Finite Element Bond Graph Model of Rotors

Mohsen Nakhaeinejad
Sanghoon Lee, Michael D. Bryant
Department of Mechanical Engineering
The University of Texas at Austin
1 University Station C2200, Austin, Texas 78712
mohsenn@mail.utexas.edu

Keywords: FEM, Bond Graphs, Rotor Dynamics, Bending
Abstract
Lumped parameter models can not sufficiently describe
dynamics of many distributed systems, such as a continuous
rotating shaft with bending. The finite element method is
employed to embed distributed dynamics of rotating shafts
with bending into constitutive laws of bond graphs resulting
a finite element bond graph model. Defining the nodal
displacements, the finite element mass and stiffness
matrices are obtained from energy equations, and
represented as constitutive relations for multi-port I and C’s.
Centrifugal forces are included through multi-port C, and
the Coriolis forces are embedded via gyrators. Finally, the
FE bond graph is reconstructed in a simple vector bond
graph form, which can be integrated into any bond graph
model of rotating shafts.
1 INTRODUCTION
Bond graphs describe dynamics of physical systems:
mechanical, electrical, fluidic, thermodynamic, etc [1,2].
Bond graphs map how and where power flows through, and
energy is stored in, a physical system. A bond graph model
can be created by integrating individual components or sub-
systems. State equations, representative of the system
dynamics, can then be extracted from the bond graph for
simulations. Vector bond graphs unify scalar bonds into a
vector form to create a simple and comprehensive structure
representing physical behaviors of multi-dimension systems
[3].
Shaft bends disturb operation. Bends in shafts may be
caused by creep, thermal distortions, previous forces, or
eccentric alignments. Shaft disturbances caused by a bend
are different than those caused by conventional mass
unbalance. Numerous industry cases have left engineers
puzzled, as to why rotor vibration persists after balancing.
Indeed vibration levels may be worse than before balancing.
Shaft bow response, which is a function of the shaft speed,
causes amplitude and phase angle relationships different
from ordinary mass imbalances, which depend on the square
of the speed. Model-based diagnosis of shaft bow from
vibration measurements needs dynamic modeling of a bent
rotor [4-5]. Lumped models are computationally efficient,
but cannot sufficiently describe distributed mass rotor
dynamics. Finite element methods (FEM) can, but are either
computationally expensive, since a large grid must
encompass the entire rotor to include system boundaries, or
inaccurate, if boundary displacements or forces are guessed.
Little has been done to embed the FEM into bond graphs.
No bond graph studies have considered the complete
dynamics of a rotating shaft with FEM. Bond graph
modeling of flexible multi-body systems was discussed by
Granda [6]. Moon suggested a new definition of the
generalized displacements for a continuous system, and
formulated a bond graph modeling approach equivalent to a
finite element method [7]. Choi [8] included planar
dynamics of shaft bending in modeling of a gearbox using
FEM and scalar bond graphs.
In this paper, traditional FEM techniques are embedded into
bond graphs, to model a rotating shaft with bending and
rotating frame effects. This technique allows integrating
distributed parameter continuous models into lumped
parameter models, which simplifies the complexity of
obtaining boundary conditions for FEM models with
reduced computations. First, a lumped bond graph model
with the Coriolis effect is introduced. FEM is employed to
find classical mass and stiffness of the shaft. Coriolis and
centrifugal forces are formulated. Then, the Finite Element
bond graph model of the shaft is built with constitutive laws
obtained from FEM equations. Finally, the FE model is
reconstructed in vector form.
2 LUMPED MODEL WITH CORIOLIS EFFECT
Karnopp introduced bond graphs for translational motions
of rigid bodies in a body-fixed coordinate system, with
origin at the center of mass [2]. Hubbard constructed a bond
graph of a flywheel in a rotating reference frame [9].
In a fixed reference frame, equilibrium equations for a body
with angular velocity ω are:

