ME 383S Bryant February 15, 2005

Hydrodynamic Lubrication
• Fluid Lubricant: liquid or gas (gas bearing)
• Mechanism: Pressures separate surfaces
o Normal loads on bodies
o Convergent profile between surfaces
o Tangential motion between surfaces
o Viscous effects generate shear stresses
o Pressures equilibrate shear stresses
o Surfaces “lift” apart
ME 383S Bryant February 15, 2005
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Stribeck Curve
 Hydrodynamic lubrication: full film formed,
surfaces do not contact

 Friction vs stribeck number ηN/P

η: dynamic viscosity, N: speed, P: pressure

 Hydrodyamic Lubrication

• Review Navier Stokes Equations

• Derive Reynold s Equation

• Apply Reynolds equation to bearing

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 Navier Stokes Equations
Indicial notation: x1 = x, x2 = y, x3 = z

• Continuity Equation
3

∂(ρuk )
∂ρ
+ =0 (1)
∂t k=1
∂x k

• Momentum Equations
3

3
∂uj ∂uj ∂P ∂
∂uk
ρ + ρuk =− +λ
∂t k=1
∂xk ∂xj ∂xj k=1 ∂xk
3   

∂ ∂uk ∂uj
+ η + + ρfj (2)
k=1
∂x k ∂xj ∂xk

• Density ρ, Viscosity η, Bulk viscosity λ

• Unknowns: Flow velocities uj , Pressure p

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 Assumptions: Normal
Lubrication

• Newtonian fluid (constitutive law)

 
∂uj
σij = −pδij + λ ∂ukδ + η
∂xk ij
∂ui
∂xj + ∂xi

fluid stresses σij , velocities ui,


1 if i = j
Kroenecker delta δij =
0 otherwise

• quasi-steady flow: ∂/∂t = 0

• no slip between fluid particles & surfaces

• negligible fluid inertia (small Reynold s num-

ber)

• very thin film

3
• Consequences:

negligible variations in pressure p, tem-

perature T , & fluid properties (density
ρ, dynamic viscosity η) across film thick-
ness 0 ≤ y ≤ h(x)

effects of curvatures of bearing surfaces

on flows negligible

laminar flows

• Additional Assumption: Incompressible flow

4
 Simplified Equations

• Continuity Equation
∂(ρux) ∂(ρuy ) ∂(ρuz )
+ + =0 (3)
∂x ∂y ∂z

• Momentum Equations

∂ 2 ux ∂p
η = , (4)
∂y 2 ∂x
∂ 2 uy
≈ 0, (5)
∂y 2

∂ 2 uz ∂p
η = (6)
∂y 2 ∂z

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 Integrate Momentum
Equations
Fy
Fx

x
U1 ho
h1 y V1
U2 inclined
pad

V2

• Integrate with respect to y

• Determine constants of integration from

boundary velocities (U1, V1, W1) and (U2, V2, W2)

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Flow Velocities & Continuity
Equation

• Flow velocities
1 ∂p y
ux = y(y − h) + U1 + (U2 − U1)
2η ∂x h
y
uy = (V2 − V1) + V1
h
1 ∂p y
uz = y(y − h) + W1 + (W2 − W1)
2η ∂z h

• Steady State Continuity Equation

∂(ρux) ∂(ρuy ) ∂(ρuz )

+ + =0
∂x ∂y ∂z

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Reynold s Equation Derivation

• Substitute velocities into continuity equa-

tion, then integrate across film thickness
0 ≤ y ≤ h(x, z):

h(x,z)   

∂ 1 ∂p y
ρ y(y − h)+U1 + (U2 − U1) dy
y=0 ∂x 2η ∂x h
h(x,z)   
∂ y
+ ρ (V2 − V1) + V1 dy+
y=0 ∂y
  h 

h(x,z)
∂ 1 ∂p y
ρ y(y − h)+W1 + (W2 − W1) dy
y=0 ∂z 2η ∂z h

=0

• First and third terms require Leibnitz s rule:

d b(x) b(x) ∂f (y, x)
f (y, x)dy = dy
dx a(x) a(x) ∂x
db − f a(x), x da
+f [b(x), x] dx [ ] dx

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 Reynold s Equation
   
∂  ρh3 ∂p
+
∂  ρh3 ∂p
 = 12ρ(V − V )
2 1
∂x η ∂x ∂z η ∂z
∂(ρh) ∂(U1 + U2)
+6(U1 − U2) + 6ρh
∂x ∂x
∂(ρh) ∂(W1 + W2)
+6(W1 − W2) + 6ρh (7)
∂z ∂z

• Describes flow through convergent channel

• Left side: tangential & out of plane flows

• Film thickness h = h(x, z)

