Contents

1.0 ABSTRACT........................................................................................................................................2
2.0 Introduction...........................................................................................................................................3
3.0 THEORY..................................................................................................................................................4
4.0 Procedure Undamped and Damper.......................................................................................................6
5.0 Result and Calculation...........................................................................................................................7
5.1 Result.................................................................................................................................................7
5.2 Sample Calculation............................................................................................................................8
6.0 Discussion and Conclusion...................................................................................................................10
6.1 Mustafa Bin Nordin (2016673304)...................................................................................................10
Discussion..........................................................................................................................................10
Conclusion.........................................................................................................................................10
6.2 Muhamad Nur Afiq Bin Mohd Akhair (2016673314)......................................................................11
Discussion..........................................................................................................................................11
Conclusion.........................................................................................................................................12
6.3 Ahmad Bahtiar Bin Mohamad (201666144)....................................................................................13
Discussion..........................................................................................................................................13
Conclusion.........................................................................................................................................13
6.4 Mohamad Sulhi Amir Bin Suhaimi (2016673336)............................................................................14
Discussion..........................................................................................................................................14
Conclusion.........................................................................................................................................15

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1.0 ABSTRACT

Rotating machinery produces vibrations depending upon the structure of the mechanism
involved in the process. Any faults in the machine can increase or excite the vibration signatures.
Vibration behavior of the machine due to imbalance is one of the main aspects of rotating
machinery which must be studied in detail and considered while designing. All objects including
rotating machinery exhibit natural frequency depending on the structure of the object. The
critical speed of a rotating machine occurs when the rotational speed matches its natural
frequency. The lowest speed at which the natural frequency is first encountered is called the first
critical speed, but as the speed increases additional critical speeds are seen. Hence, minimizing
rotational unbalance and unnecessary external forces are very important to reducing the overall
forces which initiate resonance. When the vibration is in resonance it creates a destructive energy
which should be the main concern when designing a rotating machine. The objective here should
be to avoid operations that are close to the critical and pass safely through them when in
acceleration or deceleration. If this aspect is ignored it might result in loss of the equipment,
excessive wear and tear on the machinery, catastrophic breakage beyond repair or even human
injury and loss of lives.

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2.0 Introduction

Rotor dynamics is the branch of engineering that studies the lateral and torsional
vibrations of rotating shafts, with the objective of predicting the rotor vibrations and containing
the vibration level under an acceptable limit. The principal components of a rotor-dynamic
system are the shaft or rotor with disk, the bearings, and the seals. The shaft or rotor is the
rotating component of the system. Many industrial applications have flexible rotors, where the
shaft is designed in a relatively long and thin geometry to maximize the space available for
components such as impellers and seals. Additionally, machines are operated at high rotor speeds
in order to max-imize the power output. The first recorded supercritical machine (operating
above first critical speed or resonance mode) was a steam turbine manufactured by Gus-
tavDelaval in 1883. Modern high performance machines normally operates above the first
critical speed, generally considered to be the most important mode in the system, although they
still avoid continuous operating at or near the critical speeds. Maintaining a critical speed margin
of 15 % between the operating speed and the nearest critical speed is a common practice in
industrial applications.

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3.0 THEORY
The excitation force will fluctuate with magnitude F( t)=F 0 sin ωt , when the unbalance
rotating machinery is constraint to move in vertical direction where F0 is a constant
centripetal force due to rotation of unbalance mass.

2
F0 =m ω r

Where m represent as unbalance mass, ω represent as angular speed of rotor (rad/s) and can
be obtain using ω=2 πf , where f is speed of rotor (Hz), and r represent as position of the
unbalanced mass from the rotor center.

The equation for forced vibration written as

2
x́+ ωn x=F0 sin ωt for undamped vibration and

2 2
x́+ 2ζ ω n x́ +ω n x=F 0 sin ωt for damped vibration

The steady state solution of this problem can be written as

x ( t )=x p sin(ωt +Ψ )

The result states that the mass will oscillate at the same frequency, f, of the applied force, but
with a phase shift, Ψ, is defined by the following formula

2 ζr
Ψ =tan −1 ( )
1−r 2

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 Figure 1.0: phase shift against r

The amplitude of the vibration, x p , is defined by the following formula.

