CJA 1427 No.

of Pages 14
16 October 2019
Chinese Journal of Aeronautics, (2019), xxx(xx): xxx–xxx
1

Chinese Society of Aeronautics and Astronautics

& Beihang University
Chinese Journal of Aeronautics
cja@buaa.edu.cn
www.sciencedirect.com

3 Dynamic coefficients and stability analysis of a

4 water-lubricated hydrostatic bearing by solving the
5 uncoupled Reynolds equation
6 Jialei DU, Guozhu LIANG *

7 School of Astronautics, Beihang University, Beijing 100083, China

8 Received 18 October 2018; revised 14 February 2019; accepted 23 May 2019

9

11 KEYWORDS Abstract This paper concerns the dynamic characteristics of incompressible laminar flow
12
13 Damping; hydrostatic bearings. An improved method based on the mathematical perturbation technique
14 Hydrostatic bearing; for calculating the stiffness and damping coefficients of hydrostatic bearings is presented; it raises
15 Laminar flow; the calculation efficiency by uncoupling the recess flow continuity equations from the solving of the
16 Stability; Reynolds equation. The dynamic coefficients of a water-lubricated four-recess hydrostatic bearing
17 Stiffness; are calculated with both the improved method and the conventional method. The comparisons
18 Water lubrication between these two methods validate the effectiveness and correctness of the improved method. Fur-
thermore, the dynamic response and stability characteristics of a rotor supported by the hydrostatic
bearing are calculated and compared with experimental results. First, the dynamic responses calcu-
lated with the linear and nonlinear bearing dynamic coefficients models show that the linear model
is inaccurate if the rotor whirls in a large eccentricity ratio range, owing to the nonlinearity of stiff-
ness and damping. Second, according to the numerical and experimental results, the nonlinearity of
bearing stiffness and damping coefficients could induce double rotational frequency component in
the unbalance response frequency spectrum. Finally, the numerical results indicate that the stability
threshold speed of the bearing increases with eccentricity ratio. The improved method proposed can
be used to evaluate the dynamic performance of hydrostatic bearings efficiently, and the bearing
characteristics presented could contribute to a better understanding of the performance of water-
lubricated hydrostatic bearings.
19 Ó 2019 Production and hosting by Elsevier Ltd. on behalf of Chinese Society of Aeronautics and
Astronautics. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/
licenses/by-nc-nd/4.0/).

1. Introduction 20
* Corresponding author.
E-mail address: lgz@buaa.edu.cn (G. LIANG).
Peer review under responsibility of Editorial Committee of CJA. Hydrostatic bearings are widely used in high speed rotating 21
machines and other equipment owing to their advantages such 22
as large load capacity, long life, and high direct stiffness and 23
damping coefficients.1 Being different from rolling bearings, 24
Production and hosting by Elsevier
a hydrostatic bearing can serve as not only a spring supporter 25

https://doi.org/10.1016/j.cja.2019.09.030
1000-9361 Ó 2019 Production and hosting by Elsevier Ltd. on behalf of Chinese Society of Aeronautics and Astronautics.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Please cite this article in press as: DU J, LIANG G Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing by solving the uncoupled
Reynolds equation, Chin J Aeronaut (2019), https://doi.org/10.1016/j.cja.2019.09.030
 CJA 1427 No. of Pages 14
16 October 2019
2 J. DU, G. LIANG

