STABILITY CRITERION OF THE LONGITUDINAL-TORSIONAL

VIBRATIONS OF A HOISTING CABLE WITH AN END LOAD

IN RIGID GUIDES

I. F. Shumlyanskii and O. I. P o l t a v c h e n k o UDC 6 7 7 . 7 2 . 0 0 1 : 6 2 2 . 6 7 + 5 3 1 . 3

L e t us c o n s i d e r the l o n g i t u d i n a l - t o r s i o n a l v i b r a t i o n s in the v e r t i c a l p a r t of the c a b l e of v a r i a b l e length of

a h o i s t i n g d e v i c e , s e t into m o t i o n b y a n a s y n c h r o n o u s e l e c t r i c m o t o r ; we a s s u m e that the end load is in r i g i d
g u i d e s . The v i b r a t i o n a l p r o c e s s u n d e r i n v e s t i g a t i o n , f o r m u l a t e d u n d e r the c o n d i t i o n s of the i n t e r a c t i o n b e t w e e n
t l i f t i n g d e v i c e and the s o u r c e of e n e r g y , c o r r e s p o n d s to the p e r i o d of l i f t i n g , t a k i n g in the s t a y of the e l e c t r i c
m o t o r c o n s e c u t i v e l y in a l l the s t a r t u p s t a g e s , a s w e l l a s to the n a t u r a l c h a r a c t e r i s t i c .
The h o i s t i n g s y s t e m is m o d e l l e d b y the c a l c u l a t i n g s c h e m e i l l u s t r a t e d in F i g . 1. H e r e the d r i v i n g m o -
m e n t is a p p r o x i m a t e d by a l i n e a r f u n c t i o n of the v e l o c i t y v of the l i f t i n g [3], and the c a b l e is r e g a r d e d a s an
e l a s t o v i s c o u s n a t u r a l l y t w i s t e d f i l a m e n t [1], not s l i p p i n g a t the p o i n t C of c o n t a c t with the d r u m .
The d r i v i n g m o m e n t Md, a p p l i e d a t the a x i s of the d r u m , is r e p r e s e n t e d in the f o r m
M d (v) = - - M~ [ I - - k~ (v - - v~)]
(~)i ~ U4 Oi-~l; i = O, 1. . . . . N),
where i is the n u m b e r of the s t a g e ; N is the t o t a l n u m b e r of s t a r t u p s t a g e s of the e l e c t r i c m o t o r ; v i i s t h e v e l o e -
ity of a p o i n t of the r i m of the d r u m at the m o m e n t t i of a s w i t c h o v e r f r o m the (i - 1)-th to the i - t h s t a r t u p
stage; k i = (Sivc)-~: S i is the s l i p , c o r r e s p o n d i n g to vi; v c is the l i m i t i n g v e l o c i t y of a point of the r i m of the
drum; M i (>QR) is the p e a k v a l u e of the d r i v i n g m o m e n t ( a c c o r d i n g to the m o d u l u s ) a p p l i e d to the a x i s of the
drum; Q is the h e i g h t of the end load; and R is the r a d i u s of the d r u m .

F o r the l o n g i t u d i n a l f o r c e P(x, t) and the t o r q u e M(x, t) in the c r o s s s e c t i o n x a t the m o m e n t of t i m e t we

write
0 1
P ( x , t ) = EF ff-~[(ul (1)
+ ku~) + ~1 -N-- (ul + ku~) J;
M (x, t) = k E F - ~ O
f (ul + leu2) + ~t~ "-o-i- J B 0__0_( ~ Ou~\ (2)
(ul + ku~) + Ox u~ ~ ~.~--b'U)

H e r e ui(x, t) i s the t o t a l l e n g t h of the f i l a m e n t (cable) in the c r o s s s e c t i o n x at the m o m e n t of t i m e t; u2(x, t) is

the a n g l e of r o t a t i o n of the c a b l e , r e c k o n e d f r o m a fixed d i r e c t i o n (0); E is the e l a s t i c m o d u l u s of the l i f t i n g
c a b l e ; B is the t o r s i o n a l r i g i d i t y ; F is the a r e a of a t r a n s v e r s e c r o s s s e c t i o n of the c a b l e ; k is the c o e f f i c i e n t
of the u n t w i s t i n g of the c a b l e ; and p~ and P2 a r e the c o e f f i c i e n t s of the v i s c o s i t y of the l i f t i n g c a b l e f o r l o n g i t u -
d i n a l and t o r s i o n a l v i b r a t i o n s , r e s p e c t i v e l y .

