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TRANSVERSE VIBRATIONS-II:
SIMPLE ROTOR-BEARING-FOUNDATION SYSTEMS
In chapter 2, we studied dynamic behaviours rotors with a rigid disc with the flexible massless shaft.
These simple rotor models have advantage in that the mathematical modeling is simple and it predicts
some of the vital phenomena with relatively ease. However, in actual case as the previous chapter has
demonstrated that supports of rotors, i.e., bearings as well as the foundation are flexible; and have
considerable amount of damping. Consequently, they play vital role in predicting dynamic behaviour of
rotor systems. In the present chapter, we will incorporate bearing dynamic parameters in the mathematical
model of the rotor system. In previous chapter, it is shown that a bearing has normally eight dynamic
parameters (four for the stiffness and four for the damping, with direct and cross coupled terms). To start
with, first we will consider a long rigid rotor mounted on flexible anisotropic bearings (without damping
and without cross-coupled stiffness terms). Next, in the long rigid rotor system we will incorporate a
more general bearing model with eight bearing dynamic coefficients. Subsequently, along with the
flexibility of bearing, the shaft flexibility with rigid discs is also considered. Finally, the flexibility of the
shaft, bearings, and foundations has been included for prediction of the dynamic behaviour of the rotor
system and the forces transmitted through the supports. The approximate method is not used in the
present chapter; however, wherever equations are large in number the matrix and vector forms are
preferred.
4.1 Symmetrical Long Rigid Shaft in Flexible Anisotropic Bearings
In rotor systems where bearings are far more flexible than the shaft, it is the bearings which will have the
greatest influence on the motion of the rotor. Such rotors may be idealized as the rigid rotor. It is assumed
that the shaft has no flexibility, and bearings are assumed to behave as linear springs having the stiffness,
kx and ky, the horizontal and vertical directions, respectively. The center of gravity of the rotor mass, m, is
offset from the geometrical center by distances e and ez as shown in Figure 4.1(a), respectively in the
radial and axial directions. x and y are the linear displacement of the rotor (the geometrical center) in the
horizontal and vertical directions, respectively; whereas, y and x are the angular displacement of the
rotor (the geometrical center line) in the z-x and y-z planes, respectively. Figure 4.1(b) shows the positive
convension for the angular displacement. For the present case, there is no coupling between various
displacements, i.e., x, y, y and x. Hence, free body diagrams (Figure 4.2) and equations of motion have
been obtained by giving such displacements independent of each other. It is assumed that the linear and
163
angaulr displacemnets are small, and the direction of the unbalnce force and moment do not change with
the tilting of the shaft (i.e., due to y and x). In fact without this assumptions, it will give equations of
motion with force containing unknown angular displacements (i.e., y and x) and equations would be
parametrically excited systems (i.e., differntial equations with time dependent coefficients).
164
Figure 4.2(a) A free body diagram of the rotor in y-z plane for a pure translator motion
Figure 4.2(b) A free body diagram of the rotor in y-z plane for a pure translator motion
165
Figure 4.2(d) A free body diagram of the rotor in y-z plane for the pure rotational motion
Figure 4.2(e) A free body diagram of the rotor in z-x plane for the pure rotational motion
From Figure 4.2(a, b and c) equations of motion in the x and y directions are
me 2 cos t - 2k x x = mx
and
me 2 sin t 2k y y = my
(4.1)
From Figure 4.2(d and e) equations of motion in the x and y directions are
and
me 2 ez cos t k xl 2 y / 2 = I d y
(4.2)
x = 2 x ,
y = 2 y, x = 2 x and y = 2 y
(4.3)
166
On substituting equation (4.3) into equations (4.1) to (4.2), the unbalnce response can be expressed as
x=
me 2
cos t = X cos t ;
2k x m 2
me 2
sin t = Y sin t
2k y m 2
(4.4)
me 2 ez
cos t = y cos t
0.5k x l 2 2 I d
(4.5)
y=
and
x =
me 2 ez
sin t = x sin t
0.5k y l 2 2 I d
and y =
where X and Y are linear displacement amplitudes, and x and y are angular displacement amplitudes.
From denominators of these amplitudes, it can be seen that the system has four critical speeds; two for
linear displacements in the x- and y- directions, and two for angular displacements in the x-z and y-z
planes. Critical speeds can be written as
k
cr1 = x ;
m
cr =
2
2k y
m
cr
0.5k xl 2
=
;
Id
and
cr =
4
0.5k y l 2
Id
(4.6)
From equation (4.4) on squaring expressions for x and y, and on adding, it gives
x2
X
y2
Y
=1
(4.7)
x2
2x
y2
2y
=1
(4.8)
It would be interesting to observe the whirl direction (i.e., the clochwise or the counter clockwise) with
respect to the spin speed direction. Let us first consider the linear displacement only, i.e., equation (4.4).
and assume that kx < ky (i.e., cr1 < cr2 ).
Case I: When the rotor operates below the first critical speed, i.e., < cr1 from equation (4.4) both X
and Y are positive. Hence, the rotor whirls in the same direction as the spin of shaft a shown in Figures
4.3(a) and 4.4(a-c). This type of whirl is called the forward synchornous whirl.
167
Figure 4.3 Mode shapes for a rigid rotor mounted on flexible bearings
Case II: For cr1 < < cr2 , from equation (4.4) the displacement amplitude X becomes negative
indicating that the horizontal displacement of the rotor is always in the opposite direction to that in Case I.
It follows from this that the rotor must whirl in the opposite direction to the spining of shaft as shown in
Figures 4.3(c) and 4.4(d-f). This type of whirl is called the backward synchronous whirl.
Case III: At higher shaft speeds > cr2 both X and Y are negative which leads to both displacements in
opposite direction to that in Case I. Figures 4.3(a) and 4.4(g-i) reveals that the rotor whirl once more in
the same direction as the spin of shaft. (the phase may be different). In all three cases if we observe
motion of a point P on the orbit at time instants t = t1 and t2 the point will move from P1 to P2 as shown in
Figures 4.4(c, f and i), which clearly show the direction of whirl.
