GOVERNING EQUATIONS

Force-Balance and Moment-Balance Methods Moment-Balance Method

The underlying principles of the force-balance and moment-balance methods, The end of the shaft attached to the rotor is treated as a fixed
which relate the forces and moments imposed on a system to the rate of change of end. The drive torque to the first flywheel is Mo(t). The
linear momentum and the rate of change of angular momentum. generalized coordinates f1 and f2 are used to describe the Undamp
rotations of the flywheels about the axis k through the respective
centers.

This system consists of linear springs, linear dampers, and translating inertia elements. The
free-body diagrams for the point masses m1 and m2 are shown, along with the respective Setting the damp
inertial forces The generalized coordinates x1 and x2 are used to specify the positions of the The inertias of the shafts are neglected, the and the externa
two masses m1 and m2, respectively, from the fixed end on the left side. torsional stiffness of the shaft in between the
fixed end and the flywheel closest to it is
represented by kt1, and the torsional

A linear system of
ordinary differential
equations with constant
coefficients, the solution
For a nonlinear multi-degree-of-freedom system, the for Eq. (7.22) is assumed
governing nonlinear equations of motion are linearized to to be of the form
obtain a set of linear equations; the resulting linear equations
are amenable to matrix form.

The equations are coupled because of the non-zero off-diagonal

terms in the stiffness matrix, which are due to the shaft with stiffness kt2.
Both of the physical systems chosen for illustration of force-balance and
moment-balance methods are described by linear models and the
associated governing system of equations is written in matrix form.

Multi-degrees of freedom system.mmap - 29/06/2020 - Julio Cuevas

 Multi-degrees of freedom system: Governing equ
FREE RESPONSE CHARACTERISTICS
As in the case of single degree-of-freedom systems, when the forcing is absent, the responses exhibited by a multi-degreeof-freedom system are called free Many types of rotat
responses undamped systems are considered and characteristics such as natural frequencies and mode shapes are examined. Following this discussion, and the notion shaft, which in tu
of proportional damping is introduced. Subsequently, conservation of energy during free oscillations of a multi-degree-of-freedom system is examined. structure with flexib
springs. The masse

Undamped Systems: Natural Frequencies Eigenvalue Problem Free Oscillations of Two Degree-of-Freedom Systems
and Mode Shapes

ing the damping, the circulatory and gyroscopic terms,

nd the external forces to zero, and replacing qi by xi

A system of N linear algebraic equations. This Where {X}j is the eigenvector associated
system is satisfied for X1 X2 . . . XN 0, which is a with the eigenvalue l2 j and we have a total
Rotating shaft
trivial solution. Since we seek nontrivial solutions of N eigenvectors. To solve for the
and the x, y
for X1, X2, . . ., XN, represents an eigenvalue eigenvectors associated with the first
reference fra
problem. eigenvalue l2 1, the second eigenvalue l2 2,
from Oxyz to d
and so forth, we construct the eigenvectors
rotation x tha

For a comprehensive discussion of eigenvalue

onstant problems associated with structural and mechanical
olution systems
ssumed
quations, natural frequencies and mode shapes
ROTATING SHAFTS ON FLEX
types of rotating machinery are mounted on a Kinematics and Kinetic Energy
ft, which in turn is mounted to a supporting
ure with flexibility. This flexibility is modeled as
gs. The masses mounted to the shaft can have
slight imbalances The unit vectors i, j, and k are directed along the C-x, C-y, and C-z directions, where C is the geometric center of the disk. The static unbalance angle

Rotating shaft with disk showing supports

and the x, y, and z axes of the inertial
reference frame; and (b) transformation
rom Oxyz to disk fixed frame Cxyz and the
rotation x that accounts for the angular
imbalance.
XIBLE SUPPORTS
Lagrange’s Equations and Equations of Motion

Special Cases General Solution

Case 1: Translation only When the system only translates in, We multiply and then add the modified together and subtract the modified to obtain
say, the x direction, then k2 k3 0 and reduces without
damping (i.e., when z 0)

Case 2: Translation and rotation in one plane When the

system can both rotate and translate in only one plane, say
the CX-CZ plane and the shaft is not spinning, then Y w s
0 reduce, after notational differences are accounted for
and damping is omitted,
Free whirling of an undamped
system The free whirling of an
undamped system can be
obtained
Case 3: Centrally located mass When the disk is located
at the center of the shaft a b and, therefore, A1 0. In this
case, the uncouple from each other

Analogous to the equation obtained for a single degree-of-freedom system

subjected to a rotating unbalanced load given.