Modelling of A Rotor System Inaccuracies.

Janusz M. Krodkiewski, PhD The University of Melbourne, Department of Mechanical and Manufacturing Engineering, Parkville, Victoria 3052, Australia. ABSTRACT To obtain a quantitatively accurate mathematical model of a rotor-bearing-foundation system, the system is very often split into several parts (sub-systems) e.g. shafts, elements attached to the shaft (rigid or flexible), bearings, foundations etc. Each sub-system is manufactured within certain working tolerances. These tolerances (inaccuracies) of sub-systems impose constraints on the rotor system which result in the forced response of the system considered. This paper presents an approach towards the inclusion of the tolerances of shaft as well as the tolerances of the elements attached to the shaft in the mathematical model of the rotor system. It is assumed that the dynamic properties of the free-free shaft can be approximated by the inertia and stiffness matrix along an arbitrarily chosen vector of coordinates. Its inaccuracy (e.g. permanent deflection) is determined along a sub-vector of those coordinates. The elements are approximated by rigid or flexible bodies. The dynamic properties of the free in space elements are determined by the inertia, stiffness and the gyroscopic matrix. The mathematical models of the shaft and the elements are combined together by means of the compatibility (equilibrium and continuity) conditions. A method of modelling of the constraints imposed by rigid elements on the rotor system is presented. Influence of these constraints on the natural frequencies and the forced response is investigated. A numerical example gives quantitative influence of the working tolerances and the imposed constraints on the rotor system vibrations. Keywords: Rotor system, modelling, subsystem synthesis, tolerances, vibrations, computer simulation. 1. INTRODUCTION

To obtain a quantitatively accurate mathematical model of a rotor-bearing-foundation system, the system is very often split into several parts (sub-systems) e.g. shafts, elements attached to the shaft (rigid or flexible), bearings, foundations etc. The dynamic properties of each sub-system can be determined by its modal characteristics or, alternatively, by matrices of stiffness, damping and inertia. The final mathematical model of the rotor system may be obtained by means of modal synthesis [1] or directly from the stiffness, damping and inertia matrices by fulfilling the compatibility conditions [2] . Since in this paper the second approach is utilized, its principles of composition of the mathematical model are quoted here. Let us consider two sub-systems n and m that are to be connected to each other along the vector of coordinates xc . The mathematical models of these sub-systems can be adopted as follows n n n n n n n n muu mn xu cuu cn xu _ kuu kn xu Ru Fu uc uc uc + + = + (1) mn mn xn c cn cn xn _c kn kn xn Rn Fn cu cc cu cc cu cc c c c m m m m m m m m mcc mm xc ccc cm xc _ kcc km xc Rc Fc cu cu cu + + = + : mm mm xm u cn cm xm _u km km xm Rm Fm uc uu uc uu uc uu u u u (2) In the above equations xn and xm represent the common vector of coordinates along which the two subsysc c tems n and m are to be connected to each other. xn and xm stand for vectors of coordinates not engaged at u u this stage of composition. Rn and Rm represent forces of interaction between the two subsystems along the c c common vector of coordinates xc . Rn and Rm represent forces of interaction between the two sub-systems u u considered and the rest of the rotor system. The forces of external excitation are denoted by Fn , Fn , Fm u c c and Fm . k, c, and m, stand for the stiffness, damping and inertia matrix respectively. u Partition of those above equations yields mn xn + mn xn + cn xn + cn xn + kn xn + kn xn uc c uc c uu _ u uc _ c uu u uu u n n n n n n n n n n mcu xu + mcc xc + ccu xu + ccc xc + kcu xu + kn xn _ _ cc c = Rn + Fn u u n = Rc + Fn c (3)

mm xm + mm xm +cm xm + cm xm + km xm + km xm cc c cu u cc _ c cu _ u cc c cu u m m m m n m m m m m m m muc xc + muu xu + cuc xc + cuu xu + kuc xc + kuu xu _ _ The combined system must fulfil continuity conditions xn = xc ; c and equilibrium conditions xm = xc c

