Article

Journal of Vibration and Control

2024, Vol. 30(15-16) 3659–3676

Whirling analysis of unbalanced rotor using © The Author(s) 2023

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the vectors of solution coefficients DOI: 10.1177/10775463231198897
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Chahreddine Kandouci, Yassine Adjal, Zakia Hamdi Cherif, and

Rachid Tayeb

Abstract
A prevalent issue in rotors is mass unbalance, which leads to synchronous lateral vibrations. In this paper, the critical
whirling speeds and global responses of an unbalanced rotor-bearing system with viscoelastic boundary condition are
computed using the relationships between the vectors of solution coefficients of differential equations governing the
transverse displacements. The mathematical formulation is based on the matrix form of the aforementioned relationships
and boundary conditions in the resonance case. The Timoshenko beam model, including the effects of gyroscopic moments
is employed. It was found that the presented approach in comparison with the transfer matrix method reduces the matrix
product when shaft segments have the same geometric and mechanical properties. A good agreement is found between the
results of this study and the findings of studies available in the literature. Furthermore, the eigenvectors for free vibrations
of the system were calculated by combining Natanson’s technique with the presented approach while considering the
derived rotor’s characteristic equation after removing the forced term in the equation that describes the forced vibrations.
Each obtained forward whirling mode shape describes perfectly the global response in the vicinity of the corresponding
forward critical speed. The presented approach can, therefore, be applied to obtain the unbalance responses, whirling
speeds, and associated mode shapes of rotor-bearing systems with complex boundary conditions.

Keywords
Shaft segment, vibration, vector of solution coefficients, critical speed, global response, mode shape

1. Introduction
due to inaccuracies in the manufacturing process.
The Bernoulli–Euler, Rayleigh, and Timoshenko beam Deepthikumar et al. (2014) analytically derived the un-
models are used in the dynamic analysis of rotor-bearing balance influence coefficients using the TMM for a flexible
systems. The latter is considered better, as it includes the rotor system incorporating both mass unbalance and bow,
effects of both rotary inertia and shear deformation of the aiming to achieve balance. They also conducted experi-
shaft’s cross-section on the critical speeds and dynamic mental measurements to verify the method. Alsaleh et al.
responses. With the increasing demand for high-speed ro- (2020) investigated the feasibility of mathematically
tating machinery, accurately estimating higher critical modeling an unbalanced Jeffcott rotor to simulate the
speeds in the early design stage plays an important role in system lateral vibrations when running at several unbalance
avoiding resonance. A portion of existing literature in- conditions. Klanner et al. (2021) introduced an extension to
dicates that the dynamic characteristics of rotor-bearing the numerical assembly technique (NAT) in order to
systems are carried out by the analytical method (Wu compute the unbalance response of a rotor-bearing system,
and Sheu, 2022), transfer matrix method (TMM) using the Rayleigh beam theory. Another common issue in
(Deepthikumar et al., 2014), hybrid method (Soheili and
Abashizadeh, 2022), assumed mode method (AMM) (Zhou Maritime Engineering Department, Mechanical Engineering Faculty,
et al., 2017), dynamic stiffness matrix method (DSM) University of Sciences and Technology, Oran, Algeria
(Obalareddy et al., 2022), finite element method (FEM) Received: 2 April 2023; accepted: 14 August 2023
(Ganguly et al., 2018), or the differential quadrature method
(DQEM) (Afshari and Rahaghi, 2018). Corresponding author:
Chahreddine Kandouci, Maritime Engineering Department, Mechanical
Mass unbalance, which leads to synchronous lateral Engineering Faculty, University of Sciences and Technology, Bp El mnouar,
vibration, is a prevalent issue in rotors. It occurs when the Oran 31000, Algeria.
rotor’s geometric center and center of mass do not coincide Email: [email protected]
3660 Journal of Vibration and Control 30(15-16)

rotating systems is the gyroscopic effect, which renders the boundary conditions, as presented in Ref. (Tan et al., 2021).
eigenvalue problem a non-self-adjoint problem. Wu and Timoshenko beam theory is utilized to describe the field
Sheu (2022) proposed an analytical approach to analyze the properties of the shaft, taking into account the gyroscopic
dynamic characteristics of multi-span multi-disk rotating moments of the shaft and disks. The mathematical for-
Euler–Bernoulli shafts. Their method involved combining mulation is based on the matrix form of relationships be-
the gyroscopic moment associated with each rigid disk with tween the vectors of solution coefficients of differential
its diametric mass moment of inertia, to form the frequency equations governing the transverse displacements. This
dependent equivalent mass moments of inertia. Yang et al. approach presents an advantage compared to the well-
(2019) investigated the contributions of both centrifugal and known (TMM); it reduces the matrix product to a single
gyroscopic effects to the natural frequencies for rotating matrix when shaft segments have the same diameter and
Bernoulli–Euler beams. Considering the gyroscopic effect mechanical properties. The forced vibrations of the entire
of the shaft, Mereles and Cavalca (2021) studied the un- rotor-bearing system due to the eccentric forces are de-
balance response and critical speeds of isotropic rotor- termined. Neglecting axial and torsional loads, the reduced
bearing systems for different bearing parameters using von Mises stresses are estimated. The backward and for-
a Rayleigh beam model. Dewi et al. (2022) derived the ward whirling speeds are located from the maximum res-
scaling factor of whirl frequencies using the scaling method, onance peaks of the unbalance responses at the selected
including the gyroscopic effect to predict the whirl fre- point and by solving the frequency equation derived after
quencies of the full-scale model of a rotating rotor-bearing removing the forced term in the equation describing the
system. They conducted an experimental validation study forced lateral vibrations. The obtained results are compared
using three scaled rotor-bearing systems. Timoshenko beam with those from existing literature. Furthermore, the mode
theory has been widely applied to rotor-bearing systems. shapes are determined by combining Natanson’s technique
Mereles et al. (2022) extended their previously mentioned (Natanson, 1999), which uses the algebraic complements,
study to a Timoshenko beam model that accounts the gy- with the proposed approach.
roscopic effect to determine the natural frequencies and This approach, initially published by Kolenda, 1978,
associated mode shapes of multi-disk and multi-bearing 1979, focused on the vibration analysis of marine shafting
rotors. Zhang et al. (2020) proposed an innovative approach system, but neglected the damping of the fluid film in
to analyze a rotating shaft with centrifugal terms. They bearings and gyroscopic moment of the shaft. Chahr-Eddine
developed a mathematical model by using Hamilton’s and Yassine (2014) employed this technique to compute the
principle and Euler’s angles based on the Timoshenko beam forced axial and torsional vibrations of a ship’s shaft line.
theory. Afshari and Rahaghi (2018) investigated the More recently, this approach has been applied to analyze the
transverse vibration of multi-step Timoshenko rotors using lateral vibrations of multi-disk shaft systems mounted on
the differential quadrature element method, and found that rigid supports. Hamdi Cherif and Kandouci (2021) em-
the forward whirling speeds increase while the backward ployed the Bernoulli–Euler beam theory, while Kandouci
ones decrease with increasing rotor spin speed. Ganguly (2022) considered the gyroscopic effect of the shaft using
et al. (2018) introduced a viscoelastic Timoshenko shaft the Timoshenko beam theory.
finite element, combining Timoshenko beam theory with
a viscoelastic material model to accurately represent the
2. Mathematical model
bending and shear deformations of rotors. By superposing
shear deformation on the Euler angles, Mirtalaie and Figure 1 shows a multi-step shaft divided into n uniform
Hajabasi (2016) provided a new methodology for model- shaft segments of length Li , [denoted by (1), (2), …, (i),
ing and analyzing the free vibrations of rotating Timo- (i+1), …, (n-1), (n)], carrying several rigid disks and resting
shenko shafts. Obalareddy et al. (2022) determined the on viscoelastic supports. Each disk (i) located at the end of
natural and whirl frequencies of a thermally loaded func- the (ith) shaft segment has a mass mi , polar moment of
tionally graded (FG) rotor-bearing system using the DSM. inertia JP, i , and diametric moment of inertia Jd, i . The
Zhou et al. (2017) used the AMM and FEM to investigate stiffness and damping coefficient of the (ith) intermediate
the coupled torsional-transverse vibrations of a single-/ bearing are represented by ðki Þ and ðci Þ, respectively. The
multi-flexible disk rotor with springs and discussed the left and right ends of analyzed rotor system are supported by
change rule of the system’s natural frequency and mode isotropic damped flexible bearings, and their corresponding
shape. Özşahin et al. (2014) modeled a spindle-holder-tool stiffness and damping coefficient are denoted by ðk0 , c0 Þ
assembly using the analytical solution of Timoshenko beam and ðkn , cn Þ, respectively.
theory, including gyroscopic moments and centrifugal It is assumed that each disk (i) represents a discrete mass
forces. They showed that the main source of deviations is with an eccentricity ðei Þ and phase ðφi Þ. For each shaft
the dynamic changes in the bearings with spindle speed. segment (i), a fixed coordinate system ðxi , yi , zi Þ is adopted,
The present study focuses on the dynamic analysis of an whose axes are, respectively, parallel to the axes of the fixed
unbalanced rotor-bearing system with viscoelastic reference system ðX, Y, ZÞ.
Kandouci et al. 3661

