fi 2 (38)
i51


4 b2
F1 5 S1 2
b2
F2 5 7 S2 2 F3 5 7 Mt 34 b roc 2 r
b 2
1 T 2
b r4 b 2 3
F4 5 7 Mt 3 b roc 6
Tb 3 (39)
Here F is the total load vector, Fu is from Equation 32, loads Fi are due to base excitations,
S1 and S2 are from Equation 31. Note that the part 7Mt 3 Tb r4 b of F4 is missing in Soni and
Srinivasan (1983), Kim (1986), and Samali et al. (1986). The stiffness and damping matrices
K and C are
3 6
Kr 2 Kl 0 0 0 L r Kr 7 L l Kl
4 7
4 0 Kr 2 Kl 0 L l Kl 7 L r Kr 0 7
4 7
4 7
K 5 4
4 0 0 a
Kl 2 a Kr 0 0 72
7
4 7
4 0 L l Kl 7 L r Kr 0 L r2 K r 2 L l2 K l 0 7
5 8
L r Kr 7 L l Kl 0 0 0 L r2 K r 2 L l2 K l
3 6
Cr 2 Cl 0 0 0 L r C r 7 L l Cl
4 7
4 0 Cr 2 Cl 0 L l Cl 7 L r Cr 0 7
4 7
4 7
C 5 4
4 0 0 a
Cl 2 a Cr 0 0 7 2 (40)
7
4 7
4 0 L l C l 7 L r Cr 0 L r2 Cr 2 L l2 Cl 0 7
5 8
L r Cr 7 L l C l 0 0 0 L r2 Cr 2 L l2 Cl
1 T
1 T

4 2 5 dM2 6
G 5 G7G 2 M2 5 M2 7 M2 2 M (41)
2 2 dt
4 2,
Here M, C, and K are symmetric, G is a gyroscopic matrix, the coefficient matrices M2 , M
and M3 are time-variant and skew-symmetric, and M2 and M3 are from Equation 31.
3. EQUATIONS OF MOTION SOLUTIONS: LINEAR BEARINGS AND

HARMONIC EXCITATION
3.1. Base Harmonic Excitation in the X Direction and Mass Imbalance
Excitation is mass imbalance plus base horizontal harmonic motion rb

1 2T
rb 5 X o Ib sin b t2 Ib 5 1 0 0 0 0 6 (42)
Here X o is the amplitude and b is the frequency (rad s71 ). Obtain r4 b and r
b , and put them
into Equation 39, then

F1 5 F2 5 F4 5 051 2 F3 5 Fbs sin b t2 Fbs 5 X o 2b Mt Ib 6 (43)
From Equations 32 and 43, the load vector F of Equation 38 is
F 5 Fuc cos s t 2 Fus sin s t 2 Fbs sin b t6 (44)
Here Fuc and Fus are from Equation 33. Under these loads, each of M3 of Equation 31
and M2 of Equation 41 becomes a null matrix and the equations of motion in 37 become
Mq
2 4C 2 G5q4 2 Kq 5 F. Their solution vector q is
q 5 quc cos s t 2 qus sin s t 2 qbc cos b t 2 qbs sin b t2 (45)
where quc , qus , qbc , and qbs are unknown displacement vectors. Use q to obtain q4 and q,

put
these into the equations of motion and equate similar coefficients on both sides, then
9
9
9
K 7 2s M s 4C 2 G5 quc Fuc
5 2 (46)
7 s 4C 2 G5 K 7 2s M qus Fus
9
9
9
K 7 2b M b 4C 2 G5 qbc Fbc
5 6 (47)
7 b 4C 2 G5 K 7 2b M qbs Fbs
3.2. Base Rotational Harmonic Excitation Around the Y Direction
External excitation, of amplitude 1 o (radians), around the Y axis is
1 by 5 1 o sin b t6 (48)
Here M2 , M4 2 , and M3 matrices in Equation 37 and Fi load vectors of Equation 39 become
4 2 5 7 b M2 sin b t2 1
M2 5 M2 cos b t2 M M3 5 M3 41 2 cos 2 b t52 (49)
2
3 6 3 6
0
0 1 0 0 1 0 0 0 0
4 7 4 7
4 0 0 0 0 07 40 0 0 0 07
4 7 4 7
4 7 4 7
M2 5 m b1 o 4
d 7
471 0 0 0 07 2
d 2 24
M3 5 m b 1 o 40 0 1 0 07 7 2 (50)
4 7 4 7
4 0 0 0 0 07 40 0 0 0 07
5 8 5 8
0 0 0 0 0 0 0 0 0 0
F1 5 F1 cos b t2 F2 5 F2 sin b t2 F3 5 F3 sin b t2
F4
F4 5 41 2 cos 2 b t52 (51)
2