• Pressure p = p(x, z)

• Boundary velocities on surfaces:

(U1, V1, W1), (U2, V2, W2)

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 Inclined Pad Bearing
W Fx

x U1 = U ho
h1 y V1 = - V
inclined
pad

• Normal load W , velocity V = − dh

dt
o

• Tangential force Fx, velocity U

• Film thickness:

h(x, z) = h(x) = ho + (h1 − ho)(1 − x/B)

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Particular (Long Bearing)
Solution

• Assumptions

Long bearing ( B
L  1) =⇒ ∂/∂z = 0

No out of plane motions: W1 = W2 = 0

Relative velocity:
U = U1 − U2, V = V2 − V1

∂(U1 +U2 )
Rigid pad/Stiff bearing: ∂x ≈0

incompressible & iso-viscous

• Apply to Reynold s Equation:

 
1 d 3 dp dh
h = 12V + 6U (8)
η dx dx dx

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 Long Bearing Solution

• Integrate:
dp Vx U
= 12η + 6η + C1
dx h 3 h 2

• Integrate:

xdx dx
p(x) = 12ηV + 6ηU + C1 x + C2
h 3 h 2

• Film thickness:

h(x) = ho + (h1 − ho)(1 − x/B)

• Pressure boundary conditions:

p(0) = p(B) = pa

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 Long Bearing Solution
   
6ηnU x x
1−B 12 B η V x x
1−B
pp = − + pa
h2 (2 ho + n) h2 (2 ho + n)

• 1st term = load support

• 2nd term = ``squeezefilm effect

• pa: ambient pressure

• n = h1 − ho

• pp solution of Reynold s eqn (8)

• pp = pp(x) independent of z & satisfies (7)

1 2 ∂(U +U )
with W1 = W2 = ∂x =0
=⇒ particular solution of (7)

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 Homogeneous Solution

• Homogeneous Reynold s Equation

set all excitations to zero

U1 = V1 = W1 = U2 = V2 = W2 = 0

film thickness h = h(x)

   
∂ 3 ∂p 3 ∂ ∂p
h +h =0
∂x ∂x ∂z ∂z

• Separable solution: let ph = X(x)Z(z)

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Homogeneous & Particular
Solutions

Complete Solution

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 Complete Solution

• Sum homogeneous & particular solutions

• Apply boundary conditions: velocities &

pressures

• Special cases:

long bearing: Lz /B >> 1,

ph = ph(x) & p = pp(x)

short bearing: Lz /B << 1,

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 Bearing Forces

• Forces: integrate over areas

∂uy
W = − − [p(x, z) − pa] + 2η dxdz
Ab ∂y y=0


∂ux ∂uy
Fx = − η + dxdz
Ab ∂y ∂x y=0


∂uz ∂uy
Fz = − η + dxdz
Ab ∂y ∂z y=0

where
1 ∂p y
ux = y(y − h) + U1 + (U2 − U1),
2η ∂x h
y 1 ∂p
uy = (V2 − V1) + V1, uz = y(y − h)
h 2η ∂z

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 Apply to Inclined Pad

• Normal force
   
2 2
W (ho, U, V ) = (LB ) 2B̄R1U − 4B̄ R1 + R3 V

• Tangential force
  
Fx(ho, U, V ) = (LB )2 R1 + R2 U − 2B̄R1V

• where B̄ = B/n,
 
3η 2n
R1(ho) = − + log(1 + n/ho)
nLB 2 ho + n
R3(ho) η
R2(ho) = = log(1 + n/ho)
2 nLB

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 ``BondGraph Equation

• Resistance field =⇒ W & Fx equations

Coquette Flow: Wedge effect: Squeeze film:
power losses lift + losses power losses

R: ℜ2 R: ℜ1 R: ℜ3

P
Fx τ σyy W
Sf : U TF: LB 1 0 TF: n/2B 1 TF: 1/LB Sf : V
U V
tangential motions normal motions

R2 R3
+ +

Fx U R1 V W

- -
LB n/2B 1/LB

• Bond graph & bearing equivalent circuit

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Thrust Bearing with M Pads
Load: Ws

Gear: Ig, mg

Shaft: ksr, ksa Te

Bearing: b1, b2 Bearing

plate: Ip, mp

Tilted
pads

• In bearing bond graph, (Tb, ωb) replaces (Fx, U )

• ωb = M U/R Tb = RM Fx

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Thrust Bearing Bond Graphs
R: Mℜ 2 R: Mℜ1 R: Mℜ 3

P
Tb τ σyy W
Sf : ω b TF: R TF: LB 1 0 TF: n/2B 1 TF: 1/LB Sf : V
ωb V
R: ℜ 2 R: ℜ1 R: ℜ3