168
cr < < cr
< cr
> cr
Figure 4.4 Whirl directions with respect to the shaft spin frequency
169
Equation (4.8), relating to the angular motion of the rotor, is also equation an ellipse. This means that
there is an elliptical orbital trajectory of the rotor ends due to the angular motion of the rotor as shown in
Figures 4.4(b and d). This rotor motion is caused by the unbalance couple me2d acting on the rotor. For
< cr and > cr the forward synchornous whirl persists. A reversal of the direction of the orbit
3
occurs for the rotor spin speed between two critical speeds associated with angular motion of the rotor
(i.e., cr3 < < cr4 ) as shown in Figure 4.4d. In general, the motion of the rotor will be combination of
both the linear and angular dispalcemnets and at or near critical speeds only such whirling will be
distinguisable.
The amplitude of the force transmitted to bearings is now different in the horizontal and vertical
directions, as well as at each end of the rotor. The force transmitted is given by the product of spring
stiffness and rotor deflection at the bearing. Bearing force amplitudes are
f x = k x ( x 0.5l y ) ;
and
f y = k y ( y 0.5l x )
(4.9)
in the horizontal and vertical directions, respectively. In equation (4.9) the + sign refers to the angular
displacement of the rotor which causes its end to deflect in the same direction to the linear displacement
and the - sign refers to the angular displacement of the rotor which causes its end to deflect in the opposite
direction to the linear displacement. These bearing forces must take on maximum values when the system
is operated at any of the critical speeds, whenever either of x, y, x and y are maximum.
Example 4.1 A long rigid symmetric rotor is supported at ends by two identical bearings. The shaft has
0.2 m of diameter, 1 m of length, and 7800 kg/m3 of mass density. Bearing dynamic parameters are as
follows: kxx = kyy = 1 kN/mm with rest of the stiffness and damping terms equal to zero. By considering
the gyroscopic effect negligible, obtain transverse critical speeds of the system.
Solution: We have the following data:
k = 1 106 N/m,
and
I d = 161 md 2 + 121 ml 2 = 161 245.04 0.22 + 121 245.04 12 = 0.6126 + 20.42 = 21.0326 kg-m2
170
Since cross-coupled stiffness coefficients is the x and y directions are zero and no gyroscopic effect is
considered, hence a single plane motion can be considered. For the present analysis the coupling is not
considered between the linear and rotational displacements. The stiffness in the x and y directions are
same, hence critical speeds corresponding to the linear motion can be written as
cr =
1,2
2k
=
m
2 1 106
= 90.34 rad/s
245.04
In which only the positive frequency has the physical meaning, the negative sign has been ignored.
Similarly critical speeds corresponding to the titling motion can be written as
cr =
3,4
kl 2
=
2Id
1106 12
= 154.184 rad/s
2 21.0326
Answer
Example 4.2 (a) Find transverse natural frequencies of a system shown in Figure 4.5. The mass and the
diametral mass moment of inertia of the rotor are 2.51 kg and 0.00504 kg-m2, respectively. The total span
of the shaft between bearings is 508 mm. Treat the shaft as rigid. Bearings have equal flexibility in all
directions, the stiffness constant for either one of them being kx = k = 175 N/m. (b) Solve the same
problem as part (a) except that the bearings have different vertical and horizontal flexibilities: khoz = 175
N/m and kver = 350 N/m for each of the bearings.
Solution: (a) Considering a single plane (e.g., the horizontal) motion with the assumption of uncoupled
linear and angular motions, EOM for free vibrations can be written as
mx + 2k x x = 0
171
where x is the linear displacement of the centre of gravity of the shaft and y is the angular displacement
of shaft centre line with the z-axis in z-x plane. The mass and mass moment of inertia of the disc are given
as m = 2.51 kg and I d = 0.00504 kg-m 2 . We have kx = k = 175 N/m and l = 0.508m. Hence, natural
frequencies can be written as
nf =
1
2k
= 11.81 rad/s and nf2 =
m
kl 2
= 66.93 rad/s
2Id
Answer
(b) With different stiffness properties in the horizontal and vertical directions, natural frequencies are
given as
nf =
2kver
2khoz
= 16.70 rad/s; nf2 =
= 11.81 rad/s
m
m
nf =
kver l 2
= 94.66 rad/s; and nf4 =
2Id
khoz l 2
= 66.93 rad/s
2Id
Answer
Example 4.3: Find critical speeds of a rotor system as shown in Figure 4.6. Take bearing stiffness
properties as: k xA = 1.1 kN/mm ; k y A = 1.8 kN/mm ; k xB = 3.1 kN/mm and k yB = 3.8 kN/mm . The
Solution: Considering two plane (e.g., the horizontal and the vertical) motions with the assumption of
uncoupled linear and angular motions, equations of motion in the x and y directions with the radial
unbalance, me, are given as
172
me 2 sin t k y A y k yB y = my
(a)
where x and y are the linear displacements of the centre of gravity of the shaft. Bearings at ends A and B
are not same; however, it is assumed that the difference in bearing dynamic parameters is small and the
shaft remains horizontal in the static equilibrium position. Equations of motion in the y and x directions
with the moment-unbalance, meez , are
where y and x are angular displacements of shaft centre . The steady state unbalanced (forced) vibration
responses from equations (a) and (b) can be obtain as
me 2
x=
cos t ;
y=
k xA + k xB m 2
me2 ez
y =
0.5 k xA + k xB l
cos t ;
2
me 2
sin t
k yA + k yB m 2
x =
Id
(c)
me2ez
sint (d)
2
0.5 k y A + k yB l I d
On equating determinates of responses in equations (c) and (d) to zero, critical speeds can be obtained as
cr =
1
cr =
2
cr =
kx + kx
A
m
ky +ky
A
(1.1+ 3.1)106
= 648.1 rad/s ;
10
(1.8+ 3.8)106
= 748.3 rad/s ;
10
0.5 k x + k x l 2
A
Id
0.5(1.1+ 3.1)106 12
= 4582.58 rad/s ;
0.1
0.5(1.8+ 3.8)106 12
= 5291.50 rad/s
0.1
and
cr =
4
0.5 k y + k y l 2
A
Id
Answer
173
Fig. 4.7 (a) A free body diagram of the shaft for the pure translatory motion in y-z plane
Fig. 4.7 (b) A free body diagram of the shaft for the pure translatory motion in z-x plane
174
Fig. 4.7 (c) A free body diagram of the shaft for the pure tilting motion in y-z plane
Fig. 4.7 (d) A free body diagram of the shaft for the pure tilting motion in z-x plane
Equations of motion for the rotor can be written as from free body diagram (Fig. 4.7), as
(4.10)
f y (t ) 2 k yx x 2 k yy y 2c yx x 2c yy y = my
(4.11)
(4.12)
175
(4.13)
in the x, y, y, and x directions, respectively. Here f and M represent the external force and moment
(e.g., due to an unbalance). kij, cij (i, j = x, y) are the eight linearised bearing stiffness and damping
coefficients.