The a s s u m p t i o n s and n o t a t i o n a d o p t e d p e r m i t r e p r e s e n t a t i n g the s y s t e m of d i f f e r e n t i a l e q u a t i o n s of m o t i o n

of the l i f t i n g unit in the f o l l o w i n g f o r m :

0 (3)

L~ (v~, v~ = q O~v~ q__0 r Ov~ Or,

" Ot~ + g Ot [ Ox ~=~ "l-- k (x-- l) ~ I,,=, x

- - EF ~ x ~ (v, + kv 2) + ~q ~ (vt + kv..) - - (g + ' / ' ) = O; (4)

O d e s s a I n s t i t u t e of M e r c h a n t M a r i n e E n g i n e e r s . T r a n s l a t e d f r o m P r i k l a d n a y a M e k h a n i k a , Vol. 13, No. 3,

pp. 7 0 - 7 6 , M a r c h , 1977. O r i g i n a l a r t i c l e s u b m i t t e d A p r i l 17, 1975.

This materialis protected by copyright registered in the name of Plenum PublishingCorporation, 227 West 17th Street, "New York, N. Y. 10011. No part
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263
 K

d~
10/

Fig. 1

L~(Vl'V~)-~rs g
q 0~o2 q 0 r0~)s I
Otz ~ r~ -~(L--x)--O-F[--~-Z .,,:=z~
l ] --

-- kEF ~-~ (vl + kv~) + F1-N-" (vl + ~2) -- B ~

l (t) .~ x ..< L; ti ..< t 4 ti+z (i = O, 1. . . . N).

The boundary conditions f o r the functions vl(x, t) and v2(x, t) have the following form: for x = l
vl (t, t) = 0; v~ if, t) -- 0 (6)

and for x = L (L is the original length of the unstretched filament)

-O-g-+ y ~1 ox ,,=2+~(x-t)-~ L,,=S-:7-Ij +

0
.= = Q(I + ,,, ,,., ,, = o. ,7,

Here the initial conditions for vl, v 2, 8vl/0t, and 8v2/at are assumed to be given; I is the m o m e n t of inertia of all
the rotating parts of the unit applied to the axis of the d r u m ; g is the a c c e l e r a t i o n due to gravity; q is the running
weight of the undeformed cable; r is the radius of the inertia of unit length of the undeformed cable with r e s p e c t
to its axis; and I is the length of the undeformed cable wound on the d r u m .
The functions vl(x, t) and v2(x, t) are e x p r e s s e d by the equalities
t t

vl (x,t)=ul (x,t)--~ OutOx(x't ) x = / d t _ k ~x--liOu2(x't).

Ox lx=l"ldl; (8)
0 0

V~(X,t) = U~(X,t) L--x

L -- l
~ Ou2(x,t)
Ox
x=zidt" (9)
0

Equation (3) d e s c r i b e s the motion of the drum with the wound part of the cable under the action of the
driving moment. E x p r e s s i o n s (4) and (5) are the equations of the longitudinal-torsional vibrations of the v e r t i -
cal part of the cable. The boundary conditions (6) and (7), respectively, e x p r e s s the nonslipping of the cable at
the point of contact with the drum and the law of r e c t i l i n e a r motion of the load without rotation.
Simplifying the problem, we limit ourselves to a consideration of the principal frequency of the v i b r a -
tions. On the b a s i s of this, we s e l e c t an appropriate form of the solution. To this end, we select the s t e a d y -
state problem corresponding to (3)-(7) (l = coast, $ = 0, and ~'=$'= coast). The solution of the s t e a d y - s t a t e prob-
lem has the form

