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This paper presents an analytical model of a rigid rotor supported in two fluid film bearings
with an emphasis on predicting the instability threshold speed. The factors contributing to the
stability of the rotor are discussed and presented graphically using root locus plots. The
parametric study of the stability starts from the discussion of the rotor/bearing system with
"mirror symmetry". Three basic cases are considered:
(i) Rotor with relatively small gyroscopic effect (small polar moment of inertia) and
relatively high transverse moment of inertia. It is found that the pivotal mode
instability exists, but the lateral mode controls stability.
(ii) Highly gyroscopic rotor (relatively large polar moment of inertia) with also rela-
tively low transverse moment of inertia. It is found that the pivotal mode is infinitely
stable and the lateral mode controls stability.
(iii) Highly gyroscopic rotor with relatively high transverse moment of inertia. It is
found that the pivotal mode exists and controls stability. The lateral mode always
exists.
Both asymmetry in rotor geometry (location of center of mass with respect to the
bearings) and fluid bearing parameters (stiffness, damping) are considered. It is shown
that, for a given bearing asymmetry parameter, the maximum stability is achieved when
the geometric asymmetry parameter is of equal value. The recommendations on the
optimal design from the stability standpoint are given.
Corresponding author. Tel.: 702 782-3611. Fax: 702 782-9236. E-mail: agnes@brdrc.com.
193
194 N.B. LITTRELL et al.
jcoh)
jka2)
ato
+ --h 0.
+ T]2J
(4)
or higher are neglected.
There is no axial motion of the rotor.
The fluid film damping in the bearings is directly
proportional to the fluid film stiffness. STABILITY OF THE MIRROR SYMMETRIC
The fluid circumferential average velocity ratio, A SYSTEM-UNCOUPLED MODES
(Muszynska, 1988), is considered the same in
both bearings. The rotor system (Fig. 1) is considered "mirror
The rotative speed f, of the rotor is assumed symmetric" if the distance from the center of
constant. There is no torsional vibration. All mass to either bearing is identical (]zl]
calculations consider variation of rotor speed and the bearing characteristics are the same (Dbl
discretely. Ob2 Kbl- Kb2). In that case the cross-coupling
factors, ato and bto, vanish and translational and
Equations of Motion pivotal modes, Eqs. (3) and (4) become uncoupled.
The four degrees of freedom x, y, X and can be
reduced to two by introduction of the complex (1) For translational mode:
coordinates r=x+jy, and similarly, tI, =X +jb.
Using these identities, the equations for the free h" + 2th’ + (1 2jtAco)h 0. (5)
196 N.B. LITTRELL et al.
Nondimensional displacement, h
Nondimensional time, r
(2) For pivotal mode: by Hatch and Bently (1995). By setting the term in
the denominator under the radical less than or
0"-j0’ + 2r/0(0’- jAco0) + r/Z0 0. (6) equal to zero, the following unconditional stability
criterion is reached:
The instability threshold speed for the translational
mode is as follows:
p-<A. (9)
(t) /t
v/Kbl -[- Kb2
Figure 4 shows a root locus plot of the rotor
system with the criterion of Eq. (9) satisfied. By
From Eq. (7) it can be seen that the stability of the
translational mode can be maximized three ways: examining the roots of each of the decoupled
Increasing direct stiffness values, decreasing the equations (5) and (6), it can be seen that the lateral
modal mass, M, or decreasing the bearing fluid mode is the only source of the instability. A quick
circumferential average velocity ratio, A. All will check of this is provided by observing that the roots
raise the speed at which the translational mode generated by the gyroscopic term have a branch
becomes unstable. There is no unconditional that is asymptotically approaching the zero real
stability for the translational mode. The instability axis.
threshold speed for the pivotal mode is as follows: In Fig. 5 it can be seen that the lateral roots are
unchanged, but now the gyroscopic root crosses the
zero axis at lower rotative speed than the lateral
(o)
th
uo /KblZ -I- Kb2z root, thus controlling stability. This is due to the
criterion set in (9) not being met. It should be noted
The interesting result from Eq. (8) is that an that the stability of the gyroscopic mode does not
unconditional stability criterion can be derived necessarily have to be absolute, just better than the
using finite and achievable parameters as shown lateral mode, as the lowest threshold dominates.