4.2.1 Unbalance response: The unbalance, me, is located at an axial distance, ez, from the rotor
geometrical center (Fig. 4.2c). Unbalance forces in the horizontal and vertical directions can then be
written as
f x = me 2 cos t = Re me 2 e jt = Re Fx e jt
with
Fx = me 2
(4.14)
with
Fy = jme 2
(4.15)
and
f y = me 2 sin t = Re jme 2 e jt = Re Fy e jt
where Fx and Fy are complex forces (which contain the amplitude and phase information) in the x and y
directions, respectively. These forces are acting at the center of gravity. Moments about the rotor
geometrical center caused by these forces are
M xz = me 2 ez cos t = Re me 2 ez e jt = Re M xz e jt
M yz = me 2 ez sin t = Re jme 2 ez e jt = Re M yz e jt
with
M xz = me 2 ez
(4.16)
with
M yz = -jme 2 ez
(4.17)
where M xz and M yz are complex moments (which contain the amplitude and phase information) about
the y and x axes, respectively. Then the response can be assumed as
x = Xe jt ;
y = Ye jt ;
y = y e jt ;
x = x e jt
(4.18)
where X, Y, y and x are complex displacements. Equations of motion (4.10)-(4.13) can be written as
[ M ]{x} + [C ]{ x} + [ K ]{ x} = { f (t )}
with
(4.19)
176
0
0
;
0
Id
2cxx
2c
[C] = 0yx
2k xy
2k yy
0.5l 2 k xx
0.5l 2 k yx
0
;
0.5l 2 k xy
0.5l 2 k yy
m 0 0
0 m 0
[ M ] = 0 0 I
d
0
0
0
2k xx
2k
[ K ] = 0yx
2cxy
2c yy
0.5l 2cxx
0.5l 2 c yx
0
;
0.5l 2 cxy
0.5l 2 c yy
0
x
y
{ x(t )} = ;
y
x
fx
fy
{ f (t )} = M
xz
M yz
{ x} = { X } e jt ;
so that
{ x} = j { X } e jt
and
{x} = 2 { X } e jt
(4.20)
On substituting equations (4.14)-(4.17) and (4.20) into equations of motion (4.19), we get
( [ M ] + j [C ] + [ K ]){ X } = {F }
2
(4.21)
with
X
Y
{ X } = ;
y
x
Fx
Fy
{F } = M
xz
M yz
[ D ]{ X } = { F }
with
[ D ] = ([ K ] 2 [ M ] + j [C ])
(4.22)
(4.23)
X=
X r2 + X i2 , Y = Yr2 + Yi 2 ,
(4.24)
177
yi
y
r
Xi
-1 Yi
, = tan ,
Xr
Yr
= tan -1
= tan -1
x
-1
, = tan i
xr
(4.25)
The resulting shaft whirl orbit can be plotted using equations (4.18) and (4.23) (i.e., x = Xe jt and
y = Ye jt ), and in general for a stable rotor-bearing system the orbit will take the form as shown in
Figure 4.8.
The form of the orbit is still elliptical as, it is in previous section, however, the major and minor axes no
longer along the x and y directions, respectively. A typical force vector is also shown on the diagram, and
which is shown to precede the displacement vector in the presence of damping. However, during crossing
of critical speeds it may change the phase.
In the present case the coupling is considered between the vertical and horizontal planes, and no coupling
is considered between the linear and tilting motions. It can be observed that equations (4.10) and (4.11)
(without damping) is similar in form as in chapter 2, i.e., the case when we considered no coupling
between the vertical and horizontal planes and the coupling is considered the between linear and tilting
motions
(i.e.,
Jeffcott
rotor
with
an
offset
disc).
Mathematically
we
can
write:
2 k xx = k11 , 2k xy = k12 , and rest of the analysis and interpretations will be similar as discussed
previous chapter. Similar analyses can be performed by considering equations (4.12) and (4.13). Now
through some examples the present section analysis will be illustrated.
178
Example 4.4 Obtain transverse natural frequencies of a rotor-bearing system as shown in Figure 4.9 for
pure tilting motion of the shaft. Consider the shaft as a rigid and the whole mass of the shaft is assumed to
be concentrated at its mid-span. The shaft is of 1 m of span and the diameter is 0.05 m with the mass
density of 7800 kg/m3. The shaft is supported at ends by flexible bearings. Consider the motion in both
the vertical and horizontal planes. Take the following bearing properties: for both bearing A &B: kxx =
200 MN/m, kyy = 150 MN/m, kxy = 15 MN/m, kyx = 10 MN/m.
Equations of motion would be obtained by considering free body diagram of the rotor as shown in Fig.
4.10. Pure tilting of the shaft is considered with x and y be the angular displacements in y-z and z-x
plane, respectively. Let l be the total length of the rotor.
Fig. 4.10 (a) A free body diagram of a rigid rotor in the y-z plane
179
Fig. 4.10 (b) A free body diagram of a rigid rotor in the z-x plane
Equations of motion in x and y directions (Fig. 4.10), respectively, can be written as
( 0.5k xx l y + 0.5k xy l x ) l = I d y
(a)
(b)
and
2I d
0 y k xx l
+
2 I d x k yx l
k xy l y 0
=
k yy l x 0
(c)
k xy l y 0
=
k yy l x 0
(d)
2 2I d
nf 0
0 k xx l
+
2 I d k yx l
(e)
180
4 (1.279 ) nf4 2 1.279 1 ( 200 + 150 ) 106 nf2 + {200 150 15 10} 106 12 = 0
or
6.543nf4 8.953 108 nf2 + 2.985 1016 = 0
(f)
Example 4.5 Obtain transverse critical speeds of a long rigid rotor supported on two identical fluid-film
bearings at ends, which has 2 m of the span, 5 kg of mass, and 0.1 kg-m2 of the diametral mass moment of
inertia. Equivalent dynamic properties of both bearings are: kxx = 2.0104 N/m, kyy = 8.8104 N/m, kxy =
1.0103 N/m, kyx = 1.5103 N/m, cxx = 1.0 N-s/m, cyy = 1.0 N-s/m, cxy = 1.010-1 N-s/m and cyx = 1.010-1
N-s/m. Obtain the unbalance response (the amplitude and the phase) with the spin speed of shaft at
bearing locations when the radial eccentricity of 0.1 mm and axial eccentricity of 1 mm is present in the
rotor and locate critical speeds.
