Static load and dynamic forced performance of rigid rotor

supported on short length journal bearings (includes

thermal effects) MEEN 626. Luis San Andres (c)

Dr. Luis San Andres, UT/2000 Updated 09/04/09

Static load
2Fo ORIGIN := 1
Journal
bearing disk Ωt
Disk
Rigid 2M u
shaft Y

e
Clearanc
e circle
X
Figure 5.1. Rigid rotor supported on journal bearings.
(u) imbalance, (e) journal eccentricity

rotor properties

DATA for rotor

Krot 2M
WT := 500 ⋅ lbf Rotor weight bearing

WT Load per bearing

W :=
2 W = 1.112 × 10 3 newton

W
M := 1/2 rotor mass
g M = 250 lb

N
kshaft := 40 ⋅ 10 6 ⋅ Rotor stiffness on each side of disk (at midspan)
m
W
Rotor_sag := Rotor sag at midspan:
5 lbf
kshaft = 2.284 × 10 kshaft
in
Rotor_sag = 1.095 × 10 − 3 in
rotor properties

bearing geometry

BEARING GEOMETRY
D
D := 6 ⋅ in journal diameter R := journal radius
2

L := 2 ⋅ in bearing length Static shaft deflection due to rotor

weight = % of clearance

c := 0.003 ⋅ in radial clearance Rotor_sag

L = 0.365
= 0.333 c
D
bearing geometry
 RPM_max := 10000 MAXIMUM & design speeds # of cases for analysis Nmax := 50

RPMdesign := 7200

a := 0.2 ⋅ c
Amplitude of imbalance on rotor disk
Thermal model conditions κ := 0.8 Mechanical energy convected by lubricant.

λ := 0.70 Heat carry over - thermal mixing coefficient.

Tsupply := 50K Supply Oil Temperature Take deg-K as deg-C

Lubricant properties

PROPERTIES OF LUBRICANT MOBIL velocite No 10 (ISO VG 22)

N⋅ s
μsupply := 0.0143 ⋅ Lubricant viscosity at Tsupply in Pa-sec.
2
m
1
α := 0.028 ⋅ Alpha coefficient for viscosity equation.
K
kg
ρ := 862 ⋅ Density in kg/m3.
3
m
J
Cp := 1880 ⋅ Specific Heat in kJ/(kg C).
kg ⋅ K

Lubricant properties

Calculations
CALCULATIONS =======FIND journal eccentricity as rotor speed increases for given load

RPM_max
Dr := step in rpm n := 1 .. Nmax
( Nmax) Tsupply = 50 K
rpmn := Dr ⋅ ( n) rotor running speed(rpm)

π rad
Ωn := rpmn ⋅ ⋅ rotor speed(rad/sec) rpm
30 sec krpm :=
1000
itmax := 10 Max iterations for thermal loop VISCOSITY formula
− α ⋅( T−Tsupply)
μ ( T) := μsupply ⋅ e

Journal eccentricity ratio and attitude angle for STATIC equilibrium

Find journal eccentricity and operating temperatures
εguess := 0.8 Ttrial := Tsupply + 20K
ITERATIVE LOOP -
Given load, find operating
eccentricity & find temperature rise
SteadyJB ( ε , rpm , Tguess) := it ← 0
x← ε
1 Speed in rev/sec
N ← rpm ⋅
60 ⋅ sec
π Speed in rad/sec
Ω ← rpm ⋅
30 ⋅ sec
Teff ← Tguess
Guess (set) Effective temperature
Tguess ← Teff ⋅ 1.1
while ( it < itmax) ∧ ( Teff − Tguess > 0.1K)
it ← it + 1
effective viscosity
− α ⋅( Teff −Tsupply) σ = short length bearing
μ ← μsupply ⋅ e
Sommerfeld #
⎡ μ⋅ N⋅ L ⋅ D ⎛ R ⎞ 2⎤ ⎛ L ⎞ 2
σ ← π ⋅⎢ ⋅⎜ ⎟ ⎥ ⋅⎜ ⎟
⎣ W ⎝ c ⎠ ⎦ ⎝ D⎠ Root solver: find eccentricity ε for
⎡
( 1 − x 2)
2 ⎤ specified Sommerfeld #
⎢ ⎥
ε ← root − σ,x
⎢ 2( 2) 2 ⎥
⎣ x ⋅ π ⋅ 1 − x + 16 ⋅ x ⎦ Power loss

