TORSIONAL VIBRATION OF MACHINE SYSTEMS

by
Ronald L. Eshleman, Ph.D., P.E.
OvccIov
VlvuIonInsIIuIc
Iluvcndon Hlls. Hlnos
Ronald L. Eshleman is director of the
Vibration Institute and a vibration
.
con
sultant to industry. His areas of expertise
include the design and development |f
machinery and fult diagnosis and cor
rection. He has published experimental
and analytical work in the fields o tor
sional vibrations, rotor dynamics, shock
isolation, and vehicle dynamics. Dr. Esh
leman is the technical editor o the Shock
and Vibration Digest a monthly jour
nal containing abstracts of published articles and reports, re
view articles, and news. He is active in the Acoustical Society of
America and the American Society |f Mechanical Engineers
and serves as chairman of American National Standards Insti
tute Committee S2 and as vice chairman of International
Standards Organization Committee TC 108.
ABSTRACT
Tls ui s concid vIl Ioisonul vhiuIon n Il
dsn. dvlounI. und lulI dunoss und oiicIon ol
uuclnsysIus.TllysculhluvoiolIoisonulvhiuIons
n slulIn sysIus und souics ol Ioisonul xcIuIon ui i
vvd. Tl concIs olIoisonul nuIuiul lquncis. ci!cul
sds isonunc.undisonslics.sIisss. unduoIons)
ui xlund. Tl lllovng uIlods li uodlng und cul
culuIng nuIuiul hquncs und isonss ui dscihd.
luud und onInuous uiuuIi uudls. Il Hol.i
uIlod. IluodulisonsuIIod, unddiicInIiuIonol
quuIonsoluoIon.TIsoluIonoluIiunsnIIoisonulvhiu
IoniohluolusyncIionousuoIoidivsysIusxlund.
Tl uusuiunI ol Ioisonul vhiuIon i IoIl Il hld und
IIluhoiuIoiysdsciihd; uonIoingundiohlucoiicIion
uiulusi.d. SysIus suljcId Io Ioisonul vihiuIons ui
usdIo illusIiuI uusuingIclnqus.
INTRODUCTION
All ioIuIng uuclniy undigos sou l:ii olIoisoiul
vhiuIon. InsoucussIlvliuIoncunnoIhdIcIdvIl
ouI scul uusuing quiunI vn vln II lvl is
closIodsIiucIivuulIud.unyuscIsolIoisonulvhiu
Ionui unulogous IosluIvhiuIonulIiIIeIvsIng sImss
undoluiuounIolniIuIuvlnsuhsiIuIdliIlslulI
hndng sImtss und duuIiul uounI ol niIu, isc
Ivly. Toisonul vhiuIon cun h snsd by nois lvl und
viliuIon icIihl Io Ioucl`vlnsouIhngudiuIsn
IiucIion ol Il vihiuIion viIl Il giound oi gui IIl oi
coulngjuvsunloud.CuisIsIluIuiusdIoulIisdsol
ovi Iiunsusson sysIus ullov IlinIiucIion ol Ioisionul
vihiuIionvIlIlgiound; sldiciunIuclunisusinngins
uudcouissoisiovdIluIlIoIlgioundniciiocuI-
ng uucIins. Il gui hoxsund/oiiciocuIing uucIinsui
13
uiI olu div Iiun. Ilili. xcss nos und vhiuIon cun
ndcuI Iiouhl.
SlwI vhiuIon ciIiu ui usuully quunI

