ANSYS V11 Rotor Dynamics Web Seminar

2007 ANSYS, Inc. All rights reserved. 1 ANSYS, Inc.
Proprietary
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2006 ANSYS, Inc. All rights reserved. 2 ANSYS, Inc. Proprietary
ANSYS Structural
Dynamics
ANSYS Structural
Dynamics
Aline BELEY
Pierre THIEFFRY
ANSYS, Inc.
Aline BELEY
Pierre THIEFFRY
ANSYS, Inc.
1 Why / what is rotordynamics
2 Equations for rotating structures
3 Rotating and stationary frame of reference
4 Elements that support Coriolis and/or gyroscopic matrices
5 CORIOLIS command
6 Campbell diagram - PLCAMP, PRCAMP, CAMP
7 Backward / forward whirl & instability
Rotordynamics outline
Outline
12 Examples
- 3D beam
- 3D thin disk (solid)
- Nelson (beam)
- Multi-spool with unbalance (beam)
- Transient orbits
- Industrial rotor models
Outline
8 Multi-spool rotors
9 Whirl orbit plots PLORB, PRORB
10 Bearing element COMBIN214
11 Unbalance response SYNCHRO
High speed machinery such as Turbine
Engine Rotors, Computer Disk Drives, etc.
Very small rotor-stator clearances
Flexible bearing supports rotor instability
Rotordynamics 1) why / what is rotordynamics ?
Why rotordynamics ?
Finding critical speeds
Unbalance response calculation
Response to Base Excitation
Rotor whirl and system stability
predictions
Transient start-up and stop
What is rotordynamics ?
Model gyroscopic moments generated
by rotating parts.
Account for bearing flexibility (oil film
bearings)
Model rotor imbalance and other
excitation forces (synchronous and
asynchronous excitation).
What analysis features are needed ?
Bearing support coefficients
)
`
=
)
`
+
)
`
y
x
y
x
yy yx
xy xx
y
x
yy yx
xy xx
F
F
u
u
K K
K K
u
u
C C
C C
&
&
Bearing coefficients may be function of rotational speed:
Typical Rotor Bearing System
Rotordynamics 2) theory
) ( ) ( K C
[ ] [ ] [ ] { } F } { K } ]){
gyr
C [ C ( } { M = + + + u u u
& & &
Dynamic equation in stationary reference frame
By extension, the Coriolis force in a static analysis:
} u ]{
cor
C [ }
c
{f
r
&
=
= dv
T
2 ]
cor
C [
Coriolis matrix in dynamic analyses:
[ ] [ ] [ ] { } F }
r
]){u
spin
[K K ( }
r
u ]){
cor
[C C ( }
r
u { M = + + +
& & &
(
(
(
(