Power ← ( Ω) 2 ⋅ ⎛⎜ μ ⋅ R 3 ⋅ L ⋅ ⎟⎞ ⋅
π 1 Qo = inlet flow rate, θ=0
⎝ c⎠
(1 − ε )
2 .5
Qπ = flow rate at min film θ=π
(start of cavitation zone
Ω
Q0 ← c ⋅ R ⋅ L ⋅ ( ( 1 + ε) ) ⋅ Exit flow (side flow)
2
Ω
Qπ ← c ⋅ R ⋅ L ⋅ ( ( 1 − ε) ) ⋅ Temperature rise at θ=π
2
Qe ← c ⋅ R ⋅ L ⋅ ε ⋅ Ω
Thermal energy equations are
⎡ ( κ ⋅ Power) ⎤ probably incorrect. Please check
⎢ ⎛ Qe ⎞ ⎥
them with those in handout
⎢ ρ ⋅ Cp⋅ ⎜ Q0 − ⎟ ⎥
δTπ ←
⎣ ⎝ 2 ⎠⎦
Qπ
1 + λ⋅
Q0
Temperature rise at inlet plane
⎛ Qπ ⎞
δTin ← λ ⋅ ⎜ ⎟ ⋅ δTπ Max temperature at θ=π
⎝ Q0 ⎠
Tπ ← Tsupply + δTπ δT = T − TS
Tin ← Tsupply + δTin
Tguess ← Teff Effective temperature

Teff ← 0.5 ⋅ ( Tin + Tπ) Supply flow rate

x← ε
 Qsupply ← Q0 − λ ⋅ Qπ

⎛ Tπ Tin Teff Power s ⎞

return ⎜ ε Qsupply ⋅ σ⎟
K K K watt 3
⎝ m ⎠

( εn Tπ
n
Tin
n
Teff
n
Powern Qsupply
n )
σn := SteadyJB ( .1 , rpmn , Ttrial)

convert to physical units

Teff := Teff ⋅ 1K Tin := Tin⋅ 1K

Power := Power ⋅ watt Tπ := Tπ ⋅ 1K

Qsupply := Qsupply ⋅ 60000 LPM

Qsides := c ⋅ R ⋅ L ⋅ εn ⋅ Ωn ⋅ 60000
n

effective viscosity:
μ_n := μsupply ⋅ e
− α ⋅ Teff −Tsupply
n ( ) deg-C (actual)

Journal Attitude angle ⎡ π ⋅ 1 − ( εn) 2 ⎤ 180

ϕn := atan ⎢ ⎥⋅
⎣ 4 ⋅ εn ⎦ π
Calculations

STATIC LOAD PERFORMANCE: journal cccentricity and attitude angle

ε 1
0.9 φ 90 W = 250 lbf
journal eccentricity e/c

0.8 80
c = 3 × 10 − 3 in
Attitude angle (deg)

0.7 70
0.6 60
0.5 50
0.4 40
0.3 30
0.2 20
0.1 10
0 0
0 2 4 6 8 10 0 2 4 6 8 10

rotor speed (krpm) rotor speed (kRPM)

POWER LOSS (kW) on each bearing

W
= 20.833 psi
9.539 L⋅D
Power (kW) per bearing

7.154
L = 2 in
4.769 D = 6 in

2.385

0
0 2 4 6 8 10
rotor speed (kRPM)
 LUBRICANT FLOW RATE (LPM)
5

Bearing inlet flow rate (LPM) 4

0
0 2 4 6 8 10
rotor speed (krpm)
Qsupply
Qsides

FILM temperatures: effective, inlet to film, exit at 180deg

Tsupply = 50 K
Exit Temperature vs. Rotor Speed
70
Exit Temperature (C)