Id n Iius ol
uoIons....dslucunI. vloIy. oiuccliuIon.oIons
uiiuilyuconivIlIoisonulvhiuIon.lovvi. hcuus
IlydonoIuhcIsysIuluncIon.luIli. IsIlsIisssIluI
dIiunIlsIiucIuiulnIgiIyundllolcouonnIs. Toi
sonulvhiuIoiyuoIons. unlIsluIvliln. ulvuysiodu
sIissivisuls. Ilihvuusng l.Igu |ouonnIsIoliuI
lssivisdsIissIlunsIudy sIiss. InuddIon. sIisscon-
cnIiuIon lcIois ussocuId vIl uuclnd uuhis iduc
Ill!cIvnssolloud-huin uuIiuls. Fiui l llusIiuIs
IlIvsInolu slat undIl Ioisonuluod slu olunl
Iic uoIoi-ouissoi sysIu. coulin in Il o\i Iiun
ullovsliusulgnunInussuhly. `oI Il uod slu
IslovsIluIIlsIhussolIloulngsuucllssIlunIluI
olIloIli slu't scIons.
AlIlouglIlIoisonul vhiuIon slovnn Fui1 ocuis
nIlliuolusnglluiuonc couonnI IlsisnoIusuuhy
IlcusvIliulsysIus. ToisonulvhiuIonusuullyIuIsIl
liu ol u coulx vhiuIon snul luvn uuny dihinI h
quncy couonnIs. SlocI lo uhiuI sIuiI-usund unloud
ng olui IIl cuus IiunsnI Ioisonul vihiuIons n sou
sysIus. und sIuiI-u ol synclionous lcIic uoIoi sysIus
cun cuus Ioisonul isonun. lundou Ioisonul vhiuIon ol
ioIuIng uuclns s iluIvlv couuon du Io ui nuc
cuiusundhull huindlcs.SllxIdvhiuIonIluI
is. Il uddIon ol niy Io u sysIu hy Is uoIon unIl I
iucls u luI cycl oi dsIiucIss noI couuon n ovi
IiunsussonundgniuIon sysIus. lIiul-uclunculn
IiucIon cun hin on Ils iohlu. Slui lluis n sluhs
cuusd hy Ioisonul vhiuIon usuully occui nui u sIiss con
cnIiuIon onI sucl us u Iyvuy oi Il onI uI vlcl Il
slwI duuIiclungs uhiuIly. Toisonul l.Iuis uunilsI
hy ui vui. gui IooIl lIgu, Iy llui. und slinI f
slug. `osIluIoccuisvlnguiIIlunloudndcuIsu
svi Ioisonul vibiuIon iohlu.
Allovull lvls olIoisonul vhiuIon luv noI yI hn
sIuhlisld ligniuluuclnsysIus hcuussouunyvui
iuhlsuiinvolvd.AllovuhlIoisonulvhiuIonlvlsdnd
on Il uuounI ol sIudv Ioiqu hng cuiid hy Il ovi
Iiunsusson couonnI. Toisonul uoIons sucl us slm d
hcIons i s ui noI isIicId hy luncIon; sIisss uusI
Ilus h culculuId und u coulI llui unulyss conducId.
Toliuhl uoIons in uosI sysIus ui dndnI uon Il
sImssundiluIivIvsIuciossIlcouonnI. ondgiol
IoisonulvhiuIonuulIudsusuullyunsuIslucIoiy, huIIy
icullyunoidioluugnIudlssissuIislucIoiy.Toisonulvhiu
Iion lvls usuully cunnoI h conIiolld und iducd ly d
ciusingIlsouicxciIuIionhcuusiIisIyicullyinducdhy
II uucIin luncIioi. IxcIons iclud gui IooIl nuc
cuiucis und ngn huluncing gus uid niIu l:ics`. !uu
ing dvcs cun h usdIo dissuI iigy. lovvi, Iuning
hy sIihss und iniIuiuiiungunIinIl sysIu sus Io
h IlhsIuIlod loi iducing IoisionulvhiuIon.
14 PROCEEDINGS OF THE SIXTH TURBOMACHINERY SYMPOSIUM
MODEL
MODE SHAPE
!1
l l
PUMP OR
COMPRESSOR
Figure 1. Torsional Vibration o an Electric Motor -Com
pressor Unit.
Tlsuisuno\ivvolIoisonulvhiuIonIclnology
und ncluds ngning gudlins li ulyng Il Iclnol-
ogyIosol\ngiohlus.TllysculnuIuiolIoisonulvhiu-
Ion s dscihd, us vl! us uIlods li culculuIon und uu-
suiiunI, Iclnqus l:i uusuiunI und unulyss. l.ulI
dugnossundcoiicIon.unduoiIunIdsgnconsdiuIons.
IiucIcul cuss n\olvng lcIic uoIois. ngns, und cou-
|issois uiivvd.
PHYSICAL ASPECTS
Ilyscully. Ioisonul vhiuIon s sului Io luIiul vhiu-
Ion. mi sluh IvsI lus hn suhsIIuId li slulI hndng
Toisonul xcIuIons und sIiss und uoIon uclunsus. n-
cludngciIculsds. sulundcoulxluiuoncuoIons.
IiunsnIundsll-xcIduoIonsuidscihdnIlsscIon.
Torsional Excitations
Tuhl l slovs sou souics ol Ioisonul vhiuIon xcIu-
Ion. IIslould hnoId IluI uosI olIls souics ui iluId
IoIlvoiI donhyIl uucln undIlus cunnoI hiuovd
oi iducd. |iIun consIiucIon und nsIulluIon souics
ui iunouI. coulng unhulunc. couln usulgnunI. und
gui IooIl uuclnng iioiscunhiducd. Funoi ul-