= Rm + Fm c c m m = Ru + Fu :

(4) (5)

Rn + Rm = 0; Fn + Fm = Fc : (6) c c c c Upon introducing the continuity and equilibrium conditions into equations (5) and (6), one may obtain the following equations 32 n 3 32 n 3 2 n 2 n xu _ cuu cn 0 xu muu mn 0 uc uc 4 mn mn +mm mm 5 4 xc 5 + 4 cn cn +cm cm 5 4 xc 5 _ cu cc cc cu cu cc cc cu xm _u 0 cm cm xm u 0 mm mm uc uu uc uu (7) 2 n 32 n 3 2 n 3 2 3 kuu kn 0 xu Ru Fn uc u + 4 kn kn +km km 5 4 xc 5 = 4 0 5 + 4 Fn +Fn 5 cu cc cc cu c c 0 km km xm Rm Fm uc uu u u u or shortly m + cx + kx = R + F : x _ (8) The created system is of the same form as each sub-system. Therefore it can be considered as sub-system in the next stage of composition. The above mathematical model does not include the working tolerances the two sub-systems are manufactured within as well as the constraints imposed by rigid bodies. This paper presents an approach towards inclusion of those inaccuracies and constraints in the mathematical model of the joint system. 2. MATHEMATICAL MODEL OF THE PERMANENTLY DEFLECTED SHAFT

Fig. 1. Physical model of the shaft. The mathematical model of a symmetrical shaft s s s s s m 0 x c 0 x _ k + + 0 ms ys 0 cs ys _ 0

0 ks

corresponds to a perfectly straight shaft (see Fig. 1a). Due to the manufacturing accuracy and the thermal treatment, the shaft is always permanently deflected as it is shown in Fig. 1b. This deflection can be

xs ys

Rs x Rs y

(9)

determined along the local, rotating with the angular velocity -; system of coordinate xri yri zri . The number of coordinates the permanent deflection is determined along does not necessarily have to be equal to the s number of coordinates adopted for the mathematical model. Let us denote by xs and yra these coordinates ra the permanent deflection is determined along and let us locate these coordinates in the upper part of vectors s s xs and yr (see Eq. (10)). The remaining coordinates are denoted by xs and yru . r ru s s yra xra s s : (10) yr = xr = s yru xs ru s s By ax and ay let us denote vectors of the permanent deflection in plane xr z and yr z of the rotating system of coordinates respectively (see Fig. 1b). To facilitate the implementation of the permanent deflection into the mathematical model of the shaft it is possible to assume that the shaft itself is perfectly straight but there exists a set of forces acting on the shaft which keeps the shaft bended according to the vectors as and as . x y This equivalent set of forces Fs xr (see Fig. 1c), along the rotating system of coordinates, is time independent a and can be adopted separately in the xr z and yr z plane in the following form s s Fyra Fxra Fs xr = Fs yr = : (11) a a 0 0 The equivalent set of forces Fs ra has to fulfil the following relationship x s s s Fxra ax kaa ks au = : 0 xs ks ks uu ua uu (12) (13) (14)

Therefore

Fs ra = ks as + ks ((ks )1 (ks as )) : x aa x au uu ua x Similarly, the equivalent vector of forces Fsra in plane yr z is y Fsra = ks as + ks ((ks )1 (ks as )) : y aa y ar rr ra y Equivalent vector of forces along the stationary system of coordinates xi yi (see Fig. 1d), is s s Faxr cos -t Fs yr sin -t Fax a s : = Fa (t) = Fs y Fs xr sin -t + Fs yr cos -t a a a

(15)

The above vector represents excitation force due to the residual permanent deflection and may be included in the mathematical model (9). s s s s s s s s Fax Rx m 0 x c 0 x _ k 0 x : (16) + + + = + Fs y 0 ms ys 0 cs ys _ 0 ks ys Rs a y 3. MATHEMATICAL MODEL OF ELEMENT ATTACHED TO THE SHAFT