© 2010 SCS. All rights reserved. Reprinted here with permission. Page 1
 ∂P
F= +ω× P
∂t
(1)
∂H
Mo = + ω×H
∂t
∂
where indicates time derivatives in the body-fixed
∂t
Ω
reference frame, F is the external force on the body, M o is
the external moment about the center of mass, H is the
inertial angular momentum, and P is the inertial linear
momentum. :m :m
In a rotating reference frame, additional terms must be
appended to account for Coriolis and centrifugal forces. The 1 x& : 2mω y& 1
: :
rate of change of a position vector r in a rotating frame is mω 2 mω 2
dr ∂r
= + ω×r (2) : My
dt ∂t
and the acceleration as the rate of change of velocity vector : Fx
is
∂ 2 r ∂ω ∂r : J d (2ω − aΩ)
a= 2
+ × r + 2ω × + ω × ( ω × r ) (3) J d ω(aΩ − ω) : : J d ω ( aΩ − ω )
∂t ∂t ∂t θ&x θ&x
Assuming constant speed of ω , Eq. (3) suggests the total
:J :J
induced inertia force
∂P Figure 1. Bond graph model of a rotating flywheel with
F = ma = rel + 2ω × Prel + mω × (ω × r ) (4) shaft by Hubbard [9]
∂t
where r is the position vector defined in the rotating
Hubbard’s model is for lumped mass system in rotating
reference frame and Prel is the relative momentum defined reference frame. Here, the FEM concept is utilized to extend
∂r Hubbard’s model for continuous systems such as rotors.
as m .
∂t
Hubbard introduced a bondgraph model for translational and 3 FINITE ELEMENT MODEL WITH CORIOLIS
rotational motions of a flywheel-shaft system shown in Fig. EFFECT
1(a) in rotating reference frames [9]. The flywheel is Finite element methods represent the mass and the elasticity
mounted on a nominally vertical massless shaft which is as distributed parameters. Here, FEM is employed to find
supported by a single bearing. The bearing has rotational the equivalent bond graph elements of a rotating shaft model
and translational stiffness ( K r , K t ) , and control forces and and to obtain bond graph constitutive laws.
moments are acting near the bearing. The flywheel rotates at
a constant angular speed Ω and the non-inertial reference
u1 θ u1 u2 θ u 2 u3 θ u 3
frame xyz rotates about the undisturbed shaft centerline at a
constant angular speed, ω . Hubbard’s bond graph
w1 θ w1 w2 θ w2 w3 θ w3
representing dynamics of a flywheel system in rotating
reference frame when angular velocities have only z Figure 2. A two-element shaft and associated nodal
components is shown in Fig. 1(b). The multiport C-field displacements
models the shaft and bearing, the portion at the top and the
bottom of C-field represent translational and rotational A shaft beam with constant circular cross-section can be
motions respectively. Control forces and moments Fcx, Mcy split into n elements with n + 1 nodes. Figure 2 shows a
are applied on the C element. The gyrator with modulus two element shaft with three nodes. Neglecting axial
2ω m represents Coriolis forces in the rotating frame and motions, each element has eight degrees of freedom. For the
the C1, C2 elements account for centrifugal forces. single element A, slopes are [10]:
∂u ∂w
θu = − and θw = (5)
∂z ∂z
and nodal displacement vectors are:

Page 2
 δ u = [u1 θ u1 u2 θ u 2 ]T , δ w = [ w1 θ w1 w2 θ w 2 ]T (6) L

The, finite element is built from the polynomial ∫

M Tu ,Tw = ρAN1,2 T N1,2 dz =
0
interpolation as:
u = N 1 ( z )δ u , w = N 2 ( z )δ w (7)  156 ± 22 L 54 m 13L  (11)
 ± 22 L 4 L2 ± − 3L2 
where N1 ( z ) and N 2 ( z ) are shape functions for a beam in ρAL  13 L

bending: 420  54 ± 13L 156 m 22 L
 3z 2 2 z 3   z 2 z 3 
 2 2 
2z 2 z 3  3z 2 2 z 3  m 13L − 3L m 22 L 4 L 
N1, 2 ( z ) = 1 − 2 + 3 ±  z − + 2  − 3 ±  − + 2 
 L L  L L  L2 L  L L  L
dN1T,2 dN1,2
Here z represents axial position on the beam. For double
(8) M Ru ,Rw = ρI ∫
0
dz dz
dz =

signs ± , the top and bottom signs pertain to N1 ( z ) and  36 ± 3L − 36 ± 3L  (12)