li ussng xcIuIons cun cluiucIi.d hy Il nuuhi ol
TBLE 1 SOURCES OF TORSIONAL VIBRATION EXCITATION
Souic
clunicul
Cui lunoul
Cui TooIIuclnngToliuncs
|ouling lnhuluic
!Hools ]oinl
|oulingisulignunl
Syslu Iunclion
SyncIionousoloiSlui1-u
5uig
IccnI+cilyolIulliSciolls
Ilud Iussng
oloiAii Cu Iccnliicily
Ingin Iiiing lul
Iuis
|oiissoiswilI\und!ihusis
oloioiTuihin!iivnSyslis
Ingin CuidSysluswilI
Sol |oulings
Ingin Cuid Syslis wilI
SlihCouling
AulIud
Aviug
Toiqu
?O-4O
1O-4O
`-1O
-1O
1-`O
Ooi
giuli
Fiquncy
l ,, ` , lI
`o. ol CuiTll , lI
I lI
? ,. 4 , 6
,
lI
`o. oldiv lunIs
lI
2 , sl hquncy
!cnds on Suig lul
`o. Iluds
,
lI
!nds on Ingin
!sign und Oiuling
|ondilions
`o. \unes
,
lI
`o. \uns II
`o.ol Iolsoi Iluds
lI
!nds onIngin
!sign und Oiuling
|ondilIons ,cunh
nund n , II)
!nds onIngin
!signund Ovuling
|ondilions
TORSIONAL VIBRATION OF MACHINE SYSTE.MS 15
hluds O vuns on Il vll. Il l.quny ol xIuIon
quuls IlnuuhiolhludsIusslulIsd Tl uulIud
ol ulsuIng Ioiqu s olIn gvn n Iius ol inIug ol
uviug Ioiqu gniuId n Il sysIus In uoi oulx
uss. ngns. li xuul. Il uulIl hqun.y ouo
nnIs dnd on ngn dsgn und ovi ouIuI Tl ilu
Ionsl hIvn gusluiuonsundniIuIoiqu luiuons
lus u huing on Il lvlol Ioisonul xIuIon Iissui un
hulun xIuIon s u hnIon ol nlI issui soui und
xInI ol usng dsIoiIon TI luiuons ol Ioisonul xIu
Ion hou suig u sIoI ondIon' ui dndnI oi lgli
IIun noiuul issui li u sloiI Iu und iuI ol issui
nius und dius
Torsional Response
Tl ouonnIs ol u Iyul ioIuIng uuln ui on
ncId Ili diIlyhy coulngsund slultsoi ndiIlyhy
guis.hlIs.und'oi oIlisd-lungng dvs lnsuh
j!d Io xIuIoi souis. Ils uussv olui uounI ol
niIu und lxhl ouonnIs uhsoih und dssuI nigy
und iodu u unqu uIIi ol Ioisonul uoIoi ulld i
sois lsonssiuIdIo Il dsgnolIluuln. . . .
I s ui iduIon olIl dh!ons und sIiss Io vll Il
sysIu s suhjId. Huiuon unulys un h usd Io hiuI
dovnisoisiIouiouolidvduulsiuivs ulsn
uiv lus Il lllovng ioiIs. uulIud. lus \Il i
! Io Il isons uiv uid hquiy Tls ioiI
ullovIluivsIohiliudIoIl oiiu isonsuiv
Ilus ungls. ohn ioI ohIund i luiuon unulyss. ui
icssuiyIoioisIiu!Il ions uiv
As vIl oIli lus ol vhiuIoi. Ioioiul vhiuIon n
uuliouisnluiuIisIuIIisullduodFui
l). Tl uod su s dndnI on Ioisoiul sIlss lh
n /iud`. olui uouiI ol niIu lh-i -s. und duui
lh-n.-s/iud) olIlvuiousouonnIs ouisi Il sys
Iu. TlvhiuIon hqunyuI\lcl Il uod slu ouis
sulldIlnuIuiullquny VliunuIuiullqunyoi
ds\Il unxIuIonhquny. u sIuI olisonun xsIs
AI isonun Il sysIu duui ulon onIiols Il uoIons
und sIisss n Il sysIu
IIlus hi noId IluI ouonnIs ol ioIuIn uulns
uusxIuIois Tuhl l) uI lquns IluI ui uulIls ol
sluh sd. I s li Ils iusoi IluI vhiuIon uods ui I
xId hy hquis oIliIlui Il hquny ol Il slult
sd liuslulI-ndudxIuIonoiisondsIoIll
quny ol uny uod olvhiuIon. u sul ondIon ol iso
nun ulld u iIul sd xsIs. Iui 2 llusIiuIs Il
iIul sd ol u uuln !jidn oi Il xIuIon
souis TuIl l), iIul sds un oui uI uuny slulI
sds. uiIuluily n iiouIn uulns Tl ouhiu
IonoluulIlxIuIonsund uulIlnuIuiulhquns
Ili hquns ui slovn n Fui 2 iodu so uuiy
iIulsdsIluIIsohndhulIIolnd usu oiuIonul
sd iun `oI. lovvi. IluI noI ull iIul sds ui
`iIul huusolnlinIsysIu duung und Il lvlol
xcIuIonAlIlouglxinvIlshuulnsnuhls
Il ngni Io dnIl, uoiIunI iIul sds. I s hsI Io
lI Il isons sIisss' Io dIiun vlIli oi noI u
uuln uusI h idsgndlisul oiuIon `oIulsoIluI
IlnuIuiulliquncsslovnliIlsysIunFgui2 donoI
lung vIl uuIn sd. Tls s unlI luIiul vhiuIon
Tl Ioisonul vhiuIon isons ol uucln sysIus s
usuully ouluId hy u luig nuuhiolciIculsds Un
lI luIiul uoIons, lovvi. nsIuhlIs und sll-xId
vhiuIonsui iui vIlIoisonulvhiuIon In sou cuss II