Solution: Figure 4.11 shows unbalance responses both for the linear (left side) and angular (right side)
displacements. Both the amplitude and phase is plotted. It can be observed that in the plot of linear and
angular displacements two peaks appears and they correspond to critical speeds of the rotor-bearing
system. Since the linear and angular displacements are uncoupled for the present case and hence
corresponding critical speeds appear in respective plots only. There are four critical speeds at: 63 rad/s,
132.5 rad/s, 450 rad/s and 932.5 rad/s. The change in phase at critical speeds can be seen in each of the
plots.
181
Figure 4.11 Amplitude and phase variation with respect to spin speeds (left) linear (right) angular
displacements
(4.26)
f by = A k yx x + A k yy y + A c yx x + A c yy y + A k yx l y + A k yy l x + A c yx l y + A c yy l x
(4.27)
(4.28)
f by = B k yx x + B k yy y + B c yx x + B c yy y + B k yx l y + B k yy l x + B c yx l y + B c yy l x
(4.29)
182
where A k xx = k xx ,
{ fb } = [cb ]{ x} + [ kb ]{ x}
(4.30)
with
A fbx
f
f
=
{ b } A fby ;
B bx
B f by
A cxx
c
[cb ] = A cyx
B xx
B c yx
x
y
x
=
{ } ;
y
x
c
A c yy
c l
A c yx l
c
B c yy
c l
B c yx l
A xy
B xy
A xx
B xx
x
y
x
=
{ } ;
y
x
c l
A c yy l
;
B cxy l
B c yy l
A xy
A k xx
k
[ kb ] = A k yx
B xx
B k yx
k xy
A k yy
k xx l
A k yx l
k xy
B k yy
k xx l
B k yx l
k xy l
A k yy l
B k xy l
B k yy l
For the unbalance excitation with a frequency , the bearing responses and forces can be expressed as
{ x} = { X } e jt ;
{ x} = j { X } e jt ;
{ fb } = {Fb } e jt
(4.31)
{Fb } = ([ kb ] + j [ cb ]) { X }
(4.32)
This can be used to evaluate bearing forces. Amplitudes of forces transmitted through bearings are then
given by
Fbx =
Fbx2r
+ A
Fbx2i ;
Fby =
Fby2 r
+ A
Fby2i ;
Fbx =
Fbx2r
+ B
Fbx2i ;
Fby =
Fby2 r
+ B
Fby2i
(4.33)
A Fbxi
A Fbyi
; = tan 1
;
A Fbx
A Fbyr
= tan 1
B Fbxi
B Fbyi
; = tan 1
B Fbxr
B Fbyr
= tan 1
(4.34)
It should be noted that bearing forces will be maximum whenever rotor-bearing system is rotating at or
near critical speeds.
183
and
f by = k yx xb + k yy yb + c yx xb + c yy y b
(4.35)
where xb and yb are instantaneous displacements of shaft ends relative to bearings in the horizontal and
vertical directions, respectively; and they take the following form
xb = X b e jt ;
yb = Yb e jt
(4.36)
where X b and Yb are complex displacements in x and y directions, respectively. Equation (4.36) can be
differentiated once with respect to time, to give
184
xb = j X b e jt ;
y b = jYb e jt
(4.37)
It should be noted that bearings are modelled as a point connection with the shaft and only linear
displacements is considered since they support mainly radial loads. Bearing forces have the following
form
f bx = Fbx e jt
fby = Fby e jt
and
(4.38)
where Fbx and Fby are complex displacements in x and y directions, respectively. On substituting in
equation of motion (4.35), we get
(4.39)
(4.40)
and
which can be written in the matrix form for both bearings A and B, as
{Fb } = [ K ]{ X b }
(4.41)
with
( k xx + j cxx )
A
( k yx + j c yx )
[ K ] = A
0
A Fbx
F
{Fb } = A Fby ;
B bx
B Fby
(k
(k
xy
+ j cxy )
yy
+ j c yy )
0
0
( k xx + jcxx )
(k
yx
+ j c yx )
( k xy + jcxy )
B
( k yy + jc yy )
B
0
and
{ X b } = A X b
A b
Xb
Y T
B b
The magnitude of reaction forces transmitted by bearings can also be evaluated in terms of forces applied
to the shaft by the disc.
185
=0
fby l = f y (l a) M zx
or
=0
fby l = f y a + M zx
or
f = f y (1 a l ) M zx (1 l )
(4.42)
fby = f y ( a l ) + M zx (1 l )
(4.43)
A by
and
f = f x (1- a l ) M yz (1 l )
(4.44)
fbx = f x ( a l ) + M yz (1 l )
(4.45)
A bx
and
B
{ fb } = [ A]{ f s }
(4.46)
with
A f bx
f
{ fb } = A fby ;
B bx
B f by
fx
fy
{ fs } = ;
M yz
M zx
(1 a / l )
0
[ A] =
a/l
0
1/ l
0
(1 a / l ) 0 1/ l
0
1/ l
0
a/l
0
1/ l
{ fb } = {Fb } e jt
and
{ f s } = {Fs } e jt
(4.47)
186
where subscript b refers to the bearing and s refers to the shaft. On substituting equation (4.47) into
equation (4.41), we get
{Fb } = [ A]{Fs }
(4.48)
In equation (4.48) bearing forces are related to reaction forces at the shaft by the disc. On equating
equation (4.41) and (4.48), we get
or
(4.49)
Equation (4.49) relates the shaft end deflections to the reaction forces and moments on the shaft by the
disc. The deflection at the location of the disc due to movement of shaft ends can be obtained as follows.
