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Introduction to rotordynamics

Mathias Legrand

McGill University
Structural Dynamics and Vibration Laboratory

October 27, 2009


Introduction Equations of motion Structural analysis Case studies References

Outline

1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists

2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization

3 Structural analysis
Static equilibrium
Modal analysis

4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks

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Introduction Equations of motion Structural analysis Case studies References

Outline

1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists

2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization

3 Structural analysis
Static equilibrium
Modal analysis

4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks

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Introduction Equations of motion Structural analysis Case studies References

Structures of interest

Structures of interest
Jet engines Machine tools

Electricity power plants Gyroscopes

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Introduction Equations of motion Structural analysis Case studies References

Mechanical components

Mechanical components

driving components operating


Terminology components

Supporting components
Driving components
Operating components

supporting components

Definitions
Supporting components: journal bearings, seals, magnetic bearings
Driving components: shaft
Operating components: bladed disk, machine tools, gears

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Selected topics

Selected topics

1 Driving components 2 Supporting components


linear vs. nonlinear formulations linear vs. nonlinear formulations
constant vs. non-constant constant vs. non-constant
rotational velocities rotational velocities
-dependent eigenfrequencies gyroscopic terms
isotropic vs. anisotropic fluid-structure coupling
cross-sections 3 Operating components
rotational vs. reference frames linear vs. nonlinear formulations
stationary and rotating dampings concept of axi-symmetry
gyroscopic terms reduced-order models
external forcings and imbalances fluid-structure coupling
critical rotational velocities, critical rotational velocities,
Campbell diagrams, stability Campbell diagrams, stability
reduced-order models and modal fixed vs. moving axis of rotation
techniques centrifugal stiffening
fluid-structure coupling
bifurcation analyses,chaos
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Introduction Equations of motion Structural analysis Case studies References

History and scientists

History and scientists


1869 Rankine On the centrifugal force on rotating shafts
steam turbines

notion of critical speed

1895 Fppl, 1905 Belluzo, Stodola


notion of supercritical speed

1919 Jeffcott The lateral vibration of loaded shafts in the neighborhod


of a whirling speed
Before WWII: Myklestadt-Prohl method
lumped systems

cantilever aircraft wings

precise computation of critical speeds

Contemporary tools
finite element method

nonlinear analysis
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Introduction Equations of motion Structural analysis Case studies References

Outline

1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists

2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization

3 Structural analysis
Static equilibrium
Modal analysis

4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks

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Introduction Equations of motion Structural analysis Case studies References

Inertial and moving frames

Inertial and moving frames

Full 3D rotating motion of the dynamic frame


Fixed (galilean, inertial) reference frame Rg
Moving (non-inertial) reference frame Rm
Rigid body large displacements Rm /Rg
Small displacements and strains in Rm
ez
Coordinates
x: position vector of M in Rm u
u: displacement vector of M/Rm in Rm M
ey
s: displacement vector of O /Rg in Rg
y: displacement vector of M/Rg in Rg O
y
Rm
e3 ex
s

Rg
O
e2
e1
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Introduction Equations of motion Structural analysis Case studies References

Displacements and velocities

Displacements and velocities


Rotation matrices
cos z sin z 0 cos Y 0 sin Y 1 0 0
" # " # " #
R1 = sin z cos z 0 ; R2 = 0 1 0 ; R3 = 0 cos 1 sin 1
0 0 1 sin Y 0 cos Y 0 sin 1 cos 1
R = R3 R2 R1 ey

Coordinates transformation
absolute displacement y = s + R(x + u) e2
eY
angular velocity matrix | R = R

Velocities
Time derivatives of positions in Rg 1
e3
Y eZ
y = s + Ru + R(x + u) = s + Ru + R(x + u) z
ex
ez
0

3 (t) 2 (t) eX
= 3 (t) 0 1 (t)
2 (t) 1 (t) 0 e1
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Introduction Equations of motion Structural analysis Case studies References

Strains and stresses

Strains and stresses

Quantities of interest
Stresses
Strains : Green measure

1
 
ui uj um um
ij = + + = ln nl
ij + ij
2 xj xi xi xj

Pre-stressed configuration and centrifugal stiffening

Constitutive law
Generalized Hooke law = C
C linear elasticity tensor

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Introduction Equations of motion Structural analysis Case studies References

Energies and virtual works

Energies and virtual works


Kinetic energy
1 1 1
Z Z Z Z
EK = T
y ydV = T T
u udV + u udV + uT 2 udV
2 2 2
V V V V
1
Z Z
(uT uT )(RT s + x)dV + sT s + 2sT Rx x2 x dV