=
0
0
0
x y
x z
y z
Rotordynamics 3) reference frames
Dynamic equation in rotating reference frame
Stationary Reference Frame Rotating Reference Frame
Not applicable in static analysis
(ANTYPE, STATIC).
In static analysis, Coriolis force vector
can be applied via the IC command
Can generate Campbell plots for
computing rotor critical speeds.
Campbell plots are not applicable for
computing rotor critical speeds.
Structure must be axi-symmetric
about spin axis.
Structure need not be axi-symmetric
about spin axis.
Rotating structure can be part of a
stationary structure (ex: Gas
Turbine Engine rotor-stator
assembly).
Rotating structure must be the only part
of an analysis model (ex: Gas Turbine
Engine Rotor).
Supports more than one rotating
structure spinning at different
rotational speeds about different
axes of rotation (ex: a multi-spool
Gas Turbine Engine).
Supports only a single rotating structure
(ex: a single-spool Gas Turbine Engine).
Ref:
Advanced
Analysis
Guide
Section 8.4 -
Choosing the
Appropriate
Reference
Frame Option
Rotordynamics 3) reference frames
Applicable ANSYS element types
Stationary Reference
Frame
Rotating Reference
Frame
Rel. 10.0
BEAM4, PIPE16,
MASS21 BEAM188,
BEAM189
SHELL181, PLANE182,
PLANE183, SOLID185
SOLID186, SOLID187,
BEAM188, BEAM189,
SOLSH190, MASS21
Rel. 11.0
SOLID185, SOLID186,
SOLID187, SOLID45,
SOLID95
Rotordynamics 4) ANSYS elements
Rel. 12.0
(planned)
SHELL181, SHELL63,
SHELL93, SOLSH190
CORIOLIS, Option, --, --, RefFrame
Specifies Coriolis effects flag for a rotating structure.
SOLUTION: inertia
Option
1 (ON or YES) Activate Coriolis effects (default).
0 (OFF or NO) -- Deactivate.
RefFrame
1 (ON or YES) Activate stationary reference frame.
0 (OFF or NO) Deactivate (default).
Rotordynamics 5) commands
Coriolis / Gyroscopic effect
OMEGA, OMEGX, OMEGY, OMEGZ, KSPIN
Rotational velocity of the structure.
SOLUTION: inertia
CMOMEGA, CM_NAME, OMEGAX, OMEGAY, OMEGAZ, X1, Y1, Z1, X2, Y2, Z2, KSPIN
Rotational velocity -element component about a user-defined
rotational axis.
SOLUTION: inertia
Rotordynamics 5) commands
activate KSPIN for gyroscopic
effect in rotating reference frame
(by default for dynamic analyses)
Specify rotational velocity:

Rotordynamics 6) Campbell diagram
Variation of the rotor natural frequency with respect to rotor speed
In modal analysis perform multiple load steps at different angular velocities
In post processor (POST1), use Campbell commands
PLCAMP: display Campbell diagram
PRCAMP: print frequencies and critical speeds
CAMPB: support Campbell for prestressed structures
Campbell diagram
Campbell diagram
PLCAMP, Option, SLOPE, UNIT, FREQB, Cname, STABVAL
Option
Flag to activate or deactivate sorting
SLOPE
The slope of the line which represents the number of
excitations per revolution of the rotor.
UNIT
Specifies the unit of measurement for rotational angular
velocities
FREQB
The beginning, or lower end, of the frequency range of
interest.
Cname
The rotating component name
STABVAL
Plot the real part of the eigenvalue (Hz)
Rotordynamics 7) rotor whirl and instability
Rotor whirl motion
whirl motion
Elliptical whirl orbit

x
y
Rotor whirl motion
As frequencies split with increasing spin
velocity, ANSYS identifies:
forward (FW) and backward (BW) whirl
stable / unstable operation
critical speeds (PRCAMP)
Rotordynamics 8) multi-spool rotors
Rotordynamics 8) multi-spool rotors
More than 1 spool and / or non-rotating parts, use components
(CM) and component rotational velocities
(CMOMEGA).
PLCAMP, Option, SLOPE, UNIT, FREQB, Cname
component name
SPOOL1
Multi-spool rotors
Rotordynamics 8) multi-spool rotor
Rotordynamics 8) multi-spool rotor
Whirl animation (ANHARMcommand)
Multi-spool rotors
In a plane perpendicular to the spin axis,
the orbit of a node is an ellipse
It is defined by 3 characteristics: semi
axes A , B and phase in a local
coordinate system (x, y, z) where x is
the rotation axis
Angle is the initial position of the
node with respect to the major semi-axis
A.
Rotordynamics 9) whirl orbit plot / print
Whirl orbit plot
PRINT ORBITS FROM NODAL SOLUTION
LOCAL y AXIS OF ORBITS IN GLOBAL COORDINATES
0.0000E+00 0.1000E+01 0.0000E+00

