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International Journal of Advanced Engineering Research and Technology (IJAERT) 35

Volume 4 Issue 3, March 2016, ISSN No.: 2348 8190

Investigation of Parameters Effecting Natural Frequencies of


Planetary Gear Systems
Majid Mehrabi (research scholar)
Islamic Azad University - Takestan branch
Bahram30866@gmail.com

of system such as overload conditions, torque fluctuation may affect

Abstract

the dynamic behavior of a planetary gear transmission. The


In the present paper the sensitivities of natural frequency and
vibration modes to design parameters is studied for cyclically
symmetric (tuned) planetary gear system in perturbed situation. A
dynamic model of a planetary gear transmission is developed in
which three planar degree of freedom for planets, sun,ring, and
carrier is considered. Vibration modes can be defined as rotational,
translational and planet modes. Design parameters included are
component masses, moment of inertia, mesh and support stiff
nesses. From the cyclic symmetry of planetary gear and well
defined modal properties for time-invariant and linear case
eigensensitivities are calculated and expressed in simple formulae
.These formulae provide efficient means to determine the sensitivity
to stiffness, mass and inertia parameters in perturbed situation.

inequality of the load distribution however arises on each planet


gear because of random errors of manufacture, assembly and
operating conditions.
This results in noise and vibration which are key concerns in their
applications

Keyword- perturbation, system parameter, tuned system.

INTRODUCTION
Planetary gears are widely used in the transmissions of helicopters,
automobiles, aircraft engines, heavy machinery and marine vehicles.
Figure 1 illustrates a single stage planetary gear set consisting of a
sun gear, a ring gear, several planets, and a carrier. Any of the
carrier, ring, and sun can be selected as the input or output
component, and the power are transmitted through multiple paths of
the planet meshes. Planetary gears have substantial advantages over
parallel shaft drives, including compactness, large torque-to weight
ratio, diminished loads on shafts bearings, and reduced noise and
vibration due to the relatively smaller and stiffer components.

Figure 1- Planetary gear diagram


and drop in efficiency of planetary gear system. In some helicopters
planetary gear vibration is the primary source of cabin noise that can
exceed 100dB.
Before 1990, the literature on analytical planetary gear dynamics is
scarce. Cunliffe et al.[1]

studied the eigenvalue problem for a

thirteen degree of freedom system and identified the natural


frequencies and vibration modes. Botman[2] investigated the
vibration modes for a spur planetary gear with eighteen degrees of

Despite planetary gears' advantages, noise and vibration remain

freedom. The effect of carrier rotation and variation of planet

major concerns in their applications. Due to its high compactness

bearing stiffness on the natural frequencies are studied numerically.

and construction complexity, which restricts the access to its

Frater et al.[3] extended Botman's natural frequency analysis by

components, principally to the planet gears and its bearings, for the

including unequal planet stiffness. Kahraman[4,5,6,7] presented a

same reason cooling can be Problematic. Non stationary conditions

series of papers on planetary gear dynamics. He derived a nonlinear,

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International Journal of Advanced Engineering Research and Technology (IJAERT) 36


Volume 4 Issue 3, March 2016, ISSN No.: 2348 8190

time-varying planar dynamic model and subsequently extended it to

freedom: two translational and one rotational. Each of sun, ring,

three-dimensions and examined the influence of planet phasing on

carrier and Z planets are treated as rigid bodies. Each component

dynamic response[5]. Kahraman[7] reduced his model to a purely

has three degrees of freedom: two translational and one rotational.

torsional one to predict natural frequencies and vibration modes.

The model is similar to that used by Parker [12], the planet

Parker[8] rigorously proved the effectiveness of using planet

deflections are described by radial and tangential coordinates and

phasing schemes to suppress planetary gear vibration. Kahraman [6]

more naturally describe the vibration modes. The coordinates

showed the effects of mesh/support stiffnesses on the natural

illustrated in Fig.2 are used. The carrier, ring and sun translations

frequencies in his torsional model of planetary gears. Investigation

a_g ,b_g, where g=c,r,s and planet translations _L,_L, L = 1,...Z

of natural frequency and vibration mode sensitivity to system

are measured with respect to a rotating frame fixed to the carrier

parameters for tuned and mistuned planetary gears was done by

with origin O. The a_g^' s are directed towards the equilibrium

J.Lin and R.G.Parker

investigated the natural

position of planet 1, and _L,_L are the radial and tangential

frequency spectra and vibration modes of planetary gears to avoid

deflections of the z-th planet. The rotating frame rotates with the

power train resonances.[7 ]

constant carrier angular speed c. The rotational coordinates

[15].They also

areJ_u=r_u _u, u = c, r, s, 1... Z, where _u is the component


Analytical investigation of the sensitivities of natural frequencies
and vibration modes to stiffness and inertia parameters of general
compound planetary gears for both tuned and mistuned are studied
in[12]. How the highly structured free-vibration properties of
equally spaced planet systems change due to unequal planet spacing
was studied in[5].Characterizing the effects of various errors on the
dynamic properties of planetary gear system including tooth
thickness ,runout and load sharing as the most common gear system

rotation; r_u is the base circle radius for the sun, ring and planet,
and the radius of the circle passing through the planet centers for the
carrier. Circumferential planet locations are specified by the fixed
angles _z, where _z is measured relative to the rotating
basis vector i so that _1 = 0. Fig.1 shows a sun planet mesh
with masses m_s,m_p and moment of inertiaI_s,I_p._s is the
pressure angle of sun/planet mesh and _sz= _z-_s .