264
 = 2Q ( i)
2EF I+-~ +

(10)

(11)

Taking account now of the slow change in the length /(t) of the cable [1], the smooth change of "/" in [ti,
ti+~], and basing o u r s e l v e s on Eqs. (10) and {11), as the f o r m of the solution of p r o b l e m (3)-(7) we write

v ~ ( x , t ) = ( x - - 1 ) [ E ~ g q~(t) + 2 Q + q ( 2 2E'F
L--x--l) (\ 1 + _~_)] . k O c _ l ) ( L _ _ x ) [ ~e (t) - - - ~kq
- ( l + "~-~)] ; (12)

v~ (x, t) = (x - - l) (L - - x) q~ (t) - - - ~ - 1+ (in)

H e r e l =l(t); ~01(t), ~02(t) are unknown functions.

To d e t e r m i n e them we use the modified method of B. G. Galerkin
L L
,~,~L1(~,,~2) (x - - 0dr = ,,,~L, (~,1.~,)(x--O dt = 0 .
As a r e s u l t , p r o b l e m (3)-(7) r e d u c e s to a n o n l i n e a r s y s t e m (*) of o r d i n a r y differential equations with variable
coefficients with r e s p e c t to ~l(t), ~,2(t) and to the equation

"i + I~i-- ~ t = w~ + ~tv~ - - n+i (t)

(ti ~; t < ti+l; i = O, 1 . . . . . N).

F r o m this we obtain
l (t) = -l (t) -- nK~, (14)
where
l (t) = l (t~) ~h~e~2ict-O-- ~2ie~u(t-t~ +

+ vz [3iB2-~l[1 -- e~2iit-ti)] -- e n2i(t-ti) + enli(t-ti) -- ~iv}E1[I -- enli(t-ti)]

t t

ti ti

----2 -4--+-'-L'-; ~hi: 2 L '

kiMiR. In=l+ Q + q L R2; n = QR2 MI--(Q+qL) RR.
~ In ' g ~ ; wl = In
Then, going o v e r in the s y s t e m (*) to the d i m e n s i o n l e s s quantities
2B ?_
Yi = wiq~"'2-i" Y2 = -'~- q~; -- ~ t (15)

and substituting the e x p r e s s i o n /(t) (14) in the new v a r i a b l e s , we have the s y s t e m (**) of i n t e g r o d i f f e r e n t i a l
equations. Taking a c c o u n t of the p a r a m e t e r s of r e a l lifting units, and d i s c a r d i n g in (**) small quantities on the
o r d e r of e z and h i g h e r (e = 0.05), we d e t e r m i n e

265
 L--~) d { ~ - ~ _ .teee ~ ~ ~ ~ ~
24tv~

Z8~ (,0 l - - L - L- l ) + ~ [ 1+

162247 ~ 2 4 7_ 2 -dT w ' - " o ' " ~ T ] [ ~ ; , T +~'K'(O

9 6 e~ + 6 - -

9 . [ L 12F~Bg
L+
12Bg r 24t0~ / L \e w~'l'" ~' w~ 9 [ 24Bw~L
+
y~ - - 2., L - - l qr~ ( L - - l)~t J qr~(L---~)~', ~' + [ - ~ V / T a - r - ~ ) + ~-/-] ~ ' - ~ ' ' -g-~' + L # ~ a ~ b ~

-T- v, = ~, e x + ~ L----7 e~- -

2, [ L_._~?[ 1 ~L-~)] ,-,,r ~ ~,, s

P (~) (') = Pt -L-- + p~ (~) ; Px= ,4o ~ ---ffi--~a; (16)

= 5 5+, ~)T+(~ ~ '_5+v

+ - - - i r - ~ ~), ~/ ~- c, 2] ;

c~ = qI./Q; 3' = keEF/B; r = et is the slow t i m e .

