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1974

A Unified Matrix Formulation for the Unbalance

Response of a Flexible Rotor in Fluid-Film Bearings
Charles Thomas Jr

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Recommended Citation
Thomas, Charles Jr, "A Unified Matrix Formulation for the Unbalance Response of a Flexible Rotor in Fluid-Film Bearings" (1974).
Thesis. Rochester Institute of Technology. Accessed from

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A UNIFIED MATRIX FORMULATION FOR THE UNBALANCE

RESPONSE OF A FLEXIBLE ROTOR IN FLUID-FILM BEARINGS
by
Charles B. Thomas Jr.

A Thesis Submitted
in
Partial Fulfillment
of the
Requirements for the Degree of
MASTER OF SCIENCE
. in
Mechanical Engineering

Approved by,

Prof.

Name Illegible
(Thesis Advisor)

Prof.

Name Illegible
(External Reviewer)

Prof.

Name Illegible

Prof.

William L. Halbleib

Prof.

Name Illegible
(Department Head)

DEPARTMENT OF MECHANICAL ENGINEERING

ROCHESTER INSTITUTE OF TECHNOLOGY
ROCHESTER, NEW YORK
July, 1974

-3

ACKNOWLEDGEMENTS

.ft

.$

The

tion to

author

those

research

who

in

and

takes
have

thesis research.
of

the

author's

To

ing funds,

as

insight,

of

course

professional

research

direction

contributions

apprecia

thesis

this

for

advisor,

of

the

author's

to

the

development

career.

Mechanical

of

thesis

author's

and

for his

Also,

Department

the

the

Rieger,

interest,

continued

him in the

assisted

his

express

particular:

To Professor N.F.
his

opportunity to

this

which

assistant,

for the

Engineering

thesis

this

made

support

pos

sible.

To

Professor W.
for his

committee,
this
the

thesis
final
To

and

Halbleib,
into

insight

for his

member

the

of

author's

theoretical

the

encouragement

and

thesis

presentation

guidance

of

in preparing

manuscript.

Professor W.

committee,

for his

Walters,

insight,

member

and

of

the

suggestions

author's

thesis

concerning this

investigation.
To
interest

To

Professor
and

Karlekar,

J.

for his

F.

Mech.

Eng.

concerning the

suggestions

Professor

University,

B.

and

time

for his

final manuscript.

Booker, Mech. Eng.

interest

Dept., RIT,

Dept.,

Cornell

in reviewing this

investigation.
To
ment

the

during

patience

and

author's

the

wife,

author's

professional

Sandra,

graduate

work

for her
program

in the

continued

and

typing

encourage

for her outstanding

of

this

thesis.

ABSTRACT
An

the

and

steady-state

the

on

analysis

this thesis.

These

properties

theory
shear

to

effects

are

form the

bearing

represented

as

development

necessitated

for the

From the
and

was

tigated the
uniform

third

to

four test

effects

elastic

critical

of

of

Test

case

ends

in fluid-film bearings

to

predict

elliptical

of

several

overhung

three,

case

observed

unbalance

disk

and

analytical

these

two

and

three

results

models.

theoretical

of

of

in test

for two

overhung

model.

Correlations

Lund

and

Orcutt

ad

inves

speeds

through

within

2%.

at

its

four

of

the

ability

investigations
in test

experimental

rotor

are

planes.

one

and

presented

case

account

program's

speed

the

The

the

supported

the

are

written

critical

results

Critical

combinations,

case

up to

rotor

demonstrated

Presented

disk

the

on

was

identify

Test

response,

2%

to

bearing

to

order

asym

loading

variables

in

within

properties.

elements.

program

orbits.

results

beam

coordinate

elastic

beam

Transverse

matrix.

computer

rotor

and

elastic

unbalanced

the

stiffness

uniform

curves

and

technique.

with

shaft-disk

by Dunkerley.

one

whirl

predicted

response

this

The

agreed

speed

of

coupling effects,

complex

two

cases

support

rotor.

involved

two

in the

development,

limitations

and

of

assemblage

Bernoulli-Euler beam

stiffness

on

effects

in

isotropic,

Gyroscopic

use

axial

using the

by

dynamic

the

motion

above

applied

vantages

of

an

as

based

presented

are

matrix,

and

mass

determining

rotor-bearing system,

properties,

end

optional

coupling

idealized

neglected.

linearized

general

developed

for

program

stiffness

continuous

are

equations

metric

is

The rotor

of

dynamic

that have

elements

computer

response

of

concept

are

values

the

configurations,

with

also

the

experimental

presented

for

TABLE

OF CONTENTS
PAGE

i
iii

LIST OF FIGURES

LIST OF TABLES

iii

iv

NOMENCLATURE

iv

1.0

INTRODUCTION

2.0

STATEMENT OF THE PROBLEM

3.0

LITERATURE SURVEY

4.0

DEVELOPMENT OF A GENERAL ROTOR ELEMENT

4.1

Equation

of

4.3

Lateral Vibration for

Uniform

16

Beam Element

Elastic

4.2

l6

The Dynamic

Plane,

due

to End

and

y-z

and

Bending Moments.

The Dynamic

in the

Shearing

for

Stiffness Matrix

Beam in

Elastic

[k]

Stiffness Matrix

Two Dimensions

x-z

23

Forces

Uniform

Based

33

on

Closed Form Exact Solutions

4.4

Axial Assembly

of

System

of

Uniform Elastic

36

Beam Elements

4.5

Effects

on

the Dynamic

Stiffness Matrix due

to Fluid-Film Bearings

at

the

Ends

of

40

the

Beam Element

4.6

Effects

on

to Disks

4.7

4.8

Shear

the Dynamic
at

the Ends

General Unbalance
and

Stiffness Matrix due

Moment

Force

Balance

the

of

Beam Element

Vector
at

48

General Node

58

62

PAGE

5.'0

69

PRESENTATION OF EXAMPLE PROBLEMS

Critical Speed

5. 2

Unbalance Response of a Uniform Elastic Rotor

Supported

5.3

5.4

Lund

on

Uniform Elastic Shaft

81

94

in Rigid Bearings

Orcutt Test Rotor

and

73

in Fluid-Film Bearings

Overhung Disk
Supported

Map for

Uniform Elastic Rotor

5.1

(MTI Rotor)

One

103

Three Disk Models

and

6.0

DISCUSSION OF RESULTS

117

7.0

CONCLUSIONS

122

8.0

RECOMMENDATIONS

124

9.0

REFERENCES

125

10.0

APPENDIX A

11.0

APPENDIX B

THE DYNAMIC

STIFFNESS MATRIX

128

THE ELLIPTICAL

135

EQUATIONS FOR

WHIRL ORBIT

12.0

APPENDIX C

WHIRL RADIUS FOR

SYMMETRIC ONE

137

MASS MODEL

13.0

APPENDIX D

BEARING DYNAMIC

STIFFNESS AND DAMPING

l4l

COEFFICIENTS
14.0

APPENDIX E

COMPUTER

PROGRAM

"ROTOR"

145

LIST OF FIGURES

Figure

PAGE

Title

Free
of

Body Diagram

an

of

Differential Length

18

Moments

25

Element

Applied End Forces

3.

Numbering Convention for Axial Assembly

4.

Free Body Diagram

Elements

of

an

Free

Body

Diagram

of

Beam

Free

Body

Diagram

of

Disk

Free
and

and

Assembly

Unbalance

Steady-State

37

Beams

Beam

37

Forces

41

Two

Bearing

with

50

Body Diagram of Nodes

Moments Acting

of

of

with

51

Disk Forces

59

Force
Unbalance

59

Force

62

General Node

10

Forces

11

Example

12

Rotor Model for Test Case

13

Critical Speed Map for Uniform Elastic Rotor

14

Mode

15

Typical Unbalance

16

Rotor Models for Test Case 2

17

Unbalance ResponseROTOR, 1MASS

18

Distributed

19

Response Curves for 2,

Test Case 2- FINITE5

and

Moments

Acting

Rotor-Bearing

Shapes

at

65

System

76

77
78

for Uniform Elastic Rotor

and

Response

no

Curve

for Test Case 1

87

Cross-Coupling Test

Consistant Mass

4,

and

79

Models-

Case

Test

Case

6 Element Solutions

88

89
90

20

21

Test Case

Curves for
2- ROTOR

Unbalance

Response-

Response

2-

Case
22

FINITE

Element

4,

no

Cross-Coupling Test

Response-

Test Case

2-

23

Model

Idealization for Test Case

24

Mode

25

Critical Speed vs. Overhung Length for

Models I and II of Test Case 3

26

Typical Unbalance
Rotor

27

Models

28

Model

29

Theoretical
and

Shapes

with

FINITE

5,

92

Cross-Coupling

Response

Idealization

93

ROTOR

Overhung Disk

for the

4-

for Test Case

Damping

PAGE
91

ROTOR

5,

Unbalance

and

Solutions

2,

and

Curve

Models

for Overhung

Lund, Orcutt

Rotor

for Test Case 4

and Equivalent Bearing Stiffness

Properties for Test Case 4

98

100
101

102

110
111
112

30a

Unbalance Response of One Disk Rotor

Center Position- Test Case 4

113

30b

Unbalance Response of One Disk Rotor

End Position- Test Case 4

114

31a

Unbalance Response of Three Disk Rotor

Center Position- Test Case 4

115

31b

Unbalance Response
End Position- Test

116

Bl

Elliptical Whirl Orbit Dimensions

136

Cl

One

137

Three Disk Rotor

Case 4
of

Mass Model
Journal

Bearing

Dl

Fluid-Film

D2

Dynamic

Representation

Damping

Coefficients

of

141

Bearing Forces by Spring

and

144

153
El

Sample

E2

Program

Input-Output

Problem

for ROTOR
154

Listing

ROTOR

ii

LIST OF TABLES
Table

PAGE

Title

Critical Speed Results for Test Case 1

80

Model Description

83

Results for the 2, 4, and 6 Element Idealization

for Test Case 2- FINITE5 , ROTOR

85

Disk Properties

for Test Case 3

94

Critical Speeds

of

Calculated Critical Speeds

Test Case 4

of

Test Case

Overhung Rotor

ii:

by

Prohl Method

99

109

NOMENCLATURE

cross-sectional

unknown

eccentricity

B.

unknown

length

shaft

A^

xx

|DX y

in.

area

coefficients

of

in.

unbalance

coefficients

of

overhanging

shaft

of

portion

in.

diameter

bearing damping

in.

lb.

coefficients

-sec.

in.

,D

yx'

yy
E

F^-F1Q
H

c,g*

Young's

for

lb. /in.2

section

shaft

transendental frequency functions

moment

of

for spinning disk

vector

momentum

respect

to

its

acceleration

of

gravity,

cross-sectional

with

modulus

center

of

gravity

386.4

in/sec.
in.4"

transverse

moment

inertia of the shaft section

to its center of gravity
I

IT

polar

transverse

disk

-/-l

i2*k

unit

K_
K

mass

with

moment

mass

bearing

in

spring

of

moment

respect

vectors

inertia

of

its

to

x,y,z

with

of

respect

the

inertia
center

of

of

of

disk

lb.

-m. -sec.

the

lb.

-in. -sec.

gravity

direction respectively

coefficients

lb. /in.

,K

yx'

yy
-

MD

length
mass

of

of

shaft

section

disk

in.
lb.

-sec.

in.

Mo

eccentric

unbalance

mass

lb.

-sec.

in.
iv

12
,

etc

the

Nc

|^( )

sl2,etc

zx

t
u

first subscript refers to

the surface on which it acts,
second refers to the direction in which it
acts when referred to the coordinate system j
the first superscript refers to the end
the
position (1- left end 2-right end),
second refers to the element number.

bending

left to

U=UR-ti.U-r-

of

indexing

right
of

critical

speed

denotes

the

same

part

V=VR+i

x,y
z

ol

Vj-

rotor

displacement

steady-state

rotor

in the

x-

displacement in
are the real and

direction

of

axial

coordinate

angle

between

in.

y-direction

rotor

in.

x-direction

displacements in
are the real and

displacement

rotation

in

rotor

directionj
imaginary

bending

moment

parts

steady-state

x-z

(2)

lb.

superscripts

sec.

VR,Vj-

and

for the

time

elliptical

as

meaning

imaginary

of

subscripts

direction; UR, Uj
v

axial

an

rpm.

real

force {

shear

for

number

sections

shaft

assembly

have
-

moment?

normal

y-

parts

rotor

displacements

x-axis

and

major

semi-axis

of

orbit

about

y-axis

i.e.

rotor

slope

in

rad.

plane

steady-state

rotor

slope

in

x-z

plane

rad.

Ug
rj

P
to

weight

rotation

in

"W

density

y-z

about

of

shaft

x-axis

lb. /in.

section

i.e.

rotor

slope

rad.

plane

steady-state

rotor

slope

in

y-z

plane

rad.

***

GV,Oy

angular

precession

and

column

in the

y-z

x-z

column

column
of

fF

[K^]
LKeJ

[Kg 1

Tk| J
\kX J

fKpJ
Tk ^1

the

and
x-z

plane

forces

and

moments

vector

and

forces

end

and

planes

y-z

of

bearing

forces

at

left

of

bearing

forces

at

right

end

of

disk forces

at

the

left

end

of

disk forces

at

the

right

end

shaft

vector

shaft

vector
shaft

vector

end

shaft.

force

general

unbalance

general

nodal

dynamic

stiffness

matrix

in

dynamic

stiffness

matrix

for

shaft

section

the

and

dynamic stiffness matrix for

in the x-z and y-z
planes

shaft

section

"*

x-z

point

y-z

matrix

of

left

matrix

of

right

matrix

of

left

matrix

of

right

structure

general
and

/sec.

forces
in the

-A

C^xzl

the

end

applied

of

the

rad.

plane

in the

column

section

applied

of

vector

of

shaft

general

the

axis

/sec.

respect

with

end

applied

moments

column

disk

rad.

of

the

vector

of

on

column

of

y axes)

of

and

velocity about

vector

moments

rotor

of

(angular velocity
to

JF

speed

force

vector

x-z

for

structure

plane

planes

bearing

end

end

end

of

rotations
vi

bearing
disk

end

dynamic

vector

vector

disk

effects

effects

effects

stiffness

nodal

effects

matrix

point

displacements

in

1.0

INTRODUCTION
All

rotors

forces.

unbalanced

fail

to

high

speed

totally

response

forces

at

have

includes
to

response

ones

response,

due

The

range.

series

of

response

unbalance

vs.

High

speed

accurate

Such

an

usually has

would

response,
an

play

lem-.-

Although

the

have

important
problems

role

in

speed

but

not

and

Inclusion

lowers

the

opposite

each

of

critical

effect.

of

An

rotor

be

determined

from

by

plotting

rotor

peak.

generated

overall

these

of

of

instability.

in the

speeds

throughout

investigation

include

other

speeds

can

response

and

the

critical

Each

rotor

areas

may

for

need

total rotor-bearing dynamic

the

balancing

infinite.

calculations

calculations

applications

of

the

speeds

critical

locate

the

specified

response

analysis

analysis

areas

to

rotor

speed

more

unbalance

actual

the

critical

observed.

calculations

at

damping),

critical

for the

speeds,
build

[15 J

Orcutt

amplitude

be

would

and

values

involves

to unbalance,

(i.e.

conventional

actually

the

analysis

allowed

For

critical

bearing flexibility

give

bearing damping

while

unbalance

speed

the

its

of

any

of

procedures

unbalance.

causing large

Lund

by

that the

tend

balancing

of

theoretically

speed

bearing flexibility in

speed,

of

energy is

of

lower than the

are

capable

shown

bearing damping,

near

influence

the

under

residual

rotor

observations

which

calculations,

are

critical

investigators,

which

whirl

strictest

the

eliminate

Experimental

the

Even the

Unless dissipation

up.

and

flexible rotor running

the unbalanced

the

deflect

will

of

problem.

speeds,
these

vibration

exist

prob

simul-

taneously
of

in

high

single

combined

analysis

speed

rotor

the

makes

the

application,

for

useless

solution

complexity

practical

purposes.

The

Orcutt

[15],

combine

This

more

complex

physical

is

possible

made

computers

and

accurate

speed

and

unbalance

speeds

of

occur

in the operating

fined

as ;

"The

rotor

speed

occurs.

Where

critical

speeds

However,

rotor

the

rotor

theoretically
Therefore,
a

modes,

even

includes

damping
tigated.

the

coincide

at

be
the

known

the
equations.

are

an

The

system.

that

so

none

may be

speed

critical

de

maximum-amplitude

effect

the

with

occurs,

systems

case,

machine

run

pass

through

several

to

is

system

infinite

an

chosen

lower

bearing

coefficients,

which

the

natural

the

reflects

with

effects

Also,
their
of

and

run

down

of

its

critical

elastic

number

correct

speeds.

forces

up

uniform

be mathematically

should

model

local

which

gyroscopic

possesses

to

range.

be

single

formulate

ensuing

any rotating

must

of

calculations

to

[22.1

general

the

require

at

no

frequencies."

In the

speed

of

design

proposed

the

and

digital,

can

engineer

representation

response

analysis

into

generation

new

handle

how to

of

is

etc.)

problems

The

mathematical

integral step in the design

critical

the

with

available.

fear

without

[17],

Booker

and

the rotor-bearing

of

system,

Critical

Ruhl

and

(i.e. Lund

literature

published

aspects

hybrid

and

analog,

in the

[18]

Rieger

certain

analysis.

trend

current

of

would

structure

critical

speeds.

which

speeds.

in representing the rotor,

the

by

effects

choosing

associated

of

the
model

stiffness

bearing damping

may be

higher
which

and

inves

3
With the

information

investigation
of

the

system

critical

information

This
,

to

unbalance

response

procedures

literature
procedure

not

meant

to

and

of

the

dynamic

of

one

stiffness

distributed

an

ability to
is

the

work.

of

of

and

the

stiffness

matrix

the

existing

key

relative

to

concept

includes
mass

effects

which

left

as

the

are

use

derivation
stiffness,

rotary

The

but merely
The

dynamic

inertia,

procedures

response,

this

of

thesis

problem.

effects,

rotor

[39]

Rieger

programs,

investigated.

efficiency

is

shaft

in the

available

allows

directly.

the
is

the

proce

Several

system.

in this

approach

for the

concept,

developed
response

to

range.

of

program

lumped

procedures

speed

by

existing

this

procedure

discussed

calculate

point

damped

as

which

stiffening

are

programs

matrix

effects,

matrix

rotor-bearing

computer

computer

accurately

the

stiffness

the

development

the

with

sensitivity

balancing

with

the

Generally,

in the operating

general

alternative

mass

gyroscopic

tigation

combined

dynamic

and

may be located.

concerned

supersede

introduce

balance

may be determined,

system

response

unbalance

rotor-bearing design,

for design use,

to

to

is
the

on

The

and

the

then be

thesis

unbalance

open

proposed

of

will

based

general

the rotor amplitudes

minimize

dure

of

speeds

from the

obtained

due

to

In depth

procedure

recommendation

un

inves

compared

for future

2.0

STATEMENT OF THE PROBLEM

In this

state

ings

unbalance

is

handed
used

thesis,

unified

response

The

presented.
set

term

Cartesian

of

dynamic

bly

of

stiffness

ration.

tic

with

beam

may be

1.

"rotor

element"

true

to

uniform

bearings

from the

uniform

section,,

homogeneous,

following

isotropic,

Euler beam theory.

assumed

all

to

A,

be

length^.

J~

disks

ertia

Ip,

verse

mass

transverse

moment

axis

polar

its

to

respect

with

inertia

of

through

its

Symbol;
End

(K
aa

bearings,

four

and

IT

element"

density f^

inertia

I,

are

element

mass

moment

axis,

of

and

respect

of

in

of

trans
to

mass.

,iT

read *

stiffness

damping

coefficients

coefficients

(D

,
.A.

**,y

etc.)

of

the

derived

type

xy

Jr_

by
M

r.

Ep-

Symbol?
V

ly

elas

Bernoulli-

weight

beam

with

Moyr?

by 4

represented

etc.)

E,

neutral

center

pi

3.

an

of

continuous,

the

transverse

MD,

mass

posessing

configu

Symbol ;
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assem

axial

"rotor

on

/>,r,/,l
1(f>i0
j<

(nj

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2.

is

along the

constant

nock

which

modulus

and

the

section

satisfies

Young's

area

cross-sectional

and

as

components;

beam

elastic

based

is

rotor-bearing

disks.

and

right-

of

conventions,

involves

and

represent

refers

end

optional

constructed

to

sign

use

developed

procedure

concept

matrix

elements"

"rotor

The

the

to

the

and

steady-

in fluid-film bear

rotor

refers

unified

coordinates

in elasticity theory.

the

flexible

of

formulation for the

matrix

f///

'

'-

/V/',r

<

Lund
/-r(

IA

[30],
n A

A.

4. An

force-eccentricity

unbalanced

in oz.-in.)

ends

is

assumed

to

the

neutral

axis

ance
off

the

at

from

arise

with

an

(n),

with

(expressed
The

beam element.

the

of

combination

small

mass

eccentricity,

M0

unbal

exists

which

a.

Symbol}
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effects

"rotor element",
the

at

acting

nodes

"

node (n)

~eTe

(n-i-1)

and

*.,'* *

rtocfe(ntO

cc

Kxv~

ri-

n
J?
/

In the

ZT

axial

/ / /s.

assembly

connect

just the

of

another

beam

the

programmer

procedure

The

to

ness

disk

end

build

modes

matrix

mass

are

effects

the

for the beam

The

gyroscopic

coupling

are

derived

matrix

in

so

each

element

and

form

beam

then

or

provides

end

unbalance

by allowing
(with any

an

assembly

matrix.

is developed

effects

calculation.

left

program

stiffness

the

the

element

element

that

to

bearing,

computer

dynamic

elasticity,

in

disk,

and

acting)

elastic

included

section

individual

each

structure

linear

and

any

it may be necessary

elements

beam

in the

for

first build

isotropic

distributed
system

of

of

without

accounted

to

several

of

end

right

section

is

This

combination

D<*,

ss'/rss;-

to

acting.

follows,

as

t.

t^nbalan

end

optional

appear

would

fl
i-

the

of

all

of

with

the

all

dynamic

stiff

is derived.
concentrated. mass

and

treated

as

effects

point

of

effects

on

the

(i.e.

system

The

they

forces

bearing
as

equations,

derived

Fx

stiffness

basic description
provide

into
as

The

general

force

forces

forces

may be

point)
element

set

structure

Kyy

here

the

[K^m]

and

is

J?

scope

is

on

given

equations

or

the

is

However,

in Appendix D to

The

bearing

the

computer

are

effects

and

are

put

treated

system.

of

act

the

at

acting

the

and

at

element

is developed

method

any
A

assembly.
generated

effects

nodal

The
and

so

that

of

it is

(beam

{*$t}

is

end

inverted

[ Fn]

or

elements

disk,

for

for the

matrix

each

and

junction

written

stiffness

LKst]"'

the beam

bearing,

program

dynamic

for the

ends.

point

computer

is derived

loads

applied

vector

thatj

or

Dyy ?

thesis.

this

of

Y'

Dxy

their derivation

since

derivations

represented.

up

Dy*

derive these

to

information.

assembled

axially

unbalanced

such

that

computational

may be

KyX X

form for easy handling

in the

f-Dxx

the

effects

unbalanced

coefficients

point

[30],

reference

Kxy

background

some

matrix

of

in

element).

following linear

the

by

represented

Lund

beam

of

beyond

and

ends

Kx* X

made

damping

and

lengthy

quite

be

shall

the

at

are

by

fy
No attempt

act

of

the

speed,

where

is

the

loads

J
f AST ]
K

for the

structure

is the

general

lipse

information is then

obtain

the unbalance

response

curves

Therefore,
speeds

done

are

in
The

and

not

the

the

conventional

thesis

and

critical

nodal

peak

critical,

unbalance

speed

of

matrix.

point

for the
The

dis

structure.

el

whirl

speed

to

amplitudes

of

plotted

The

curves.

an

of

obtained.

calculation

in

performed

are

systems

direct

point

stiffness

rotations

calculated

response

locate

dynamic

vector

the nodal displacements

Thus,

nodal

structure.

is the

placements

of

vector

general

vs.

the

speeds.
value

response

for the

critical

analysis,

as

is

calculation.

problem

was

formulated

investigate

the

dynamic

in this

manner

for

several

reasons.

1.

To
a

possible

approach

in the

stiffness

matrix

concept

as

analysis

of

rotor-bearing dyna

provide

an

easy assembly

mics.

2.

Matrix

was

notation

procedure

used

to

for idealization

of

3.

To

investigate

the distributed

4.

To

investigate

the

scopic

5.

To

effects

stiffening due

allow

to

are

rotor-bearing systems.

mass

rotary

formulation.
inertia

and

gyro

disks.

any bearing type,

coefficients

of

true

available,

for
to

which

be

the

eight

investigated.

dynamic

8
3.0

LITERATURE SURVEY
A rotor

dynamical

plex

acteristics

system

such

asj

Several

vibrations.

state-of-the-art

hav$ been

having

rotors

critical

distributed

contributions

on

unbalance

references).

In

1965,

review

major

the American

of

results

balancing

and

unbalance

erature

on

Some

the

of

dissimilar
axial

ing
This

In

principles

thesis

is

and

and

aspects

Bishop

analysis

computer

and

criteria,

concerned

with

coupled

the

with

and

of

critical

[36]

of

on

bending-torque

and

whirl,
bending-

rotor-bearing system,

speeds

of

lit

flexible rotors.

nonsynchronous

response

in

published

foreign language

rotor

system

balancing t93

rotor

the

the

rotor-

publications

reviewed

were $

(52

collated

and

Parkinson

balancing

and

foreign

the

rotor-bearing

and

refer

comprehensive

response,

flexible

and

discussed

stiffness,

of

(29

stability

covering the

paper

response

topics

rotor

unbalance

speed,

of

many

British literature

1973 t Rieger [19J

major

rotor

outlined

in

concerning

properties

C29]presented

stability

unbalance

effects,

unbalance

review

elastic

response

references).

response,

references).

1961,

important

other

presented

in

and

critical

(162

performance

1968,

on

and

Rieger

and

[34],

Bishop

literature

response

mass

unbalance

work

published

literature.

open

and

com

char

physical

instability
of

Rotor-Bearing System Problems

on

unbalance

Dimentberg [35]

ences).

surveys

of

variety

speeds,

general

in the

presented

exibits

commentaries

discussed the

1959,

which

is

journal bearings

in fluid-film

supported

which

balanc

contributions.

is due

to

rotor-bearing system.

