ROTOR DYNAMICS

DR.K.SRINIVASAN DIRECTOR AU-FRG INSTITUTE FOR CAD/CAM ANNA UNIVERSITY,CHENNAI,INDIA

Rotating components
Pulley & gear shaft assemblies
Starter armatures Airspace components

High speed machine tool spindles

flywheels

Impellers

Centrifuge rotors

Electric motor rotors

Fan and blowers

Compressor rotors

Turbochargers

Precision shafts

crank shafts

Grinding wheels

Steam & GasTurbine rotors

Effect of Unbalanced rotor

Centrifugal force of "heavy" point of a rotor exceeds the centrifugal force exerted by the light side of the rotor and pulls the entire rotor in the direction of the heavy point.

Statically balanced but dynamically unbalanced

mr
2

r r Brg A l mr Load on each support Brg due to unbalance

2

Brg B

=mr l/ L
2

Static balancing or Single plane balancing

Adequate for rotors which are short in length, such as pulleys and fans

Benefits of effective balancing of rotors

Increase quality of operation. Minimize vibration. Minimize audible and signal noises. Minimize structural stresses. Minimize operator annoyance and fatigue. Increase bearing life. Minimize power loss.

Rotating a rotor which has unbalance causes the following problems.

The whole machine vibrates.

Noise occurs due to vibration of the whole machine.

Abrasion of bearings may shorten the life of the machine.

Dynamic or "Dual-Plane" balancing

Dynamic balancing is required for components such as shafts and multi-rotor assemblies.

Transverse stiffness of shaft for various support conditions

Whirling motion of shaft carrying eccentric rotors

Shaft centre position equations,

 Dynamic deflection of shaft

under Various operating speeds

y/e
Unsafe operating Speed range

0 -1

/ tr = 1.0

CRITICAL SPEEDS OF SHAFT CARRYING TWO ROTORS

F1
S1 B1 Curve A A1 A2 B2 Curve B F2

S2

Curve A Deflection due to application of load F1 only Curve B Deflection due to application of load F2 only Deflection S1 A1 = 11 F1 Deflection S2 A2 = 21 F1 Deflection S1 B1 = 12 F2 Deflection S2 B2 = 22 F2

Total deflection due to both the loads F1 and F2 applied simultaneously On the shaft,

y1 =

11 F1 + 12 F2

and

y2 =

21 F1 + 22 F2

This can applied for a dynamic loading conditions . Let the shaft ( mass less ) vibrates in transverse direction with a frequency in one of its principal modes Then y1 = Y 1cos t and y2 = Y 2cos t

Dynamic deflection ( amp.of vibration) can be obtained as

Y1 = 11 m1 Y1 2 + 12 m2 Y2 2
Y2 = 21 m1 Y1 2 + 22 m2 Y2 2

If the distance OO is denoted by , the coordinate of G is

x G = x O + e cos t = cos + e cos t y G = y O + e sin t = sin + e sin t

The equation of motion of the disc in x and y direction is now,

..

mxG =

.. ..

- k cos + c sin = -k x O c x O

. .

m y G = - k sin + c cos = -k y O cy O
From the above equations

. .. m x O + c x O + k x O = m 2e cos t
. .. m y O + cy O + k y O = m 2e sin t

Amp.ratios from the above equations,

Y1 / Y2 = (1- 11m1 2) / (12 m2 2) = (21m1 2) / (1- 22m2 2)

Frequency equation is,

4 - 2 (11m1 + 11m1 )/ {m1m2 (11 22 - 12 2)} + 1/ m1m2 (11 22 - 12 2 )
= 0 The two natural frequencies are, ( two critical speeds of the shaft rotor system )

1,2 2 = 11m1 + 22m2 + (11m1 - 22m2 )2 + 4m1m2 12 2 2m1m2 (11+ 22 - 12 2)

Mode shapes of shaft carrying uniformly distributed load

HALF-FREQUENCY WHIRL IN JOURNAL BEARINGS

In the gap AO the oil flow is ( R In the gap OB the oil flow is ( R

/2) ( c- )
/2) ( c+ )

Instantaneous velocity of Upward movement of the shaft = Void formed under the shaft = 2R For continuity,

R c / 2 R /2 + 2R - R c /2 - R /2 =0 Hence R (2 - )

=0