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where x ' x ' and y'y' are the axes inclined at an angle O, the angle o f twist, at any point in the element, to the original axes x x and y y as shown in Figure l(c). The value of/=,,, = 0 and the values ofl~,~, and I,,y, can be computed as Ix,~,(z)-where a, = (b2 - b,) (h2 - h,) 3, az = b,(h2 - h,) 3 + 3(b2 - b,) (h2 - h,) 2 h,,
b(~)h'(~)
(7)
(8) (9)
d4= 3h, b ~ ( b 2 - b , ) + ( h 2 - h , ) b ~ ,
ds--h,b].
(113)
By substituting the expressions for wb, w:, vb, vs, A, Ixx, Ixy and Iyy from equations (2), (4) and (6) in equation (3), the strain energy U can be expressed as
v = 89
(l l)
where u is the vector o f nodal displacements u,, u2 . . . . . u,6, and [K] is the elemental stiffness matrix o f order 16. In terms o f the integrals defined as
f
z
[a 2 w~\'
EI,,,,~--~z~J d z =
/02. \2
[u~u2u3u4lr[AK][u~u2u3u4],
(12)
i
0
(14)
and
la 2 wb\ [a" vb \
05)
[AK]
[0]
[DK]
[0]
[o]
16x16
[CK]
[0]
[0]
[BK]
[01 1,
[0] /
[K] =
[DK]
(16)
[o1
[o1
[o1
[CKl]
where [AK], [BK], [CK] and [DK] are symmetric matrices o f order 4 and [0] is a null matrix o f order 4. The elements o f matrices [AK], [BK], [CK] and [DK] are formulated in Appendix A.
191
The kinetic energy of the element T, including the effects of shear deformation and rotary inertia, is given by
o;L w
+gi,,,ta---~t)t-~.~]+.~glO--~)
By defining
! 2
+
ldz.
(17)
J -~- \ ~ - /
0
(18)
( 3 T
0
(19)
fT
(20)
and
1
Jo g \OzOt] ~OzOt] dz =
[a, az z~39,]r
(21)
where ~ denotes the time derivative of the nodal displacement energy of the element can be expressed as T = 89 where [M] is the mass matrix given by fi,
(22)
[ [AM] + [aM] [AM] [DM] [01 ] = [ [AM] [AM] [AM] [01 1 [M] tAM] tAM] + [CM] tAM]/' l~6x16 / [DM] L [0] [0] [AM] [AMlJ
/ /
(23)
[DM] are
2.4. BOUNDARYCONDmONS The following boundary conditions are to be applied depending on the type of end conditions:
(24) vb = 0, and
Owb/Oz =
0 and
OvdOz=
0;
(25) (26)
vb = 0.
It is to be noted here that all the forced boundary conditions could be satisfied by the present model. Among the natural boundary conditions, if the condition of zero bending moment is to be enforced at a free end, the element due to Thomas and Abbas [20] is expected to be better than the present one.
