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Journal of Mechanical Engineering Science

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The Vibration of a Rigid Shaft on Short Sleeve Bearings


R. Holmes
Journal of Mechanical Engineering Science 1960 2: 337
DOI: 10.1243/JMES_JOUR_1960_002_044_02

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331

THE VIBRATION OF A RIGID SHAFT ON SHORT SLEEVE


BEARINGS
By R.Holmes*
The stable and unstable vibrational characteristics of rigid shafts symmetrically sup-
ported on short journal bearings are obtained directly from Reynolds equation and
conveniently represented in terms of two important parameters.

INTRODUCTION Notation
A JOURNAL-BEARING OIL FILM is often regarded as a spring a Stiffness coefficient.
whose stiffness is calculated by differentiating the static b Damping coefficient.
load-displacement curve for a given eccentricity ratio; but C Radial clearance, in.
this treatment is inadequate for the general case where the e0 Eccentricity of centre of gravity of shaft.
load is dynamic. 2F Total external load, lb.
It is true that a bearing oil-film may be simulated by G Centre of gravity of rigid shaft.
an elastic and viscous system but this system must be h Film thickness at angular co-ordinate 0 =
compatible with the type of instability known as oil +
c(i tt cos el.
whirl. Journal length, in.
This paper presents a method of attacking the problem Shaft mass, lb secZ/in.
for the simplified case of a rigid shaft symmetrically sup- Eccentricity ratio = c/c.
ported on two short journal bearings which are not pressure Static eccentricity ratio.
lubricated. The latter two simplifications are reasonable Lubricant film pressure, lb/in*.
since many modern journals are extremely.short and the Journal radius, in.
primary function of a pressurized supply is to provide ’ Amplitude of vibration, x direction.
cooling and not to improve the load-carrying capacity. Amplitude of vibration, y direction.
The simplification of a rigid shaft is a preliminary step Displacement ratios.
to the consideration of flexible shafts, which will be pub- Axial co-ordinate.
lished in a future paper. Eccentricity of journal at instant considered.
The dynamic oil-film forces acting on a short journal are Lubricant viscosity, lb sec/in*.
obtained in two perpendicular directions, in terms of Angle between load line and line of centres
linearized velocity-dependent and displacement-depen- of journal and bearing, radians.
dent terms. They are deduced from the basic equation ,a Angular velocity of unstable motion, rad/s.
governing the pressure distribution in a thinoil film, namely w Journal angular velocity, rad/s.
Reynolds equation; constant viscosity is assumed.
Dynamical equations of motion are then set up for a rigid Centres
shaft symmetrically supported on two short bearings; a CB Bearing centre.
frequency response is plotted in non-dimensional co: CJD Centre of dynamic journal at instant con-
ordinates and a fiequency equation is formulated. From sidered.
this the conditions for stability are deduced, and presented ‘JS Centre of journal under static load only.
graphically. Curves of constant vibration amplitude are THEORETICAL TREATMENT
shown in the stable region and curves of constant fkquency Reynolds equation is deduced fiom the momentum and
ratio B/w in the unstable region and a locus defining the continuity equations and for a journal whose centre position
running up to speed of a typical shaft is drawn. C,, (Fig. 1) is time dependent may be written in the form

IQURNAL MECHANICAL ENGINEERING S C I E N C E V o l 2 No 4 1960

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338 R. HOLMES

assuming constant viscosity throughout the lubricant By resolving in directions 1 and 2 (Fig. 1) oil-film forces
film (I)*. F, and F2are obtained as follows,
This equation is insoluble for p in closed form and efforts
must therefore be directed to making realistic approxi-
mations.
Ocvirk (2)has shown that for bearings whose Z/R ratio is F2 = R]'J"psinOdOdz
0 0
less than 2, reliable results may be obtained by ignoring the
first term of the left-hand side of equation (1). Since in after integration these forces become
F, = -- pl3R[- 1+2n2 -- dn 2(w-2&2
EXTERNAL LOAD 2 2 (l-n2)5/2 dt (1-n2)2
I F PER BEARING
F 2 = pl3R[
- - - - 4n dn (w-25h)m
2c2 (1-n2)2 dt 2( 1-n2)3/2]
Consider a journal oscillating freely with its centre, at
the instant considered, at CjD. Let the corresponding posi-
tion under the action of the extend static load be at CJs.
Axes r and s, are set up as shown in Fig. 1 and Fig. 2.

t
E I

Fig. 1
Fig. 2
practice the tendency is to employ IIR ratios well below 2
for most applications this seems a feasible approximation If Cj,CJs be small in comparison with CBCJSthen a will
for the dynamic journal of the present study. be small.
Equation (1) then becomes : Resolving in directions r, s and putting sin a = s/cn 5 a,
Forces F, and F, become
ah dn
(h3): = 6 p ( ~ - 2 ~ ) ae
- + 1 2 p c - dt
~ose 7
az 1+2n2 dn 2wn2
(1--n2)5/2dt (i--n2)2
+-(i-n2)2
G
2.