9
The

published

Furthermore,
general

either

analysis

in

at

speeds

shaft

work

as

an

bearings

fact that the

cal

I869,

this
were

operation

for

an

of

led

time

to

the

whirl

of

critical

good

correlation

by

Jeffcott

the

response

[ 3]#
of

important features

or

the

of

specified

higher

that

beyond

critical

in 1919.

unbalance.

speed,

of

shaft

bending

inertia effects,
critical

speeds'

number

critical

criti

which

of

speed,

shaft-

calcu

combinations

shaft-disk

was

damped

of

speeds

After observing the

misconception

disk

un

experimental

the

include

completely

extensive

measurement

critical

not

performed

to

first

correct,

conditions,

were

obtained.

speed

He

instability
a

performed

was

finally

thorough anal

flexible

rotor

in

Jeffcott's

model

demonstrated

up to

whirl

mode.

the

was

build-up.

due

in

supported

conclusion

erroneous

lations using Reynolds theory for

of

was

simple

amplitude

disk combinations.

ysis

analysis

of

excessive

cause

the

resolved

cases

would

on

The

for the

gave

which

unstable

I895, Dunkerley [

and

formula,

dynamical

perform

dynamically

In

performed

balancing.

rotor

overhung shaft

shaft

will

literature

the

to

given

derived

He

several

and

contributions

the first to

was

Although his

mechanics

be

will

be discussed.

will

extensive,

major

only

eigenvalue,

and

end.

so

flexible

or

fields

two

is

literature

rotating shaft.

one

derstood at

these

consideration

in

speed

end

shoulder

the

stability

[ ll,

critical

shaft

no

rotor

of

to

related

have been made,

and

Rankine

the

since

surveys

be reviewed
on

work

and

However,

accurate

effects.

bearing

rigid

bearings.

through the

the

model

did

not

representation,

10

Following Jeffcott,
problem

in

more

prehensive

flexible

and

critical

be

the

ing

and

intended

study

represented

The

procedure

by discrete
analysis

corresponding

mode

shapes,

and

he

included the
It

calculations.

to

stiffen

when

(i.e.

the

the

disk

motion

of

shown

in

in bearings

and

thus

could

and

properties

influence

of

calculation

1947,
with

of

put

an

response

rotor

the

in the

gyroscopic

Jeffcott'

and

damping

speeds

was

shown

the

in

systems

speed

tended

action

Also,

speed.

translation
present.

single-disk

and

damping

analysis.

properties

to be

and

in 1948.

critical

stiffness

response

This

response.

action was

flexible

radial

unbalance

pure

damp

no

speeds

[8],

critical

by

but

unbalance

gyroscopic

the

could

equations.

shaft-disk

effects

by

flexible

massless

from Green

stiffness

critical

critical

the

for

be described
no

in

presented

whereby

recurrence

came

raise

identical

performed

bearing

was

joined by

several

that

centrally located disk)

Hagg [7J#
rotor

rotor

method

not

gyroscopic

was

use

calculating

contribution

investigated the whirling

which

unbalance

of

of

He

the

as

capable

major

set

[53,

Robertson

bearing flexibility

of

first

the

included

only

next

stability

com

model.

masses

was

The

on

for design

He devised

formulated

was

damping

of

presented

and

whirl

the

examined

bearings, thus, taking

Jeffcott'

of

in 1945.

springs.

unbalance

effects

speeds

first

[6],

Prohl

in 1933,

true rotor-bearing analysis.

examined

The

the

of

[4],

Smith

in flexible

rotor

step toward

1934,

detail.

analysis

investigators

several

on

The

the

significant.

11

This study
and

Prohl

[9 J,

flexibility

(i.e.

Yamamoto

[383.

and

of

Emphasis

was

and

placed

double

when

the

row

differential

instability

due

of

element

papers

bearing

Warner

CLO],

flexible rotor,

of

presents

19&2,

without

extending the

of

critical

discussed

which

bearings
"summed

and

included.

and

very detailed

Also,

the

and

zones

aspects

various

in detail.
treatment

of

This

of

rolling-

problems.

extended

disk

precessional

speeds

sub-harmonic

pedistals

reference

experimen

and

rolling-element

rotors

rotordynamic

in

row

in

by

flexible bearings.

asymmetrical

pre

published

backward

and

and

the

of

are

map

analytical

are

bearings

speed

manuscript

oscillations

bearing

having identical

bearings

thereby

to

single

rigid

response

and

was

work

forward

in

rotors

critical

Linn

stiffness).

single

harmonic"

rolling-element

series

and

whirling

comprehensive

studies

Forced

employed.

into

rotor

on

of

of

bearing

of

effect

flexible

of

extensive

synchronous

flexible

nonsynchronous

of

presents

the

of

whirling

arise

1953-1963,
collected

was

form

support

vs.

the

analyzed

speed

in the

speed

Yamamoto

They

investigation

rigorous

more

critical

results

years

studies

were

the

critical

In the

tal

in 1951.

on

their

sented

the

encouraged

Hagg's

inertia

stiffness

analysis

model

effects

and

two-disk

supported

damping

through the

to

in two

properties,

second

critical

speed.

Lund
analysis

and

to

Sternlicht

include

the

[ll]

direct

in I962
and

presented

cross-coupled

the

first

stiffness

and

12

damping

properties

the

of

bearing,

solving the linearized Reynold's

response

of

of

flexible

fluid-film bearings

[12],

Morrison

that

elastic

rotor

dynamic

stiffness

derived

from the

critical

is

and

properties

of

unbalance

and

rotor

in 1965

also

could

an

connected

by

weightless

Myklestad-Prohl
rotor

out

method,

range.

due

No

of

Equations

theory.

are

derived

and

taken

was

to

experimental

the

of

speeds

critical

attributed

was

computer

rotors

were

the

asymmetric

for

to

and

on

several

massive

in this

for the

bearing

program.

the Myklestad -Prohl method,

of

flexible bars.

this

program

supported

couplings

number

included at

response,

speed

of

into

divided

two

accounted

extension

also

were

published

Splined

be

an

of

coefficients.

flexible

of

analysis

the bearings

response

This

bearing

is

the

of

attenuation

The

properties

characteristics,

response

are

properties

in fluid-film bearings.

When full account

the rotor

effects

types

several

bearing

similar

(Ocvirk) bearing

observed.

[13],

is

analysis

supported

short

the

made

damping

and

fluid-film bearings.
pedestals

and

response

1962,

given.

bearing

calculated

in
was

speed

verification

Lund

rotor

the

studied

bearing forces.

transmitted

dynamic

in

rotor

found that the

and

greatly influenced the

for

disk

single

They

equation.

by

obtained

were

which

the

mass

analysis

unbalance,

experimental

discrete

mass

Gyroscopic
stations.

holds
may be

or

and

stiffening
the

speed

calculated

var if ication

where

stations

Unlike

for any

The

and

through

check

out

13
of

the computer

[14],

Morton

data

retical

is

analysis

on

the
of

[25]

modes

acteristics

of

may be

rotor

are

response

Lund's
rotor

earlier

is

stations

bearings

damping
be

effects

are

actually

axis

and

coefficients.

but due

circular.

bar

the rotor.

of

bearing

by

In

general

to

the

established

the

Receptance

speed

the

character

an

exhaustive

the

is

unbalance

an

matrix

each

extension

The

method.
connected

station

of

at

disk

forces may be added.

dependent

unbalance

bearing type

Rotor unbalance,

The

sections

At

reaction

eight

of

analysis

transfer

char

completely defined.

as

presented

cylindrical

represented

elliptical,

The

char

that the

whose

Bishop [37].

19&7-

and

by

accuracy

not

for finding

flexural

showed

or

by

that three

shows

the

technique

were

using Prohl *s

by

good

and

handling

film

oil

structure

investigation

flexible rotor.

along the

analysis

identifying

with

in

experimental

work

bearing

undamped

structure

[15]

represented

gyroscopic

an

Gladwell

by

procedure,

Experimental tests
as

The

rotors.

formulation developed

The

for

theo

and

formulation for easy

both the

the Myklestad

as

Orcutt

of

of

predicted

supporting

and

generator

of

experimental

adequate

developed

analytical

whirl

matrix

An

considered

and

experimental

receptance

rotor.

such

Lund

presents

is described.

techniques,

of

receptances

may be

approach

in

using

acteristics

istics

unbalance

in 1955.

pedestals

flexible

given.

1965-66,

presented

linearized
the

in

the

on

the computer,

Bishop,

is

program

used

stiffness

response

the

rotary inertia

and

will

orbits

and

The

are

gyroscopic

14

in the bar itself

moments

for three
two disk

test configurations

rotor

for

alysis

[18],
a

bearing

in 1971,

Data

one

disk,

presented,

Good

is

agreement

calculated

for

critical

The

speed.

results

ob

for

all

are

in

each

rotor

bearing operating

speed,

and

rotor

felt

bearings,

investigated.
that

wide

Results
range

Charts

covered.

transmitted

provision

and

of

the

bearing

for the

results

obtained

bearing

program

the

Influence

whirl

maximum

force vs.

speed

disks

of

by

which

accepted

direct

the

and

approach

may be
and

No

mass

cross-coupled

model

has

rotor

bearing
presents

stimulated

the

in this

is developed

which

is

in the analysis.

discrete

and

of

parameters

presented.

mass-elastic

problem

rotor

rotor

amplitude

given

using

distributed

insight into

are

was

verified

new

of

stiffness

rotor

addition

matrix

all

dimensionless

as

were

stiffness

of

effects

configurations

Rieger 's

dynamic

distri

location along the

presented

rigid-

are

rotor-bearing

coefficients.

parametric

lowest

properties

relative

eccentricity,

are

the

calculation.

unbalance

of

thus

rotor,

the

elastic

and

fluid-

cylindrical

plain

an

response

unbalance

tines

twenty

mass

the

of

an

in

rotor

up to

speeds

buted along the length

modes

presented

flexible

uniform

film bearings

the

and

simplicity.

configurations,

Rieger

so

are

three disk assemblies.

and

tained between test results

three

ignored, for

are

thesis.
Ruhl
veloped

sponse

[16],

in 1970,

finite

of

analyses

developed

with

element

rotor

and

Ruhl

model

Booker [17],

for stability

systems.

consistent

and

mass

The

finite

matrix

thus

and

in 1971,
unbalance

element

giving

model

more

de
re

is

The

15
accurate

representation

bearing

eight

lumped

the

response

lution

with

due

to

Ocvirk

short

[13]in

calculating

accurate

more

to

model

freedom using the finite

of

The

system.

element

Lund

of

indicates

unbalance,

fewer degrees

finite

the

of

technique

pregression

the

derived from the

are

A comparison

mass

throughout

mass

coefficients

bearing theory.
the

of

so

element

model,

Rieger
review

[39],

the

of

in

nature

June, 1974,

functioning

and

rotor-bearing dynamic analysis.

critical

and

balancing

these

present

are

identified.

and

unbalance

are

of

number

The

bearings,

convenience

coefficients,

seal

and

shear

effects,

major

weaknesses

namic

calculations.

program

J.

Lund.

no

each

of

accurate

program

validation,

the

speed

analysis

is

GIBERSON,

available

comments

category

are

on

was

permitted,

levels)

and

user

are

neglection

some

of

the

rotor-bearing

and

most

CADENSE

of

dy

efficient

26 developed

by

rotor-bearing system analysis

comprehensive

as

which

data,

general

best documented

The

with

bearing dynamic

foundation

with

analysis

speed

sections

lack

The

experimental

manual

and

rotor

of

of

critical

generality

substructure

identified

user's

the

of

associated

most

Program details

for

number

coefficients,

critical

The
was

program

but

for

are

analysis,

weaknesses

the

of

and number

options.

torional

and

strengths

to

approaches

program

stability,

for

programs

computer

strengths

programs

(i.e.

state-of-the-art

for rotor-bearing dynamic

greatest

response

written

The

reviewed.

of

Current

response,

capabilities

are

they

unbalance

speed,

presented

developed

for the

the

by

novice

M.

Giberson,

programmer.

state-of-the-art

enumerated

in

reference

capabilities

[38]

16

4.0 DEVELOPMENT OF A GENERAL ROTOR ELEMENT

4.1 Equation

Lateral Vibration for

of

Uniform Elastic

Beam Element
The

free

is

element

body
the

the

and

subscripts

ivations

are

those

the

two

normal

of

of

1.

beam

The

in

is

element

to the

and

4.

the

of

second

relative

to

and

of

beam in

in

included the

beam

in its

Bernoulli-Euler

the

the

that

due
an

to

each

respect

remain

deformed

of

derivative

plane

is,
the
of

to the
after

beam is

the

the

bending.
cross-section

one

is

negligible.

distributed

static

equal

coordinate.

one

longitudinal

is

respective

of

adjacent

large

respective

planes

shearing

5. The beam is free from

forces

element

straight

therefore,

partial

sections

Deformation

to its length,

displacements with

3. Plane

to be

assumed

curvature

comparison

curvature

The

applies.
of

radius

con

are:

assumptions

state,

theory

in

in the Bernoulli-Euler beam theory

used

These

beam

have

planes

sign

elasticity.

of

the

of

free

following der

in the

used

motion

coordinate

assumptions

The

are

The

plane.

in the theory

lateral

respective

undeformed

2.

used

the

beam bending.

that

an

diagrams-one

component

y-z

of

the

convenience,

in the

other

ventions

derivations

1. For

divided into two

and

plane

length

differential

of

in figure

shown

diagram is
x-z

diagram

body

force, gravity

forces.

17
In addition,

the

with

6.

the

motion

The

following

beam,

rotary inertia

The

gyroscopic

or

are

negligible

with

ciated

are

forces

shear

and

of

respective

forces

(left hand side)

moment

the

functions

in the

zero

An

the

respect

to those

neglected.

beam

element

asso

effects

same

in the

masses

is

the

of

and

axis,

element

effects

bending

bending

and

there

and

system,

moments

in

continuous

to the

the

on

that

and

second

force

shear

face

negative

bending

and

terms

higher

and

the

to

related

the

on

face

positive

are

element

that the

by assuming
are

moments

differential

length dz

elemental

neutral

neglected.

(right hand end)

shear

the

of

Coriolis

any lumped

with

fore, they
The

be made.

also

will

is distributed along its

mass

therefore,
7.

the

of

associated

are

which

assumptions,

containing

powers

are

limit.

example

of

the

notation

used

in the

with

these

derivations

following

is:
M

Szx
first

The

refers

act.

they

act

associated

second

when

refered

positive

normal

of

subscript

refers

to the

of

to the

by

coordinate

surface

on

which

direction in

system.

The

which

forces

and

they

act

in

positive

or

when

they

act

in

negative

are

negative

positive

surface

direction

on

negative

surface.

they

moments

when

on

definition when

the

and

definition

direction

by

forces

the

direction

The

are

moment

force

shear

subscript

to the

they

moments

bending

act

in

Conversely, they
negative

direction

on

posi-

18

tive

surface

negative

or

when

surface.

unit

act

in

Throughout the

cartesian coordinate

k are the

they

systems

vectors

positive

direction

derivations,

will

in the x,

be
yf

used

and

right

where

on

handed

i, j_t

and

directions

respectively.

Figure 1 Free Body Diagram

of

Differential Length

of

an

(Szy+^yli)
(my VhLcii)

Element

f
jl

yt-

2. W

Roto*

---7-

"

(/)!&

<

(S&

1-

)$M-clh)
hi

X, IL

MllcIi) I
jk

19
Consider
moments

of

an

as

element

of

the

shaft

forces

end

1. Applying Euler's first

in figure

shown

to

subjected

and

equation

motion:

^ Iitnba/.
For

Qz

*K

'

c.a.

(1)

in the x-direction,

motion

Fh,ibal. y

cfaL

(2)

ilK

*y-

(3)

ty
where :

dm

>t

f Adz

g
u

^
A
g
Equation

is displacement

is the

weight

is

cross-sectional

is the

the

reduces

Euler's

rotation

ht1

second

about

It }J&

%s

plane

(Figure 1)

due

in

area

to gravity

386.4

in/sec2

to,

^
For

x-z

lb/in-5

density

acceleration

*f
Applying

in the

(4)

hi
equation

lUc.^

VrtbJ-

of

motion:

ti

(5)

e.p.

the y axis,

Illc

0>lzy

'lot

bad.

^>JlUz/ch)

<J_

$*<d*

IT y&
-

(5*x

+)yycii)ch

(6)

(7)

20

where

Ij

about

rotation

transverse

mass

(figure 1)

axis

moment

to the transverse

inertia

of

through the

axis

respect

with

of

center

gravity.

Neglecting the
terms

the

of

reduces

rotary inertia

second

to the

order

Ij-jt*.

element,

higher in dz,

and

and

(7)

equation

following:
=

S"
Substitution

the

of

of

"^
(8)

equation

into

(8)

equation

(4)

gives,

"

ft
figure

Using
and

1,

with

all

and

the

the

curvature

corresponding

Substituting
I

and

are

equation

constant

(10)

~-

equations,

moment,

in the

the

in the

x-z

following

x-z

plane

shown,

plane,

is:

$L

El

into

that are

conventions

theory

applied

P1*y
E

sign

the Bernoulli-Euler beam

relationship between the

(9)

equation

along the length

of

(10)
(9)

and

the

element,

assuming
we

obtain,

(id
as

the

plane

equation

of

lateral

motion

for the

element

in the

x-z

(1),

for

Applying
motion

Euler's

first

equation

of

motion,

equation

in the y-direction,

-^

linbcxl-

'4.

"

dnt y*
i/--

(12)

21

hy

where

all

is displacement

in the

Euler's

rotation

second

the

about

plane

of

(figure 1),

motion,

IT

unbai.y

is

the

terms

other

about

rotation

are

equation

and

(5),

^p,

(15)

^i

j-i

<f

(14)

__

x-axis,

dL

all

y-z

equation

Mo

z.

where;

j-^

terms are as previously defined.

other

Applying
for

^V

$-

or

d3)

the

x-axis

(figure 2)

(16)

and

previously defined.

as

\ T-

Neglecting the

rotary inertia

of

the

element,

It

ju

and

the

terms

the

of

reduces

second

to the

of

equation

tA

Using
shown,

figure
and

following
plane,

and

equation

with

"
-JT-

fy

all

into

(17)
-

the

of

(17)
equation

yjlzA

sign

the Bernoulli-Euler beam

zz

(14)

(18)

conventions

theory

corresponding

!Aik

'

curvature

EZ

J^

gives,

that are

equations,

the

in the

y-z

relationship between applied moment,

the

(16)

following;

^
Substitution

higher in dz,

and

order

in the

y-z

plane

is;

(19)

22

Substituting
E

and

I are

equation

constant

(19)

into

along the

(18)

equation

length

the

of

and

assuming

element,

we

obtain;
ft
^X

as

y-z

the

equation

plane.

of

yb?
H

lateral

ft
motion

yv
ht^

clo

for the

(20)
element

in the

23
4.2 The Dynamic Stiffness Matrix CK3
due

plane,

The
are

equations

to

used

state

Since

forces

end

beam, they may be

therefore do
forces

not

quency

SL,

be

will

moments

and

at

moments

each

function

instead

of

the

denotes

and

efficient

general

more

state

steady-state

beam, may be

the

variables

technique

displacement
spatial

real

and

The

fre

angular

e1

-&-

angular

This

part.

allows

the

obtain

the

of

to vary

assumed

to

derivation

is

as

where,
of

gives;

U(z)

is

T(t).

discussed

to be

steady-

function

Substitution

lateral displacement u,

standard

separation

Timoshenko

by

to the

equal

time

and

written

IA-

the

by

obtained

assumed

may be

for the

solution

function, U(z),

placement

form

the

ends.

motion.

(~y

i=

shear

ends

notation,

where

to

solution.

The
of

and

its

the

common

complex

cosiit,

frequency, t-time,

with

of

be

will

steady-

conditions

end

4.1

section

at

at

only

y-z

Moments

subjected

equations

section

For convenience,

used

act

for in the

time,

of

beam

concentrated

into the

enter

in

for calculating the

elastic

accounted

moments

harmonic

as

and

uniform

and

x-z

Bending

and

derived

motion

method

bending

and

the

lateral
a

of

Forces

Shearing

of

develop

response

forces

ing

to End

in the

L28]

product

function, T(t).

of

The
of

The

dis

as,

(21)

L/C*j

of

of

alone

and

equation

e1

(21)

is

into

the

assumed

equation

(11)

24

MA1-

dill
dl1*

from
x-z

the

which

shape

for any

plane

(22)

fl

the normal

of

particular

end

mode

of

condition

in the

vibration

may be found.

Letting,

(23)

$EI

and

noting that

to

equation

(22),

general

solution

to

solutions

as

11

=(A,s/>i?,2

only the

concerned

^)

z,

we

sinh/^z,

cosh/)z,

are

all

Therefore

the

dis

obtain,

(22).

equation

is,

placement

Since

cos

sin/)z,

with

At

cosh ^

tAj s

mhte t-Av CoskAz)

steady-state

solution

the

to the

solution

is

sought

spatial

we

part

are

(25)
only

this

of

func

tion, U(z).
Figure
moments,

on

shows

an

the

element

directions
of

length^,

directions

for displacement

respective

coordinate

the

end

position.

for

planes,

and

applied

and

the

forces

the assumed

rotation,

where

end

in

each

and

positive

of

superscripts

the

indicate

25
Figure

2 Applied End Forces

and

Moments

'Y,V

.7^

"May 4.

X,U

Equations

for

shear

restated

(8)

force
here

and

and

(10)

bending

in

4.1

are

the

in the

x-z

plane

section

moment

expressions

and

are

for convenience,

(8)

expressing

equation

(8)

ZN

(10)

in terms

SZ*

of

"tX

displacement u

gives,

(8a)

26

These

equations

U(z),

at

end

here

used

to

noting that only the

conditions,
u,

are

needs

obtain

the

spatial

following

part

the

of

end

function

to be considered;

<)&

z=0

-w

-"^'f
(26)

at

end

<^

three

Differentiating U(z)

TJCi)

\HQlI
yUii
yjJ(M

( A,

S/>i

+Ai

/^*

times yields,

cos/iz

(AjAtosDe

-Axhsi'ih*

(^/s/}M?

-At.

(rA.I)3ca5/)Z

A3

sinh

+Ay) cosJ,

At

As

At

cosli

/)%)

t-Avlislniute)

,)z

fcosAz +Aj/y$>))hy

tAz/YsmM

Affects lite)

A3

Cosk

/)t

J>3

-My

sMi)

hi3

Applying

the

equation

(27),

z=0

and

the

between the
the

assuming the

and

right

end

applied

coefficients

from

conditions

end

A.

of

the

end

shear

can

be

equation

left

beam is
forces

found

and

end

at

and

(26)
of

the

z=|

and

beam is

in

at

relationship

bending

written

using

moments

matrix

and

form;

(27)

27

S4,

>

<

x-z

may be

{Fxz}

written

is

and

[o] [a]

column

vector

[AJ

applied

of

[AltA2,

(29)

A-.,

AJ

and

loads, in the

end

[d]

is

as

shown

equation

the

[f--.]

Noting that Q>

in

as

(28)

Ay Jy*/

7)ucosKMl_

plane,

above

I w*7 J Ha

where

A>

-EI

which

hi

(27),

<)
s-^~i)
Ul&)

displacements
A.

coefficients

using the

and

can

be

and

found

first two
as

rotations

and

in

written

relations

related

matrix

<

sin), I

>

e,

COS/)

Acos AJL

<
>>
7)

-hsinhl

co^ihi

-.

7)s/r,h)>l

(i.e. 1

subscripts

indicates

Equation

(30)

on 17 and

left end,

may be

tions,

(AxA

is

in the

Ai

plane,

and

the
right

ends

(30)

>
-Vki

of

the

beam

end).

as,

vector

to

refer

indicates

rewritten

column

x-z

&

[->}
where

Al

4XH

the

form;

A^

Hki

where

to

of

a^

['] IM
end

is

displacements
as

(3D
and

rota

previously defined

28

and

[C J

is

Solving

as

shown

equation

above.

(31)

[_k\.

for

we

obtain,

(32)
Substitution

of

(32)

equation

into

(29)

equation

yields,

(33)

[Fxz]
where

the

[*K

x-z

is the

Lk] [^Xil

dynamic

stiffness

(34)

for the

matrix

beam in

plane.

From Appendix A

it

is

seen

that

-Tift

hFi

[k xz ~]

takes

the

following

form;

Fj

-Fi

F,

hu

-f/u

FJ/A

**//.

F,

*//>

^/A

(35)
-VMry

where

F.

dix using the

The
be

also

The

notation

steady-state

obtained

technique.
product

transendental

are

F.0

of

Bishop [_25]

of

solution

the

spatial

displacement

function

may be

is

in the

appen

displacement may

separation

assumed

V(z)

written

given

for the

standard

displacement

The
a

by

equations

and

of

variables

to be
time

equal

to

the

function T(t).

as,

(36)
where

form

V(z)
of

is

T(t).

function

of

Substitution

of

alone

and

equation

e1^

(36)

is

into

the

assumed

equation

(20)

29
gives;
of1

lAaj

cos/)z,

sinh/)z,

(37)

obtain,

we

general

ment

and

Vl*)
as

the

of

from

cosh/)

C &,

end

(37)

z,

of

vibration

conditions

(23)

equation

are

(37).

equation

may be

+83

in the

found.

that

and

sin/\

to

solutions

all

t6xC05 77)i:

5/S,7)Z

to

solution

mode

normal

particular

$*i

that

Noting

shape

for any

plane

y-z

the

which

ft*

cit*

from

Va)

lA_yy

__

equation

S//l/l/)i

the

Therefore

z,

fy cosMiXjS)
displace

is,

lr

C/3/S//I 7)i

*&} s/'ihAl.

tSi.cosAi

c osJc/)

+/3v

at

(39)
Since

only the

concerned

v/ith

steady-state

solution

the

to the

solution

function, V(z). Again, figure

ied

end

and

rotation.

forces

Equations

for

(17)

force

shear

restated

and

here

and

moments

and

is

sought

spatial

the

shows

part

assumed

positive

in

section

4.1

bending

moment

in the

of

only

this

direction for appl

and

(19)

are

we

are

y-z

displacement

the
plane

expressions

and

are

for convenience,

7T~

5*v
M2X
restating

equation

(17)

(17)

-ETL

in terms

S^V

of

(19)

<ClT

displacement

tx*h?
,_j
c>2

gives;

(17a)

30

These
end

equations

at

V(z)

2=o

only the

spatial

ET

three

Differentiating V(z)

YVW

( B,Accs/)i

TVC})

(-

Mf)

z=0

end

(41),
and

and

the

the

hi)

cost

+61

+63/) coshte +

#? A

s/nhAz)

from

end

applied

B.

end

can

of

left

forces

found

and

frcoSJ'te)

i-

n?

and

sf^hH)

using

of

the

z=%,

end

the beam is at

shear

be

(40)

equation

bending

and

(4i)

AJ

Bj^coskA*

assuming that the

right

1-By

StAkte

+BiAl5S*.Ai

coefficients

0JI)*-

conditions

ship between the

and

5/ilhAl

-BzAXCOS))t

caste

equations

at

C>J

-h

'bxAsn.Ai

S,f^hi 7)1

the

Va)

times yields,

-.(-ey3

Applying

is

iBzcosAi

(40)

yvci)

-ei

(fi/S/i.Ai

the

of

part

hlVO)

BI

following

^i

^L,

~\{l)

the

obtain

to be considered;

need

end

here to

used

noting that

conditions,

function v,

are

written

in

beam
relation

moments

matrix

form;

-si,

<

?=

y c0y 1

A3

-A3Sir.U

J 4*1

-tfcos/M

(42)
>

<
A1-

a. itn

63

tit*

Hi

A^cos/ihd

-ti'sirihM

1--VJ

-fcoshhi

Vxi

31

may be

which

rewritten

as,

(W
[F

where

y-z

"]

column vector

applied

of

[b]T= (B-_, B2, B3,

B^]

end

loads in the

and[.E} is

as

stated

that

Noting
in

and

plane,

above

is

(41),

equation

B.

coefficients

displacements

are

written

in

first

using the

and

and

rotations

form

matrix

as

two

relations

related

to

follows;

as

'

V,
<

Cos /)

s/AHH

cosh,) I

Vf

EI

SiriAl

-V

Ix

db cosM

-Vx/

(44)

>
c

'>)

/) 5//J /)

8,

<

->)COS/)M

->)syi)iL

By

^Xl

Yxy

where

the

subscripts

for XJ

subscripts

(44)

Equation

and

may be

on

and

rotations

and

g]

is

~[&yi\

in the

is

as

Solving

Substitution

rewritten

column

y-z

shown

equation

of

have

the

same

meaning

as

the

Q.

