209

Finite element computational dynamics

of rotating systems
A bibliography (1994–1998)

Jaroslav Mackerle a prime machinery for transporting momentum, mass,

Linköping Institute of Technology, Department of and heat in many engineering systems. To understand
Mechanical Engineering, S-581 83 Linköping, the dynamics of these systems is very important in the
Sweden design process as well as in the requirements to en-
hance the reliability and operational efficiency of these
Received 19 July 1999 machines. In the design stage it is necessary to predict
Revised 29 July 1999
the dynamic behavior of rotor systems in bending and
torsion, today frequently computed by using finite ele-
This bibliography lists references to papers, conference pro- ment techniques. This is the main subject of this bibli-
ceedings and theses/dissertations dealing with finite element
analysis of rotor dynamics problems that were published in
ography. Topics dealing with fracture mechanics, con-
1994–1998. It contains 319 citations. Also included, as sepa- tact and stability problems of rotating machinery are
rate subsections, are finite element analyses of rotor elements also considered in separate sections.
– discs, shafts, spindles, and blades. Topics dealing with frac- This bibliography provides a list of references on
ture mechanics, contact and stability problems of rotating finite element dynamic analysis of rotating systems
machinery are also considered in specific sections. The last and their elements. General solution techniques as well
part of the bibliography presents papers dealing with specific
industrial applications.
as problem-specific applications are included. The en-
tries have been retrieved from the author’s database,
MAKEBASE [1,2]. The references have been pub-
1. Introduction lished in scientific journals, conference proceedings,
and theses/dissertations between 1994–1998. They are
The information is the most valuable, but least val- sorted in each category alphabetically according to the
ued, tool the professional has. The output of scien- first author’s name. If a specific paper is relevant for
tific papers is growing and it is becoming more dif-
several subject categories, the same reference can be
ficult to be fully up-to-date with all the relevant in-
formation. It is also known that a number of chan- listed under respective section headings, but the inter-
nels that researchers/practical engineers have at their ested reader is expected to consider also areas adjacent
disposal for information retrieval increases fast but it to his/her central area of research. Listed references are
is questionable if researchers/practical engineers are grouped into the following sections and subsections:
willing to spend the time necessary to look for informa-
tion. It has been pointed out that in engineering, infor- • rotors and their elements (rotors, discs, shafts,
mal knowledge channels are the most frequently used spindles, blades)
means of obtaining information. Many professionals • fracture mechanics and fatigue
prefer to rely on personal judgment or on the wisdom • contact and contact-impact problems
of their colleagues whenever they have problems to • stability analysis
solve. Hopefully, it is the author’s expectation that this • specific industrial applications
bibliography will save time for readers looking for in-
formation dealing with subjects described below. Not included in the bibliography: drilling shafts,
Modern rotating systems, often operating under ex- bearings, seals, passive/active vibration control of rotor
treme conditions and performing demanding tasks, are systems, optimization problems.

Shock and Vibration 6 (1999) 209–222

ISSN 1070-9622 / $8.00  1999, IOS Press. All rights reserved
210 J. Mackerle / Finite element computational dynamics of rotating systems

2. Rotors and their elements 2.3. Shafts

The basic elements of a rotor are the disc, the shaft, In this subcategory the following subjects are han-
the bearings and the seals. In this section of the bibli- dled: dynamic modelling of rotating beams/shafts;
ography listed papers are dealing with dynamic finite modal analysis; linear and nonlinear vibration anal-
element analyses of rotors and their elements, with em- ysis; high-speed rotation analysis; model updating
phasis on their characteristics and behavior. Free and techniques; twisted rotating beams; coupled torsional-
forced vibrations are studied. A rotating shaft is typi- lateral-axial vibration analysis; coupled torsional-flex-
cally modelled as a series of line or beam elements; pa- ural vibration analysis; finite elements for shaft mod-
pers on rotating beams are also included. The determi- elling.
nation of natural frequencies and mode shapes of rotat- Rotating elements under consideration: rotating
ing structures, such as turbine blades is very important beams and shafts; Timoshenko beams; filleted shafts;
in the design of turbomachines. Therefore as special D-shaped shafts; geared shaft systems; flexible links;
subsections also blades and spindels are addressed. circular plates with solid shafts; bladed disc-shaft
assemblies; disc-shaft assemblies; composite beams/
2.1. Rotors shafts.
Topics included: finite element modelling tech-
2.4. Spindles
niques in rotating machinery; linear and nonlinear vi-
bration analysis; modal analysis; rotor model updat-
Topics included: dynamic modelling of spindles;
ing; multi-body dynamic modelling; flexural behav-
modal analysis; identification of modal parameters; vi-
ior of rotors; torsional vibration analysis; analysis of
bration and deformation analyses.
whirl speeds; aeroelastic/aerodynamic rotorcraft anal-
Rotating elements/systems: spindles; spindle-bear-
ysis; vibratory rotor hub loading; effect of misalign-
ing systems; lathe-spindle assembly; cutting machine
ment on rotor vibrations; rotary machines subjected to
tool spindles; grinding machine tool spindles; hydro-
earthquake; finite elements for rotor modelling.
static gas bearing spindles; air-spindles.
Types of rotor systems under consideration: flexible
rotor systems; flexible rotors on flexible suspensions;
2.5. Blades
flexible rotors in magnetic bearings; rotor-bearing sys-
tems; multi-bearing rotors; geared rotor-bearing sys-
tems; rotor-shaft-bearing systems; rotor-bearing with This subsection deals with topics such as: dynamic
misaligned shafts; rotors supported by a spherical spi- modelling of rotating blades; modal analysis; linear
ral groove bearings; rotors supported by a piecewise and nonlinear vibration analysis; deformation analysis;
linear journal bearings; blade-disc-shaft systems; com- forced response analysis; damping considerations; vi-
posite rotors. bration analysis of pre-twisted blades; aeroelastic re-
sponse analysis.
2.2. Discs The following components are included: blades;
blades with flexible coupling; blades with small holes;
The following topics are included in this subsec- blade arrays; composite rotor blades.
tion: dynamic modelling of discs; linear and nonlin-
ear vibration analysis; vibration localization; predic-
tion of forced response in time and frequency domains; 3. Fracture mechanics and fatigue
modal interactions is spinning discs; flexural, torsional
and axial dynamic analysis; thermally stressed spin- Rotating machinery components are prone to crack-
ning plates. ing and failure caused by creep, fatigue and their in-
Types of discs analyzed: rotating isotropic/ortho- teraction. Fatigue crack growth studies are central to
tropic/anisotropic discs; rotating pretwisted plates; cir- damage-tolerance approaches. Mathematical models
cular discs with noncentral holes; bladed discs; mis- of cracked rotor systems have been developed to pre-
tuned bladed discs; bladed discs with friction dampers; dict the change in vibrational behavior due to crack
flexible bladed disc-shaft assemblies; disc-shaft as- growth. The main subject of this section are finite el-
semblies; composite discs; reinforced ceramic rotating ement, linear and nonlinear, studies of various aspects
discs. of vibration of rotating machinery with a crack.
 J. Mackerle / Finite element computational dynamics of rotating systems 211