Consider the shaft to be rigid for some instant and let us denote shaft end deflections in the horizontal
direction to be Axb and Byb at ends A and B, respectively, as shown in Figure 4.14. These displacements
are assumed to be small.
x = A xb +
( B xb A xb ) a = 1- a
l
a
A xb + B xb
l
l
(4.50)
y =
( B xb - A xb )
l
(4.51)
187
Similarly, for the linear and angular displacements in the y- direction and in the y-z plane, respectively;
we have
a
a
y = 1- A yb + B yb
l
l
(4.52)
and
x =
( A yb - B yb )
(4.53)
{u } = [ B ]{x }
s1
(4.54)
with
{u }
s1
x
y
= ;
y
x
s1
(1- a / l )
0
[ B ] =
1/ l
A xb
y
{ xb } = A b ;
B xb
B yb
0
(1- a / l )
a/l
0
0
1/ l
1/ l
0
a/l
0
1/ l
For the unbalance excitation (or for the free vibration analysis), shaft displacements at bearing locations
and at the disc centre vary sinusoidally such that
{u } = {U } e
s1
jt
s1
and
{ xb } = { X b } e jt
(4.55)
where is the spin speed (or natural frequency in case of free vibrations). On substituting equation (4.55)
into equation (4.54), we have
{U } = [ B ]{ X }
s1
(4.56)
s1
(4.57)
which gives the deflection of the disc due to the unbalance, when the shaft is rigid. Equation (4.57) will
give deflection of the disc (at geometrical centre) that is caused by only the movement of shaft ends (rigid
body movement) in flexible bearings. In order to obtain the net rotor deflection under a given load, we
188
have to add the deflection due to the deformation of the shaft also in equation (4.57). The deflection
associated with flexure of the shaft alone has already been calculated in Chapter 2, which can be
combined in a matrix form as
{u } = [ ]{ f }
s2
(4.58)
with
{u }
s2
x
y
= ;
y
x
s2
fx
f
{ f s } = y ;
M yz
M zx
11 0 12 0
0
0
[ ] = 021 022
11
12
0 21 0 22
For the unbalance excitation (or for the free vibration analysis), shaft reaction forces at the disc location
and disc displacements vary sinusoidally, and can be expressed as
{u } = {U } e
s2
j t
s2
and
{ f s } = {Fs } e jt
(4.59)
{U } = [ ]{F }
s2
(4.60)
which is the deflection of disc due to the flexure of the shaft alone, without considering the bearing
flexibility. The net deflection of the rotor that caused by the deflection of bearings plus that due to the
flexure of the shaft, is then given by
(4.61)
Equation (4.61) describes the displacement of the shaft at the disc under the action of sinusoidal forces
and moments applied at the disc (it is similar to the influence coefficient matrix). Equation (4.61) can be
written as
1
{Fs } = [ D ] {U s } = [ E ]{U s }
(4.62)
Equations of motion of the disc can be written in the x-direction and on the z-x plane (see Figure 4.15a),
as
189
me 2 cos t f x = mx
and
- M zx = I d y
(4.63)
Similarly, equations of motion, in the y-direction and on the y-z plane (see Figure 4.15b), can be written
as
me 2 sin t f y = my
and
- M yz = I d x
(4.64)
Figure 4.15 Free body diagram of the disc (left) in z-x plane (right) in y-z plane
Equations of motion (4.63) and (4.64) of the disc can be written in matrix form as
[ M ]{u} + { f s } = { funb }
(4.65)
with
m 0 0
0 m 0
[M ] = 0 0 I
d
0 0 0
0
0
;
0
Id
x
y
{u} = ;
y
x
fx
fy
{ fs } = M ;
xz
M yz
me 2
2
jme jt
j t
{ funb } =
e = { Funb } e
0
(4.66)
190
Noting equation (4.62), equation (4.66) becomes
(4.67)
which gives
{U s } = [ H ]{Funb }
(4.68)
with
[ H ] = ( 2 [ M ] + [ E ])
where [ H ] is the equivalent dynamic stiffness matrix, as experienced by the disc, of the shaft and the
bearing system. Once the response of the disc has been obtained the loading applied to the shaft by the
disc can be obtained by equation (4.62). Then from equation (4.49) we can get shaft ends deflections {Xb}
at each bearings, which is substituted in equation (4.41) to get bearing forces { Fb } . Alternately, bearing
forces can be used directly from equation (4.48). Displacements and forces have the complex form; the
amplitude and the phase information can be extracted from the real and imaginary parts. Amplitudes will
be the modulus of complex numbers, and phase angles of all these displacements can be evaluated by
calculating arctangent of the ratio of the imaginary to real components as given by equations (4.33) and
(4.34).
191
Figure 4.16 A flexible rotor-bearing-foundation system
The net displacement of the disc is given by the vector sum of (i) the disc displacement relative to shaft
ends, plus (ii) that of shaft ends relative to the bearing, plus (iii) that of the bearing relative to the space.
The theoretical analysis of the disc, the shaft and the bearing responses, and that of the force
transmissibility of such a system, can be carried out in a similar manner to that described in the previous
section. Additional governing equations related to the foundation are derived, and how to relate them with
governing equations of the disc and bearings are detailed here.
The relationship between forces transmitted through bearings and displacements of shaft ends is governed
by the bearing stiffness and damping coefficients. The form of governing equation is given by equation
(4.41), which is
{ fb } = [ K ]{ xb }
or
{Fb } = [ K ]{ X b }
where {xb} is the shaft end displacement relative to the bearing. Displacements of bearings with respect to
foundations and forces transmitted through bearings are shown in Figure 4.17.
192
The bearing will respond in the horizontal direction for an external force fbx, which is governed by the
following equation
f bx k fx x f c fx x f = mb
xf
(4.69)
where xf is the horizontal displacement of the bearing, mb is the bearing mass of one bearing and kfx, cfx,
kfy, cfy are the foundation stiffness and damping coefficients. Similarly, the response of the bearing in the
vertical direction to a force fby is given as
f by k fy y f c fy y f = mb
yf
(4.70)
where yf is the vertical displacement of bearing. The displacement of the bearing will take the form
x f = X f e jt
and y f = Y f e jt
(4.71)
On substituting equation (4.71) in equations of motion (4.69) and (4.70), and on combining in the matrix
form (for bearing A), it gives
[ A D ]{ A X f } = { A Fb }
(4.72)
with
k f x
[ A D ] = 0
0
m
2 b
k f y
0
X f
X
=
}
A
f
Y
A f
and
c f x
0
+
j
mb
0
{ A Fb } =
0
;
c f y
Fbx
F
by
A
{Fb } = [ D ]{ X f }
(4.73)
with
Fb
;
B Fb
{Fb } = A
[ D ] = A0
0
;
B D
AXf
B X f
{X } =
f
193
{ X } = [ D] {F }
1
(4.74)
The total displacement of shaft ends under the action of an applied force {Fb} is given by summation of
individual displacements {Xb} (by equation (4.75)) and { Xf} (by equation (4.74)), i.e.