N 2 ( z ) respectively.  2 2
ρI  ± 3L 4 L m 3L − L 
30L  − 36 m 3L 36 m 3L
3.1. Classical Mass and Stiffness  2 2 
To obtain mass and Stiffness matrices, kinetic and strain  ± 3L − L m 3L 4 L 
energies are defined for the beam, and Lagrange’s and For double signs ± , the top and bottom signs pertain to u
Castigliano’s first theorem are applied to the energy and w respectively. The last term in Eq. (9) represents the
equations. The kinetic energy of a continuous rotating shaft Coriolis effect, which will be introduced.
with length L can be written as [11]: Castigliano’s first theorem [12] asserts partial derivative of
L strain energy with respect to the generalized displacements
∫ [ ]
1
T= ρ A δ& Tu N1T N1δ& u + δ& Tw N T2 N 2 δ& w dz + gives generalized forces. Having the strain energy of the
2 rotating shaft as [11]:
0
L
L
 dN1T dN1 & dN T2 dN 2 &  1  d 2 N1T d 2 N1 2 T 2
T d N2 d N2 
1
2 ∫ ρI δ& Tu

 dz dz
δ u + δ& Tw
dz dz
δ w  dz −

U=
2 ∫0
EI δTu
 dz 2
dz 2
δ u + δ w
dz 2
dz 2
δ w  dz

0
L (13)
 dN1T dN 2 & 

0
∫
Ω ρI δ& Tu
 dz dz
δ w dz −

(9) the generalized force, which is Kδ , can be obtained as:
∂U
= Kδ (14)
L
 dN T2 dN1 &  ∂δ
∫
Ω ρI δ& Tw
 dz dz
δ u dz +

Therefore, classical stiffness matrices along the u and w
0 directions are obtained as:
1 L
d 2 N1T,2 d 2 N1,2
ρ ILΩ 2
2 K u ,w = EI∫ dz 2 dz 2
dz =
where ρ is the density, A is the shaft cross sectional area, 0

Ω is the shaft rotational speed and I is the area moment of  12 ± 6 L − 12 ± 6L (15)
inertia of the shaft. The first and second integral terms are  2
2 L2 
EI  ± 6 L 4 L m 6L

related to the classical mass effect. The third and forth 3  − 12 m 6 L
L 12 m 6L
integral terms are related to the Coriolis effect, and the last  
2
term represents the energy of the rotating shaft with a fixed ± 6L 2L m 6L 4 L2 
reference frame. Again for double signs, the top and bottom signs pertain to
Applying the Lagrange’s equations to the kinetic energy u and w respectively.
gives
d  ∂T  ∂T 3.2 Coriolis Effect
 − = (MT + M R )δ&& + Cδ& (10) The Coriolis effect makes nodal displacements along
dt  ∂δ&  ∂δ
different directions coupled. Applying Lagrange’s equation
where MT and M R are classical mass matrices representing to the kinetic energy, the Coriolis term is obtained as shown
translational and rotational inertias along the u and w in Eq. (10). Also, the effect of rotating reference frame
directions: should be considered as formulated in Eq. (4) and shown in
Hubbard’s bond graph. Therefore, Coriolis forces for the u
and w directions are obtained as:

Page 3
 (
C
FuC = − 2ω MTu + ( 2ω − aΩ)M CRu δ& w = −Rδ& w ) (16) 4 FE BOND GRAPH
For a finite element of a rotating shaft, a bond graph
w (
FC = 2ω M C + ( 2ω − aΩ)M C δ& = R T δ&
Tw Rw u u ) (17) structure called FE bond graph representing mass matrices,
where a is the ratio of element polar and diametral moment stiffness matrices, the Coriolis effect, and centrifugal terms
of inertia J p / J d and is constructed as shown in Fig. 4. Elements to the left and
right side of the modulated gyrator represent motions in u
 156 − 22 L 54 13L 
 22 L − 4 L2 13L and w directions respectively. Multi-port inertias I u and
ρAL  3L2 
C
M Tu =  I w depict both translational and rotational mass as shown in
420  54 − 13L 156 22 L  (18)
 2  Eq. (22). Capacitors C1 and C3 represent bending stiffness
 − 13L 3L − 22 L − 4 L2 
effect, capacitors C 2 and C 4 represent centrifugal terms,
C Transpose
M Tw = M CTu the gyrator MGY denotes the Coriolis effect and flows on
1-junctions are derivatives of nodal displacements for each
 36 − 3L − 36 − 3L  direction.
 3L − 4 L2 − 3L L2 
ρI  
M CRu =
30L  − 36 3L 36 3L  (19)
 