26 for a rotor but also a damper in the rotor-bearing system. ating parameters, such as the eccentricity ratio and rotational 88
27 Moreover, the stiffness and damping coefficients of a hydro- speed. However, in some studies,2,3 the effect of the eccentric- 89
28 static bearing are closely related to its operating conditions, ity ratio was usually not accounted, i.e., the linear dynamic 90
29 for example the rotational speed and eccentricity ratio, which coefficients model was used instead of the nonlinear model. 91
30 has significant influences on the dynamic performance of For a bearing operating in a small eccentricity ratio range, in 92
31 rotor-bearing systems. Therefore, many numerical and experi- which the dynamic coefficients have a weak dependency on 93
32 mental researches2–4 were done on the dynamic characteristics, the journal equilibrium position, the linear model should be 94
33 including stiffness and damping coefficients, of hydrostatic adequate to predict the dynamic response of the rotor- 95
34 bearings, as well as the performance characteristics of rotors. bearing system.4 However, the range of eccentricity ratio in 96
35 In the numerical studies on hydrostatic bearings or more which the linear model can be applied is seldom discussed. 97
36 generally fluid film bearings, the commonly used techniques In the present study, the method given by Castelli and 98
37 to calculate the dynamic coefficients are the physical perturba- Shapiro14 is applied and extended to the calculation of hydro- 99
38 tion technique and the mathematical perturbation tech- static bearing dynamic coefficients on the basis of the mathe- 100
39 nique.5,6 In the studies of Singh et al. on capillary- matical perturbation technique, and then an improved 101
40 compensated hydrostatic bearings7 and on orifice- numerical method is presented. The stiffness and damping 102
41 compensated hydrostatic bearings,8 the dynamic coefficients coefficients of a water-lubricated hydrostatic bearing are calcu- 103
42 were calculated with physical perturbation technique. How- lated with the improved method and compared with the corre- 104
43 ever, in several other studies on hydrostatic bearings,9–11 the sponding results calculated with the conventional method. 105
44 mathematical perturbation technique was used to get the Furthermore, the dynamic responses of a rotor supported by 106
45 dynamic coefficients of bearings. the hydrostatic bearing are calculated with both the linear 107
46 With the physical perturbation technique, the dynamic and the nonlinear dynamic coefficients models of the bearing. 108
47 coefficients are calculated by differentiating the bearing forces The stability characteristics of the rotor-bearing system are 109
48 with respect to finite displacements and velocities of the shaft analyzed using the whirl frequency ratio and the stability 110
49 center. It is simple in programming, however the accuracy of threshold speed. Finally, some experimental results of the 111
50 this method is greatly affected by the perturbation amplitude, hydrostatic bearing lubricated with water are presented, and 112
51 and the Reynolds equation has to be solved eight times to the dynamic characteristics of the bearing are discussed 113
52 get all eight stiffness and damping coefficients. With the math- through comparing the experimental and numerical results. 114
53 ematical perturbation technique, proposed by Lund and The improved method proposed can be used to evaluate the 115
54 Thomsen,12 the dynamic coefficients are determined by the performance of hydrostatic bearings efficiently in the initial 116
55 Taylor expansion of pressure in the Reynolds equation, and design phase and the dynamic performance of the bearing pre- 117
56 the derived equations need to be solved four times to get the sented can serve as a reference for the design of water- 118
57 eight dynamic coefficients. In terms of precision and computa- lubricated hydrostatic bearings. 119
58 tion speed, the mathematical perturbation technique is supe-
59 rior to the physical perturbation technique. 2. Numerical model 120
60 Although the mathematical perturbation technique is faster
61 than the physical perturbation technique in calculating the 2.1. Physical model 121
62 dynamic coefficients of fluid film bearings, it is still time consum-
63 ing when applied to hydrostatic bearings. Compared with the
The schematic of an orifice-compensated hydrostatic bearing 122
64 procedures of solving the Reynolds equation for plain hydrody-
with four recesses and the unwrapped flow field of the bearing 123
65 namic bearings, the procedures for hydrostatic (or hybrid) bear-
are presented in Fig. 1. 124
66 ings are more complicate owing to the requiring of recess
As shown in Fig. 1 (a), the coordinate origin (O) is the cen- 125
67 pressures.13 In typical numerical studies on hydrostatic bear-
ter of the hydrostatic bearing, Os is the center of the shaft, e is 126
68 ings,5,11 the recess pressures are calculated with iteration meth-
the eccentricity of the journal in the bearing, h is the thickness 127
69 ods to satisfy the flow continuity conditions of the recesses.
of the fluid film between the bearing and the journal, X is the 128
70 And the solving of fluid film pressure is usually placed within
angular velocity of the shaft, and h is the circumferential angle. 129
71 the iterative loop for recess pressures. Thus, the solving of film
In Fig. 1 (b), R is the radius of the journal, L is the width of the 130
72 pressure has to be repeated continuously with the revising of
bearing, do is the diameter of the orifice, l and w are the length 131
73 recess pressures, until the flow continuity conditions of the
and width of the recesses respectively. 132
74 recesses are satisfied. As a result, the calculation time is much
75 longer, especially when the stiffness and damping coefficients
2.2. Reynolds equation 133
76 of a bearing at various operating conditions need to be calcu-
77 lated. Fortunately, for incompressible lubrication problems of
78 hydrostatic bearings, the static characteristic of the bearing can As indicated in the Introduction, the improved method is an 134