This section deals with finite element analysis of ro- Vibration and dynamic stability/instability problems
tating crack models. Included are topics such as: vibra- are the subjects of this section. The following com-
tion analysis; modal parameters identification; crack ponents/systems have been analyzed by finite element
initiation and propagation; dynamic failure analysis; methods: discs; rotating shafts; cracked shafts and ro-
damage analysis and detection; environmental and me- tating beams; rotating blades; turbomachinery blades;
chanical fatigue; fretting fatigue; fatigue crack growth Timoshenko shafts; composite shafts; non-symmetric
and propagation; creep-fatigue modelling; creep crack rotors on distributed bearings; pre-twisted rotors; rotor-
initiation; surface flaw behaviors; lifetime evaluation; bearing systems. The aeroelastic stability of helicopter
probabilistic fracture mechanics; sensitivity analysis; rotor blades is also included.
stress intensity factor computations.
The following cracked components are under con-
sideration: rotors; shafts; discs; turboalternator rotors; 6. Specific industrial applications
helicopter rotors; turbine blades; turbine rotors; com-
pressor blades; aeroengine discs; rotor-bearing sys- Specific industrial applications in this last section in-
tems. clude finite element analyses and design considerations
of: compressor rotors; gas turbine rotors and blades;
turbogenerator rotors; rotorcraft transmissions; heli-
4. Contact and contact-impact problems copter rotors and blades; rotors of gyroscopes and cen-
trifuges; bearingless helicopter rotors; rotor-fuselage
The contact in rotating systems has long been rec- systems; cam engine shaft systems; wing drive shafts;
ognized as a major contributor to their failures. Devel- multiblade fan shaft systems; turbine blades; wind tur-
oping adequate contact models and incorporating them bine blades; aircraft turbine blades; turbine blade rows;
into the dynamic finite element analysis of rotating ma- centrifugal and hydraulic pumps.
chinery are key issues in order to understand the mech- Readers interested in the finite element literature
anisms and in this way to predict accurately the phe- in general are referred to [3] or to the author’s In-
nomena. Many rotors also contain components stacked ternet Finite Element Book Bibliography (http://www.
and held together. When the rotor whirls, working solid.ikp.liu.se/fe/index.html). The solutions of rotor-
joints are causing the friction damping which is a po- dynamic problems in general can be found in many
tential source of instability. books, for example in [4–9]. A list of references on fi-
Types of contact and contact-impact problems that nite element analysis of machine elements where bear-
are analyzed/simulated in this section are, for example: ings and seals are included can be found in [10], and
rotor-stator contact problems; rotor-bearing contacts; the active vibration control is a part of the [11].
shaft-hub connections; gear-shaft connections; shaft-
cone connections; blade-disc connections; joints of
hollow shafts; shaft couplings for rotor wheels; joints Acknowledgement
of aeroengine discs; rotor-foundation interaction; fric-
tional heating in shaft-bush system; contact analysis of
The bibliography presented is by no means complete
turbine blades; impact behavior of rotor dynamic sys-
but it gives a comprehensive representation of different
tems; crashworthy rotorcraft design; blast loading of
finite element applications on the subjects. The author
discs; helicopter rotor blade-droop stop impacts.
wishes to apologize for the unintentional exclusions
of missing references and would appreciate receiving
comments and pointers to other relevant literature for
5. Stability analysis a future update.

Rotors should not be working in the unstable regime.

The instability is induced by fluid-solid interaction and Reference
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