3.1. FLEXIBLE ELEMENT If an element can be considered flexible, one may follow the pattern presented in the previous section to produce its mathematical model in the following form e e e e e e Fax Rx m 0 x k 0 x + = + : (17) Fe y Re 0 me ye 0 ke ye a y

The vectors Fe x and Fe y represent excitation due to the working tolerances of the element considered. Now a a it is possible to apply the procedure described in section 1 to join the mathematical model of the shaft (16)and element (17) together. If elements of the matrix of inertia and stiffness in both mathematical models are of similar order, the final mathematical model is reliable. Unfortunately, in most applications, elements of the stiffness matrix of these two subsystem are different by few orders. In these cases the described method of composition leads to mathematical model which is poorly conditioned. This results in unacceptable errors during condensation or analysis of the final mathematical model. Therefore, in many cases, it is necessary to approximate the elements attached to the shaft by rigid bodies 3.2. RIGID ELEMENT If one assumes that the motion of a rigid element along the axis z is neglected and rotation about axis z is

known, it has two degree of freedom in the plane xz and has another two degree of freedom in the plane yz. e E.g. coordinates yr1 and 'e uniquely determine position of the rigid body in the yr z plane of the rotating r1 system of coordinates xr yr z (see Fig 2). Hence, if one chooses them as the independent coordinates, the

Fig. 2. Example of constraints imposed by the rigid element on shaft in the rotating system of coordinates
e position of the body along the coordinates yr2 ; 'r2 ; yr3 ; 'r3 ; yr4 ; 'r4 can be expressed as functions of yr1 e and 'r1 , dimensions of the body l12 ; l1 ; ::: and parameters reflecting the accuracy of its manufacturing ry : For the case shown in Fig. 2, these relationships are as follows 2 s 3 2 3 2 3 yr2 1 l12 0 6 's 7 6 0 7 6 7 1 0 r2 6 s 7 6 7 s 6 7 6 yr3 7 6 1 7 yr1 6 7 l12 + l1 + l2 (l2 )ry 6 s 7=6 7 7 : +6 (18) 6 'r3 7 6 0 7 's 6 7 0 ry r1 6 s 7 6 7 6 7 4 yr4 5 4 1 l12 + l1 + l2 + l34 5 4 (l2 l34 )ry 5 s 'r4 0 1 ry

Generally, the constraints imposed on shaft by rigid bodies attached to it may be written in the following form s s yrd = adi yri + ady : (19) s s In the above equation the vector of independent coordinates is denoted by yri , and yrd stands for the vector of the dependent coordinates. The rectangular matrix adi contains parameters of the element. The working tolerances appear in vector ady : It is easy to notice, by examination of Eq. (18), that the rectangular matrix adi which expresses the constraints in the plane xr z is identical with that in the plane yr z: Hence xs = adi xs + adx : rd ri Upon taking into account that according to Fig. 2 xs ys xs d
s = xs cos -t yr sin -t r s s = yr cos -t + xr sin -t ;

(20)

(21)

the constraints along the stationary system of coordinates xyz are

s = (adi xs + adx ) cos -t (adi yi + ady ) sin -t i s s = (adi (xs cos -t + yi sin -t) + adx ) cos -t (adi (yi cos -t xs sin -t) + ady ) sin -t i i = adi xs + adx cos -t ady sin -t i s = (adi yi + ady ) cos -t + (adi xs + adx ) sin -t i s s cos -t xs sin -t) + ady ) cos -t + (adi (xs cos -t + yi sin -t) + adx ) sin -t = (adi (yi i i s = adi yi + adx sin -t + ady cos -t : (22)

s yd

The above relationships permit the dependant coordinates to be eliminated from the mathematical model of