Integrating twice with respect to z and putting p = 0 at


z = 0 and at z = Zgives 4
(1-&)2 dt c
dns WTS

c.2(l-n2)3/2 +c(l-n2)3/2

For a plain journal having no pressurized supply, experi-


ments tend to show that this pressure is positive in the
-7r
1+2n2 _ dn s - 2wns- ~4q4nS
) c(l-n2)2
(l-n2)5/2 dt cn c(1-n 22+-] J
region of converging film boundaries, that is, the shaded It may be seen that these forces are non-linear in n and
region in Fig. 1 and although oil may exist in the un- dynamid equations of motion formed by them will
shaded region it will be discontinuous, air having segregated evidently be insoluble. The usual practice in such circum-
from solution or been entrained due to the existence of stances is to consider small oscillations about a mean
sub-atmospheric pressure. position and thence to linearize these forces (Appendix I),
Ocvirk has demonstrated that for a static journal centre which then become,
a convenient and reliable simplification is to assume that
no oil exists over the diverging region shown unshaded in
Fig. 1. The same simplificationwill be made here.
*A numerical Iist of references is given in Appendix II.
JOURNAL MECHANICAL ENGINEERING SCIENCE V o l 2 No 4 I960

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THE VIBRATION OF A RIGID SHAFT ON SHORT SLEEVE BEARINGS 339

where the stiffness coefficients, a, are given by -


Yn L
r
n
eo co
C 8( 1 +no2) 0 0I

Fan = ( l - n 0 2 ) [ ~ ~ ( l - n 0 ~ ) + 1 6 n o ~ ] ~ ~ 2 001
003
C a(l -no2)1/2 -001
Far'= -
010 a02
C - a(1+2n02) - 003
F - no(1-n02)1/~[a~( +
1-no2) 16n02]
-010
C 4
050
Fasf= [a2(1-no2)+16n02]1/2 IM)
-@so
and the damping coefficients, by by -1.00

%rs
bI S = -
w

CONDITIONS FOR STABILITY


0
Consider first the conditions for stability of a rigid shaft of "0
mass 2m running within two cylindrical bearings and sup-
ported on oil films of 180"arc. The equations of motion are Fig. 3
obtained using equations (3) and are
RESONANT FREQUENCIES
The frequency response is now investigated subject to the
limits of the linear treatment and it is desirable that the dis-
i.-aSrr+-
2ars
w
S+a,,s
1
Substituting for the stiffness coefficients from equations (4)
=0
placement axes be fixed in space. The r, s axes are unsuitable
+.,
since their position in space depends on The axes x, y of
Fig. 2 are therefore chosen as a reference and the oil forces
are transferred to these new axes.
the condition for stability of the system (3) is found to be From Fig. 2
F
'(2+n0~)(9.87+6.13no~)'/~
K2 4(3+n02)(9.87 3-74nO2) + and
r = y sin +o+x cos $0, s =y cos 4 0 - x sin 4 0

F, = F, cos +o--F, sin $0, F, = F, sin +O+F, cos 4 0


Linear transformationsthengives
- no'( + +
1+2n02)(3 n02)(9.87 6.13n02)1/2 F, = - b , j - b ~ - a a , y - a x . p - F
(1 -nno2)(2+no2)(9.87+3.74nO2)
Fy = -byyj-by$-a,,,,y+ay.p
Fig. 3 shows a plot of the right-hand side of this inequality Where the new coefficients are also functions of no and wc/P
against no, and the regions of stability and instability are and are presented in Fig. 4.
indicated. In general this supports results obtained theo- The frequency response is now plotted by consideringthe
retically by Hagg and Warner (4) and it is significant that effect of an out-of-balance force rotating at shaft speed.
above an eccentricity ratio of 0.8 the journal is always This constitutes inertia excitation.
stable. By using infinitely long bearing theory, that is, Let the centre of gravity G of the rigid shaft of mass 2m
neglecting the second term of the left-hand side of equa- be at xlyl (Fig. 5).
tion (I), Hori (5) has shown that this also indicates stability The equations of motion are
above an eccentricity ratio of approximately 0.8. It is there-
fore expected that all journals of whatever Z/R ratio will give 2m21-2Fx-2F = 0, 2mj4-2Fy = 0
theoretically stable conditions above this eccentricity ratio. Let eo be the eccentricity of the centre of gravity of the shaft,
A fi,uther item of interest is the frequency of any un- which is considered to be large compared with CJSCJD,
stable motion, S2. This is obtained by finding the roots of
the frequency equation and curves of constant frequency then x1 N x+eo cos w t
ratio, Q/w are presented in Fig. 3. y1 cu y+eo sin w t
JOURNAL MECHANICAL ENGINEERING SCIENCE V o l 2 No 4 1960