1 2T 1 2T
F1 5 s b 1 o I pd 0 0 0 1 0 2 F2 5 2Idd 2b 1 o 0 0 0 0 1 2
1 2T 1 2T
F3 5 m d z o 1 o 2b 71 0 0 0 0 2 F4 5 m d z o 1 2o 2b 0 0 71 0 0 6 (52)
The solution vector q (with unknown vectors qo , qcn , qsn ) of Equation 37 is

q 5 qo 2 4qcn cos n b t 2 qsn sin n b t56 (53)
n51
4 q
and put them into Equation 37 and use loads Fi from Equation 51, then for n 5 3
Obtain q,
we obtain
1 2T
S qTo qTc1 qTs1 qTc2 qTs2 qTc3 qTs3
T
1 T T 1 T T T T
5 F F1 4F2 2 F3 5T F 051 051 051 6 (54)
2 4 2 4
Nonzero entries Si j of the 35 8 35 matrix S are as follows:
1 1 3
S11 5 K 2 M3 2 S13 5 7 b M2 2 S14 5 M3 2 S22 5 K 2 M3 7 2b M2
2 4 4
1
S23 5 s 4C 2 G52 S25 5 b M2 2 S26 5 S14 2 S31 5 S13 2 S32 5 7S23 2
2
1 1
S33 5 K 2 M3 7 2b M2 S34 5 7S25 2 S37 5 S26 2 S41 5 M3 2 S43 5 7S13 2
4 2
1
S44 5 K 2 M3 7 4 2b M2 S45 5 2S23 2 S47 5 S43 2 S52 5 S31 2 S54 5 7S45 2
2
3 1
S55 5 S44 2 S56 5 S52 2 S62 5 S14 2 S65 5 b M2 2 S66 5 K 2 M3 7 9 2b M2
2 2
S67 5 3S23 2 S73 5 S14 2 S74 5 7S65 2 S76 5 73S23 2 S77 5 S66 6 (55)
Solve Equation 54 for qo , qcn , qsn .
4. EIGENVALUES AND RESULTS: LINEAR BEARINGS
Rotor data are given in Table 1. The damper coefficient

a 12
K r 2a K l
Cr 5 Cl 5 Cr 5 Cl 5 2m
a a d
6
md

Table 1. Rotor configuration and physical properties.

Item Value
L Shaft length 1.0 m
md Disk mass 5670 kg
Idd Disk diametral moment of inertia 3550 kg m2
I pd Disk polar moment of inertia 7100 kg m2
a Eccentricity of disk mass center in the a direction 0.0001 m
b Eccentricity of disk mass center in the b direction 0.0001 m
Ll Position of disk from left bearing 0.33 L m
Lr Position of disk from right bearing 0.67 L m
Kr Right bearing stiffnes along X s and Ys directions 108 N m71
Kl Left bearing stiffness along X s and Ys directions 108 N m71
a
Kr Right bearing stiffness along Z s direction 108 N m71
a
Kl Left bearing stiffness along Z s direction 108 N m71
s Shaft rotational speed 0.01300 rpm
Damping ratio 0.00010.03

Values of m d , I pd and Idd can be found for example in Suarez et al. (1992).
Table
2. Eigenvalues k (5 k 1 i f k , f k are the natural frequencies in Hertz) for s 5 01
i5 711 f 3 5 f a , f a is the undamped natural frequency in the axial direction.
DAMRO-1
fk Exact Jacobi QR MATLAB
f1 18.230170 18.230170 0 1 186230170i 0 1 186223241i
f2 18.230170 18.230170 0 1 186230170i 0 1 186223241i
f3 29.891217 29.891217 0 1 296891217i 0 1 296902031i
f4 30.970187 30.970187 0 1 306970187i 0 1 306979510i
f5 30.970187 30.970187 0 1 306970187i 0 1 306979510i
Analytical (exact) frequencies of Mq

2 Kq 5 051 are

aK
f35 2
md

m d 4K r L r2 2 K l L l2 5 2 Idd 4K r 2 K l 5
4 f 4 5 f 52 f 1 5 f 25 5
2m d Idd
1 22 12
m d 4K r L r2 2 K l L l2 5 2 Idd 4K r 2 K l 5 7 4m d Idd K r K l 4L r 2 L l 52
1 6
2m d Idd
For comparison, we solved for the eigenvalues using the QR and Jacobi methods of the
DAMRO-1 program (El-Saeidy, 1993) and MATLAB (see Table 2). The Jacobi and QR

