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Dr. R Tiwari
Dr. R Tiwari
Dr. R Tiwari
Introduction
A brief history of rotor dynamics field has been documented
in the present review paper.
It reviews early development of simple rotor models,
analyses tools, and physical interpretations of various kind of
instabilities in rotor-bearing systems.
It also reviews developments of analysis methods for the
continuous and multi-degrees-of freedom systems that
allowed practicing engineers to apply these methods to real
turbo-machineries.
The paper also summaries work on dynamic balancing of
rotors, vibration based conditioning monitoring, and recent
trends in the area of rotor dynamics.
Dr. R. Tiwari (rtiwari@iitg.ernet.in)
Introduction
A rotor is a body suspended through a set of cylindrical
hinges or bearings that allow it to rotate freely about an axis
fixed in space.
Engineering components concerned with the subject of rotor
dynamics are rotors in machines, especially of turbines,
generators, motors, compressors, blowers and the like.
The parts of the machine that do not rotate are referred to
with general definition of stator.
Rotors of machines have, while in operation, a great deal of
rotational energy, and a small amount of vibrational energy.
Dr. R. Tiwari (rtiwari@iitg.ernet.in)
Introduction
It is very evident from the fact that a relatively small turbine
propels a huge aircraft.
The purpose of rotor dynamics as a subject is to keep the
vibrational energy as small as possible.
In operation rotors undergoes the bending, axial and
torsional vibrations.
Rotor
Bearing
Turbine
Stator
nf =
keff
F (t ) = F0 sin t
Fr
G(x,y)
Circular motion
Elliptical motion
Straight-line motion
= nf =
keff
M
Shaft whirling
direction
Shaft whirling
direction
Shaft
Shaft
Shaft spin
direction
Shaft spin
direction
Shaft whirling
direction
Shaft whirling
direction
Shaft
Shaft spin
direction
Shaft
Shaft spin
direction
Synchronous
whirl
(Heavy side flying in)
Dr. R. Tiwari
(rtiwari@iitg.ernet.in)
The change in phase between the force and the response is also shown
in Figure below for three difference spin speeds i.e. below the critical
speed, at the critical speed and above the critical speed.
Jeffcott Rotor
Gyroscopic effects
Campbell Diagram
1500
Synchronous Whirl
4F
4B
1000
3F
3B
500
2F
2B
1F
1B
500
1000
1500
2000
Spin Speed (rad/sec)
2500
3000
n=1
n=1
n=1
Instability
zone
B
A two-bladed propeller
A three-bladed propeller
cv
< 1+
n
cH
c H + cv > 0
= k /m
2
n
Resonant whip
When the shaft rotates at about twice the speed associated
with the system
2x
xx
R. Tiwari
(rtiwari@iitg.ernet.in)
SteadyDr.state
shaft
orbit
A
/2
-2
-1
Spectrum
b
-2
Backward
-1
A
f
Forward
Dr. the
R. Tiwari
(rtiwari@iitg.ernet.in)
Spectrum of
combination
resonance (complex FFT method)
Phenomena
Caused by
Reported/
Interpreted
by
Remarks
Whirling
unbalance
Rankine
(1869)
General motion
(Th)
Self centering of
rotor
unbalance
De Laval
(1983)
Unbalance
response (Exp)
Synchronous
whirling
unbalance
Critical speed
unbalance
Dunkerley
(1895)
Resonance (Th)
Kerr (1916)
Resonance (Exp)
Stable supercritical
response
Jeffcott
(1919)
Damped unbalance
response (Th)
Secondary resonance
gravity
Stodola
Dr. R. Tiwari
(rtiwari@iitg.ernet.in)
(1924)
unbalance
Unbalance
response (Th)
Caused by
Reported/
Interpreted by
Remarks
Instability
Shaft
asymmetry
Prandtl (1918)
Instability
analysis (Th)
Gyroscopic effect
Rotor
wobbling
Stodola (1924)
Free vibrations
(Th)
10
Threshold spin
speed for instability
Internal
damping
Newkirk (1924),
Kimball (1924),
Smith (1933),
Crandall (1961)
Instability
analysis (Th)
11
Threshold spin
speed for instability
Dissymmetry
of bearing
stiffness
Smith
(1933)
Instability
analysis (Th)
12
Oil whip
Nonlinear
Newkirk and
action of the
Taylor (1925)
oil wedge in a
journal
bearing
Dr.
