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Basics of Rotordynamics: Jeffcott Rotor
Basics of Rotordynamics: Jeffcott Rotor
Jeffcott rotor
M
A
3
2
ì '' '' d ( e cos j )
ï z1 = y1 +
ï dt 2
'' ''
( )' 2
= y1 - ej sin j - e j cos j
=> í 2
ï z'' = y'' + d ( e sin j ) = y'' + ej '' cos j - e j ' 2 sin j
ïî 2 2
dt 2
2 ( )
where 3.0
meW 2
r= 2.0
( k - mW )
2 2
+ ( dW )
2
1.0
dW
e = arctan
k - mW 2 0.0
0.0 1.0 2.0 3.0
mg W /w n
yg =
k
wn = k m ; D = dw n 2 k
Steady-state solution II y2
O’ O’ O’
r’ r’
r’ M
r r e
e M r M
A
e A
W < wn W = wn A W > wn
Critical speed
• The natural frequency of the lateral bending oscillation of the
rotor shaft fn = wn/2p is called the critical speed of the rotor.
• The rotors are typically well balanced, but anyhow, a small
mass unbalance excitation acts on the rotor. The mechanical
damping of the rotor is small and the amplitude of the lateral
oscillation increases significantly while operating close to the
critical speed.
• For large electrical machines and high-speed machines, it may
happen that the critical speed of a rotor occurs within the
normal operating speed range of the machine.
• An electrical machine cannot usually be run continuously at the
critical speed. However, a critical speed can be passed quickly.
• The damping of the system can be increased, for instance, by
using sleeve bearings (sliding bearings) or active magnetic
bearings.
Eigen-value problem
The homogeneous equations of motion for Jeffcott rotor is
ìïmy 1'' + dy1' + ky1 = 0
í '' '
ïîmy 2 + dy2 + ky 2 = 0
Choosing a common complex variable u = y1 + jy2 for the
displacements, leads to equation
mu'' + du' + ku = 0
Exponential trial function for the solution
u ( t ) = u0 elt => ( )
ml 2 + dl + k u0 elt = 0
( )
ml 2 + dl + k = 0
Eigen-value problem II
The characteristic equation has two roots (eigen-values)
2
d æ d ö k 2 2
l1,2 =- ± ç ÷ - = -d ± j w n - d = -d ± jw d
2m è 2m ø m
The solution is
u ( t ) = C1 ed t e jw dt + C 2 ed t e - jw dt = C 1u1 (t ) + C 2 u2 (t )
u1 ( t ) = ed t e jw dt ; u2 ( t ) = ed t e - jw dt
The speed-dependencies
of natural frequencies are - w4
presented in Campbell’s
diagrams. w w =W
-w 3
A mass unbalance is
efficient in exciting the w2
forward whirling modes.
These are the critical
speeds.
-w 1
w c1 W® w c2
Force on an eccentric rotor
d (f , t ) = d 0 - e cos (f - wn t + an )
when the eccentricity e is small. We generalise this expression
to take also into account possible other deviations in the
mechanical dimensions that may modify the shape of the air
gap
d (f , t ) = d 0 - e cos (nf - wn t + an )
By proper choice of the wave number n, we can study, for
instance, the effects of an oval stator (n = 2). The permeance
related to the distorted air-gap length is approximately
l0 é e ù
l (f , t ) = » l0 ê1 + cos (nf - wn t + an ) ú
e
1 - d cos (nf - wn t + an ) ë d0 û
0
Non-uniform cylindrical air gap
The magnetomotive force over the air gap is taken to include
the fundamental harmonic, only
Bˆ p
F (f , t ) = cos ( pf - wst + a s )
l0
The flux density in the air gap becomes
æ e ö Bˆ p
B (f , t ) = l F = l0 ç 1 + cos (nf - wn t + an ) ÷ cos ( pf - wst + a s )
è d0 ø l0
e
= Bˆ p cos ( pf - wst + a s ) + Bˆ p cos (nf - wn t + an ) cos ( pf - wst + a s )
d0
= Bˆ cos ( pf - w t + a )
p s s
e ˆ
+ Bp cos éë( p + n ) f - (ws + wn ) t + (a s + an )ùû
2d 0
e ˆ
+ Bp cos éë( p -n )f - (ws - wn ) t + (a s - an )ùû
2d 0
Eccentricity, i.e. whirling of a circular rotor
If we consider the dynamic eccentricity (n = 1, ww = wr), we
have the fundamental plus the two well-known eccentricity
harmonics
e ˆ
B = Bˆ p cos ( pf - wst + a s ) - Bp cos éë( p ± 1 )f - (ws ± wr ) t + (a s ± an )ùû
2d 0
1500
1000
500
Fy [N]
-500
-1000
-1500
-2000
-2000 -1000 0 1000 2000
Fx [N]
400
0.006
300
200 0.004
100
0.002
0
-100 0.000
-100 -50 0 50 100 -100 -50 0 50 100
Whirling frequency [Hz] Whirling frequency [Hz]
Fr Ft Bp-1 Bp+1
200 0.004
150
0.003
100
50 0.002
0
0.001
-50
-100 0.000
-100.0 -50.0 0.0 50.0 100.0 -100.0 -50.0 0.0 50.0 100.0
Whirling frequency [Hz] Whirling frequency [Hz]
Fr Ft Bp-1 Bp+1
1 a
sin 1 n qb
2 sin (n + 1 ) p
xn = sinn 2
k q sin 21 nb sin (n + 1 ) p
m
Substituting n = p ±1 = 2 ± 1, m = 4 gives x = 0 for both the eccentricity
harmonics. This means that these harmonics do not interact with the series
connected stator winding.