LOAD STEP= 1 SUBSTEP= 4
RFRQ= 0.0000 IFRQ= 2.5606 LOAD CASE= 0
ORBIT

NODE A B PSI PHI ymax zmax
1 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
2 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
3 0.38232 0.38232 0.0000 0.0000 0.38232 0.38232
4 0.70711 0.70711 0.0000 0.0000 0.70711 0.70711
5 0.92301 0.92301 0.0000 0.0000 0.92301 0.92301
Print orbit: PRORB
Plot orbit: PLORB
Whirl orbit plot / print
Rotordynamics 10) bearing element
COMBI214
Bearing element
2D spring/damper with cross-coupling
terms
REAL constants are stiffness and
damping coefficients
REAL constants can be table
parameters varying with spin velocity
Bearing element
k = k ()
c = c ()
! Example of table parameters input
omega1 = 0.
KYY1 = 1.e+4
KZZ1 = 1.e+7
omega2 = 250.
KYY2 = 1.e+5
KZZ2 = 1.e+7
omega3 = 500.
KYY3 = 1.e+6
KZZ3= 1.e+7
/com, Tabular data definition
*DIM,KYY,table,3,1,1,omegs
KYY(1,0) = omega1 , omega2 , omega3
KYY(1,1) = KYY1 , KYY2 , KYY3
*DIM,KZZ,table,3,1,1,omegs
KZZ(1,0) = omega1 , omega2 , omega3
KZZ(1,1) = KZZ1 , KZZ2 , KZZ3
et, 3, 214
keyopt, 3, 2, 1 ! YZ plane
r,1, %KYY%, %KZZ%
Tabular input for
REAL constant
Rotordynamics 11) unbalance response
Possible excitations caused by rotation velocity are:
Unbalance ()
Coupling misalignment (2* )
Blade, vane, nozzle, diffusers (s* )
Aerodynamic excitations as in centrifugal compressors (0.5* )
Unbalance response
SYNCHRO, ratio, cname
ratio
The ratio between the frequency of excitation, f, and the frequency of the rotational velocity of the
structure.
Cname
The name of the rotating component on which to apply the harmonic excitation.
Note: The SYNCHRO command is valid only for full harmonic analysis (HROPT,Method = FULL)
Unbalance response
= 2f / ratio where, f = excitation frequency (defined in HARFRQ)
The rotational velocity, , is applied along the direction cosines of the
rotation axis (specified via an OMEGA or CMOMEGA command)
Ansys command for synchronous and asynchronous forces
! Example of input file
/prep7
F
0
=m*r
F, node, fy, F
0
F, node, fz, , - F
0
How to input unbalance forces?
t j
b z
e jF F

= =>
t j
b b y
e F cos F F

= = t
( ) 2 / - t cos F sin F F
b b z
= = t
y
F
z
F
2
0
2
b
F mr F = = z
y
m
t
r
Unbalance response
= 30,000 rpm
CORIO, on, , , on
Modal analysis of a 3D beam (SOLID185 SOLID45)
Rotordynamics 12) examples
Stationary
reference frame
Ex: 1a
r
Frequencies
at 30,000 rpm using
QRDAMP eigensolver
Finite element solution
(SOLID185)
1 -0.62751987E-08 0.27924146E-03j
-0.62751987E-08 -0.27924146E-03j
2 0.0000000 4.6316102 j
0.0000000 -4.6316102 j
3 0.0000000 8.2842343 j
0.0000000 -8.2842343 j
4 0.0000000 18.515548 j
0.0000000 -18.515548 j
5 0.0000000 33.062286 j
0.0000000 -33.062286 j
6 0.0000000 41.619417 j
0.0000000 -41.619417 j
7 0.0000000 73.890203 j
0.0000000 -73.890203 j
8 0.0000000 74.113637 j
0.0000000 -74.113637 j
Analytical solution
from beam theory
1 0 0.00000000 j
0 - 0.00000000 j
2 0 4.64000956 j
0 - 4.64000956 j
3 0 8.32109166 j
0 - 8.32109166 j
4 0 18.5600383
0 - 18.5600383
5 0 33.2843666 j
0 - 33.2843666 j
6 0 41.7600861 j
0 41.7600861 j
7 0 74.889824 j
0 - 74.889824 j
8 0 74.2401530 j
0 -74.2401530 j
Ref: Gerhard Sauer &
Michael Wolf, FEA of
Gyroscopic effects, Finite
Elements in Analysis &
Design, 5, (1989), 131-140
Ex: 1a
less than
0.5% error
Ex: 1a
Mode 1 - Backward whirl
Mode 2 - Forward whirl
Animation of the whirl using ANHARMcommand
/com, SOLID185
coriolis, on
omega, 2*62.832, 0, 0 ! (20 Hz)
Ex: 1b
Clamped-free beam in rotating reference frame
SOLID185 BEAM188
196.42 195.61 First Bending
236.28 235.34
658.52 666.36 Second Bending
698.06 705.42
torsion 782.58 782.79
1340.9 1385.3 Third Bending
1380.0 1423.5