Figure 1. The physical model of multi-step unbalanced rotor mounted on isotropic viscoelastic supports.

The division is made at the junction of two adjacent shaft For an isotropic rotor-bearing system, by using some
segments with different physical and/or geometric prop- mathematical manipulations, the following uncoupled
erties, at the cross-section passing through the center of and complex partial differential equations can be
gravity of disk (i) and joining two shaft segments (i) and obtained
(i+1), and at the end of the (ith) shaft segment mounted on
a viscoelastic support (i).

∂4 wi ðx,tÞ ∂2 wi ðx,tÞ Ei ∂4 wi ðx,tÞ
Ei Ii þρ S
i i ρ I
i i 1þ
∂x4 ∂t 2 k i Gi ∂t 2 ∂x2
2.1. Equations of motion

ρ2 Ii ∂4 wi ðx,tÞ ∂3 wi ðx,tÞ ρi ∂3 wi ðx,tÞ
þ i þjρ I
i i,p V  ¼0
The equations of motion of the (ith) uniform spin Timo- k i Gi ∂t 4 ∂t∂x2 k i Gi ∂t 3
shenko shaft segment, considering its gyroscopic moment, (5)
are given by (Wu and Hsu, 2020)

2 

∂ wi, y ðx, tÞ ∂ψ i, z ðx, tÞ ∂2 wi, y ðx, tÞ ∂4 ψ i ðx,tÞ ∂2 ψ i ðx,tÞ Ei ∂4 ψ i ðx,tÞ
k i G i Si   ρ S i ¼0 þρ ρ
∂x2 ∂x i
∂t 2 Ei Ii
∂x4
S
i i
∂t 2
I
i i 1þ
k i Gi ∂t 2 ∂x2
(1)

ρ2i Ii ∂4 ψ i ðx,tÞ ∂3 ψ i ðx,tÞ ρi ∂3 ψ i ðx,tÞ
þ þjρi Ii,p V  ¼0

2  k i Gi ∂t 4 ∂t∂x2 k i Gi ∂t 3
∂ wi, z ðx, tÞ ∂ψ i, y ðx, tÞ ∂2 wi, z ðx, tÞ
k i G i Si   ρ S
i i ¼0 (6)
∂x2 ∂x ∂t 2
(2) Note that wi ðx, tÞ ¼ wy, i ðx, tÞ þ jwz, i ðx, tÞ represents the
complex transverse displacement of the (ith) shaft cross-

 section and ψ i ðx, tÞ ¼ ψ z, i ðx, tÞ þ jψ y, i ðx, tÞ is the complex
∂2 ψ i, z ðx, tÞ ∂wi, y ðx, tÞ
Ei Iz, i þ k i Gi Si  ψ i, z ðx, tÞ rotational angle induced by the bending moment, with
pffiffiffiffiffiffiffi
∂x2 ∂x
(3) j ¼ 1.
∂2 ψ i, z ðx, tÞ ∂ψ i, y ðx, tÞ Assuming the solutions wi ðx, tÞ ¼ wi ðxÞ e±jωt and
 ρi Ii, z  ρi Ii, p V ¼0
∂t 2 ∂t ψ i ðx, tÞ ¼ ψ i ðxÞ e±jωt , and then applying the technique of
separation of variables, equations (5) and (6) can be further


∂2 ψ i, y ðx, tÞ ∂wi, z ðx, tÞ simplified as
Ei Iy, i þ k G S
i i i  ψ ðx, tÞ
∂x2 ∂x i, y
(4) d 4 wi ðxÞ d 2 wi ðxÞ
∂2 ψ i, y ðx, tÞ ∂ψ ðx, tÞ þ ðr 1 þ r 2 Þ  ðr3  r1 r2 Þwi ðxÞ ¼ 0 (7)
 ρi Ii, y þ ρi Ii, p V i, z ¼0 dx4 dx2
∂t 2 ∂t
where
d 4 ψ i ðxÞ d 2 ψ i ðxÞ
Ei ðN =m2 Þ, Gi ðN =m2 Þ, Ii ¼ Ii, z ¼ Iy, i ðm4 Þ, Ii, p ðm4 Þ, Si ðm2 Þ, þ ðr1 þ r2 Þ  ðr3  r1 r2 Þψ i ðxÞ ¼ 0 (8)
dx 4 dx2
ρi ðkg=m3 Þ are modulus of elasticity, shear modulus, diametric
moment of inertia, polar moment of inertia, cross-sectional area, where
and mass density of the (ith) shaft segment. wy, i ðx, tÞ, wz, i ðx, tÞ
and ψ z, i ðx, tÞ, ψ y, i ðx, tÞ indicate the components of transverse  
ρi ω2 ρi Ii ω2 ± ρi Ii, p Vω ρ Si ω 2
displacement and their corresponding bending angles, re- r1 ¼ , r2 ¼ , r3 ¼ i (9)
k i Gi E i Ii Ei Ii
spectively, while k i represents the shear correction factor.
3662 Journal of Vibration and Control 30(15-16)