[***}
where

as;

]_&][*]

vector

plane,

and

end

of

[b]

(45)

displacements

is

as

we

obtain;

and

previously defined

above.

(45)

equation

f or

(46)

| BJ

into

equation

(43)

yields;

(47)
(48)

32

where

in the

j^K

y-z

is the dynamic

stiffness

matrix

for the beam

plane.

From Appendix

A, it is

seen

that

flC

~)

yz-

takes the

following

form;

-AFg

[Kyt]

AF?

Ft

Fi
yFio

where

F-j_

Appendix A,

F^q

are

AF-,

Fi

Fb

Fib

-A

Fin
y,

~Fio
~Fi

fy* | "xT
'*/> yj f<i

transendental

equations

(49)

given

in

33

4'. 3 The

Stiffness Matrix for

Dynamic

in Two Dimensions Based

For
was

in the

shown

matrices

the

on

is expected.
give

end

previous

two

The

forces

and

stiffness

stiffness

to

moments

in

steady-state

motion

of

terms

displacements

the

8 degrees
in

each

motion.

of

plane

ions relating
equation

holds

for

each

Equations

for

(34)
the

applied

y-z

and

end

plane.

to

needed

section

loads

to

end

x-z

These

plane

rotations.

that the

expressed

its ends.
two

4,2

to

relating

in

Thus,

rotations

specify the

in

for the

seen

and

(48)

and

and

at

as

combined

beam,

completely

rotations

are

end)

(34)

holds

for the

(two displacements

freedom
at

may be

4.2 it is

beam is

stiffness

symmetric,

displacements

section

the

were

matrices

matrix

end

Referring to figure

of

planes

dynamic

the

that

it

beam,

elastic

uniform

section

orthogonal

two

symmetric

one

Closed Form Exact Solutions

on

isotropic homogeneous

an

Beam

Uniform Elastic

are

beam

express

displacements,
and

equations

equation

are

(48)

restated

here,

convenience:

[F]

~~

{Fyi\
These

equations

may be

(34)

U<*1 {*}
L

Ky]

combined

as

(48)

Mij

follows:

(50)
k*2:

*z-

LFY*

K^

AXi

34

Expanding

(50)

equation

gives:

-y

vy.

FI(J\
^j-^ko'^

s_l,.

17a.

e,

-ftr/jJ^'^:

Mil
-s

ov^v

F3

(5D

'ZN

AF7

-AFu

F,

Fl0

"fH M/.

f>o

m tx

lo

//.

/a
'

Ft,

-F,

y\

y,

<f</

<f^r

Rearranging
at

each

ness

end

matrix

equation

of

the

(51)

so

beam are

remains

4 degrees

that the

together,
we

symmetric,

and

so

freedom

that the

stiff

obtain;

-/)/V -Z5

-AFL

Fi

'

-A

AF) Fj0

|-/:/0 %

U.

'

of

>

Fi

7^

Fs,

"%

7}F?

F/a

ZL

v,

-p.

/o

Fii

r%

>

XJ-t-

F/a

y7
o

:FJo

Fn

F,

B-.

-vfol-f,

y,

<Kl

Hr

Hi

(52)

35
or

(52)

equation

may be

written

If]
f Ft

where:

is

as:

Lke]{a}

general

vector

(53)
forces

end

applied

of

and moments

rKgl- is the dynamic

(a)

is

general

vector

displacements

end

of

for the beam

matrix

stiffness

and

rotations

The

separate

not

be

mass

(52)

assembly

of

arrangement

as

well

matrix,

developed.

equation

dynamic

stiffness

directly

effects

dynamic

are

The

stiffness

as

force

the

of

the

and

as

beams,

smallest

matrix

of

an

[_KE]

includes

stiffness

lumped

either

arranged

system

gave

matrix,

or

effects.

also

for
it

was

bandwidth for
axial

vectors

in

ease

assembly

of

need

in

axial

found that

the

mass

Therefore,

consistent,

displacement

shown

the

this

structural

elements.

36

4'.4 Axial Assembly

(52)

Equation

ion for force

single

of

System

in the

Consider two

together in the

axial

n+1

beam surfaces,

equal

the

external

Also,

geometric

displacement
ments

at

equal.

the

elements.

ing

meaning;

left end,

forces,

continuity

The

right

here

refers

not

deflection
consists

and

n+1

A free

the

two

be

points

of

=2)

to the

to

number

of

ends

confused

of

force

be preserved,

implies

on

17,,"^

refers

the

right

beam

node

vibrating

or

general

beam elements,

body

diagram

of

of

follow

Here

or

the

n+1

to

refers

is

(The term

nodes

and

of

(i.e.

end

junction

common

the

numbers

number.

system.)

two

have

subscript

natural

be

must

assembly

beam

the

second

the

with

to

and

n+1

insuring
displace

the

axial

sequencing

the

and

and

must

equilibrium.

thus

that

for

convention

joined

to be

internal forces

the

must

This

of

junction between the

insuring

end),

A left

for both beam

of

express

general

relations

thus

subscript

used

should

sum

subscripts

first

the beam number.

and

the

shows

elements

junction for beams

common

Figure

general

the

compatibility.

the

is

section

direction. At the

and

previous

Beam Elements

Uniform Elastic

corresponding displacement

and

element.

of

node

point

zero

system

(or beam

n=l

respective

the

coordinate

forces
planes,

acting
is

at

shown

the

nodes

in

in figure 4.

37
Figure

3 Numbering Convention for Axial Assembly

of

Beams

V/T"

'xCfitOZi

t,

yy i

/Vic-tiu
|
0\

l(/?^X ^"4

A. /

(4^^

-?

Z.Ttr

y^7~

s\(

Mtc

jTh

/
(lit 1 1

2<l^H-

Xj &2(nt/)J

QiOinlj.

i,ZL

Figure

4 Free Body Diagram

of

an

Assembly

of

Two

Beam Elements

V,T"

IO.H)

,lCntO

^f /

fit*

r^^r//js:z

'HIx^L

0W)t

***t

Ql*)

01U)

>-

XLnu)

-3***1
in,

L\<

ft-

D^

cir^n'j)
Mn

llMtl)

7
X,

-M.

ltn+1)

*-

1)

2,V

38

Using

(52)

equation

4 the force
the two

and

free

balance

moment

general

the

and

equations

may be

elements

body diagram,

written

shown

in figure

for the assembly

of

as,

in

Via

-s
IK.

eu

-M*y

IK

-s

E /L

f
MM.

1
r

'Wh)

2\

-\

Vu\Vi(nti)
A*.

KjuO

liy.

Ke_

QxnrGi(fat) /

'

KeCrjto

(54)

lUtti\

Uo,ti)

Sax

KE(n

SuntO

fi)

02y

where

the

dynamic
ed

Kw

matrix

area

labeled

stiffness

+1

is

Kp]

KE(n+i)

"the

8x8

matrix

and

for the
sum

Kg

is 8x8

[[Kg"]

beam n+l=2.
common

and

terms from the

In

the

terms

contains

for beam n=l,

contains

^e

and

4x4

stiffness

area

dynamic

area

terms

the

from the

stiffness

labeled
exist.

label

39
It

can

equation

be

seen

that for an N

relating force

where;

N-

4(N+1)
is

[^

the

vector

system

can

of

number

of

loads

be

the

matrix

written

as;

beams assembled.

applied

at

the

points,

"

^s

"^e

is

L-^J

N is

column

nodal

displacement

and

and

element

structural

column

rotations.

vector

dynamic
of

stiffness

nodal

matrix.

displacements

and

40

4.5

Effects
Bearings

The

the

on

Dynamic

the

at

previous

Ends

for obtaining the

beams,

assembled

the

following

JKSy]

where

forces

the

assembly

is

the

and

addition

and

n+1

of

tional

n+1

moment

moments

element

thin

beam
and

between

Figure

provided

(54),

to

displacements

end

real

What

structure

is

and

at

rotations

matrix

of

section

[KsyJ

between

node

applied

relates

in this

sought

stiffness

bearing

and

numbers

of

to

serves

due

to

the

the

shows

dynamic

stiffness

and

The

free

Kx

derived

Lund

in

$RK

fey

forces

shear

node

create

cannot

body diagram
forces

forces

...

and

reference

Ku

KyX

IC

are

an

between
addi

bending

and

and

...,

take

u,

at

beam
to

the

node

by 4 linear

which

such

the

due

are

represented

Dxx, Dxy,

1-

general

arise

velocities

coefficients

[30]

the

of

which

and

u,

4 linear damping

Kxx,

bearing

transmit

bearing

bearing

dependent,

by

The

the

at

acting

beam elements.

adjacent

beam displacements

The

bearing,

massless

elements.

assembly.

positive

ntl.

of

system

Section 4.4

matrix

fluid-film

of

beam elements.

and

the

on

developing

with

solution

direction.

beam elements.

of

Consider
the

moments

effects

the

12x12

steady-state

axial

Fluid-Film

to

Beam Element.
concerened

were

equation

matrix

is

end

in the

the

of

sections

method

Stiffness Matrix due

are

as

speed

those

form,

Kxy

lr

Dxx K

0Ky

ftyy

Pyx ^

Dyy

ir

(55)

41
Figure

5 Free Body Diagram

Beam

of

Bearing Forces.

with

y,ir

(nn)
-Fay

/
///

//jY//J7/y'///~^>

-Unrt)

-5*

f\i<j.

v,<^t<j

(.t\)

(mi)

vn\n

-7z<rui)
,,'Cmi)

Sz*, L

"5/X ^

fuU-nt"

-.ir-

vtIA-

-aa

i) (tmi) m

I) lil

Fax

m aH

4*

X,U.

where

forces
the

the

and

bearing

phase

4y

and

angle

are

----e

dynamic bearing forces.

displacements

in

forces

vary

complex

harmonically
form to

variable

between spring forces

Assuming
and

account

:at

^BnL
hy
Equation

Fe*
Fty

(55)

eiXt

(2L

at

may be

(f^r.0
(Fv

( Fit*

f^

Fdk^ ^

C FKs,

+*

F0y)

put

into

tx)^^-

the

[[k

representing

damping forces,

and

'at

for the
we

obtain,

Lilt
~

<fc

the

'-

Fbk
Fey

CSLt

form,

^JiDx-jU v

{k ^

U Fv)e*at'-L[^-i^yx3l7*-[Ky>

r^SL^V\M

<7

su dyy}V]c

(56)
y-t

42
equating the

imaginary

and

real

Fk<

K<* V

Fd<
Fkv-

?o^

Kyx V

Oy-

Si.

Fkx'Fdx Fkv'

where;

L Dkx: ~0 +

Fdv

LJ

*-

,v

Kxy,

Kyy-

Kyx,

(57)

Kvy V
il D7> V

^he

the

are

bearing

"t^16

of

magni'tudes

stiffness

Kxx,

obtain,

-fl-Dx*,

are

"

we

parts

damping forces.

and

bearing

dynamic

stiffness

dynamic

damping

coefficients.

Dxx,

Dyy-

the

are

bearing

coefficients.

and

all

bearing

offered

will

the

by

coefficients

bearings may
stiffness

all

also

terms

damping

equations

to

the

of

to

to

be

following

bearing,

for

which

to

and

be

cross-

all

large

coupled

analysis

the

investigated.

by assuming

is

restraint

The

of

effects

moment

slope.

shaft

represented

type

This

additional

significant

available,

eight

Rigid

direct
stiffness

and

zero.

figure

motion

massless

are

no

no

fluid-film

of

(Kxx, K^)

terms

Referring

be

that

i.e.

the

to

bearing

any type

allow

dynamic

the bearing,

by

previously defined.

as

assumes

representation

created

are

is

notation

other

(i.e.

bearing,

applying Eulers

and

(1)

equations

(n+1),

node

^(nt"

we

and

(5)

first

in

and

second

section

4.1)

obtain,

iJLt-

y^

2>iK

H e

t.t

.<**

tc

Hzm4

r\y
Kay

i
I

M'Lm,f,

1 ' 2X

aO

,,sit

llL-

m?-

1-Ka

LSlt

Hy
'.

j*

iLt
-

jy

tv
o

i cn^\

43
Also

applying Eulers

massless

at

node

nodes

first

and

and

we

n+2,

second

equations

of

motion

to

the

obtain,

=>*

AJ

V\iy

<

o
o

(57b)

'

C7JU

a
Ml

IL.

uAJ:

-o

Szx

at

node

n+2

^,

'"

sy

III

(57c)

nan)4

i JLt

'/Vl

Multiplying these
these
of

equations

equation

thru

equations

in the

(54),

we

same

by

order

as

sign

minus

in the

those

and

arranging

matrix

form

obtain,

~*\

3 2X

"\

s*y

o
Itrltl)

5 *?x

"

Inn)

<

Me-y

>

,vS

cr-7-

)cct

>

inn;

Kzx

(58)

Pex

f By
O

-Mb/
_>.Cnt<)

^ ex

O
-Knnj

V.

or

IY\ X

I F- 1

O
O

cut

i-y

sut

(59)

44
this

Substituting
equation

(54)

we

the

12x12

12x1

12x1

of

matrix

and

and

rotations

column

(i.e.

to

Is

as

|FgY

expand

of

complex

^sy}),

we

defined

the

product

stiffness

nodal

point

of

coefficients

displacements

to

the

(6l)

right

side

of

the

equation,

[K6}]{ASvi

by

stated

obtain,

effects

as

[K5y] [a5>]

[LK-]

as

i-Fgj

bearing dynamic

vector

or, bringing the bearing

rKs-J

of

(60)

vector,

L-K6]l*^]

where

side

U/U^yW^

~-

column

complex

[o]

left hand

the

obtain,

{-FeW^

Expressing

into

relationship

equation

above,

we

(62)

(54). Using

equations

(^6)

obtain,

,x,

[F.!^>Df-]fc,]eil

[asJ

yt

(63)

I
~

4
O-r

I
ii-

IMIL

where ;

xl

( Kxx

iQ.Dxx )

x2

Kxy

i^Dxy

X3

( Kyx

iiLDvv
'yx )

tiaD^
}yy )

Kyy

)
(64)

^5
is

It

be

must

into

two

treated

real

will

be

and

1-

Z^x

structure

and

reflects

of

bearing

and

the

on

force

i.e.

represents

complex

matrix

the

computer,

displacement

and

F=FR+iFj

general

on

[_KSyJ

the

node

terms

the

matrix

effects

at

be

now

up
complex

vectors

K=KR+iKj,

stiffness

the

with

all

,(

will

terms.

complex

Rather than break this

work

complex

(63)

Equation
the

to

contains

forces

and

such.

retained

treated as
=

as

[kg]

matrix

matrices,

be

will

matrix

the

displacements

the

Therefore,
and

that

seen

which

as

must

in

shown

structure

due

between the

be

to

added

(62),

equation

to

the

addition

and

n+1

beam

elements.

must

one

For the development

to

be

effects

end

made

of

following

that

so

the

the

element

sample

Sh*

and

problem

be

not

will

completely general,
a

of

bearing

least

of

the

3 beam

represent

the

this

added

other.

at

The

point.

+ -\<

'

rrrrrrrrr

Because

may be

necessarily the
illustrate

provision

different

element

model

cross-sectional

sections

using the

must

be

method

//

/ f /

areas

used

to

developed

of

the

shaft,

at

accurately
in this

thesis.

46

Model

idealization

would

look as

follows;

(D
elt"i

e.nf

3_f

7T7T7T77

?/,??/?>'/?, >

is

It

that the

seen

element

and

if

element

associated

element

were

elements

the

left

end

of

the

effects

the

other

to

reflect

end

of

an

right

of

bearing

the

<

the

bearing

effects

8x8.

to

added

at

of

effects

left

end

bearing

written

as

o
0
o

ix/

an

added

associate:

one

to

one

of

of

the

reflect

element,
at

the

follows;

\J,_

V",

be

could

be

could

Two matrices,

the

that

seen

Also, by eliminating

n.

into

Conversely if

n+1.

effects

of

taken

it is

element

'

rev
o

(63)

end

be

'must

Ua-bcj).

ia._M,
o

bearing

3,

of

may be

element,

element

left

the

on

equation

the

element

reduces

matrix

of

and

end

there,

not

end

bearing

of

there,

not

the

were

right

right

From figure

with

n+1

the

with

the

on

consideration.

effects

>

Ux

i-x/
/<^

(65)

47

tFi]

or

f^

where;

jj<k]

is

is

the

column

vector

effects

the addition

$^

is the

and

tKil^i

of

column

bearing forces

of

the

on

(66)

stiffness

due

matrix

end

to

bearings,

vector

of

nodal

displacements

point

rotations.

u,
<J

<

left

at

(Kyx-t
O

(Kyy

(6?)

^-Dyx)
O

>

<

(Kxv;

r6y

e,

H\

<P*/

<fv<r

[f.M

or

The

complex

computer

program

due

Kg

matrix

beam elements.

directly

[KjjJ

to

and

[kJ

such

on

to

the

On the

vectors

the

the

addition

computer

matrices

may be

[Kg]

and

represent

stiffness

displacement
as

to

complex

structural

[_Kg J

matrices

Iff W

added

must

computer.

effects

of

be

to

the

[ke]

the

ends

giving

stiffness

of

added

matrix.

that the

and

in the

dynamic

may be

complex

implies

complex

used

at

matrices

directly

now

on

bearings

real

This

be

will

yielding

matrix.

(68)

Therefore,

complex

force

therefore

and

treated

48

4.6

Effects
the

at

Ends

In the

were

effects

of

disks to

the

is

to

into

take

as

effects,

the

lating
in

from the
disk

be

included
the
the

as

response

L8j
of

of

The

be
of

the

of

assumed

disk

the

of

the

flexes

forces

showing the

would

be necessary to
These

acting
tions

on

of

are

the

are

the

the

of

speed CTL about

addition

The

the

the

to

the

disk.
oz

6 is

and

large

Assume

axis.

The

come

the

angular

are

effects

about

rotating
momentum

concentrated

coincides

e.g.

body diagram

free

the

on

acting

of

with

the

disk,

which

the motion.
and

moments

convention

as

the

disk

moments

forces

sign

are

the

Green

by

effects

of

calcu

when

direction.

these

discussed

Coriolis

or

gyroscopic

momentum

its

to

is necessary

it

effects,

causes

change

that

maintain

motion

parallel

e.g.

section

the

to

relation

Coriolis

or

and

and

as

angular

that

and

elastic

disk.

angular

here

Figure

beam.

disk,

at

gyroscopic

change

in

mass

structure,

rotating disk to

node

axes

the

the

e.g.

system

in this

due

matrix

concentrated

of

the

the

applied

rotary inertia

structure

will

stiffness

to

in the structure,

the

It

be

will

diameter is large

whose

account

rate

bearings

of

stiffness

when

vector

at

to

well

reference

the

the

on

effects,

system.

disk,

the

procedure

on

Disks

to

Beam Element.

the addition

similar

find the

Stiffness Matrix due

section

to

to

thickness,

the

of

due

found,

When

Dynamic

previous

[ke]

matrix

the

on

and

shown

set

the

of

for the
the

axes,

disk

equations

of

the

set

its

is rotating
of

direc

positive

small

with

shaft

angular

of

origin

at

motion

stationary
fixed
constant

of

the

49
disk

with

the

by using
(with

to

rate

the

any moving

is

equal

to
this

The

inertia

of

axis."

moment

in the

plane

The

assumed

be

of

of

momentum

follows,

the

to

the

disk

free

The

associated

L.

It

is

z,

at

the

its

and

disk
and

j'

j_'

ii'

about

y axes.

the

uni"t

are

axis

but

(70)

Equation

Ip,

inertia

of

moment

the

and

axis

any

the

that

angular

disk
velocity,

are

axis

elasticity.

figure

of

of

6,

gravity

the

is

moment

stated

<-'

7/

(70)

iHc^"'h

f
\

J>J

vectors

do
can

(71)

U
which

rotate

be

as

axes,

'

to

-f

where ;
y-

and

principal

of

with

constant

the

as

assumed

center

y,

x,

is, due

mass

defined

by linear

Hc,j

e.g.

forces

they form

number

polar

is

that

that

^yy-f'

He.}.

the

external

such

body diagram

about

to

are

about

defined

disk

respect

with

as

axis,

the

as

the

infinite

an

inertia

of

neutral

of

momentum

through

revolution;

axis

defined

small

Referring

x-y

neutral

is

rotations

to

of

plane.

mass

states;

of

moment

axis

of

inertia

of

in

transverse

Si

moment

are

the

total

any

disk there

the

which

momentum

obtained

[28]

axes

the

about

about

total

with

rotates

be

can

gravity

the

of

system

associated

x-y

angular

of

Ellipsoid'

the

of

symmetry

of

e.g.)

the

principal

Inertia

Cauchy

center

increase

of

of

about

axes

principle

respect

"The

its

to

respect

do

with

expanded

not

the
and

rotate

disk

with

about

written

as

the

the
x

follows;

(72>
li...

lrtf

*!<>*

50
Figure

Free

Body Diagram

of

the

Disk

Vt"V

kki

::

U/Oiii)

Ui-lYlt-l)

H
'H+
ftCOyf

0tt

OKI

(Jl)

tf

J>--0
5^

S^xx,
n-

A*.

j.-v

W*y

'

Mzyf

IH'

-i^b

X,

-st,\
ilnt-I

'tnt'J

'*r

jM*

4/

0.

in*1)

toil-**

afc

,-ur

51

Figure

Free

Body Diagram

Moments

Nodes

of

with

Disk

Forces

and

Acting

ICHh)

Jcnt>)
.linn

J
,

<7J

yy

{/iH)

in nl

EH\

(/u

\\

I)
_

.?V

IH

-F

y.}iu

**1

cf

(/-')

\H\
Xtnti)

iCimi

S*X^
lAA'inH)

S2rX^

Mnti)

52

Euler

gave

us

the

ftc.'j

ILlaj

fact

that;
'

^y

J'r

zT & i

tITt Ik.
dt

The

derivatives

time

defined

of

unit

tlpl).

cit

dt

j.'

vectors

(73)

cjjl

k'
,

are

4.'

follows;

as

the

rXT
'

(oJ k

lfi

-i-

oj,

H2

=.

&

Cr.

t^

f'J'f
iiri

a-

dl

')

/-

<

H:

&

ciy

( ^i

fi

(73)

Equation

')

\{i

be

can

derivatives

the

of

hc.<r

Ir il
/-

scalar

as

written

67

'

lr

^j

C-

(74)

x'

&

I-p

equation

(75)

Xp

with

I-

substituting the

in

equation

(74)

i'

and

j/

lrie*'

(75)

'

'

sl o

when

derived

*'

-It

-i-

follows

vectors

unit

'

Dotting

'

'

time

'f

gives

the

following

two

equations,

A,.;
/Vc

x
--

ty

xr v +iP

xT

&

-tp

&

i-

~y

y-

(76)

53

be

to obtain,

simplified

IT %

#c.t.x
'

Hep

&

IT

+IP
~

citation

is

to

equal

may be rewritten

LyA

St

Ip

Assuming harmonic displacements,

jzl.

^_

the

where

the rotational

(77)

frequency

frequency,

of

equation

ex

(77)

as ;

&)***-*

c-Zjsyr

'

sii

i?

(78)
,
Ifj^Y)^^

fic.Jy
where;

C-ITSLX&

'-

Ip

is

I.J

is the

the

disk

If
SL-

Referring
equations

to
and

the

of

end

form

mass

transverse

with

respect

moment

mass

to

of

inertia
of

moment

the

of

the

inertia

the

angular

rotation

in the

x-z

plane.

is

the

angular

rotation

in the

y-z

plane.

is

the

frequency

figure

to

("i.e.
the

and

nodes

7,

middle

in the

(54),

we

(1)

node

first

and

(5)

in

where

the

disk

same

the

order

as

and

section

second

4.1)

is acting,

those

in the

obtain,

i> ZX

of

rotation.

applying Euler's

equation

equations

equation

and

of

disk.

e.g.

is

motion;

of

polar

arranging the

matrix

'*

JU

m2V f
-

M^

SZy^

i
-

<szi
xk.

,Un*t)

sJOl+"

IAAXlnU>

o
HI

?i

*C*U

i'"{?J
-

MD"

(79)

54

Multiplying

(79)

equation

arranging the

equations

column

minus

sign

vectors

we

and

obtain,

*Vl *y
Ire

->

'

^X

->

two

as

by

IK-

through

1*1

2*

C l\

'Cit-i)

Cn ft.)

<

S&

Mix

(80)

S&T>

>

<

-Y\\bcf-

ex

SXCn-

O
o

C UrU-.

2>^y

vtfCnYl)

(81)

or

[-Pol

[Fs,]

Substituting this relationship into the left

equation

(54)

we

12x12

the

matrix

12x1

and

and

rotations,

bringing

12x1

column

column

of

vector

disk

lo] IUi

vector,

[-fA

disk dynamic

complex

of

the

of

'

effects

<82)

lKJy]{^y]

L-kH-y1
or

side

obtain,

[-fD]
Expressing

hand

complex

as

the

stiffness

nodal

point

product

of

coefficients

displacements

Lk,v] {Aiyj
to

the

LLKsv)^

right

(83)

side

[],,

of

the

equation,

J {~.yL,

(81t)

55

where

to

is

LKsyJ

?p0\

expand

defined

as

as

stated

by

equation

above,

we

(54).