f
U
U
u
<
Q
|
*
U
U
`
CRITICAL
SPEED
3rdNATURAL
FREQUENCY
2nd NATURAL
FREQUENCY
----------_
1st NATURAL
FREQUENCY
SHAFT ROTATING SPEED (RPM)
Figure 2. Torsional Critical Speeds of Shaing Systems.
oulngoll!iouluiulouoniIssulusnduIoi
uoIoi divi sysIus un uul-xIdvhiuIons
ToisonulysIus ui susIhl Io l.luis usu isulI ol
IiuiiIxIuIoi AiudIuiIn hquuy oltiiquid
IoiviIoviluInlIi uoIoi \ndis` ndus lui
sIiss InuddIon. sIuiI-u \Il synIionous sd uoIoi
divsunIdsusIiouslu IoisoiulisoiuisxId Tl
isonunsIlisulIolu uuIliolIlynlionous uoIoi
x!uIonundIlsysIuIoisonulnuIuialhquiy Tlsyn
lioiou uoIoi lus u lui uluIi Ioiqu duin sIuiI-u
Tl hquny ol Il ulsuIon s quul Io I\ Il sl l
quny.uid Ivuis hou I\ Il lnl:qunyuI IuiI-u
Io .io uI synlionous sd. Any Ioisonul iIul sds
\IliIlshquiyiunuuyhxIdduinIlsIuiI-u
yl Ivn Iloul Il xIuIon s IiunsnI. Il ulsuIn
Ioiqu uuy lw sIiong noul Io uus sluh lluis ati sv
iul sIuiI-u yls. InxIiuly iIulsIuuIonsl.lui un
oui duin u snglsIuiI-uSoli [ l] lus unuly.d sul u
lluiunddouunIdIloiiIvuIonIuIn AIiunsnI
isois unulyss. onduId ioi Io quunI nsIulluIon.
ullo\s dIiunuIon oliquid sysIu lIu ll!ouglIy
[2] lusuhlslduIlnquIodIiunIls|duIvll
u sysIu uusI h uliuId Ilioul iIul sd Io uvod
unuIuhl sIisss
CALCULATIONS
|ululuIonshusdonuuIluuIuluodls, vlIliou
lx oi sul. un h ol vulu n dsgn. dvlounI, und
lulI dugnoss ol uuIns I lus hn slovn IIuI vhiuIon
s dndnI on Il uuss. lusI, und duung ioiIs
olIluuln SouicsolvhiuIon, culld uloingluncIon.
nlud iiocuIng uuss und hlud ussng TI uuss und
lusIc ioiIs dIiun Il nuIuiul liquncs ol II
sysIu und Ilus Il ciIcul sds !uung n Il liu ol
IuI dssuIon con IioIs II vhiuIon lvls !uung s
usuully uosI lcIv uI isonun Il lvl uI vlcI u
loing lunIon quuls u nuIuiul liqunc Tuhl 2 und
Fgui ` slov sou ol II nouncluIui usd n Ioisonul
vhiuIonulculuIons _ s ussuud Ioh uuclluigiIlun
IluI s_ s sIuIonuiy und vhiuIs
16 PROCEEDINGS OF THE SIXTH TURBOMACHINERY SYMPOSIU1
Jo
Figure 3. Modeling Torsional Vibration
a. Multimass model
b. Small model
MODELING
Tl iosI ioiIunIuiIolsolvn, uvhiuIonihli s
Il slcIon ol u iuIluuIcul iodl. Il ioss s ulld
`iodlng. Tvo hus iiois ui oiionlv ussouId vIl
IlsoluIonoluvliuIonihli: nuiiuliioiundiodl-
ng iioi. Tl hsI iuIliuIcul soluIon unnoI ovioi u
iodlngiioi. IIsioiIunIIoohIunIlhsIiodluvulu-
hl. l un uioxuuI soluIon s dsid. Il uodl un h
ivoiIdsoIluIsoluonsusi. AioxiuIiIlodsnd-
uI vlIli unsvis ui ll oi lov Tl iIlods usd Io
solv u iolli dcIuI Il iuIluuIul iodl IluI uusI
usd.
MuIliuIculsoluIonnvolvsululuIngIlisonsol
Il svsIi Iou ,vn xIuIon.
Excitation --
Soi lvsul onsdiuIons ui ioiIunI n iodln.
SvsIuiuss. duing. undling htncIonsuiuhsoluIvul-
us n cululuIons ol vhiuIon oi nuIuiul l:quncs. I uny
quunIIvsnglIdIIili. IaIsIlisulIs. SIlIsss
uiluIvquunIIy. IluIs. IlsIhsssoludjunIiihis
cunlcoiuidIodIiinusil uodl. IlonsIUnss
sunoidioliugnIudluigiIlunIludjucnIon.Iunl
gnoid. IoinsIun. udIuldiodlolu uooi-coiissoi
sysIi Igui l) ssIovnnIgui `u. Il Il sIhss olI
coulng s un oidi ol iugnIud lovi Ilun II udjunI
sluI. Il silhd Ivo niIu uodl ol Igui `l un l
usd. Ioiiulus und gudlns loi iodlng Ioisonul
vhiuIonscunl loundn`sIoids `].
Methods o Solution
TIiIodusdosolvunyvliuoniohli dnds
on I Iy ol iolli, Iu ulloId. und I uuiuy i-
quid. Tl uccuiucy ol l culculud isons und ol l
nuuiul liquncv dnd on Iluodl ol I Iysculioh-
liundInuiiiculclnquusdonIunulyiculiodl.
`uiiculculculuIonscunhiudvIIusldrl. dsI
culculuIoi.dsIcoiuIioilgl-sddgIulcoiuIi. TI
iIlodusds slcId on Ilhuss ol
iohlu oilxIv.
ucuiuv iquid
conoics. und
Ii.
Tl osI ol coiuIi Iu iusI lvgIdugunsIII
cosIoluiun. Olcouis.usoluiucIndosnocoilIlv
linuI Il us ol u iun. su iogiuiing und duIu n-
uI/ouIuI uusI h lundld.
Ioi sil sngl-dgi-ol-ldou svsIis Igui `h`
Il liiulus gvn n Tull ? un h usd Io cululuI Il
Ioisonul nuIuiul lquncs und isns. Ioi ioi coil-
uIdsvsIus I,ui `u`IlHol.i MIIod 4] s coiionlv
usd Io cululuI Il svsIi nuIuiul l:quns.
TIHol.iuIloduIl.sIiunsliiuIicsoiuguI
Il l!cIs ol ussuud und Inovn hounduiv condIons ucioss
un N sIuIon svsIi uodl. In Il Hol.i uIlod. Il nd-
ndnI vuiull s lquny. hi vlcI Il sysIi iod
slu s cululuId. I Il iod slu suIsl+s II lounduiy
condIons. Il ussuud l:quncv s u nuIuiul hquncv. In
UcI. Il dIiinuIon ol nuIuiul hquncs cun hu Iiul-
und-iioiioss. Tls Iiul-und-iioiiocsscunlidud
IounIiuIoniosshy ussuing.i IoiquuIIl llInd
ol u Ivul Ioisonul uodl. uI Il iglI nd olIl iodl Il
IoiqusloIIduuisduul hncIon Igui4`. Icuusonlv
IliluIvvulusolunguluidsluinIuiioiIunInIl
iodslu.IldslucinIuI IIll1 nds ussuidIoh
on. Tl nuIuiull:quncsui olIund hviouguIng Il
nul vulus uioss Il IiunsIi uuIis hi Il nIul |`
slulIsIuIonIoIll+nul(F) sluIsIuIon usslovnsIiuIcullv
nquuIon 1`.
()
IiucIul svsIis luv iunv sIuIonsnIliodl. Is Ili-
li noI iuIul Io iulIlv Il IiunsIi iuIics. InsIud.
Il dgIul oi dsI oiuIi s iiuiid Io Iiunsli Il
UcIs ol Il nIul ondIons. li un ussuid hqunv.
ucissIliodl. 1liodsluolIlsysIisdIiind
vln Il lquncy usd o iougu l nd condns
uiossIl iodl sl nuuiul l:quny.
TliIulsdsoluIoisonulsysIiuiolIundli
Il nuIuiul lquns und Il dsciIon l II Ioisonul
licnglnoinu. InuluisIioI-cylnIiulcoilusIon
ngn.IlngniunIslwIiuIsIvoivoluIonsicvcl.
Tl ngn cvlndi issui. P(t), s iod n Ivo ngn
i\oluIons.IniIulUIsuiiodcnonngnivo-
luIon. TI iuIliuIcul iluIonsl ] f Il iodc gus
und iniu oiqu s slovn in quuIon ?`. I lunduinul
iiod coiisonds ovo ivoluIons oll iunI.
T(wt}=P(t)rsi nwt [1
+
y coswt]
+
(
)_
[
r . . 3r .
2 rw
2
sm wt-sm 2wt-
2
sm 3wt] (2)
TORSIONAL VIBRAION OF MACHINE SYSTEMS 17
TABLE 2. NOMENCLATURE FOR TORSIONAL VIBRATIONS
Syilol lnil
f1ii t sc
!islucinl '1
iud
\locily 0
1
iud/sc
Accliulion
(l
iad/sc
Siingconslunl K in-ll/ud
!uiinglcloi
'
diinsionlss
Muss
11
ll-in-sc/iud
Ioicoiloiqu T = fJ 0
1
in-ll
Moinlui f101
in-ll-sc
Iiuls Tt
in-ll-sc
Kinlicnigy V2]1
0f ll-in
Iolnliulnigy V2KO[ ll-in
\oil
ll-in
f
Td(
!
`uluiul hquncy w,= iud/sc
1quulionol iolion
Iniliul condilions
Tiunsinlisonss
Sludyslul isonss
vli,
T(wt)
P(t)
I =
w
ngn ciunI oiqu
cylindi issui
ciunIiudus
conncng iod lngl
ngn sd
son iuss
li
wt ngn ciunI ungl
Tl cylndi issui-i vulus li vo ngncycls.
wt = ?O dg, ui sulsud no quuon ,?), dsci
nuiiculvulus ui olund li l ciunI oiqu us u lunc-
onolciunIungl. AIouiisisxunson, slovnnquu-
on (3) s usd o gniu u iuliucul dscion ol l
oiqu vs. ciunI ungl xpisson.
'
)
. wt + . + . 3
wt
_