Table 3. Samples of natural frequencies f k (in Hertz) versus rotor speed, s (rpm)1 f kB ,
backward mode frequency1 f kF , forward mode frequency.
s fk DAMRO-1 MATLAB s fk DAMRO-1 MATLAB
100 f1 5 f 1B 16.78711 16.78289 500 f1 12.11425 12.09418
f2 5 f 1F 19.76384 19.75431 f2 25.80890 25.82448
f3 5 f a
29.89122 29.90203 f a: 29.89122 29.90203
f4 5 f 2B 30.81859 30.82990 f4 30.47874 30.48931
f5 5 f 2F 31.17519 31.18482 f5 33.45076 33.46869
200 f1 5 f 1B 15.45068 15.44280 1000 f1 8.45222 8.45749
f2 5 f 1F 21.35728 21.35223 f2 28.7066 28.71155
f3 5 fa 29.89122 29.90203 fa 29.8912 29.90203
f4 5 f 2B 30.70277 30.71372 f4 30.2916 30.30310
f5 5 f 2F 31.46284 31.47130 f5 43.3706 43.31243
300 f1 5 f 1B 14.22720 14.22049 1200 f1 7.45953 7.46118
f2 5 f 1F 22.95698 22.95014 f2 29.0184 29.02668
f3 5 fa 29.89122 29.90203 fa 29.8912 29.90203
f4 5 f 2B 30.61182 30.62300 f4 30.2461 30.25695
f5 5 f 2F 31.88203 31.88828 f5 48.6872 48.63934
400 f1 5 f 1B 13.11651 13.10800 1300 f1 7.03509 7.034648
f2 5 f 1F 24.47806 24.47644 f2 29.1221 29.13172
f3 5 fa 29.89122 29.90203 fa 29.8912 29.90203
f4 5 f 2B 30.53869 30.54979 f4 30.2270 30.23785
f5 5 f 2F 32.51047 32.51695 f5 51.4733 51.43251
methods give exactly the same results. The DAMRO-1 results and exact values are coinci-
dent. 9Here Mq
2 Gq4 2 Kq
5 051 is transformed into a first-order system and its matrix
055 I55
H5 is solved using the QR method of DAMRO-1 and the MATLAB
7M K 7M71 G
71
line command eig4H5 for eigenvalues (see Table 3 and Figure 4). Here 1F 45 f 1F ), 1B (5 f 1B )
are the first forward and backward modes and 2F 45 f 2F ), 2B (5 f 2B ) are the second forward
and backward modes.
4.1. Mass Unbalance
The frequency s 45Ws 5 5 1000 rpm ( f s 5 50

3
Hz). The load vector of Equation 38 reduces
to that of Equation 32. The disk orbit obtained using the RungeKutta method (RKM) of
DAMRO-1 (solid line1 integration time step of 1077 s), the RKM subroutine DIVPRK of
IMSL (dashed line), and Equation 45 (dashed-dotted line) is depicted in Figure 5a, with
excellent agreement. The time domain is recorded after it reached a steady state, and the zero
mean, windowed using Hannings window and fast Fourier transform (FFT) (Figure 5b), is
computed.

Figure 4. Natural frequencies versus rotor speed ( s ).
4.2. Mass Unbalance Plus Base Excitation in the X Direction
The unbalance frequency s 5 1000 rpm 5 503 Hz. The amplitude and frequency of the
base excitation (Equation 42) are X o 5 060002 m and b 45Wb 5 5 s 2. Figure 6a shows
the disk orbit (no longer circular as for the unbalance frequency only of Figure 5a) obtained
using RKM of DAMRO-1 (solid line) and analytically using Equation 45 (dashed line). The
amplitude value is increased by factors of about 2 and 1.8 in X and Y directions. In FFT
(Figure 6b), f 2 5 166663 Hz 5 s . The highest amplitude value (at f 1 5 86331 Hz 5 b ) is
in the X direction. This necessitates measuring the vibration in the base excitation direction
and orthogonal to it.
We present the frequency response at different shaft speeds ( s ). It is done by base
frequency (Wb 5 f b ) sweep at each s and Amax 5 max x 2 2 y 2 (x, y are disk motions)
in each shaft cycle is obtained and normalized with respect to Yb 45X o 5. On plots Amax Yb
should read as Amax Y b . Samples of Amax Y b versus Wb are plotted in Figures 7ac for
s 5 060 to 500 rpm in a 100 rpm increment, and Figure 7d for 1200 and 1300 rpm. The
response is marked with peaks (no peaks are visible outside the plotted range). On an s 5 0
plot (dashed line) f a 5 186228 Hz and f b 5 306976 Hz are due to first and second natural
frequencies f 1 5 f 2 and f 4 5 f 5 (Table 2). As s increases, disk gyroscopic moments start
to affect the response. On the plot for 100 rpm, f 1 5 166780 Hz and f 2 5 196756 Hz are due
to f 1B (first backward mode) and f 1F (first forward mode) corresponding to s 5 100 rpm
in Table 3. On the other hand, f 3 is unaffected by the shaft speed and still coincides with
f b of the s 5 0 case, but with lower Amax . Peaks 1, 2, 3, and 4 or a, b, c, and d are,
respectively, due to f 1B , f 1F , f 2B , and f 2F at the corresponding s . Each frequency response
has its operating zones along the Wb axis and in some cases they are unwanted (i.e. risky if