Tb W
Sf : ωb TF: R 1 TF: LB 1 0 TF: n/2B 1 TF: 1/LB 1 Sf : V
ωb V

R: ℜ2 R: ℜ1 R: ℜ3

TF: LB 1 0 TF: n/2B 1 TF: 1/LB

Load: Ws

Gear: Ig, mg

Shaft: ksr, ksa Te

Bearing: b1 , b2 Bearing
plate: Ip, mp

Tilted
pads

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 Rayleigh Step Bearing
α
W Fx
B
x U1 = U Ri
ho Ro
y V 1 = -V
h1
step
pad

ns B

• Easier to manufacture step replaces incline

• Film thickness:

h1 , 0 ≤ x < B s
h(x) =
ho , B s < x ≤ B

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 Step Bearing Pressures
Triangular

• Pressures
p(x)

pa

step
pad

Bs

• Maximum pressure at step x = Bs:

(B − Bs) Bs (nU + B V )
pmax − pa = 6η
3 3
(B − B s ) h 1 + B s h o

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Eccentric Journal Bearings
φ
θ
W Bearing
2R
Shaft
2Rb z x
e ω
y
ωb
L y

• Film thickness:

h = h(θ) = c + e cos θ = c(1 + n cos θ)

Eccentricity: e Attitude angle: φ

Polar coordinates (e, φ) locates shaft cen-

ter relative to bearing center

Clearance: c = Rb − R

n = e/c

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• Problem: shaft at (e, φ) orbits bearing

• Coordinate system attached to load W

• Journal rotates at relative ω − ωb

• Bearing rotates at relative ωb

• Could be piston rod-crankshaft bearing

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• Surface velocities:

dφ dφ
U1 = Rω + de
dt sin θ − e dt cos θ − R dt
dφ
V1 = − de
dt cos θ − e dt sin θ
U2 = Rbωb − R dφdt
V2 = −eωb sin θ

• Reynold s equation, right side:

 ·
·
6η −Rbωb − R (ω − ωb) + e φ cos θ− e sin θ ∂h
∂x
 
· ·
∂ −eφcos θ+esin θ
+h ∂x 
· ·
+2R (ω − ωb) ∂h e
∂x + 2e φ sin θ + 2 cos θ

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 Reynold s Equation

·
• Ω = ω + ωb − 2 φ

• Approximations: c/R  1, e/R  1

• Assumptions: L/2R is large (generally > 4)

• Similar procedure gives:

   
∂  ρh3 ∂p  2 ∂  ρh3 ∂p 
+R
∂θ η ∂θ ∂z η ∂z
 
∂(ρh) ∂(ρh)
= 6R2 2 +Ω
∂t ∂θ

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 Solve Pressures
 
R2 n ·
p(θ) − pa = 6η Ω sin θ− n cos θ ×
c2 2 + n2
 
 1 1 
× +
 1 + n cos θ 2 (1 + n cos θ) 
( )

·
• Suppose n= 0. For π ≤ θ < 2π, p − pa < 0
=⇒ subambient pressures & cavitation in
liquids
p - pa
6ηΩR2/c2
.n = 0
n = 0.5

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• Cavitation =⇒ lubricant vapors & air bub-
bles

• Pressure solution invalid, options:

Solve with cavitation algorithm:

∗ Define: φ = ρρc , p = pc + gβ ln φ

∗ ρc: vapor density, pc: vapor pressure

∗ dp = g βρ dρ = g βφ dφ

0, φ < 1
∗ Step function g = g(φ) =
1, φ ≥ 1
   
d ρh3
dp d ρc dφ βh3
∗ dx 12η dx
= dx g
12η dx

∗ Yields ``ModifiedReynold s Equation

in unknown φ

Approximation: when p < pa, set p = pa

in integrals for force & torque
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 Forces & Torque

• Pressure integrals =⇒ forces & torque:

·
R3 n
We = −12πηL  
c2 1 − n2 3/2

R3 nΩ
Wφ = 12Lπη
2  
c 2 + n2 1 − n2
R3 1 + 2n2
Tf = 4πηLΩ  
c 2 + n2 1 − n2

shaft
rotation

Tf ω

circumferential
R radial
motions motions

Wφ
eφ
. . We
e

TF: φ
WY
. . WZ

• Yields 3-port resistive field: Y Z

• TF transforms (e, φ) to cartesian system

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 Rotor dynamics in bond
graph form

• Shaft bending & torsion via FEM in bond

graphs

• Rotating coordinate in bond graph form

[Hubbard, 1979]

• Connect to rest of system via bond graph

• Possible: shaft whirl, bending, etc. excited

directly by system

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