Getting rid of the i n t e g r a l t e r m s in (16), we a r r i v e at a s y s t e m (***) of l i n e a r o r d i n a r y d i f f e r e n t i a l e q u a -
tions of the third o r d e r with r e s p e c t to Yl and Y2, with s l o w l y v a r y i n g c o e f f i c i e n t s . The solution of the s y s t e m
(***), using a s y m p t o t i c m e t h o d s [2], a f t e r a t r a n s i t i o n to ~0l, ~02, t in the f i r s t a p p r o x i m a t i o n has the f o r m

~ (t) = - - m - t i c p -L- +
i

f 2
~_mzg (li l~ 2 r162 -2 " ,

1 + .~ L ] -d[- C-ff / - n~s ~2 ~_ ~2 P ~,T --

ti t ri

+
QL .3 dt sin miQi 1-'~-~iPz - p i

fl

+ 2~i qh~o [h~0q~O 2

(@tto -- r + 4qhzo~eJe
t t

~ex'[.f(-"' + *" +~'~[SV'-*'~*"~

ti
~
ti
'~176
(17)
kq l f - ~ l q~'z~176176176176176176176 Oil~ X
tot~(t) : " ~ - V (I)Iz (q)ttO - - (l)~a0)2 -~" 4q)l~0q)210
t

~ex~[2( ~ + o,,+.,,)~+,~[~r ,o,, r +

ti ti

266
 + ~/ r[ ~, (h + 0 ) -
kq
- ~ - h2o + -
)2 qr2(L__~z)2[) ~ ( t i + O ) + ~ i k q
1-~ [v~ 2B '.,o]
1" ]2
X
t t

ti
C~dt qrZ(L--l) ]dr} sin(l/12~-~f,|/qr
~ JL--ld!-+Oz,).
tl
Here
O~o = ~.~(t~ O) ( v : 1,2);
[ 2 L--7\~4 2 d

~ + ~.

ffPi~~ ~ 2~2 24wi -7 3- L ]~ ;

(I)2i : a~i ~ig ' . qE)22: --np~ ~

_o (L
\ L / '~

h~~ = wi __ % (ti 0) 24BL

. -~ ~5~qrZa(L __Ti)3 '; Ot,, 0,2, 0~,, Oz2 are initial phases.

Now, on the basis of f o r m u l a s (1), (2), (8), (9), (12), (13), with an a c c u r a c y to s m a l l quantities p r o p o r -
tional to ~1, #2,we obtain the following e x p r e s s i o n s f o r the s t r a i n and the torque:

P (x, t) = _~Qqh (t) + [Q + q (L - - x)] 1 --[- -~- ; (')

g (18)
M(x,t)=k~,(t)+k[Q+q(L--x)](1 + +
t

w h e r e l and "[ are d e t e r m i n e d f r o m (14).

Analyzing the functions ~01 and (?2, which are of a vibrational c h a r a c t e r , we a r r i v e c o r r e s p o n d i n g l y at c r i -
t e r i a f o r the s t a b i l i t y of t h e i r " a m p l i t u d e s . "
(~6~hEFg ~2ri 6n~QL (7")
--dr 3Q-!-q(L---O@~o2.+~,~~ 3Q+q(L--7) P ,T ;
(19)
d[ 12~Bg
dt qr~ (L~'l)
The s t r o n g e s t of these inequalities (in p r a c t i c e , the second) can s e r v e as a sufficient c r i t e r i o n of the s t a b i l i t y
of the l o n g i t u d i n a l - t o r s i o n a l vibrations of the cable, and the vibrations of the s t r a i n P and the torque M.

LITERATURE CITED
1, O. A. Goroshko and G. N. Savin, Introduction to the Mechanics of D e f o r m e d O n e - D i m e n s i o n a l Bodies of
Variable Length [in Russian], Izd. Naukova Dumka, Kiev (1971).
2. M. I. Shkil', Asymptotic Methods in D i f f e r e n t i a l Equations [in Ukrainian], Izd. Vishcha Shkola, Kiev
(1971 ).
3. I. F. Shumlyanskii, "The second main p r o b l e m in the d y n a m i c s of a f i l a m e n t (cable) of v a r i a b l e length,"
in: Steel Cables [in Russian], Izd. Tekhnika, Kiev, pp. 35-39.

267