In the above expressions, ω represents the whirling fre- ∂wi ð x, t Þ

quency of the rotor-bearing system. Furthermore, the upper γi ð x, t Þ ¼  ψ i ð x, t Þ (18)
∂x
sign ðþÞ and lower sign ðÞ refer to backward and forward
whirls. wi ðxÞ and ψ i ðxÞ are the shape functions of wi ðx, tÞ γi ðx, tÞ ¼ γy, i ðx, tÞ þ jγz, i ðx, tÞ is the complex represen-
and ψ i ðx, tÞ, respectively. tation of the shear angle.
The solutions of equations (7) and (8) are The real parts of the bending moment, shear force,
ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ average tangential stress, and normal stress can be ex-
wi ðxÞ ¼ a1 sinε1 x þ a2 cosε1 x þ a3 sinhε2 x þ a4 coshε2 x
pressed as follows
(10)
ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ T i ðxÞ ¼ k i Gi Si γi ðxÞ (19a)
ψ i ðxÞ ¼ a1 sinε1 x þ a2 cosε1 x þ a3 sinhε2 x þ a4 coshε2 x
(11)
∂ψ i ðxÞ
M i ðxÞ ¼ Ei Ii (19b)
where ∂x
 1
ðiÞ 1 2
1 1 2
T i ðxÞ
ε1 ¼ 4ðr3  r1 r2 Þ þ ðr1 þ r2 Þ 2 þ ðr1 þ r2 Þ τ i ðxÞ ¼ (19c)
2 2 Si
(12)
M i ðxÞ
 1 σ i ðxÞ ¼ (19d)
ðiÞ 1 1 1 2
Wi
ε2 ¼ 4ðr3  r1 r2 Þ þ ðr1 þ r2 Þ2 2  ðr1 þ r2 Þ
2 2 d2 d3
where Si ¼ π 4i and Wi ¼ π 32i .
(13) The reduced von Mises stress amplitude for rotating
solid shaft, neglecting axial and torsional loads, is given by
ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ
a1 ¼ β1 a2 , a2 ¼ β1 a1 , a3 ¼ β2 a4 , a4 ¼ β2 a3
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
(14)
σ red
i ¼ σ 2i ðxÞ þ 3τ 2i ðxÞ (19e)
The solutions (10) and (11) can be rewritten as follows
Equations (15), (16), (19a), and (19b) can be written in
ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ ðiÞ the following matrix form
wi ðxÞ ¼ a1 sinε1 x þ a2 cosε1 x þ a3 sinhε2 x þ a4 coshε2 x
(15) 8 9
>
> w i ð xÞ >
>
< =
ψ i ð xÞ
ðiÞ ðiÞ ðiÞ
ψ i ðxÞ ¼ a1 β1 cosε1 x  a2 β1 sinε1 x
ðiÞ ðiÞ ðiÞ ¼ ½Ai ð xÞaðiÞ (20)
>
> Τi ð xÞ >>
(16) : ;
ðiÞ ðiÞ ðiÞ
þ a3 β2 coshε2 x þ a4 β2 sinhε2 x
ðiÞ ðiÞ ðiÞ Μ i ð xÞ

where
According to the Timoshenko beam theory, the bending
and aðiÞ is the coefficient vector for the (ith) shaft
moment and shear force are given by
segment,

2 ði Þ ði Þ ði Þ ði Þ
3
sinε1 x cosε1 x sinhε2 x coshε2 x
6 ði Þ ð iÞ ði Þ ði Þ ð iÞ ði Þ ði Þ ði Þ 7
6 β1 cosε1 x β1 sinε1 x β2 coshε2 x β2 sinhε2 x 7
6 7
A i ð xÞ ¼ 6 7
6 k i Gi Si εð1iÞ  βð1iÞ cosεð1iÞ x k i Gi Si εð1iÞ þ βð1iÞ sinεð1iÞ x k i Gi Si εð2iÞ  βð2iÞ coshεð2iÞ x k i Gi Si εð2iÞ  βð2iÞ sinhεð2iÞ x 7
4 5
ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ð i Þ ði Þ ði Þ ði Þ ði Þ
Ei Ii ε1 β1 sinε1 x Ei Ii ε1 β1 cosε1 x Ei Ii ε2 β2 sinhε2 x Ei Ii ε2 β2 coshε2 x

h iT
Ti ðx, tÞ ¼ k i Gi Si γi ðx, tÞ (17a) ði Þ ði Þ ði Þ ði Þ
a ði Þ ¼ a 1 , a 2 , a 3 , a 4 (21)
∂ψ i ðx, tÞ
Mi ðx, tÞ ¼ Ei Ii (17b) Derived in terms of the complex numbers, the boundary
∂x
conditions at left and right ends of the system depicted in
with Figure 1 can be written as
Kandouci et al. 3663

k 1 G1 S1 γ1 ð0Þ  k0 w1 ð0Þ  jω c0 w1 ð0Þ ¼ 0, E1 I1 ψ 01 ð0Þ ¼ 0 k i Gi Si γi ðLi Þ ¼ k iþ1 Giþ1 Siþ1 γiþ1 ð0Þ (23c)
(22a)

k n Gn Sn γn ðLn Þþkn wn ðLn Þþjωcn wn ðLn Þ¼0, En In ψ 0n ðLn Þ¼0 Ei Ii ψ 0i ðLi Þ ¼ Eiþ1 Iiþ1 ψ 0iþ1 ð0Þ (23d)
(22b)

2.2. Relationships between the vectors of solution Equations (23a)–(23d) can be written in the following
coefficients matrix form

A junction of two adjacent shaft segments (i) and (i+1) is

depicted in Figure 2. Li is the length of the (ith) shaft segment. Ai ðLi Þ aðiÞ ¼ Biþ1 ð0Þ aðiþ1Þ (24a)

2.2.1. Case of shaft segments with different geometric and/or where

mechanical properties. Derived in terms of the complex

Ai ðLi Þ
2 ði Þ ði Þ ði Þ ði Þ
3
sinε1 Li cosε1 Li sinhε2 Li coshε2 Li
6 ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ 7
6 β1 cosε1 Li β1 sinε1 Li β2 coshε2 Li β2 sinhε2 Li 7
6 7
¼6 ði Þ ði Þ ði Þ ð i Þ ði Þ ði Þ ði Þ ði Þ ð iÞ ði Þ ði Þ ði Þ 7
6 Ei Ii ε1 β1 sinε1 Li Ei Ii ε1 β1 cosε1 Li Ei Ii ε2 β2 sinhε2 Li Ei Ii ε2 β2 coshε2 Li 7
4 5
ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ
k i Gi Si ε1  β1 cosε1 Li k i Gi Si β1  ε1 sinε1 Li k i Gi Si ε2  β2 coshε2 Li k i G i Si ε 2  β 2 sinhε2 Li
(24b)

2 3
0 1 0 1
6 ðiþ1Þ ðiþ1Þ 7
6 β1 0 β2 0 7
6 7
Biþ1 ð0Þ ¼ 6 ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ 7
6 k iþ1 Giþ1 Siþ1 ε1  β1 0 k iþ1 Giþ1 Siþ1 ε2  β2 0 7
4 5
ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
0 Eiþ1 Iiþ1 ε1 β1 0 Eiþ1 Iiþ1 ε2 β2
(24c)

numbers, the relationship between the right and left sides of From equation (24a), the following relationship can be
a junction joining two shaft segments (i) and (i+1) with dif- obtained
ferent geometric and/or mechanical properties, are given by
aðiþ1Þ ¼ C i aðiÞ (25)

wi ðLi Þ ¼ wiþ1 ð0Þ (23a) where

1
C i ¼ ½Biþ1 ð0Þ ½Ai ðLi Þ (26)
ψ i ðLi Þ ¼ ψ iþ1 ð0Þ (23b)
The matrix C i can be interpreted as a transfer matrix
associated with the vectors of solution coefficients aðiÞ and
3664 Journal of Vibration and Control 30(15-16)

