497
Appendix 6
Eigenvalues of the Rotor
Model
I t is possible to derive an explicit expression for the eigenvalues (also called
roots, or in control theory, poles) of the simple rotor model presented in
Chapters 10 and 14. The derivation we will use will follow Muszynska’s [1].
For free vibration, the rotor model (Equation 14-7) is restated here:
M r + Dr + (K − jDλΩ )r = 0 (A6-1)
The characteristic equation is
Ms 2 + Ds + K − jDλΩ = 0 (A6-2)
The eigenvalues, s, are the roots of this equation; because the equation is quad-
ratic, there will be two. We find them using the standard solution to a quadratic
equation,
−b ± b 2 − 4 ac
s1,2 = (A6-3)
2a
The important feature here is that the c term is a complex number. Applying
Equation A6-3,
−D ± D 2 − 4 M (K − jDλΩ )
s1,2 = (A6-4)
2M
498 Appendix
which leads to
D D 2 K DλΩ
s1,2 = − ±
2 M − M + j M
(A6-5)
2M
If either the rotor speed, Ω, or the Fluid Circumferential Average Velocity
Ratio, λ, is zero, then the imaginary term under the radical disappears, and the
analysis becomes identical to that for a simple harmonic oscillator. However,
when both Ω and λ are nonzero, the term under the radical is complex, and we
must convert Equation A6-5 to a form where j is outside the radical. The con-
version can be found in a good mathematics handbook:
a2 + b2 + a a2 + b2 − a
a + jb = ±j (A6-6)
2 2
Applying this expression to Equation A6-5, after some algebra we obtain expres-
sions for the two eigenvalues,
D 1 DλΩ 2 1 DλΩ 2
s1 = − + −E + E +
2
+ j E+ E2 +
2M 2 M 2 M
D 1 DλΩ 2 1 DλΩ 2
s2 = − −
−E + E +
2
− j E+ E2
+
2M 2 M 2 M
(A6-7)
2
K D
where E = − (A6-8)
M 2 M
In Equation A6-7, the real term (first term in brackets) is the growth/decay
rate, γ (see Chapter 14). For nonzero values of Ω and λ, there are two, unequal
values of γ. The imaginary term (second term in brackets) is the damped natu-
ral frequency of precession, ωd, which always has equal positive and negative val-
Appendix 6 Eigenvalues of the Rotor Model 499
ues. Note that the damped natural frequency increases in the presence of fluid
interaction (λ), and that it is a function of the rotor speed, Ω.
If either Ω = 0 or λ = 0, then Equation A6-7 becomes
2
D K D
s1,2 = − ±j − (A6-9)
2M M 2M
which are the eigenvalues of a simple harmonic oscillator. This form is typically
used for underdamped (subcritically damped) systems, where the term under
the radical is positive. Thus, in the absence of fluid interaction, the rotor system
behaves like a simple harmonic oscillator.
The Threshold of Instability
The Threshold of Instability speed, Ωth , is the speed at which the
growth/decay rate, γ, is zero, and it can be found by setting the real part of
Equation A6-7 equal to zero:
D 1 DλΩth 2
− ± −E + E +
2
=0 (A6-10)
2M 2 M
which leads to
1 K
Ωth = (A6-11)
λ M
This is identical to Equation 14-5, which was derived from the Dynamic
Stiffness.
References
1. Muszynska, A, “One Lateral Mode Isotropic Rotor Response to
Nonsynchronous Excitation,” Proceedings of the Course on Rotor Dynamics
and Vibration in Turbomachinery, von Karman Institute for Fluid
Dynamics, Belgium, September 1992, pp. 21-25.