79 be obtained efficiently with a method based on the linear prop- extension of a method based on the linear property of the Rey- 135

80 erty of the Reynolds equation. This method was proposed by nolds equation, thus it is only applicable for linear governing 136

81 Castelli and Shapiro14 and applied in the calculation of bearing Reynolds equation as well. For this reason, the factors that 137

82 static characteristics in Ref.15; however, its application in the cal- would introduce nonlinearity into the governing equation, 138

83 culation of dynamic coefficients was not discussed. such as turbulence effect, temperature rise, and cavitation phe- 139

84 As mentioned before, the dynamic response of a rotor sup- nomenon, are not considered in the present study. For an 140

85 ported by hydrostatic bearings is closely related to the stiffness incompressible, laminar and iso-viscous flow in the hydrostatic 141

86 and damping coefficients of the bearing. Meanwhile, the bearing thin fluid film zone, the time dependent Reynolds 142

87 dynamic coefficients of the bearing are the function of its oper- equation could be written as16 143

Please cite this article in press as: DU J, LIANG G Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing by solving the uncoupled
Reynolds equation, Chin J Aeronaut (2019), https://doi.org/10.1016/j.cja.2019.09.030
 CJA 1427 No. of Pages 14
16 October 2019
Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing 3

where H0 and P0 are the dimensionless film thickness and 176

dimensionless film pressure in the steady-state, respectively; 177
(DX; DY) and (DX; _ DY)_ are the dimensionless form of 178
(Dx; Dy) and (Dx; _ Dy),_ respectively; Px ; Py ; Px_ ; Py_ are the 179
dimensionless perturbed film pressure with respect to the 180
dimensionless displacements and velocities. 181
The equations for perturbed pressure could be derived by 182
substituting the expansion of the film thickness and the film 183
pressure into the Reynolds equation. By substituting Eq. (3) 184
into Eq. (2) and separating variables with respect to each per- 185
turbed displacement and velocity, the perturbation equations 186
are obtained5,6 187


 188
@ @Pn @ @Pn
H3 þ H3
@h @h @Z @Z
8 @H0
>
> K @h ðn ¼ 0Þ
>
>
>
>  2  @  2 
>
> @
> @h
> 3H0 cosh @P 0
þ @Z 3H0 cosh @P 0
 K @ ðcoshÞ
ðn ¼ xÞ
>
<
@h @Z @h
   
¼ @ 3H2 sinh @P0 þ @ 3H2 sinh @P0  K @ðsinhÞ ðn ¼ yÞ
> @h
> 0 @h @Z 0 @Z @h
>
>
>
>
Fig. 1 Schematic of a hydrostatic bearing and the unwrapped >
> Ccosh ðn ¼ x_ Þ
>
>
flow field. >
:
144

3 
 Csinh ðn ¼ y_ Þ
@ h @p @ h3 @p U@h @h

þ
¼6 þ 12 ð1Þ ð4Þ 190
146 R@h l R@h @z l @z R@h @t
The boundary conditions of these dimensionless equations 191
147 where p is the pressure of fluid film; l is the viscosity of the for hydrostatic bearings are as follows: (a) the outlet pressure 192
148 lubricant; U ¼ XR is the surface speed of the journal; t is time. is P ¼ 0; (b) the symmetric boundary condition is 193
149 The dimensionless form of the Reynolds equation, Eq. (1), dPðh; ZÞ=dZjZ¼0 ¼ 0; (c) the periodic boundary condition is 194
150 could be written as Pð0; ZÞ ¼ Pð2p; ZÞ; (d) the pressure in each recess is assumed 195
151



@ @P @ @P @H @H uniform and the pressure of recesses for Pn ðn ¼ 0; x; y; x; _ y_ Þ 196
H3 þ H3 ¼K þC ð2Þ
153 @h @h @Z @Z @h @t is PnR ¼ PnRi ði ¼ 1; 2;


