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ROTOR-BEARING SYSTEMS
A Text Book
Sponsored by
Dr Rajiv Tiwari
April 2010
PREFACE
The present book materials is the outcome of an elective course on Rotor Dynamics offered by me
to undergraduate, graduate and post-graduate students at IIT Guwahati over last ten years. Moreover,
it contains materials of some of the research works done by me with my graduate students.
The modeling and analysis of rotor-bearing dynamics are now reached a mature state. In broad sense
this area covers several categories namely modeling, analysis, identification and condition monitoring
of rotor-bearing systems. The finite element (FE) method has been used extensively for modeling and
analyses of rotors. Till today, the condition monitoring of rotor-bearing systems based on vibrations
mainly concerned with the feature based fault detection and diagnostics. As a result of this the
methods available so far are not reliable and fail-safe up to the expectation of fellow engineers
working in the fields. For model-based condition monitoring of the rotor-bearing systems,
identification methods for system parameters are under development. For the identification of rotor
system parameters the literature available is not so rich and a lot of possibilities have been appeared in
the literature. The very purpose of this course material is to give a basic understanding of the rotor
dynamics phenomena with the help of simple rotor models and subsequently the modern analysis
methods for real life rotor systems. This background will be helpful in the identification of rotorbearing system parameters and its use in futuristic model-based condition monitoring and fault
diagnostic and prognostics.
The present course material compiles review of some of the available literatures in a systematic and
lucid form so as to boost research in the developing area of the rotor dynamics. Throughout the book
materials are supplemented by numerical examples both by the hand calculation and computation
extensive methods. It is expected that with this course material, students will get sufficient exposure
and motivation for applying FEM in rotor dynamics and allied areas. We sincerely acknowledge the
Quality Improvement Programme at IIT Guwahati sponsored by AICTE, New Delhi for funding
towards the development of the course. Our heartfelt thanks to the help offered by the graduate
students, research scholars and project, technical and office staffs at IIT Guwahati. This work is
dedicated to my daughter Ranu, son Antariksha, and wife Vibha for their patience.
(R. Tiwari)
CONTENTS
Preface
Content
Nomenclature
Chapter 1 A Brief History of Rotor Dynamics
ii
iv
viii
1-23
2
5
11
12
12
13
15
16
16
24-84
25
26
28
28
28
31
35
39
40
43
44
48
51
56
56
57
69
75
76
83
84-161
86
91
100
115
113
117
119
121
123
126
131
134
136
138
139
142
151
152
157
158
159
162-205
162
173
175
181
183
190
195
196
204
Chapter 5 Transverse Vibrations-III: Simple Rotor Systems with Gyroscopic Effects 206-269
5.1 Angular Momentum
5.2 Gyroscopic Moments in Rotating Systems
5.2.1 Motion of a rotor mounted on two bearings
5.2.2 Gyroscopic moments though Coriolis component of accelerations
5.2.3 Gyroscopic moments in a rotating thin blade
5.2.4 Gyroscopic moments in a multi-bladed propeller
5.3 Synchronous Motion
5.3.1 A cantilever rotor with a thin disc
5.2.2 A cantilever rotor with a long stick
5.4 Asynchronous Rotational Motion
5.5 Asynchronous General Motion
5.6 Gyroscopic Effects by the Dynamics Approach
5.7 Analysis of Gyroscopic effects with Energy Methods
Concluding Remarks
Exercise Problems
References
207
209
209
210
212
214
216
216
221
228
234
251
256
262
263
269
Chapter 6 Torsional Vibrations of Rotors-I: The Direct and Transfer Matrix Methods 271-360
6.1 A Simple Rotor System with a Single Disc Mass
6.2 A Two-Disc Torsional Rotor System
6.3 A Two-Disc Rotor System with a Stepped Shaft
6.4 A Three-Disc Rotor System
6.4.1 A direct approach
6.4.2 An indirect approach
6.5 Transfer Matrix Methods
6.5.1 A point matrix
6.5.2 A field matrix
6.6 Geared Systems
6.7 Branched Systems
6.8 TMM for Damped Torsional Vibrations
6.9 Modelling of Reciprocating Machine Systems