192
The element stiffness and mass matrices developed are used for the dynamic analysis of cantilever beams. By using the standard procedures of structural analysis, the eigenvalue problem can be stated as (iX] -- o,2[M]) U = 0, (27) where [K] and [M] denote the stiffness and mass matrices of the structure, respectively, U indicates nodal displacement vector of the structure, and w is the natural frequency of vibration. A study of the convergence properties of the element is made by taking the special case of a uniform beam with a length of 0.2540 m, breadth of 0.0762 m, depth of 0.0704 m, E = 2.07 10 ~I N / m z, G = 3E/8, mass density of 800 kg/m 3,/a = 2/3 and 0 = 0 ~ For this beam, the first, second, third and fourth natural frequencies obtained by the present method (with 4 elements) have been found to have 0 " 0 0 yo, 0.07 ~o, 0.30 ~ and 0.60 ~ errors, respectively. The first four natural frequencies obtained by using 8 elements are 845.8, 3989.5, 8836.8 and 13827.1 Hz while the exact values are 845.8, 3988.9, 8834.2 and 13818.1 Hz, respectively [20]. The convergence of the natural frequencies of a pretwisted doubly tapered cantilever beam has also been studied and the results are shown in Table 1. In this case the natural frequencies given by the method of reference [21] have been found to be slightly higher than those predicted by the present method. It can also be seen that reasonably accurate results can be obtained even by using four finite elements. TA~Lz 1
Data: length of beam = 0.1524 m, breadth at root = 0-0254 m, depth taper ratio = 2.29, breadth taper ratio = 2"56, twist = 45~ shear coefficient = 0.833, mass density = 800 kg]m3, E = 2.07 x 10tl N]nl2, G = (3/8)E. Table 2 shows the frequency ratios of an untwisted tapered beam for various combinations of depth and breadth taper ratios. Six finite elements are used to model the beam. It is observed that for constant depth taper ratio the frequency ratio of all the four modes increases with breadth taper ratio while for constant breadth taper ratio the frequency ratio decreases for the first mode and increases for the second, third and fourth modes with an increase in the depth taper ratios. The shear deformation effects reduce the frequency of modal vibration. The present results can be seen to compare well with those reported by Mabie and Rogers [6] which are also indicated in Table 2. Figure 2 shows comparison of the results given by the finite element method with those reported by Rosard [9] for a twisted beam of 0.0254 m x 0.00635 m cross-section and 0.2794 m length. It can be seen that the two sets of results are quite comparable.
77
0 0
lJ
II 0 "0
II
II
00 0 II
E ~J
",d"
o
0 II
~J cJ ~J
,o
~o ~
g
II
~j~3
.~0~ 0
I1
......
,+-~j 0 0 0
'0
,.~
194
9 87 6 .o
Third mode
Second mode
g4 ~
First mode
I0
ZO
30
Figures 3 and 4 show the variation of modal frequencies with breadth taper ratio for beams having 0 ~ 30 ~ 60 ~ and 90 ~ twist with constant depth taper ratio while Figures 5 and 6 show similar variations for beams with constant breadth taper ratio and varying depth taper ratio. Here the length of the beam is taken as 0.254 m and the root cross-section as 0.076 x 0.038 times the length of the beam. Again the effects of breadth and depth tapers are seen to
I i I
6O*
/]
'
///// //s
I
3
I
4
Figure 3. Effects of shear deformation and breadth taper ratio on the first and second natural frequencies of a twisted beam. e, Method of reference [22]; , without shear deformation; . . . . , Timoshenko beam; depth taper ratio = = 3.
T A P E R E D A N D T W I S T E D T I M O S H E N K O BEAMS
14 I I I
195
13 12
11
-
\\
\\ ~.\ \
\
\\
/ f / f - Fourth mode
\\ ~'',-
0 I0 9t~
8
~ ~"
/f/f-Third mode
~ +
6 -
30"
Figure 4. Effects of shear deformation and breadth taper ratio on the third and fourth natural frequencies of a twisted beam. , Without shear deformation; . . . . . , Timoshenko beam; depth taper ratio cr = 3. be p r o n o u n c e d at higher modes of vibration. Here also the effect of shear d e f o r m a t i o n is seen to reduce the m o d a l frequencies at higher rates in higher modes of vibration in all the cases. T h e results f o u n d by the m e t h o d o f Carnegie a n d T h o m a s [22] for the first two n a t u r a l frequencies are also indicated in Figures 3 a n d 5. It can be seen that the present results c o m p a r e excellently with those o f Carnegie a n d T h o m a s .