manufacturing was done by Parker,R.G. and G.J.Cheon.[13].The


effects of some important parameters ,such as the variation of mesh
stiffness and static transmission errors on the nonlinear dynamics of
a planetary gear system with multiple clearances was studied
in[14].The objective of this paper is to analytically investigate the
natural frequency and vibration modes of general planetary gears in
perturbed situation and comparing them with unperturbed situation
.This allows one to find the dominant parameter effecting the
perturbation of the system .Investigating the natural frequency
spectra one can tune the system to avoid resonance .

System Equations
Lumped-parameter modeling is used in this project for
dynamic analysis. All gears are

Figure2. Lumped parameter model of planetary gears and system

considered as rigid bodies and

co-ordinates. (b) All translational co-ordinates a_g ,b_g , g =c,

component supports are modeled by springs. All bearings/supports

r, s and_L,_L, L = 1...z are with respect to the frame {i, j, k}

are modeled as two perpendicular springs. The gear tooth meshes

rotating at constant carrier speed c.

are represented by springs acting on the line of action with parallel


viscous dampers. This model can be extended to planetary gears

The free vibration analysis calculates critical parameters such as

with multiple meshes. Each component has three degrees of

natural frequencies and vibration modes that are essential for almost

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International Journal of Advanced Engineering Research and Technology (IJAERT) 37


Volume 4 Issue 3, March 2016, ISSN No.: 2348 8190

all dynamic investigations .Vibration reduction of planetary gears


requires thorough examination of the structural dynamics. . All

The general Eigen value equation for perturbed situation in a


planetary gear system is given by Foxs Modal method [6] as

planet bearing stiff nesses are equal kpn=kp, all sun-planet mesh
[M][X][]-[K][X]=0

stiffnesses are equal ksn= ksp and all ring planet mesh stiff nesses
are equal krn=krp .The planets are equally spaced and cyclically

(2)

[I] = identity matrix

symmetric structures, therefore can be divided into Z sector having


[1 ] = base stiffness matrixType equation here.

a central angle=2/Z.
Applying free vibration equation (1), the eigenvalues and

[dKe] = perturbation in [1 ]

eigenvectors can be calculated for unperturbed situation as

[K] = perturbed stiffness matrix

_i^2M_i = (K_b+K_m ) _i

[1 ] = unperturbed eigenvalue matrix (diagonal)

(1)

M is the inertia matrix and Kb is the bearing stiffness matrix given


in Appendix A. From these eigenvalues _i natural frequency of
vibrations in planetary gear model can be found out as
_i = _i^2

or _i= (_i )

(radians per second)


_i = (((_i )))/2

[ ] = perturbation in [1 ]
[1 ] = base mass matrix
[ ] = perturbation in [1 ]
[M] = perturbed mass matrix

(Hz)

For nominal system parameter of planetary gear system given in


table1, the eigen values and wavelengths are given in table 2.

[1 ]= base eigenvector matrix (mode shape)


[ ] = perturbation in [1 ]
[X] = perturbed eigenvector matrix
The eigenvalues and natural frequencies in perturbed situation for
nominal design parameter of table1 are as below (M variable)
1 Mass M is variable(K is constant)
Table 3 shows the eigenvalues and wavelengths for variable mass
with four planets

Table1-Nominal design parameters of planetary gear system

Table3- Eigenvalues and wavelength for variable mass

Table 2- Eignvalues and wavelengths for four planets

i- Diagrams 3-5 show the alteration of RMS and acceleration in


perturbed situation in 700rpm

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International Journal of Advanced Engineering Research and Technology (IJAERT) 38


Volume 4 Issue 3, March 2016, ISSN No.: 2348 8190

3 Variation of acceleration versus time in perturbed situation


(effect of mass and moment of inertia)
Table3- Eigenvalues and wavelength for varying stiffness for four
planet
i - Diagrams 6-8 show the alteration of RMS and acceleration in
perturbed situation in 700rpm

4 Variation of RMS velocity versus frequency in perturbed


situation (effect of mass and moment of inertia)

6 Variation of acceleration versus time in perturbed situation


(effect of bearing stiffness)

5 Variation of acceleration versus frequency in perturbed situation


(effect of mass and moment of inertia)

7 Variation of RMS versus Frequency in perturbed


situation(effect of bearing stiffness)

2 Stiffness k is variable (M is constant)


Table 3 shows the eigenvalues and wavelengths for variable
stiffness with four planets

