Dynamics of Non-Axisymmetric Rotor Shafts

A dissertation submitted in partial fulfillment

of the requirement for award

of the degree of

Master of Technology

in

Design of Mechanical Equipment

By

Murali Krishna J
(2006MED2131)

Under the guidance of

Dr. J.K.Dutt Dr. A. Darpe

Associate Professor Assistant Professor
Mechanical Engg. Dept. Mechanical Engg. Dept.

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DEPARTMENT OF MECHANICAL ENGINEERING

INDIAN INSTITUTE OF TECHNOLOGY, DELHI
(May, 2008)
 CERTIFICATE

This is to certify that the Major Project report titled "Dynamics of Non-
Axisymmetric Rotor Shafts" which is being submitted by Mr. Murali
Krishna J to Indian Institute of Technology, Delhi towards partial fulfillment
of award of Master of Technology, is a bonafide work done by him. He has
worked under our guidance and supervision and has fulfilled the
requirements for the submission of this work, which has reached the
requisite standards.

Dr.J.K.Dutt Dr. A.Darpe

Associate Professor Assistant Professor
Dept. of Mechanical Engg. Dept. of Mechanical Engg.
Indian Institute of Technology Indian Institute of Technology
New Delhi- 110016 New Delhi- 110016
 Acknowledgement

It is indeed a great pleasure for me to express my sense of profound

gratitude and indebtedness towards Dr J. K. Dutt and Dr A. Darpe,
Department of Mechanical Engineering, IIT Delhi for their valuable guidance
and suggestions and timely supervision.

I would also like to extend words of thanks to Mr. Madhu for his
assistance in lab. Last but not the least, I would like to extend my thanks
my batch mates Mr. Sham, Mr. Ashish, Mr. Nikhil, Mr. Sandeep, Mr.
Jagadesh and Mr. Anand for their knowledge enriched discussions which
helped me to find a way in several critical situations during project work.

Murali Krishna J

ii
 Abstract

It is observed that with the incorporation of viscous form of internal

material damping in the equation of motion, the stable operation of the rotor
shaft system is possible till the lower critical speed of the rotor shaft system;
the rotor become unstable there after and this behavior is similar to the one
shown by an axisymmetric rotor shaft system supported on the rigid support
with the incorporation of the stiffness and damping at the bearing support.
The instability of the system is not postponed, but the relative stability of the
stable system increases many fold with the introduction of active vibration
control measures applied to the rotor disk using a system of electromagnetic
actuator. Ti is possible to post pone the zone of instability and at the same
time increase the relative stability of the rotor system in the stable operation.

Keywords: Non-axisymmetric rotor, non-inertial frame of reference,

gyroscopic matrix, viscous form of internal damping, Campbell diagram,
Newmark Method, Isotropic Stationary support.

iii
Table of Contents
Page
Content
No.
Certificate i
Acknowledgement ii
Abstract iii

Table of Contents iv
List of Figures v
Chapter 1 Introduction 1
1) Types of Non-Axisymmetric rotors 2
2) Viscous form of internal damping 3
3) Vibration control using electromagnetic exciters 3
4) Overview of Report 3
Chapter 2 Literature Review and Objective 5

1) Review on dynamics of non- axisymmetric rotors 5

2) Review regarding the internal damping 5
3) Reviews regarding mitigation of vibration levels 6
4) Conclusion of literature survey 6
5) Objective 7
Chapter 3 Mathematical Model of the rotor-shaft 9
1) Shaft-Rotor element development 10
2) Disk element 15
3) Isotropic support 17
4) Internal damping 17

5) Calculation of Force Vector 19

Chapter 4 Modelling of Electromagnetic Exciters 21
1) Mathematical modelling of electromagnetic exciters 21
2) The Electromagnetic Force 22
3) Linearization of the Magnetic Force 25
4) The proportional-derivative control strategy 26

iv
Chapter 5 Theoretical Results 27
1) Convergence Test 27
2) Campbell Diagram for a simply supported rotor 28
3) Effect of support stiffness on the rotor system 30
stability
4) Gyroscopic effect on the rotor system stability 32
5) Effect of viscous form of internal damping on the 35
stability of the rotor
6) Response of the shaft with internal damping 36
7) Response of the shaft with Electromagnetic Active 39
Vibration Control
Chapter 6 Experimental Results 45
1) Response of the rotor at 3.3Hz 46
2) Response of the rotor at 5.7Hz 47
Chapter 7 Conclusion and Future work 49
1) Conclusions 49
2) Scope for Future Work 50
Reference 51
Appendix -I 53
Appendix-II 55

List of Figures
Fig.
Title Page No.
No
1) Types of non-axisymmetric cross-sections of shafts 2
2) Inertial and rotational frame of references of disk 9
element
3) A magnetic circuit formed between rotor shaft and 23
stator pole.
4) Geometry of the stator and the arrangements of coils 24
and poles for the electromagnetic exciters.
5) Block diagram representation of the control strategy 26
adopted by the electromagnetic exciters
6) Convergence test showing the first 4 natural 27
frequencies Vs no of elements
7) Line diagram of the non-axisymmetric rotor model 29

8) The Campbell diagram of the rotor along with real 29

part of the eigenvalue Vs shaft spin seep
9) Effect of support stiffness on the instability of the 30-32
non-axisymmetric rotor
10) Gyroscopic effect on the instability of the non- 33-34
axisymmetric rotor
11) Campbell diagram with viscous form of internal 35
damping
12) Response of the center of the disk at co = 10Hz 36

13) FFT of Response at the center of the disk (w =10Hz ) 37

14) Response of the center of the disk at CD = 50Hz 38
15) modal damping in the system at w =50Hz 38
16) The Campbell diagram with electromagnetic exciter 39

17) Response of the center of the disk at co = 50Hz 40

18) FFT of Response at the center of the disk (co =50Hz ) 40
19) Comparison of GPUBR of the rotor without and with 41
control action
20) the control currents i v. &i 42

21) Orbit plots of the center of the disk with out the 43
electromagnetic actuator
22) plots of the center with the electromagnetic actuator 43
at 50Hz
23) setup of a non-axisymmetric rotor with rectangular 45
shaft
24) Rap test on the setup 46
25) The response data and the FFT of the rotor at 10.0Hz 46-47
26) The response data and the FFT of the rotor at 15.0Hz 47-48

vi