Using

equation(78)

obtain,

f
4-

O'

[h]

'-

Lkd]

Kl

[*v]

'

If J<A

(85)

1
0

nxti.

where ;

MDIL

I-piL

-llp-ft-

(86)
-

-md

x4

sy

X5
x6
It

is

section

the

and

of

the

that

4.5,

where

structure

reflects

the

thin disk

elements.

matrix

and

(85)

Equation
to

I--^

displacements

the

in

seen

at

L K^l

forces
a

will

bearing

represents

stiffness

effects

the

the
node

be

was

matrix

on

general

contains

complex

complex

added

terms

[Ksy^J

which

structure

between

to

as

in the
the

shown

to
n

Therefore,

same

manner

as

system.

must

due
the

terms.

be

in equation(84)

the

and

added

addition

n+1

beam

56

For the development to be completely general,

be

must

end

made

the

of

in

section

system

was

may be

associated

left
of

end

reflect

element,

considered.

of

disk

and

element

out

pointed

that the

so

added

the

effects

may be

4,5,

the

where

addition

As discussed in
the

either

Two

n+1.

the left

at

disk may be

of

written

right

matrices

end

disk

of

section

of

an

added

as

bearings

of

4.5,

the

element

one

to

reflect

the

the

of

the

the

or

effects

to

other

end

right

to

effects

of

the

one

was

end

element,

at

at

added

necessarily the other,

not

with

element

effects

provision

an

follows,

as

Xi
hl

Xf

_-_.

Ii

"V,,-

[fo]
Uxk
o

VI
///

If;]

or

where

l-xg

fi]

as

are

is

(87)

iKii {a]

defined

column

in

equation

of

vector

(86).

disk loads

at

the

left end.
is

the

tothe

is

the

effect

addition

column

placements

and

on

of

the
a

vector

stiffness

matrix

due

disk
of

nodal

rotations.

point

dis

57

Similarly,

X7M

>-

<
Xi

Xj

XT

[Ki] I

[fl]

or

where ;

are

Xjl-x^

is

y\

as

thus

[K--

and

causing the

complex

Lkd

for the bearing

equatio

vector

(86).

disk loads

of

to

the

addition

is

as

on

the
of

stiffness

used

matrices.

the

matrix

due

disk.

previously defined.
seen

contain

complex

-i

is

at

end.
effect

are

(88)

-j

in

is the

stiffness

formulation

defined

column

right

Matrices

Jr*-

matrix

here

to
as

become
was

complex.

described

in

expressions,

The

same

section

4.5

58

4.7

General Unbalance

In section

beam

elastic

ditional

4.3

stiffness

bearing

end

beam section.

of

terms

the

on

or

to

4.5

the

of

side

at

the

of

uniform

4.6 developed

ad

the

directly

to

for the

presence

of

the

or

either

above

added

be

could

for

matrix

and

account

added

All

hand

right

which

matrix

disk

either

stiffness

Sections

matrices

stiffness

Vector

dynamic

developed.

was

beam dynamic

the

Force

left

effects

mentioned

general

right

are

equation.

[Fich L,<5r~- ^s^

where

is

iFkJ

general

loads

LKjtJ

is

for

-t^g

the

applied

of

vector

whole

(89)

taining any beam,

point

structure.

dynamic

structure

nodal

stiffness

bearing

or

disk

con

matrix

effects

on

the

structure.

STi

(.
This
load

are

due

are

assumed

to

to

in figure 8.

arise

4.1)

second

to

The
the

shaft

weight

is

end

added,

from

and

of

mass

geometric

which

axis

and

the

system.

MQ

which

the

rise

to

and

with

node

only

nodal

points

unbalance

beam

as

shown

centrifugal

the

shaft

speeds

first

and

5 in

where

the

unbalance

equation

forc:

has

applying Euler's

equations

middle

arranging the

rotati;

general

The

the

The

of

rotates

9,

on

center

gives

motion(i.e.

and

be acting

and

of

(89).

equation

of

to

small

mass

development

the

in the

unbalance

figures

nodes

side

displacements

point

with

assumed

eccentric

equations

the

are

from the

a,

nodal

concerned

which

Referring to
and

is

specified

eccentricity,

about

of

vector

for the left hand

forces

external

section

vector

force

is

in the

same

section

order

59
Figure

Unbalance

-jra

Force

Ve

7,-iUt
O-W^t
iV

ty-uy^

dCOiH-t

Figure

Steady-State

Unbalance

Forces

^A^y

60

as

in the

matrix

equation

(54),

we

obtain,

~>2X

M,e7
$

^
~

ff

S%Ti

f(t-t).

M'iTl

&

Wo

-~

SXI*<2
<~2l

<*- ^ "J^;

ii"

(90)

'-

'^a2

ciCntil

The

right

filo
M

side

of

JiJ-tlA.

f-cu

ft^Cir

-h

/w^

a^sui)

the

little

to

the

mass

terms

due

to

to

similar

hand

variable

side

and

or"

rotor

of

equation

the

theje

su*-

a.

M,

a,

cosjy-t

sy^^iut

contribute

terms

in

disk mass,

ty***) and

nonzero

terms

comparison

they

sinTU

on

very

may be

-j^_-<7e

the

Ji.n

right

(90) become,

%1-Aha.sI

Substituting

cosslI

as,

/Ho

will

/}ja^

acceleration

the

notation,

"

MP-

/%%!

evaluated

A1oT4

Also, representing

neglected.
complex

terms

is

sidr)

Assuming- that
effect

(90)

equation

expressions

(91)

e^l

into

the

right

side

of

equation

61

(90)

and

sign,

we

multiplying the

set

of

equations

through

by

minus

obtain,

HA zy

S ay

(92)

**&
/

-\

Cut.)
Moa.Sb'-

zx

-Sax

<

iCHh)

>3y

>

-UttfoCLy

^r'

hi:

o
"Cnt-.l

S*x

^u7

o
Cnf(_)
w*;

yy\yy

or

The

unbalance

effects

which

general

forces
are

force

at

any

described

vector

(93)

node

by

may be

may be

equation

built

accounted

(92)

for any

and

for

as

in this

system.

point

manner

62

4; 8

Moment

and

Assume

that

disk,

and

an

ly derived.
the

general

Figure

Shear
at

Balance

at

general

node

in the

unbalance

exist

and

their

Figure

shows

the

forces

10

node

general

system,

effects

and

are

bearing,
as

moments

10 Forces

and

Moments

acting at

general

node

XV"

ali

a s ^At

syinj /%,
1".

*&>,

a*

-flfeyj

\)

Ci

CH.)

(1

I)

acoial

t FfixttL
+>\

Cf

CHH)

previous

acting

node.

Cl

at

63
where j

_p

are

the

bearing

x-z

and

y-z

are

^he

shear

forces

in

the

__

M A^

i-jvy ^

->*xx>

n/i

>iy+

<

01 i*"^

Referring to figure 10,

we

moments

are

the

the

shear

respectively.

forces
x-z

and

bend in1 c

plane.

forces

and

bending

)"M?X:

S'^f'+

equations,

'

*n

ciK

planes

moments

applying Euler's

and

in* the

y-z

plane.

first

and

second

obtain,

JgrXL
MiK

t
?O

Ji?
s*yf

y
.

/>1
~

sx

/^**

W1./

5zy f

6?

-mow,

S7>x

7
*v

/710<lso

Hc.j*

Way ^
0?*

Rearranging
are

on

the

equation

left hand

-c

(94)
side,

so

we

that only the

obtain,

unbalance

force

terms

64

c:

o
o

/-Uy

5z.y

An

WUolSiI
o

rvi*x

<

,tv

34X

ich+)

sx "Sax

M 'Vy >

>
-^y

-aOIM0Cl.I

->-z-y

w*M

HI

MOV

l"6y

k.j-x

"(H*'l

""?''J

l-V| --y

5y
l/yl

Equation
the

(98) is

the

in the

nodes

--

(84"),

and

With

divided up
or

all

these

into
of

LLk,vJ

general

in

I F83

LKHA^J

All

matrix

for

of

the

form in

shear

(96)

La) i/^i

and

terms

(97)

U.vL,

+U.] ^UeJ]^

equation

structure.

previously derived

were

any

IM

"

L^H^vj

"

A]Wl

i^j

[r]
[fk]

at

aCntO
6>

or

(95)

1L1 + W

>

->*x

<

(98)

balance

moment

in the

equations

(5^),

equations

(63),

(92).
expressions

the

number

of

following

any

general

rotor

the

system

elements.

At

conditions

may exist.

ends

may be

of

each

element

65

In this
a

may be

a),

bearing

b).

disk may be

c),

an

d).

another

manner

the

total system.

unbalance

As

an

in Figure

acting.

force may be acting.

may be

element

elements

acting.

acting.

may be axially
the

consider

example

connected

simple

to

represent

rotor-bearing

11.

system

shown

Figure

11 Example Rotor Bearing System.

PisK

fill to

~a

T
3-

Fluid-

Qeurinc.S

t77,

The

system

consists

Fluid-Film Bearings,
an

unbalance

cedure

ized

assumed

I'i-

of

to

developed may be

as

fii,

uniform

shaft

supported

disk centrally located

be

acting in the

applied

here

<**^Sa

and

on

center

the

at

the

its

shaft

plane.

system

ends

The

may be

in

and

pro

ideal

follows.

C3)

6)

no/m

c/m'-

RoHi
e les*. **

CS)

UnboJa^ct
l

77-7777V7

Senrin'j
////Va?

->S

/-

66

The

system

and

three nodes.

be acting,
their
a

are

either

ement

2,

(87),

(88),

system.

At

thus

effects

disk

with

is described by two

the

the

since

act

(these

right

end

of

this

(92)

and

At

system.

be

can

node

an

element

is

common

can

be

used

to

structural

both

matrix

their
be

to

describe

force

and

associated

end

of

el

Equations

elements).

describe

to

to

used

left

is

solved

Xi

-h

<i

*B

*l

'

X,

1
0

the

on

effects

~\

to

assumed

are

may be

the

or

elements

unbalance

components

node

The resulting

(67)

and

to

assumed

3 the bearings

and

(65)

equations

on

nodes

beam

elastic

uniform

-\

Vi.

u,.

_..

>-.

*B

O
X/

X,

*.

'

*l

*6

6>

*(

<8>

'

X,

x,

FxT+Xt

Fu*

12. *'..

x,

*/

Xi.

VH

X,t*-

<

x,

Xi

'?

< &y-9,\

X, + Xv

Fi-v-

x>

*'l

f*o

X\

"1

*,l

^ it

*-

Xv-

Zi

*V,u

*>-

0
i

x-

yCx

xY

Xi

Xv

xo

1I
0

tf

>

xT-

Xv

xe

VI

G^

Xv

VI

\
!

o
v.

0
1

Uil

1
'

c-

x-

XL

X,

Xa

ix.

tfl1
ny

11X12.

67
the

where

matrix

indicate

x's

where

where ;

stiffness

similar

Xg

represents

location

described

terms

In

stiffness

matrix

and

eight

The

program

is

which

in

The

by

the

to

major

and

from the
The

line

be

complex

The

program

force

to

also

vector

semiaxis

give

then used,

of

whirl

the

problem

computer

dynamic

addition

of

the

could

reducing the

the

described

as

core

and

major

problem

the
axis

available).

been
to

an

matrix,
and

force

postmultiplied

displacement

the

solved

8x8

vector.

in Appendix B,

ellipse

of

pro

elements

information,

orbit

structural

computer

bearing

and

equation

the

seven

discussed

have

(88).
in

complex

complex

ellipse

the

and

stiffness

is then inverted

direction to

sample

thus

the

up to

of

constructs

to

steady-state

positive

symmetry,

structural

matrix

vectoris

the

above

the

as

purpose

general

for the assembly

form due

stiffness

minor

terms

displacements

nodal

inverted.

2.

described

as

are

element

587)

equations

vector

for the

for

disk terms

of

(limited only by the

constructs

complex

calculate

solve

written

displacement

The

force

must

nodes.

disk terms.
vector.

to

order

has been

gram

in the

by

1,

number

(67).

and

location

represents

(65)

element

bearing

of

dynamic

element

(52).

terms

represents

equations

for

equation

as

(92).

in

by

The

kd^]

matrix,

described

as

Xq

stiffness

structural

from the beam

terms

represents

in the

terms appear.

nonzero

x..

locations

i.e.

the

angle

ellipse.

using

matrix

center-

as

follows,

68

(
O

<i

|*

*l

*l

*l

tf

v,

>-!

X|

A \ *\

Vi,
O,

v4

<

x,

>
A

>"kx

X+G

*l

*i

*i

!-.

;u

<i

*,

may be

This
for

and

for any

unsymmetrical

an

phase

done

unbalance

the

method

developed

for analysing the

bearing

system.

e^a-

v;=7
Xi

Xo

symmetrical

etc.

Xl

over

the

matrix

steady-state

an

Xitx'i.
,

>

+ Xq

rotor,

(i.e.

offers

-l//.

XT,

system

forces

X,

*l

c;

Xo

<o

*
+

x.

<

X,
6

[yy

i
i

'Vi,

but

hung disk,
cannot

be

easy assembly

response

of :'a

if J

in
out

general

of

reduced

procedure

general

rotor

69

5.0

PRESENTATION OF EXAMPLE PROBLEMS

Based

was

for the

comparison

One

presented.
program

program

here

for

program

the
case

of

and

was

in

based

unbalance

also

This

for

used

on

finite

case

the

program

element

of

response

rotors.

[l6]

and

is

two.

The

second

used

developed

equations

of

problems

example

reference

response

bearings.

end

the

used

also

were

unbalance

in test

results

program

of

Two

outlined.

procedure

FINITE5,

was

Ruhl

by

of

for the

in identical

author

some

steady-state

written

1MASS,

was

in

(ROTOR)

program

computer

techniques,

alternate

programs

comparison

computation

results

for the

was

in Appendix C
model

on

the

of

written

This

matrix

based

programs,

developed

element

for the

written

other

the

on

lumped

one

mass

by

written

was

comparison

of

results

to

insight

in test

two.
Four test

and

capabilities

test

cases

Case

1.

cases

be

to

are

presented

limitations
presented

Speed

Map for

rotor

with

simple

ing
test

end

case

stiffness

the

was

on

developed

continuous

By

developed.

Uniform Elastic

the

The

four

investigated
to

critical

and

speeds

applying

of

capability

the
of

properties

series

the

of

in

supported

stiffness

in test

investigate

elastic

Rotor.

cross-section

cross-coupling

procedures

mass

investigated.

was

selected

the

uniform

bearings (no

coefficients)

program

into

are;

Critical
simple

the

of

provide

or

damp

case

one.

effect

of

rotor

This
support

system.

Also,

representing the
of

the

rotor

unbalance

is

response

70

varying the

calculations,

calculation,

critical

is

Prohl
This

critical

The map is

erated.

map

speeds

in

[9 J

demonstrates

case

Case

2.

simple

case

in

rotor

was

effects

2^.

of

rotor-

of

and

within

capability

Supported

Rotor

the

of

on

bearing
the

asymmetric

elliptical

program

and

the

one

demonstrate

the

programs

whirl

orbits

Overhung Disk
test

with

due

to

analyse

to

shaft,

concentrated

to

masses

The

program.

This
the

the

rotor.

results

predict

the

rotor-bearing system.

in Rigid Bearings.

Shaft

supported

in

rigid

This

bearings
model

effects

on

the

fundamental

length

of

the

overhung

the

test

damping

and

of

bearing

from Ruhl's

obtained

gyroscopic

of

two.

determine

investigated.

was

the

case

orbits

capability to
of

varying the

due

model

shaft

overhung disk

selected

the

mass

whirl

those

with

eight

stiffness

Uniform Elastic

three

case

an

speed

on

in test

investigation to

for

compared

elliptical

bearings (all

end

investigated

was

are

of

Linn

of

agree

speeds

Uniform Elastic

of

Results

In

critical

complex

selected

properties

3.

results

programs

speed

critical

Fluid-Film Bearings.

coefficients)

Case

the

predicted

This

results

gen

system.

Unbalance Response
in

the

and

accurately predicting the

bearing

stiffness.

each

is

model

plotting the

theoretical

the

with

reference

test

support

for the

map

by

obtained

vs.

compared

speed

with

stiffness

support

disk.

was

critical

portion

coupling

and

different

Results

are

compared

71

the

with

experimental

[ 2J.

reference

to

bility
were

4.

analyse

encountered

complex

Case

Lund

and

figurations,

one

disk

The

rotor

supported

was

selected,

experimental

The

results

bearings,

and

Each test

case

geometric

properties

All

are

work

gives

results

rotor

are

presented

program

identified.

At

each

speed

had

to

computer

input decks

Material

properties

to

be

the

same,

thus

the

models

used

bearing

the

of

con

analytical

reference

where,

elastic

to

cases

the

stiffness

or

[15]

repre

disks,
system.

and

the

obtain

tabular

This

entered.

graphical

following

damping

and

created

extensive

run.

for the beam

composite

all

working in the

test

model

capability to

either

each

model.

single

in

Orcutt

are

the

in

for

configuration

in the

be

in

with

programs

of

increment

it tests

con

rotor

This

bearings.

since

idealization

the

coefficients

more

three disk

and

forces

and

were

2.

the

full details

areas

1.

this

to

overhung

program

Lund

bearing

unbalance

When applying the

two

of

compared

of

demonstrate

complex

difficulties

added

rotor)

in flexible

developed

Results

capa

programs

procedure

and

model

investigation
the

and

sent

problem

(MTI

the results

of

the

configuration.

are

figuration.

form.

in applying the

Presented here

for

No

rotors.

overhung

Orcutt Test Rotor

is

by Dunkerley in

obtained

demonstrate

results

rotor-bearing

capabilities

results.

The

results

elements

material

were

assumed

problems

could

72

be

not

3.

investigated.

In generating the
response

on

curve

speed

critical

had

to

be

map,

calculated

was

an

forces

unsymmetrical

system.

To

the

since

present

the

excite

point

each

new

the

higher

This

program

was

each

than

mid-span

unbalance

Although this

involved

only

axial

location

unbalance

modes

will

forces
effect

and

the

to

re

out

the

out

of

to

rotor

about

symmetrical

not

dictates

the

identical bearings.

other

it brings

of

possible

not

assumes

were

bearing

which

idealization,

that the

the

Thus,

three

case

modes

the mid-span,
necessary.

test

have been different for

should

bearings represented.

of

for

unbalance

the map.

4. The overhung disk investigated in

5.

an

was

forming

important
phase

what

fact

application

extent

response.

the

73
5.1

Critical Speed Map

The

the

speeds

local

rotor

the

speeds

the

speed

vs.

system

critical

rotor

critical

associated

shapes

(i.e.

stiffness

in

will

that

to
to

and

critical

speeds

as

The

for

their

rotor

of

in the

By

form
plotting

found

at

Having

maximum.

rotor

define

effect

may be
a

at

particular

other

system,
effects

the

on

the

assume

critical

the

and

shaft

When

are

rotor

the

by

defined

more

bearing

Rieger

by,

will

whirl

becomes

flexibility,

discussed

At low

conical

rotor

bend.

characteristic

speed.

the

(unbalance whirl)

whirl

synchronous

stiffness,

raised

bearings

are

are

to

used

stiffness).

speeds

investigated

translatory

start

comparison

may be

critical

forces

to demonstrate
be

can

these

at

presented

support

vs.

amplitudes

for

speeds

will

support

is

rotoa?

experiencing

with

of

the

bearing

system.

and

primary

since

presented

investigated

are

speeds.

speed

values

and

Rotor

rotor

technique

matrix

(speed

map

is

case

rotor-bearing

speed,

critical

parameters

also

the

where

design

of

is

stiffness

response

found

speed

transmitted

and

test

stiffness

speeds

critical

rotor

This

maximum.

critical

support

of

high

of

amplitudes

that the dynamic

the

speeds

Uniform Elastic

for the rotor-bearing design engineer,

concern

at

critical

for

the

in

shape

mode

speeds

modes).

As

restrained

stiffness

rotor

rigid

the
at

mode

bearing

the

becomes

becomes

reference

for low

and

the

adopt

near

[29]

pinned

the

ends

large
in

its

bending

74
where

^L takes

on

Figure 12a
The rotor

in

mass

the

value

resented

and

coupled

stiffness

zero

as

so

the
so

first
a

divided

The

bearings

into

that

resonable

node

the

was

and

elements

rotor

The

at

At

the

mid-span

nodes

four
and

nodal

oz-in.

as

the

unbal

used

so

plotted.

in figure

shown

uniform

rotor

points.

was

and

excite

The

.33

be

needed

was

used.

calculated

into

To

and

idealization

divided

points.

and

of

be

could

model

was

rotor

nodal

and

unbalance

amplitudes

mode

nodes

elements

was

rep

cross-

to

assumed

analysis.

in figure 12b

elastic

the

case

unbalance

mid-span

and

are

supports

are

the

derived

106psi

test

coefficients

complicate

shown

uniform

acting

second

used.

as

bearing

For this

speeds,

An arbitrary

2.

at

12c

two

were

ance

excite

critical

28.5

analysis.

as

represented

was

The

in this

used

model

here

used

damping

all

...etc.

uniformly

4.5.

section

idealization

model

of

unnecessarily

third

and

was

To

and

to

not

are

lb. /in. 3

.283

derived in

as

3 7?

rotor-bearing

value

was

2 /?

elasticity

The

j>

of

the

shows

4.3.

section

ft

values

elastic

bearings

were

acting.

An

unbalance

180

out

4.

This

of

was

phase

done

deflection point)
The
speed

Linn

the

solid

and

Prohl

method

oz-in

.33

from the
since

in figure

reference

[9].

in this

at

node

(mid-span)

second

particular

developed

at

placed

was

unbalance

node

for the

lines

for this

map

of

is

node2

and

was

placed

true

.33

node

oz-in

at

node

(zero

mode.

13

show

rotor

The

the

model,
circles

thesis.

It

is

theoretical
this
are

was

calculated

points

seen

critical

that

from

found using
good

correla-

75
tion

is

end

conditions

are

shown

(low,

analysis

mode

shapes.

from

which

This

test

bearing

system.

stiffness

over

are

is determined.

has

shown

that

it

is

the
the

damping

an

speeds.

the

subsequent

system

unbalance

includes
istics

of

all

the

critical

response

the

speed

bearing.

is

It

bearings

retain

constant

by

Rieger

in

But,

as

plot

bearing

noted

then

but may be

stiffness

cases

speeds

of

the

critical

the

that

seen

is

rotor-

of

theoretical

of

stiffness

the

for the rotor-bearing

obtain

test

real

lines,

neglected

map to

critical

bearing

few

speed

effective

speed

comparison

curve

2,0%.

change.

speeds

are

critical

In

that

noted

critical

effects

calculating

is

found

expected

developed

speeds

critical

the

response

technique

in this analysis.

difference

critical

the

found

gives

only necessary to

rotor

the

with

stiffness)

shapes

mode

unbalance

speed

with

typical

Table

be

should

correspond

specified

support

the

show

speed

percent

It

a-f

critical

of

values

shows

those

vs.

high

to

seen

defining accurately

of

largest

and

Figure 14
are

corresponding to

shapes

15

case

capable

speeds

and

Figure

the

mode

medium,

in figure 13.

from this

[22]

Typical

obtained.

and

closer

it

will

may be
system

dependent

taken

point

approximation

seen

found
vs.

stiffness

that

intersection

Also,

system.

accout

plotting this

be

characteristic

of

into

over

to

the

directly by

speed,
and

reference

since

damping

the

the

by
the

rotor

true

actual

rotor-

plotting
the

analysis

character

76

100

<h

-*

12"

a).

EAIf

T
Kxx

Kxx

Kyy

Kyy

node

33
b).

oz-in

EAIf

EAIf

Kxx

kxx,

0>

<8>

<3>
.16

EAI

./

I,
I

d)

node

oz-in

EAI/

EAI/

.16

^x*

...

/77777

//////

c).

no.

Oz-in

EAI f

<

K.
^xx'

^
//////

Fig.

12 Rotor Model

for Test Case

.J

no.

77

-crnx>r-<x>m

^r

co

-UKOh

caj

to

**

ro

oj

CM

v\

WdH

peads

Fig,

a),

lst

rigid

14 Mode

mode

Shapes

( trans latory),

10 lb. /in.,

78

Rotor

for Uniform Elastic

149

rpm.

ir,.

X 10

---.<r

b).

2nd

rigid

mode

(conical),

10 lb. /in,

N.

255

rpm.

1.0

-f-

-I-

c).

3rd

(free-free bending mode), K

10 lb.

/in.,

IK

-1-0

12650 rpm.

10

zo
-?,

X!0

ir.

-2,0

d).

lst

bending

mode,

10 lb. /in.

Nc

5550 rpm.
-

MO

lo'^i.-.

---MO

e).

2nd

bending

mode,

10 lb. /in.

Nc

21750 rpm.
--

H.O
o

10 *,

X.

IO

-.

--

-M-Q

f).

3rd

bending

mode,

10 lb. /in.,

47500

rpm.
--

i.o
O

-M.o

in.

100

79
Fig.

15

Typical Unbalance

1st

mode

10

Response

Curve for Test Case

lb. /in.

10.

(10"

Whirl
Amplitude

vs.

radius

speed

at

midspan

in

mils

in rpm.

in.x
1.0

.1

Speed

01
5000

5200

5400

5600

rpm.

5800

6000

6200

80

Table

Critical Speed Results for Test Case 1

Support Stiffness

(K
lst

lb. /in.)

Crit. Speed(rpm)
(Linn and Prohl)

Crit.

Speed(rpm)

Difference

(Predicted)

mode
103

150

149

475

470

1.0

1435

.6

.66

IO5

1427
6

->

10

3637

3675

1.04

5204

5300

1.84

5484

5500

.3

254

256

.79

801

810

1.10

2490

2545

2.2

8002

7850

1.9

17627

17750

.7

22104

21700

1.8

12703

12650

.4

10

12703

12700

.02

lo5

12803

13000

1.5

16116

15900

1.3

32177

31500

2.1

47566

47500

IO7

io8

2nd

mode
103

10*

IO5
.

io6

107

io8

3rd

mode
IO3

io6

io7

io8

.14

81
5.2

Unbalance Response

of

Uniform Elastic

Supported

Rotor

in Fluid-Film Bearings.