{W } = { X b } + { X f } = [ K ]
+ [ D]1 {Fb } = [ ]{ Fb }
(4.76)
where [ ] is a system equivalent dynamic receptance matrix describing the overall shaft support
characteristics and allows for flexibilities of both bearings and foundations. The study of the disc motion
may now proceed in the same manner as described in the previous section except the equivalent dynamic
1
stiffness matrix [ ]
should be substituted for [ K ] . Once the disc displacement vector {U} is known, it
is possible to substitute back and obtain {Fs}, {Xb } and {Fb}. Forces transmitted to foundations are given
as
f fx = k fx x f + c fx x f
and
f fy = k fy y f + c fy y f
(4.77)
f fy = Ffy e jt
(4.78)
f fx = Ffx e jt
and
Ff x k f x
=
0
F
f y
0
c fx
+ j
k fy
0
0 X f
c f y Y f
(4.79)
Forces transmitted through foundations will not be the same as forces transmitted through bearings. Since
bearing masses (i.e., inertia forces) will absorb some forces towards its acceleration. If bearing masses are
negligible then bearings and foundations will transmit same amount of forces, however, may be with
some phase lag due to damping. The amplitude and the phase of forces transmitted through foundations
can be obtained from F fx1 , F fx2 , F fy1 and F fy2 as usual procedure described in previous sections.
More detailed study on the foundation effects is beyond the scope of the present book; however, various
studies have incorporated foundation effects in a rotor-bearing system analysis and some of them are
194
summarized here. Smith (1933) investigated the Jeffcott rotor with internal damping to include a
massless, damped and flexible support system. Lund (1965) and Gunter (1967) showed that damped and
flexible supports may improve the stability of high-speed rotors. Also, Lund and Sternlicht (1962),
Dworski (1964), and Gunter (1970) demonstrated that a significant reduction in the transmitted force
could be achieved by the proper design of a bearing support system. Kirk and Gunter (1972) analyzed the
steady state and transient responses of the Jeffcott rotor for elastic bearings mounted on damped and
flexible supports. Gasch (1976) dealt with the flexible rotating shaft of a large turbo-rotor by the finite
element analysis. He introduced foundation dynamics into the rotor equations via receptance matrices,
which were obtained from modal testing and modal analysis. Vance et al. (1987) provided comparison
results for computer predictions and experimental measurements on a rotor-bearing test apparatus. They
have modeled the rotor-bearing system to include foundation impedance effects by using the transfer
matrix method. Stephenson and Rouch (1992) have utilized the finite element method to analyze rotorbearing-foundation systems. They provided a procedure using modal analysis techniques, which could be
applied in measuring frequency response functions to include the dynamic effects of the foundation
structure. Kang et al. (2000) studied of foundation effects on the dynamic characteristics of rotor-bearing
systems. The modeling and analysis of rotor-bearing-foundation systems based on the finite element
method were discussed. A substructure procedure which included the foundation effects in the motion
equations and the application of the dynamic solver of a commercial package was addressed.
A good model of rotor and reasonably accurate model of fluid journal bearings may be constructed using
the FE method or any other reliable method. Indeed, a number of FE based software codes are available
for such modeling. However, a reliable FE model for the foundation is extremely difficult to construct
due to number of practical difficulties (Lees and Simpson, 1983). Experimental modal analysis (Ewins,
2000) is a possible solution, but this requires that the rotor be removed from the foundation, which is not
practical for an existing power station. With these difficulties it is unlikely that the techniques of FE
model updating (Friswell and Mottershead, 1995) could be used, and the direct estimation of the
foundation model from measured responses at the bearing pedestals from machine run-down data has
been accepted as a viable alternative technique (Lees, 1988 and Smart et al., 2000). The estimation
technique assumes that the state of unbalance is known from balancing runs, either by the difference in
the response from two run-downs, or by the estimated unbalance from a single run-down (Edwards, 2000
and Sinha et al., 2002).
195
Concluding Remarks
In the present chapter, we dealt mainly with dynamic responses (critical speeds and unbalance responses)
of a single mass rotor with flexible supports. Dynamic parameters of supports not only provide the
stiffness and damping forces to the rotor, but it also provides asymmetry in these dynamic parameters in
two orthogonal directions. The translatory and conical whirl motions are resulted in for the long rigid
rotor. It is found that the orbit of the shaft center not only becomes elliptical but its major axis becomes
inclined to both orthogonal axes. The forward and backward whirls are observed of the rigid rotor
mounted on anisotropic bearings. The flexibility of the foundation resulted in increase in the effective
flexibility experience by the rotor system, which is expected to decrease the critical speeds. Overall
complexity of the dynamic analysis procedure becomes cumbersome while considering bearings and
foundations even with a single mass rotor. It demands more systematic methods for the dynamic analysis
of multi-mass rotors. In subsequent chapters, while considering the torsional and transverse vibrations of
multi-DOF rotor systems two representative methods called the transfer matrix method (TMM) and the
finite element method (FEM) will be dealt in detail. In the next chapter we will still consider a single
mass rotor only, however, now the effect of gyroscopic moments would be included.
196
Exercise Problems
Exercise 4.1 Obtain bending critical speeds of a rotor as shown in Figure E4.1. It consists of a massless
rigid shaft (1 m of span with 0.7 m from the disc to the left bearing), a rigid disc (5 kg of the mass and 0.1
kg-m2 of the diametral mass moment of inertia) and supported on two identical flexible bearings (1 kN/m
of stiffness for each bearing). Consider the motion in vertical plane only. Is there is any difference in
critical speeds when the disc is placed at the centre of the rotor? If NO then justify the same and if YES
then obtain the same. [Hint: When the disc at the centre of the shaft-span then the uncoupled linear and
angular motions would take place.]
Figure E4.1
Exercise 4.2: Consider a long rigid rotor, R, supported on two identical bearings, B1 and B2, as shown in
Figure E4.2. The direct stiffness coefficients of both bearings in the horizontal and vertical directions are
equal, i.e. K. Take the direct damping, and the cross-coupled stiffness and damping coefficients of both
bearings negligible. The mass of the rotor is m, the span of the rotor is l, and the diametral mass moment
of inertia is Id. Derive equations of motion, and obtain natural frequencies of whirl. Neglect the
gyroscopic effect.