; nÞ, where n is the number of recesses 197
in a hydrostatic bearing, and the pressure in the i-th recess 198
154 with the introduction of the following parameters
155
(PnRi ) is calculated with the flow continuity equation of the 199
p  pa h z 6lUR 12lR2
P¼ ;H ¼ ;Z ¼ ;K ¼ ;C ¼ recess considering the perturbed pressure. 200
157
ps  pa C R ðps  pa ÞC 2
ðps  pa ÞC2 The flow continuity equation of the i-th recess in an orifice- 201
compensated hydrostatic bearing can be written as 202
158 where P is the dimensionless form of pressure; ps is the supply I
 203
pressure; pa is the ambient pressure; H is the dimensionless 1   @H
159 Cm ð1  PRi Þ2 ¼ U KH
IU  H3
rP
Idl  qR2 CAi dhdZ
160 form of film thickness; C is the radial clearance of the bearing. Li @t
ð5Þ 205
161 2.3. Perturbation analysis
pd2o
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi qC3 ðps pa Þ
where Cm ¼ Cd 4
2qðps  pa Þ, U¼ 12lR
, rP ¼ 206
@P @P
162 As indicated in the Introduction, the mathematical perturba- @h
iþ @Z j; Cd is the flow coefficient of the orifice restrictor; Li 207
163 tion technique is superior to the physical perturbation tech- is a closed curve around the i-th recess, and Ai is the area encir- 208
164 nique in terms of precision and calculation speed. The cled by the curve Li; I is a unit vector perpendicular to dl, and 209
165 numerical method discussed in this paper is based on the math- IU is a unit vector in the direction of velocity U. 210
166 ematical perturbation technique. With the mathematical per- Being similar to the film pressure Taylor expansion above, 211
167 turbation technique, the perturbations applied to the journal the first order Taylor expansion of the recess pressure with 212
168 at an equilibrium position are small displacements (Dx; Dy) respect to the dimensionless displacements and velocities can 213
169 and velocities (Dx; _ Dy).
_ In the coordinate system shown in be written as 214
215
Fig. 1, the first order Taylor expansion of the film thickness
PxR_ DX_ PyR_ DY_
170
PR ¼ P0R þ PxR DX þ PyR DY þ þ ð6Þ 217
171 and the film pressure with respect to these small displacements
172
173
and velocities could be written as The pressure PnR ðn
_ y_ Þ in a recess can be obtained
¼ 0; x; y; x; 218
8 by substituting Eqs. (3) and (6) into Eq. (5), and separating the

Dy ¼ H0 þ ðcoshÞDX þ ðsinhÞDY
219
>
> H ¼ H0 þ @H
Dx þ @H
@X C @Y C
>
> perturbed variables as 220
< @H ¼ ðcoshÞDX_ þ ðsinhÞDY_ 221
@t
> Qnin;i ¼ Qnout;i _ y_ i ¼ 1; 2;


; n Þ
ð n ¼ 0; x; y; x; ð7Þ 223
>
> P @P Dx
¼ P0 þ @X
C þ @Y
C þ @@PX_
DCx_ þ @@PY_
DCy_
@P Dy
>
:
¼ P0 þ Px DX þ Py DY þ Px_ DX_ þ Py_ DY_ where i denotes the i-th recess; Qnin;i and Qnout;i are the inflow 224

175 ð3Þ and outflow of the i-th recess, respectively. 225

Please cite this article in press as: DU J, LIANG G Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing by solving the uncoupled
Reynolds equation, Chin J Aeronaut (2019), https://doi.org/10.1016/j.cja.2019.09.030
 CJA 1427 No. of Pages 14
16 October 2019
4 J. DU, G. LIANG

226 The inflow of the i-th recess from the corresponding orifice The governing equation of the film pressure Pj is 259
227 restrictor is

 260
228 8  @ @Pj @ @Pj
> 12 H3 þ H3 ¼ 0 ðj ¼ 1; 2;


; nÞ ð12Þ
>
< Cm 1  P0Ri ðn ¼ 0 Þ @h @h @Z @Z 262

Qnin;i ¼   ð8Þ
>
> 1 The boundary conditions for the film pressure Pj are (a), (b)

263
:  1 Cm 1  P0R 2 PnR ðn ¼ x; y; x;_ _
y Þ
230 2 i 1 ði ¼ jÞ
and (c) for Eq. (4), and PRi ¼ ði ¼ 1; 2;