Effect of parallel branches of the stator winding
When there are four parallel branches in a four-pole machine, we have a
double layer winding and all the four coil groups of a phase are connected in
parallel. The figure below shows the situation except that in the case the 40
kW motor the coils are not chorded and q = 4.
+ + + - - -
+ + + - - -
1 a sin 21 n qb p p
xn = sinn 2 1
, a= , b= , q=4
k q sin 2 nb 2 48
This winding factor has a non-zero value for both the harmonics, which
means that the eccentricity harmonics interact with the coil groups.
Effect of parallel branches of the stator winding
The two eccentricity harmonics presented in the stator frame of reference
are
ì e ˆ
ïï p + 1 2d Bp cos éë( p + 1 ) f - (ws + wn ) t + (a s + an )ùû
B =
0
í
ïBp - 1 = e Bˆ p cos é( p - 1 ) f - (ws - wn ) t + (a s - an )ù
ïî 2d 0 ë û
200
600
150
500
50
400
0
300
-50
200 -100
-150
100
-200
0 -250
-50 -25 0 25 50 -50 -25 0 25 50
Whirling frequency [Hz] Whirling frequency [Hz]
Computed Measured Computed Measured
700 250
200
600
150
100
400 50
0
300
-50
200 -100
-150
100
-200
0 -250
0 10 20 30 40 50 0 10 20 30 40 50
Whirling frequency [Hz] Whirling frequency [Hz]
The frequency response function seems to have two poles, which are
shifted away from the synchronous speed, when the loading (slip) of the
motor is increased. The frequency response function could probably be
parametrised to have the form
c1 c2
K ( s ) = c0 + +
s - a1 s - a2
If reasonable estimates for the parameters ci and ai can be obtained either
by using FEA simulations or measurements, a parametric force model has
been identified. If the system is linear and time invariant, we should be
able to extend the model to also represent transient response.
Interpretation of the results II
In this case, the frequency-response function K(s) is interpreted as a
transfer function and variable s is taken as the Laplace variable. The
following second-order state-space model is obtained for the force
q&1 = a1 q1 + c1u ( t )
q&2 = a2 q2 + c2 u (t )
F ( t ) = q1 + q2 + c0 u ( t )
The auxiliary variables q1 and q2 are some kind of force variables but their
physical origins are unknown. Obviously, we have identified a black-box
model.
Studying the problem of a whirling rotor analytically using Maxwell’s
equations, it can be shown that the auxiliary variables are related to the
harmonics of wave number p±1 produced in the air gap of the machine by
the eccentric motion [Holopainen 2004]. The variables can be expressed as
linear functions of the p±1 harmonic currents induced in the rotor cage. In
this way, the physical meaning of the auxiliary variables was gradually
revealed.
Electromechanical Interaction
ìmu&& + du& + ( k - c0 ) u + q p -1 + q p +1 = f
ï
í q& p -1 = a p -1q p -1 + c p -1u
ï q& = a q + c u
î p +1 p +1 p +1 p +1
Campbell diagram
Non-rotating damping
factor:
z n = 0.0
Modes:
1. Forward whirling
2. Backward whirling
3. Electromagnetic
Decay rates
Non-rotating damping
factor:
z n = 0.0
Modes:
1. Forward whirling
2. Backward whirling
3. Electromagnetic
Stability chart
• A super-critical
induction motor
• A typical ratio for the
spring coefficients of
induction machines
is 0.15
z n = 0.025
• Stability limit:
z n » 0.023
Conclusions
1. A new simple electromechanical rotor model was constructed
2. Electromechanical interaction affects the vibration
characteristics of the machine (stiffness, damping, stability)
3. These effects are significant in large-power induction motors
with a flexible shaft, large bearing span, and narrow air gap
4. Previously used models overestimate the electromagnetic
stiffness coefficient at most whirling frequencies
5. An unstabilising electromagnetic force is always present at the
supercritical speeds
6. Electromechanical interaction reduces the unbalance response
close to the critical speed