ROTOR RIGID BODY MODES 197
lOOO
SYSTEM PARAME;rERS
800
M 2 kg
600
Kbl 28e3 N/m
400 Kb2 28e3 N/m
Dbl 262.5 N s/m
200 Db2 262.5 N s/m
Zl =-0.102 m
z2 0.102 m
-200 0.45
Ip 0.022 kg m
-400
-500 -400 -300 -200 -100 O’ 100 200 It Ip / A kg rn
Decay Rate (rad/s)
FIGURE 4 Root locus plot of "mirror symmetric" rotor with ratio = 1/A. Plot was generated using the parameters given
above and varying rotative speed, f2. The O’s indicate the beginning of the locus at ft 0. The x’s indicate the position of the
roots at the point where the system becomes unstable at f- 3581 rpm.
500
400
3O0
200
100
lOO
-100
150 O0 -50 0 50
o lOO Decay Rate (rad/s)
Figure 6 illustrates a case where the criterion (9) is investigation is to determine if there is ever an
not met, yet the lateral mode still controls stability. improvement in the rotor stability from asym-
metry. The deviations of the rotor system from
the mirror symmetric case can be expressed by two
ROTOR AXIAL ASYMMETRY: COUPLING coefficients:
OF THE MODES
Coefficient of geometric asymmetry a
The introduction of asymmetry in either geometric
or bearing parameters causes a coupling of the The distances from the center of mass to the
lateral and pivotal modes. The purpose of this bearings, Z and Z2, can be expressed in terms of
198 N.B. LITTRELL et al.
L L
[$2/ 2IS / (1- 2jt/CO)] [$2/ (2]t --j)S / ]2
z1 -(a- 1)--, z2 -(1 /
a)-. (10)
2jtr/ACO a2to[1 / 2t(S-- jAco)] 2 0, (13)
If a=0, the rotor system is geometrically
symmetric, if al > then the rotor has overhung where s is an eigenvalue. This is a fourth-order
design (i.e. the rotor center of mass lies outside of equation and consequently has four roots, two of
the two bearing supports). which can have positive real parts. The following
expression represents the relation for the instability
Coefficient of stiffness asymmetry b threshold of the system:
600
500
200
100
0
-2
.
-1
- 0
ROTOR RIGID BODY MODES
2
SYSTEM PARAMETERS
M
K
lip
I
kgm
199
sYstem parameters as
in Figure 7, except
rotor length is
increased.
L .684 rn
(o’>0)
0 2
Geometric Asymmetry Factor
it can be seen that asymmetry in either a or b can returned to the original smaller value used in Fig. 7.
have only detrimental effects on the instability Remarkable about this case is the fact that the peak
threshold. instability thresholds are equal regardless of b and
The next case investigated is shown in Fig. 8. All that the peak value of stability is reached at a b.
the parameters are identical with Fig. 7, except that The translational mode is now entirely responsible
rotor length, L, is increased. The important insight for determining stability.
gained from this case is that in all cases the insta- Figure 10 is similar to Fig. 9 with the exception
bility threshold is higher than with a short bearing that rotor length, L, has been increased. At first
span. Additionally, note that the peak instability glance, the results appear identical because the peak
threshold at b a =0.6 is the same as with a sym- values are the same, but closer inspection will show
metric system b a 0. Peak stability is reduced at that the curves take slightly different paths to arrive
greater values of fluid film asymmetry, b 0.9, yet at the peak values. From this it can be concluded
is still improved over the short rotor case. that lengthening the rotor does not have the same
Figure 9 shows the case where the stability benefits when the gyroscopic mode is not the
criterion (9) is satisfied. The rotor length, L, is controlling factor for stability.
200 N.B. LITTRELL et al.
400.
400.
"’
%-,
in Figure 9 except
300., rotor length.
oo| L .684 m
150
100 (u<O)
50
is achieved when the rotor center of mass is shifted r-x+jy lateral displacement of rotor center
away from the stiffer bearing on the geometric of mass in the stationary system of
asymmetry parameter of the same value. The coordinates
instability threshold maximum corresponds to the fluid bearing circumferential average
symmetric rotor. velocity ratio
This implies that stability may be maximized in angle of yaw and pitch, respectively
this case by distributing the mass of the rotor in -x+J complex angular displacement
N R
EW
FO 006
2
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