; nÞ.
i

0 ði–jÞ 264
231 The outflow of the i-th recess caused by the film pressure Pn
232 is The governing equation of the film pressure PnK is 265
266
233
( H  


U Li KH0
IU  H30
rP0
Idl ðn ¼ 0Þ @ @Pn @ @Pn
Qnout;i ¼ H   H3 K þ H3 K
U Li H30
rPn
Idl þ QnP0 ;i _ y_ Þ
ðn ¼ x; y; x; @h @h @Z @Z
8 @H0
235 ð9Þ >
> K @h ðn ¼ 0Þ
>
>
>
>    
236 where >
> @ 3H20 cosh @P0 þ @ 3H20 cosh @P0  K @ ðcoshÞ ðn ¼ xÞ
237
8 H  2  >
>
>
<
@h @h @Z @Z @h
>
> U Li 3H0 cosh
rP0  Kcosh
IU
Idl ðn ¼ x Þ    
> H 
>  ¼ @ 3H2 sinh 0 þ @ 3H2 sinh 0  K
@P @P @ ð sinh Þ
ðn ¼ yÞ
<U 3H20 sinh
rP0  Ksinh
IU
Idl ðn ¼ yÞ >
> @h 0 @h @Z 0 @Z @h
QnP0 ;i ¼ Li >
>
> qR2 C coshdhdZ >
>
>
> ðn ¼ x_ Þ >
> Ccosh ðn ¼ x_ Þ
>
: 2
Ai >
>
>
:
qR CAi sinhdhdZ ðn ¼ y_ Þ
Csinh ðn ¼ y_ Þ
239 ð10Þ
ð13Þ 268
240 To get the static and dynamic performance characteristics
The boundary conditions for the film pressure PnK are (a), 269
241 of a hydrostatic bearing, the film pressure governing equations,
(b) and (c) for Eq. (4), and PRi ¼ 0 ði ¼ 1; 2;


; nÞ. 270
242 Eq. (4), and flow continuity equations, Eq. (5), need to be
Because the recess pressure and other boundary conditions 271
243 solved numerically.
of Eqs. (12) and (13) are all known, the film pressure Pj and PnK 272

244 3. Numerical method can be directly solved with the Finite Difference Method 273
(FDM). In this paper, the central differencing approximation 274
of the Reynolds equation is used to get the film pressure and 275
245 3.1. Solution of pressure field
the detailed calculation process can be found in Ref.17. 276
An illustrative diagram of the superposition of fluid film 277
246 In this section, the process of the improved method in calculat- pressure for a four-recess hydrostatic bearing is presented in 278
247 ing the performance characteristics of incompressible laminar Fig. 2. Note that only the pressure along the circumferential 279
248 flow hydrostatic bearings is presented. direction in the two-dimensional pressure field is illustrated 280
249 For incompressible laminar flow hydrostatic bearings, the in the figure for simplicity. 281
250 equations in Eq. (4) are linear and then can be solved using
251 the linear superposition principle. The solution of each equa-
252 tion in Eq. (4) can be written as 3.2. Solution of flow continuity equation 282
253
X
n
Pn ðh; ZÞ ¼ anj Pj þ PnK ðn ¼ 0; x; y; x;
_ y_ Þ ð11Þ Once the film pressure Pj ðj ¼ 1; 2;


; nÞ and 283
255 j¼1 PnK ðn ¼ 0; x; y; x;
_ y_ Þ are obtained, the influence factor anj can 284
be determined by substituting Eq. (11) into the flow continuity 285
256 anj
where is the influence factor of recess pressure on fluid film
equation Eq. (7). According to Eqs. (9) and (11), the outflow of 286
257 pressure Pn ; the film pressure Pj and PnK are calculated with the the i-th recess caused by the film pressure Pn can be written as 287
258 following governing equations. 8 n 288
> P 0
>
< aj Qi;j þ QK;i ðn ¼ 0Þ
0
>
j¼1
Qnout;i ¼ ði ¼ 1;2;


;nÞ
>
> P
n
n n n
> _ y_ Þ
: aj Qi;j þ QK;i þ QP0 ;i ðn ¼ x;y; x;
j¼1

ð14Þ 290

where 291
I 292
 
Qi;j ¼ U H30
rPj
Idl ði; j ¼ 1; 2;