.9
u~
Firsl mode--~
I~, 60~
90 ~
196
13
R. S. G U P T A A N D S. S. R A O
I I I
12
FcxJrthmode~
II
~)o
I0 ._o 9
5 4
i
2
i
3 Depth taper ratio
I
4
Figure 6. Effectsof shear deformation and depth taper ratio on the third and fourth natural frequencies of a twisted beam. , Without shear deformation; . . . . . , Timoshenko beam; breadth taper ratio/Y = 3. 4. CONCLUSION The finite element procedure developed for the eigenvalue analysis of doubly tapered and twisted Timoshenko beams has been found to give reasonably accurate results even with four finite elements. The effects of breadth and depth taper ratios, twist angle and shear deformation on the natural frequencies of vibration of cantilever beams have been investigated. The present results are found to compare very well with those reported in the literature. The element developed is expected to be useful for the dynamic analysis of blades of roto-dynamic machines. REFERENCES 1. J. S. RAo 1965 Aeronautical Quarterly 16, 139-144. The fundamental flexural vibration of cantilever beam of rectangular cross-section with uniform taper. 2. G. W. HOUSNERand W. O. KEIG}{T[.EY1962 Proceedings of the American Society of Civil Enghzeers 88, 95-123. Vibrations of linearly tapered beam. 3. N. O. MYKLESrAD1944 Journal of Aerospace Science 2, 153-162. A new method for calculating natural modes of uncoupled bending vibrations of aeroplane wings and other types of beams. 4. A. I. MARTIN1956 Aeronautical Quarterly 7,109-124. Some integrals relating to the vibration of a cantilever beams and approximations for the effect of taper on overtone frequencies. 5. J. S. RAO and W. CARNEGIE1971 Bulletin of Mechanical Engineerhtg Education 10, 239-245. Determination of the frequencies of lateral vibration of tapered cantilever beams by the use of Ritz-Galerkin process. 6. H.H. MAB1E,and C. B. ROGERS1972 Journal of the Acoustical Society of America 51, 1771-1774. Transverse vibrations of double-tapered cantilever beams. 7. H. H. MABmand C. B. ROGERS1974 Journal of the Acoustical Society of America 55, 986--988. Vibration of doubly tapered cantilever beam with end mass and end support. 8. m. MENDELSONand S. GENDLER 1949 NACA TN-2185. Analytical determination of coupled bending torsion vibrations of cantilever beams by means of station functions. 9. D. D. ROSARD1953 Jottrttal of Applied Mechanics 20, 241-244. Natural frequencies of twisted cantilevers. 10. R. C. DI PRIMAand G. H. HANDELMAN1954 Quarterly on Applied Mathematics 12, 241-259. Vibration of twisted beams.
197
11. W. CARNEGIE1959 Proceedings of the Institute ofitlechanical Engineers 173, 343-346. Vibration of pretwisted cantilever blading. 12. B. DAWSON 1968 Journal of Mechanical Engineerhtg Science 10, 381-388. Coupled bending vibrations of pretwisted cantilever blading treated by Rayleigh-Ritz method. 13. J. S. RAG 1971 Journal of the Aeronautical Society of lndia 23, 62-64. Flexural vibration of pretwisted beams of rectangulc.r cross-section. 14. W. CARNEGIEand 3". THOMAS 1972 Journal of Engineerhtg for Industry, Transactions of the. American Society of Mechanical Enghwers 94, 255-266. The coupled bending-bending vibration of pretwisted tapered blading. 15. R. McCALLEY 1963 General Electric Company, Schenectady, New York, Report No. DIG/SA, 63-73. Rotary inertia correction for mass matrices. 16. J. S. ARCHER 1965 American Institute of Aeronautics and Astronautics Journal 3, 1910-1918. Consistent matrix formulations for structural analysis using finite element techniques. 17. K. K. KAPUR 1966 Journal of the Acoustical Society of America 40, 1058-1063. Vibrations of a Timoshenko beam, using finite element approach. 18. W. CARNEGIE, J. THOMAS and E. DOCUMAKI 1969 Aeronautical Quarterly 20, 321-332. An improved method of matrix displacement analysis in vibration problems. 19. R. NICKEL and G. SECOR 1972 bzternational Journal of Numerical Methods in Enghwering 5, 243-253. Convergence of consistently derived Timoshenko beam finite elements. 20. J. THOMASand B. A. H. ABBAS 1975 Journal of Soundand Vibration 41,291-299. Finite element model for dynamic analysis of Timoshenko beam. 21. 3. S. RAG 1972 Journal of Engineerhtg for bMustry, Transactions of the American Society of Mechanical Engineers 94, 343-346. Flexural vibration of pretwisted tapered cantilever blades. 22. W. CARNrGmand J. THOMAS1972JournalofEngineeringforlndustry, Transactions of the American Society of Mechanical Engineers 94, 367-378. The effects of shear deformation and rotary inertia on the lateral frequencies of cantilever beams in bending.