Comparison of frequencies SOLID185 / BEAM188
Ex: 2
Campbell diagram of spinning disk
Ex: 2
/com animation of the whirl
set,1,5
plnsol,u,sum
anharm ! >>>>>>>>
Spinning disk modeled with solid elements (SOLID45)
1522.0 1516.2 1273.0 1272.0 FW FW 6
1066.5 1068.7 1273.0 1272.0 BW BW 5
842.6 844.9 806.4 808.8 FW FW 4
760.0 762.4 806.4 808.8 BW BW 3
330.6 329.8 271.1 271.2 FW FW 2
213.6 214.5 271.1 271.2 BW BW 1
[1] Ansys [1] Ansys [1] Ansys F (Hz)
70,000 rpm 0 rpm Whirl
Damped Natural Frequencies (Hz)
1522.0 1516.2 1273.0 1272.0 FW FW 6
1066.5 1068.7 1273.0 1272.0 BW BW 5
842.6 844.9 806.4 808.8 FW FW 4
760.0 762.4 806.4 808.8 BW BW 3
330.6 329.8 271.1 271.2 FW FW 2
213.6 214.5 271.1 271.2 BW BW 1
[1] Ansys [1] Ansys [1] Ansys F (Hz)
70,000 rpm 0 rpm Whirl
Damped Natural Frequencies (Hz)
96,457 95,747
64,752 64,924
49,983 50,114
46,612 46,729
17,159 17,146
15,470 15,494
[1] Ansys
Critical speeds (rpm)
96,457 95,747
64,752 64,924
49,983 50,114
46,612 46,729
17,159 17,146
15,470 15,494
[1] Ansys
Critical speeds (rpm)
Ex: 3
Nelson rotor modeled with BEAM188
Ref. [1]: Dynamics of rotor-
bearing systems using finite
elements, J. of Eng. for Ind.,
May 1976
/com, animation of the whirl
set,1,5
plnsol,u,sum
anharm !>>>>>>>>
Ex: 3
Animation of the whirl (Nelson rotor using BEAM188)
Twin spool rotor model
- 2 spools (BEAM188)
- 4 bearings (COMBI214)
- 4 disks (MASS21)
Ex: 4 Unbalance response of a twin spool rotor
Disks are not visible (MASS21)
! Campbell plot of inner spool
plcamp, ,1.0, rpm, , innSpool
Ex: 4
Unbalance response of a twin spool rotor (Harmonic Analysis)
! Input unbalance forces
f0 = 70e-6
F, 7, FY, f0
F, 7, FZ, , -f0
! Solve
/SOLU
antype, harmic
synchro, , innSpool
/POST1
set,1, 262
/view, , 1, 1, 1
plorb ! >>>>>
Ex: 4
Unbalance response of a twin spool rotor (Harmonic analysis)
unsymmetric bearings
Stable at 30,000 rpm
(3141.6 rad/sec)
Ex: 5
Transient orbital
motion rotor
instability
Unstable at 60,000 rpm
(6283.2 rad/sec)
Ex: 5
L O A D S T E P O P T I O N S

LOAD STEP NUMBER. . . . . . . . . . . . . . . . 2
INERTIA LOADS X Y Z
OMEGA. . . . . . . . . . . . 3141.6 0.0000 0.0000

***** DAMPED FREQUENCIES FROM REDUCED DAMPED EIGENSOLVER *****

MODE COMPLEX FREQUENCY (HERTZ) MODAL DAMPING RATIO

1 -27.142724 203.90118 j 0.13195307
-27.142724 -203.90118 j 0.13195307
2 -0.18391233 272.56561 j 0.67474502E-03
-0.18391233 -272.56561 j 0.67474502E-03
All complex frequencies real
parts are negative
L O A D S T E P O P T I O N S