; nÞ ð15Þ
Li 294

295
( H  
U Li KH0
IU  H30
rP0K
Idl ð n ¼ 0Þ
QnK;i ¼ H   ði; j ¼ 1; 2;


; nÞ
U Li H30
rPnK
Idl _ y_ Þ
ðn ¼ x; y; x;
ð16Þ 297
Fig. 2 A schematic illustration of the superposition of hydro-
static bearing film pressure. and QnP0 ;i can be calculated with Eq. (10). 298

Please cite this article in press as: DU J, LIANG G Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing by solving the uncoupled
Reynolds equation, Chin J Aeronaut (2019), https://doi.org/10.1016/j.cja.2019.09.030
 CJA 1427 No. of Pages 14
16 October 2019
Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing 5

299 According to Eqs. (11) and (12), the recess pressure for Pn is As seen in Fig. 3, in the conventional method, the solving of 346

300 PnRi ¼ ani . Then the inflow of the i-th recess from the orifice the Reynolds equation and the solving of the flow continuity 347

301 restrictor is equations are coupled. The iterative loop for the film pressure 348
302 8  1 and that for the recess pressures are nested. That is to say, if 349
>
< Cm 1  a0i 2 ðn ¼ 0Þ the pressure of any of the recesses is revised, the Reynolds 350
n
Qin;i ¼  12 ð17Þ equation needs to be re-solved. However, in the improved 351
>
:  1 Cm 1  P0R an
ð n ¼ x; y; _
x; _
y Þ
304 2 i i method, the nested iterative loops in solving the Reynolds 352
equation and the flow continuity equations are uncoupled 353
305 According to Eqs. (7)–(9), the flow continuity equations of based on the linear property of the laminar flow Reynolds 354
306 recesses related to the steady-state film pressure,Pn ðn ¼ 0Þ, can equation. In this way, the computational efficiency of bearing 355
307 be written in matrix form as performance characteristics is improved significantly. And the 356
30 0 1 0 Q0 1 0 Q0 a0  1
308
2 difficulty of convergence in solving the recess pressures at high 357
Q11 Q12


Q1n a1 K;1 in;1 1
6Q 7B a0 C B 0 C B 0  0 C eccentricity ratios in the conventional method is avoided as 358
6 21 Q


Q 2n 7B 2 C B Q C B Q a C
7B C þ B
22 K;2 C B in;2 2 C well. With the improved method, the steady-state and per-
6 B C ¼ B C
359
6 . . .
.. .
.. 7B .. C B .. C B .. C turbed film pressures can be obtained in a shorter time and
4 . 5@ . A @ . A @ . A
360
  the static and dynamic performance characteristics of a hydro- 361
Qn1 Qn2


Qnn a0n Q0K;n Q0in;n a0n static bearing can be easily calculated by integrating these 362
310 ð18Þ steady-state and perturbed film pressures. 363
The numerical calculating process of the improved method 364
311 The influence factors a0i can be obtained by solving Eq. (18). can be described as follows. First, fluid film pressures are 365
312 For an orifice-compensated hydrostatic bearing, the inflow of obtained by solving a set of Reynolds equations (Eqs. (12) 366
313 the recess from the restrictor is a nonlinear function of the influ- and (13)) under given recess pressures and other boundary 367
314 ence factor a0i , as seen in Eq. (17). Therefore, Eq. (18) is nonlinear conditions using FDM method. Second, the influence factors 368
315 and the factors a0i need to be solved with an iteration method. of each recess pressure on the steady-state and perturbed film 369
316 However, for capillary compensated hydrostatic bearings, Eq. pressures are calculated by solving the equations (Eqs. (18) and 370
317 (18) would be linear and the factors a0i can be solved directly. (19)) derived from the flow continuity equations of the 371
318 As indicated above, PnRi ¼ ani , then P0Ri ¼ a0i . After the recesses. Finally, the steady-state and perturbed film pressures 372

319 steady-state recess pressures P0Ri are obtained, the flow conti- can be obtained using Eq. (11), the film pressure and influence 373

320 nuity equations of recesses related to the perturbed film pres- factors calculated in the previous steps. Then, the film force, 374