APPENDIX A: EXPRESSIONS FOR [AK], [BK] . . . . The following notation is used for convenience:
1
, [DM]
w,=Jz'-'dz,
0
i = 1,2 . . . . . n,
i=
(AI)
(A2)
L l = I t-l,
1,2 . . . . . n,
[ [
z] z]
+ 01 dz,
i = 1,2 . . . . . n,
(13)
+ 01 dz,
i = 1,2 . . . . . n,
(14)
where O~ and 02 denote the values of pretwist a t nodes I and 2, respectively, of the element. As wb, w~, Vb and v~ are all the same in nature except for their positions in the stiffness and mass matrices, one can use )~ to denote any one of the quantities wb, ws, vb or vs and in a similar manner the set (111,112,113,a4) can be used to represent any one of the sets (u~, u2, u3, u4), (us, u6, u7, us), (ug, U,o, ul,, u12) or (u13, u14, u,s, U16). Thus
(AS)
(A6)
(t7)
198
By letting P~,t.k(i = 1. . . . . 4 ; j = i , . . . , 4; k = t . . . . . 7) denote the coefficient ofzk-Xl 7-k for the a~zT~ term in the expression o f ~2, Q~.~,k(l = 1. . . . . 4; j = i . . . . . 4; k = 1. . . . . 5) the coefficient o f zk-~l 5-k for the f i ~ term in the expression o f ( d ~ ] d z ) z, R~.j,k(i = 1. . . . . 4; j = i, . . . . 4; k = 1. . . . . 3) the coefficient ofzk-~l 3-k for the a~aj t e r m in the expression o f (d 2 ~'/dz2) 2, Hi. j(i = I . . . . . 4 ; j = i . . . . . 4) the index coefficient o f l to a c c o u n t for the difference in index o f I due to multiplication o f r o t a t i o n a l degrees o f f r e e d o m ~1 a n d a2 a n d the displacement degrees o f freedom a3 a n d t74, the values ofP~.j.k, Q~.j.k, R~.j,k a n d H~,~ can be o b t a i n e d as shown in T a b l e s A I a n d A2. TABLE A1
Qt.j., for k =
A 9
i 1 1 1 1 2 2 2 3 3 4
j
1 2 3 4 2 3 4 3 4 4
H~.j 0 0 1 1 0 1 1 2 2 2
1 144"0 -144"0 -72"0 -72"0 144-0 72-0 72-0 36-0 36"0 36-0
2 -144"0 144"0 84"0 60"0 -144"0 -84"0 -60'0 -48"0 -36-0 -24"0
3 36"0 -36.0 -24.0 -12"0 36"0 24.0 12"0 16"0 8.0 4-0
1 36.0 -36"0 -18.0 -18"0 36-0 18:0 18"0 9"0 9"0 9"0
2 -72-0 72"0 42"0 30'0 -72"0 -42"0 -30'0 -24"0 -18"0 -I2-0
3 36"0 -36"0 -30"0 -12"0 36"0 30"0 12"0 22.0 11.0 4-0
4 6-0 0-0 6'0 0"0 0-0 -6-0 0-0 -8-0 -2"0 0-0
5 0.0 0'0 0'0 0.0 0-0 0'0 0.0 1"0 0"0 0"0
TABLE A 2
Vahles of Pt, j.