ðiþ1Þ ðiþ1Þ
β2 ε 2
α4 ¼ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
ðβ2 ε2 þ β1 ε1 Þ
ðiÞ ðiÞ
β ε E i Ii
 ðiþ1Þ ðiþ1Þ2 2 ðiþ1Þ ðiþ1Þ
ðβ2 ε2 þ β1 ε1 Þ Eiþ1 Iiþ1

 ðiþ1Þ ðiÞ ðiÞ ðiþ1Þ 

β1 β 1  β 1 ε1
α5 ¼ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
ðβ2 ε1  β1 ε2 Þ
 ðiþ1Þ ðiÞ ðiþ1Þ ðiÞ 
β 1 ε1  β 1 β 1 k i Gi Si
þ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
β 2 ε1  β 1 ε2 k iþ1 Giþ1 Siþ1

 ðiÞ ðiþ1Þðiþ1Þ ðiÞ 

β 2 ε1  β1
β2
α6 ¼ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
ðβ2 ε1  β1 ε2 Þ
 ðiþ1Þ ðiÞ ðiþ1Þ ðiÞ 
β 1 ε2  β 1 β 2 k i Gi Si
 ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
β 2 ε1  β 1 ε2 k iþ1 Giþ1 Siþ1

Figure 2. Internal forces and moments acting at junction of two

adjacent shaft segments (i) and (i+1) with different mechanical and/ ðiþ1Þ ðiþ1Þ
β1ε1
or geometric properties. α7 ¼ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
ðβ1 ε1 þ β2 ε2 Þ
ðiÞ ðiÞ
Ei Ii β 1 ε1
aðiþ1Þ , (not to be confused with the transfer matrix in the 
Eiþ1 Iiþ1 ðβ1ðiþ1Þ ε1ðiþ1Þ β2ðiþ1Þ ε2ðiþ1Þ Þ
well-known TMM). It has the following form
2 3
ð iÞ ð iÞ ðiÞ ð iÞ
α1 cos ε1 Li α1 sin ε1 Li α2 cosh ε2 Li α2 sinh ε2 Li
6 7
6 7
6 α3 sin εðiÞ Li ðiÞ
α3 cos ε1 Li
ðiÞ
α4 sinh ε2 Li α4 cosh ε2 Li 7
ð iÞ
6 1 7
Ci ¼ 6
6
7
7 (27)
6 α5 cos εð1iÞ Li ð iÞ
α5 sin ε1 Li
ðiÞ
α6 cosh ε2 Li
ð iÞ
α6 sinh ε2 Li 7
6 7
4 5
ð iÞ ðiÞ ðiÞ ð iÞ
α7 sin ε1 Li α7 cos ε1 Li α8 sinh ε2 Li α8 cosh ε2 Li

ðiþ1Þ ðiþ1Þ
with β1ε1
 α8 ¼
ðiÞ ðiþ1Þ ðiÞ ðiþ1Þ  ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
β 1 ε2  β1 β 2 ðβ1 ε1 þ β2 ε2 Þ
α1 ¼ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiÞ ðiÞ
ðβ2 ε1  β1 ε2 Þ Ei Ii β 2 ε2
 ðiÞ ðiþ1Þ þ
ðiþ1Þ ðiÞ  Eiþ1 Iiþ1 ðβ1ðiþ1Þ ε1ðiþ1Þ þ β2ðiþ1Þ ε2ðiþ1Þ Þ
β 1 β 2  β 2 ε1 k i G i Si
þ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
ðβ2 ε1  β1 ε2 Þ k iþ1 Giþ1 Siþ1
In the case of shaft segments with the same geometric and
 ðiþ1Þ ðiÞ ðiÞ ðiþ1Þ  mechanical properties, we obtain
β2 β 2  β 2 ε2
α2 ¼ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ k i G i Si Ei Ii
ðβ2 ε1  β1 ε2 Þ ¼ 1,
ðiÞ ðiþ1Þ ðiÞ ðiþ1Þ
¼ 1, ε1 ¼ ε1 , ε2 ¼ ε2 ,
 ðiþ1Þ ðiÞ ðiþ1Þ ðiÞ  k iþ1 Giþ1 Siþ1 E iþ1 Iiþ1
β 2 ε2  β 2 β 2 k i Gi Si
þ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
ðiÞ
β1 ¼ β1
ðiþ1Þ ðiÞ
, β2 ¼ β2
ðiþ1Þ
β 2 ε1  β 1 ε2 k iþ1 Giþ1 Siþ1
(29)
ðiþ1Þ ðiþ1Þ
β2 ε2 that is, the coefficients α1 , α2 , :::, α8 reduce to
α3 ¼ ðiþ1Þ ðiþ1Þ ðiþ1Þ ðiþ1Þ
ðβ2 ε2 þ β1 ε1 Þ
ðiÞ ðiÞ
(28) α1 ¼ 1, α2 ¼ α4 ¼ α5 ¼ α7 ¼ 0, α3 ¼ α6 ¼ α8 ¼ 1
β ε Ei Ii
þ ðiþ1Þ ðiþ1Þ1 1 ðiþ1Þ ðiþ1Þ (30)
ðβ2 ε2 þ β1 ε1 Þ Eiþ1 Iiþ1
Kandouci et al. 3665

consequently, the matrix C i takes the following block di-

agonal form
2 3
ði Þ ði Þ
cos ε1 Li sin ε1 Li 0 0
6 7
6 7
6 sin εðiÞ Li cos εðiÞ Li 0 0 7
6 1 1 7
Ci ¼ 6
6
7
7
ði Þ ði Þ
6 0 0 cosh ε2 Li sinh ε2 Li 7
6 7
4 5
ði Þ ð iÞ
0 0 sinh ε2 Li cosh ε2 Li
(31)

The relationships between the (ith) and (i+sth) shaft Figure 3. Forces and moments acting on rigid disk (i) having an
segments can be expressed as eccentricity ei and phase φi , joining two shaft segments, (i) and
(i+1).
aðiþsÞ ¼ C iþs1 C iþs2 ::::C i aðiÞ (32)
equilibrium equations for the forces (and moments) on disk
From equation (31), it is easy to notice that the ex-
(i) require that
pression (32) reduces to
wi ðLi Þ ¼ wiþ1 ð0Þ (35a)
aðiþsÞ ¼ Di aðiÞ (33)
ψ i ðLi Þ ¼ ψ iþ1 ð0Þ (35b)
where Di is the matrix C i obtained from equation (31), with
Li replaced by
X
μ¼iþs1 kGi Si γi ðLi Þ  ω2 mi wi ðLi Þ ¼ kGiþ1 Siþ1 γiþ1 ð0Þ þ mi V2 ei ejφi
Li ¼ Lμ (34) (35c)
μ¼i

