Journal of Sound and Vibration (1991) 150(2), 191-201

ANALYSIS OF THE EFFECT OF CRACKS ON THE

NATURAL FREQUENCIES OF A CANTILEVER BEAM
W. M. OSTACHOWICZ AND M. KRAWCZUK
Polish Academy of Sciences, Institute of Fluid Flow Machinery, MI. Gen. J. Fiszera 14,
80-952 Gdafisk, Poland
(Received 2 March 1990, and in revised,form 15 October 1990)
A method of analysis of the effect of two open cracks upon the frequencies of the natural
flexural vibrations in a cantilever beam is presented. Two types of cracks are considered:
double-sided, occurring in the case of cyclic loadings, and single-sided, which in principle
occur as a result of fluctuating loadings. It is also assumed that the cracks occur in the first
mode of fracture: i.e., the opening mode. An algorithm and a numerical example are
included.
1. INTRODUCTION
Cracks found in structural elements have various causes. They may be fatigue cracks that
take place under service conditions as a result of the limited fatigue strength. They may
also be due to mechanical defects, as in the case of turbine blades of jet turbine engines.
In these engines the cracks are caused by sand and small stones sucked from the surface
of the runway. Another group involves cracks which are inside the material: they are
created as a result of manufacturing processes.
Cracks present a serious threat to proper performance of machines. Most of the failures
of presently used equipment are due to material fatigue. For this reason, methods making
early detection and localization of cracks possible have been the subject of many investiga-
tions, which have been carried out in numerous research institutes throughout the
world [l-9].
A crack which occurs in a structural element causes some local variations in its stiffness,
which affect the dynamics of the whole structure to a considerable degree. The frequencies
of natural vibrations, amplitudes of forced vibrations and areas of dynamic stability change
due to the existence of such cracks [l--9]. An analysis of the changes makes it possible to
identify the cracks without disengaging all of the system.
Up to now investigations have been concentrated on the analysis of the effect of a single
crack on the dynamics of simple structures, such as shafts, beams and frames. In what
follows here an analysis of the effect of two open cracks upon the frequencies of the natural
flexural vibrations in a cantilever beam is presented (see Figure 1).
Two types of cracks are to be considered: open double-sided, occurring in the case of
cyclic loadings, and open single-sided, which in principle occur as a result of fluctuating
loadings. It is also assumed that the crack is in the opening mode (first mode of fracture;
see Figure 2).
2. CALCULATION OF THE EQUIVALENT STIFFNESS IN THE CRACK
2.1. OPEN DOUBLE-SIDED CRACK
The open double-sided crack is illustrated in Figure 3. In actual practice, cracks of this
type occur in the case of two-sided bending of a smooth beam. It is assumed that the
191
0022-460X/91 ;200191 + 1 I $03.00 0 (: 1991 Academic Press Limited
192 W. M. OSTACHOWICZ AND M. KRAWCZUK
/
Crack 1
i--
f
Crack 2
/
4
X
A A
2
/.
/_I,_/
/
L2
?F
I7
Figure 1. Schematic diagram of a beam with two cracks.
t Farce
Figure 2. Crack model due to first stress intensity factor.
a
da
Figure 3. Double-sided crack (dimensions).
decrease in the elastic deformation energy of the crack with regard to a plane state of
stress can be expressed in the form [lo]
A&
s
A
Eci
K2 dA,
(2.1)
where K is the stress intensity factor, E is Youngs modulus and A is the area of the crack.
The stress intensity factor is calculated as follows [I O] :
K= K,= o&f (a/H),
(2.2)
where (r denotes the stress in the crack, a is the crack depth, H is half the height of the
beam, and, according to Hellan [l l] and Haisty and Springer [12], the functionf(a/H)
the form
f(a/H) = 1.003 - 1.349(a/H) + 5.896(a/H)2.
