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The one third of the ship problems by cost for 1998-2006 is related to machinery
DNV statistics
Fatigue damage of the aft stern tube bearing caused by the propeller shaft lateral vibration
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The variety of used terms is a reflection of a certain ambiguity of this type vibration definition
Lateral vibration
Definition: Lateral vibration occurs when the direction of beam motion is normal to the centerline of a beam.
However to imagine the propulsion system lateral vibration we never think about solid body lateral motions. The first that we think about is a beam bending deformations when beam points move from side to side up and down due to the shaft flexibility.
LVA Mathematics
- mass matrix;
C
K
- damping matrix;
- stiffness matrix;
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Vibration glossary
Free vibration Occurs when F(t) =0 i.e. a mechanical system vibrates freely after an initial motion was applied Occurs where an alternating force F(t) 0 is applied to a mechanical system. In forced vibration the alternating force F(t) does not disappear when the excited motion is prevented Occurs where the alternating force F(t) that sustains the vibration motion is created or controlled by the vibration motion itself. When the motion stops the alternating force F(t) disappears Vibration of a mechanical system caused by a periodic excitation when free vibration oscillations have decayed. Occurs when the periodic excitation force alternates according to the harmonic law: F(t)=Asin( t+ ) Occurs when a non periodic alternating force F(t) is applied Occurs when mass M and/or damping C and/or stiffness K of a mechanical system are variable (M(t), C(t), K(t)), but not depend on vibration motion Occurs when mass M and/or damping C and/or stiffness K of a mechanical system depend on vibration motion X(t) Occurs when damping in vibrating system is equal to zero C=0 Forced vibration
Self-excited vibration
Steady vibration Harmonic excitation Transient vibration Parametric vibration Non liner vibration Non damped vibration
MX(t ) KX(t ) ! 0.
Non damped natural frequencies and mode shapes are the main results of the free vibration calculation.
For a single span uniform beam, steady non damped forced vibration is a polyharmonical motion which is the sum of the two harmonic motions.
Shaft centerline points have a shape of Lissajous figures depending on frequencies relation and phase difference of the motions
Plane-parallel motion
When beam centerline orbit shape is an ellipse or a circle, it moves around geometry axis with a constant angular speed:
; ! ;x ! ; y
This motion is plane-parallel, i.e. shaft sections do not rotate around the cross section center.
Precession
Every point of a flexible rotating shaft moves with angular speed around the tangent to deflection curve of the shaft.
At the same time there are no obstacles for the rotating shaft to vibrate in two orthogonally related planes if correspondent alternating forces are applied. As a result the shaft axis points will travel in the space along the beam vibration orbits. In the classical Mechanics the motion of the rotation axis is known as the precession.
0.5
W0 ( t)
0.5
1 1 0 0 2 t 4 6 2 T
Bending stress
0.5
W 1 ( t )
0.5
1 0 2 4 6
Bending stress
0.5
W2 ( t)
0.5
1 0 2 t 4 6
Bending stress
0.5
W3 ( t)
0.5
1 0 2 t 4 6
Bending stress
Summary
1. 2. Vibration of non rotating propulsion shaft system should be referred as a lateral vibration. If the shaft cannot loss contact with the point wise supports lateral vibration may be referred as a bending vibration. Transverse vibration is a bending vibration in the horizontal plane. Simultaneous lateral vibrations of non rotating propulsion shaft system in the vertical and horizontal planes may be considered as a whirling vibration. Vibration of a rotating propulsion shaft system should be considered as a whirling vibration in any circumstances
3. 4.
5.
Gyroscopic effect
Gyroscopic moment
In a propulsion system, equipped with a heavy propeller, gyroscopic effect can influence the whirling vibration. When a huge mass with large polar and diametric inertia moments rotates gyroscopic moment M gyr arises:
M gyr ! A I d ; K,
2
A ! 1 Ip Id S
[ - shaft rotation speed;
; - whirling speed; K - shaft slope at the propeller node;
I p - polar inertia;
I d - diametric inertia;
[ S! ;
- whirling factor (positive for forward whirling and negative for backward whirling).
Positive gyroscopic moment increases deflections of a rotating shaft i.e. makes shaft softer Negative gyroscopic moment counteracts shaft deflection i.e. makes shaft stiffer
The fluctuating components of the hydrodynamic loads excite intensive whirling vibration of the propulsion shafting at the range 75-95 rpm. The red line corresponds to the constant component of hydrodynamic loads.
Locus of the effective thrust force travels along the closed path that results in variable vertical and horizontal moments.The thrust force has some variable inclination angle to the propeller axis that results in variable vertical and horizontal forces.