Compared with the classical transfer matrix method Ei Ii ψ ’i ðLi Þ  Jd, i ω2 ψ i ðLi Þ  Jp, i ω Vψ i ðLi Þ ¼ Eiþ1 Iiþ1 ψ ’iþ1 ð0Þ
(TMM), the presented technique is advantageous in that it (35d)
reduces the matrix product to a single matrix. A linear
model of the shaft’s internal damping can be taken into where Jd, i and Jp, i are the diametric and polar mass mo-
account, and does not affect this advantage. ments of inertia of the disk (i), respectively. At resonance,
the whirl speed ω is equal to the spinning speed V: In this
2.2.2. Case of adjacent shaft segments (i) and (i+1) joined by case, equations (35a)–(35d) can be written in the following
a discrete mass mi having an eccentricity ei and phase φi . The matrix form
study is based on the assumption that the whirl speed ω is
equal to the rotating speed V, that is, synchronous whirl. Ai ðLi Þ aðiÞ ¼ Biþ1 ð0Þ aðiþ1Þ þ f i (36)
Figure 3 shows the forces and moments acting on a rigid disk
where
(i) with mass imbalance mi , having an eccentricity ei and
phase φi , joining shaft segments (i) and (i+1). Jp, i ωVψ i ðLi Þ  T
fi ¼ 0 0 mi V2 ei ejφi 0
and mi V2 ei ejφi denote the amplitudes of the gyroscopic
moment and imbalance force acting on the rigid disk (i). Biþ1 ð0Þ as in equation (24c),
Under the assumption of small displacements, the
continuity equations for the deformations, and the Ai ðLi Þ ¼ ½ Π 1 : Π2 

2 ði Þ ði Þ 3
sinε1 Li cosε1 Li
6 ði Þ ði Þ ði Þ ði Þ 7
6 β1 cosε1 Li β1 sinε1 Li 7
6 7
Π1 ¼ 6 ði Þ ð iÞ ði Þ ði Þ ði Þ ði Þ ði Þ ð iÞ 7
6 kGi Si ε1  β1 cosε1 Li  ω2 mi sinε1 Li  kGi Si ε1 þ β1 sinε1 Li  ω2 mi cosε1 Li 7
4 5
ð i Þ ði Þ ði Þ   ði Þ ði Þ ði Þ ði Þ ði Þ   ð iÞ ði Þ
Ei Ii ε1 β1 sinε1 Li  Jd, i ω2 þ Jp, i ωV β1 cosε1 Li Ei Ii ε1 β1 cosε1 Li þ Jd, i ω2 þ Jp, i ωV β1 sinε1 Li
3666 Journal of Vibration and Control 30(15-16)
2 ði Þ ði Þ 3
sinhε2 Li coshε2 Li
6 ði Þ ði Þ ði Þ ði Þ 7
6 β2 coshε2 Li β2 sinhε2 Li 7
6 7
Π2 ¼ 6 ði Þ ði Þ ði Þ ði Þ ð iÞ ði Þ ði Þ ði Þ 7
6 kGi Si ε2  β2 coshε2 Li  ω2 mi sinhε2 Li kGi Si ε2  β2 sinhε2 Li  ω2 mi coshε2 Li 7
4 5
ði Þ ði Þ ði Þ   ði Þ ði Þ ði Þ ði Þ ði Þ   ði Þ ði Þ
Ei Ii ε2 β2 sinhε2 Li  Jd, i ω2 þ Jp, i ωV β2 coshε2 Li Ei Ii ε2 β2 coshε2 Li  Jd, i ω2 þ Jp, i ωV β2 sinhε2 Li

hence, Ei Ii ψ 0i ðLi Þ ¼ Eiþ1 Iiþ1 ψ 0iþ1 ð0Þ (39d)

ðiþ1Þ ðiÞ
a ¼ Gi a  Fi (37) Equations (39a)–(39d) can be expressed in the fallowing
matrix form
where
  Ai ðLi ÞaðiÞ ¼ Biþ1 ð0Þaðiþ1Þ (40)
G i ¼ Biþ1 ð0ÞÞ1 Di ðLi Þ and F i ¼ Biþ1 ð0ÞÞ1 f i (38)
hence,
G i is the transfer matrix related to the vectors of solution
coefficients aðiÞ and aðiþ1Þ through the disk (i). aðiþ1Þ ¼ Ri aðiÞ (41)

2.2.3. Section occupied by an isotropic damped flexible support with

1
joining two shaft segments (i) and (i+1). If the junction of two Ri ¼ ðBiþ1 ð0ÞÞ Ai ðLi Þ (42)
adjacent shaft segments (i) and (i+1) is occupied by a damped
flexible support, the continuity equations for the deformations, Biþ1 ð0Þ as in equation (24c), while
and the equilibrium equations for the forces (and moments) are
derived in terms of the complex numbers, as follows Ai ðLi Þ ¼ ½ Λ1 : Λ2 

2 ði Þ ði Þ
3
sinε1 Li cosε1 Li
6 ði Þ ði Þ ð iÞ ði Þ 7
6 β1 cosε1 Li β1 sinε1 Li 7
6 7
Λ1 ¼ 6 7
6 k i Gi Si εð1iÞ  βð1iÞ cosεð1iÞ Li þ ðki þ jci ωÞsinεð1iÞ Li ði Þ
k i Gi Si ε1 þ β1
ði Þ ði Þ ði Þ
sinε1 Li þ ðki þ jci ωÞcosε1 Li 7
4 5
ð i Þ ði Þ ði Þ ð i Þ ði Þ ði Þ
Ei Ii ε1 β1 sinε1 Li Ei Ii ε1 β1 cosε1 Li

2 ði Þ ði Þ
3
sinhε2 Li coshε2 Li
6 ði Þ ði Þ ði Þ ði Þ 7
6 β2 coshε2 Li β2 sinhε2 Li 7
6 7
Λ2 ¼ 6 7
6 k i Gi Si εð2iÞ  βð2iÞ coshεð2iÞ Li þ ðki þ jci ωÞsinhεð2iÞ Li ði Þ
k i Gi Si ε2  β2
ði Þ ði Þ ði Þ
sinhε2 Li þ ðki þ jci ωÞcoshε2 Li 7
4 5
ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ
Ei Ii ε2 β2 sinhε2 Li Ei Ii λ2 β2 coshε2 Li

wi ðLi Þ ¼ wiþ1 ð0Þ (39a) Ri represents the transfer matrix related to the vectors of
solution coefficients aðiÞ and aðiþ1Þ , through the viscoelastic
ψ i ðLi Þ ¼ ψ iþ1 ð0Þ (39b) support ðci , ki Þ:
The derived relationships between different adjacent shaft
k i Gi Si γi ðLi Þ þ ki wi ðLi Þ þ ci jωwi ðLi Þ ¼ k iþ1 Giþ1 Siþ1 γiþ1 ð0Þ segments enable the calculation of the coefficient vectors
(39c) að2Þ , að3Þ , :::, aðnÞ as function of að1Þ which represents the co-
efficient vector for whirling vibration of the first shaft segment.
Kandouci et al. 3667

3. Application to a typical rotor-bearing flexible bearings, the boundary conditions (equations

system (22a) and (22b)) can be expressed in the following matrix
form
To validate the proposed analytical technique and the de-
veloped computer programs in this paper, a typical rotor-
BL að1Þ¼0 (44)
bearing system is considered (see Figure 4), as presented in
Ref. (Tan et al., 2021). The rotor consists of a stepped shaft
composed of six shaft segments supported by three vis-
BR að6Þ¼0 (45)
coelastic bearings, and carrying three rigid disks, each one
having an eccentricity ðei Þ and phase ðφi Þ. The given data where
for Figure 4 are provided in Table 1.
The amplitudes of unbalance forces acting on the disks h iT  ð 6Þ ð 6Þ ð 6Þ ð 6Þ T
að1Þ ¼ a1 , a2 , a3 , a4 , a 6Þ¼½a1 , a2 , a3 , a4 
ð1Þ ð1Þ ð1Þ ð1Þ
located at the ends of the first, third, and fifth shaft segments
are denoted as f 1 , f 3 , and f 5 , respectively.