LOAD STEP NUMBER. . . . . . . . . . . . . . . . 3
INERTIA LOADS X Y Z
OMEGA. . . . . . . . . . . . 6283.2 0.0000 0.0000

***** DAMPED FREQUENCIES FROM REDUCED DAMPED EIGENSOLVER *****

MODE COMPLEX FREQUENCY (HERTZ) MODAL DAMPING RATIO

1 -30.277781 186.52468 j 0.16022861
-30.277781 -186.52468 j 0.16022861
2 6.0020412 289.58296 j 0.20722049E-01
6.0020412 -289.58296 j 0.20722049E-01
One complex frequency
has a positive real part
Damped frequencies
from QRDAMP
eigensolver
Modal analysis rotor instability
Stable at 30,000 rpm
(3141.6 rad/sec)
Unstable at 60,000 rpm
(6283.2 rad/sec)
1 Hard Disk Drive (I.Y. Shen and C.-P. Roger Ku A non-Classical
Vibration Analysis of Multiple Rotating Disks/Shaft Assembly ASME
1997)
1 Model
2 Campbell analysis
3 Mode shapes analysis
2 Blower Shaft
1 Model
2 Modal analysis
3 Unbalance synchronous response
4 Transient start-up
5 Campbell with thermal prestress
Rotordynamics 12) applications
Hard Disk Drive - model
Hard Disk Drive - model
ANSYS 4 disks model
Disks thickness = 0.8mm
Total mass = 87.5g
Spin = 755 rd/s
7855 elements
3 disks HDD sketch
Hard Disk Drive - Campbell
Hard Disk Drive - Campbell
***** FREQUENCIES (Hz) FROM CAMPBELL (sorting on) *****

Spin(rd/s) 0.000 376.992 753.984

3 BW 577.879 521.296 470.631
4 FW 578.196 640.950 709.918
5 BW 654.745 654.745 654.744
6 BW 668.441 611.326 559.352
7 BW 668.441 611.326 559.352
8 BW 668.441 611.326 559.352
9 FW 668.759 731.224 799.040
10 FW 668.759 731.224 799.040
11 FW 668.759 731.224 799.040
12 BW 668.834 668.834 668.833
Balanced and Unbalanced modes in
Stationary Reference Frame
(i,j)
x
where
i is the number of nodal circles
j is the number of nodal diameters
x is b for balanced or u for unbalanced
(0,1)
u
(0,0)
u
(0,1)
b
(0,0)
b
Hard Disk Drive mode shapes
2 modes (0,1) unbalanced : FW and BW
Disks are vibrating in phase Hub is titlting
Animation of (0,1)
u
Hub looks still
because its
displacements are
small compared to the
disks displacements
6 modes (0,1) balanced : 3 FW and 3 BW
1
2 3
Disks are
not
vibrating
in phase
Animation of first (0,1)
b
Hub is still
while disks
are
vibrating
1 modes (0,0) unbalanced
Disks are vibrating in phase Hub is moving axially
Animation of (0,0)
u
Hub looks still
because its
displacements are
small compared to the
disks displacements
3 modes (0,0) balanced
1
2 3
Disks are
not
vibrating
in phase
Blower Shaft - model
Blower Shaft - model
Impeller to pump hot hydrogen
rich mix of gas and liquid into
Solid Oxyde Fluid Cell.
Spin 10,000 rpm
ANSYS Model of
rotating part
99 beam elements
2 bearing elements
Blower Shaft - modal analysis
Blower Shaft - modal analysis
Frequencies and corresponding mode shapes orbits
***** FREQUENCIES (Hz) FROM CAMPBELL (sorting on) *****

Spin(rpm) 0.000 5000.000 10000.000

1.00xSpin 0.000 83.333 166.667
1 BW 115.552 105.999 96.640
2 FW 115.552 124.949 133.875
3 BW 490.534 448.773 413.217
4 FW 490.534 537.184 586.075