3 Fs ayd 5 ; Fs = 4 Fs 5 : ay ayi Fs ayu (23) In the formulae above, the subscripts d, i, and u correspond to the dependant, independent and not engaged coordinates respectively. The potential energy function for the rotor is 2 s 32 s 3 s s xd kdd kdi kdu 1 sT ks ks 5 4 xs 5 xsT xsT 4 ks V = ( xd u ii iu i i id 2 s s ks xs u ud kui kuu 2 s 32 s 3 s s yd kdd kdi kdu sT s sT sT 4 ks ks ks 5 4 yi 5) : (24) + yd yi yu ii iu id s s s s kud kui kuu yu Introduction of Eq. (22) into Eq. (24) allows to eliminate the dependent coordinates from the expression of the potential energy function. s aT ks adi + aT ks + ks adi + ks ; aT ks + ks xi ii iu di dd di di id di du V = 1 ( xsT xsT + u i 2 ks adi + ks ; ks xs uu ui ud T s us sT adi kdd adi + aT ks + ks adi + ks ; aT ks + ks yi sT ii iu di di id di du yu + yi )+ s ks adi +ks ; ks yu ui uu ud (25) +(xsT (aT ks adx +ks adx ) + ysT (aT ks ady +ks ady )+ id id i di dd i di dd s sT s sT +xu (kud adx ) + yu (kud ady )) cos -t+ sT T s s +(xi (adi kdd ady +kid ady ) + ysT (aT ks adx +ks adx )+ id i di dd xsT (ks ady ) + ysT (ks adx )) sin -t : u ud u ud

the shaft. To do it, let us partition the matrices in Eq. (16) as follows 3 2 s 3 2 s 2 s kdd cdd cs cs mdd ms ms di du di du cs cs 5 ; ms ms 5 ; ks = 4 ks cs = 4 cs ms = 4 ms ii iu ii iu id id id s s s s ks cs ms ud ud cui cuu ud mui muu 2 s 3 2 s 3 2 s 2 s 3 2 s 3 Ryd Rxd Faxd yd xd s xs = 4 xs 5 ; ys = 4 yi 5 ; Rs = 4 Rs 5 ; Rs = 4 Rs 5 ; Fs = 4 Fs y x ax xi yi axi i s Rs Fs yu xs Rs xu axu u yu

ks di ks ii ks ui 3

3 ks du ks 5 iu ks uu 2

Similarly, the kinetic energy function E, dissipation energy function D and the virtual work expression due to the external forces W after introduction of the constraints take the following form s aT ms adi +aT ms +ms adi +ms aT ms +ms xi _ ii iu di dd di di id di du _i _u E = 1 ( xsT xsT + 2 ms adi +ms ms xs _u uu ui ud T s s sT adi mdd adi +aT ms +ms adi +ms aT ms +ms yi _ ii iu di di id di du _ yu _ sT + yi )+ ms adi +ms ms yu _s uu ui ud T sT T (26) (xsT (adi ms adx +ms adx ) + yi (adi ms ady +ms ady )+ _i _ dd id dd id s sT s sT +xu (mud adx ) + yu (mud ady ))- sin -t+ _ _ T sT T sT s s s +(xi (adi mdd ady +mid ady ) + yi (adi mdd adx +ms adx )+ _ _ id sT s xsT (mud ady ) + yu (mud adx ))- cos -t ; _u _ T s s sT adi cdd adi +aT cs +cs adi +cs ; aT cs +cs xi _ 1 sT ii iu di di id di du D = 2 ( xi _ xu _ + cs adi +cs ; cs xs _u uu ui ud T s s T s s s T s s sT adi cdd adi +adi cdi +cid adi +cii ; adi cdu +ciu yi _ _ yu _ sT + yi )+ cs adi +cs cs yu _s uu ui ud T s T s (27) (xsT (adi cdd adx +cs adx ) + yi (adi cdd ady +cs ady )+ _i _ sT id id sT s sT s +xu (cud adx ) + yu (cud ady ))- sin -t+ _ _ +(xsT (aT cs ady +cs ady ) + yi (aT cs adx +cs adx )+ _i _ sT di dd id id di dd xsT (cs ady ) + ysT (cs adx ))- cos -t ; _ u ud _ u ud sT aT Fs + Fs sT aT Fs + Fs ayi sT sT di ayd axi di axd xu yu W = xi + yi : (28) Fs Fs axu ayu Introduction of Eqs. (26), (27), and (28) into Lagranges equations of motion @E @D @V d @E sT sT + + = Qn qn xsT ; xsT ; yi ; yu (29) i u dt @ qn _ @ qn @ qn @ qn _