Tπ 65

Tin 60

Teff
55

50
0 2 4 6 8 10
krpm
Rotor Speed (krpm)
*
T (pi)
T inlet film
T effec
OTHER BEARING OPERATING PARAMETERS
Minimum Film Thickness h2 := ⎣⎡c ⋅ ( 1 − εn)⎤⎦ ⋅ 10 6
n

Minimum Film Thickness vs. Speed c = 0.076 mm

80

Film Thickness (um)

64
48
h2
32
16
0
0 2 4 6 8 10
krpm
Rotor Speed (krpm)
Effective viscosity (C-Poise)
s
Viscosity vs. Rotor Speed μ ( Tsupply) = 0.014 N⋅
2
m
Effective viscosity (c-Poise)

10

μ_ ⋅1000

0
0 2 4 6 8 10
krpm
Rotor Speed (krpm)
7Friction Coefficient Powern
μf :=
n Ωn ⋅ R ⋅ W

Coefficient of Friction vs. Rotor Speed

0.15
Coefficient of Friction

0.1
μf
0.05

0
0 2 4 6 8 10
krpm
Rotor Speed (krpm)
Reynolds Number c
Ren := ρ ⋅ Ωn ⋅ R ⋅
μ_n

800

Reynolds Number
Ren 600

Ren ⋅( 1+εn) 400

Ren ⋅⎡( 1−ε) n⎤

⎣ ⎦
200

0
0 2 4 6 8 10
krpmn
Rotor Speed (krpm)
Force coefficients evaluation

Short length journal bearing:

rotordynamic force coefficients at equilibrium position

4 ⋅ σn ⋅ ( εn) 2
fro := π ⋅ σn ⋅ εn
fto :=
n
⎡⎣1 − ( εn) ⎦ 2⎤ 2 n 1.5
⎡⎣1 − ( εn) 2⎤⎦
Dimensional Stiffness (Fo=W)
Dimensionless Stiffness
L 2
μ_n ⋅ Ωn ⋅ ⎛⎜ ⎟⎞ ⋅ L ⋅ R
fro
⋅⎡ f ( )
+ 1 + 2 ⋅ ( εn) 2⎤
n 2
kxx := ⎝c⎠
⎡ 2⎤ ⎣ ron ⎦
εn ⋅ ⎣1 − ( εn) ⎦ Fo :=
n
n 4 ⋅ σn
fro
( n)
⋅ ⎡ fto 2 + 1 − ( εn) 2⎤
n
kyy := Fo
εn ⋅ ⎡⎣1 − ( εn) ⎦ ⎣ ⎦
n 2⎤ n
Kxx := kxx ⋅
n n c
fto
( n)
Fo
⋅ ⎡ fro 2 − 1 + ( εn) 2⎤
n
kyx := n
Kyy := kyy ⋅
εn ⋅ ⎡⎣1 − ( εn) 2⎤⎦ ⎣ ⎦
n
n n c
Fo
n
fto Kyx := kyx ⋅
( )
c
⋅ ⎡ fro 2 + 1 + 2 ⋅ ( εn) 2⎤
n n n
kxy :=
εn ⋅ ⎡1 − ( εn) 2⎤ ⎣ n ⎦ Fo
n
⎣ ⎦ Kxy := kxy ⋅
n
n n c