All

for the

and,

rotor

successive

under

The

specified

throughout

and

motions

and

damping,
test

case

predicts

the

the
will

the

[13J

of

were

also

be

shaft

orbits

traced

out

rotor

and

axis

are

of

at

since

identical,

response

calculations

of

amplitudes

rotor

speeds

specified

at

the

bearings,

with

terms

of

survey.

nature

The

one

of

early

mass

the

many

model

whirl
hystere-

the

response

orbits

by

explored

with

out

effects

massive

that

properties

tilted

carried

coefficients

whirl

been

in the literature

establishing the

with

eight

cross-coupling

whirl,

unbalance

when

natural

systems

stable

The

whirl,

maximum

whirling have

generally

unbalance

asymmetric

is

the

of

to

rotor

be

will

even

unbalance,

causes

any

involves the

investigating

the

with

whirl

residual

whirling

whirl

along the

demonstrates

bearings(all
Lund

the

discussed

flexible

the

of

range.

concerned

were

unbalance

case,

system

speed

investigations

This

conditions.

points

as

degree

unbalance

mechanics

researchers

some

coincident

state

bearing

The

is

rotations

steady

rotor-

undamped

speed

frequencies.

at

retain

balancing [29]

after

the

rotors

respect

of

certain

pedestals,

method

simple

As

to

the

in

present

complex

discussed

The

fixed

This

accurately

rotor

in general,

bearings.

parameters;

etc..

developed

present).

are,

the

of

by
due

elliptical

elliptical

load

line

in the bearing representation.

to

orbits

due

to

82

Figure

This

analysis.
so

the

at

for the

thesis.
The

in

supported

[16]

Ruhl

to

hold

the

the

speed

and

many

identical
the

the

for

"static"

range.

This

dynamic

model

and

the

about

the

model

assuming

no

one-mass

model

speed

thr

at

rotor

and

by

the
the

dynamic

the

one-mass

dynamic

system

as

.5

Ruhl's

model,

model.

Lund

by

[3C'J

of

the

input

example

finite

Specific

element

information

2.
of

the

stiffness

acting.

identifies

the

one-mass

matrix

It

is

first

model

the

bearings.

results

formulation,

seen

that

bending

but unsatisfactorily

especially at

assumed

simplify

qualitative

by

throughout

shown

to

this

was

was

properties

made

was

matrix

terms

5700rpm,

true

and

discussed

As

to

equal

not

comparison

adequately

approximately

is

in Table

cross-coupling

response,

ratio

provides

stiffness

listed

shows

found

those

with

is

on

bearing

rotor

assumption

the

between

comparison

the

in

investigated.

are

pounds

(Ocvirk) bearings.

this

Physically

100

of

guide

representation

developed

model

one-mass

weight

eccentricity

programs

computer

17

of

experimenters

other

Figure

short

operation

fluid-film bearings.
to

total

the

of

shown

give

element

representation

matrix

to

case.

midspan

at

radius

representation

finite

here

used

investigated

developed

was

is

and

response

model

from both Ruhl's

had

[16]

previously

mass

model

shortcomings

rotor

in this

concideration

under

Ruhl

by

with

one

simple

stiffness

the

test

made

for the

results

Also

model

presented

be

This

dynamic

the

and

rotor

derivation for the

the

bearings

in figure l6-b.
line

is

could

gives

the

shows

model

comparison

Appendix C
and

16-a

the

critical

represents

Looking

at

the

83

Table

Test Case

Model Description

Rotor
Length

50"

=3"

Diameter
=

30

IO6

psi

lb/in3

.283

Midspan Unbalance

=1.0

0z-in.

Bearings
eccentricity
clearance

.5

.0005

in

lb/in

kvv

283300.0

kxy

400000.0 lb/in

-83000.0

lb/in

216600.0

lb/in

(caLa^y-

658OOO.O lb/in

XA

(W0xy)=

227000.0

lb/in

(qjdvy)=

227000.0

lb/in

300000.0

lb/in

yx

(wi>yy)=

Speed

1000

st.

Range

rpm

14000

bending

rpm

critical

5720

rp m

84

bearing

response

passed,

the

than does

the

one

mass

the

of

effects

through the

used

critical

in the

analysis

by

and

elements

were

and

the

show

dynamic

of

motion

may be

the

shear

developed

terms,

shear

terms

be

in

computer

was

punched

up by the

the

results

show

element

solution)

the

program,

that

stiffness

model

gave

results

author

give

the

given

for

use

4,

finite

(ROTOR)

futher

2,

in the

both the

practically

for the

Figures 19-20

FINITE5

matrix

and

4.1. Then

section

inclusion

for

retained

model

and

response

in the

in

author

equations

(4

results.

matrix.

reference

(FINITE5)
converge

and

Table

solutions

at

[l6]

Basically

analysis.

element

curves.

The

stiffness

Ruhl

in this

element

for

corresponding terms

idealizations

identical

in

an

performed.

the

refinement

not

was

dynamic

by

done

was

calculations

no

were

element

deformation

this

since

effects,

of

finite

This

shear

that

shear

The

dynamic

passing

Idealizations

model.

of

the

including

developed

after

idealizations

model

matrix

found

refinement.

the

dis

as

higher modes,

using Ruhl's

calculated

was

element

that

the

of

FINITE5.

and

It

on

recommends

ROTOR

effect

of

values

the

since

calculation

response

the

of

the

to

comparison,

examples

investigate

attempt

test

response

formulation includes

each

effects

rotor

stiffness

an

adequate

its

of

in

modes

the

higher

resonable

is

speed

speed.

I8a-b

model

is

nature

the

represent

Figure

4,

2,

to

continue

will

Thus

critical

predicts

This

system

the

after

model

the

by

the

U.8J

mass

model.

model

all

that

seen

mass

Rieger

by

is

distributed

distributed

cussed

it

and

with

the

element

presents

two

speeds.

85
Table
Results
at

for the

5500rpm

and

2.

4,

6 Element Idealizations

and

l4000rpm Using ROTOR

and

(values for Major Orbit Radius

Speed

No.

FINITE 5

el.

(rpm)

IO"1
.14754

At 5500rpm

by

ROTOR

IO"2

1.

4.73%

6.63

10"2

6.63

response

i.e.

formulation,
of

stiffness

is

calculated

Two

by FINITE5.

At

explanations

possible

to

the

the

element

provides

structure.

method,
an

Thus

upper

the

based

on

the

bound

to

the

calculated

lower.

distributed

bution

lower.

response

calculated

finite

the

known that

is

The

6.63%

are

.08

are;

result

true

than that

the

.8

6.56

.12807

higher

results

% Diff.

3.88

10"2

(near the first critical)

displacement

2.

4.73

10"2

IO"2

is

It

IO"1

.12797

.13706

l4000rpm the
for this

4.73

.12797

.13706

IO"1

.15327

.13706

% Diff.

io'1

.14754

10"2

14000

Midspan)

.15452

IO"*1

at

.15452

.14754

(in)

10"1

5500

Test Case

FINITE 5

ROTOR

(in)

of

the

mass

mass,

response

giving higher

formulation
thus

curve

amplitudes

gives

predicting

is

shifted

for the

to

same

better distri

lower
the

critical

left

speed.

speed

thereby

86

Looking
it is

and

element

At 5500rpm the

The

element

for this

Thus

shear

comparison

21.

included

not

models

fact

the

that

critical

zone

bearing

element

model

two

is

It

few

points

the

shape

are

of

the

fine

investigate

this

area

of

to

the

increase
the

effect

figure

22 for both the

on

the

response

finite

Neglecting the

bearings

The

curve).

which

were

the

at

the

element

at

approximately

graph

the

and

are

in this

This

and

terms

to
results

cross-coupling

bearings

the

midspan.

cross-coupling

graphs

y direction

the

of

model

were

from the

increments

curve

inclusion

response

terms

may be visualized,

curve

speed

those

damping

the

on

to

from the

and

shown

introduced

shown

with

little

the

in the

about

is

seen

criticals

made

tended

model.

two

were

substantiate

terms

the

is

It

effects

shear

both formulations

that

seen

8.33/3. 0.

of

results

and

.08%.

since

solution

element

stiffness

stiffnesses

that

so

runs

computer

completely

at

finite

analysis.

define

unsymmetrical(only

mass

out.

cross-coupling

in the

that both

do

carried

for the

analysis

is

said

higher speeds,

not

practically identical results.

give

but

the

of

The

was

the

be

can

for the

same

ratio

that

for

solution.

element

indicated

the

at

especially

investigation

in figure

is

solutions,

same

the

are

diameter

However, nothing definite

effects,

in this

it

the

l4000rpm it

at

length to

configuration

the

found

had

and

element

are

but vary for the 6

.8%

and

ROTOR

by

calculated

solution

solution

negligable.

Those

4,

2,

by FINITE5

calculated

% difference is

are

thourough

for the

results

that those

seen

idealization.

each

the

at

the

is

and

shown

in

distributed

predicted

50% lower.

had

responses

87

50"

1.0

\
E A I

oz-in

3.0

T
KxxKxy
DT,Dv,r,..
xx"xy'

S77777

Uniform Elastic Rotor Model

E

30x10

psi
lb/in3

.283

50"

<&-

1.0

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oz-in

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C-

One

Fig.

mass

l6

//////

yyy/f

b)

KxxKxy'"
xx---

//////

a)

ii

model

Rotor Models

49.2 lb.

1.27xl0"3in.
22944 lb. /in.

for Test Case 2

xy'

88

100.

Fig. 17

Unbalance
Test Case

Response2-

ROTOR.

no

Cross

Coupling

1MASS

1
-o-o-

mass

model

Distributed

mass

model

10.

Amplitude

in.

10

1.0

.10

Orbit

radius

speed

in

Speed

iitt.irltliniir

10 lu

III,'

ii

10

rpm. x
I

01

in,

mills

(10

vs.

rpm

J
t

10

il

12

13

14

89

>':::Ul..; r\:j

50"

25"

1.0 oz-in.

j_
E A I

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L~y

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T
Kxx'Kxy

ty

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ls>xxrvxy#

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Distributed

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mass

formulation
50"

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DxxDxy

*a\
*1

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1.8

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xxDxy

//////

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3.0"

for Finite Element Model

mass

formulation

Distributed mass

and

(Ruhl's

model)

Consistant

mass

Model

100.

v.

90

Fig.

19

Response

Curves

Solutions-

2.4

for

Test Case

2-

and

6 Element

FINITE5

element s

l\
6

elements
elements

10.0

Amplitude

in.

10

1.0

.10

ius

in

mils

(10

11

12

vs.

rpm.

Speed

rpm

10

,01

lo

13

14

100.0

91

Fig. 20

Response Curves
Solutions-

2.4

for

Test Case

2-

and

6 Element

ROTOR

j
2 element

^
6

-I

!-

elements
elements

10.0

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in.

10

1.0

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mi,

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rpm

1Q-

.,01

56789

13

14

100.

92

Fig.

21 Unbalance
Test Case

Response2-

no

FINITE*

Cross

Coupling

ROTOR

Finite Element Model

Distributed Mass Model

10.

Major

Minor Orbit

and

at

radius

midspan

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in.

10

1.0

Major

Minor Orbit

and

radius

bearings

at

-Cr

10

Orbit

radius

speed

xlO3

Speed

01

in

mills

(10

vs.

rpm

rpm

6"?

10-

10

11

12

13

100.

93
Fig.

22 Unbalance
Test Case

Response-

with

FIN ITE 5.

Cross

Coupling

ROTOR

Finite

Element

Model

Distributed Mass

Model

10.

Amplitude

in.

10

1.0

.10

Speed

01
III

56

10'

rpm

10

11

12

13

J.t

94

5.3

Overhung Disk
Rigid

test

model

performed

is

case

choosen

was

are

is described

loaded
model

in.

weighed

as

with

is

.4414

of

the

(disk)

model

disks

used

lb.

and

the

specific

in

set

of

{fZ J

reference

D,

lb.

and

(in.)

was

and

for

each

the

in.

L,

The

The

O"]

was

shaft

determined

results

The

models

pulley

ratio

12 different

two

length

shaft

side,

portion".

overhanging

.2488

experimental

presented.

Disk

of

one

on

overhung

value

of

value

weight

/in.3.

varying

in the

and

27-974x 106psi.

Table

II

cases

experimental

experimentally

was

.282

sizes

are

Model Diam.

XI

The

23.

in Fig.
diameter

by

end

at

the

Thus

span.

basic

The

Case

as

overhung disks.

with

clasic

bearings

pulley

presents

presented

are

was

to

two

on

modulus

Dunkerley
pulley

the

of

developed

the

follows.

shown

and

Young's

density

one

refered

"Shaft resting

32.18

shafts

analyse

by S. Dunkerley in 1894.

experiments

of

in

supported

investigate

to

presented

ability to

procedure's

The

Shaft

Uniform Elastic

Bearings

This

The

on

of

size

the

are

Thickness

3.005

.0497

3.5134

.0882

cases

for the

properties

listed

in Table 4.

4.

properties

six

overhanging

configurations

physical

different

for two

for Test Case

(in. ) Weight (lb. )

.1216

.2735

of

portion

same

the

95

This

problem

investigated in

was

the fundamental critical

on

parameter

1.

to

order

speed

the

analyse

due to the

effects

following

three

changes.

varying the length

of

the overhanging

of

portion

the

(C).

shaft

2. Different

concentrated

mass

due to overhanging

effects

disk.
3.

Effect

The

model

The

length L

will

the

of

idealization

vary.

remains

The

The bearings

as

input to the

in the

physical

while

force acting at the

equal

problem

test

to

zero.

will

the

accurately

by

two

identical bearings

the shaft,
Table

is

seen

properly
lists

that

in

experimentally
gyroscopic

the

mode

the
all

indicating
results

cases

observed

the

As

at

the

the

need

be

entered

damping

and

still

may

the

since

than

support.

rigid

obtained

is

critical

at

be

unsymmetri-

displacements
point

any

predicted

2%,

within

speeds,

is

for

Fig.

at

on

for the twelve cases.

the

overhanging portion

reactions

represented

difference between
and

cross-

all

bearing

smaller

results

coupling included)

shapes,

test cases.

substantially

be rigid,

Although the

model

proper

to

different due to the

be

with

assumed

values

The

problem,

are

are

stiffness

the

bearings

four beam elements,

case

program.

portion

unbalance

of

the

overhung

and

nature

cal

the

2.1

in Fig.

shown

as

set

were

is

analysis

idealized

computer

coupling terms

overhung disk.

to

is

in this

therefore only large

in the

used

constant

model

bearings, disks

node.

coupling due

gyroscopic

It

Dunkerley'

(with

values

24

several

shows

of

increased the

the

96

fundamental

mode

with

mass.

an

end

that

assumes

shape

The effect

the

on

varying the overhung length C is

hits

increases,
trend is
belives
disk

one

For

frequency

the

cause

lower

trend

values

correlation

mass

of

but the
disk

of

Table

verv

assumed

gives

coupling.

litte

and

mass

cases

the

change.

been

had

Thus

results

with

drops rapidly.
at

substantially

Intuitively this

and

completed

act

mass

be zero,

dynamic

was

is

at

the

moments

thus no

for the 12

to

the

original

This

was

an

end

of

The

inertia

with

result

concentrated

of

the

coupling.
no

gyroscopic

indicate

calculations

unexpected

this

the shaft,

of

gyroscopic

cases

good

continued,

coupling effects.

to

allowed

will

predominate

value

investigation

the

transverse

Comparison

This

is larger.

II

model

dynamic

the

the

lowered.

speeds.

gyroscopic

to

will

speed

free

will

for the heavier disk but

established,

polar

be

to

critical

the

was

where

portion

is decreased the

increase.
C

of

value

critical

the disk

were

the

section

shaft

section

C,

of

values

will

the

section

overhung

this

overhung

appears

time neglecting the

low

frequency

in C,

After the twelve

and

section

for the

since

expected

the

of

certain

natural

futher increase
same

of

characteristics

the

and

same

The author

noting that

between the bearings

span

length

of

at

until

continue

The

the

of

As the

predominate.
natural

light disk

This

II).

and

two distinct parts;

between two bearings

end.

by

explained

of

up

(I

models

first

speed

critical

to

the

As

25.

then rapidly decreases.

and

by both disk

made

characteristics

and

peak

due

speed

in Fig.

shown

beam

cantilivered

critical

increased the

trend may be

is

system

spanned

at

evidenced

this

is

C,

portion

overhung

of

which

97

initiated
that the

results

is

shown.

is

made

not

to

compared

to

for

of

speed

orders

of

terms.

reasonable

the

1400 rpm)
and

cases

the

are

the

above

gyroscopic

speed

26

Fig.

critical

and

well

system

This

to
set

of

defined.

example

analyse

the

hold

stiffness

comparison

terms

be

were

as

follows.

(lower than

low

twelve

all

results

three

stiffness

stated

are

for

little

values

test

that neglecting

effect

on

the

used

to

identify

critical

It

The

is

response

seen

fact

that

curve,

that the
no

response

damping

was

peak

present

is sharp
in this

this result.
case

complex

results.

now

the

and

made

gyroscopic

problem.

has

rotor

successfully demonstrated
configurations.

up using this technique

its

This

value.

the

of

the dynamic

speeds

predicted

typical

speed.

explains

the

coupling terms has

shows

the

and

may

observations

for this

value

was

system

speed

than the beam dynamic

light

substantiate

rpm

of

speed

coupling the
critical

the

First,

critical

gyroscopic

explanation

disks
,

the

speed

less

magnitude

1400

be added.

would

decided

was

calculation

terms

proper

they

which

lower

hand

indicated that at this

Since

the gyroscopic

Second,

the

for the

value

indicating

observed.

It

that unreasonable.

all

reduced

stiff

coupling terms

matrix

Rieger L^O

with

By neglecting

less

was

were

were

trend of

general

This

discussion

is

as

The

valuable

as

ease

the

in

ability
problem

the accuracy

98

i-H

(H

Shaft

BTA

a).

Dunkerley*

Disk

Rigid
Bearings

1727

Disk Model

Overhung

*L

4L

(case XI)

he

ic

MD,

ip,

it

I'

Kxx

Kyy
S77777

23 Model

Kxx

Kyy

.001

oz.

S77777

b). Model idealization; E, A,

Fig.

and

constant

in

each

element

Idealization for Test Case 3P

in.

99
Table

Critic al

Disk I

L(in)

C(in)

Speeds

1216 lb.

30.7

-U00

b)

29.1

c)

28.0

Overhung I^otor

Diam.

Dunkerley'

results

a)

of

Predicted
gyro.

Length

3. 005 in.

% Diff. 1

&

.0497

2 Predicted
no

gyro.

1223

1225

-16

2.61

1329

1335

.45

1330

3.69

1384

1390

.43

1385

d)

26.66 5.02

1407

1410

.21

1405

e)

24.0

1224

1240

1.30

1235

f)

21.33 10.35

968

975

.72

975

Disk II

7.69

2735 lb.

Diam.

a)

30.63 1.00

1227

1230

b)

29a

2.54

1276

1300

c)

28.0

3.63

1281

d)

26.66 4.96

e)

24.0

f)

21.33 10.29

7.63

3.5134

in.

.24

in.

1225

Length

.0882

1225

1.80

1300

1305

1.80

1295

1215

1230

1,20

1220

928

945

1.8a

940

712

720

1.10

720

in.

100

'.Af.'

.4.

(-U

t-i

-L.uy.

4-

-of

--

,oz.

ZT

in.

--

Ttf

-02

-OH

^,02

30.7

a).

Model Ia

Nc

1225

1.0

-*-

rpm.,

1.0

in.

0?
.00

ov
02.
A"

O'O

--

7T^
-

ov

-.0

28.0

b).

Model

Ic,

Nc

in,

Ol

3.69

1390 rpm.,

3.69 in.

--

.OS?
--

-ot
--

-01
--

7^"

--

01

00

in.

,ov

---.oc.

---.08

21.33-

c).

Model

Fig.

If,

24

Nc

Mode

9I0.35

975 rpm., C

Shapes

**"

10.35 in,

for the Overhung Disk Models

101

1400

1300 "..

1200

1100
CRITICAL
SPEED

(rpm)
1000

900

800

700

1.0

2.0

4.0

3.0

5.0

6.0

Overhung Length C

Fig.

25

Critical
Models

Speed
&

II

vs.
of

7.0

8.0

9.0

(in.)

Overhung Length for

Test Case

}.

10.0

102

i Test Case

Responce

3, Model Ha, Nc
Disk

at

Location,

1230 rpm.
oz.

in.

Typical Unbalance Response Curve

for

Mills

(10"-5)

vs.

.001

unbalance

Speed rpm.

1.0

Amplitude
.10

in.x 10

.01

Fig.

26

Overhung Rotor

Speed

1180

1200

1220

rpm.

1240

1260

1280

103

5.4

Lund

Lund

(MTI Rotor)

Orcutt Rotor

and

Orcutt
and

analytical

response

of

investigation

[15j

combined

gyroscopic

unbalance

coupling,

In

shafts

reference

is

computational

method

the

response

unbalance

configurations

rotor

is

analysis

an

sections

The

ties.
with

set

the
of

lation
of

the

slope,

of

of

the

the

speeds

of

and

recurrence

to

calculate

which

of

of

for the
formulas
can

direction.

mass

and

shear

and

rotor

sections,

which

allows

The

step

characteristics

motion

rotor

by

was

shaft

elastic

proper

stations,

together

established

by step

Successive

computing the
force

cal

Orcutt

and

rotor

connected

for the

shaft

by

Lund

the

couple

for

method

damping

and

be performed.

formulas

bending moment,

Prohl

stations

motion

experimental

rotor.

stiffness

vertical

series

rotor

applied

tilting-pad bearings.

of

equations

and

analysis

by

extension

equations

elastic

supported

uniformly distributed

recurrance

and

and

three

fluid-film bearings

by

mass

of

anisotropic

represented

with

each

included the

in the horizontal

features

representation,

general

"the

to be

case

special

uniform

with

unbalance

This

overhung disks

bearing

15}

of

critical

the

the

of

presented

culating the

of

all

the

of

the final test

complete

forces and

properties).

investigation

(i.e.

have been developed

which

The

as

chosen

it

extensive

in fluid-film bearings.

rotor

was

an

presented

experimental

since

presented

in I967

along the

calcu

application

amplitude,
rotor

104

in terms

the amplitude

of

By back substitution, the

finally be
case

and

to

experimental

There

are

in this

thesis, they

the

dynamic

indicated
response

they

currence

the

has

this

3.

that

formulas

form

it

shear

at

the

end

is

effects

found.

In the

solution

disk

and

bearing

forces

are

provided

solves

directly for the displacements

stations

The

bearings,

are

the

same

or

nodal

disks

as

point

set

clearly
in

their

development

analysis

of

re

substitution

presented

stiffness

requires

matrix

for

analysis

structural

reactions,

the

by back

dynamic

solution

The

and

developing

effects

the

they

neglected.

were

requires

solved

not

of

In

negligable.

procedure

procedure

was

the

to build up the

the

presented

deformation in

shear

since

to be

are

in the

included

shear

been developed.
matrix

that

and

coefficients,

shear

the

closed

analytical

differences

and

included,

of

they

Orcutt

and

test

this

developed to the

developement

calculations,

amplitudes

here,

effects

here

can

station

of

purpose

similarities

influence

assume

Lund

each

Orcutt

whether

presented

The

at

are;

and

the

presented,

2,

basic

Although Lund

amplitude

station.

Lund and Orcutt.

of

Orcutt*

and

the

procedure

work

some

between Lund

1.

the

compare

of

It is the

calculated.

first

slope

and

matrix

only to

use

dynamic

stiffness

and

unbalance

effects

effects.
and

The

analysis

rotations

at

points.

and

unbalance

for both procedures.

force representations

105

What

will

ysis

of

two

of

Lund

and

Orcutt. The

by

model

will

analysed

the

be

the three

it is

since

Orcutt

greatly influenced
form the

present

used

also

were

assumed

in the

disk rotor)

since

28.

bearing

and

diameter
shaft(a

never

eter

and

except

6 in.

of

mass

represent

did

they

are

obtained

are

in its

not

be

(Test

model.

case

bearings

the

since

important

an

play

in Fig.

shown

from model

that five

appear

at

The

test

30x10

with

but

model,
not

mass

role

27. Model two

one

(one disk rotor)

disks. Model idealizations

seen

two

by

thus

can

need

response).

models

end

the

the

models

developed

disk locations

value

two

and

program

must

stated)

2.5 in.

one

causes

noted

computer

It is

occurs.

As

configurations.

be

not

indicating

properties,

was

two

node

which

the

by

rotor

two basic

in Fig.

model

bearing

rigid

by attaching

unsymmetrical

unsymmetrical

overall

The

(3

an

will

the

to accurately

was

model

different

disk

three

The two disk

bearing

\_)-5~\

presented

the

and

model

anal

response

unbalance

configurations

disk

one

to be

reactions

for two different

and

an

is the

rotor

be presented.

bearing

Lund

here

presented

overall

ends

and

was

was

length

for the

central

length.

The

sections

the

of

where

rotor

psi

shaft

are

required

change

cylindrical

used,

4lin.

although

and

integral disk

rotor

shown

at

rotor,

ever

are

weighed

all

in
steel

Lund

diameter

of

881b.

6 in.
not

and

Orcutt

of

diam

including

106

the detachable

end

the inner 2.5 in.

disks

end

to

This
of

low

181b.

value

value

of

holes in the

was

diameter

weighed

calculate

given

the

bearing

density
and

pivots

with

the

bearing

theoretical

and

equivalent

properties

30a

Figs.
results

model,
oped

are

as

and

obtained

the

positions

results

closer

results

can

be

1.

The

of

the rotor)
the

follow

to the
of

given

of

results

predicted

deformation

cating

of

would

higher

stiffness

The

values

stiffness

of

in

for both

damping

and

experimental

for the

one

mass

center

that the

the

and

devel

end

predicted

but are

response

than to the theoretical

explainations

discrepency.

in this thesis

value

as

properties

flexibility

Several possible

fact that shear deformation

developement

damping

and

using the technique

seen

trend

Orcutt.

weights

in fluid film bearings

for the

are

It is

general

for this

unbalance

29.

results

experimental

Lund and

for

Lund and Orcutt

in this thesis (graphs

lb/in^.

.256

the theoretical and

predicted

the

used

was

Also the

bearing

and

fact that machining

film stiffness.

show

by

the

introduced

in Fig.

shown

and

was

supported

Orcutt [15'].

and

36lb.

information

masses

stiffness

including

not

weighed

density

end

was

pad

series

This

reflects

bearing

Lund

by

are

section

weight

The rotor

theoretical

whose

of

disk

center

each.

center

performed.

The

masses.

critical

tend to

critical

was

could

speed.

stiffen

speed.

neglected

in the

the

higher

explain

Neglecting
the

rotor

the

thus

shear

indi

107

2.

The bearings
might

be

not

provided

for this

[151

material

therefore

The

the

was

and

on

was

the

the

location

and

response

rotor

clearly

these

enough

in

were

coefficients

which

this

was

being

analysed.

what

that

and

center

give

results

were

of

the

All

rotor

response

measurement

and

configurations

planes

For

Lund

lower

were

run

bearing dynamic

and

the

disk

investigated had

for the

planes.

rotor.

critical

18,5$ (ll.OOOrpm)

parameters

except

the

of

at

18.5$ (l6,000rpm)

were

density f

measurement

were

results.