The fluctuating component of the thrust can excite propulsion shafting whirling vibration owing to an alternate bending moment produced by the thrust bearing.
Hysteretic excitation
Whirling of a high speed rotors due to: hysteretic damping in shaft material, friction in the shaft couplings is a self-excited vibration.
Hysteretic excitation is specific for the speeds above the critical speed. Friction excites a backward whirling
Unbalance
A propulsion shafting system is never perfectly balanced. Due to material inhomogeneity the center of gravity does not coincide with the rotation axis. When the shaft rotates, the eccentric masses produce exciting centrifugal force. Unbalance excites forward synchronous whirling. Significant unbalance of a propulsion systems is prevented by special technological standards and survey procedures.
Alignment-related errors
Alignment-related errors excite first order synchronous whirling vibration. Such errors must be prevented by adherence to the technological specifications and standards of shaft manufacture and alignment processes.
Shaft Modeling
Lined elements
When the propeller shaft is lined for sea water corrosion protection element characteristics are calculated using liner dimension and material properties
T 4 EL d 1 64 E 4 E d t
L E
I!
Added mass
(m (m0
When the shaft element is submerged in a liquid its mass must be increased by added mass (m.
(m0 ! VT r 2
r shaft radius; R stern tube internal radius; V liquid density.
The increasing of propeller shaft mass leads to the lowering of critical speeds!
Flanged couplings
Geometric characteristics of short shaft elements with abrupt changing of diameters (such a shaft flange) must be reduced, because elements material is not fully involved in bending deformations:
Crankshafts
complicate structure for mass and stiffness characteristics modeling; manufacturers never supply mass elastic system for the lateral vibration; for the propulsion shafting vibration calculation 3D detailed modeling is excessive; elements inertia moments and element stiffness are dependent on shaft rotation angle.
(J. Bergande)
Bearings Modeling
Red
Green
Blue
Pink
The shaft motion orbits measured ABS within the aft stern tube bearing.
k yy k zy K b ([ ) ! kE y kF y
k yz k zz kE z kF z
k yE k zE kEE kFE
c yy czy Cb ([ ) ! cE y c Fy
c yz czz cE z cF z
c yF cz F cEF cFF
Each matrixs element consists of two components: lubricating film component and structural component. The main problem is a determination each of these components.
Aft end of stern tube bearing Intermediate bearing Fore engine main bearing Aft end of stern tube bearing Intermediate bearing Fore engine main bearing
The stiffness of bearing support structural component was not agreed with a shafting dynamic parameters
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Calculated by L. Murawski
Lubricating film stiffness is much higher then those for the structural components.
has to be solved in iterations to find the solution: function, p0 ( x,U ) integrals of which satisfy to shaft system static requirements:
Ry ! p( x, U ) sin U dF
F
Rz ! p ( x, U ) cos U dF
F
After the equilibrium solution is found additional dynamic lubrication pressure has to be calculated from the following Reynolds equation:
x R xU 3 xp* h R xU x x 3 xp* h ! 6 Q[cosU 3 R xU xx xx xp0 2 h sin U R xU xp0 x 2 3 xx h sin U xx u y x 2 xp0 3 h sin U uz xx xx
p0 ( x, U ) u y , uz u y , uz
lubrication pressure for non vibrating shaft; vibration motions; vibration velocities;
As can be seen from calculation algorithm, dynamic stiffness and damping coefficients are dependent on bearing shaft alignment parameters. In the case of harmonic excitation dynamic stiffness and damping are to be calculated for each frequency.
Propeller damping
Schwaneckes formulas derived from unsteady propeller theory calculations:
V[ D 2 P Ae cF ! 0.1536 T D A0
V[ D P Ae cM ! 0.1128 Z D A0
4 2 2
Propeller damping is significant but its influence of the whirling vibration parameters is not as decisive as in torsional vibration case. Propeller is installed in the immediate proximity of the support (aft stern tube bearing) where the motions amplitudes are not considerable.
After starboard shaftline was realigned in the same manner as the port side shaftline, harmful vibration disappeared.
To work perfect short and rigid motor and pump shafts must be aligned geometrically before mating
Shaft flexibility compensates to some extent the misalignment and vibration does not arise
Wx , Wy , E , F
Currently whirling vibration criterion is not included in shaft alignment criteria list! But
If the whirling vibration criteria are not satisfied the shaft alignment must be redesigned.
Conclusions
Classification Societies require free whirling vibration calculation only. It is quite reasonably because the uncertainties of the excitation loads, dynamic stiffness and damping coefficients make impossible a rigorous prediction of whirling vibration parameters at present. Forced whirling vibration calculations, if they are undertaken, should be performed as parametric calculations. Propulsion system whirling vibration calculation is in need of further studies and developments.
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