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
2 / 27
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: exible shaft bearing system
Case 2: bladed disks
Introduction Equations of motion Structural analysis Case studies References
Outline
3 / 27
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: exible shaft bearing system
Case 2: bladed disks
Introduction Equations of motion Structural analysis Case studies References
Structures of interest
Structures of interest
4 / 27
Jet engines
Electricity power plants
Machine tools
Gyroscopes
Introduction Equations of motion Structural analysis Case studies References
Mechanical components
Mechanical components
5 / 27
Terminology
Supporting components
Driving components
Operating components
supporting components
operating
components

driving components
Denitions
Supporting components: journal bearings, seals, magnetic bearings
Driving components: shaft
Operating components: bladed disk, machine tools, gears
Introduction Equations of motion Structural analysis Case studies References
Selected topics
Selected topics
6 / 27
1 Driving components

linear vs. nonlinear formulations

constant vs. non-constant

rotational velocities

-dependent eigenfrequencies

isotropic vs. anisotropic

cross-sections

rotational vs. reference frames

stationary and rotating dampings

gyroscopic terms

external forcings and imbalances

critical rotational velocities,

Campbell diagrams, stability

reduced-order models and modal

techniques

uid-structure coupling

bifurcation analyses,chaos
2 Supporting components

linear vs. nonlinear formulations

constant vs. non-constant

rotational velocities

gyroscopic terms

uid-structure coupling
3 Operating components

linear vs. nonlinear formulations

concept of axi-symmetry

reduced-order models

uid-structure coupling

critical rotational velocities,

Campbell diagrams, stability

xed vs. moving axis of rotation

centrifugal stiening
Introduction Equations of motion Structural analysis Case studies References
History and scientists
History and scientists
7 / 27
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

nite element method

nonlinear analysis
Introduction Equations of motion Structural analysis Case studies References
Outline
8 / 27
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: exible shaft bearing system
Case 2: bladed disks
Introduction Equations of motion Structural analysis Case studies References
Inertial and moving frames
Inertial and moving frames
9 / 27
e
x
e
y
e
z
e
1
e
2
e
3
s
u
O
O

M
R
m
R
g
y
Full 3D rotating motion of the dynamic frame
Fixed (galilean, inertial) reference frame R
g
Moving (non-inertial) reference frame R
m
Rigid body large displacements R
m
/R
g
Small displacements and strains in R
m
Coordinates
x: position vector of M in R
m
u: displacement vector of M/R
m
in R
m
s: displacement vector of O

/R
g
in R
g
y: displacement vector of M/R
g
in R
g
Introduction Equations of motion Structural analysis Case studies References
Displacements and velocities
Displacements and velocities
10 / 27
e
x
e
y
e
z
e
1
e
2
e
3
e
X
e
Y
e
Z

Y
Rotation matrices
R
1
=
_
cos
z
sin
z
0
sin
z
cos
z
0
0 0 1
_
; R
2
=
_
cos
Y
0 sin
Y
0 1 0
sin
Y
0 cos
Y
_
; R
3
=
_
1 0 0
0 cos
1
sin
1
0 sin
1
cos
1
_
R = R
3
R
2
R
1
Coordinates transformation
absolute displacement y = s +R(x +u)
angular velocity matrix |

R = R
Velocities
Time derivatives of positions in R
g
y = s +R u +

R(x +u) = s +R u +R(x +u)
=
_
_
0
3
(t)
2
(t)

3
(t) 0
1
(t)

2
(t)
1
(t) 0
_
_
Introduction Equations of motion Structural analysis Case studies References
Strains and stresses
Strains and stresses
11 / 27
Quantities of interest
Stresses
Strains : Green measure

ij
=
1
2
_
u
i
x
j
+
u
j
x
i
+
u
m
x
i
u
m
x
j
_
=
ln
ij
+
nl
ij
Pre-stressed conguration and centrifugal stiening
Constitutive law
Generalized Hooke law = C
C linear elasticity tensor
Introduction Equations of motion Structural analysis Case studies References
Energies and virtual works
Energies and virtual works
12 / 27
Kinetic energy
E
K
=
1
2
_
V
y
T
ydV =
1
2
_
V
u
T
udV +
_
V
u
T
udV +
1
2
_
V
u
T