O1 2 U] O1 wt __ O1 2 wt ....
(
3
)
Tl consuns,__
, _ _
. , ui diind ly u
Iouii unulyss G] ol l icdng nuiicul duu.Tls
xisson iisns l ngn ciunIslu oisonul licng
luncon.Tl uiguins ol l luiionc luncons ndcuI
lu l ciunIslul vll l licd u liquncs vlcl ui
iulls (112, 1, 3/2, ... ) n quuon (3) ui culld oidi
nuilis.Il u nuuiul liquny ol l sysi coiisonds
ounyolIlloicngliquncs,w/?,w, 3!2w, ... , lngn
sd, w, iuylu cicul sd l nsumcn duing sn-
lin n l sysi. 1quuon ,4) dscils l iluonsl
lvn ngn sysi nuuiul liquncs, oidi nuilis,
und ciicul sds.
nuuiulliquncy
Ciiicul s-d =
oidi no.
,4)
JJ
+ 1 + K = T0 sinwt
'
O`= 0
1
, 0(0) = Bo
O = Ae - ,w,t sin (w,rt + c)
w,r = Vl-
''w,
e, = <sinwt - t)
T
o
<=
V(K - ]1 w')' + (1w`
Tli ui iuny ciiicul sds du lo l iulil nuuiul
liquncs und oidi nuilis.Icuus ciicul sds ui
ioiunonlyvlnllyconcidvlngniunningsd,
only los nuuiul liquncs und oidi nuilis luI yld
iInn cicul sds nd l consdid.In iucc l
hisluinuuiulhquncsuiusdlilisonsunulyss.
s sil o xuin li li cicul sds.
Modal Analysis
Modul unulyss ] s u clnqu li diinng l
oisonulisonsoliuclnsysis. Tlnuuiulliquncs
und iod slus olund ly l Hol.i ilod ui usd
odiinllicdisons. Iiodclicnglnoinu
suclusgusundniuoiqusolngnsundndiulsu-
ng oiqu ui no luiionc und lili ius l clungd
hoi iodc o luiionc lii.
Modulunulysssuldooisonuliodls,ioduldui-
ng und synclionous und nonsynclionous sd licng l-
noinu ,gus, niu. und nd i oiqus) ui usd.Tl
nuili ol nuuiul liquncs ,diind ly l Hol.i
illod) lu uislcd dnd onl iung olloicngli-
quncsol ll iolli.A luncon conssng ol u vgld
uviugolliodslus,Igui l) sslovnn1quuon`.
N
6(x,t) fn(x)gn(t)
n
=J
vli:
( oisonul isons
fn
noiiul iods olund lioi Hol.i ilod
(
iiodc i vuiyngvglng lucois
N nuili oIiods
(5)
Tliodcivuiyngvgllngluclois, g
n
, uiuluncion
ol l sysn loicing luncons, h iodul duing lucois,
18 PROCEEDINGS OF THE SIXTH TURBOMACHINERY SY!vtPOSIU!\1