where

results in the following equations of motion of the constrained rotor s s s s s s xc kc 0 xc _ cc 0 xc mc 0 + + s yc 0 ks yc _s 0 cs yc s 0 ms c c c s s s s Facx Fcsx Fccx Rcx sin -t ; cos -t + + + = Fs y Fs Fs Rs ac csy ccy cy ms c = cs c ks c = aT ms adi +aT ms +ms adi +ms ii; di dd di di id ms adi +ms ui ud aT ms +ms iu di du ms uu

(30)

aT cs adi +aT cs +cs adi +cs ; aT cs +cs ii iu di dd di di id di du cud adi +cui cuu aT ks adi +aT ks +ks adi +ks ; aT ks +ks id ii iu di dd di di di du ks adi +ks ks ui uu ud s s yi xi s s ; yc = ; xc = s yu xs u

(31)

T s adi Fayd +Fs aT Fs +Fs s ayi axi di axd = ; Facy = ; (32) Fs Fs axu ayu T s T s T s adi mdd adx +ms adx adi cdd ady +cs ady adi kdd adx +ks adx id id id Fs = (-2 ) + ()+( ) ccx ms adx cs ady ks adx ud ud ud T s T s T s adi mdd ady +ms ady adi cdd adx +cs adx adi kdd ady +ks ady id id id Fs = (-2 ) + ()+( ) ccy ms ady cs adx ks ady ud ud ud T s T s adi mdd ady +ms ady aT cs adx +cs adx adi kdd ady +ks ady s 2 id id di dd id Fcsx = ()+()+( ) ms ady cs adx ks ady ud ud ud T s T s T s adi mdd adx +ms adx adi cdd ady +cs ady adi kdd adx +ks adx s 2 id id id Fcsy = () + ()+( ): ms adx cs ady ks adx ud ud ud Fs acx (33) Since the expressions (33) represent excitation forces due to the working tolerances of the rigid element (adx ; ady )along the independent coordinates, the mathematical model of the rigid element can be adopted in form (34) me xe +ce xe = Re +Fe i _i (34) G where: 2 3 2 3 m 0 ma 0 0 0 0 0 6 0 7 6 m 0 ma 0 0 7 7 ; ce = 6 0 0 7 me = 6 4 ma 0 Ip + ma2 5 4 0 0 0 0 Iz - 5 0 ma 0 Ip + ma2 0 0 Iz 0 3 2 e 3 2 2 3 x1 Fx 0 e 6 y1 7 6 F 7 6 mg 7 7 xe = 6 e 7 ; R = 6 y 7 ; FG = 6 (35) i 4 'x1 5 4 Mx 5 4 0 5 : 'e My mga y1 In the above equation m stands for mass of the element, Ip and Iz represent its moments of inertia and a is the distance between plane x1 ; y1 and the centre of gravity of the rigid element. Application of the composition rules (see section 1) to the mathematical models (30) and (34)results in the final mathematical model. It includes both the excitation due to the permanent deflection of the shaft (vectors (32)) and the excitation due to the inaccuracies of the rigid element (vectors (33)). 4. NUMERICAL SIMULATION