(2.3)
EFFECT OF CRACKS ON BEAM FREQUENCIES
193
Assuming that
A U= M2/2k,,, 0 = 3M/2BH, dA = 2B da, (2.4 2.6)
where M is the bending moment, after simple transformation (with T=a/H) one can
arrive at the relationship for the equivalent stiffness at the crack location:
kZD=BHEj9~y2(0.5335-0.9293/+3.500y2-3.181y3+5.793y4).
(2.7)
Relation (2.7) can be presented in a simplified form as
kzD= BH2E/9ry2fD(Y) = BH2KD,
(2.8)
where
Kn=E/9Wtf,(Y),
f~(y)=O~5335-O~929y+3~500~2-3~181y3+5~793~4.
The flexibility at the crack location becomes
0 = EJ/kznL, (2.9)
where J is the geometrical moment of inertia and L is the length of the beam. Substitution
of equation (2.7) into equation (2.9) yields
0,,=6zy%(1/)(HiL), (2.10)
or
t3,,=(H/L)OD. (2.11)
where BD = 67~7 rD( 7). Diagrams of the stiffness KD and flexibility 0, functions are
presented in Figures 4 and 5.
Relative depth of crack, 7
Figure 4. Relation between flexibility and relative depth of a crack 7. ~~, QJ; on
2.2. OPEN SINGLE-SIDED CRACK
The open single-sided crack is illustrated in Figure 6. Under service conditions cracks
of this type occur under fluctuating loads. The equivalent stiffness at the single-sided crack
location is calculated in a similar way as that for a double-sided crack, by adopting the
correction function given by Anifantis and Dimarogonas (61, in the form
f(a/H)= 1.13- 1.374(a/H)+5.749(ajH)2-4.464(a/H)3. (2.12)
194 W. M. OSTACHOWICZ AND M. KRAWCZUK
a
\
?8-
z
\
GJ
\
\
\
\
4-
\
\
\
\
--__
--___
O-I 0~150~20~250~30~350~40~450~50~550~60~650~70~75
Relative depth of crack, 7
Figure 5. Relation between stiffness and relative depth of a crack 7. ---~-, K,; . K,,
Figure 6. Single-sided crack (dimensions)
Figure 7. Clamped beam with two cracks.
Assuming, as previously, K in the form (2.2) and also
AU=Mi2kZJ , cs = 6M/BH=. dA=Bda, (2.13-2.15)
after some simple transformations (with r=a/H) one obtains
kZJ =BHE/72~~2(0~6384-1~035y+3~7201y2-5~17731/3
+7.553y4-7.332y5+2.4909y6).
(2.16)
EFFECT OF CRACKS ON BEAM FREQUENCIES
Relation (2.16) can be written in the form
195
(2.17)
where
The flexibility at the single-sided crack location is calculated as
~s.T=W%(F)(HIL) or QsJ= (HIL)8J,
(2.18)
where
&=67ry2fJ(/).
Diagrams of the stiffness KJ and flexibility QJ functions are shown in Figures 4 and 5.
3. CALCULATION OF NATURAL VIBRATION FREQUENCIES OF A BEAM WITH
TWO CRACKS
One can take the natural vibration frequencies equation of the beam in the well known
form
EJ Z4y(x, t),& + pF ;y(x, t)iiit= 0,
(3.1)
where p is the material density, F is the cross-sectional area of the beam, y(x, t) is the
deflection of the beam and J is the geometrical moment of inertia of the beam cross-
section. By introducing elasticity elements in crack locations one obtains a system of three
beams. The equivalent stiffness of the elasticity element is calculated as in section 2.