Figure 5. (a) Disk orbit for disk mass unbalance of s 5 1000 rpm: solid line, RKM in DAMRO-11 dashed
line, RKM in IMSL1 dashed-dotted line, analytical. (b) FFT of disk x (solid line) and y (dashed line)
motions of the orbit in (a).

Figure 6. (a) Disk orbit for unbalance of s 45Ws 5 5 1000 rpm and base excitation in the X direction of
b 45Wb 5 5 s 2: solid line, RKM in DAMRO-11 dashed line, analytical. (b) FFT of x (dashed line) and
y (solid line) signals of (a).

Figure 7. Frequency response of disk lateral vibrations for unbalance and base excitation in the X
direction: (a) s 5 060 rpm (dashed line), 100 rpm (solid line)1 (b) s 5 200 rpm (dashed line), 300 rpm
(solid line)1 (c) s 5 400 rpm (dashed line), 500 rpm (solid line)1 (d) s 5 1200 rpm (dashed line),
1300 rpm (solid line). (Continued)

Figure 7. Frequency response of disk lateral vibrations for unbalance and base excitation in the X
direction: (a) s 5 060 rpm (dashed line), 100 rpm (solid line)1 (b) s 5 200 rpm (dashed line), 300 rpm
(solid line)1 (c) s 5 400 rpm (dashed line), 500 rpm (solid line)1 (d) s 5 1200 rpm (dashed line),
1300 rpm (solid line). (Continued)

Figure 8. Effect of damping on the disk response of Figure 7c (solid line, s 5 500 rpm).
the machine is externally excited within them). For example, Figure 7b has five operating
regions and the risky region is between f 3 and f 4 for 200 rpm (dashed line) and between f c
and f d for 300 rpm (solid line). This region is narrow with higher amplitudes compared with
the other zones. If the base excitation frequency falls within it, an undesirable build up in
vibration amplitude could result.
Figure 8 shows the damping effect on the disk response of Figure 7c (solid line). In-
creasing the damping by six-fold reduces the amplitude by almost the same ratio. Damping
changes do not shift the position of the peaks. This holds for all cases (not reported) in the
01300 rpm range.
Lateral displacements of each of right and left bearings (xbr 5 x 2 L r 7 y , ybr 5 y 7 L r 7 x 1
xbl 5 x 7 L l 7 y , ybl 5 y 2 L l 7 x ) are used to calculate its Amax . Figure 9 shows the frequency
response of the disk (dashed-dotted line), right bearing (dashed line), and left bearing (solid
line) for s 5 1000 rpm, 5 06005. We see four peaks at f 1B , f 1F , f 2B , and f 2F of Table 3
for 1000 rpm. The dominant vibration (peak 2) is from the right bearing. At peaks 3 and
4, both bearings have almost the same Amax . At peak 2, the Amax of the disk is higher than
that of left bearing but lower than that of right bearing. At spike 4, the disk has the lowest
Amax . These highlights and other cases not included lead us to conclude that each bearing
frequency response is qualitatively similar to that of the disk but not necessarily of the same
amplitude values at each vibration, i.e. it is necessary to measure vibrations at each bearing
housing in the base excitation direction and orthogonal to it. Measuring vibrations at the disk
location alone can lead to underestimation of the vibration amplitude.