B1
B2
Figure E4.2
Exercise 4.3 Find critical speeds of the rotor bearing system shown in Figure E4.3. The shaft is rigid and
massless. The mass of the disc is: md = 1 kg with negligible diamentral mass moment of inertia. Bearings
197
B1 and B2 are identical bearings and have following properties: kxx = 1.1 kN/m, kyy = 1.8 kN/m, kxy = 0.2
kN/m, and kyx = 0.1 kN/m. Take: B1D = 75 mm, and DB2 = 50 mm.
B1
B2
Figure E4.3
Exercise 4.4 For exercise 4.3 take 25 g-mm of the unbalance in the disc at 380 from a shaft reference
point. Plot the disc response amplitude and phase to show all critical speeds. Plot the variation of bearing
forces with the spin speed of rotor.
Exercise 4.5 Obtain transverse critical speeds of a rotor-bearing system as shown in Figure E4.5.
Consider the shaft as a rigid and the whole mass of the shaft is assumed to be concentrated at its midspan. The shaft is of 1 m of span and the diameter is 0.05 m with the mass density of 7800 kg/m3. The
shaft is supported at ends by flexible bearings. Consider the motion in both the vertical and horizontal
planes. Take the following bearing properties: For bearing A: kxx = 200 MN/m, kyy = 150 MN/m, kxy = 15
MN/m, kyx = 10 MN/m, cxx = 200 kN-s/m, cyy = 150 kN-s/m, cxy = 14 kN-s/m, cyx = 21 kN-s/m, and for
bearing B: kxx = 240 MN/m, kyy = 170 MN/m, kxy = 12 MN/m, kyx = 16 MN/m, cxx = 210 kN-s/m, cyy =
160 kN-s/m, cyx = 13 kN-s/m, cyy = 18 kN-s/m. Use a numerical simulation to get the unbalance response
to cross check the critical speeds for an assumed unbalance.
Figure E4.5
Exercise 4.6 For exercise 4.5 consider the shaft as flexible and attach a rigid disc of 10 kg on the shaft at
a distance of 0.6 m from the end A. Obtain the transverse critical speeds of the system by attaching an
unbalance on the disc. Take 40 g-mm of the unbalance in the disc at 1300 from a shaft reference point.
198
Exercise 4.7 For exercise 4.5 obtain critical speeds of the rotor-bearing-foundation system when the
foundation has the following dynamic characteristics: k f x = k f y =100 MN/m and c f x = c f y = 50 kN-s/m.
Take the mass of each bearing as 2 kg. Plot the unbalance response amplitude and phase of the shaft end
and the bearing at A with respect to the spin speed of shaft to show all critical speeds of the system. Take
25 g-mm of the unbalance in the disc at 380 from a shaft reference point. Plot also the variation of the
bearing and foundation forces at A with the spin speed.
Exercise 4.8 Consider a simple rigid rotor-bearing system as shown in Figure E4.7. The rotor is
supported on two different flexible bearings. In Figure E4.7, L1 and L2 are distances of bearings 1 and 2
from the center of gravity of the rotor with L = L1 + L2 , R1 and R2 are distances of balancing planes (i.e.,
rigid discs) from the center of gravity of the rotor, and u is the unbalance. Obtain bearing dynamic
parameters based on the short bearing approximations.
Let m be the mass of the rotor, It is the transverse mass moment of inertia of the rotor about an axis
passing through the center of gravity, Ip is the polar mass moment of inertia of the rotor, k and c are
respectively the stiffness and damping parameters, fx(t) and fy(t) are respectively the impulse in the
horizontal and vertical directions, u is the unbalance, is the phase, x and y are linear displacements in
the horizontal and vertical directions respectively, t is the time, and subscripts 1 and 2 represent the right
and left sides from the mid-span of the rotor, respectively. Obtain equations of motion of the rotor-bearing
system in terms of linear displacements (four in numbers, i.e., x1, y1, x2, y2) at two bearings. The
motivation behind obtaining the equations of motion in terms of bearing response is that in practical
situation often these responses can only be accessible to the practicing engineers.
199
{ f }Runb
displacement response vector, and matrices [ M ] , [C ] and [ K ] are the mass, damping, and stiffness
matrices and are given as
ml22 + it
0
[M ] =
ml1l2 it
k 1xx
1
k
[ K ] = yx
0
ml1l2 it
ml22 + it
0
0
ml + it
ml1l2 it
k 1xy
k 1yy
0
0
2
xx
2
yx
2
1
c1xx
1
c
[C ] = yx
0
ml1l2 it ;
0
2
ml1 + it
0
0
;
k xy2
k yy2
{ f }Runb
{q} = x1
y1
c1xy
c1yy
0
0
cxx2
2
c yx
x2
y2
0
cxy2
2
c yy
u 2 (l + r ) cos( t + ) + u 2 (l r ) cos( t + )
s
1
2 s 2
2
s
2
1 s 2 1
2
2
u1 s (l1 r1 )sin( s t + 1 ) + u2 s (l1 + r2 )sin( s t + 2 )
2
2
u1 s (l1 r1 ) cos( s t + 1 ) + u2 s (l1 + r2 ) cos( s t + 2 )
with
li = Li / L ,
ri = Ri / R ,
it = I t / L2 ,
i p = I p / L2 ;
i = 1,2 ]
Exercise 4.9 Consider equations of motion of exercise 4.7 and numerical data given in Table E4.8. Obtain
the response (i.e., the amplitude and the phase) of the bearings with respect to the rotor speed and list
down critical speeds of the rotor-bearing system.
Table E4.8 Details of the rotor model for the numerical example
Property
Numerical value
Rotor
Rotor shaft diameter
Rotational speed,
10 mm
100 Hz
200
Mass, m
Length of rotor, L
Distance of bearings from centre of rotor
Distance of discs from centre of rotor
Transverse mass moment of inertia, Id
4 kg
0.425 m
0.2125 m
0.130 m
0.0786 kg-m2
Rigid discs
Inner diameter
Outer diameter
Thickness
10 mm
74 mm
25 mm
Bearings
Diameter
Length to diameter ratio
Radial clearance, cr of Bearing 2
Kinetic viscosity
Temperature of lubricant
Specific gravity of lubricant
25.4 mm
1
0.075 mm
20.11 centi-Stokes
40oC
0.87
Exercise 4.10: For the case when a rigid rotor, mounted on two bearings at ends, as shown in Fig. E410,
has varying cross section along the longitudinal axis (e.g., a tapered rotor). For this case the centre of
gravity, G, of the rotor will be offset from the mid-span of the rotor, C. It is assumed that the rotor is
perfectly balanced (i.e., it has no external radial force and corresponding external moment). Let m be the
mass, Id be the diametral mass moment of inertia of the rotor about centre of gravity, kA and kB are
stiffness of bearings A and B respectively, and l is the length of the rotor. Obtain governing equations of
motion for the following three sets of chosen generalized coordinates for a single plane motion of the
rotor.