(13,500rpm),

results

weight

damped

these

not

were

planes

plane

the

when

Many different
in

planes

measurement

the

at

results

mass.

the

assumed

measurement

predicted

changes

of

explicitly stated,

were

observed

experimental

location

center

the

of

rotor

experimental.

not

represented

theoretical

investigate

effect

values

Figures 30a

model

Orcutt *s

the

the

soyght.

properties,
of

bearing

were

assummed

was

result

than the

than the

to

of

disk

one

higher
and

ends

It

interesting

speed

overall

explained

what

properties

positions

indicated.

An

not

exactly

reasonable

exact

the

was

felt closely

author

4.

It

151

Orcutt

and

in the

role

information

the

by

properties

in the analysis.

used

The

big

play

dynamic

Lund

by

evidenced

model.

reference

3.

as

the

and

specified

correctly

and

properties

flexible

are

bearing

effects

little

properties,

108

The

response

the three disk

tical

results

to

seen

are

free mode,

of

At this third

the three

good

the

disk

third

Lund

speed

the bearings

little

effect

between

agreement

of

the
on

case

response

program

in calculating the
the

since

bearing

rotor

the

the

rotor

response,

bearing

accurate

data

as

must

with

be

close

very

the

bearing
The

speed

rotor

and

the

of

rotor

characteristics

plays

only

ll,000rpm.

response.

accuracy

in the response. When the bearings do

over

are

critical

in this

the

minor

exhibit

one

supplied

to

free-

speed,

using the Prohl

and

rotor

response

verifies

and

the

calculated

curves

Orcutt as

critical

points

response

critical

by

nodal

theore

ll,000rpm. An

given

have

the rotor,

The

system

rotor

and

experimental

was

natural

properties

of

Good

31a and b.

around

peak

sharp

calculation

transfer technique

to the

in Fig.

shown

for

positions

end

Lund and Orcutt.

by

given

and

center

between the

obtained

contain

independent

are

rotor

is

correlation

for the

curves

disk

of

role

control

rotor

obtain

model,

good

correlation.

Lund

and

Orcutt

speeds

critical

Cl5l

for the

calculate

two

stiffness

Comparison

imental

data.
of

these

response

using the

These

thesis

values

values

data

the

undamped

given

theoretical

in Table

to the theoretical

(both Lund

technique)

the

with

are

of

bearing systems, using

rotor

the Prohl Technique together

values

Orcutt data
shows

<o

and

and

that the

bearing
.

exper

data

obtained

undamped

109
critical

speeds

speed

at

which

configurations

calculations

maximum

rotor

response

which

is

not

amplitudes

presented

calculations

given

by

Cr:Ltical Speeds

lst
One

Disk

Three Disk

accurately
occur,

here

provide

standard

Table
Calculated

not

again

speed

in the
that

Prohl Me thod

2nd

the

information
calculations.

t0

by

the

for

role

affirm

valuable

critical

identify

except

the bearings play little

where

The results

response.

do

(rpm) L15]

3rd

7200

17,800

24,500

3000

5,800

11,000

110

U-

8"

1
2.5"

Kxx Kxy*
5xx

Dxy

Kxx Kxy

Dxx

9.5'1

9.5"-

Dxy

//////

Model One

:).

one

disk

model

^153

41"

3"

3"

~A

xx

f.

It

XX,

Model Two

(same

Fig.

as

27

y Kxx,
Dxx

'

S77777

//////

b).

three

model

Models

disk

two,

for

model

[l 53

plus

end

test

case

disks)

4 Lund,

Orcutt Rotor

111

!-u>H

OZ-in

.5

M.5"

Kxx

*yy

Dxx D,

9.5*-

1-6"

6.5"-

9.5"-

ij
^^

K^,

_y

Dxx

'yy

D-yy

//////

a).

Idealization for Model

.16

h-9.5u

-6.5"

one

oz-in

H-6"-

9.5"-

6.5'H

MD,Ip,It
i

1
.33

oz-in

Kxx
Pxx

.33

//////

b).

Ldealization for Model

Fig.

28

Model

Kyy
Dyy

//////

Idealization

MD,Ip,It

two

for test

case

oz-in

112

11

Fig.

29.

Theoretical

and

and

Properties

Damping

Equivalent

Bearing

Stiffness

2.-

100.0

1-

3
4

5
6

Damping, 3 Disk Model lb-sec/in

Damping, 1 DiskkModel lb-sec/in
Stiffness, x IO?", 3 Disk Model lb/in
Stiffness, x 10^", 1 Disk Model lb/in
Equi. Stiff., x lOT", 3 Disk Model lb/in
Equi. Stiff., x 104, 1 Disk Model lb/in

10.0

1.0

Stiffness

10

4
or

10

Damping

12

14

vs.

16

Speed, rpm

18

20

10^

22

24

26

10.0

113

3.__

1.0

ll,000rpm

peak

response

13,500rpm

peak

response

I6,000rpm

peak

response

Response

.10

vs.

Orbit

Speed,

rpm

Radius,
x

mils/oz-in

10-3

Amplitude

in.

10

-3

Theoretical Results
A A

Experimental Data

-0-0-

[15]

ref.

ref.

15

Calculated from Thesis Program

.01

Fig.

30a.

Unbalance

Response

of

One Disk Rotor

Center Position

Speed

10

12

rpm

14

16

10J

18

20

22

24

26

114

ll,000rpm

peak

response

13,500rpm

peak

response

I6,000rpm

peak

response

Response
vs.

Orbit

Speed,

Radius,

rpm

mils/oz-in

10^

Amplitude

in.

10

[15]

Theoretical Results ref.

-3

A A

-o-o-

Experimental Data

ref.

Calculated from Thesis

[15]
Program

,,.01

Fig.

30b.

Response

Unbalance

of

One

Disk Rotor

End Positions

gpeed

10

12

rnm

14

16

10

18

20

22

24

26

115

15

Theoretical Results ref.

A A

i
-0--0-

15

Experimental Results ref.

i

Calculated from Thesis Program

10.0

Amplitude

in.

10

-3

1.0

Response
vs.

Orbit

Speed,

rpm

Radius,
x

mils/oz-in

IO-'

.10

Fig.

31a.

Unbalance

Response

of

Three

Disk Rotor

Center Position

Speed

10

12

rpm

14

16

10
18

20

22

24

26

116

Theoretical Results

Experimental Data

A A
-o-o-

15

ref.

15

ref.

Calculated from Thesis Program

10.0

Amplitude

in.

10

1.0

Response
vs.

Orbit

Speed,

rpm

Radius,

mils/os-in

10^

.10

Fig.

31b. Unbalance Response

of

Three

Disk Rotor

End Positions

Speed

rpm

10

10

12

14

16

18

20

22

24

26

117

6.0

DISCUSSION OF RESULTS
The

development

procedure

for the

steady-state

istics

of

complex

in the

the

distributed

stiffness

an

the

handling

of

dinate

approach

be

made

it

elements

elastic

was

with

The

been

treat

by

the

Pestal

the

in

of

need

bearing
and

been

the

of

ends

it

model,

and

Leckie

in

reference

the

author

in

point

[27 1

matrices

follows.

as

up

series

of

beam

and

mass

included

were

[KBJ

[kbJ

88.

Instead,

directly into

the

structure

that

computer

effects

This

and

66% 68, 87,

set

easy idealization

savings

as

development

uniform

was

This

used.

unbalance

for

by

were

coor

beam element.

each

felt

effects

for developing the

added

is

(mainly

disk

and

provided

procedure

efficient

more

equations

have

rotor

disks,

accurate

an

distributed

and

The

response.

be

assembled

axially

Bearings,
at

effects

an

and

procedure

cross-section

uniform

Although this
up

by

these

Cartesian

notation

logical

working

equations.

handed

right

computational

represented

properties.

optional

for

possible

presented.

rotor

development,

the

of

that

rotor

to

shown

the

of

disks

and

shown

overall

equilibrium

ensuing

elasticity theory

and

systems

has

and

character

Inclusion

bearings

by

in the

role

The

properties

elastic

flexible

of

response

presented.

developed has

matrix

Throughout the

have

and

introduced

important

dynamic

set

mass

has been investigated

system

play

means

terms

stiffness

effects

as

unbalance

computational

and

have been successfully demonstrated.

rotor

The

element"

in fluid-film bearings has been

rotor

to

"rotor

of

would

these

as

it

to

discussed

and

effects

stiffness

would

core)

have

[kd]

and

avoided

[kdJ
could

matrix

118

by knowing

merely
have

(or

realized

6.5%)

since

the

numbers

node

1.024x10^

savings

of

each

the

of

at

above

they

which

words

of

computer

8x8,

were

matrices

This

act.

would

core

and

complex,

double precision.
developed

The

procedure

shaft

in

end

uniform

distribution

of

mass

element

allowed

simple

uniform

critical

speed

required

for

figure
acts

rigid

the

rotor

mode

values

flexible
within

to

rotor

2%

Test

of

and

pinned

in its bearings

case

demonstrates

two

due

The

relative

length

the

rotor

to

depend

ratio

of

ticious

model

investigated

with

reference

shaft

ability to
the

Q.6]

finite

is

assumes

the

stiffness

critical

the

assumes

rotor

speed

values

were

the

whirl

orbits

are

(4.73$

5500rpm)

at

asymmetric

in test

represent

element

the

amount

to

stiffness

properties

bearings

the

at

the

on

formulation

matrix

that

the

of

bearing
case

two

It

is

stiffness.

indicates

predicts

midspan

and

that

predicts;

the

along the
present

The

fic

the developed
Agree

by Ruhl in

the

dynamic

slightly higher
was

of

interactions.

developed

seen

and

unbalance

rotor-bearing

procedure

established.

stiffness

at

it

rotor

critical

amplitudes

the

ment

the

support

the

in

shown

was

causing the

and

accurate

theoretical values.

bearings.

procedures

The

It

of

the

investigation is

speeds

values

within

predict

stiffness

critical

At higher

shapes.

mode

elliptical

and

support

of

The

one.

properties

Futher

substantially increase

generally

of

of

analysis

case

successfully

modes.

the

at

elastic

to

the

in test

higher modes.

of

values

shapes.

becomes

rotor

speed

body

and

for three

low

at

bearings

model

verification

rigid

single

values

13 that

as

to

applied

was

discussed

in

response

section

5.2.

119

It

was

also

predicted

8.33/3.0
is

the
of

to

effects

motion

their

and

effect

two

on

that

limitations

on

be done

can

the

stiffness

creates

an

one

mass

speed

of

matrix

stiffness

model

the

unnecessary burden

information

the

formulation developed here

for

more

complicated

no

three

four.

In the

ability to

test

analyse

is

the

in test
first
the

model

However,
is

system

if

required,

Futhermore,

application

of

in test

presented

the

this
cases

developed

overhung disks

with

of

application

evidenced

cases

where

obtain

seen

ideal.

the

as

shafts

to

element

the

be

systems,

two

last

the

of

to

difficulty

greater

poses

It

investigator.

proves

as

equations

predicts

finite

response

shaft-disk

procedure

the

on

the

about

Thus

the

the

on

by retaining

analysis

accurately

or

model

low

as

the

of

matrix.

system.

effect

refinement

model

derivations

original

dynamic

the

dynamic

procedure's

ratios

carrying them through the

critical

and

This

little

Further investigation

l4000rpm.

predominant.

in the

bending

detailed

up to

speeds

are

diameter

length to

establish

terms

shear

case

for

and

had

refinement

model

for

response

required

shear

that

shown

was

investigated.
It

shown

was

critical

speeds

Dunkerley's

futher
this

where

The
of

the

for

adds

case

results

investigation

critical

ceses

speeds

overhanging shaft,

C 2l

the

to

validity

validity

three

that

is

within

developed

to

required

to

exist.

were

seen

and

the

predicted

combinations

shaft-disk

various

experimental

verification

Again,

in test

to
mass

be

and

2$.

This

fundamental
agreed

experimental

procedures

establish

function
the

with

capabilities.

the

of

limitations

the

gyroscopic

length

120

the

stiffening

effects

of

effect

was

ignored

the

lower.

However,

1$,

it

and

effect

on

is

the

calculations

(by

influence

the

dynamic

shaft

was

gyroscopic

terms

the

of

were

for this

three

were

values

than

has little

action

gyroscopic

orders

Independent

model.

coupling
of

terms,
less

magnitude

than

insignifi

substantiating their

terms,

stiffness

speed

coupling

generally less

small,

calculations

the author)

gyroscopic

critical

that the

speed

indicated that these

When the

predicted

concluded

critical

disk.

cance.

The

capabilities

[151
disk

between the

predicted

HOOOrpm.
critical

third

the

An

response

independent

For the

critical.

of

third mode,
the

rotor.

critical

speed

thus

Therefore,
verifies

in calculating the
The

trend

of

follow closely the

to

disk

the

correlation

the

accuracy

characteristics

the

results

of

of

and

the

the

predicted

experimental

Orcutt)

the

at

rotor

rotor

for the

analytical

of

the

the

as

bearing

points

role

minor

around

HOOOrpm

nodal

the

good

and

gave

play

and

peak

sharp

bearings

one

For this

configuration

natural

obtained

was

Lund

technique,

three

close

the

(by

rotor

analysed,

experimental

indicates

Prohl

Lund-Orcutt

Orcutt.

and

procedure's

were

models

both the

Lund

curve

the

of

correlation

and

by

Two

calculation

using the

speeds,

Good

results

locations happen to be
the

four.

case

presented

results

configuration

the

in test

developed

the

of

investigation

three disk model.

analytical

from the

came

presented

and

test

comprehensive

most

for

in the

response

third

response

program

itself.
one

mass

results

of

model

121

Lund

Orcutt.

and

l6000rpm
value.

The

to

fact

the
a

the

The

of

this

procedure

perform

unbalance

procedures

efficiency
are

it

bearing

that the

left

as

of

peak

results

amplitude

the

Lund

of

was

Based

disk model,

around

experimental

this

sen

observation

and

not

influenced

accurately represented,

the

author

bearing

has

representation

For

was

was

which

peak

value.

response

rotor

on

observed

indicates

Orcutt

and

that the

properties.

three
was

found

occurs

experimentally

18.5$ lower than the

or

questionable

analysis

the

analytical

bearings,

that

predicted

18.5$ higher than

configuration

sitive

the

is

HOOOrpm

at

value

this

which

The

been

used

by

believes

in the

model.

developed has
response

calculations.

and

capabilities

computation,

demonstrated

as

recommendations.

its

Future

investigations

compared

to

ability to
work

into

alternate

on

the

improving
relative

techniques,

122

7.0

CONCLUSIONS
1.

A general

based
has

2.

established

Matrix

5.

For

7.

the

response

speeds

flexible
the

the

flexible

8.

9.

the

The

gyroscopic

cal

speed

since

In

must

However,

systems

coordinate

provides

be

to

for

more

the

mode

the

rotor

mode

acts

shapes

at

are

orbits

shear

vary

flexible

can

be

and

critical

used.

seem

stated

is due

more

bearings.
the

importance

criti

of

these

rotor-bearing system,

to be

about

assumes

This

raise

each

speeds.

to

for

and

when

tend

relative

occur.

speeds.

the

for different

effects

critical

of

the

will

body

rigid

the

at

in depth investigation

anything definite

properties

effects

However,

will

amplitudes

the

is

indication

clear

elliptical

representation

stiffness

as

becomes

shapes

for

systems.

provide

rotor

tool

efficient

an

vibration

investigated

be

the

peak

stiffening

effect

general

conventions

calculations

whirl

values.

the

right-handed

shown

rotor

rotor

asymmetric

effects

been

bearings

bearing

realistic

true

which

bearings

general

the

at

rigid

rigid

to

procedure

formulation

matrix

rotor-bearing dynamic

of

For

In

stiffness

notation

has

algebra

assumes

6.

computational

logical development.

and

Unbalance
of

to

adherence

analysis

4.

and

successfully been demonstrated.

uniform

3.

element

the dynamic

on

Strict
and

rotor

configurations.

negligible.

is

needed

these

before

effects.

123
10.

Inclusion

tions

the

of

predicts

bearing damping in
higher

only the

11.

bearing

stiffness

By performing

various

the

placed

unbalance

length

the rotor,

of

balance
may be

can

be

helpful

response

calcula

than that

calcula

technique,

which

includes

properties.

unbalance

at

speed

critical

ted with the Mykelstad-Prohl

the

response

with

calculations,

different locations, along the

the

Thus,

evaluated.

the

of

sensiticity

to

rotor

un

calculations

response

in choosing the best location for balancing

planes.

12.

The

dynamic

accurate

stiffness

approach

to

matrix

has

concept

studying the

proven

be

to

of

response

unbalance

an

rotor-bearing systems.

13.

The
er

program

storage,

than

15. 8K

words

rotor

elements.

computer

disks

14.

ROTOR

more

core,

were

the

was

main

more

program

computer

FINITE5
with

efficient,

of

comput

required

of

maximum

words

rotor

of

of

main

elements

and

no

allowed.

efficiencies

recurrence

use

ROTOR

with

21. 2K

required

maximum

in the

FINITE5.

core,

in depth investigation is

relative

matrix

of

was

formula,

approaches).

of

the

finite

needed

different

element,

and

to

compare

approaches

dynamic

the

(i.e.

stiffness

124

8.0

RECOMMENDATIONS

1.

A revision to

[KB]

the matrices
the

bearing

the computer
,

[kb]

[Kq3

eliminating

and

[kd*]

and

as

true

point

disk properties

and

ROTOR

program

treating
effects

is recommended.

2.

The

program

values

each

3.

for

revised

density

weight

shaft

be

should

and

to

different

accept

Young's Modulus

section.

Provision for multi-bearing

use

(i.e.

recommended

the

since

this

require

type

4. Futher investigation
of

for

shear

deformation

stiffness

5.

6.

matrix

Application
to

the

incorporating

of

stability

Expansion
ements

of

and

commended.
equation

inclusion
would

be

shear

couplings

turbo-generator

performed

into

effects

on

the

effects

procedure

the

dynamic

be developed.

of

of

large

higher speeds.

at

program

of

and

analysis.

should

dynamic

analysis

This

of

should

the

the

analysis

for the

solution

statically indeterminant bearing problem)

would

for

stiffness

rotors

to

require

solving techniques.

should

handle

bearing

matrix

be

investigated.

large

pedestal

formulation

number

effects

investigations

into

of

is

el

re

better

is
sets

125
9.0

REFERENCES

Rankine, W.J., McQ., "On the Centrifugal Force of Rotating

Shafts", Engineer, London, Series A, Vol. 27, p. 249, 1869.

Dunkdrley, S.
Phil.

Trans.

"On the

Whirling and Vibration of Shafts",

Soc, London, Series A, Vol. I85, p. 279, 1895.

Roy.

Jeffcott, H.H.,
Neighborhood

of

Balance", Phil. Mag., Ser. 6, Vol, 37,

4

"The Motion

Smith, D.M.,
Vol.

of

142,

pp.

Rotor Carried

by

Bearings", Proc. Boy. Soc,

92-118, 1933.

Robertson, D. , "The Whirling

pp. 216-217,
228-231, 1934.

6.

Prohl, M.A.,
Speeds

Vol.

304, 1919.

p.

in Flexible

Shaft

of

12,

of

Shafts",

"A General Method for

Flexible Rotors", Trans.

p.

in the

"The Lateral Vibration of Loaded Shafts

Whirling Speed-The Effect of Want of

The

Flexible

Series A,

Engineer,

Vol.155.

Calculating Critical
ASME, Jnl. of Appl. Mech.

1945.

A-142,
"

The Influence of Oil-Film Journal Bearings on

Hagg, A.C.,
the Stability of Rotating Machines", Trans. ASME, Jnl. Appl.
Mech., pp. 77-78, 1947.

Green, R.B. , "Gyroscopic Effects on the Critical Speeds

Flexible Rotors", Trans. ASME, Jnl. Appl. Mech., p. 369,

9.

10

"The Effect of Flexibility of

High-Speed Rotors", Trans.

F.C., Prohl, M.A.,

Linn,

Upon the

Critical Speeds

Vol.

PP.

59,

1948.
Support

SNAME,

536-553, 1951.

Warner, P.C,
Report

of

of

"On the

62-TR-26,

Feb.

Balancing

of

Flexible

Rotors",

MTI

1962.

11

Sternlicht, B. , "Rotor-Bearing Dynamics with

Emphasis on Attenuation", Trans. ASME, Jnl. Basic Eng.,
Vol. 84, Series D, 1962.

12

Morrison, D. , "Influence of Plain Journal Bearings on the

Whirling Action of an Elastic Rotor", Proc. Instn. Mech.
Engrs., Vol. 176, No. 22, p. 542, 1962.

13

J.W., "Rotor-Bearing Dynamics Design

Computer Program Manual for Rotor Response
MTI Technical Report AFAPL-TR-65-45, I965.

14

Mortora, P.G. , "On the Dynamics of Large Turbo -Generator

Rotors", Proc. Instn. Mech. Engrs, Vol. 180, part I, No.

Lund,

Lund,

p.

15

J.W.,

12,

295, 1965-66.

Lund,
on

Technology PartV
and Stability",

the

paper

J.W.,

Orcutt,

Unbalance

67-VIBR-27,

F.K.,

Response

First

"

Calculations and Experiments

of a
Flexible Rotor", ASME

Vibration

Conference,

Boston, Mass.,1967

126

16

Ruhl, R.L.,

17

Ruhl, R.L.

"Dynamics of Distributed Parameter Rotor Systems

Transfer Matrix and Finite Element Techniques", PhD Thesis,
Cornell University, Ithaca, New York, Jan., 1970.

Booker, J.F.,

"

A Finite Element Model

.

Distributed Parameter Turborotor Systems", Trans.

Jnl. of Eng. for Indus., pi 126, Feb., 1972.
18

for

ASME,

Rieger, N.F., "Unbalance Response

of an Elastic Rotor in
Damped Flesible Bearings at Super-Critical Speeds", Trans.
ASME, Jnl. Power Div. , Vol. 93, Series No. 2, p. 265,

April, 1971.
19

Rieger, N.F.,
Part

PUB.,
20

"Flexible -Rotor

III-

Bearing

System

Dynamics,

Unbalance Response and Balancing", ASME MONOGRAPH

Flexible Rotor Systems Subcommittee, 1973.

Morton, P.G.,
the Motion

"Influence of Coupled Asymmetric Bearings on

Massive Flexible Rotor", Proc. Instn. Mech.
182, Part I, No. 13, p. 255, 1967-68.

of

Engrs, Vol.

21

Morton, P.G., "Analysis of Rotors Supported Upon Many

Bearings", Jnl. Mech. Eng. Sci., Vol. 14, No. 1, 1972.

22

Rieger, N.F.

23

Ekong, I.E.,

"Vibration in Rotating Machinery",

,
College Lecture Notes, 1970.

Union

Bonthron, R.J., Eshleman, R.L.

Continuous Multimass Rotor Systems",

"Dynamics of
,
ASME Pub, No. 69-VIBR-5I,

1969.
24

McCallion, H.

,
Rieger, N.F. ,
Bar Vibration Analysis", The

"Moment and Shear Equations for

Structural Eng. Vol. 43, No. 7,

July 1965.
25

Bishop, R.E.D., "Analysis of Vibrating Systems which Embody

Beams in Flexure", Proc Instn. Mech. Engrs., Vol. 169,
No. 51, PP. 1031-1055, 1955.

26

McCallion, H. , Vibration of Linear Mechanical Systems.

John Wiley and Sons, Halsted Press, New York, pp. 96-HO,

27

Leckie,

1973.

F.A., Pestel, E.C, Matrix Methods in Elastomechanics,

Book Company, New York, I963.

McGraw Hill

28

Timoshenko,
Van Nostrand

S.P.,
Co.,

Vibration Problems

Inc., Princeton,

in Engineering. D.
New Jersey, Third Edition,

1955.

29

Rieger, N.F., "Rotor-Bearing Dynamics Design Technology, Part I:

State-of-the-Art", MTI Technical Report AFAPL-TR -65-45, May, 1965.

127
30

Lund,

J.W.,

"Rotor-Bearing Dynamics Design Technology,

Design Handbook for Fluid-Film Bearings", MTI
Technical Report AFAPL-TR-65-45, May, 1965.

Part

III:

31

Rieger, N.F.,
April, 1974.

32

Levy, S.,

33

Halbleib, W.

communication

and

unpublished

notes,

"Computer Programs for Vibration Analysis";

Computer Workshop in Structural Dynamics, Schenectady,
New York; Union College Graduate and Special Programs,
Union College, Aug.,1973.

Institute
34

private

private

communication,

Technology, Rochester,

of

May,

1974, Rochester,

New York.

Bishop, R.E.D., "The Vibration of Rotating Shafts",

Eng. Sci., Vol. 1, No. 1, pp. 50-64, 1959.

J.

Mech.

35

Dimentberg,
Butterworth

F.M., Flexural Vibrations of Rotating Shafts,

Co., Ltd., London, 1961.

and

36

Bishop, R.E.D., "Vibration and

Applied Mechanics Feview, Vol.

37

Gladwell,

G.M.L.,

Uniform
1 (D , 78,

and

38

Balancing of Flexible Shafts",

21, No. 5, p. 439, May, 1968.

Bishop, R.E.D., "The Receptance of

Shafts", Jour. Mech. Eng. Sci.,

Non-Uniform

1959.

Yamamoto, T. , Colected Works

Garrett Corporation, Phoenix,

AiResearch Manufacturing Co.

Arizona. Report G-5019, Nov.,

1964.

39

Rieger,

N.

F.

Programs for Rotor-Bearing System

Rochester Institute of Technology,

"Current

Dynamic Analysis",
Rochester New York,

June

1974.

128

10.

APPENDIX A<

DYNAMIC

THE

Following is
as

formulated

following
s-

The

in

hand

short

c-

sin/^L,

inverse

of

will

sh-

cosAL,

A"1

[24]

[kxJ

that

seen

the

matrix

From

=[d][c"J,

derivation

the

be used,
ch-

sinh?)L,

is defined

matrix

stiffness

reference

Throughout

found.

notation

dynamic

for the

Rieger in

and

be

must

MATRIX.