Figure 9. Frequency response as in Figure 7a but for the right bearing (dashed line), left bearing (solid
line), and disk (dashed-dotted line): s 5 1000 rpm.
4.3. Unbalance Plus Base Rotational Motion Around the Y Axis
Here s 5 290 rpm 5 46833 Hz. Base rotational motion around the Y axis is from Equa-
tion 48. Here 1 o 5 3600 2
radians, b 5 870 rpm 5 1465 Hz, and 5 06005. The solution

vector q 5 quc cos s t 2 qus sin s t 2 qo 2 3n51 4qcn cos n b t 2 qsn sin n b t5. The terms
quc 2 qus are from Equation 46 and qo 2 qcn 2 qsn are from Equation 54. As z vibration is uncou-
pled from the other four DOFs and the external excitation frequency in the axial direction is
2 b (see Equations 4952), its time domain in Figure 10a is periodic of period 21 b . This is
the only visible tone irrespective of frequency s , see FFT in Figure 10b. For 5 102000 1
,

the frequency response of z (Amax 5 max z ) in Figure 10c for s 5 060, 500, 1000 rpm
2
has four peaks that arise from natural frequencies at s , as in Figure 7, in addition to a
peak (marked B, I, 2 for 0, 500, 1000 rpm) of fixed frequency (in all cases of z vibration
studied, not shown) at 065 f a (5065 f 3 5 146946 Hz, see Tables 2 and 3). For unbalance
of s 5 1000 rpm 5 503 Hz and base rotational excitation around the Y axis of 1 o 5 3600 2
s
radians and b 5 2 , the disk orbit in Figure 11a is no longer a circle and the absolute
value of the amplitude is increased by a factor of about 5 and 5.95 in the X and Y directions,
respectively, compared with the orbit of unbalance alone in Figure 5a. In FFT (Figure 11b),
f1 5 b , f2 5 s .
The response of the disk lateral vibrations is shown in Figures 12a and 12b for s 5 060
700 rpm only (for brevity). The peaks are due to the natural frequencies listed in Tables 2
and 3. On the s 5 0 plot (Figure 12a), f a 5 f 1 and f b 5 f 4 (Table 2). The response of
each of 100, 200, and 300 rpm has three spikes f 1 5 f 1B , f 2 5 f 1F , and f 3 5 f 2F . Here f 2B ,
of Table 3, is not excited. Comparing these three plots with their counterparts in Figures 7a

Figure 10. (a) Time domain of the disk axial vibration (z ) for an unbalance of s 5 290 rpm and base
rotational excitation of b 5 870 rpm around the Y axis. (b) FFT of disk z vibration in (a). (c) Frequency
response of the disk z vibration for the unbalanced and base rotational excitation around the Y axis:
s 5 060 rpm (dashed line), 500 rpm (dashed-dotted line), and 1000 rpm (solid line). (Continued)

Figure 10. (a) Time domain of the disk axial vibration (z ) for an unbalance of s 5 290 rpm and base
rotational excitation of b 5 870 rpm around the Y axis. (b) FFT of disk z vibration in (a). (c) Frequency
response of the disk z vibration for the unbalanced and base rotational excitation around the Y axis:
s 5 060 rpm (dashed line), 500 rpm (dashed-dotted line), and 1000 rpm (solid line). (Continued)
and 7b we see that f 2B is excited there. For speeds 4001300 rpm, peaks are at f 1B , f 1F , f 2B ,
and f 2F .
5. NONLINEAR BEARINGS ANALYSIS

Nonlinear bearings reaction forces in the X s Ys Z s frame may be given by the vector Fb
l nl
Fb 5 Fb 2 Fb 2 (56)
l 1 2T
Fb 5 4Fxr 2 Fxl 5 4Fyr 2 Fyl 5 4Fzr 2 Fzl 5 6 (57)
l
Linear forces Fb are from Equation 34. Here
nl 1 2T
F b 5 4Fxrnl 2 Fxlnl 5 4Fyrnl 2 Fylnl 5 4Fzrnl 2 Fzlnl 5
are
Fxlnl 5 K lnl 4x 7 L l 7 y 53 Fylnl 5 K lnl 4y 2 L l 7 x 53 Fzlnl 5 a K lnl z 3
Fxrnl 5 K rnl 4x 2 L r 7 y 53 Fyrnl 5 K rnl 4y 7 L r 7 x 53 Fzrnl 5 a K rnl z 3 6 (58)

Figure 11. (a) Disk orbit for an unbalance of s 5 1000 rpm and base rotational excitation around the Y
axis of b 5 s 2. (b) FFT of x (solid line) and y vibrations of orbit in (a).

Figure 12. (a) Frequency response of disk lateral vibrations for unbalance and base rotational excitation
around the Y axis: s 5 060 rpm (solid line), 100 rpm (dashed line), 200 rpm (dashed-dotted line), and
300 rpm (dashed-dotted-dotted line). (b) Disk response as in (a): s 5 400 rpm (dashed-dotted-dotted
line), 500 rpm (dashed line)1 600 rpm (dashed-dotted line), and 700 rpm (solid line).