 3L L2 − 3L − 4 L2 
Transpose
M CRw = M CRu

FuC = [ Fx1 M y1 Fx 2 M y 2 ]T u& 1 θ&u1 u& 2 θ&u 2 w& 1 θ& w 1 w& 2 θ& w 2
(20)
FwC = [ Fy1 M x1 Fy 2 M x 2 ]T
In terms of bond graphs, Eqs. (18) and (19) can be
reconstructing as a modulated gyrator representing Coriolis
forces as shown in Fig. 3.
-Fx1 Fy1
x&1 y& 1
-My1 :R Mx1 Figure 4. FE bond graph for a single element rotating shaft
θ&y1 θ&x1
-Fx2 MGY Fy2 Mass matrices for each direction are
x& 2 y& 2
-My2 M u = M Tu + M Ru , M w = M Tw + M Rw (22)
Mx2
θ& y2 θ&
x2
MTu , M Ru , MTw and M Rw are defined by Eqs. (11-12),
Figure 3. Modulated gyrator representing Coriolis forces K u and K w are defined by Eq. (15), K cu and K cw are
defined by Eq. (21), and matrix R is defined by Eq. (16).
This 8-port modulated gyrator is a generalized form of the Vector bond graphs introduced by Bonderson [3] replace
two modulated gyrators in Hubbard’s bond graph shown in scalar power bonds with n-dimension vector power bonds.
Fig. 1(b). For a single element shaft, the FE bond graph of Fig. 4 can
be posed in vector form as shown in Fig. 5.
3.3 Centrifugal Effect
Hubbard [9] treated centripetal forces of translational and
rotational motions separately. In the FEM model, both can
be expressed simultaneously, since displacement vectors are
related to both translational and rotational motions. The
centrifugal forces vector along the u and w directions are v v
δ& u :R δ& w
constructed by generalizing the Hubbard’s bond graph terms
(4 × 1) (4 × 1)
as:
( )
Fci = − ω 2 M Ti + ω ( aΩ − ω )M Ri δ i = K ci δ i i = u, w
(21)
where M Ti and M Ri are translational and rotational FEM
Figure 5. FE bond graph for a single element rotating shaft
mass matrices presented before. in vector form