4.2 it is

section

[C""1]

means

which

derivation

the

McCallion

by

(33)

equation

STIFFNESS

cosh^L

as

ad.j

I A)
adj A

where

transposed

Noting
the

is

the

and

that

matrix

|A|is

sin2

cofactors

of

[cCA'slOtchCh'-s)]

Af<=

is

as

'-bcCAL5h)-fchC-^^l

A,-,
kit

'Ls(^s)

i>>I^

"-

A2i

An

lA*ch

/T

'-

1)11

A2
Aj/
A3Z
A33

~-

(*

[(A

5l^"

[~C/)S

-?\csh)]
~

Sh

-ALc)l

Als sh

s ch)(

-m

cch)(-i)

I)
-cch

-ssh^C

I)

-s)C-i)

-ch)ti)

(UcM^
=

sch

C;

-c)Ci)

CC

AdS)

matrix

4-shC-^s)] ~-Mi

tfC-sh

=[-Ulci-M

1,

+ s)C-0

Sh

^Cch

'-

=L~ysk -1)1]

tsch)U)

hxC~csU

cC^cfi^Vc)

A*sl

for

follows

cofactors

of

A,
sinh2

=hx(csk

Ai3

matrix

of

and

sh(hlh) +cH^c/i

A,x

the

cosh2

cos2

or

determinant

the

-t-

A,

of

adjoint

Cuh^

/) Cscln
t

(~

sslo]-

-c

h(-\

tech

+55h)iO

sh)C-l)

?)SL

Cl

/)

)J

=^-55-'

^/j-/J(

129

["(Asd)

hi
A vi

/Wz

"-[(As

AV3

=L-C-/kM+

Avy

C-/)

AAZ

inf

A/z

Introducing

inh

F^

F2

cos

A L

cosh

A L

cos

cosh

Ah

cos

AL

cosh

A L

Fo

Fh

cos/)L

cosA

sin/i L

Fo

sin

sinh^L

Fq

cos^

cosh^

cosh

F^q=

cos

allows

-/

A 1>

C"l

to

sinh

be

ZF3

as

c)(-i)

Fl -Cch))

F(-0(Ayi-

CChS'^A

[25]

functions

for the transcendental

follow,

sinh^L

sinh

A CcU

C-0(?>X(ssh

notation

F^

ch)C-/)

-/J

Bishop's

ush)(-i)

r/>><:sh-s)0)

(frequency functions)
in A L

f-^c)]

("'My

Ccoh

A (c

sch

A(s-sMC/)

r^5h)]

s[-M5-^y]

/A/

Ac)]

-E(-AcH

A(-

-/)cs/))]

L +

1
sin^L

cosh /)

cosh /)

sin/}

P) L

L
L

written

as

(est, fSc/lJ

(-S

(cc/i

Cch

-ss*rO

(ccJ,fss4-0
-Sll)

-c)

A
Ccch

(-c*/,

-sd.)

(cc/) ^55*-)

C 3 tsM

(---!]

7>

Cc~ch)

-ssh -/J

1
i

/>

*xv

130
Now

the

perform

equation

(29)

[ D~]

operation

of

section

[c~

4.2,

to

[dJ

where

obtain

is defined

in

[k ],
V

,1

Ki

Ell-A3Ccsh

KIX

^r[-AJC-3

-s//)

2.

'ac/i

+A3cs+sh)i

A3

Cs +sh) ei

~i)

+?>3ccch

-s^h

'

Ell&teh

--

-m

>/T

-tf-c c

ei

5s/>

Cc-ch)J

A3_r?_

-ezIJI

Fj

-ch)

FA

f^_
Fj

fJ

+(-7?cb)(-csh-scAh-t(~A3shXcch

+sclH+(-Jts)(cch -ssh-i)

fy

Fj

f3 h

2PjA

K21

'BIA

F3

F3

i-A3

Fj

Ms;-

EH-A3(ch-c)

'-

I?CcshfsOi)EI

sch)l

F3

2-

Kiu

csh

F3

bil-A1

\Xti

+?\3C-

+sch)

+ssh -rij

Fj

ET2j

A3

Csh

ts)J

EI

A3

F3

Fj

Hiz

Fj

=lL/)cC-s~sh)

J-C-/fs)(*h-c)

rC-AIh)Cstsh)tC-A3sh)Cc~ch)J

ZF3

A3

BiLA3t-csh

-sch)J

ei

Fj

Pj
EllA3c(cchtssh-0-H-A3s)Csll-

$23

5ch) + C-tfchKcd*

*F3A

A"

BI LAIch

~c)J

BI

Fj

Fj

KXH

BI[A3<l Cch-c)

Eo

i-C'A^)(5-

si,9)

r(-A3ch)( c

2FjA

A2"

Bl

L7)"C

Fj

sh

)J

bi

Il
Fj

ch)

-F(~AJsh)(sh

~s)J.

131

Hj,

FILyCcch'Ssh-i)

Kn

,-IfAxrch-c)

sh

BI

ch)l

IA*

Cch
2

5c/iJ

-E+s

Fj

y-Al)(c-

EltfC-ssh)]

Fj

zp3
K-r'-BlL**

'-

tssh -/)]

+(-A*)Ccch

f(^)

sch

ash

-c

tch

YJ

'-

-Ei

Fj

)1.

ei

a jy
Fj

ZfjA)

BI

A fT
Fj

KHt

ElhA'sCcsh t-scl. )

t(-A*~c)(ccli

t(Xsh)C-

-ssh-i)

csk

-schXfchXccr

af3

A*'

BTLlA"

C-

ch

fie

EI

tc)l

F3

F3

KHX

Fll-AxsC-S'sh)rC-A"c)Cch

-Q

r(

A^sh)(.St sh)

i-(Alh)(c -c>i

2/=j

ETA"

/=J

fyj

EIL-A^s Ccch fssh-t)

BI

lAC-

5h

-tS)

EI

( ALsh ) (cch

-ssh-O+Cffcyl--.

All

BJ2l~/)2s(cri-c) +(-A"c)CS-Sh) +(ALsh)CC-c/.)

2F3/)

Fj

F3

Ki

f(-AD(c5h-5ch)

ElA(c

sh

Fj

s ch

EI

fy

Fj

i(/fch)I:-:

132

Therefore

[kxz"]

is

-AF^
^

[K^D

AF]_

Es

and

is

the

applied

moments

rotations

(34)

in

dynamic

at

the

'

A_Fj_

-_Fi_

-EL

'I'I

' Z'

^//)

'

F,o_
(Al)

~>o_

'

Fi

stiffness

the

at

ends

'

Zfl

F,o

[ Kxz3

by;

given

ends

the

of

matrix

beam

in the

beam,

^y

relates

which

the

of

Fs/fi

displacements

to

x-z

forces

plane.

and

Equation

4.2 becomes,

section

St,

<

Hi

[*J

(A2)

G>,

MKH

-/Xl

find

To

equations

(43)

in

equations

in

section

matrix

on

equations

last two

it is

j\z1

and

(45)

(29)

in

and

4.2 may be
the

right

(28)

and

equations

seen

section

(31).

hand

side

(30)

in

in

each

4.2

matrices

are

of

form
the

section

set

by

[Ej
to

similar

Therefore,

into

put

that

equations

such

that

equation

4.2

minus

is

and

[g]

[ d]

and

(42)

and

the

[cl

(44)

4x4

identical to

by multiplying
sign.

in

Thus,

the

equations

133

(47)

and

(48) become;
-

-s

*y

<

>

Vv

HGOi

>

(A3)

or

->

Vl

S\y

(A4)

VXV

where

[ Kxz J

Equation

has

(A4)

the

identical form

be

can

first multiplying the

sign

so

that

the

multiplying the

to

the

put

may

now

be

bottom two

force

last two

displacement
written

is

vector

columns

vector

in the

[_Fyz]

dynamic

and

c/^2i

stiffness

rows

form

of

equation

(Al).

of

equation

(48) by

the

of

equal

in

to

1 Fyzj

[Kxz^) by
to

by

set

and

"then

sign

minus

S^yz)*

minus

Equation

(A4)

following form,

as

are

matrix

the

equal

[Ft}=

where

KX23

as

into

back

put

Vx/

-7>

Vxl

Lvz]{*n]

defined previously

in the

y-z

plane

(A5)
and

has

and

[YyzJ

the

is

the

following

form,

TA"

Ov]

~)\?t* I

/V7

-l)H

hfi
F.
^/0

F>o_
-Fi

--

'Fio
*

-Fi

Fyi
r*/A

(A6)

fy
-v-

yk i

134

where

F^

(jCy^

is

moments

F10

transendental

are

the dynamic
applied

rotations

at

the

at

stiffness

the

end

of

ends

of

equations

matrix

which

given

before.

relates

forces

the beam to displacements

the beam in the

y-z

plane.

and

and

135
11.

APPENDIX Bt

EQUATIONS

In the

computer

the dimensions

(o{ )

from the

(positive
and

minimum

the

following
The

which

are

will

The

values

axis

Major

by

the

angle

of

In

whirl

is

(UR + i

(VR+ i Vj)
due

the

imaginary

as

shown

discussed

given

the

ellipse

maximum

in figure
Lund

by

Bl,

Q5],

by,

e1^

the

bearing

and

disk representation.

(since only the

components

real

parts

gives,

Ur

cosli-t

Uj

sinJVt

Vr

cosii-t

Vj

sinA.t

the

of

axis

of

tilt

eiAt

Uj)

to

are

axis

determine the

to

amplitude

as

and

path

major

order

performed

displacements

whirl

to the

axis

the

of

analysis

and

apply)

given

rotational).

comples

Rejecting

the rotor deflection is

elliptical

positive

with

THE ELLIPTICAL WHIRL ORBIT

output

the

of

FOR

cl

ellipse

whirl

}-= jic

*'

u;<

may then be

u;,t

calculated

as

follows,

fllyyllllll'

Minor

axis

These

equations

reformed

were

by

Rieger

18

as

follows,

:is
Major ax:

Minor

ol)

axi

the

and

are

the

positive

form

used

x-axis

to

in this
the

thesis

major

program.

semi-axis

The

angle

o(

in the direction

from
of

136

rotation

Cl. is

given

by,

&*~

<*

Figure

Bl

Jr

'

Elliptical Whirl

-3(

V* U*

^"V^ Ur)

Orbit Dimensions

_M

for

Seym

aXiS

-s-

tlal.oc

S&Yr.laxis

137

112.

APPENDIX C:
The

[31]

bearings

The

are

FOR A

derivation

following

reference

the

WHIRL RADIUS

radius

whirl

Fig.

sought.

Cl

the

at

mass

the

shows

Rieger

by

out

carried

was

MODEL

MASS

ONE

SYMMETRIC

one

at

and

point

mass

in

model

representation.

W,
Xj.

Ks

Jf

a, X,,
&

7-777-

//,,/'/,

rrp-r

The

of

equations

IA X,
m

motion

Ks(7,

-V,

CX(-

-7O

Ks ( X,

Aj)

tMcc^^OS^t

s/nct

"Ks( 7, -y.?)

give,

K Xi

xx)

DxL

D y,.

ks(Xr^)

K a3

0/.j

K3 Cy,

K 73

t-

is

only 4

73)

assumed

unknows

(cot

,>f;

Ks Cy,-yx)

system

Therefore,

are,

mass

bearings

the

at

Ks

the

the

at

KsCx,-^)

"

A force balance

Since

Xi

Ki.

y_j
x2-

symmetrical,

y1

Xj,

remain

x2,

and

x^
y2.

The

y2=

y^.

four

equations

are,

Mx,

K5C><,

-*-)

HV"

K-

K5 (y,

Cx,-Xa)

KsCy,

-7^

^t

Vx)

7-

COS

CO

(Cl)

Sin

(C2)

"

CO

c1-

a.

D A
D 7;

(C3)

(C4)

138

Assuming

harmonic solution,
^^
,

.,

t,-lu)~t

^AJCjt

a.

JJ OJ

the equations may be rewritten as,

Ks CX,

which

-Xx)

u^

Ks C X,

K-

X.

{-fUu/^,

tZ

the

need

be

give

the

orbits

solved.

same

The

will

( X,

XJ

Xi

^^

jcO

etajt

be

+
t

-^

(Cl)*

c-1

(C2)*

Me

cu

n )

X*

(C3)*

co

D)

#--.

(C4)*

circular,

solutions

Ma

of

only

equations

equations

C2*

and

Cl*

C4*

and

C3*

will

C3*for x2,

this

into

(05)*

CK5

-fWx,

answer.

equation

Substitute

K-(|-^)j
=

-X^)

K5(^'^J

Solve

(K

become,

j>M

Since

^wt

equation

UKSI,

"

-f

uj

Cl*,

IK<>

Ks
+

X,
i-AO u,

Maco

i_

139

Expanding

this

expression

JL

out,

L\-X\

(K+K-)

Multiply

divide this

and

>

by

expression

^TT

Ci

and

")

-ji*-)

terms

solving for x-,

and

mass

expression

point

is

\X,I

the

magnitude

sf

and

Maco2-

of

^ ]

aL

radius1

the

whirl

at

the

found,
co

(yy)1-

Q+k)~

cr,_sy

q-si-)

Jc-ka
V

From

*=

gives,

fo+k)

From this

set

,1KslCi-ii)+^_jJ

Rearranging

-McUCaj

(C6)

)'

C^)
A

(l'SLL)

C5*,

equation

X-

(Ks
substituting

in the

expression

for

co

Xj

F>5

y_

\_2K,

b)
gives,

All

Cu

Co

(K+ K^rAII F^o

cobtlKs

PA

I ))

140

Multiply

and

divide

this

by

expression

and

set

k=

and

tHiCaJ

I-

JKs

IKiK

X%

cu

l_

JL

Rearranging terms gives,

2,

cu

()

-^)
k

0 -*7)

From this

expression

the

magnitude

of

the

whirl

radius

at

the

bearing is found,

IXJ

culil

~*

Equations
of

the

one

C6*

and

mass

C7*

model.

were

J^L.

J
V

(<

-&jI

programed

(C?)
f

c^y
^

o-s\7)

to

give

the

unbalance

response

141

13.

APPENDIX Dt
The

information

[30]

Lund

BEARING DYNAMIC

and

information

[29]

the

of

the

the

is

referred

available

the

dynamic

derivation
reader

in this

provided

Rieger

about

STIFFNESS AND DAMPINC COEFFICIENTS.

bearing
to

is

and

intended

to

damping

stiffness

and

either

these

will

detailed

references

be limited to Hydrodynamic

backgrour.:

coefficients,

from the Defense Documentation Center.

discussion

provide

For

bearing forces.

of

is taken from

appendix

which

Futhermore,

Fluid-Film

Bearing types.
Hydrodynamic

bearings

operate

by

fluid between the

bearing

and

wedge

of

shown

in figure Dl.

Figure

Dl

creating

Fluid-Film Journal

convergent

journal surfaces,

Bearing

(hfMtrl

r.<j

VcCiU

Journftl

where ;

is

rotational

OB

is

bearing

OJ

is

the

is

journal

static

is

bearing

radius

CO

speed

center

static

journal

center

eccentricity

are

e/c

as

142

The resultant

is

motion

to

sufficient

film stiffness

and

bearing geometry
the

by solving
The

pressure

damping
the

and

operating

Reynold's

The

thickness

compared

2.

No

3.

The

variation

flow is

exists

No

5.

Fluid

6.

No

7.

Velocity

external

occurs

slip

u
where;

act

small

the

at

is very

obtained

(z).

occures

accross

the

flow

vortex

and

no

small

breadth

on

fluid

the

film, Is

-o.

turbulance

compared

bearing

film.
the

with

viscous

shear.

surface.

in the direction

gradients

of

the

film thickness

negligibla.

an

incompressible

bearing (i.e.

motionless

1 (Ji

is

the

film.

forces

inertia

Considering

rotating)

the

No

are

and

(x)

length

pressure

by

[29]

are

(y)

fluid-film

laminar.

within

4.

are

of

They

conditions.

in the derivation

the

the

with

determined

are

fluid-

for hydrodynamic lubrication.

equation

of

The

bearing load.

properties

underlying assumptions

1.

the

support

fluid-film

the

by

generated

the

Reynold's

the

equation

+1 Ch? if)
n a te

12)
u

wall

'-

fluid
of

the

has

is

the

local

is

the

film thickness

is

the

viscosity

is

the

bearing

angular

cX

whirl

dimesionless

const.)

bearing is

the

radius

of

journal

speed

radial

and

fixed

and

not

form,

pressure

velocity

angular

L ficoCi-^)i!i
h

cu

velocity

tuecosa

(Oi)

143

Introducing

the dimensionless parameters,

2'

Vo

and

^y

assuming

constant

Dl may be

'-

i/t.

written

>

"2c

viscosity throughout the

fluid-film,

equation

as,

^n^h'

1 o,3V

ir

a'3^*

^ lA)^1
n'

+ iiff%

te'

)r

cc5&

(D2)

0')
CO

The

resulting fluid-film force

over

the

load

radial

and

tangential

pressure

in the

Fr

'-

A co

Ft

C1

where ;

For

Cl~

"))co

*^)

-*)

bearing

dynamic

with

respect

to

order

Taylor

series

on

the

rotor

\f

Jj f

p-

'

After transforming to

equations

are

the

(D3)
w

these

and

about

position.

are ;

&

d*

'J?1

c J

analysis,

expansion

in

the

of

fluid-film forces

The

directions acting

displacement

expressed

integral

then the

carrying film

rotor

ized

is

velocity,

the

static

fixed x-y

form

of

are

equations

by

linear

first

equlibrium

system

displacement

these
and

144

velocity

Kxx.

Kxy y

KyK

Kyy y

the

radial

and

coefficients

Figure

D2

the

of

as

Dynamic

Dx* X

AyK

coefficients

tangential

are

and

taring

bearing

eight

representation

,|3

follows;

as

F*

where

the

coefficients

force

bearing

shown

are

by

>Xy

Thus

spring

&

yy Y

in terms

the

and

in figure D2.

Representation

of

Bearing Forces by Spring

Damping Coefficients.

wall

FiIt*..

dynamic

damping

*-y

.fiftinnj

V
(D4)

determined

components.

forces

J-

of

145

14.0

APPENDIX E

El.

COMPUTER

PROGRAM ROTOR

Program Capabilities
ROTOR

the

of

following
Beam

assembling
basic

elements-

properties

The

in fluid-film bearings.

supported

and

rotor

elastic

uniform

of

analysis

response

for

program

computer

purpose

general

capable

the

1.

unbalance

rotor

is

is

Limitations

and

of

all

or

any

with

program

components.

distributed

having

constant

throughout

E.Aand

elastic

and

mass

the

length.

2.

Disks-

with

transverse

mass

concentrated

moments

mass

MD,

polar

inertia

of

Ip

and

and

I-.

respectively.

3.

Fluid-film

dependent dynamic

Kxx

4.

Kxy

each

xy

'

of

by

by

the

real

rotating force

are

of

elements

the

maximum

number

of

nodes

at

nodal

displacements

increment

the

complex

rotations

are

calculated

and

the

vector

7 thus fixing

number

from the

and

node.

maximum

and

properties

The

major

speed

eight

damping

and

represented

components

imaginary
at

stiffness

xx

forces-

Unbalance

described

bearings-

minor

ellipse

positive

program

axis

gives

used

and

radii

to

this

8. At

and

the

each

speed

and

in formulating the
the

ellipse

major

information

axis

as

of

angle

the

output.

ellipse

146

Limitations
1.

of

the

program

Only two identical bearings

represented.

For

solved

may be accurately

multibearing use,

statically indeterminate

2.

are i

support

the
must

problem

first.

Short stubby

sections

heavily

loaded

in

shear

may not be accurately represented.

3.

The

same

used

for

weight

each

density

beam

to

5.

cone

the

Steady

Young's Modulus

to

gravity is

iderat ion thus limiting the

classical

state

is

section.

4. Static deflection due

into

and

"vertical

response

rotor"

is only

not

taken

analysis

problem.

concidered.

be

147

E2.

GENERAL PROGRAMING INFORMATION

ROTOR
a

is

in Fortran IV

written

Xerox Sigma 6 computer.

whose

device

are

executed

The

main

Fortran
of

1.

MAIN

program

ELEM

requires

main

computations

arithmatic.

15.8

of

the

and

program

subroutines,

up

the

whirl

an

precision.

which

sets

up

EDISKR
of

left
-

end

same

the

an

the

reflects

the

reads

as

force

vector

ellipse

of

element.

all

8x8

475

words

subroutines

writes

and

routine

executive

the

structural

and

solves

stiffness

in the

complex

of

an

in

stiffness

for the

axis.

terms

effects

the

as

assembles

8x8 dynamic

double
EDISKL

acts

for checking,

beam element,

end

line

contained

subroutines

program

the

single

to

precision

array declarations,

minor

sets

generates

and

major

4.

of

input

data

matrix,

3.

double

eleven

The

(108). All

is

to

is

output

and

reader

card

core.

functions

for calling

2.

no.

from

using

follows.

as

out

unit

plus

program

computer

main

(105)

complex

using

statements.

The
are

device

whose

printer

is

Data input

is

no.

unit

developed

was

and

matrix

double

the

matrix

for

are

precision

addition

real

matrix

disk

of

to

the

element.

except

for

disk

added

right

148

5.

EBEARL
which

to

up

the left

added

to

ZEROM

end

same

the

8x8

an

of

as

right

of

double

precision

matrix

fluid-film

bearing

film

bearing

the element.
fluid

except

for

end

the

element.

initializes

8. ZEROMC

complex

the effects

reflects

6. EBEARR

7.

sets

of

initializes

real

to

matrix

complex

zero.

matrix

to

zero.

9.

CADDM1

adds

10.

CADDM2

adds

two

multiplies

real

matrix

complex

to

complex

matrix.

matrices.

.7-

11.

CMULTM

12.

CINV

inverts

using the

**

Subroutines
Subroutine

two

complex

complex

double

Gauss Elimination

obtained

obtained

from

with

Levy

from Ruhl

matrices

precision

partial

program

program

j_32]
[l6]

matrix

pivoting.

added

149

E3

INPUT DATA FORMAT

Data input to ROTOR

sets

of

cards

per

required,

depending

set

they

should

DATA SET 1
One

are

The definition

solved.
which

(1-7)

data

is in the form

NODES

EMOD

Young's Modulus

ERHO

weight

total no.
of

no.

elements

nodes

(max.

problem

is

as

speed

increment

FSPEED

final

speed

used

(max.

begining

for

each

rpm.

rpm.

forces

(3F20.3)

node

cos

component

of

unbalance

oz-in.

SUBALF

sin

component

of

unbalance

oz-in.

Control

for

cards

IELEM

each

cards

specific

and

element,

total

(515)
-

follows.

8)

in

rpm.

speed

Unbalance

card

card

order

7)

CUBALF

Two

the

information

SPEEDI

being

(3F20.3)

card

SET

input

lb/in2

DATA

of

lb/in^

desity

Speed

of

BSPEED

One

number

information

element

DATA SET

particular

their format

and

NELEM

One

the

Seven

(2I5,3F20.3)

card

DATA SET

with

cards.

punched

input parameters,

the

of

appear

General

the

on

of

if

element

exists

if

element

does

not

exist

element

of

information

2xNELEM

cards

150

IDISKL

IDISKR

IBEARL

IBEARR

NA

disk is

end

0 if

no

1 if

right

left

disk is

end

end

if left

bearing is

if

no

if

right

if

no

end

left

left

end

node

inertia

EAREA

element

area

ELEN

element

lenght

end

right

of

node

being

specified

specified

in*.

in

Disk information

for

each

(3F20.3)

node,

disk

weight

lb.

DRAD

disk

radius

in.

DLEN

disk lenght

in.

Bearing

locations

(515)

One

card

NBL

left

NBR

right

in.

DW

Two

element

being

2.

card

SET

element

of

element

DATA

present

bearing

end

right

present

bearing is

end

DATA SET

disk

bearing

end

EINER

One

present

0 if no right

SET

disk

end

NB

DATA

present

(2I5,3P20.3)

card

1 if left

cards

bearing

end

end

bearing

Bearing
for

node

each

node

properties

speed

increment

(4F20.3)

151

card

SXX

SXY

cross

coupled

stiffness

lb/in.

SYX

cross

coupled

stiffness

lb/in.

SYY

bearing

bearing

stiffness

stiffness

in load direction

to

perpendicular

lb/in.

load direction lb/in.

card

DXX

DXY

cross

coupled

damping

lb.

sec.

/in.

DYX

cross

coupled

damping

lb.

sec.

/in.

DYY

bearing damping

bearing damping

in load direction

perpendicular

to

lb.

sec.

/in.

load direction lb

sec/in.

152

An

example

run

the

in

Fig.

17

listing

plotted

input

of

first

of

computer

output

This

is

provided

as

information the

input

are

node

presented.

angle

the

ellipse

out

for

the

sample

the

remaining

each

user

novice

out

check

stated

but

is

Pi

since

output.

Following the

axis

two

would

different

is

is

rather

speed?

look

whirl

each

at

along

information

for only

input

the

calculations

minor

in

complete

contains

printout

increments
with

shown

printed

lengthy,

The

similar

orbit

with

output

information.
and

may completely

set

up

sample

problem

by

to

the

above

and

figs,

for

listing

in Fig.

E2.

refering

input

of

the

information
computer

for

to

program

complete

given

shown

is

computer

chech.

This

the

Since

two

this

of

this

and

major

given.

is

speed

sections

results.

ROTOR

output

The

orbit

whirl

are

speed.

output

this

in the

section

information.

case

here

given

not

is documented

It.

in Fig.

results

This

idealization

model

is

test

of

solution

parameters

information

this
The

the

The

El

in Fig.

given

element

5.2.

section

and

is

input-output

the

demonstrating

program

is for the two

given

run

computer

of

structure

input output data

example run with

E4.

and

program

plotted

153
Fig.

00

E 1

Sample

oO

a-t

Input-

Output Problem For ROTOR

Fig. E2
Program Listing
ROTOR
C********************* ****************************
-

COMPUTER

FO

nr

PROGRAM

154

ROTOR.....

TH1*

S TA

-TFAPY

IN1

ROTORS

TF

FLUTD~rTLM

flevents

ELEMENT

UNIFORMLY

ALONG

UNBALANCE

FORCES.

A"E

ANALYSIr

RESPOND

UNBALANCE

BEARTNP-S.

TO

(7)

''OTO"

th-"

MAY

BF

MASS

AXIALLY

AND

THE

ROTOR

ASSEMBLFD.

FLASTJC

PROPERTIES

LrNFTH

THE

OF

rLUTD-*'_TLM

DISTRIBUTED

AF

ELEMENT.

BEARINGS

DISKS

AND

ALLOWED AT EACH NODAL POINT. AT EACH SPEED THE

DYNAMIC STIFFNESS MA TR TX IS FORMED AND INVERTED BY
GAUSS ELTWIMATI"^ WITH DARTIAL PIVOTING. AT EACH

NODAL

C
C

THr

POINT

STATE WHIRL ORBIT IS

CALCULATED DUE TO S3ECTrTFD UNBALANCE IN THF SYSTEM.
TKE UNBALANCE FORCES ARE REPRESENTED PY A ROTATING

VECTOP.

EIGHT

COEFFICIENTS.

THE

COUPLING

COMPLEX

DEPr\'DFNT

PR-

rR7

* * * * **^********

of

MASTER

CHARLES

DOCiJESTER
* * * *

TF1

DOU^LF

FLU7P-FTLM

SPE-0

C
C

STEADY

******

DISKS

Tr

S.

****** * *

L'OSSESS

MASS

AND

GYROSCOPIC

A"P

EPFOPMED

ADE

?Y

DAMDTNG

IN

ARITHMATIC.