The model of the problem is shown in Figure 7. The boundary conditions, in terms of
the non-dimensional beam length (=x/L, can be expressed as follows: y,(O) =O, zero
displacement of the beam at the restraint point; y;(O) =O, zero angle of rotation of the
beam at the restraint point; y,(e,) =y2(eI), compatibility of the displacement of the beam
at the location of the first crack; y;(el) -y;(e,)= OlyG(e,), total change of the rotation
angle of the beam at the location of the first crack; y y(e,) = yg(e,), compatibility of the
bending moments at the location of the first crack; y(e,) = y;(e,), compatibility of the
shearing forces at the location of the first crack; y2(e2) = y3(e2), compatibility of the dis-
placements of the beam at the location of the second crack; y;(e2) -y$(el) = e2y$(e2), total
change of the beam rotation angle at the location of the second crack; y$(e2) =y4(e2),
compatibility of the bending moments at the location of the second crack; y?(e2) =
yy(e2), compatibility of the shearing forces at the location of the second crack;
y ;( 1) = 0, zero bending moment at the end of the beam; y Y( 1) = 0, zero shearing force at
the end of the beam. Here eI and e2 are the distances between the end of the cantilever
beam and the crack locations.
The solution of equation (3.1) is sought in the form
y( 4, t) =y( 5) sin ut. (3.2)
Substituting this solution into equation (3.1), after simple algebraic transformation, one
has
y( 5 ) - B 4_V( 5 ) = 0, (3.3)
196 W. M. OSTACHOWICZ AND M. KRAWCZUK
= 3 cc cc
6
-0
EFFECT OF CRACKS ON BEAM FREQUENCIES
197
where p 4 = 02pF/L4EJ. Taking the function y( 5) in the form of a sum of three functions,
vi(5)=A1cosh(P5)+&sinh(P5)+Gcos(P<)+&sin(P5),
5EP, cl),
YZ( 5 ) = A2 cash (P5) + & sinh (P5) + G cos (P5) + 02 sin (85 ),
5E(e1, e2h
.v3( 5 ) = A3 cash (P5 I+ & sinh (P5 > + G ~0s (P5 ) + D3 sin (P5 1,
SE(e2, 11, (3.4)
and taking into account the boundary conditions one obtains the characteristic equation
(see Figure 8) which is to be solved to determine the characteristic roots. The roots are
used for the calculation of the natural vibration frequencies,
mi= (PiIL)Jm> i=1,2 )...) n,
where W; is the ith natural vibration frequency of the beam and pi is the ith
root.
I.8 I
1.7 - c__c------
_----
,,. . . . . . . ...
. . . . . . .
--.I.-
I.6 -
_..
. . ...
. ..
.H
.-
,_..-.--
. ..
.... .H
l-5 -
.
.
B 1,4- .
.
I.3 -
I.2 I-
I.1 -
(3.5)
characteristic
I.0 1
0.1 0.2
/ I
0.3 0.4 0.5 0.6 0.7 O-0
Position of crack 110.2, L2/L
Figure 9. Effect of the second crack upon the fundamental frequency of the beam with two double-
sided cracks. The first crack: location L,/L=O.I, size a,/H=0.3, coefficient p, = 1.7602. The second crack:
-. aZ/H=O,I; - --, a2/H=0.3; .. ..,a2/H=0.5; m.m,aZ/H=0.7.
16
,
0.2 0.3 0.4 0.5 0.6 0.7 0.8
Position of crock no.2, Lz/L
Figure 10. Effect of the second crack upon the fundamental frequency of the beam with two double-
sided cracks. The first crack: location L,/L=O.I, size a,/H=O.S, coefficient PI= 1.5837. The second crack:
-. aJH=O.l ; -, aZ/H=0.3; .. a2/H=0.5; - --. -. a2/H=0,7.
The method of calculating the vibration frequencies of a beam with two cracks supported
in a different way is similar. It is only necessary to change the boundary conditions at the
beginning and the end of the beam.
198 W. M. OSTACHOWICZ AND M. KRAWCZUK
P I.4 :
-------.~~.~.=~~~.___. _.
_._.-._a
1.3 . .....
. . . . . . . . . .