F0
X p= ( ) ( √(1−r ) +1( 2∗ζ∗r ) )
k
∗
2 2 2

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4.0 Procedure Undamped and Damper

1) Equipment was set up as shown in diagram

2) A circular chart was located on the disc, it was secured with the rubber pressure plate and
the nut was tight up.
3) Plotter pen was set up to be vertically inline with the centre of the chart on the 30m radius
circle (middle ring).
4) The position of unbalance mass on the chart paper (inline with the locking screw) was
marked.
5) The needle valve was tight up for a maximum damping coefficient.
6) The plotter pen was lift up and the excitation frequency knob for 1 revolution was
increased slowly.
7) The pen was released to plot the graph.
8) Again, the plotter was lift up, the speed was increased and pen released.
9) Repeated until 5 different frequency.
10) The chart paper was changed.
11) The needle valve had been loosed for about 1 revolution and the procedure above was
repeated for 4 position of the needle valve.
12) The damper was detached from the bar and the procedure was repeated.
13) Then the require data was collected and shown in the table.

Apparatus

Figure : GUNTT TM 105 Universal Vibration System

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5.0 Result and Calculation

5.1 Result

Undamped

F(Hz) Ink R(m)

5.093 Green 0.033
5.570 Red 0.032
6.048 Purple 0.039
6.525 Blue 0.0335
7.003 Black 0.031

F(Hz) w (rad/s) w/wn Xp (m) (×10-3) Ψ(0)

5.093 32 0.437 0.9112 0
5.570 35 0.478 1.0081 0
6.048 38 0.519 1.1642 0
6.525 41 0.560 1.2881 0
7.003 44 0.60 1.28 0

Damped (Fully Open)

F(Hz) Ink R(m)

5.093 Green 0.032
5.570 Red 0.031
6.048 Purple 0.0345
6.525 Blue 0.034
7.003 Black 0.0325

F(Hz) w (rad/s) w/wn Xp (m) (×10-3) Ψ(0)

5.093 32 0.437 0.9813 1.255
5.570 35 0.478 1.1126 1.216
6.048 38 0.519 1.4220 1.353
6.525 41 0.560 1.5885 1.338
7.003 44 0.60 1.6955 1.275

Damped (Medium)

F(Hz) Ink R(m)

5.093 Green 0.029

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5.570 Red 0.031
6.048 Purple 0.0345
6.525 Blue 0.031
7.003 Black 0.030

F(Hz) w (rad/s) w/wn Xp (m) (×10-3) Ψ(0)

5.093 32 0.437 0.9954 2.273
5.570 35 0.478 1.280 2.427
6.048 38 0.519 1.435 2.701
6.525 41 0.560 1.302 2.427
7.003 44 0.60 1.276 2.349

Damped (Fullly Closed)

F(Hz) Ink R(m)

5.093 Green 0.0315
5.570 Red 0.031
6.048 Purple 0.032
6.525 Blue 0.031
7.003 Black 0.0315

F(Hz) w (rad/s) w/wn Xp (m) (×10-3) Ψ(0)

5.093 32 0.437 1.2996 3.698
5.570 35 0.478 1.5798 3.640
6.048 38 0.519 1.9876 2.505
6.525 41 0.560 2.3229 3.640
7.003 44 0.60 2.8193 3.698

5.2 Sample Calculation

Undamped

ω=2 πf =2 π ( 5.0 )=32.00 rad/s

ω 32.00
r= = =0.437
ωn 73

2
f o=m ω r=( 0.1 )( 32.00 ) ( 0.033 ) =3.379
2

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 X p= ( fk ) √ ⌊ 1−r ⌋ +⌊ 2 rζ ⌋ =( 44.437
o 2 2 3
3000 )
√ ⌊ 1−0.437 ⌋ + ⌊ 2∗0.437∗0 ⌋ =0.9112
2 2 3 −3