2 3
ð1 Þ ð1Þ ð1Þ ð1 Þ
k 1 G 1 S1 ε 1  β 1 ðk0  jc0 ωÞ k 1 G1 S1 ε2  β2 ðk0  jc0 ωÞ
BL ¼ 4 5
ð1Þ ð1Þ ð1Þ ð1Þ
0 E1 I1 ε1 β1 0 E1 I1 ε2 β2

2 3
ð6Þ ð6 Þ ð6Þ ð6Þ ð6Þ ð6Þ ð6Þ ð6Þ
k 6 G6 S6 ε1  β1 cosε1 L6 þ ðk6 þ jc6 ωÞsinε1 L6 k 6 G6 S6 ε1 þ β1 sinε1 L6 þ ðk6 þ jc6 ωÞcosε1 L6
Γ1 ¼ 4 5
ð6Þ ð6Þ ð6Þ ð6 Þ ð6 Þ ð6 Þ
E6 I6 ε1 β1 sinε1 L6 E6 I6 ε1 β1 cosε1 L6
2 3
ð6Þ ð6 Þ ð6Þ ð6Þ ð6Þ ð6Þ ð6Þ ð6Þ
k 6 G6 S6 ε2  β2 coshε2 L6 þ ðk6 þ jc6 ωÞsinhε2 L6 k 6 G6 S6 ε2  β2 sinhε2 L6 þ ðk6 þ jc6 ωÞcoshε2 L6
Γ2 ¼ 4 5
ð6Þ ð6Þ ð6Þ ð6Þ ð6Þ ð6 Þ
E6 I6 ε2 β2 sinhε2 L6 E6 I6 ε2 β2 coshε2 L6

The vectors of solution coefficients að2Þ , að3Þ , :::, að6Þ for BR ¼ ½Γ 1 : Γ 2 

whirling vibrations of the five shaft segments can be de- Substituting equation (43) into equation (45) yields,
termined as function of the coefficient vector að1Þ, using the BRað6Þ ¼ ½BRG 5 R4 G½3 C 2 G 1 að1Þ
derived relationships (26), (27), and (40), as follows
½BRfG5 R4 G 3 C 2 F1 þ G 5 R4 F 3 þ F5 g (46)
að2Þ ¼ G1 að1Þ  F 1 , Grouping equations (44) and (46) leads to
að3Þ ¼ C 2 að2Þ ¼ C 2 G 1 að1Þ  C 2 F 1 ,  
BL
að4Þ ¼ G3 að3Þ  F 3 ¼ G 3 C 2 G 1 að1Þ  G 3 C 2 F 1  F 3 að1Þ
BRG 5 R4 G 3 C 2 G 1
að5Þ ¼ R4 að4Þ ¼ R4 G 3 C 2 G 1 að1Þ  R4 G 3 C 2 F1  R4 F3 8 9
að6Þ ¼ G5 að5Þ  F 5 ¼ G 5 R4 G 3 C 2 G 1 að1Þ  G 5 R4 G 3 C 2 F 1 >
< 0 >
= (47)
G 5 R4 F 3  F5 ¼ :::
(43) >
: >
;
BR G5 R4 G 3 C 2 F1 þ G 5 R4 F 3 þ F5
With the modulus of elasticity E ¼ 210 × 109 N =m2, and
taking ν ¼ 0:3 as the Poisson’s ratio, the shear modulus of The coefficient vector að1Þ for forced whirling vibration of the
shaft material is given by first shaft segment is obtained from equation (47) as follows
 1
G ¼ E ½2ð1 þ νÞ ¼ 210 × 109 ½2ð1 þ 0:3Þ ð1Þ
BL
a ¼
¼ 80:76923 × 109 N m2 : BRG 5 R4 G 3 C 2 G 1
8 9
>
< 0 >
= (48a)
:::
>
: >
;
3.1. Equation of forced vibrations BR G 5 R4 G 3 C 2 F1 þ G 5 R4 F 3 þ F5

Considering that the left and right ends of the shaft de- Using the relationships provided by equation (43), the
picted in Figure 4 are supported by isotropic damped coefficient vectors að2Þ , að3Þ , :::, að6Þ can be computed.
3668 Journal of Vibration and Control 30(15-16)

Figure 4. The physical model of a three-span three steps unbalanced rotor system mounted on viscoelastic supports from Ref. (Tan
et al., 2021).

Table 1. The details of the rotor-bearing system.

The parameters of shaft segments
Length L1 , L2 , L3 0:10m, 0:10m, 0:40m
L4 , L5 , L6 0:20m
Young’s modulus Ei 210 × 109 N=m2
Density ρi 7900 kg=m3
Shear coefficient ki 0:75
The parameters of disks
Disk mass M1 , M3 , M5 4:91kg, 4:77kg, 4:85kg
Diametrical moment of inertia Jd1 , Jd3 , Jd5 0:0124kg:m2
Polar moment of inertia Jp1 , Jp3 , Jp5 0:0248kg:m2
Eccentricities of disks e1 , e3 , e5 1 × 106 m
Phases of the eccentric disks φ1 , φ3 , φ5 π/4, π/4, π/2
The parameters of bearings
Bearing stiffness at left end k0 1 × 106 , 1 × 107 or 1 × 108 N=m
Bearing damping at left end c0 0, 2000 or 10000N:s=m
Intermediate bearing stiffness k4 1 × 106 , 1 × 107 or 1 × 108 N=m
Intermediate bearing damping c4 0, 2000 or 10000N:s=m
Bearing stiffness at right end k6 1 × 106 , 1 × 107 or 1 × 108 N=m
Bearing damping at right end c6 0, 2000 or 10000N:s=m

Consequently, the lateral vibration amplitudes for the entire The reduced von Mises stress amplitude σ red i ðxÞ, ne-
rotor-bearing system can be determined. glecting axial and torsional loads, is given by equation (19e).
From equations (19c) and (19d), the amplitudes of av-
erage tangential stress and normal stress in any cross- 3.2. Determination of whirling speeds and mode
section of the (ith) shaft segment, at axial coordinate x,
can be determined from the following equation
shapes
1h ð iÞ ðiÞ ð iÞ ðiÞ ð iÞ ð iÞ By removing the forced term (right-hand side) from equation
τ i ð xÞ ¼ k i Gi Si ε1 β1 cosε1 x k i Gi Si ε1 þβ1 sinε1 x
Si (47), we obtain the following characteristic equation
ði Þ
k i Gi Si ε2 β2
ðiÞ
coshε2 x
ði Þ Pað1Þ ¼ 0 (49)