2
udV

_
V
(u
T
u
T
)(R
T
s +x)dV +
1
2
_
V

_
s
T
s + 2 s
T
Rx x
2
x
_
dV
Strain energy
U =
1
2
_
V

T
CdV
External virtual works
W
ext
=
_
V
u
T
RfdV +
_
S
u
T
RtdS (f, t) expressed in Rm
Introduction Equations of motion Structural analysis Case studies References
Displacement discretization
Displacement discretization
13 / 27
Discretized displacement eld
Rayleigh-Ritz formulation
Finite Element formulation
u(x, t) =
n

i =1

i
(x)u
i
(t)
Introduction Equations of motion Structural analysis Case studies References
Displacement discretization
Displacement discretization
13 / 27
Generic equations of motion
M u + (D+G()) u +
_
K(u) +P(

) +N()
_
u = R() +F
Structural matrices
mass matrix M =
_
V

T
dV
gyroscopic matrix G =
_
V
2
T
dV
centrifugal stiening matrix N =
_
V

T

2
dV
angular acceleration stiening matrix P =
_
V

T

dV
stiness matrix K =
_
V

T
dV =
_
V

T
(u)C(u)dV nonlinear in u
damping matrix D (several dierent denitions)
External force vectors
inertial forces R =
_
V

T
(R
T
s +

x +
2
x)dV
external forces F =
_
V

T
fdV +
_
S
F

T
tdS
Introduction Equations of motion Structural analysis Case studies References
Displacement discretization
Displacement discretization
13 / 27
Generic equations of motion
M u + (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 stiening
localized vs. distributed imbalance
isotropy or anisotropy of the shaft cross-section
Introduction Equations of motion Structural analysis Case studies References
Outline
14 / 27
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: exible shaft bearing system
Case 2: bladed disks
Introduction Equations of motion Structural analysis Case studies References
Static equilibrium
Static equilibrium
15 / 27
Solution and pre-stressed conguration
Find displacement u
0
, solution of:
_
K(u
0
) +N()
_
u
0
= R() +F
V
0
V

V(t)
u
0
i
,
0
ij
,
0
ij
u

i
,

ij
,

ij
initial
conguration
pre-stressed
conguration
additional dynamic
conguration
Applications
slender structures
plates, shells
shaft with axial loading
radial traction and blade untwist
Introduction Equations of motion Structural analysis Case studies References
Modal analysis
Modal analysis
16 / 27
Eigensolutions
Dened with respect to the pre-stressed conguration V

State-space formulation
_
M D+G()
0 M
_ _
u
u
_
+
_
0 K(u
0
) +N()
M 0
_ _
u
u
_
=
_
0
0
_
(1)
Consider:
y =
_
u
u
_
= Ae
t
and nd (y, ) solution of (1)
Comments
-dependent complex (conjugate) eigenmodes and eigenvalues
Right and left eigenmodes
Whirl motions
Campbell diagrams and stability conditions
Introduction Equations of motion Structural analysis Case studies References
Modal analysis
Modal analysis
17 / 27
Campbell diagrams
Coincidence of vibration sources and -dependent natural resonances
Quick visualisation of vibratory and design problems
(Hz)

backward whirl
forward whirl
f
r
e
q
u
e
n
c
y
(
H
z
)
0 2 4 6 8 10 12
0
1
2
3
4
5
6
7
8
9
(Hz)
unstable

)
0 2 4 6 8 10 12
-80
-60
-40
-20
0
20
40
60
80
Stability

i
| (
i
) > 0 unstable
Introduction Equations of motion Structural analysis Case studies References
Outline
18 / 27
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: exible shaft bearing system
Case 2: bladed disks
Introduction Equations of motion Structural analysis Case studies References
Case 1: exible shaft bearing system
Case 1: exible shaft bearing system
19 / 27
Rotating shaft bearing system
Constant velocity
Small deections
Elementary slice rigid disk
bearing 1
bearing 2
oil lm
L
b
Y
X
Z
shaft
L
Quantities of interest
Kinetic Energy
E
K
=
S
2
L
_
0
( u
2
+ w
2
)dy+
I
2
L
_
0
_
_
u
y
_
2
+
_
w
y
_
2
_
dy+IL
2
2I
L
_
0
u
y
w
y
dy
Strain Energy U =
EI
2
L
_
0
_
_

2
u
y
2
_
2
+
_

2
w
y
2
_
2
_
dy
Virtual Work of external forces W = Fu + Gw
Introduction Equations of motion Structural analysis Case studies References
Case 1: exible shaft bearing system
Case 1: exible shaft bearing system
20 / 27

