RECAP

Whirling of shafts
Shaft
disc
bearings
Problems in shaft and a rotor
systems:
(i) Unbalance in rotor/disc
(ii) Improper assembly
(iii) Weaker bearings
Whirling of shafts
Unbalance in rotor / disc
Top view of a rotor
rotor
Geometric
centre
Mass
centre
e
m
For perfect balancing
(i) Mass centre (centre
of gravity) has to co-
inside with the
geometric centre
(ii) m.e =unbalance =0
RECAP
Whirling of shafts
Static dynamic
Top view of the disc
P- Geometric center
G- centre of gravity
O- center of rotation
O P G
d e
RECAP
Centrifugal,
Fc= MA =
M( d+e )
Whirling is defined as the rotation of plane
made by the bent shaft and line of centers
of bearings as shown in Figure
Whirling of shafts
RECAP
Whirling of shafts
Assumptions
(i) the disc at the mid-span has an unbalance
(ii) the shaft inertia is negligible and the shaft stiffness
is same in all directions
RECAP
2
2
r 1
r
e
d

=
Whirling of shafts
neglecting damping
0 1 2 3 4
0
1
2
3
4
d
/
e
e/e
n
(r)
Critical speed
It is desired to run the
shaft at speed much
higher than the natural
frequency of the shaft
rotor system
r =
n

Whirling of shafts with damping

The deflection of shaft is :
x
y
O
P
G (x
g
,y
g
)
y
x
d
e
|

et
2 2
y x d + =
( ) ( )
2
2
2
2
2 r 1
er
d
r +
=
Theory questi ons
The speed of the
shaft under the
condition when
r =1, i.e e=e
n
is
referred as
critical speed of
shaft.
2
2
r 1
r
e
d

=
Derive the relation
0 1 2 3 4
0
1
2
3
4
d
/
e
e/e
n
(r)
Critical speed
Numeri cal probl ems
A power transmission shaft has diameter of 30 mm and
900mm long, and simply supported. The shaft carries a
rotor of 4 kg at its mid-span. The rotor has an eccentricity
of 0.5 mm. Calculate the critical speed of shaft and
deflection of the shaft at the mid-span at 1000 rpm.
Neglect mass of the shaft, take E=2x10
5
MPa
Problem-1
Numeri cal probl ems
Problem-1
Given data
D =30 mm
L =900 mm
m =4 kg
e =0.5 mm
E =2x10
5
MPa
=2x10
11
Pa
N =1000 rpm
L
D
Find Nc, the critical speed
And deflection of shaft d
Numeri cal probl ems
Problem-1
To Find Nc, the critical speed, it is required to find natural
frequency of the system
m
K

n
=
To Find stiffness, K of the shaft
Numeri cal probl ems
Problem-1
To Find stiffness, K of the shaft
Simply supported shaft
o
L
W
48EI
WL
3
=
Deflection of the beam at mid span
Stiffness of beam

W
K =
Numeri cal probl ems
Problem-1
3
L
48EI
K = The stiffness of the shaft
4
D
64

I =
4
(0.03)
64

I =
Substitute D in meters
=39.76x10
-9
m
4
K =523598.75 N/m
Numeri cal probl ems
Problem-1
4
523598.75
m
K

n
= =
=361.80 rad/s
The critical speed e
cr
=e
n
n
cr
cr

60
2
= =
N
N
cr
=3455 rpm
Numeri cal probl ems
Problem-1
Deflection of the shaft at 1000 rpm
60
2

N
=
=104.72 rad/s
=0.289
361.80
104.72

r
n
= =
2
2
r 1
er
d

= =0.0455 mm
Numeri cal probl ems
A disc of mass 4 kg is mounted mid-way between bearings,
which may be assumed to be simple supports. The bearing
span is 0.48 m. The steel shaft which is horizontal is 0.09 m
in diameter. The centre of gravity of the disc is displaced 3
mm from the geometric centre. The equivalent viscous
damping at the centre of the disc-shaft is 49 N.s/m. If the
shaft rotates at 760 rpm, find the maximum stress in the shaft
and compare it with the dead load stress in the shaft. Also
find the power required to drive the shaft at this speed.
Problem-2
Numeri cal probl ems
Problem-2
Given data
D =0.09 m
L =0.48 m
m =4 kg
e =3 mm
c =49 N.s/m
N =760 rpm
E =2x10
11
Pa
L
D
Find maxmstress in the shaft
And power required to drive the shaft
Numeri cal probl ems
Problem-2
60
2