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International Journal of Advanced Engineering Research and Technology (IJAERT) 39


Volume 4 Issue 3, March 2016, ISSN No.: 2348 8190

Reference
1- Cunliffe, F., Smith, J.D. and Welboum, D.B., 1974, Dynamic
Tooth Loads in Epicyclic Gears, Journal of
Engineering for
Industry, 94: 578-584.
2- Botman, M., 1976, Epicyclic Gear Vibrations, Journal of
Engineering for Industry, 96:811- 815.
3- Frater, J.L., August, R. and Oswald, F.B., 1983, Vibration in
Planetary Gear Systems with unequal Planet Stiffnesses, NASA
Technical Memorandum 83428 .
8 Variation of acceleration versus frequency in perturbed
situation (effect of bearing stiffness)

4- Kahraman, A., 1994a, Load Sharing Characteristics of Planetary


Transmissions, Mechanism and MachineTheory, 29:1151- 1165.
5- Kahraman, A., 1994b, Planetary GearTrain Dynamics, ASME
Journal of Mechanical Design, 116(3): 713- 720.

Conclusion
Sensitivity of natural frequencies of planetary gear system to
design parameters such as mass, moment of inertia and stiffness for
unperturbed and perturbed situation are interpreted graphically. The
results can be applied to different configurations of planetary gear
system, i.e. either of ring , sun or carrier remains fixed.
The diagrams show the change in RMS velocity, acceleration for
unperturbed tuned situation and perturbed tuned situation for mass
variation and stiffness variation conditions separately. Investigating
the diagrams, it is observed that the stiffness plays dominating role
as compared to mass and inertia on eigen sensitivity of the planetary
gear system.
Sensitivity to mass, moment of inertia and stiffness in perturbed
situation is shown in tables 3(varying mass)and4(varying stiffness).
It is observed that fluctuation in all the natural frequencies presented
in table 4 are on higher side than those in table 3.It is concluded that
stiffness component dominates prominently than mass on the natural
frequency .From table 3 and 4 it is observed that in perturbed tuned
situation with degenerate natural frequency multiplicity m is1and
for unperturbed situation the multiplicity is 1,2 and 3.
The scope of future work is to apply the method used in this paper
for compound planetary gear systems with any number of planets.
The method can also be applied to investigate the sensitivity of
natural frequencies of compound planetary gear systems to design
parameters.

6 -Kahraman, A., 1994c, Natural Modes of Planetary Gear Trains,


Journal of Sound and Vibration, 173(1):125-130.
7- Kahraman, A., 1994d, Dynamic Analysis of a Multi-Mesh
Helical Gear Train, ASME Journal of Mechanical Design, 116(3):
706-712.
8- Kahraman, A., 1994a, Load Sharing Characteristics of Planetary
Transmissions, Mechanism and Machine Theory, 29:1151-1165.
9- Majid-Mehrabi,Dr V.P,singh ,Analytical Modeling of Planetary
Gear and Sensitivity of Natural requencies ,International journal
of Applied Researchin in mechanical Engineering (IJARME),ISSN:
2231-5950,Vol-3,Iss-2,2013.
10- Yichao,G and Parker,R.G.2010, Sensitivity of General
Compound Planetary Gear Natural Frequencies and Vibration
Modes to Modal Parameters, Journal of ASME ,vol.132/011006-1.
11- Parker, R.G., 2000, A Physical Explanation for the
Effectiveness of Planet Phasing to Suppress Planetary Gear
Vibration, Journal of Sound and Vibration, 236(4): 561-573.
12 Lin, J. and Parker, R.G., 1999a, Analytical Characterization of
the Unique Properties of Planetary Gear Free Vibration, Journal of
Vibration and Acoustics, 121 : 316-321.
13- Majid-Mehrabi,Dr V.P.singh,Vibration Analysis of planetary
Gear
System,International
journal
of
Engineering
&
Research,Vol.2,issue9,September-2013.
14- Tao Sun, HaiYan Hu ., 2003 Nonlinear Dynamics of a
Planetary gear system with Multiple Clearances , Mechanism and
Machine theory 38, pp. 1371-1390 .

www.ijaert.org

International Journal of Advanced Engineering Research and Technology (IJAERT) 40


Volume 4 Issue 3, March 2016, ISSN No.: 2348 8190

15- Lin, J. and Parker, R.G., 1999b, Sensitivity of Planetary Gear


Natural Frequencies andVibration Modes to Model Parameters,
Journal of Sound and Vibration, 228(1 ): 109-128.
16- Herting,D.N., Eigenvector Derivative
Terms,MSC Memo DNH-43,july 6,1984.

with

second order

17- Gerald D.High, 1990, An Iterative Method for Eigenvector


Derivatives , The MacNeal-Schwendler Corporation, Los Angeles,
CA.
18- Majid Mehrabi , Raveesh Pratap , Analysis of Vibration
Characteristics of Planetary Gear System,4th International
Conference on Emerging Trends in Engineering and
Technology,Kurukshetra, India

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