Fig. 3. The physical model of the rotor system; a) shaft; parameters adopted for computation: Ea = 0:2 1012 N m2 ; Ga = 0:0666 1012 N m2 ; a = 0:333; a = 7800kgm3 ; b) flexible element; parameters adopted for computation: Eb variable, Gb variable ; a = 0:333; a = 7800kgm3 b = 0:0001m; c) rigid element; parameters adopted for computation: m = 127:1kg; Ix = Iy = 21:33kgm4 ; Iz = 0; a = 0:65m; b = 0:0001m; d) rotor system Figure 3d) shows a rotor system. Its elements are shown in Fig. 3a), b) and c) respectively. The shaft (Fig. 3a)) was modelled by means of the FEM along the following vector of coordinates [xsT ; ysT ] = [x1 ::::::x20 ; 'x6 ; 'x7 ; 'x14 ; 'x15 ; y1 ::::::y20 ; 'y6 ; 'y7 ; 'y14 ; 'y15 ] : Its mathematical model, for further consideration, was adopted in the form below. s s s s s Rx m 0 x k 0 x + = : Rs 0 ms ys 0 ks ys y (36)

(37)

The element shown in Fig. 3b) and c) has misaligned holes. This misalignment is determined by the tolerance b=0.0001m. Two approaches were adopted to model this element. First bases on assumption that the element is flexible and can be modelled by means of the FEM (see Fig. 3b)). Second approach assumes that this element is rigid (see Fig. 3c)). The mathematical models of the shaft and the element were combined to create the mathematical model of the rotor system shown in Fig. 3d) 4.1. NUMERICAL SIMULATION FOR ROTOR WITH THE FLEXIBLE ELEMENT The flexible element was modeled by means of FEM along the following vector of coordinates [x6 ; x7 ; x21 ; ::::::x26 ; x14 ; x15 ; 'x6 ; 'x7 ; 'x14 ; 'x15 ; y6 ; y7 ; y21 ; ::::::y26 ; y14 ; y15 ; 'y6 ; 'y7 ; 'y14 ; 'y15 ]: (38) The misalignment b was introduced as the permanent deflection (see sec.2) along vector of coordinates
T [xT ; yd ] = [y6 ; 'y6 ; y7 ; 'y7 ; y14 ; 'y14 ; y15 ; 'y15 ] d

(39)

as follows [0; 0; 0; 0; 0:0001; 0; 0:0001; 0] : (40) Composition (see sec.1) of the mathematical model of the element and the mathematical model of the shaft and the followed Guyans condensation [3] resulted in the mathematical model of the rotor system. c s Fx Fx xc xc 0 m +k = + cos -t + sin -t (41) Fc Fs yc yc G y y

where:
T [xT ; yc ] = [[x1 ::::x6 ; x8 ; ::x13 ; x16 ; ::::x20 ; y1 ::::y6 ; y8 ; ::y13 ; y16 ; ::::y20 ] : (42) c Solution of the homogeneous equation (41) results in the natural frequencies of the rotor system. The first four of them are collected in Table 1 for seven different magnitudes of Y oungs modulus Eb of the element b (columns 2 to 5, rows 1 to 7). The corresponding modes for the first five magnitudes of Y oungs modulus are presented in Fig. 4 Solution of the non-homogeneous equation (41) allows to predict the forced response due to the misalignment b. The amplitude of this forced response along coordinate x6 for three different angular speeds is included in Table 1 (columns 6 to 8, rows 1 to 7). The resonance diagrams along the coordinate x6 are presented in Fig. 5.

4.2. NUMERICAL SIMULATION FOR ROTOR WITH THE RIGID ELEMENT If the element shown in Fig. 3c) is treated as a rigid body, it imposes constraints on the shaft. If the coordinates yi = [y6 ; 'y6 ]T (43) are chosen to be independent in the plane yz, motion of the shaft along the dependent coordinates yd = [y7 ; 'y7 ; y14 ; 'y14 ; y15 ; 'y15 ]T ; according to Fig. 3c), can be adopted in the following form y7 = y6 + 0:3'y6 'y7 = 'y6 y14 = y6 + (0:3 + 0:7)'y6 + 0:0001 'y14 = 'y6 y15 = y6 + (0:3 + 0:7 + 0:3)'y6 + 0:0001 'y15 = 'y6 : The above constraints can be written in the matrix form (46) 2 3 1 0:3 6 0 1 7 6 7 6 1 1 7 7 yd = adi yi + ady ; adi = 6 6 0 1 7; 6 7 4 1 1:3 5 0 1 xd = adi xi + 0 : The mathematical model of the element itself, according to (35), is e m 0 xi Rxi 0 m ma e = + ; m = ; 0 me yi Ryi Ge ma I + ma2
e