201
(i) If we choose generalized coordinates as ( xG , z ) , where the linear displacement of the centre of
gravity is xG, and tilting of the rotor from the horizontal (i.e., z-axis) is z .
(ii)
rotor where if a transverse force is applied then it produces pure translation of the rotor (i.e.,
k A l AE = k B lBE ) is xE, and tilting of the rotor remains same as for the first case.
(iii) If we choose generalized coordinates as ( x A , z ) , where the linear displacement of the extreme left
end of the rotor is xA, and tilting of the rotor remains same as for the first case.
(iv) If we choose generalized coordinates as ( x A , xB ) , where the linear displacement of the extreme left
and right ends of the rotor are xA, and xB, respectively.
(v) If we choose generalized coordinates as ( xC , z ) , where the linear displacement of the mid-span is xC,
and tilting of the rotor from the horizontal (i.e., z-axis) is z .
(vi) If we choose generalized coordinates as ( xE , xG ) , where displacements have similar meanings as
defined previously.
[Answer:
xG k A + k B
m 0
(i)
0 I + k l k l
d z
A AG
B BG
k B lBG k Al AG xG 0
= ; where the subscript in l represents
2
2
k Al AG
+ k B lBG
z 0
corresponding length. The mass matrix is uncoupled and the stiffness matrix is coupled, i.e., the static
coupling exists.
(ii)
m
ml
EG
mlEG
xE k A + k B
+
I d z 0
xE 0
= ; The stiffness matrix is uncoupled and
+ k l z 0
0
2
A AE
k l
2
B BE
m
ml
AG
ml AG
xA k A + kB
+
I d z k B l
k B l x A 0
= ; The mass and stiffness matrices are
k B l 2 z 0
mlBG
I
d
ml AG
x A k Al
+
I d
xB k All AG
k B l x A 0
= ; The mass and stiffness matrices are nonk B llBG xB 0
xC ( k A k B )
m mlCG
+
0
I d z ( k Al AG k B lBG )
xC 0
= ; The mass and stiffness
+ k B lBC lBG ) z 0
( k AlAC + k BlBC )
( k Al AC lAG
202
Exercise 4.11 For a perfectly balanced rigid rotor mounted on flexible bearings as shown in Fig. E4.11
the following data are given: m = 10 kg, Id = 0.015 kg-m2, l = 1m, lAG = 0.6m, kA = 120 kN/m, kB = 140
kN/m. Consider one plane motion with two-DOFs and coupling in the generalized coordinates. Obtain the
transverse natural frequencies and mode shapes of the rotor-bearing system.
Exercise 4.13 Choose a single correct answer from the multiple choice questions:
(i) A rigid long rotor supported on flexible anisotropic bearings can have transverse natural frequencies
(a) 1
(b) 2
(c) 3
(d) 4
203
(ii) A rigid long rotor supported on flexible anisotropic bearings can have reversal of the orbit direction as
the spin speed of the rotor is increased.
(a) True
(b) False
(iii) For a rigid rotor mounted on fluid-film bearings would have coupling of motions in
(a) linear displacements (x, y) only
or/and (y and x)
(c) between the linear and angular displacements (x and y) or/and (y and x)
(d) both (a) and (b)
(v) For a flexible rotor (e.g., a Jeffcott rotor with disc at mid span) mounted on rigid bearings would have
coupling of motions in
(a) linear displacements (x, y) only
(c) between the linear and angular displacements (x and y) or/and (y and x)
(c) between the linear and angular displacements (x and y) or/and (y and x)
204
References
Dworski, J., 1964, Journal of Engineering for Power. Transactions ASME, Series A 86, 149-160. High
speed rotor suspension formed by fully floating hydrodynamic radial and thrust bearings.
Edwards, S., Lees, A.W., and Friswell, M.I., 2000, Journal of Sound and Vibration 232(5), 963992.
Experimental identification of excitation and support parameters of a flexible rotor-bearingfoundation system from a single run-down.
Ewins, D.J., 2000, Modal Testing: Theory, Practice and Application (2nd Edition ed.), Research Studies
Press Ltd, Hertfordshire, UK.
Friswell, M.I., and Mottershead, J.E., 1995, Finite Element Model Updating in Structural Dynamics,
Kluwer Academic Publishers, Dodrecht.
Gunter, E.J., 1967, Journal of Engineering for Industry. Transactions ASME, Series B 89, 683-688. The
influence of internal friction on the stability of high speed rotors.
Gunter, E. J., 1970, Journal of Lubrication Technology, Transactions ASME, Series F 92, 59-75.
Influence of flexibly mounted rolling element bearing on rotor response, Part I- linear analysis.
Gasch, R., 1976, Journal of Sound and Vibration 47, 53-73. Vibration of large turborotors in fluid-film
bearing on an elastic foundation.
Kang, Y., Chang, Y.-P., Tsai, J.-W., Mu, L.-H., and Chang, Y.-F., 2000, Journal of Sound and Vibration,
205
Sinha, J.K., Lees, A.W., and Friswell, M.I., 2002, Mechanical Systems and Signal Processing 16(23),
255271. The identification of the unbalance and the foundation model of a flexible rotating
machine from a single run down.
Smart, M.G., Friswell, M.I., and Lees, A.W., 2000, Proceedings of the Royal Society of London, Series A:
Mathematical, Physical and Engineering Sciences 456, 15831607. Estimating turbogenerator
foundation parametersmodel selection and regularisation.
Smith, D.M., 1933, Proceedings of the Royal Society, Series A 142, 92. The motion of a rotor carried by a
flexible shaft in flexible bearing.
Stephenson, R.W., and Rouch, K.E., 1992, Journal of Sound and Vibration 154, 467-484. Generating
matrices of the foundation structure of a rotor system from test data.
Vance, J.M., Murphy, B.T., and Tripp, H.A., 1987, ASME Journal of Vibration Acoustics, Stress,
Reliability in Design 109, 8-14. Critical speeds of turbomachinery: computer predictions vs.
experimental measurements-Part II: effect of tilt-pad bearing and foundation dynamics.
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