⎛ Kxxn Kxyn ⎞
Kb := ⎜ ⎟
MATRIX of STIFFNESSES
n ⎜ Kyx Kyy ⎟
⎝ n n⎠
Dimensionless Damping
Dimensional Damping
2 ⋅ fto Coefficients
( n)
⋅ ⎡ fro 2 ⋅ ⎡⎣2 + ( εn) 2⎤⎦ + 1 − ( εn) 2⎤
n
cxx :=
εn ⋅ ⎡⎣1 − ( εn) 2⎤⎦ ⎣ ⎦ Fo
n
n
Cxx := cxx ⋅
n n c ⋅ Ωn
2 ⋅ fto
( )
⋅ ⎡ fto 2 ⋅ ⎡⎣2 + ( εn) 2⎤⎦ − 1 + ( εn) 2⎤
n
cyy := Fo
n
εn ⋅ ⎡⎣1 − ( εn) ⎦ 2⎤ ⎣ n ⎦ Cyy := cyy ⋅
n
n n c ⋅ Ωn
2 ⋅ fro
( n)
⋅ ⎡ fto 2 ⋅ ⎡⎣2 + ( εn) 2⎤⎦ − 1 + ( εn) 2⎤
n
cxy := Fo
εn ⋅ ⎡⎣1 − ( εn) 2⎤⎦ ⎣ ⎦
n n
Cxy := cxy ⋅
n n c ⋅ Ωn
cyx := cxy
n n Cyx := Cxy
n n
⎛ Cxx Cxy ⎞
Cb := ⎜ ⎟
n n
MATRIX OF DAMPING COEFFS
n ⎜ Cyx Cyy ⎟
⎝ n n⎠

Force coefficients evaluation

STIFFNESS AND DAMPING COEFFICIENTS

8
2×10 30

8
1.5×10
Damping (N.s/m)

20
Stiffness (N/m)

8
1×10

7
5×10
10

7 0
− 5×10 0 2 4 6 8 10
0 2 4 6 8 10

Rotor Speed (krpm) Rotor Speed (krpm)

Kxx Cxx
Kyy Cyy
Kxy Cxy
-Kyx Cyx
 kxx ⋅ cyy + kyy ⋅ cxx − cyx ⋅ kxy − cxy ⋅ kyx
Equivalent bearing stiffness for rigid rotor n n n n n n n n
keq :=
n cxx + cyy
n n

7
2.8×10
7
Equiv. Stiffness (N/m)

2.7×10
7
2.6×10
7
2.5×10
7
2.4×10
7
2.3×10
7
2.2×10
0 2 4 6 8 10

rotor speed (krpm)

Whirl frequency ratio

WFRn :=
( keqn − kxxn) ⋅( keqn − kyyn) − kxyn⋅kyxn
cxx ⋅ cyy − cxy ⋅ cyx
n n n n

0.55
whirl frequency ratio

0.5

0.45

0.4

0.35
0 2.5 5 7.5 10
Rotor Speed (krpm)
Threshold speed of instability(krpm) ⎛ 30 ⎞
keq ⋅ Fo ⎜ ⎟
n n ⎝ π ⎠
Ωt := ⋅
n M⋅c WFRn

Rigid Rotor
11.53
Threshold speed (krpm)

8.647
Ωt
1000 5.765
krpm
2.882

0
0 1.25 2.5 3.75 5 6.25 7.5 8.75 10
krpm
rotor speed (krpm)

Critical Rotor Mass for rigid rotor

keq ⋅ Fo
n n Recall the rotor mass: 2 ⋅ M = 226.796 kg
Mc :=
c ⋅ ( Ωn) 2 ⋅ ( WFRn) 2
n

McR := 2 ⋅ Mc
n n

100
Mcrtitical/Rotor Mass

10
McR
2 ⋅M
1

0.1
0 1.25 2.5 3.75 5 6.25 7.5 8.75 10
krpm
rotor speed (krpm)
Effect of shaft flexibility on threshold speed of instability:
Threshold speed of instability calculated including rotor sag at midspan.

Ωt
n Natural Frequency (rpm) of Flexible Shaft
Ωtf :=
n 1
2 ωn := WFRn ⋅ Ωtf
⎛ 1 + k ⋅ Rotor_sag ⎞ n n
⎜ eq ⎟
⎝ n c ⎠

Flexible Rotor
15
N
kshaft = 4 × 10 7
12.5 m
Ωtf
Threshold speed (krpm)