:
.

I
U
U
U
NATURAL
FREQUENCIES
FREQUENCY, W
Figure 4. Schematic Determination of Natural FrecJuencies
fom a Residual TorcJUe-FrecJuency Diagram
rotor speed, and system mode shapes. The modal damping
values used in this analysis are a function of the mode shapes
of the system. 1odal analysis is shown schematically in Fig
ure .. The modes are uncoupled and the vibration contrib
uted from each mode is calculated as if i were a single
degree-of-freedom system. At <:'ach frequency the results are
smmed (assuming a linear system) to obtain the system re
sponse.
Pollard [8] has used impedance techniques to solve
steady-state and transient torsional vibration problems.
Electrical-mechanical analogies are used to develop equations
that are solved on the digital computer. Direct integration
techniques fr determining the transient torsional response of a
machine system have been developed by Smalky [9]. Al
though expensive, direct integration can be used on nonlinear
systems; the other methods apply only to linear models. Smal
ley uses the Newmark 2nd order implicit method because it is
cost effective when the system to be analyzed has a wide spread
of natural frequencies. The high costs of direct integration frce
the analyst to minimize the number of degrees of feedom used
in the model. Smalley [9] has analyzed the stresses of a large
synchronous motor-driven compressor system using direct in
tegration. During start-up the drive torque was found to be
about three times normal full-load torque. Reduction of the
starting voltage to 84% reduced the maximum torque by more
than 20%, and the introduction of a rubber black coupling
fther reduced the start-up torque to almost full-load torque.
A torsional response analysis was used to determine the operat
ing conditions and design changes necessary to achieve reason
able start-up torques in a synchronous motor-driven compres
sor system.
MEASUREMENT AND ANALYSIS
Torsional vibration is more diffcult to measure than lateral
vibration because the shaft is rotating. Analytic procedures are
similar to those used for lateral vibration. In torsional vibration
work the experimentalist is limited to where measurements
can be made. Until the past fw years the torsiograph had to be
connected to the end of a sha to make measurements. Today
torsional response can be measured at intermediate points in a
system. Both strains and motions can be measured.
RESPONSE
FREQUENCY
Figure .. Modal Analysis of the Torsional Vibration of a
Machine System.
A test facility, such as that shown in Figure 6. and the
instrument panel associated with it (see Figure `. can be used
to measure torsional vibration. This fcility is used to measure
dynamic stifess and damping of flexible shaft couplings. A
four-cylinder gasoline engine is loaded with a brake
dynamometer and generates the torsional excitation required
to obtain the vibration charaeteristics of couplings. The engine
speed and dynamometer loads are controlled fi:om the panel
with closed loop controllers.
Strain gages are used to measure instantaneous torque on
the drive shaft near the engine flywheel and on the dynamome
ter sha. The strain gages in this test fcility were calibrated to
read instantaneous torque fom static torque loads. If calibra
tion is not possible, the stresses and/or torques can be calcu
lated from strength of materials theory. Strain gages can be
mounted at 45 angles so that shaft bending does not infuence
torque measurement. In addition, the strain gage bridge can
be arranged to compensate fr temperature. It is difcult to
take a strain gage signal fom a rotating shaft. In the fcility
shown in Figure 6 slip rings are used to obtain the vibration
signal from the shaft; wireless telemetry is also available. A
small transmitter, mounted on the rotating shaft at a conve
nient location, broadcasts its signal to a nearby receiver. Strain
gages are available in a variety of sizes and sensitivities and can
be placed almost anywhere on a sha. The strain gage signal is
processed by the bridge-amplifer unit shown in Figure . Test
results indicate directly the damage potential of torsional vibra
tion, but cannot be considered a diagnostic method that is easy
to use or quick to apply.
Only peak angular vibration is obtained from external tor
sional vibration measurement, unlike the analog signal ob-
TORSIONAL VIBRTION OF MACHINE SYSTEMS 19
Figure 6. Torsional Vibration Test Facility (Courtesy o
Lovejoy, Inc.).
Iund iou sIiun us. Tl iuI ol unului uoIon s uu-
suidundnIiuIdhyIlunIslovnnIui.Tlunu-
lui dsluunI un h uusuid uI Il nd ol u slult vIl
nodisunduIiIiuduIonIsvIluui-uunII-
u uiiununI slovn n Iui 6 on Ili sd ol Il
oulng.InlcI. IlnodulonIoluIoisonulvhiuIoniod
s olIn uI Il ouln. ouln, luhs Ililoi ui xllnI
louIons li uusuin Ioisonul vhiuIon. NuIu:ul l:quny
unduodsluululuIons-louldhuudhoisnsoisui
uounIdIouvodlunIlIuuIunod.Toisonulvhiu
Ionun uusuiduIuunynIiuduIonIsnu sysIu
so lon us u snsoi un h lud on u ui oi sou oIli
ioIiudn unI. n nni viud u luIsuv hlud
uiound u slult collui.
Tl hioud hund Ioisonul vhiuIon snul uusI h
unuly.d li ndvduul luiuon ouonnIs. uvloiu
unulyss l:i Ioisonul vhiuIon iohlus suoi dhulIIlun
liluIiulvhiuIoniohlus.InlI. uvuvunuly.isns
suiy li dunosIvoiI on Ioisonul vhiuIon iohlus. I
ui Su slovs uIoisonul isons snuIui olIl IsI llI\
Iui 6) . Tl nn vus iuinn uI 2, 000 iu undi
unuuu loud.TlvliuIon isonss IoIl on-lull oidi
undsondoidinnxIuIonsuivdnIuIhquns
ol 16 . H. und 66.6 H. isIvly. Tl `` H. l+isI oidi
snulsduIouussunhulunnIlsysIu.Tlunulosnul
n Iui Sh s un nsIunIunous Ioiqu uusuiunI. Tl
oulxsnuIuiiuIsIldlulIvuvliuunulyss.Tls
snul un h iossd n u Ioisonul vhiuIon unuly.i unI
slovn ,s Iui Io olIun Isluiuon onInI.
DESIGN CONSIDERATIONS
TllllovniIiuuiusuullyonsdidnIldsn
ol ovi Iiunsusson sysIus. lunIon. sIiuIuiul nIiIy,
sulIy. ll. osI. und uunIunuhlIy. Toisonul vhiuIon s u
lIoinsIiuIu:ul nIiIy ,uI-loud uuhlIy`. l ,lIu
du Io Ioisonul sIiss ivisuls`. und osI. |oulx vhiuIon
duuis oi uhsoihis un h osIly. sn iIiu l:i Ioi-
sonul vhiuIon ui quunIhd n Iius ol sIisss. hoIl Il
sIisssuIIihuIuhlIonoiuuluI-louduulnlunIonund
Il sIisss uisn hou Ioisonul vhiuIon uusI h onsd
id.
Procedures
dsniodui li IoisonulvhiuIoi unulyssunh
husd on uusuiunIs oi uuIluuIs ,s Iui J. Tl
sysIu uonnIs ... uoIoi ,div lunI` und ou
issoi. uu. O vll ,divn lunI`ui slId on
IlhussollunIoi.TlslIonolnIiuduIouonnIs
sulusoulns. hlIs. unduihoxsshusdonnoiuulloud
uuIy,dndnonIlIy olquunI, usivl.Ioi
s nludd`.
IlIlsysIusIohunuly.d muIluuIully. uuodls
iuid,sIui`.TlniIusundsIhsssolulloi-
Figure 7. Torsional Vibration Facility Control and Instrumentation Panel (Courtesy of Lovejoy, Inc.).
20 PROCEEDINGS OF THE SIXTH TURBOMACHINERY SYMPOSIUM
i
1
r

<
^
U


U
ii
\ .J

I

U
.2
I U

L

0 .! .2
DVD

J
-
.^

L\^1H
;1_31C JOC
bH
\V!J 1C ;1_J1C
NTN\ _1ICIC1Cl
^11 .__7 . '

A
|w
.5 .7 .8
T1

'

|
9
Figure 8a. Torsional Response Spectrum of an Engine.
'
r
'
[

fu
'
ILO
Jo 5
f
o
onnIsui IlnIli culculuId oi iusuid. Tl iodl s
ivoiId nIo Il lusIcoilcuId lii IluI vllyldiI-
nnI nliiuIon li unulyss: ncssuily coilcuId iodls
iqui ioi Ii Iosolv, undII xIiu duIu iquis ioi
IiIounuly.. AioIoIy unIsoIInussilld uIii-
linuiy culculuIons luv ln iud.
`uIuiul Iiquncs cun Ili l culculuId Iioi Il
iodl oi iusuidonIl ioIoIy; Ily ui soiIis dl