Here K nl (5K 3 ) is the bearing nonlinear stiffness coefficient. Moving nonlinear forces in
Equation 58 to the mass center creates a nonlinear load vector Fnlb , the components of which
are the same forces plus nonlinear moments F7nlx and F7nly about the X s and Ys axes. Thus,
1 nl 2T
Fnl
b 5 4Fxr 2 Fxlnl 5 4Fyrnl 2 Fylnl 5 4Fzrnl 2 Fzlnl 5 F7nlx F7nly 2 (59)
F7nlx 5 7L l K lnl 4y 2 L l 7 x 53 2 L r K rnl 4y 7 L r 7 x 53 2
F7nly 5 7L r K rnl 4x 2 L r 7 y 53 2 L l K lnl 4x 7 L l 7 y 53 6 (60)
l
Forces Fb of Equation 57 are used to form 2 and 3 of Equation 35. Vector Fnl b of Equation 59
is accounted for as an external load, i.e. in the right-hand side of Lagranges equation 36, so
the load vector becomes 4Fu j 7Fnl
bj 5, Fu is from Equation 32. Lagranges equation yields same
4
equations 37 except that the load vector F of Equation 38 becomes F 5 7Fnl b 2Fu 2 i51 Fi .
5.1. Results: Nonlinear Bearings
Equations of motion are solved using the RKM of DAMRO-1. Input data are as in Table 1
except that the bearing stiffness linear and nonlinear coefficients (K 5 K 1 2 K 3 ) are variables.
For unbalance only of s 5 1000 rpm (5 f s 5 503 Hz), Figure 13a shows disk orbit for:
K 1 5 108 N m71 , K 3 5 1017 N m73 (solid line)1 K 1 5 108 N m71 , K 3 5 6 8 1016 N m73
(dashed line)1 and K 1 5 68107 N m71 , K 3 5 681016 N m73 (dashed-dotted line). The orbit
is not circular as for linear supports (K 3 5 0) of Figure 5a. Comparing the solid line orbit
with the dashed line orbit shows that increasing nonlinearity (K 3 ) makes the bearings stiffer
and this decreases the vibration amplitudes. Comparing the dashed-dotted line orbit with the
dashed line orbit, we see that for the same K 3 , the two orbits are qualitatively the same but
lowering the value of K 1 (linear stiffness) makes bearing more resilient and this increases
the vibration amplitudes. Figure 13b shows the FFT of the disk horizontal velocity x4 for
(K 1 2 K 3 ) coefficients used in Figure 13a. FFT is marked by odd harmonics of f s : f 1 5 f s ,
f 2 5 3 f s , f 3 5 5 f s , f 4 5 7 f s , f 5 5 9 f s , and f 6 5 11 f s . This is because bearing spring
force is an odd function of deflection.
For unbalance of s 5 1000 rpm, K 1 5 108 N m71 , K 3 5 1016 N m73 and 5
06005, Figure 14a shows the disk orbit (solid line). The Poincar map (), obtained by
sampling the orbit (x2 y) once per shaft revolution, has one point: the motion is periodic.
Figure 14b shows the FFT of disk motions. In each direction, f 1 5 166665 Hz 5 f s and f 2 5
496996 Hz 5 3 f s . Next, excitation is unbalance as in Figure 14a plus base horizontal motion
of b 45Wb 5 5 240 rpm. Figure 15a shows the disk orbit. The FFT of x in Figure 15b
shows modulation of f s by f b (54 Hz 5 b ) or vice versa. Here: f 1 5 46005 Hz 5
f b 1 f 2 5 166665 Hz 5 f s 1 f 3 5 296325 Hz 5 2 f s 7 f b 1 f 4 5 376336 Hz 5 2 f s 2
f b 1 f 5 5 496996 Hz 5 3 f s . The FFT is marked with sum and difference tones, 1n f b 1
m f s (n 2 m is always odd). The Poincar map in Figure 15c has 25 points and forms a
closed curve: the motion is quasiperiodic. From Figures 14a and 15c we see that for the
same nonlinearity, when the unbalanced rotor is excited horizontally at its base, the disk
motion changed from periodic to quasiperiodic and its amplitude values increased. For K 1 5

Figure 13. (a) Disk orbit for unbalance of s 5 1000 rpm and nonlinear bearings: 1, K 1 5 108 N m71 ,
K 3 5 1017 N m73 1 2, K 1 5 108 N m71 , K 3 5 6 8 1016 N m73 1 3, K 1 5 6 8 107 N 71 , K 3 5 6 8 1016 N m73 .
(b) FFT of disk velocity x4 for each of cases 1, 2, and 3 of (a).