R. Tiwari
(rtiwari@iitg.ernet.in)
Instability
analysis (Th)
Phenomena/effects
Caused by
Reported/
Interpreted by
Remarks
13
Self-excited
vibration
Contact between
rotor and stator
Baker
(1933)
(Th)
14
Oil whip
Hydrodynamic
bearing
Hori (1959)
(Th)
15
Steam whirl
Steam injection
on turbine blades
Thomas (1958)
(Th)
16
Flow induced
vibrations
Hollow rotor
containing fluid
Kollmann (1962),
Ehrich (1965),
Kuipers (1964),
Wolf (1968)
(Exp),
(Exp),
(Th),
(Th)
17
Instability
Seals
Jenny (1980)
(Exp)
18
Subharmonics/
combination
resonance
(Exp), (Th)
Phenomena/effects
Caused by
Reported/
Interpreted by
Remarks
19
Nonlinear
resonance
Oil films in
journal bearings
Tondl (1965)
(Th)
20
Subhamonic
resonances
Squeeze film
dampers
Ehrich (1966)
(Exp)
21
Nonstationary
response
Constant/variable
accelerations of
rotor speed
Lewis (1932)
(Th)
22
Shaft vibrations at
critical speeds
Varying spin
speeds
Natanzon (1952)
(Th)
23
Shaft general
motion
Varying spin
speeds
Grobov (1953,
1955)
(Th)
24
Damped critical
speeds
Hydrodynamic
bearings
New Delhi
Power Plant
Web Server
Web Browser
Internet
Data
Expert System
Bangalore
Power Plant
Web Server
Data
Recent Trends
The latest topic in rotor dynamics is a study of magnetic
bearings (a mechtronics product) (Schweitzer et al., 2003;
Chiba, et al., 2005), which support a rotor without contacting it
and active dampers.
This study has received considerbale attention since
Schweitzer reported his work in 1975. We are now a long way
from the approaches of Jeffcott and Prohl, a journey that
deserves its own history sometime.
Rotor
Bearing bush
Outer raceway of
rolling bearing (can
displace radially and
constraint not to
rotate.
Squeeze film
Electrodes
Rolling bearing
Rotor
Teflon
Electro magnet
Power
Amplifier
f
Rotor
Sensor
Controller
Conclusions
Research in rotor dynamics is aimed at improving the
understanding of rotor dynamic phenomena and improving
the performance of rotating machinery.
In most rotor dynamic systems the vibratory amplitudes are
sufficiently small that linear analysis of rotor and stator
deformations are satisfactory.
In rotor dynamics structural modelling is generally adequate
and most research is centered on fluid-structure interactions:
bearings, seals, blade forces, squeeze-film dampers etc. It is
here that the nonlinearities are concentrated.
Dr. R. Tiwari (rtiwari@iitg.ernet.in)
Conclusions
The equations of motion of such systems consist of a great
many linear equations coupled to a small handful of nonlinear
equations (Yamamoto and Ishida, 2001).
The most promising area of research for performance
improvement is active control.
I believe that it is not an easy matter to present a good and
enough complete history of rotor dynamics because there
exists an enormous number of publications in different nonEnglish languages (European, Russian, Japanese, etc.) .
Conclusions
Of course, it would be possible to mention some problems
and phenomena not commonly occurring in rotor systems,
e.g. special stability problems (e.g. investigation the stability
in the large domains of attraction), the effect of the tuning
the system into the internal resonance, mutual effect of lateral
with torsional/axial vibrations, effect of the limited source of
energy, etc.
Thank you.