hculIIoiusui, lovvi.unduiisIicId lyIlxcIuIon

l:quncs. IoIlIlsysIiisonslquncyundIlxc-
IuIon hquncy iusI l iusuid. `uIuiul liquncs ui
olIund ndicIly hoi ciIcul sds. In u iciouIng
iucln sysIi, li xuil. loIl iucln sd und Ioi-
sonul isons iusI l iusuid. Huiion unulysssusd
Io dIiin Il xcIuIon hquncs. ciIul sds cun
IlnlculculuId. TluccIullIyoIIlunIslusdonIl
ciIcul sds und Il dsid oiuIng sd iung. Tl
dcson Io iodly Ili Il sIhss ol coulngs. llIs. oi
sluIsoiniIunoidiIoclung ciiIcul sdsvlldnd
uonlov clos Il oiuIng sds uiIociIcul sds. In
soi cuss ciIcul sds cun l lovid oi iusd so IluI,
duing oiuIon, Il oiuIng sd oI Il iucln s noI
clos Io uny ciIcul sds. In ngn-divn sysIis Igui
5
eccm
Figure 8b. Torsional Response Signature.
2) IIs s usuully noI ossll. II Ili ui iuny xcIuIon
oidisIioi iciocuIngiusss, iunyciIculsdsusuully
occuin IloiuIng sd iung. In sucl cuss u coilI
Ioisonul vliuIon isons unulyss slould l conducId Io
dIiinIlsIisslvlsnIlunI.SolIhxllcoulngs`
ui oIIn usd Io u\od ulgninIiollis. Tl sysIi Iln
vllluv u lov hnduinIulnuIuiulhquncyundu luigIi-
quncy nciinI lIvn Il lunduinIul und scond
nuIuiul liquncs. Muny dsgnis s. quinI so IluI
Ilslov hnduinul l:quncy s llov IloiuIng sd
iung.
!IiinuIon oIIl Ioisonul isons ol u sysIi i-
quis cluiucIi.uIon ol Il xciIuIon Ioiqus. Ili us u
IuncIon oIIi li IiunsnI unulyss oi us u IuncIon ol h-
quncylisIudy-sIuIunulyss. TlxcIuIonIoiqusundIl
iodluiusdIounuly.IlisonsoIIlsysIi.SIingIl
oIiuIiulsIclnqusuiuldIoIlIoisonulisonsIo
unuly.sIissundl.Igu. IoIliusuiinIsundculculuIons
ui oIIn usd Io unuly. Lluis. I Ioisonul ungului dh-
Ionsui uvulull hiioIoIy iusuiinIs, II sI

hiss
olcoionnIsnIliuIliuIuliodlcunlusdIoculu-
luI Il sIisss. AlIlougl sIiun iusuiinIs iovd Il
isuIsdicIly. IlyuiosIly. InducdcoionnIsIissund
iuIiulsIingIlhiIlLluiunulyssuiusdIosIiuI
l
ouooo:
: c
8oe:u:

Figure 9. Design Procedure for Torsional Vibration.
TORSIONAL VIBRATION OF MACHINE SYSTEMS
21
ouoiiI lI. Il issuiy ouonnIs ui uodl+d Io
lovisIisss.Suluodl|uIoi unhsuloiouluId
dndi onIl dsi onsIiunIs. IIsnoIulvuysoss-
hl Io udd niIu oi lui Il sIlss ol u ouoinI Io
oiiIuiohlu. i suluss. Iliuduui.vlldss-
uIs iiy usluI. oi ui uhsoili. vll uunus oi iui-
iuisIluluIonoliiy. uusIhudddIoIls\sIu.
Tls ioduis ui usuully osIly huI olti nssuiy.
Case History o a Motor-Driven Compressor
An iduIoi-uoIoi divi iiouIngouissoisys-
IuvusIoh dsndIooiuIuIIlisds. 1. 1Oiu.
1 4O iu uid 1.O iu. SihunI xIuIon ouiid n
Il iiouIig ouissoi ,Tuhl ` uI . 4 uid S Ius
iunii sd.Tuhl4slovsduIuliIluodlnIui`u.
Tl sIhss ol Il oinul oulig sviy uul lovi Ilun
uivoIli sIhussvuluiIl sysIu. IIsliIlsiusoi IluI
Il uodl ui h sulld us slovn n Iui `h Il hisI
iuIuiul hquiy cun h ululuId usng quuIoi ,6:. Tl
niIuvulus liIl uodl ui Il suuolullniIusonul
sd ol Il hxhl luiI Il couli. Tl sulhcd
uodllus Il lllovi cluiucIisIcs:
] |
`O.1 lh-i-s uoloi)
k 0. OOO ll-n./iad ,couln`
] `
1 Ou lI-n.-s ,ouissoi)
fn
39.6 Hz
(6)
1l nuIuiullquncyol `u.6H.cos IoIl `u .\-
cIuIonoIlundhou ll scoidoidiv!i+lonxIulonuI
1.1Oiu,1ull ``.1lilulv IoionulvIiulonuuuid
uio ll ouln d0+i oialon ol Il unl uI1.1Oii
vu. 6 di. MullluIon olIl loionul vIialon Iy
llcoulnIhsguvuvululivIi+loiyloiquol.0O
ll-n.TlulloadloiquiquiiiIv+uIouI4.OOOl!-n.
liIlunIundIloulnloudiuInvu OOOlI-n.. loIl
ll naIuial hquny ulculuIon and Il ion uuui-
uiI slovd IluIIl ouln vould l.tI.
AsIhi ouli (k `4u. `Oll-n./iud) vIluslglIly
luigi iuIn ,S4OO lh-n.) vus usd. NoI IluI Il sul
nuIuiul hquny liuulu s sIll vuld huus Il ouln
sIhsssunoidioluunIudlssIlununyoIlisIhssi
TABLE 3. MOTOR-COMPRESSOR FORCING
FREQUENCIES
!oici
Sd
Iiquny
,iu` Oidi H.
1O S ``
4 1!
S
1 4O S 1u6
4 uS
4u
1,1O S 16
4 S
`0
IlsysIu.TlsouliludululliiIuvuluol.4 lh-i.-
sc. Tl ululuId iuIuiull:quiy vus 91 H.clos Io
Il uS H. xIuIoi olIund hou Il luiIl oidi uI 1.4O
iu. usuiuiIs ivuld .1 di iluIv Ioisoiul
vhiuIonuiossIlouli.vlloiisondsIouvhiuIoiy
Ioiquol u14 lh-n.TluIIoiquvusIlusidudIo4 u14
lh-i..vlliovdIohsuIslIoiyloiuulioiuIoi.II
s olIn dhulI Io slI u ouli luvn hoIl Il ioi
loudiuIiuidusIh ssIluIiuIsoiuIoiuIuiuuhiol
sdsoi liu iui olsds.
FAULT DIAGNOSIS AND CORRECTION
TlsoluIoi oluIoisoiulvhiuIoi iohlussouIus
ohvousuoiolIi. IsioI.TlssIondsihsuIlods
usdIo dunos uid oiiI Ioisoiul vhiuIoi iohlus.
Diagnosis
Tl lulI dugnoss Ilnqus usd Io sIudy Ioisoiul
vhiuIoi iohlus ui ioI unlI Ilos uloyd i luIiul
vhiuIon. Sou uidisIundn ol Il lnounu ussouId
vIl Ioisonul vhiuIon s ssiIul. uodl sul u IluI
slovn n Iui ` oltn iovds islI iIo u iohlu.
KiovldolxcIuIoi hquis. nuIuiulliquis.und
uodsluscunhuldIoIldunoss unduisully
llIl i locuIn snsois vln uusuiunIs ui issuiy
IoohIunduIu. InuunyussIoisonulvhiuIoi uusIhuu-
suiduIu oiIiuoIl:ouvliIl lului ouiid. IIs
IliliushilIoIiovIluodslusoIluIIlIsIvulus
cun h usd Io uiuly. Il Llui uodolIluiI.
Corection
MosI Ioisonul vhiuIois uis hcuus Il sysIu lus u
lui nuuhi ol ciIul sds. Iiohlus ui oiiId hy
luin Il ciIcul sds ol Il sysIu so us Io ulIi Is
Ioisoiulisois. |iIulsdsuiluiduiodui
culldIuiihyulIinsIUssoiniIu.IIsousoiully
issuiyIouddduunuiduhsoiIoidvsIoIlsysIu
Io idu Ioisonul sIisss. luun dvs ullvuI sIiss
hy Ili uoIoi uid ui Ilus uoi hcIv vli usd i
sysIus IluI oiuI iui oi uI iIcul sds. luui d-
vcs slould l usd suiily lovvi. huus Ily ui
cosIly. |oiiIoi hy iducn xcIuIon s iohuhly Il hsI
coiiIonuIlodi iiul. huIsIllusIhcIv liIoi-
soiul vhiuIoi iohlus. Tl iuson s IluI uosI Ioisonul
vhiuIon oinuIs n uucln luicIon. Toisoiul vhiuIoi
oiiIonIliloiivolvsuodluIonolIlsysIuiuIli
Ilui iducIon olxIuIoi.
Case History of an Engine Crankshaft Failure
A suullgusolniivusdicIlyoiicIdIou ic
iocuIi ouissoi. Vlnvi lvo iciocuIn iuclns
uiconicId uoi-Ilun-usuuluIInIoislouldhudIoIoi-
soiul vhiuIois' !i Ils us iuidou iuiIsla lluisvi
occuiiiiIl ii. AciIculsduiulyssolIlsysIu
hliIvusussuhldludiduId IluIIl iivusnoI
iuiii iui u ciIcul sd. No isoisuiulysslud hi
coiducIduIIluIIu,lovvi soIvusIlhisIsIiIl
duioss ol Il vhiuIoi iohlu. A uodul uiulyss ol Il
sysIuvuscoiducIdusiuuodlolIlii-couissoi
sysIu 7]. Aiulyss olIlsIisssi Il ciuiIslulI ivuld
IluI iouiul sIiss lvls ,!ui !O; could vuiy us uucl us
2 dcidi oi Il oiiIuIoi ol Ilc uil hIvi Il
iiuidIlcouissoiciuiIslulIs.Iuidouuiuluioii-
IuIoioccuiidhcuusulrcIoi colluiludhi usdIocon-
icI Il uiIs; Ils vus Il souic ol Il iuidou ciuiIsluI
luluis. Tliohluvussolvcdhyluci IlslulIsduii
22 PROCEEDINGS OF THE SIXTH TURBOMACHINERY SYMPOSIUM
TABLE 4. MOTOR-COMPRESSOR MODEL
|oiounl |ouounl
` !sciilion
O oloi Aiiului
1 |ouliug-Hull
|ouliug-Hull
` |ouisoi|yliudi
4 |ouissi|ylindi
|ouisoi|ylindi
6 |ouissoi|yludi
OOOO

'OOO
"
"
U

l
"
'UO
.
<
7
:

C
'7OOO
"

;;
)
<
"
''OOO
O O |^ 'O cc cO ^l ^O
A1AC!|N1 |HAo| ANL| '|| l
Figure 10. The Relationship Between Attachment Phase and
Maximum Stress for the 3BHP Gasoline Military Engine with
Three Phase Air Compressor Attached.
ussuhlv o us I nsui u ioi lus iluIonsl hIvn
Il Iv unIs Tl iohli vould noI luv occuiid l u Ioi-
sonul vliuIon uuulvss lud hn uil ol Il dsn iocss
Case History of Engine Flywheel Gear Failure
Tl Llui occuiid n u luig dsl-ovid IiucIi
siui 1l uIinul lhi ui uIIulinI hIvn Il
ngn lyvIl und Iiunsusson luld In uddIon.
ciunIsIulIs vi Llng n un ngu Invn Io h ilull.
Toisogiul iusuiinIs vi uud on Il houI ol Il
nguuIvuiousoiuIng sdsundloudsTl Ioisogiul
icoids vi unuly.d und usd n onjuncIou vIl u
iuIIiuIul uodl I ohIuu sIisss u Il ui und
Ioluiouul Slihss
ol Iui!iu lh-iu/iud
,lh-in -sc`) X 1-
6
)
u6
4 6
4 O6
16 S
16 `
16 `
16 `
ciunIslu II vus lund IIuI. uI u no-loud dlug coudIon.
xcssv sIiss lvls occuiid n Il unI Hgl Ioisonul
vhiuIon xIuIon uIdlug sd s couuon n ngns h-
cuus ol Il lucI ol hulunc hIvn gusundniIu lis. In
IlsusIlsilsoluIonIoIlsiohluvusIonciusIl
ngn dlug sd hy 10O iu
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