PI.j.~ for k =
r
i
I 1 1 1 2 2 2 3 3 4
]
1 2 3 4 2 3 4 3 4 4
I
4.0 -4.0 -2.0 -2.0 4.0 2.0 2-0 1-0 1.0 1.0
2
-12.0 12.0 7.0 5.0 -12.0 -7.0 -5.0 -4.0 -3.0 -2.0
3
9.0 -9.0 -8.0 -3,0 9.0 8.0 3.0 6-0 3.0 1-0
4
4.0 -2,0 2.0 -1.0 0-0 -3.0 0.0 -4-0 -1.0 0.0
5
-6.0 3.0 2.0 1.0 0.0 0.0 0.0 1-0 0-0 0.0
6
0.0 0.0 -1-0 0.0 0.0 0.0 0.0 0-0 0.0 0.0
7
1.0 0-0 0-0 0-0 0.0 0.0 0-0 0-0 0.0 0.0
EVALUATION OF
[BK]
A s t h e p r o c e d u r e for the d e r i v a t i o n o f [AK], [BK] . . . . . [D~I] is the same for each, the e x p r e s s i o n for [BK] is derived here as a n illustration. One has
(A8)
199
where ~ = vb and
tt2 t23 = Ulo )uH .
94
ku12
/a2rv\'
0,)]x
~7(6z -
20
dz, (A9)
,,,+,
E
-
,,,,+,
s
UT-, +L,+2Ra.,.3 V6-,] +
l-I
+ (d, - a,) [L, Rl.l.1 Vs_, + L,+x R~ .x.2 VT_, + L,+2 R1.1.3 V6-,]}
g 5 3
(AI0)
I = 1 . . . . . 4,
J = 1, . . . . 4,
- 127~E ~
t=t J - t
[{aIL(I+J+HI.j )U9-1-JRI.J,J}+(dl-al)X
V(9_l_j).Rl.s.j}],
I = 1 . . . . . 4, J=1,...,4.
{Lu+j+U,,s)
(All)
Similarly
AK~.s = - -
12D ~ 1=1
E [{dIL(i+J+HI"I)U(9-I-j)RI'j'J}+
j=l
+(a,-dt){Lu+s+n,.s)Vg_,_jRr.a.~}],
I = 1 . . . . . 4, J = I . . . . . 4,
(AI2)
200 3 5
R.S.
G U P T A A N D S. S. R A O
CK, s = I t G ~
9
18 ~
l=l
~[c,L(,+j+n, .,, U o - i - j ) O t . j . j ],
9
j=l 5 3
1 = 1,
...,
4,
J=/,...,4,
(AI3)
I=
I=1 1=1
3 7
l .....
4,
J=I,
.... 4,
(AI4) I = I . . . . . 4,
AM,.s=g~x~[c,L,.s.m.jiUtu_,_s)P,.,.,],
= J=l 5 5
J = I , .... 4,
(Al5)
BMt s = P ~ 9 12gP ~
~
/=t
I-1
I = 1. . . . . 4,
I=
J = I . . . . . 4,
1. . . . . 4, J=I,
(A ! 7)
. . . . 4.
P
1=1 1=1
(AI8)
A P P E N D I X B: N O M E N C L A T U R E area of cross-section breadth of beam Young's modulus acceleration due to gravity shear modulus depth of beam moment of inertia of beam cross-section about xx, yy and xy axis, respectively [K] element stiffness matrix 1 length of an element L length of total beam [M] element mass matrix t time parameter U nodal degrees of freedom U strain energy 1) displacement in xz plane W displacement in yz plane x,y co-ordinate axes Z co-ordinate axis and length parameter frequency ratio ratio of modal frequency to frequency of fundamental mode of uniform beam with the same root cross-section and without shear deformation effects O~ depth taper ratio, = hdha fl breadth taper ratio, = b~[b2 0 angle of twist P mass density p shear coefficient Subscripts: b, bending; s, shear.
A b E g G h Ix,,, IT,),,Ix~,