Figure 14. (a) Disk orbit (solid line) and its Poincar map () for an unbalance of s 5 1000 rpm,
nonlinear bearings ( K 1 5 108 N m71 , K 3 5 1016 N m73 ). (b) FFT of x (solid line) and y (dashed line)
motions of the orbit in (a).

Figure 15. (a) Disk orbit for an unbalance of s 5 1000 rpm and base excitation along the X axis of
b 5 240 rpm, nonlinear bearings ( K 1 5 108 N m71 , K 3 5 1016 N m73 ). (b) FFT of the disk x vibration
of orbit in (a). (c) Poincar map of the disk trajectory in (a). (Continued)

Figure 15. (a) Disk orbit for an unbalance of s 5 1000 rpm and base excitation along the X axis of
b 5 240 rpm, nonlinear bearings ( K 1 5 108 N m71 , K 3 5 1016 N m73 ). (b) FFT of the disk x vibration
of orbit in (a). (c) Poincar map of the disk trajectory in (a). (Continued)
108 N m71 , K 3 5 2 8 1013 N m73 , unbalance of s 5 700 rpm, base horizontal motion of
frequency bt 5 440 rpm, X o 5 060002 m and base rotational motion about the Y axis
of frequency br 5 s 6, 1 o 5 360
2
radians, Figure 16a shows the left bearing orbit. Its
Poincar map in Figure 16b has six closed curves (35 points each), i.e. the motion is multi-
loop quasiperiodic.
6. CONCLUSIONS
A Lagrangian formulation has been presented for dynamic analysis of rigid rotorselastic lin-
ear/nonlinear bearings subject to unbalance and base excitations. The rotor has five DOFs:
three translational (two lateral, one axial) and two rotational around the lateral directions.
The base excitation has six DOFs (three translational, three rotational). Equations of mo-
tion analytical solutions are derived for rotorlinear bearings subject to unbalance and base
harmonic excitations. We make the following conclusions.
(1) For rotorlinear bearings excited by unbalance and base motion in the X direction, the
FFT of disk horizontal and vertical vibrations shows that vibration tone at the base
excitation frequency ( f b ) is of different amplitude values in both directions. This ne-
cessitates measuring vibration in the base excitation direction and orthogonal to it, to
avoid missing important information on the vibration amplitude at f b . In the s 5 100
1300 rpm range, the frequency response of the disk lateral vibrations (Amax versus f b )

Figure 16. (a) Left bearing orbit for an unbalance of s 5 700 rpm, base horizontal motion of frequency
bt 5 440 rpm and base rotational motion about the Y axis of frequency br 5 s 6, nonlinear bearings
( K 1 5 108 N m71 , K 3 5 2 8 1013 N m73 ). (b) Poincar map of orbit in (a).

always has its peaks at natural frequencies f 1B , f 1F , f 2B and f 2F of first backward, first
forward, second backward, and second forward modes (Table 3) of rotating machinery.
For s 5 0, the frequency response has only f 1 5 f 2 and f 4 5 f 5 peaks (see Table 2).
The natural frequency in the axial direction ( f 3 5 f a ) has no contribution.
(2) For the same unbalanced rotorlinear bearings under base rotational excitation around
the Y axis, the disk frequency response for 100300 rpm has peaks f 1B , f 1F , and f 2F
only1 f 2B is not excited. For the 4001300 rpm range, f 1B , f 1F , f 2B and f 2F modes are
excited. The response of the axial vibration (z) has its peaks at f 1B , f 1F , f 2B , and f 2F in
addition to a peak always at 065 f a , i.e. its position is independent of s . The FFT of z
has only one peak: always at 2 f b for all shaft speeds.
(3) From the presented examples and others not included here we found that each bear-
ing frequency response was qualitatively similar to that of the disk, but quantitatively
different from that of the disk and right bearing to have highest amplitude values at
certain vibration peaks. Thus, it is recommended to measure vibrations at each bear-
ing pedestal in the direction of base external lateral excitation and orthogonal to it, i.e.
measuring vibrations at the disk location alone could lead to an underestimation of the
response amplitude values and this in turn could lead to a build up in amplitude and
unwanted catastrophic failure.
(4) For a nonlinear bearing of K 1 5 108 N m71 , K 3 5 1016 N m73 with an unbalance of
s 45 f s 5 5 1000 rpm, the disk orbit is periodic (its Poincar map has a single point).
Its FFT is marked with odd harmonics of f s (recall that bearing nonlinearity is cubic).
With a base horizontal excitation of b 45 f b 5 5 240 rpm and unbalance, the disk orbit
becomes quasiperiodic as its closed curve Poincar map has 25 points. The x and y FFTs
have peaks at f b and f s in addition to sum and difference tones, 1n f b 1 m f s (n 2 m is
always odd). For K 1 5 108 N m71 , K 3 5 2 8 1013 N m73 , unbalance of s 5 700 rpm,
base horizontal motion of frequency bt 5 440 rpm and base rotational motion about
the Y axis of frequency br 5 s 6, 1 o 5 360 2
radians. The bearing Poincar map has
six closed curves (35 points each). Motion is multi-loop quasiperiodic.
Acknowledgments. The authors thank the paper reviewers for their contributing comments and suggestions. This
paper is part of a research project being carried out by first author.
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Dynamics of a Rigid Rotor Linear/Nonlinear Bearings System Subject to Rotating