(44)

(45)

ady

Similarly, since the misalignment in plane xz is equal to zero, one may obtain that

6 6 6 =6 6 6 4

0 0 0:0001 0 0:0001 0

7 7 7 7 : 7 7 5

(46)

(47) mg mga

G =

: (48)

As one can see, in both approaches the gyroscopic effect was neglected. The following steps were undertaken to produce the final mathematical model of the rotor system. 1. The constraints (46) and (47) were introduced into equations of motion of the shaft (Eq. (37). 2. The constrained mathematical model of the shaft was added to the mathematical model of the element (48) to give, as a result, mathematical model of the rotor system. 3. The mathematical model of the system was condensed along vector of coordinates (42) yielding the final mathematical model in form (41). c s Fx Fx xc xc 0 m +k = + cos -t + sin -t (49) Fc Fs yc yc G y y

The natural frequencies and the amplitudes of the forced vibration caused by the misalignment b obtained by analysis of the mathematical model (49) are presented in the last row of the Table 1 (Y oungs modulus E = 1). Corresponding modes of the free vibration and the resonance diagram are shown by the continuous line in Fig. 4 and Fig. 5 respectively.

5.

FINAL REMARKS

Table 1. Results of the numerical simulation.

Fig. 4. Natural modes of the free vibration of the rotor system considered; a) first mode; b) second mode

Fig. 5. Amplitude of the forced vibrations of the rotor system for different stiffnesses of the flexible element

The natural frequencies, as well as amplitudes of the forced response due to the considered inaccuracies, computed from the mathematical model (41 ) for Y oungs modulus 0.2e10 to 0.2e14 (Tabl.1 row 1 to 5), tend towards magnitudes obtained by solving of the mathematical model (49) (E = 1). For Y oungs modulus greater then 0.2e14 (see the highlighted rows in Tab. 1) the mathematical model (41) produces unacceptable results. The elements of the stiffness matrix of the element were 104 times

larger then elements of the shaft stiffness matrix. In such cases, the only reliable mathematical model, is the mathematical model (49). The same conclusions may be drawn from analysis of diagrams presented in Fig. 4 and Fig. 5. The paper provides a method of inclusion of constraints imposed by rigid elements and the working tolerances of shaft and the attached elements in the mathematical model of the rotor system. The constraints influence the natural frequencies of the system whereas the tolerances causes external excitation. The numerical simulation provides proof that the developed methods are correct. 6. REFERENCES

1. Gasch R. and Knothe K., Strukturdynamik Springer-V erlag, Vol. 2. (1989) 336 2. Meirovitch L., Elements of Vibration Analysis. ,McGraw-Hill, (1986), 560. 3. Guyan, R.J., Reduction of Stiffness and Mass Matrices, American Institute of Aeronautics and Astronautics Journal, Vol. 3, No. 2, (1965) 380-385 7. NOMENCLATURE matrix of inertia, stiffness and damping respectively vector of forces of interaction, forces of the external excitation and gravity forces respectively vectors of displacements in the horizontal and the vertical plane respectively identify the subsystem considered identify horizontal or vertical plane respectively corresponds to a vector associated with function sin and cos respectively corresponds to common or condensed, not engaged, dependent and independent vector of coordinates linear coordinates in the horizontal and the vertical plane respectively angular coordinates in the horizontal and vertical plane respectively potential, kinetic and dissipation energy function the principal moments of inertia mass gravity acceleration Y oungs modulus Shear modulus virtual work Poisson ratio density natural frequency angular speed of the rotor

m; k; c R; F; G x; y superscriptsn;m;s;e::: subscriptsxy subscriptssc subscriptsc;u;d;i x; y 'x ; 'y V; E; D Ix = Iy = I; Iz m g E G W % ! -