2
V V

Strain energy
1
Z
U= T CdV
2
V

External virtual works


Z Z
T
Wext = u RfdV + uT RtdS (f, t) expressed in Rm
V S
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Displacement discretization

Displacement discretization
Discretized displacement field
n
Rayleigh-Ritz formulation
X
u(x, t) = i (x)ui (t)
Finite Element formulation i=1

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Displacement discretization

Displacement discretization
Generic equations of motion
 
Mu + (D + G()) u + K(u) + P() + N() u = R() + F

Structural matrices
mass matrix M = T dV
R
V
gyroscopic matrix G = V 2T dV
R

centrifugal stiffening matrix N = V T 2 dV
R

angular acceleration stiffening matrix P = V T dV
R

stiffness matrix K = V T dV = V T (u)C(u)dV nonlinear in u
R R

damping matrix D (several different definitions)

External force vectors


inertial forces R = T (RT s + x + 2 x)dV
R
V
external forces F = V T fdV + S T tdS
R R
F
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Introduction Equations of motion Structural analysis Case studies References

Displacement discretization

Displacement discretization
Generic equations of motion
 
Mu + (D + G()) u + K(u) + P() + N() u = R() + F

Choice space functions and time contributions u


order-reduced models or modal reductions
1D, 2D or 3D elasticity
beam and shell theories (Euler-Bernoulli, Timoshenko, Reissner-Mindlin. . . )
complex geometries: bladed-disks

Other simplifying assumptions


constant velocity along a single axis of rotation
no gyroscopic terms
no centrifugal stiffening
localized vs. distributed imbalance
isotropy or anisotropy of the shaft cross-section
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Introduction Equations of motion Structural analysis Case studies References

Outline

1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists

2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization

3 Structural analysis
Static equilibrium
Modal analysis

4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks

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Introduction Equations of motion Structural analysis Case studies References

Static equilibrium

Static equilibrium
Solution and pre-stressed configuration
Find displacement u0 , solution of:

K(u0 ) + N() u0 = R() + F




V0 V V (t)
ui0 , 0ij , ij0 ui , ij , ij

initial pre-stressed additional dynamic


configuration configuration configuration

Applications
slender structures
plates, shells
shaft with axial loading
radial traction and blade untwist
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Introduction Equations of motion Structural analysis Case studies References

Modal analysis

Modal analysis
Eigensolutions
Defined with respect to the pre-stressed configuration V
State-space formulation
0 K(u0 ) + N() u
       
M D + G() u 0
+ = (1)
0 M u M 0 u 0

Consider:
 
u
y= = Aet and find (y, ) solution of (1)
u

Comments
-dependent complex (conjugate) eigenmodes and eigenvalues
Right and left eigenmodes
Whirl motions
Campbell diagrams and stability conditions
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Introduction Equations of motion Structural analysis Case studies References

Modal analysis

Modal analysis
Campbell diagrams
Coincidence of vibration sources and -dependent natural resonances
Quick visualisation of vibratory and design problems
9
8 80

7 60
unstable
forward whirl 40
6
frequency (Hz)

20
5

()
0
4
-20
3
-40
2
-60
backward whirl
1 -80
0
0 2 4 6 8 10 12 0 2 4 6 8 10 12
(Hz) (Hz)

Stability
i | (i ) > 0 unstable

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Introduction Equations of motion Structural analysis Case studies References

Outline

1 Introduction
Structures of interest
Mechanical components
Selected topics
History and scientists

2 Equations of motion
Inertial and moving frames
Displacements and velocities
Strains and stresses
Energies and virtual works
Displacement discretization

3 Structural analysis
Static equilibrium
Modal analysis

4 Case studies
Case 1: flexible shaft bearing system
Case 2: bladed disks

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Introduction Equations of motion Structural analysis Case studies References

Case 1: flexible shaft bearing system

Case 1: flexible shaft bearing system


Rotating shaft bearing system
Z shaft Lb bearing 2
Constant velocity bearing 1 oil film
Y
Small deflections
Elementary slice rigid disk
L
Quantities of interest X

Kinetic Energy
ZL ZL " 2  2 # ZL
S 2 2 I u w 2 u w
EK = (u +w )dy + + dy +IL 2I dy
2 2 y y y y
0 0 0

ZL " 2 2 #
2u 2w

EI
Strain Energy U = + dy
2 y 2 y 2
0

Virtual Work of external forces W = F u + Gw


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Introduction Equations of motion Structural analysis Case studies References