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340 R. HOLMES

hence mass 200 lb where the load on the bearings is that due to
gravity only. Let the bearing parameters be-
2 m x + 2 ( b ~ + a x , x + b x ~ + a , y ) = 2mw2eo cos w t
2mj.+2(by~-ayxr+byyj+u,,y) = 2mw2eosin w t } (5) c = 0.002 in.
l=lin.
Equations (5) are solved and curves of constant displace- R=lin.
ment ratio are drawn on Fig. 3. p = 10 centipoise.
The parameters no and F/mw2 can thus be expressed as
functions of w, and as w is increased a locus AB is traced in
Fig. 3 from which it may be observed that the peak dis-
placement amplitude under stable conditions is of the order
of the eccentricity of the centre of gravity of the shaft and
that if the speed is increased until oil whirl commences this
whirl will have a frequency of approximately half running
speed assuming operation in the laminar flow region
throughout.
It is clear that many such loci may be drawn, some of
which could indicate instabilities at frequencies lower than
half shaft-frequency as has been observed in practice.
Moreover the effect of varying any of the bearing para-
meters can be investigated by plotting in Fig. 3.

CONCLUSIONS
It is possible to investigate the problem of vibration of a
rigid shaft on oil-film bearings by deducing the oil-&
forces from the basic Reynolds equation, making the
following assumptions :
(1) The b w g s are sufficiently short to ignore the first
“0 term of the left-hand side of equation (1).
Fig. 4 (2) There is no pressurized oil supply to the bearings.
(3) The viscosity is constant throughout the lubricant
film, which is of 180’ arc.
These forces may then be linearized and equations of motion
Y

I tFJ
formulated and solved.
The results are conveniently represented in terms of
parameters F / m d and eccentricity ratio, no. It is sug-
gested that from these results the order of vibrational
amplitudes to be expected for practical shafts of consider-
able rigidity may be estimated, together with an indication
of the possibility of oil whirl occurrence.

ACKNOWLEDGEMENTS
The author wishes to thank Dr. D. Morrison of Brush
Fig. 5 Electrical Engineering Company Ltd, for stimulating dis-
cussions in the early stages of the work and h4r. B. Downs
DISCUSSION of Loughborough College of Technology for helpful
comments on the presentation.
Fig. 3 may be used to plot the actual frequency response of
any symmetrically supported rigid shaft given the bearing
APPENDIX I
parameters and the shaft mass, from which also an indication
of the likelihood of oil-film whirl can be obtained. The results L I N E A R I Z A T I O N O F FORCES
become more valid as displacement ratios decrease and are
From Fig. 2 it may be seen that
subject to the limitations of the linear treatment. For this cno+r = cn cos (I -rr cn
reason they are probably pessimistic; non-linearities appear
to reduce vibrational amplitudes. If oil-film whirl is sus- therefore n = no+!
pected its frequency can be estimated fiom Fig. 3. Consider small oscillations about the mean position CJs, thus
Consider the typical case of a rigid horizontal shaft of rlc 4 no and is time dependent.
JOURNAL MECHANICAL ENGINEERING SCIENCE V o l 2 No 4 1960

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T H E VIBRATION OF A RIGID SHAFT ON SHORT SLEEVE BEARINGS 341

By Taylor’s theorem, f(no+r/c) = f(n0) +(r/c)f’(no), neglecting 1 s


.$--E=O
powers of r/c higher than the first. Similarly
c (1- n 2 ) 3 / 2
Substitution of these approximations in Frof equations (2) and
Similarly similar approximationsin Fsand using the fact that the load number

dt
enables equations (3)to be deduced.
w n 1
---em-5 sun 1
Thus
2 (l--nz)3/2 c c 2 (1 - n 0 2 ) 3 / 2

---
dn 1+2+
dt (1 -729512
i. 1+2no2
- 2 (1- n 0 2 ) 5 / 2
A P P E N D I X I1

s- d n 1
dt (1-n2)z-O
- (I) SHAW, M. C. and MAW, E. F.
REFERENCES
1949 ‘Analysis and Lubri-
cation of Bearings’ (McGraw-Hill Book Co., New York).
nz
(1 - n 2 ) 2
-- -2+i
no2 r2no(l+n02)
(1 - n o 2 ) 3
(2) DUBOIS, G. B. and OCVIRK, F. W. 1953 N.A.C.A. Report
1157 ‘Short Bearing Approximation for Full Journal
Bearings’.
Now consider
n2 (3) DENHARTOG. 1956 ‘Mechanical Vibrations’, fourth edition
+zy (McGraw-Hill Book Co.,New York).
(4) HAW, A. C. and WARNER,P. C. 1953 Trans. Amer. SOC.
$. = - i mech. Engrs, vol. 75, No. 7, p. 1339, ‘Oil-whip of Flexible
cn Rotors’.
therefore, (5) HOW,Y. 1959 Trans. Amer. Soc. mech. Engts, Series E,
3. uppl. Mech., June, p. 189, ‘ATheory of Oil Whip’.

JOURNAL MECHANICAL E N G I N E E R I N G SCIENCE VoJ 2 No 4 1960

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