N
=
=79.58 rad/s Forcing frequency
The Mod. of elasticity of the material is not given
Assume: E =2x10
11
MPa
3
L
48EI
K = The stiffness of the shaft
4
D
64

I =
K =27957.3 N/m
Numeri cal probl ems
Problem-2
4
27957.3
m
K

n
= = =83.6 rad/s
n
2m
c
=
=0.073 Damping ratio
83.60
79.58

r
n
= = =0.951 Frequency ratio
Numeri cal probl ems
Problem-2
( ) ( )
2
2
2
2
2 r 1
er
d
r +
=
Deflection of shaft
d =0.016 m
Dynamic load on the shaft (Restoring force)
Kd F
d
= =452.03 N
Static load on the shaft (Self weight)
Mg F
s
= =39.24 N
Numeri cal probl ems
Problem-2
Total force (maxmforce)
d s max
F F F + =
=491.27 N
Maxmstress in the shaft
Z
M

max
max
=
4
L F
M
max
max
=
Z=section modulus
=58.95 N/m
Numeri cal probl ems
Problem-2
Z
M

max
max
= =8.23x10
8
N/m
2
Static

=6.58x10
7
N/m
2
Numeri cal probl ems
Problem-2
power required to drive the shaft =
power required to overcome damping
Friction force =ced
Friction torque =ced
2
Power =2tNT/60 =90 Watts
Numeri cal probl ems
Problem-3
A rotor having mass of 5 kg is mounted mid-way on 1 cm
diameter shaft supported at the ends by two bearings.
The bearing span is 40 cm. Because of certain
manufacturing inaccuracy, the CG of disc is 0.02 mm
away from the geometric centre of the rotor. If the system
rotates at 3000 rpm, find the amplitude of steady state
vibrations and dynamic force transmitted to bearings.
Neglect damping and weight of shaft. Take E=1.96x10
11
MPa (Ref: VTU Exam J an 2007 for 12 marks)
Numeri cal probl ems
Problem-3
Given data
D =1 cm
L =40 cm
m =5 kg
e =0.02 mm
E =2x10
11
N/m
2
N =3000 rpm
Damping-neglected
L
D
Find d, Amp of steady state vibrn.
Dynamic force transmitted to bearings
2
2
r 1
er
d

=
Numeri cal probl ems
Problem-3
Amp. of steady state vibrn
=Deflection of the shaft
3
L
48EI
K = The stiffness of the shaft
4
D
64

I =
K =72158 N/m
5
72158
m
K

n
= =
=120.3 rad/s
Numeri cal probl ems
Problem-3
60
2

N
=
=314.15 rad/s
=2.61
120.3
314.15

r
n
= =
2
2
r 1
er
d

= =0.023 mm
Numeri cal probl ems
Problem-3
Dynamic force transmitted to bearings
=Restoring force due to spring
Kd F
d
= =1.68 N
Load on each bearings =(1.68/2) N
Numeri cal probl ems
Problem-4
A horizontal shaft 15 mm diameter and 1 m long is held
on simply supported bearings. The mass of the disc at the
mid span 15 kg and eccentricity is 0.3 mm. The young's
modulus of the shaft material is 200 GPa. Find the critical
speed of shaft
Numeri cal probl ems
Problem-4
Given data
D =15 mm
L =1 m
m =15 kg
e =0.3 mm
E =200 GPa
E =2x10
11
Pa
L
D
Find the critical speed of the shaft
Numeri cal probl ems
Problem-4
Find K
Find natural frequency of the system
critical speed of the shaft can be obtained by
equating forcing frequency to natural frequency
Steps
Summary
Due unbalance in a shaft-rotor system, rotating shafts tend
to bend out at certain speed and whirl in an undesired
manner
The speed of the shaft under the condition when
r =1, i.e e=e
n
is referred as critical speed of shaft.
The theory developed helps the design engineer to select
the speed of the shaft, which gives minimum deflection