ði Þ ði Þ ði Þ where
k i Gi Si ε2 β2 sinhε2 xfai g (48b)
2 3
p11 p12 ::: p14  
1 h 6 p21 ::: 7 BL
σi ðxÞ ¼
ði Þ ði Þ ði Þ ði Þ ð i Þ ði Þ
Ei Ii ε1 β1 sinε1 x  Ei Ii ε1 β1 cosε1 x P¼6
4 p31
7¼
5
Wi ::: BR :G 5 R4 G 3 C 2 G 1
ði Þ ði Þ ði Þ ði Þ ði Þ ði Þ p41 ::: p44
Ei Ii ε2 β2 sinhε2 x Ei Ii ε2 β2 coshε2 xfai g (48c)
Kandouci et al. 3669

Nontrivial solution for equation (49) requires that The vibration mode shape of the first shaft segment (i = 1)
jPj ¼ 0 (50) is given by
ð1Þ ð1Þ ð1Þ ð1Þ ð1 Þ ð1Þ
The above expression is an eigenvalue equation, from u1 ð xÞ ¼ h1 sinε1 x þ h2 cosε1 x þ h3 sinhε2 x
which the lowest four forward whirling speeds ωFk and ð1 Þ ð1 Þ
(52a)
þ h4 coshε2 x
backward ones ωBk with k = 1 – 4, may be obtained for
(ωk ¼ V). The presence of damping in the bearings with
causes equation (50) to yield complex-valued roots. The h iT
ð1Þ ð1Þ ð1Þ ð1Þ
critical whirling speeds may be determined by searching hð1Þ ¼ h1 , h2 , h3 , h4
for the minimum values of the real and imaginary parts
of the determinant. These frequencies would be close to The remaining coefficient vectors hð2Þ , hð3Þ , :::, hð6Þ can
the peaks of the frequency response curve at selected be obtained by applying the relationships given by equation
point. (49), as follows
In the case where the matrix P in equation (49) is singular,
the algebraic complements technique, as described by hð2Þ ¼ G 1 hð1Þ  F 1
Natanson (1999), can be employed to estimate the eigen- hð3Þ ¼ C 2 hð2Þ ¼ C 2 G 1 hð1Þ  C 2 F 1
vector að1Þ up to a multiplicative constant δ: This method hð4Þ ¼ G 3 hð3Þ  F 3 ¼ G 3 C 2 G 1 hð1Þ  G 3 C 2 F 1  F 3
provides a reliable approach for handling the singularity of hð5Þ ¼ R4 hð4Þ ¼ R4 G3 C 2 G 1 hð1Þ  R4 G 3 C 2 F 1  R4 F3
the matrix and obtaining an approximation of the eigenvector. hð6Þ ¼ G 5 hð5Þ  F 5 ¼ G 5 R4 G 3 C 2 G 1 hð1Þ  G 5 R4 G 3 C 2 F 1
ð1Þ ð1Þ ð1Þ ð1Þ ð1Þ ð1Þ ð1Þ ð1Þ
a1 ¼ δh1 , a2 ¼ δh2 , a3 ¼ δh3 , a4 ¼ δh4 G5 R4 F3  F 5 (53)
ð1Þ
where hα ðα ¼ 1, :::, 4Þ are the algebraic complements of
corresponding elements p1α ðα ¼ 1, :::, 4Þ of the matrix P
4. Comparisons with the results of existing
   
 p22 p23 p24   p21 p22 p23  literature
 
¼  p32 
p34 , :::, h4 ¼  p31 p33 
ð1Þ ð 1Þ
h1 p33 p32 Comparisons with the results of existing literature were
 p42 p43 p44   p41 p42 p43  conducted to validate the findings of this study. In this work,
(51) two cases are investigated:

Table 2. Comparison of the lowest four forward and backward whirling speeds, where all of the bearing stiffness k0 , k4 , and k6 are set to
be to 1x 108 N=m.
Whirling speeds ωFk , ωBk ðrad=sÞ, k ¼ 1  4

GM of shaft Bearing damping (N.s/m) Direction of whirling Methods ωF1 or ωB1 ωF2 or ωB2 ωF3 or ωB3 ωF4 or ωB4
Considered 2000 F RP 437.230 1067.130 1432.302 3344.300
Eq. (50) 437.229 1067.122 1432.043 3339.455
(Tan et al., 2021) 437.745 1067.767 1442.753 3396.557
Neglected F Eq. (50) 437.198 1066.323 1431.146 3331.633
Considered B RP 384.428 1034.108 1408.015 1543.750
Eq. (50) 384.401 1034.103 1407.828 1542.676
(Tan et al., 2021) 384.178 1034.900 1416.450 1546.209
Neglected B Eq. (50) 384.439 1034.157 1409.012 1543.825
Considered 10000 F RP 437.239 1067.205 1434.305 3352.293
Eq. (50) 437.165 1067.197 1433.950 3351.825
(Tan et al., 2021) 437.752 1067.841 1444.572 3403.886
Neglected F Eq. (50) 437.056 1067.096 1432.945 3343.724
Considered B RP 384.432 1034.155 1409.017 1535.700
Eq. (50) 384.421 1034.127 1408.856 1534.563
(Tan et al., 2021) 384.181 1034.947 1417.963 1546.888
Neglected B Eq. (50) 384.447 1034.169 1409.951 1535.720
Abbreviations: RP, resonance peak at disk (1); Eq.(50): equation(50); GM, gyroscopic moment of shaft; B, backward; F, forward.
3670 Journal of Vibration and Control 30(15-16)

Table 3. Comparison of the lowest four forward and backward whirling speeds, where all of the bearing damping c0 , c4 , and c6 are set to
be zero.
Whirling speeds ωFk , ωBk ðrad=sÞ, k ¼ 1  4

GM of shaft Bearing stiffness (N/m) Direction of whirling Methods ωF1 or ωB1 ωF1 or ωB1 ωF1 or ωB1 ωF1 or ωB1
Considered 1x106 F RP 257.325 429.139 790.291 2535.727
(Tan et al., 2021) 257.329 429.253 790.330 2556.290
Neglected F RP 257.299 428.143 789.210 2526.728
Considered B RP 250.091 423.579 719.975 908.384
(Tan et al., 2021) 250.089 423.687 720.013 909.199
Neglected B RP 250.097 423.612 721.017 909.437
Considered 7 F RP 405.386 924.415 1027.439 3020.713
1x10
(Tan et al., 2021) 405.407 924.522 1027.500 3065.330
Neglected F RP 405.377 923.514 1026.344 3011.702
Considered B RP 364.637 914.419 1015.424 1328.875
(Tan et al., 2021) 364.645 914.423 1015.433 1328.921
Neglected B RP 364.649 914.434 1016.525 1330.023
Abbreviations: RP, resonance peak at disk (1); GM, gyroscopic moment of shaft; B, backward; F, forward.

Figure 5. The maximum resonance peaks at disk (1) and their associated: (a) backward critical speeds and (b) forward critical speeds.

Figure 6. The maximum resonance peaks at disk (2) and their associated: (a) backward critical speeds and (b) forward critical speeds.
Kandouci et al. 3671

Figure 7. Localization of: (a) the fourth backward critical speed and (b) the fourth forward critical speed from resonance peaks at disk (1).

