Module 1 : Overview on Rotor Dynamics History and Recent

Trends
Lecture 1 : A Brief History of Rotor dynamics

A brief history of rotor dynamics field has been documented in the present review. It
reviews early development of simple rotor models starting from the Rankine to
Jeffcott rotor models and physical interpretations of various kinds of instabilities in
rotor-bearing systems. It also reviews developments of analysis methods for the
continuous and multi-degrees-of freedom systems to allow practicing engineers to
apply these methods to real turbo-machineries. It also summarises work on
conditioning monitoring and the recent trends in the area of rotor dynamics.
Before starting discussion of the subject of rotor dynamics it would be pertinent to
ask why this subject is required to be studied and how it differs from the
conventional structural dynamics? Since rotating machinery is omnipresent right
from house-hold machinery, automotives, marines to space applications and hence
understanding the dynamic behaviour of rotating machinery is crucial for long life of
the machinery and safety of humans. Rotor dynamics deals with these aspects and
hence its study is very important for designers and practicing engineers. As
compared to structural vibrations the rotor dynamics differs in several ways: (i)
rotating machineries have inherent forces and moments due to dynamics of various
machine elements or faults in occur them, (ii) gyroscopic effects which is
predominant at higher speeds makes natural frequency speed dependent, (iii)
bearings and seals also makes natural frequency of the rotor system speed
dependent, moreover, it also makes system unstable, (iv) the asymmetry in rotors
due to operational requirements (such as keyways or slots in rotors) causes the rotor
instability, (v) the internal damping (hysteretic or friction between two mating parts
in rotors) makes the system unstable, and (vi) there are several other reasons for the
instability due to working fluid interactions with rotor components (e.g., blades).
Aforementioned reasons make the rotor dynamics more challenging as compared to
the

structural

dynamics.

Rotating machinery have applications with varied speed of operations: 3-4 rpm for
cement factory kilns, 3000 rpm for steam turbine-generator, 20,000 rpm for jet-

engines for aero planes, 50, 000 rpm for cryogenic-fuel pumps in rockets, to 1, 00,
000 rpm for vacuum pumps for centrifuges. Similarly, these rotating machineries
have varied power capacities: 0.5-3 W for household appliances, 50 MW for jetengines, 600-1200 MW for steam turbines. Depending on the application the length
of the rotor could be as long as 50 m (for steam turbine-generator), 2 m for jet
engines, 0.5 m for cryogenic pumps and few centimeters for helicopters.
A rotor is a body suspended through a set of cylindrical hinges or bearings that allow
it to rotate freely about an axis fixed in space (Figs. 1.1 and 1.2). Rotors can often be
represented as a single beam or series of beam elements and rigid discs. The beam
is frequently considered as flexible. Rigid discs are mounted on the flexile beam
either by shrink-fit or by other mechanical means. Practically, a rigid disc model
represents flywheels, blades, cranks, rotary wings, coupling, disc brakes, impellers,
rolling bearings, etc. Engineering components concerned with the subject of rotor
dynamics are rotating components of machines, especially of turbines, generators,
motors, compressors, blowers and the like. The parts of the machine that do not
rotate are referred to with general definition of thestator. The machine element that
allows relative motion of the rotor relative to the stator is called thebearing. Rotors of
machines have, while in operation, a great deal of rotational energy, and a small
amount of vibrational energy. It is very evident from the fact that a relatively small
gas turbine propels a huge aircraft. The purpose of rotor dynamics as a subject is to
keep the vibrational energy as small as possible. In operation rotors undergoes the
transverse (lateral or bending), longitudinal (axial), and torsional (or twisting)
vibrations; individually or in combination.

Figure 1.1(b) A close view of a rotor consisting of two discs mounted on a flexible
shaft