****** ** ** ** ********

**

** ****

THEST^.

THOMAS

JR.
0>-

IVSTI'MTE

JUNr.

"^CHNOLOGY

l?7t

********(******* *'****************

********

p?CGcAv

WAIN

* * * * ** ** ****** **

IMPLICIT

****

**

FrLK (F,8 )

COM CM

E^

DM MON

OD

E^LK

.r

****'******

**** ****** ** ******

(A-H.^-Z)

PEAL*8

rEAL*8

dfdreSENTED

ARE

STTFFNECC

COMPUTATIONS

rT,ECIS70\'

SCTEK"^

B.

p-ARINSS

DV"JAMIC

.CUFALF

"'NER

,roKLt

,E

IP)

,SI

Ar^AELEN.ERHO

FDKP.FBKL. FPKR

COMMON

DV,DRA".DLEN

COMt-'CN

Sv

Y, S^y. SX Y.SXV.DY Y.DYX.DY Y.HXX

**************************************************
WRIT*-

IN

READ

r * * * * * * * * ** ** ** ****** **

READ ( IDS. 1)

FLE^

READ < IPS. ?)

R "IP

I-I

.NODES

rUB AL

lnOC

IDS'1

DO
RP-

irsn

2PCD

A 0(105. 7)

1=1

2PC0

.np

E *<'0 D. ER HO

S UB ALF f 7 )

NrLr

V/PITE ( IDS

-10)

F ORMAT (//

.1

FINAL

" +

-einer

d )

-ea<-e

a(ij

.el-^m

I)

tD

( I )

C LEN ( T V

1)

X.'NO.
PrNS IT

15XtVFIGHT

PA-1

N^L.MRP

25

**** ** ** ****

.NODES

READ (105. "SI

(

Y*

Lr Mr

NT

S'

X. *F IR^T

tr

NO

N ODES

S PE ED

'

SX

5*

^F rD

YO UNGS

MOD*.

INCREMENT*
t

EPr'"D')

NFL

WPTTF(10Ptl5J

EM.'-

r'.Df"Strw0D.EoHP.BSPT0.SPt"EDI

.E^DEED

F0RMAT(/.L-,X.T^tnX.Tr.PXtD11.5.DX.r-.^.l?X.F7.i;i-;yT

1F7. 1

WRI

20

( T )

0 '>'( I)

X.f

0"_S

******

T-"LEMn)-TDTSKL(T).IDTc'/R(I)IFEA0L(T).:BEAPP(I)

^ a (

-Ha

15

READIICS.?)

NSI7'"

10.

,N

******

Trl.N^LEM

reaches. n

DO

** * *

EED,Sr,rFDIF SPEED

READUP5.2)

DO
1P0D

DATA

INPUT

OJ T

AND

TF

1?X. E7.T1

( 1

PP

,?r,)

r0RMAT(//.l X.-ELEMrMT
INF"

TT

IMPLEMENT

DO

7050

I r]

.NFL

A'

EM

5 X

N0

5X

ELE "E NT

NO DF

A RE A

.5X.NnPE
.

5 X, E LE

Mr

NT

5X

LENGTH')

155
2050

WRITF ( 10R,25r

,N

A ( T

)'

NB ( I)

25

FORMAT (/ 5X,*7, 12X.T7.BX, 12

WRITE I lffl .70)

30

FORMA

3D00
35

(//

<~

3000

1=1

X.

.FARE

COM PONE NT

TN

A ( I)

-EL?"N<

I)

,BX.D10.4,qX.D10.4.DX.P10.4)

""

,5

(I)

NO.'.SX.

FORC E'.SXt'MGDE

,lX."UBALANr

COMPONF..'T'

1*C0S
DO

.FTM

.NODES

WRITEt 108t35)

I ,C UB Al'F ( J )
UBALF(I)
FOPMAK/, 23X.T2.1 2X,r7.3tl2 X.F7.3)
,c

WRITE(108t?7>

37

3013

38

FORMAT (//;1 X.'D ISK TNFORMAT ION' t3X, 'NODE NO.' .5Xt
l'DISK WEIGHT* ,5Xt DT- K RAD. 'tSXt'DISK LENGTH')
DO 3010 1=1. NODES
WRITE( 108.381

WRITE ( 10Pt40)
UP

ORMAT (//

l'PIGMT

C*

en
Or

BEGINNING

0**************

DRAD ( I)

trfl.4t6X

,]

X. "L EF T

Efjr,

BrARING

NODE!'. I 5)

REAR ING

** ** ****** **

SPr<rD

**********

3P3*T
.

.FXYtS

READ (IPS. 4)

"YY

.D

YX

.rXY.DXX

FORMAT

SPEED=

RO TOP

S YY

,S

YX.SXY

(//.l X. ^EA RING

WRITE ( IOP
rOPMHT

IMP. 1
f"****

C
C

**.**

.55)

'DXVr*

** **** **

INDIVIDUAL

****

ELEMrf.!T

USING

MATRIX

D YY

(/, ->^x, rn

5X.

****

******

.S

'

:\pi)T

.0

YYr'

.r

**

*X

.<-p

3^50

J=l

10'

.EX

.^X

*KVVr

.DXY

.0

XY

.5

X. 'D YXr

.rT0.

GO
200

TO

**

*;**

SET

,F

300

CONTINUE

CALL
GO

TO

.8

.8

EDISKL (JtRO^EG A)
401

CONTINUE

CALL

7ER0MC

401

IFdDISKP

500.

CONTINUE

CALL
GO
goo

TO

^00

E01

7er0mc

(-

TF( inFARL ( J) )

GO

TO

okp. p.p)

8 OO

.800*700

rpEfl

PL

C7

OMFG A)

8 01

CONTINUE

CALL

R01

EDISKR ( J.ROMEG A)

CONTTNUr

C ALL
800

GOO. GOG. 500

continue

call
GDI

(rpKL.8.87

(J) T

7ER0MC (rr^K L. 8. P)

IF( TBEARR (J) )

10.1

9 00

.Bpn

85 0

.5*

'DXVr'
.FX.

STIFFNESS

CCNTPOL

400.400.300

C. 1

.F1 0. !)

******************

730.200.100

7ERPM(ErLK

rl

CYVAMTC

201

IFdDISKL (J) )

'

** **

CONTINUE

CALL

*KYY=

FOR

ELEM (J.POMEG A)

2P1

**

ID.1'1

CONTINUE
CALL

** ****

.1)

INFOR 'ATI ON

.NTLE"^

TF(IELEM( J) )

XX

(;******************************** **********

DO

5X

******************

l'KYXr'.Fl^.l.^X.'KXYz'.FlO. 1

S5

IC.

BSPErP

5)

.SO)

XX

vy

.4

141 59 7G5DC/FP.PD0

,S

ORMAT (///t IX

NODr

LCOP

********

S YY

tDLEN(T)

tF8.4t7X.F8.4)

p.

ROMEGA=?S PEEP*7.

WTTE ( lrB
^n

READ (105.1)
WRITE ( IPS

45

W( T T

NPL.VBP

* * * **** * **** ******

444

tD

FORMAT (/, ??X.T2tl CX

**** ** **

156
CAL L
GO
BO

FBEA RR (IOMEGA)

TO

901

CON TINUE

CAL L
0

7FR0 IC CPK R, 8, P)

CON TINUE
CAD^

CAL L

Ml (E ELKt rDKLiet8)
CADD M2<r DKL, EDKR,8.8)

CAL L

CAD!"

CAL L
CAL L

M2(E T^KR, FBKL'*e-8l

CADD M2 (E BKL, EBKE. 8.8)
TF( J.GT.l )
GO TO 90 2

* * * * *
c************

NITIA
TNITIALI7E

TO
0

7ER
7ER0

**

* * * * ** **

T HE

AND

FIT

a***'************************

TRUC TURAL DYNAMIC

TN T WE INDIVIDUAL

MATDIX

STT<-f-NESS
ELEMENT

MATRICTfS

'

C*** *'****
*'**
*

****** * * *

CAL L
02

* *

7ER0 Mc (s ^K

* * ** *** ***********************

.32,321

=
11
T1=4*NA(J
)-3

11 = II
JJ= II

DO

4000

DO

t-n5P

SDK (TI. JJ )
4 05 0

.8

= Sr

*( II

JJT

rgKR( K.L)

JJ = JJM

JJ = II
40P 0

TI

30E ^

CON TINUE

II+l

CAL L
p*

B UIL:^

V ITH

r* *

THE
T

* * * * *

CO

C*

00

**

**

****** ** **

PA rtic UL AR

**********

VECTOR

FORCE

****** * * *

5PGD

.N

**

** **********

******************

ODES

= CU">

ALE( J) *-->DMEG A* *?/ ( 3PG.4pn*

CEN TES (J)

= 5Un

ALF( jj

J-

rVE C

(4*

(4* J-

VE C

A ND

1.1)

0<~

TH*-

GLUT

EG

=DCV
* *

\%-

ocn)

A* *2/(3*E.4D^*lE.r,Dri)

PL X( CENT EC (J)

.-CE

V,T,rC( J) )

.CENTrc.

(J) )

** ****************************

STR UCT'JPAL

AND
t

*r?OM

3.1) rD CM PL XtC^MTES (J)

* * * jk * * * * * * * * * * * * *

ATRIX

****

ASEn^IATED

CEN T^r (j)

I N VERS ION

TON

FOR

7E

DK

THE

STTFFNES^

DYNAMIC
NODAL

DISPLACEMENTS

A TION S
(NS'

CAL L

CINV

CAL L

CWUL TM

(<

.S

.rr,KI)

HK I. NSir^.NSIZE.EVEC

.XX)

* * * * * * * * * * * * * ****** ** ****************************

CALCULATION

WHIRL

DT'RECTTiN

T^r

OF

ORBIT

AJCP

ANGL E

AND

AND

ALPHA

MINGP

FDOM

AVT"~

****

pP0

HE

C*

32. T*

* * * * * ** ****** * * *

(r

ZERO MC

TH E

T0

AXIS

Or

**************

DO

A=DPr

THE

THE

OF

he

nOSITIVE

ELLID,rc

IN

THE

RO T4T TO N
********

K rl

5050

OF

MAJOR

AXT^

***

****

**

**************** **

.f'-nrs

AL (X X( 4*V-3. 1) )

BrDT^AG (X y ( t|w-3, 1) )

E=DFE AL (X X ( 4*v-l. 1) I
FrDIMAG (X X(4*X-1. 1) )
AlrA**7

+ r< * * 2+

^t *?

**

A2=A1**2
A 7r-4.0* (

IF( (

A7* A3

A4=0.5*DC

A 4

Pfll

AMrDSQRT(

A.MM

*r

LT

3 )

GO

TO

380

OR T( A2+A 3)

0.0

epp

*r+^

e81

TO

GO

-A

0.

DEOPT f 0

ALPHA

=57.

5*
.

Al +A 4)
*

A 1

2957^3

*A

A4

TAN(

7.0E0*

<A*E-n*r)/ (E*E-F*F-A*A-R*3>) /2-OE 0

157
J

WRITrnOPtGOT
'

GO

FORMAT (//
lFX.'MTNOR

WRI TE ( 108

65
5050.

,1

X.

WHT

.BE)

ORB T T

RL

ELl'TPSr

An

A M,

A^

f********

TO

'

5 X, 'FLL

NODF

Ip

SE

NO

'
.

5X

ANGLE')

AL PH A

TO

**********************

OF

SPEED

F0RMAT(2I5-3r3.7)
F0RMAT(3r73.T)

F0RMAK5T5)

FORMAT (4E 70- 7)

STOP

9999

********************

LOOP

END

GO

444

**************#********

ncoo

5X

CONTINUE

GO

F0RMAT(/,l9X,T2.1OX.^15.8.9X.D15.8.r,X,F8.3)

BSPEED=BSDEED*SPEEDT
IF(BSPEED.GT.T-SPEED)

END

'

a'

ft ***********************

MA JC P

FLLIPSE

CAD'.

C
C

SUBROUTINE
8X8

THF

UP

MATRIX

STH^NESS

DYNAMIC

C********

S"TC

rLFM...

PEAL
AN

FOR

D^U^LE

PPErTSI0N

158

ELEMENT

*******'************?*********

* *********

SUBROUTTN""

ELrM
Rr

IMPLICIT

AL*8 (A
S TI

DYNAMIC

BAR

(J

ETNERJ7)

REAL*

EELK (8,8)

IS

-H.0^7

FF Nr Sc

R^AL-B

COMPLEX*

qy rG A)

.0

ARE A ( 7 )

.^

MATRIX

DW (M

FrKL (8

tDRAD

*FDKR

t8)

AR1-

3X8

PrAL

EL EN ( 7 )
(8

(8)
t

8 )

-CLE^'tP

EEKL (8

)
,8

COMMON

EMODtrTNER

COMMON

ErLK.rDKL.EnKP,E8KL,EBKR

COMMON

DW,DRA.n, DLEN

COMMON

SYYt SVX,SX Y.SXX.DYY.DYXtDXY.OXX

tE

ELAM4r (ERHO*rAREA (

J )

*'<ROM

EG

A* *2

EtAM2 = DS3RTCLAM4 )
ELAMrDSQPKEL AM2)

ELL

S<rLL

ELAM*-LES'

(J)

DSIN (ELL)

CELL = DCOS (ELL)

SHELL=DSTNH (FLL )

CHELL = OCOSH C"LL )

FlrSELL*SuELL

r3rCELL*r'JELL'-l

.300

r5 = CELL*SWELL-SELL*C>-,^LL
^

6 = CE LL

G ue LL

EL L

*-S

Cu

rL L

r7=SELL+SHELL
E3rSELL-GHrLL
FlD=CELL-rHELL
EC0MrFM0P*rINrR(J>*!rLlAM**2/r7

CALL

7ER0M(ErLK

.8

.8

1 )

rp Cr v*

(-EL AM*ES)

EELK (1

2)

rEC'M*

(-F1 )

EFLK (1

5)

rECPM*

(ELAM*'r7)

EELKd

G)

rECPM*

ErLK (2

1)

=EEL'K{

1.7)

EELK (7

2)

=ECG ''*

(E 5/cL'Aw)

EELKd

5)

=-ErLK

(1

ErLK<7

5)

rECOM*

d 8/

EELK (3

Z)

-rr^i

1.1)

E-LK(3

4)

=EELX(

1-2)

EELK (3

7)

=ErLK(

1.5)

EELK (7

3)

=rEL'K(

1. G)

EELK (4

3)

=EELK(2.

EFLK (4

4)

=EFL^<(

ErLK (4

7)

=EFLV2.

EELK(4

8)

=E'rLK(2G)

EELK (5

1)

rE^LXt

1. E)

EELKd

(F

13 )

,G)

D
5)

EELK(5

7)

rErL'K(

2. r)

EELMS

5)

=EELK(

3. 7)

EELK (5

6)

r-r-LK

EELK(S

1)

=EEL'KI

LG)

EELK (E

2)

rEFL'K(

2. G)

EELK (G

5 )

rErL

ErLK (6

G)

rE<-L'K(

4.4)

EELKd

3)

=EELK<

3.7)

EELKd

4)

=EFL"X(

4.7)

E^LK (7

7)

r""EL'V(

5. c>

E ELKC7

8)

=EFLK

rFLK ( 8

3)

rEELK(

EELK (8

4)

=F

r^LK ( 8

7)

rTLK(

EELK (8

8)

=ErL

RETURN

END

rL'AM

7. 7)

(3

.4)

K( 5. G)

( 5. E)
3. 8)

EL K( 4, 8)

7t P)

K( S. G)

,EEKR

(8

,8

AtELENtERHO

) )V ( EM OD *E INER

(J)*38G.ODC)

159
C

LE^T

END

DISK

E-rrCTS

Rx

COMPL-TX

DPUPL^

PRECISION

<-***********..***********..,, ^^.^^^
SUBROUTINE

E11

TS KL ( J

IMPLICIT REAL*8
REAL-8 ETNER(7)
REAL* 8

^fc-

OMEG A)

.R

(A-H.O-Z)
.E

EELK (3.8)

AREA ( 7)

,DW

(R)

EL EN (7 )

,DRAD

(8)

.DLEN(B)

Fni<L(8'^'T:DKR(9t8).EBKL(8,8)tERKP(8.8)tDCMPLX
EMODtriNERtEAPFAtELFN.ERHO
EELK,rnKL,EDKR,EBKLEBKR

COMMON
COMMON
COMMON
COMMON

DWtDRAO.DLEN

SYY,SYy,SXY,SXX,DYY,DYXtDXY.DXX

DMASSrDW( J) /785.4DD

TINER-:(DMASS/I2.3 0D).-(3.0D0*DPAD(J)**7

0LFN(J1**2)

PINEPr(DMASS/^.0D0)*f^RAD(J)**2)
CALL

7ERO MC (^DKLt Pt PT

EDKLd

1) =DC"PLX(-DMASS*ROMEGA*
*2.^.n)
rEC-KLt 1, 1 )

EDKL ( 7t 3)

EDKL (2.2)
EDKL (4.4)
rDKL (7.4)

=DCM

rDKL (4.2)
RETUPN

r^

PL X(

-TIN

^R*R OMEGA* *2t 0.0 )

D^L( 2. 2)

rDd'

X( O.F.

-->L

DC*'L X( 0.

--ptner*Romeoa**? )
PTNER*

PO^E GA

**

>

END

********

RI'GHT

****** ****'**

FND

OT SK

C**** ****** **** *

* * * **

rn

SUBROUT IV E

IMPLICIT

-rr

******************************

EC TS

REAL*8

ET NERd)

REA L* 3

EE LK

COMPLEX*! G

DDL'

COMPLEX

n-LE

.8

( A-H.^-7)
,E

AR^A (7)

>

DV d*

.DR

ELEN (7 )

AD (3)

< R )

<^^KL (8t3)r-DKR(PtP)tEPKL(8t3)tEBKP(8tf)tDCMOLY

COMMON

E'-

COWMON

Er

LK.rDK L.

COMMON

DW

.DRAFI,

COMMON

SY Y. SVX. SX Y. SX X.DY Y. DYX. DX Y.DXX

ER

DINEP=

CALL

(P-<

tE

Ar"-A.ELEN.ERHO

EPKP

rp,KL. E3KR

PL EN

DMASSrOW ( J+l) /3 85
TINER= (DM

ASS/1~

.3

.4pr;

03)-<7.0D0*DPAD(J+l) **7

ASS/-7. 03 0)

*(

^PAD (J-l )

*7)

7ER0 MC (rrK R, 8, RJ

EOKP(S.S)

DCV#PL X(-DMiSS*ROMEGA**?.n.p)

EDKR (7.7)

EDK

-*(

5, E)

EDKR (6.6) =DCMOL X(-TTN~P*R0MEGA**7.D.D)

EDKR (8.8)

EDK ?( 6t G)

<"DKP (G.8)

DCMPL X(O.Oi-PINEP*R0MEGA**7)

EDKR (8.6)

DCVT,L X(0.0.DINER*FOMEGA**?J

RETURN

END

RECEcTON

******************

TS KR (J, IOMEGA)

RF AL*8
(P

PXP

************

DLEN(J+l )**2)

160

c****

****** ****** *
***?#***** **********
v ^
v *
m m ap
^ m ^ m
******
w

LEFT

REARIN-

END

-r

-v

-w

***

-r

**
w

r"

fc d

*TT.^...~~.^..-/* * ******
* * ******
******-**.

8X8

COMPLEX

DOUBLE

PRECISION

aaaaaa*a*a*a*aia*a****a*amaa

SUBRO UTIN^

EBFARL (ROMFGA)
IMPLI CIT PEAL*8 (A-H,0^2 )
REIAL* 8
ETNERd) ,EAREA'(7) tELENd)

REAL* 8

EELK (P,8 )

tDW

(P-)

,DRAD

(8)

tDLEN(8)

COMPL EX*16 EDKL (8,8) EDKR (8 t 8 ) , EBKL (8

COMMO N EMODtETNERtEAFEA.ELENtERHO
COMMO N ErLKtrDKLtEDKR.E3KL.EBKR
COMMO N

DW

tDRADt

8 )

EB

K"

(8

,8

,DC

MPLX

DLEN

COMMO N

SYYtSYXtSX Y.SXX.DYY.DYXtDXYtPXX
ZEPOMC (E BKL, 8t P)

CALL

EBKL ( 1

1) rDCvPL X( SY YROMEGA *OYY )

EBKL ( 1*3) =Dd'PL X( SYX.?OMEGA*DYX )

EBKL( 3. 1)
X( SX Y,POMEGA*DXY )
EBKL( 3.3) =DCVPLX( EXX.POMEGA*DXX)
-DCMPL

RETUP
F

ND

c**

********************** **************************

PTGMF

c**

**

'-\z

B'ARINC

**********

SUBROUTINE

IMPLICIT
c

EE CIS

COMPLEX

8X8

BEAMING

EEAL*8

EI NERd)

REAL*8

ErLK (8,8 )

COMPLEX*l 6

DOUELE

tE
t

rri<L (B

C-Z )

E EFC"CTS
AP

FA (7)

PW d >
,8

.ELEN

tDR

COMDLE*

PXP

AD

(R

(7 )
)

tDLEN

(P )

)."DKR(.'3),EcKL(R.8).EPK^(8t8).PCMPLX

COMMON

EMODtETNERtE A-P-A.ELEN.ERHO

COMMON

Ef"LKtrOKLtED KP.E3KLrEEKR

COMMON

DWtDRADtOLrN

COMMON

SYYtSYYtSXY. SX X.DY Y. DYX, DXY.nxx

CALL

7EP0MC (EpK Rt 3, 8)

EBKR(5t5) =DCVaL X( SY Y,POMEGA*DYY )

r

BKP(5t7) =DCVPL X( SY X. ROMEGA *D YX )

EBKF (7t5) =DCVPL X( SX V, -'CMEGA*DXY )

f BKP (7,7) =DCVPL X( SX X. ROMEGA*DXX )
RETURN

END

PRr"'"ESION

****** ** ****

E=<~A RR (E OM"-GA)

RE AL*8 (A-H

ENP

PIGHT

EF

****** ** ** ****** **.******

SUBROUTINE

INITIALIZES
REAL*8

161

7EPOM( A.T,'.))
pr

AL

MATRIX

TO

ZERO

A ( 1)

II=I*J
DO
10.

ID

K=l

,11

A(K)=O.ODO
RETURN
END

Zr

SUBROUTINE
INITIALIZES A

COMPLEX

C0MPLEX*1G

10-

T?0 MC T A

J)

MATRIX

TO

ZERO

Ad, J)

DO

10

K=l

tl

DO

10

L=l

.J

A (K.L) =(O.OD"tD.DDO)
RETURN

END

SUBROUTINE

ADDS

REAL

REAL*

MAdTX

lp0

TO

..

J )

COMPLEX

MATRIX

A (I, J)

C0MPLEX*16

10

CADDM1 ( A

DO

10

K=l

tl

DO

10

L=l

.J

BdtJ)

B(KiL) =A (K.LT+5 (K

.L

( A

RETURN

END

SUBROUTINE

MULTIPLIES

CVUL

TWO

A f "?

C0MPLrX*15
DO

10

DO

IP

Kr!

10

N-l

,7

7)

,P

<32, 1)

.J
,3

.300)

.1

C(LtM)rc(LM)+A(LtN)*^(NtM)

10

CONTINUE

00.. RETURN

END

SUBROUTINE

TWO

ADDS

CAPDM2 (A

COMPLr>f

10.

100

DO
B (K

K=l

tl

10

L=l

tL)

rA (K,L) *B (K

RETURN
r

ND

tE.I,

MATRICES

Ad.J)tB(T.J)

COMPLEXES

DO

J
tL

C )

MATRICES

C (L.M) rd.DCC

0 0

Tv

COMPLEX

J)

tC

(321 )

162
SUBROUTINE

c*

CT'NV (N.AtAT)

****************'*******>********************

CTNV..

PPECESION

PARTIAL PIVOTIN*".. THE

STORED IN AI
N=
ORDER OF MATRIX TO

c* ******

TNVFRSr

MATRIX

BY

OF

THE

GAUSS

INVERSE
BE

COMPLEX

ELIMINATION

m*

(A-H,0-Z)

COMPLEX* 16

AT (32,32)

10

1=1

WITH

IS

** mm mm mm mm mm mm mm mm

IMPLICIT C0MPtEX*16
REAL*8 CDABS.SMAX
Sd2,7 2)

MATRTX

OF

DOUBLE

INVERTED

+.mm m m mm mm mm, mm mm mm mm'* m mm

DO
DO
ID

THr

.FINDS

A (32.^2)

,N

10

Jrl ,N
S (I, J) =A (I.J)

c
c

INITIALIZE

AI

NMrN-1
DO

100

1=1,

NM

AI(I,I)

DO

J=T,NM

100

( l.D^^.n. ODOT

AI(I,J+l)rd.r,DO,O.O^n)
A I ( J+l
IVi

I) =(0.OD0t O.OEF-)

CONTINUE
AI( N.N)

DC

Kr?.N

430
FOR

SEARCH
K M

I MA X

< 1.0^^,0. ODOT

L AR G*~"ST

ENTRY

TN

OF

rMf

XrCDAc S(S(KM

DO

210

,K

VJ )

JrKt N
200. 2 10. 7 d

IMAX=J
SMAX=

210

CU.'JMN

KM

IE(SMAX-CPAB-(S(JtKMn)

700

(K-l)TH

CCA BS d (J

.K

M) )

CONTINUE
703.400.300

IE(IMAX-KM)
C

SWITCH

7 0C

DO

AND

(K-l)TH

EQUATIONS

J=KM,N

3 10

TEMPrS

IMAXTH

(Kw

J)

S (KM, J) =S (IMAX, J)
710

F (TMAX,

DO

320

J)

=TEva

J=1,N

TEMP=AI (K w. J)
A

I( KM, J)

AI (T tA X, J)

AI( IMAX. J)
320

= Tr

MP

CONTINUE

ELIMINATE

X (

K-

K.N

1 )

FROM

KTH

THRU

c
4 On

DO

420

RS=S ( I
DO
410

410

,KM

J /S( XM

,K

M)

J=K. N

S(I.J)=E(I,J)-RS*S(KM.J)

DO

420

J=

1, N

470

AKT. J) =A KI. J)

430

CONTINUE

-RS*

A'

(K^.J)

NTH

EQUATIONS

163
c

BACK

SUBSTITUTE

c
DO

500

500

1=1. N

AI(N,I)=AI(N,T) /S (N,N
DO

520

K=*>,N

N'K = N+1-K

510

DO

520

J=1,N

DO

510

L=2,K

AKNK, J) =AI (NK, J)

AKNK, J)

520

CONTINUE
RETURN

E'ND

-S

(NK

,N+

2-L )

AI (NK, J) /S (NK.NK)

A I (N

+ 7-

L,J)