Blower Shaft modal analysis
Blower Shaft modal analysis
Campbell diagram
Frequency values
Stability values
Blower Shaft critical speed
Blower Shaft critical speed
First FW critical speed

***** CRITICAL SPEEDS (rpm) FROM CAMPBELL (sorting on) *****

Slope of line : 1.000

1 6222.614
2 7796.469
3 none
4 none
Bearings are symmetric so
FW critical speeds will be
the only excited ones
Blower Shaft unbalance response
Harmonic response to disk unbalance
- Disk eccentricity is .002
- Disk mass is .0276 lbf-s2/in.
- Sweep frequencies 0-10000 rpm
Amplitude of displacement at disk Orbits at critical speed
Bearings reactions
Forward bearing is
more loaded than
rear one as first
mode is a disk mode.
Blower Shaft start up
Transient analysis
- Ramped rotational velocity over 4 seconds
- Unbalance transient forces FY and FZ at disk
0 0.5 1 1.5 2 2.5 3 3.5 4
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
10000
Time (s)
R
o
t
a
t
io
n
a
l

v
e
l
o
c
it
y

(
r
p
m
)
Zoom of
transient
force
Displacement U
Y
and U
Z
at disk
zoom on critical speed passage
Amplitude of
displacement at disk
2 2
z y
U U Ampl + =
Transient orbits
0 to 4 seconds 3 to 4 seconds
As bearings are symmetric, orbits are circular
Blower Shaft prestress
Blower Shaft prestress
Include prestress due to thermal loading:
Thermal body load up to 1500 deg F
Resulting static displacements
Blower Shaft - prestress
Blower Shaft - prestress
Cambpell diagram comparison
No prestress With thermal prestress
Compressor: Free-Free Testing Apparatus used for
Initial Model Calibration
Compressor: Free-Free Testing Apparatus used for
Initial Model Calibration
+Z
Courtesy of Trane, a business of American Standard, Inc.
Compressor: Location of Lumped Representation of
Impellers and Bearings
Compressor: Location of Lumped Representation of
Impellers and Bearings
Compressor: SOLID185 Mesh of Shaft
Compressor: SOLID185 Mesh of Shaft
Very stiff symmetric contact
between axial segments
Compressor: Forward Whirl Mode
Compressor: Forward Whirl Mode
Compressor: Backward Whirl Mode
Compressor: Backward Whirl Mode
Compressor: Campbell Diagram with Variable Bearings
Compressor: Campbell Diagram with Variable Bearings
Solid Model of Rotor with Chiller Assembly
Solid Model of Rotor with Chiller Assembly
Meshed Rotor and Chiller Assembly
Meshed Rotor and Chiller Assembly
Analysis model Supporting Structure
Represented by CMS Super Element
Analysis model Supporting Structure
Represented by CMS Super Element
Housing and Entire
Chiller Assembly
Represented by a CMS
Superelement
Finite Element Model
of Rotor and Impellers
Analysis Model
Analysis Model
Impellers
Bearing
Locations
Outline of CMS
Superelement
Typical Mode Animation
Typical Mode Animation
Additional v11 Web Events
Additional v11 Web Events
ANSYS v11 Update
v11 Enhancements to Elements, Materials and Solvers
ANSYS CFX v11 Update
Pressure Vessel Module
Rotordynamics with ANSYS v11
ANSYS CFX TurboSystem
Fluid Structure Interaction - ANSYS and CFX
CFD Analysis with ANSYS CFX
ANSYS AUTODYN in Workbench
Design Modifications without CAD
Up-Front CFD using ANSYS CFX
Random Vibration Solutions in Workbench
http://www.ansys.com/special/ansys11/email1.htm

ANSYS V11 Rotor Dynamics Web Seminar

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2007 ANSYS, Inc. All rights reserved. 1 ANSYS, Inc.

2007 ANSYS, Inc. All rights reserved. 15 ANSYS, Inc. Proprietary

Elliptical whirl orbit

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