.k
_ (
_. -
12-
1.1 -
IO
0.1 0.2 0.3 0.4 05 0.6 0.7 O-8
POSItiOn Of crack no.2, L2/~
Figure 11. Effect of the second crack upon the fundamental frequency of the beam with two double-
sided cracks. The first crack: location L,/L=O.l, size a,/H=0.7, coefficient PI = 1.3906. The second crack:
-. aJ H=O.l; , aJ H=O.3; , a2,fH=0,5; ~. - , a,/H=0.7.
4. NUMERICAL RESULTS
In order to carry out the numerical calculations the authors wrote a computer program
called BETA. The program was written in Fortran 77 language for the IBM PC/AT
microcomputer. By means of this program it became possible to analyze the effect of the
positions and the magnitudes of two cracks upon the vibration frequencies of a cantilever
beam of the following dimensions: length L = 1 m, depth H= 0.1 m, width B= 0.1 m. It
was assumed that the beam was made of steel with the parameters density p = 7860 kg/
m3 and Youngs modulus E= 2.1 x 10 N/m2.
1.8
I.7
I.6
I.5
P
I.4
I.3
I.2
III
I I
__-----
. . . . . .
- __--
--
,,......
_.
,,.+/
./.-.
-________
,Yf
.~.
. . .
I
,..
./
0
I
. .
,.
!/
I
/
/
0.;
I
/
I
i
- /
I
/
I
I
I
I I
1
I-O 1
0, I 0.2
t 1 I
J
03 0.4 0.5 O-6 O-7 0.0
PositIon of crack no.2, Lz/L
Figure 12. Effect of the second crack upon the fundamental frequency of the beam with two single-
sided cracks. The first crack: location L,/L=O.l, size al/H=0.3, coefficient PI = 1.7665. The second crack:
-, u,jH=O.l: -, aJ H=0.3; , aJ H=0.5; ~ -, a2jH=0,7.
In Figures 9- 11 is shown the effect of the second crack upon the fundamental frequency
of the cantilever beam with two double-sided cracks. The first is located at L,IL = 0.1. Its
size is defined by the ratio al/H. p appears to denote the characteristic root connected
with the fundamental frequency of a cracked beam (see equation (3.5)). For the untracked
EFFECT OF CRACKS ON BEAM FREQUENCIES
199
beam pP= 1.8751 (for the fundamental frequency). j?, denotes the root (3.5) of a cracked
beam with one crack. The thin discontinuous lines show two localizations of the crack for
the same fundamental frequency.
P
1.5 - ____-_-----,y ,,............ . . . ..- ,_.-
-____
. . . . .
j-__-_
._.. i_ T
I.4 _..... I
I ,.
.A
I
I
13 -
.,,Y
.I
I.2 -
i
I
0
I.1 1
1
I.0 I
0.1 o-2
, t
0.3 0,4 0.5 0.6 0.7 0.8
Poshon of crack no.2. Lz/L
Figure 13. Effect of the second crack upon the fundamental frequency of the beam with two single-
sided cracks. The first crack: location L,/L=O.l, size a,/H=0.5, coefficient PI = 1.5258. The second crack:
----. aJ H=O.l; -, a2/H=0.3; 1 aJ H=0.5; - -, a,,!H=0,7.
1.8 ,
1
0.3 0.4 O-5 0.6 0.7 08
Position of crack 130.2. Lz/L
Figure 14. Effect of the second crack upon the fundamental frequency of the beam with two single-
sided cracks. The first crack: location L,/L=O.I , size a,/H-0.7. coefficient j?, = 1.1856. The second crack:
--. a2/H=0.1; - ~., a2/H=0.3;. .,a2/H=0.5; -. ~. -, a2/H=0.7.
In Figures 12-14 is shown the effect of the second crack upon the fundamental frequency
of this same beam with two single-sided cracks. The first crack is located as previously.
Its size is defined by the ratio al/H. For the untracked beam the coefficient p, = 1.1875 1.
The calculated results are also presented in Tables 1 and 2. j3 is presented as a function
of the localization and size of the cracks. Here, as previously, L, and L2 denote distances
between the end of the beam and cracks, and al/H and az/H dimensionless heights of the
cracks.
