Subject Incharge : Prof.

Chhaya Patil
Academic Year : 2020-2021
Class / Div : TE / B
Sem : V
Date : 21/9/2020

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 • Rotor Dynamics:
Critical speed of single rotor, undamped and damped

Balancing:
Static and Dynamic balancing of multi rotor system,
balancing of reciprocating masses in In-line engines,
V-engines (excluding other radial engines)

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 When a rotor is mounted on a shaft, its center of gravity usually does not
coincide with the axis of rotation of the shaft. This center of gravity is
normally displaced from the axis of rotation, although the amount of
displacement may be very small.

 This displacement of centre of gravity may be due to one or more of the

following causes :
1. Eccentric mounting of the rotor on the shaft
2. Lack of straightness of the shaft,
3. Bending of shaft under the action of gravity in case of horizontal shaft,
4.Non-homogeneous rotor material, and
5.Unbalanced magnetic pull in case of electrical machinery.

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  As a result of this initial eccentricity of the center of gravity from the axis
of rotation, shaft is subjected to a centrifugal force when it begins to
rotate.

 This centrifugal force acts radially outwards, which makes the shaft to
bend in the direction of eccentricity of the C. G.

 This further increases the eccentricity, and hence the magnitude of

centrifugal force. In this way the effect is cumulative and ultimately the
shaft may fail.

 Because of this unbalanced centrifugal force, a shaft starts vibrating

violently in the direction perpendicular to the axis of the shaft. This
phenomenon is known as whirling of shaft.
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  The speed at which the shaft starts to vibrate violently in the
direction perpendicular to the axis of the shaft is known as critical
speed or whirling speed.

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 Q. Derive the equation for the critical speed of a light shaft with a
single disc without damping.
Q. How is the critical speed of the shaft determined ?
Q. Derive necessary formulae for undamped system.

 SOLUTION:

 Consider a vertical shaft having negligible inertia and carrying a

single rotor, as shown in Fig

Fig.(a) shows the shaft in stationary condition, while

Fig. (b) shows the shaft in rotating condition

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 Let,
 O= point of intersection of bearing centre
line with the rotor. It is the point on the axis
of rotation,
 S= geometric centre of the rotor
 G= centre of gravity of the rotor
 m = mass of the rotor, kg
 E = eccentricity of the rotor i.e. distance
between the C.G. of rotor and geometric
center 'S', m
 y = deflection of geometric center 'S' from
point 'O‘ due to centrifugal force, m
 K = transverse stiffness of the shaft. N/m
 ω= angular speed of the shaft
ωn = natural circular frequency of lateral
or transverses vibrations of the shaft, rad/s

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  When shaft is in rotating condition as shown in Fig. (b), then there are
two forces acting on the shaft:

1.Centrifugal Force = mω2 (y + e) : It acts in radially outward

direction through point G.
2. Restoring Force = Ky : It acts in radially inward direction through
point G.

In equilibrium condition, the centrifugal force is equal to restoring

force. Therefore,
Centrifugal Force = Restoring force
mω2 (y + e) = Ky


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 From above Equation , it is clear that, as the angular speeds of the shaft ω
increases, the deflection of the shaft y increases. When ω becomes equal to ωn
the deflection of the shaft 'y' becomes infinity.
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  Thus , she speed at which the deflection of the shaft tends to be
infinity is known as critical speed or whirling speed. Therefore, the
critical speed or whirling speed of shaft is given by,

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  Ranges of Shaft Speed
From above Equation it is seen that, there are three ranges
of shaft speed ω:

Ranges of shaft speed

1. Shaft speed (ω) < Critical speed (ωc)

2. Shaft speed (ω) = Critical speed (ωc)
3. Shaft speed (ω) > Critical speed (ωc )

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 Ranges of shaft speed
1. Shaft speed (ω) < Critical speed
(ωc)
 When the speed of shaft is less than the critical
speed the deflection of shaft 'y' is positive.

 In this speed range, the deflection of shaft 'y'

and eccentricity are on opposite side of the
geometric centre of the rotor 'S‘

 This means the rotor rotates with heavy side

outwards, as shown in Fig.

 In this speed range, the deflection of shaft 'y'

increases with shaft speed ω

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 Ranges of shaft speed
2. Shaft speed (ω) = Critical
speed (ωc)

 When the speed of shaft is

equal to the critical speed the
deflection of shaft y' tends to
be infinity and the shaft
vibrates with large amplitude.
This may lead to the failure of
the shaft.

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 Ranges of shaft speed
2. Shaft speed (ω) > Critical speed (ωc)
 When the speed of shaft is greater than the critical speed the deflection of shaft
'y' is negative.
 In this speed range, the deflection of shaft 'y' and eccentricity "e' are on the
same side of the geometric centre of the rotor 'S'.
 This means, the rotor rotates with light side outwards, as shown in fig
 In this speed range, lyl> lel. As the shaft speed ‘w increases, the deflection of
shaft 'y' approaches -e.
 When w>> wc , y = - e; which means that the centre of gravity of rotor 'G'
approaches the axis of rotation O' and the rotor rotates about its C.G., as
shownin Fig. This principle is used in running high speed turbines by speeding
up the rotor rapidly beyond the critical speed. When "y‘ approaches -e', the
rotor runs steadily.

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