Page 4

In Fig. 5, elements to the left and right of the gyrator pertain
to u and w directions. The grey bonds represent boundary
loads applied to the element through 1-junctions. Mass,
stiffness, and other matrices are defined before. This basic
FE bond graph model can be easily extended to a model for
multi-element shafts. A shaft consisting of two elements
(Fig. 2) has three nodes with two displacement vectors δ u
u& 1 θ&u1 u& 2 θ&u 2 u& 3 θ&u3
Figure 6. Bond graph model for a two-element shaft
A rotor with n elements has n + 1 nodes and two
displacements vectors δ u and δ w containing 2n + 2
components each. The scalar FE bond graph model will
have (4 n + 4) 1-junctions representing nodal displacements,
n gyrators, 2n inertias, 2n multiport capacitors representing
bending stiffness and 2n capacitors for centrifugal forces.
Again, the model can be reconstructed in the vector form.
The FE bond graph model for a shaft consisting of
n elements will be the same as the one shown in Fig 5 for
the single element with the difference in the size of vectors
and matrices. Here, for n elements, the vector FE bond
graph has the order of 2n + 2 . That is, the size of bonds,
displacement vectors and 1-junctionts is (2n + 2 ) × 1 and the
size of matrices is (2n + 2 ) × (2n + 2) .
Boundary conditions can be applied to the FE bond graph
model by connecting the rest of the system to 1-junctions.
External forces or moments as boundary conditions can be
modeled as source of effort Se connected to the 1-junctions
for each node. For a rotating shaft supported by bearings,
boundary conditions can be imposed by connecting the
bearings bond graph model to the 1-junctions representing
the shaft ends.
and δ w containing six components each. The scalar FE
bond graph model is constructed as shown in Fig. 6. Four
Inertia elements are for translational and rotational mass.
Capacitors C1,3,5,7 are for bending stiffness, and C2,4,6,8 are
for centrifugal effects and gyrators MGY related to
Coriolis forces. As shown before, this FE bond graph
structure can be transformed to the vector form.
w&1 θ&w1 w& 2 θ&w 2 w& 3 θ&w3
5 SUMMARY AND CONCLUSION
A finite element bond graph model was constructed to
represent structural and dynamic behavior of a rotating
shaft. Defining the displacement functions for a rotating
shaft element, translational mass, rotational inertia, bending
stiffness, Coriolis effects, and centrifugal forces were
formulated from the energy equations. Equivalent bond
graph elements were defined with related constitutive laws
obtained from the FEM equations and the FE bond graph
model was constructed. Furthermore, reconstructing the FE
bond graph model in the vector form, the model was
rendered more compact and simpler. The suggested FE bond
graph model can be integrated into any other bond graph
model to include structural and distributed dynamic effects.
Boundary conditions can be easily and more naturally
applied by connecting excitation elements via judiciously
applied bonds from the rest of the system. Resulting bond
graph models could contain lumped or continuous fields
depending on tradeoff between accuracy and computational
load.
One of the applications of the FE bond graph technique
could be modeling of squirrel cage induction motors. In
induction motors, bearing radial deflections and shaft
bending due to centrifugal and Coriolis effects create
Page 5
eccentricity and unbalanced magnetic pull. This
phenomenon can be modeled by integrating FE bond graph
model of the rotor to the model of the motor. Boundary
conditions could arise from bearings and magnetic fields.
Then, radial deflections and viscous losses of the bearings
would be included in the model along with higher vibration
modes of shaft bending.
REFERENCES
[1] Paynter, H. M., 1960, Analysis and Design of
Engineering Systems, M.I.T Press, Cambridge, MA.
[2] Karnopp, D.C., Margolis, D.L., and Rosenberg, R.C.,
2000, System Dynamics: Modeling and Simulation of
Mechatronic System, 3rd Ed., Wiley, New York.
[3] Bonderson, L.S., 1975, “Vector Bond Graphs Applied
to One-dimensional Distributed Systems,” Journal of
Dynamic Systems, Meas. and Control, 97, pp. 85–90.
[4] Choi, J., Bryant, M.D., and Nakhaeinejad, M., 2007,
“Model Based Fault Diagnosis of Induction Motor and
Centrifugal Pump using Bond Graph,” ICBGM 07, San
Diego.
[5] Nakhaeinejad, M., and Bryant, M.D., 2007, “Model-
free and Model-based Diagnosis of Bearings –
Comparative Study,” GAIN07, Graduate and Industry
Networking, Austin.
[6] Raymond, C.M., and Granda, J.J., 2003, “Using Bond
Graphs for Articulated, Flexible Multi-bodies, Sensors,
Actuators, and Controllers with Application to the
International Space Station,” ICBG03.
[7] Moon, W., and Busch-Vishniac, I.J., 1993, “A Finite
Element Equivalent Bond Graph Modeling Approach
with Application to the Piezoelectric Thickness
Vibrator,” Journal of the Acoustical Society of
America, 93(6), pp. 3496-3506.
[8] Choi, J., and Bryant, M., 2002, “Combining Lumped
Parameter Bond Graphs with Finite Element Shafts in a
Gearbox Model,” CMES, 3(4), pp. 431-446.
[9] Hubbard, M., 1979, “Whirl Dynamics of Pendulous
Flywheels using Bond Graphs,” Journal of the Franklin
Institute, 308(4).
[10] Chandrupatla, T.R., and Belegundu, A.D., 2002,
Introduction to Finite Elements in Engineering,
Printice Hall, 3rd edition, New Jersey.
[11] Lalanne, M., and Ferraris, G., 1998, Rotordynamics
Prediction in Engineering, 2nd Edition, John Wiley and
Sons Inc.
[12] Timoshinko, S. P., and Goodier, J. N., 1970, Theory of
Elasticity, 3rd Ed., McGraw Hill, New York.
Page 6