5. CONCLUSIONS
The results of the calculations indicate the following relationships between the position,
the magnitude of the crack and the first frequencies of the cantilever beam natural
vibrations.
200 W. M. OSTACHOWICZ AND M. KRAWCZUK
TABLE 1
Single-sided crack: roots of the characteristic equation (J irst natural vibration
frequency)
azlH
L,/L=O.ll L,/L=O.2
L,/L=O.l, a,/H=0.3, /?, = 1.7665
0.1 I.7580 1.7604
0.3 1.6896 1.7063
0.5 1.4897 1.5448
0.7 1.1813 I.2561
L,/L=O.l, a,/H=0,5, p,= 1.5258
0.1 1.5207 1.5226
0.3 1.4852 1.4958
0.5 1.3702 1.4031
0.7 1.1376 1.1992
L,/L=O.l, a,/H=0.7, p, = 1.1856
0.1 1.1840 1.1845
0.3 1.1738 1.1770
0.5 1.1362 1.1462
0.7 1.0214 1.0564
LJL=O4 L,/L=O.6 L,/L=O.S
1.7642 1.7661 1.7664
1.7414 1.7601 1.7659
1.6581 1.7402 I.7621
1.4500 1.6582 1.7563
1 5246 1.5250 1.5258
1.5134 1.5227 1.5250
1.4801 1.5113 1.5231
1.3452 1.4701 1.5210
1.1850 1.1856 1.1856
1.1823 1.1842 1.1847
1.1694 1.1831 1.1836
1.1252 1.1814 1.1824
TABLE 2
Double-sided crack: roots of the characteristic equation (first natural vibration
frequency)
az/H
L*/L=O.ll L,/L=O.2 L,/L=O.4 L,/L=O.6 L,,L=O.8
L,/L=O.l, a,/H=0.3, p, = 1.7602
0.1 1.7496 1.7506
0.3 1.6762 I.6964
0.5 1.5354 1.5831
0.7 1.3689 1.4356
L,/L=O.l, a,/H=0.5, p,=l.5837
0.1 I.5774 1.5792
0.3 1.5318 1.5452
0.5 1.4426 1.4731
0.7 1.3062 1.3623
L,/L=O.l, a,/H=0.7, PI = 1.3906
0.1 1.3869 1.3879
0.3 1.3712 1.3721
0.5 1.3061 1.3243
0.7 1.2212 1.2601
1.7564 1.7593 I.7601
1.7337 1.7512 1.7598
1.6772 1.7321 1.7562
1.5871 1.6812 1.7558
1.5817 1.5829 1.5835
1.5684 1.5791 1.5826
1.5342 1.5708 1 5794
1.4762 1.5491 I.5864
1.3884 1.3901 1.3905
1.3812 1.3896 1 3900
1.3643 1.3831 1.3892
1.3303 1.3742 1.3874
1. The positions of the cracks in relation to each other affect significantly the changes
in the frequencies of the natural vibrations in the case of an equal relative depth of the
cracks. Any decrease in the natural frequency is largest if the cracks are near to each
other; when the distance between the cracks increases the frequencies of the beam natural
vibrations also tend to the natural vibration frequencies of a system with a single crack.
2. In the case of two cracks of different depths, the larger crack has the most significant
effect on the natural vibration frequencies (see Tables 1 and 2 and Figures 9 and 10). This
is evident for the first natural vibration of a cantilever beam. For other modes of vibration
this is not so clear, because the influence of a crack located at a node is negligible.
E:FFECl- OF CRACKS ON BEAM FREQUENCIES LO1
3. Double-sided cracks affect the vibration frequencies to a smaller degree than single
cracks with the same relative depth of crack and the same position [13]. However. the
differences are not very large.
ACKNOWLEDGMENTS
This research was carried out under Grant No. RPBP-02.8-3.7.2.2 and supported by the
Polish Academy of Sciences. The financial support of Polish Academy of Sciences is
gratefully acknowledged.
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