2 ζr
ψ=tan−1 ⌊
( 1−r2 ) ⌋ =tan ⌊( 2∗0.437∗0
−1

1−0.437 )
⌋ =0
2

Damped

ω=2 πf =2 π ( 5.0 )=32.00 rad/s

ω 32.00
r= = =0.437
ωn 73

f o=m ω r=( 0.1 )( 32.00 )2 ( 0.033 ) =3.379

2

fo
X p= ( ) √ ⌊ 1−r ⌋ +⌊ 2 rζ ⌋ =( 44.437
k
2 2
3000 )
3
√ ⌊ 1−0.437 ⌋ + ⌊ 2∗0.437∗0 ⌋ =0.9813
2 2 3 −3

2 ζr 2∗0.437∗0
ψ=tan−1 ⌊
( )
1−r 2 (
⌋ =tan −1 ⌊
1−0.4372 )
⌋ =1.255

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6.0 Discussion and Conclusion

6.1 Mustafa Bin Nordin (2016673304)

Discussion
This experiment about ‘Determine of critical speed of whirling machinery’. It to
determine the critical speed of whirling machinery to avoid resonance condition.

To determine the critical speed, we calculated the longest radius of result by vibration in
graph paper. Each load have difference radius that affect the difference radius. The longest radius
is representing the critical speed. The difference speed will cause difference amplitude and phase
shift for each mass and force.

From the table result, all condition the higher frequency (F) the higher the angular speed
of motor (ω) so it will the force of them if deference. It causes the amplitude of the vibration, X p
and phase shift,Ψ is increase.

From undamped, fully open, medium and fully closed, it increase gradually in value of
amplitude of vibration, Xp and phase shift, Ψ. It show the higher of mass and force the higher
value Xp and Ψ.

The date is accepted due to theory of this experiment. However it have some error because The
main error is the equipment and apparatus is too old. It caused the elasticity of spring and beam.
So, it affects the value. In addition, when do an adjustment of apparatus, beam must be parallel to
x axis. However, sometimes it not parallel when change the force. It also affects the value.

Conclusion
This experiment done by control vibration vibration of frequency and speed then the
result show in disc graph so that we just only need to find the critical speed.This result are
important to know the strength of beam when want to do the design. Good design to make sure it
safe and bad design will suffer user. My recommendation for this subject must be learn first
before do the experiment because we difficult to relate the theory of this experiment.

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6.2 Muhamad Nur Afiq Bin Mohd Akhair (2016673314)

Discussion

Based on this experiment, we had been identified the critical speed of whirling machinery
to avoid resonance condition. Resonance which means the frequency of the vibration is the same
as natural frequency. This phenomenon should be prevented in any machinery to avoid damage
of its mechanism.

From this experiment, we had been provided the circular chart paper to plot the result of the
oscillation system. From the result that had been draw, we measure largest radius of the
oscillation that had been draw by different frequency. The frequency had been plotted with
different colour, so it easy to recognize. Error occur when pen plotted on the circular chart paper.
Pen not tight enough or the chart paper, holder is not firm enough which make the chart paper
become shaky or moving. The error can be overcome by using specific pen which is fixed and
less friction to the chart paper. From the chart paper,we measure the largest radius of each
frequency. From this radius we can calculate as the table.

From the undamped result, we can see that the highest amplitude is from 7.003 Hz frequency. It
ratio of frequency value is almost to 1 where is the resonance value. For damper fully open
result, the highest amplitude at 7.003Hz where it r is about 0.60. For slightly or medium damper
open, it highest amplitude is 1.435 ×10−3 m which occur at 6.048Hz with ratio frequency of
0.519 and at the fully closed damper, the highest amplitude is 2.8193 ×10−3 m with ratio
frequency of 0.60 at frequency 7.003Hz.

The phase angle between damper condition and undamped show the big different. Undamped
shows 0 angle value because undamped has no damping constant or load. This shows that
damped free vibration provides extra force against force response. To acquire more precise
reading to avoid error, we suggest by using digital angle reader the experiment data which is
phase angle can be determined more easily with improved precision and accuracy.

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Conclusion
As a conclusion for this experiment, We are able to determine the critical speed of
whirling machinery to avoid resonance, extract phase angle from circular chart and calculating
amplitude of vibration from the data

The knowledge of resonance is important in designing things such as bridge, buildings

and transportation. The natural frequency of the system has become necessary to avoid failure
and lower the risk to the human kind. We can concluded that the experiment was successful even
though theres some errors that has been discussed occur during the experiment.