Figure 8. The global response in the vicinity of the first forward critical speed: (a) imported from reference (Tan et al., 2021), and (b)
plotted using the presented approach.

Figure 9. The global response in the vicinity of the second forward critical speed: (a) imported from reference (Tan et al., 2021), and (b)
obtained using the presented approach.

Case 1. bearing with both stiffness and damping, k0 ¼ k4 ¼ equation (50), and the corresponding values obtained from
k6 ¼ 1x108 N =m and c0 ¼ c4 ¼ c6 ¼ 2000 N :s=m or finite element analysis (FEM) by Tan et al. (2021) are collected
10000 N :s=m. The critical speeds located from the resonance in Table 2 for comparison. Moreover, strength calculation of
peaks (RP) of the frequency response curves, the solutions of the rotor’s shaft is carried out at the end of this section.
3672 Journal of Vibration and Control 30(15-16)

Figure 10. The global response in the vicinity of the third forward critical speed: (a) imported from reference (Tan et al., 2021), and (b)
plotted using the presented approach.

Figure 11. The global response in the vicinity of the fourth forward critical speed: (a) imported from reference (Tan et al., 2021), and (b)
obtained using the presented approach.

Figure 12. The reduced stress amplitudes in the vicinity of: (a) the first forward critical speed, and (b) the second forward critical speed.
Kandouci et al. 3673

Figure 13. The reduced stress amplitudes in the vicinity of: (a) the third forward critical speed, and (b) the fourth forward critical speed.

Table 4. Values of reduced stress amplitudes in the vicinity of the bearing damping c0 ¼ c4 ¼ c6 ¼ 10000 N :s=m and bear-
lowest four forward critical speeds. ing stiffness k0 ¼ k4 ¼ k6 ¼ 1x108 N =m.
Forward critical speed Reduced stress amplitude Tables 2 shows that the lowest two forward and back-
ward whirling speeds, ðωF1 , ωF2 Þ and ðωB1 , ωB2 Þ, obtained
ωFk ðrad=sÞ, k ¼ 1  4 σ i ðxÞ ðMPaÞ from the presented technique (RP or equation (50)), are
437.165 4.3186516 close to the corresponding values obtained from FEM
1067.197 0.2372795 analysis conducted by Tan et al. (2021). Furthermore, due to
1433.950 0.3050431 the shear deformation effect, the values of (ωF3 , ωF4 ) and
3351.825 13.960181 (ωB3 , ωB4 ) obtained from the presented technique (RP or
equation (50)) are smaller than the corresponding ones
obtained from the Rayleigh beam theory in Ref. (Tan et al.,
Case 2. bearing without damping and stiffness 2021). This difference signifies an improvement attributed
k0 ¼ k4 ¼ k6 ¼ 1x106 N =m or 1x107 N =m: Table 3 to the utilization of the Timoshenko beam theory, as
provides a compilation of the critical speeds obtained compared to the Rayleigh beam theory.
from the resonance peaks (RP) of the frequency response The results obtained from the presented technique, as
curves, as well as the critical speeds acquired from finite listed in Tables 2 and 3, show that the gyroscopic effect of
element analysis (FEM) by Tan et al. (2021). the shaft leads to an increase in the forward whirling speeds
Figures 5 and 6 depict the variations in the forward and ðωFk , k ¼ 1  4Þ, and a decrease in the backward whirling
backward unbalance responses of disk (1) and disk (2) with speeds ðωFk , k ¼ 1  4Þ: Moreover, the results presented in
respect to different spin speeds V, with the bearing damping Table 3 demonstrate that the influence of shear deformation
(c0 ¼ c4 ¼ c6 ¼ 10000 N :s=m) and bearing stiffness is particularly noticeable in the decrease of the fourth
(k0 ¼ k4 ¼ k6 ¼ 1x108 N =m).The response amplitude of forward whirling speed, in undamped rotor-bearing
disk1 (or disk2) is described as systems.
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi Figures 8–11 depict a comparison between the global
a2i þ b2i responses obtained from Ref. (Tan et al., 2021) and those
Response amplitudeðdbÞ ¼ 20lg ði ¼ 1; 2; 3:::Þ
a0 acquired using the presented analytical approach in the
vicinity of the first, second, third, and fourth forward critical
where ai and bi represent the components of lateral dis- speeds, respectively, with the bearing damping (c0 ¼
placement of disk (1) (or disk 2) at each corresponding c4 ¼ c6 ¼ 10000 N :s=m) and bearing stiffness (k0 ¼ k4
frequency Vi , while a0 denotes the maximum amplitude. ¼ k6 ¼ 1x108 N =m).
From Figures 5(a) and (b) and 6(a) and (b), it is seen that By comparing Figures 8(a), 9(a), 10(a), and 11(a) with
the resonance peaks at disk (1) and those at disk (2) cor- 8(b), 9(b), 10(b), and 11(b), it is evident that the two sets of
respond to the same values of forward (or backward) curves exhibit a great similarity. This similarity provides
whirling speeds. valuable support for the accuracy of the proposed approach
Figure 7 illustrates examples of critical speed localiza- in vibration analysis of rotor-bearing systems with complex
tion obtained from the resonance peak at disk (1), with the boundary conditions.
3674 Journal of Vibration and Control 30(15-16)

Figure 14. (a) The first whirling mode shape, and (b) the second whirling mode shape.

Figure 15. (a) The third whirling mode shape, and (b) the fourth whirling mode shape.

The reduced stress amplitudes in the vicinity of the 15, with the bearing damping c0 ¼ c4 ¼ c6 ¼ 10000N :s=m,
lowest four forward critical speeds are plotted in Figures 12 and the bearing stiffness k0 ¼ k4 ¼ k6 ¼ 1x108 N =m.
and 13. The blue curves in Figures 14 and 15 clearly demonstrate
At the axial coordinates x ¼ 0:1m and x ¼ 0:8m, the that the obtained mode shapes corresponding to the lowest
jump in reduced stress amplitude corresponds to the shaft’s four forward whirling speeds, accurately depict the response
cross-section variation. Furthermore, the discontinuity at that the rotor-bearing system would exhibit when vibrating
the axial coordinates x ¼ 0:2m, x ¼ 0:6m, and x ¼ 1m, is at any of these whirling speeds. (see Figures 8(b), 9(b),
associated with the locations of disk (1), disk (3), and disk 10(b), and 11(b)).
(5), respectively. The mode shape corresponding to the first backward
The maximum values of reduced stress amplitudes whirling speed closely resembles and overlaps with the
collected from Figures 12 and 13 are presented in Table 4. mode shape of the first forward whirling speed. However, as
As shown in Table 4, the variable reduced stress am- the mode number increases, the separation between the
plitudes are considerably lower than the admissible stress mode shapes increases significantly, indicating distinct and
limits. In this particular case, considering the tensile well-separated vibration forms.
strength of the rotor’s shaft to be within the range of 410–
550 MPa, the obtained reduced stress amplitudes remain
5. Conclusion
well below these allowable limits.
The mode shapes associated with the lowest four forward By utilizing the established relationships among the solution
and backward whirling speeds are plotted in Figures 14 and coefficient vectors obtained from each junction (i.e., step jump
Kandouci et al. 3675

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