Z
X
journal
bearing
e

O
b
O
j
(x
j
, z
j
)
h(, t)
Reynolds equation
h journal/bearing clearance
uid viscosity
angular velocity of the journal
R outer radius of the beam
p lm pressure

y
_
h
3
6
p
y
_
+
1
R
2

_
h
3
6
p

_
=
h

+ 2
h
t
Bearing forces
H
j
= 1 Z
j
cos( + ) + X
j
sin( + )
G = Z
j
sin( + ) + X
j
cos( + ) 2
_

Z
j
cos( + )

X
j
sin( + )
_
F
x
=
RL
b
3

2c
2

_
0
G sin( + )
H
j
3
d; F
z
=
RL
b
3

2c
2

_
0
G cos( + )
H
j
3
d
Introduction Equations of motion Structural analysis Case studies References
Case 1: exible shaft bearing system
Case 1: exible shaft bearing system
21 / 27
Linearization
Equilibrium position X
e
, Z
e
First order Taylor series of the nonlinear forces
K
XX
=
F
X
X

e
; K
XZ
=
F
X
Z

e
; K
ZX
=
F
Z
X

e
; K
ZZ
=
F
Z
Z

e
C
XX
=
F
X

e
; C
XZ
=
F
X

e
; C
ZX
=
F
Z

e
; C
ZZ
=
F
Z

e
Field of displacement
U(x, t) =
N

i =1

i
(x)u
i
(t); W(x, t) =
N

i =1

i
(x)w
i
(t) x = (u, w)
T
Linear equations of motion
Mx + (G +C
b
) x + (K +K
b
)x = 0
Introduction Equations of motion Structural analysis Case studies References
Case 1: exible shaft bearing system
Case 1: exible shaft bearing system
22 / 27
Linear equations of motion
Mx + (G +C
b
()) x + (K +K
b
())x = F
NL
M =
_
A+B 0
0 A+B
_
; G =
_
0 2B
2B 0
_
; K =
_
C 0
0 C
_
A = S
L
_
0

T
dy; B = I
L
_
0
,
T
y
,
y
dy; C = EI
L
_
0
,
T
yy
,
yy
dy
Comments
K
b
circulatory matrix destabilizes the system
C
b
symmetric damping matrix
both matrices act on the shaft at the bearing locations (external virtual work)
Introduction Equations of motion Structural analysis Case studies References
Case 1: exible shaft bearing system
Case 1: exible shaft bearing system
23 / 27
Modal analysis
Equilibrium position for each
C
b
, K
b
for each
Modal analysis for each
(Hz)

)
0 5 10 15 20 25 30 35 40 45
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
(Hz)

)
0 5 10 15 20 25 30 35
-15
-10
-5
0
5
10
15
Stability: linear vs. nonlinear models
Frequency(Hz)
(Hz)
Amplitude
0 50 100 150 200 250
0
100
200
3000
1
2
3
Introduction Equations of motion Structural analysis Case studies References
Case 1: exible shaft bearing system
Case 1: exible shaft bearing system
23 / 27
Modal analysis
Equilibrium position for each
C
b
, K
b
for each
Modal analysis for each
(Hz)
()
0 5 10 15 20 25 30 35 40 45 -2
-1.5
-1
-0.5
0
0.5
1
1.5
2
(Hz)
()
0 5 10 15 20 25 30 35 -15
-10
-5
0
5
10
15
Stability: linear vs. nonlinear models
Frequency(Hz)
(Hz)
A
m
p
l
i
t
u
d
e
0
50
100
150
200
250
0
100
200
300
0
1
2
3
Introduction Equations of motion Structural analysis Case studies References
Case 1: exible shaft bearing system
Case 1: exible shaft bearing system
24 / 27
A few modes
cylindrical modes
conical modes
Introduction Equations of motion Structural analysis Case studies References
Case 2: bladed disks
Case 2: bladed disks
25 / 27
Denition
Closed replication of a sector
Cyclic-symmetry
Mathematical properties
Invariant with respect to the axis of rotation
Block-circulant mass and stiness matrices
Pairs of orthogonal modes with identical frequency
Numerical issues
No damping and gyroscopic matrices
Determination of M and K
Notion of mistuning
Constant
Introduction Equations of motion Structural analysis Case studies References
Case 2: bladed disks
Case 2: bladed disks
26 / 27
Multi-stage conguration
Closed replication of a "slice"
Dierent 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, stiening
Time-dependent
Introduction Equations of motion Structural analysis Case studies References
References
27 / 27
[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