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Journal of Vibration and Control, 16(3): 403438, 2010 DOI: 10.1177/1077546309103565

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Figure 1. A rigid rotorelastic bearingsrigid base configuration.

Figure 2. Orientation of a rigid rotor in space.

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Figure 3. Euler angles.

5 1 sin 7 cos 8 7 74 sin 82

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Vector h is related to the disk global displacement vector q measured in X s Ys Z s coordinates

Using Equations 58, one obtains

Vectors qt and qr are related to the vector q as

Substituting from Equations 10 into Equation 9, one obtains

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2.1. Kinetic Energy

Expressed in the X Y Z frame, the system translational kinetic energy is

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Using sin 7 6 7, cos 7 6 1 7 7 2 2, then

However, from Equation 17,

Using Equations 17 and 18, in matrix form Equations 23 become

I1 5 7q4 rT I22 qr 2 I2 5 7q4 rT I22 2b 2

Substitute qr 5 Nr q and q4 r 5 N. r q4 into Equation

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b is from Equation 13, 0i j is an i 8 j null matrix, Mt is the translational mass matrix,

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2.2. Disk Mass Unbalance

Fu 5 Fuc cos s t 2 Fus sin s t (32)

2.3. Linear Bearings Forces, Potential Energy, and Dissipation Function

Fxr 5 K r 4x 2 L r 7 y 5 2 Cr 4x4 2 L r 74y 52 Fxl 5 K l 4x 7 L l 7 y 5 2 Cl 4x4 7 L l 74y 52

Fyr 5 K r 4y 7 L r 7 x 5 2 Cr 4 y4 7 L r 74x 52 Fyl 5 K l 4y 2 L l 7 x 5 2 Cl 4 y4 2 L l 74x 52

2.4. Equations of Motion

Use q of Equation 5, q4 of Equation 14, 1 of Equation 29, Fu of Equation 32, 2 and 3

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3. EQUATIONS OF MOTION SOLUTIONS: LINEAR BEARINGS AND

3.1. Base Harmonic Excitation in the X Direction and Mass Imbalance

Excitation is mass imbalance plus base horizontal harmonic motion rb

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F1 5 F2 5 F4 5 051 2 F3 5 Fbs sin b t2 Fbs 5 X o 2b Mt Ib 6 (43)

From Equations 32 and 43, the load vector F of Equation 38 is

F 5 Fuc cos s t 2 Fus sin s t 2 Fbs sin b t6 (44)

q 5 quc cos s t 2 qus sin s t 2 qbc cos b t 2 qbs sin b t2 (45)

3.2. Base Rotational Harmonic Excitation Around the Y Direction

External excitation, of amplitude 1 o (radians), around the Y axis is

Here M2 , M4 2 , and M3 matrices in Equation 37 and Fi load vectors of Equation 39 become

F1 5 F1 cos b t2 F2 5 F2 sin b t2 F3 5 F3 sin b t2

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The solution vector q (with unknown vectors qo , qcn , qsn ) of Equation 37 is

Nonzero entries Si j of the 35 8 35 matrix S are as follows:

Solve Equation 54 for qo , qcn , qsn .

4. EIGENVALUES AND RESULTS: LINEAR BEARINGS

Rotor data are given in Table 1. The damper coefficient

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Table 1. Rotor configuration and physical properties.

Analytical (exact) frequencies of Mq

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4.1. Mass Unbalance

I1 5 7q4 rTI22 qr 2 I2 5 7q4 rTI22 2b 2

Fxlnl 5 K lnl 4x 7 L l 7 y 53 Fylnl 5 K lnl 4y 2 L l 7 x 53 Fzlnl 5 a K lnl z 3

Fxrnl 5 K rnl 4x 2 L r 7 y 53 Fyrnl 5 K rnl 4y 7 L r 7 x 53 Fzrnl 5 a K rnl z 3 6 (58)