Case 1: flexible shaft bearing system

Case 1: flexible shaft bearing system


Z
Reynolds equation

h journal/bearing clearance bearing



fluid viscosity journal
angular velocity of the journal
h(, t)
R outer radius of the beam Ob X
e Oj (xj , zj )
p film pressure
 3  3
1
 
h p h p h h
+ 2 = +2
y 6 y R 6 t

Bearing forces
Hj = 1 Zj cos( + ) + Xj sin( + )
G = Zj sin( + ) + Xj cos( + ) 2 Zj cos( + ) Xj sin( + )


Z Z
RLb 3 G sin( + ) RLb 3 G cos( + )
Fx = d; Fz = d
2c 2 Hj 3 2c 2 Hj 3
0 0
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Introduction Equations of motion Structural analysis Case studies References

Case 1: flexible shaft bearing system

Case 1: flexible shaft bearing system

Linearization
Equilibrium position Xe , Ze
First order Taylor series of the nonlinear forces

FX FX FZ FZ
KXX = ; KXZ = ; KZX = ; K ZZ =
X e Z e X e Z e

FX FX FZ FZ
CXX = ; CXZ = ; CZX = ; CZZ =
X e Z e X e Z e

Field of displacement
N
X N
X
U(x , t) = i (x )ui (t); W (x , t) = i (x )wi (t) x = (u, w)T
i=1 i=1

Linear equations of motion


Mx + (G + Cb )x + (K + Kb )x = 0
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Introduction Equations of motion Structural analysis Case studies References

Case 1: flexible shaft bearing system

Case 1: flexible shaft bearing system

Linear equations of motion


Mx + (G + Cb ())x + (K + Kb ())x = FNL
     
A+B 0 0 2B C 0
M= ; G= ; K=
0 A+B 2B 0 0 C
ZL ZL ZL
T
A = S dy ; B = I ,T
y ,y dy ; C = EI ,T
yy ,yy dy
0 0 0

Comments
Kb circulatory matrix destabilizes the system
Cb symmetric damping matrix
both matrices act on the shaft at the bearing locations (external virtual work)

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Introduction Equations of motion Structural analysis Case studies References

Case 1: flexible shaft bearing system

Case 1: flexible shaft bearing system


Modal analysis
Equilibrium position for each
Cb , Kb for each
Modal analysis for each
2 15

1.5
10
1
5
0.5
()

()
0 0

-0.5
-5
-1
-10
-1.5

-2 -15
0 5 10 15 20 25 30 35 40 45 0 5 10 15 20 25 30 35
(Hz) (Hz)

Stability: linear vs. nonlinear models


3
Amplitude

0
300

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200
250
200
(Hz) 100 150
100
0 50
0
Frequency(Hz)
Introduction Equations of motion Structural analysis Case studies References

Case 1: flexible shaft bearing system

Case 1: flexible shaft bearing system


Modal analysis
Equilibrium position for each
Cb , Kb for each
Modal analysis for each
2 15

1.5
10
1
5
0.5
()

()

0 0

-0.5
-5
-1
-10
-1.5

-2 -15
0 5 10 15 20 25 30 35 40 45 0 5 10 15 20 25 30 35
(Hz) (Hz)

Stability: linear vs. nonlinear models

3
Amplitude

0
300
200
250
200
(Hz) 100 150
100
0 50
0
Frequency(Hz)
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Introduction Equations of motion Structural analysis Case studies References

Case 1: flexible shaft bearing system

Case 1: flexible shaft bearing system


A few modes
cylindrical modes

conical modes

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Case 2: bladed disks

Case 2: bladed disks

Definition
Closed replication of a sector
Cyclic-symmetry

Mathematical properties
Invariant with respect to the axis of rotation
Block-circulant mass and stiffness matrices
Pairs of orthogonal modes with identical frequency

Numerical issues
No damping and gyroscopic matrices
Determination of M and K
Notion of mistuning
Constant
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Case 2: bladed disks

Case 2: bladed disks


Multi-stage configuration
Closed replication of a "slice"
Different number of blades
No cyclic-symmetry

Numerical issues
No damping and gyroscopic matrices
Determination of M and K
Notion of mistuning
Constant

Next-generation calculations
Nonlinear terms
Supporting+transmission+operating components
Damping, gyroscopic terms, stiffening
Time-dependent 26 / 27
Introduction Equations of motion Structural analysis Case studies References

References

[1] Giancarlo Genta


Dynamics of Rotating Systems
Mechanical Engineering Series
Springer, 2005
[2] Michel Lalanne & Guy Ferraris
Rotordynamics Prediction in Engineering
Second Edition
John Wiley & Sons, 1998
[3] Jean-Pierre Lan
Structural Dynamics (in French)
Lecture Notes
cole Centrale de Lyon, 2005

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