1000 Rotor_sag
10 = 0.365
Ωt c
1000 7.5

ωn The threshold
1000 5 speed of
instability is lower
krpm for the flexible
2.5
rotor than for the
rigid rotor model.
0
0 2 4 6 8 10
krpm
rotor speed (krpm)
flex rotor
rigid rotor
nat. freq rot
sync line
Synchronous response of flexible rotor due to imbalance

The equations of motion for both rotor and journal bearings are given below. The
coordinates of rotor and disk motion have origin at the static equilibrium position.
Let:
k := kshaft
ROTOR MASSLESS BEARINGS
⎛ d 2 ⋅ X ⎟⎞
m⋅ ⎜ + k ⋅ ( X − x) = m⋅ a ⋅ ω 2 ⋅ cos ( ω ⋅ t)
⎜ dt 2 ⎟
⎝ ⎠ ⎛ dx ⎞
⎜ dt ⎟ ⎛x⎞ ⎛x − X⎞
( CI , J) ⋅ ⎜ ⎟ + ( KI , J) ⋅ ⎜ ⎟ = −k ⋅ ⎜ ⎟
⎛⎜ d 2 ⋅ Y ⎟⎞ ⎜ dy ⎟ ⎝y⎠ ⎝y − Y⎠
m⋅ + k ⋅ ( Y − y) = m⋅ a ⋅ ω 2 ⋅ sin ( ω ⋅ t) ⎝ dt ⎠
⎜ dt 2 ⎟
⎝ ⎠

a = 1.524 × 10 − 5 m a
imbalance displacement = 0.2
c

The rotor disk (X,Y) and journal center displacements (x,y) are synchronous with
the imbalance excitation, i.e.

X = Xc ⋅ cos ( ω ⋅ t) + Xs ⋅ sin ( ω ⋅ t) Y = Yc ⋅ cos ( ω ⋅ t) + Ys ⋅ sin ( ω ⋅ t)

x = xc ⋅ cos ( ω ⋅ t) + xs ⋅ sin ( ω ⋅ t) y = yc ⋅ cos ( ω ⋅ t) + ys ⋅ sin ( ω ⋅ t)

⎛1 0⎞
Find the solution. Define UNIT matrix I2 := ⎜ ⎟
⎝0 1⎠
Rotor (complex) displacements

−1
⎛ Xn ⎞ ⎡ − 1⎤ ⎡ M ⋅ a ⋅ ( Ωn) 2 ⎤
⎡ ⎤ ⋅⎢ ⎥
( −1
)
1
⎜ ⎟ := ⎢−( Ωn) ⋅ M ⋅ I2 + ⎢⎡ Cbn ⋅ i ⋅ Ωn + Kbn⎤ + k ⋅ I2⎥ ⎥
2
⎝ Yn ⎠ ⎣ ⎣⎣ ⎦ shaft ⎦ ⎦ ⎢ −i ⋅ ⎡M ⋅ a ⋅ Ω 2⎤ ⎥
⎣ ⎣ ( n) ⎦ ⎦

Journal (complex) displacements

⎛ xn ⎞ ⎛ Xn ⎞
⎝ yn ⎠ ⎣ ⎣ ( )
⎦⎦
−1
⎜ ⎟ := ⎡kshaft ⋅ I2 + ⎡ Cbn ⋅ i ⋅ Ωn + Kbn⎤⎤ ⋅ kshaft ⋅ ⎜ ⎟
⎝ Yn ⎠
Amplitudes of rotor and journal motion
Xm := Xn Ym := Yn
n n
 xm := xn ym := yn
n n

show responses in dimensionless form (amplitude/clearance)

Imbalance response Rotor center

0.8
ROTOR
CENTER
Rotor center (X & Y)

0.6

0.4

a
= 0.2
0.2 c

0
0 2 4 6 8 10

rotor speed (krpm)

X/c
Y/c

Imbalance response - journals JOURNALS

0.3 CENTER
Journal disps (X & Y)

0.2

0.1

0
0 2 4 6 8 10

rotor speed (krpm)

X/c
Y/c

Exercise: Calculate the major and minor axes of the ellipses describing the (X,Y)
motions. See Appendix A of Childs' Rotordynamics Book:.