6.9.1 An equivalent polar moment of inertia
6.9.2 An equivalent torsional stiffness of crack shafts
6.9.3 Torque variations in a reciprocating machinery
Concluding Remarks
Exercise Problems
References
272
275
280
285
285
291
296
297
299
320
330
341
344
345
347
348
351
352
360
Chapter 7 Torsional Vibrations of Rotors-II: The Continuous System and FE Methods 361-419
7.1 Torsional Vibrations of Continuous Shaft Systems
7.1.1 The Hamiltons principle
7.1.2 Lagranges equation
7.1.3 Governing differential equations
7.2 Applications of Finite Element Methods
7.2.1 Galerkin method
7.2.2 Rayleigh-Ritz Method
361
362
365
367
377
378
384
386
388
389
402
413
414
419
420-504
420
421
423
441
441
444
446
448
450
451
485
490
491
495
504
Chapter 9 The Continuous and Finite Element Transverse Vibration Analyses of Simple Rotor
Systems
505-591
9.1 Governing Equations in Continuous Systems
9.2 Natural Frequencies and Mode Shapes
9.3 Forced Vibrations
9.4 A Brief Review on Application of FEM in Rotor-Bearing Systems
9.5 A Finite Element Formulation
9.5.1 FE Formulation in a weak form
9.5.2 Derivations of Shape functions
9.5.3 Satisfaction of the compatibility and completeness conditions
9.5.4 Finite element governing equations
9.5.5 The consistent load matrix
9.5.6 System equations of motion
9.5.7 Eigen value problems
9.6 Proportional Damping
9.7 The Static and Dynamic Condensations
9.7.1 Static (Guyan) reduction
9.7.2 The dynamic reduction
Concluding Remarks
Exercise Problems
References
505
511
516
519
521
522
523
526
528
531
535
538
567
569
570
575
580
581
588
592
606
614
615
617
623
629
629
635
636
637
638
638
643
648
648
652
653-739
653
656
662
664
666
677
681
700
703
705
707
708
714
714
716
720
724
726
732
733
735
737
740-767
740
741
744
762
762
763
766-810
767
769
769
769
770
771
771
777
777
778
785
790
792
801
805
806
810
813
816
820
821
827
831
833
833
839
843
846
855
860
862
863
865
866
867
868
870
873
875
887
890
891
894
898-944
899
904
910
911
921
928
928
929
929
930
931
932
932
933
936
941
941
944
945-1006
945
951
961
967
970
978
979
986
988
988
992
992
994
995
997
998
999
999
999
1000
1001
1002
1003
1004
1005
1007-1053
1008
1012
1015
1019
1024
1027
1031
1040
1044
1044
1045
1046
1054-1144
1054
1055
1059
1059
1067
1068
1069
1070
1073
1076
1077
1077
1078
1079
1082
1083
1083
1085
1088
1097
1105
1117
1117
1117
1118
1119
1119
1120
1120
1122
1126
1129
1130
1132
Nomenclature
c
[C]
d
e
E
f(t)
F
[F]
G
[G]
I
Id
Ip
j
J
k
[K]
l
m
M(t)
[M]
n
[P]
S
{S}
U
[U]
x
{x}
X
y
Y
z
Z
T
T(t)
[T]
x(t)
x
y(t)
y
z(t)
z
damping coefficient
damping matrix
diameter
eccentricity
Youngs modulus
time dependent force
amplitude of the force
field matrix for TMM
modulus of rigidity
gyroscopic matrix
diametral second moment of area (for the circular shaft = d4/64)
diametral mass moment of inertia
polar mass moment of inertia
1 , imaginary number
polar second moment of area (for the circular shaft = d4/32)
stiffness
stiffness matrix
length
mass of disc
moment
mass matrix
gear ratio
point matrix for TMM
shear force
state vector for TMM
strain energy
transfer matrix for TMM
linear displacement in the horizontal direction
displacement matrix
amplitude of the linear displacement in the horizontal direction
linear displacement in the vertical direction
amplitude of the linear displacement in the vertical direction
linear displacement in the axial direction
mechanical impedance
kinetic energy
toque
overall transfer matrix for TMM
phase between the force and the displacement
angular displacement about x-axis
amplitude of x
angular displacement about y-axis
amplitude of y
angular displacement about z-axis
amplitude of z
whirl frequency
density
angular position of the unbalance with x-axis
spin (or angular) speed of the rotor
damping ratio
Subscripts:
b
c
d
E
i
L
nf
NL
p
r
f
bearing
critical
diametral
external
imaginary
linear
natural frequency
non-linear
polar
rotor/real
foundation
Back subscript
R
L
right
left
Superscripts:
i
r
imaginary
real
Units:
cm
G
Hz
m
mm
M
N
Pa
rad
rpm
sec
m
centimeter
giga (109)
cycle per sec (Hertz)
meter
millimeter
mega (106)
Newton
Pascal (N/m2)
radian
revolution per minute
second
micrometer (10-6m)
Abbreviations:
AMB
DOF
EOM
FEM
SHM
TMM