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6.3 Ahmad Bahtiar Bin Mohamad (201666144)

Discussion

Based on the experiment for damped fully closed vibration, we can see that when
frequency is 7Hz, the amplitude of vibration is the highest compare to others. This is because the
value of r is the most close with the value 1. When the value of r is 1, it called resonance which
means the frequency of the vibration is the same as natural frequency. This phenomenon should
be prevented in any machinery to avoid damage of its mechanism. In fully open damped free
vibration, this phenomenon also occurs when frequency is 7Hz where the amplitude of resonance
is the highest, same goes to undamped free vibration which the value of r is 0.6. The value of r
for this 3 set of experiment did not achieve 1 which defined as where resonance occur, the value
is not too stray from 1 which is acceptable for us. The phase angle between damped and
undamped has really big difference. This shows that damped free vibration provides extra force
against force response. To acquire more precise reading to avoid error, we suggest by using
digital angle reader the experiment data which is phase angle can be determined more easily with
improved precision and accuracy.

Conclusion

To conclude, we manage to determine the critical speed of whirling machinery to avoid

resonance. The critical speed is when the frequency ratio equal to 1. Resonance can cause defect
as the vibration is maximum at this point. To avoid resonance, the critical speed should not be
equal to one or approaching it.Resonance implies high vibration amplitude which will cause
fatigue to the parts involved contributing to failures of machinery. With reduced vibration
amplitude, the machine will have longer lifespan.

This experiment can be improved by using digital reading in the future in order to get more
accurate reading for the phase angle. This experiment is to be considered as a succeed as the
objective is achieved.

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6.4 Mohamad Sulhi Amir Bin Suhaimi (2016673336)

Discussion

Based on this experiment that have been conducted, I have understood and determined
the critical speed of whirling machinery to avoid resonance condition. For un-damped free
vibration, we can see that when frequency is 7Hz, the amplitude of vibration is the highest
compare to others. This is because the value of r is the most close with the value 1. When the
value of r is 1, it called resonance which means the frequency of the vibration is the same as
natural frequency. This phenomenon should be prevented in any machinery to avoid damage of
its mechanism. In fully closed damped free vibration, this phenomenon also occurs when
frequency is 7Hz where the amplitude of resonance is the highest, same goes to fully open
damped free vibration. The value of r for this 3 set of experiment did not achieve 1 which
defined as where resonance occur, the value is not too stray from 1 which is acceptable for us.
The phase angle between damped and un-damped has really big difference. This shows that
damped free vibration provides extra force against force response. To acquire more precise
reading to avoid error, we suggest by using digital angle reader the experiment data which is
phase angle can be determined more easily with improved precision and accuracy.

The results that were obtained had slight difference than the theoretical values. These
differences might come from multiple of errors during the tests conducted. One of the errors that
greatly affected the experiment was the plotter pen condition. The pen was slightly defective due
to its lack of capabilities to produce ink whenever the pen set up inline vertically to the circular
chart, thus and making it liable for the variation in result, we changed the pen with the new pen
after the error occurred.

Human error also contributed as one of the errors that affected the test especially the
method of handling the equipment was varied in each of the group members and the possible
error also varied as well. In order to fix that, the unbalanced mass helped to produce constant
excitation by adjusting the excitation vibration knob to any desired frequency number.

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Conclusion

Based on this experiment that have been done, we can conclude that we manage to
determine the critical speed of whirling machinery to avoid resonance condition. The critical
speed is when the frequency ratio equal to 1. Resonance can cause defect as the vibration is
maximum at this point. To avoid resonance, the critical speed should not be equal to one or
approaching it.Resonance implies high vibration amplitude which will cause fatigue to the parts
involved contributing to failures of machinery. With reduced vibration amplitude, the machine
will have longer lifespan.

This experiment can be improved by using digital reading in the future in order to get
more accurate reading for the phase angle. This experiment is to be considered as a succeed as
the objective is achieved.

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