321 sure Pn ðn ¼ x; y; x; _ y_ Þ can be written in matrix form as the stiffness and damping of the hydrostatic bearing can be cal- 375
322 culated by integrating these steady-state and perturbed film
30 n 1 0 Qn 1 0 Qn 1 0 Qn an  1
376
2
Q11 Q12


Q1n a1 K;1 P0 ;1 in;1 1 pressures. 377
6Q Q B n C B n C B n C B n  nC
6 21 22


Q2n 7
7B a2 C B QK;2 C B QP0 ;2 C B Qin;2 a2 C
6 B C
7B C þ B B C B C B C
6 .. .. .. 7B .. C B .. C þB . C¼B .. C
4 . . . 5@ . A @ . C B . C B
A @ . A @ .
C
A
4. Results and discussion 378
 
Qn1 Qn2


Qnn ann n
QK;n n
QP0 ;n n
Qin;n an n
4.1. Object description for calculation 379
324 ð19Þ

325 According to Eq. (17), Qnin;i ðn ¼ x; y; x;

_ y_ Þ has a linear rela- In the following sections, the dynamic coefficients and stability 380

326 tionship with the influence factor ani , so the equations in Eq. characteristics of a water-lubricated hydrostatic bearing, which 381

327 (19) are linear and the influence factors ani can be solved was designed by the authors to test hydrostatic bearing tech- 382

328 directly. nologies for turbopumps, are calculated with the improved 383

329 Finally, the steady-state and perturbed film pressures can method under the laminar flow assumption. Some experimen- 384

330 be calculated with Eq. (11), and then the static and dynamic tal results of the bearing tested on a test rig are presented and 385

331 performance, including film forces (Fx, Fy), mass flow rate discussed as well. As shown in Fig. 1 (a), the bearing is a typ- 386

332 (Qm), stiffness and damping coefficients (kij, cij, i, j = x, y), ical four-recess orifice-compensated hydrostatic bearing. The 387

333 of the hydrostatic bearing can be obtained by integrating these bearing test rig, as shown in Fig. 4, has a symmetrical structure 388

334 film pressures. with the rotor supported by two identical test hydrostatic bear- 389
ings. The rotor is driven by a gas turbine using high pressure 390

335 3.3. Comparison between two methods nitrogen, and the lubrication water of the bearings is pressur- 391
ized by high pressure nitrogen as well. The schematic of the 392
bearing test system can be found in Ref.15. The main nominal 393
336 The flow charts of the two methods, i.e., the conventional geometric parameters and operating parameters of the hydro- 394
337 method and the improved method, for solving the Reynolds static bearing and the rotor are listed in Table 1. 395
338 equation of hydrostatic bearings are presented in Fig. 3. For As mentioned before, the improved method discussed in the 396
339 both methods, only the main procedures in solving the govern- above section is only applicable for linear Reynolds equation. 397
340 ing equations of hydrostatic bearings are presented. Note that So, in the calculation of the water-lubricated hydrostatic bear- 398
341 the solution methods of the Reynolds equation with given ing, the density and the viscosity of the lubricant (water) are 399
342 recess pressures and other boundary conditions (i.e., the proce- assumed to be constants and they are 998.6 kg/m3 and 1005 400
343 dures within the dotted line frames) in the two methods are lPa_ss (293 K) respectively. Moreover, it needs to be noted that 401
344 identical. The main difference between the two methods lies the orifice flow coefficient (Cd) of the bearing in Table 1 comes 402
345 in the processing of bearing recess pressures. from the orifice mass flow experiment of the hydrostatic bear- 403

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 CJA 1427 No. of Pages 14
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6 J. DU, G. LIANG

Fig. 3 Flow charts of two methods (only main procedures are presented).

Table 1 Main parameters of hydrostatic

bearing and rotor.
Parameter Value
Journal diameter D (mm) 20
Bearing width L (mm) 14
Radial clearance C (lm) 39
Orifice diameter do (mm) 0.64
Orifice flow coefficient Cd 0.875
Fig. 4 Schematic of hydrostatic bearing test rig. Recess size l  w  hR (mm3) 10  8  1
Recess number n 4
Supply pressure ps (MPa) 1.7
404 ing conducted by the authors; the details about the experiment Rotational speed N (r/min) 50,000
405 can be found in Ref.15. Rotor mass 2mR (kg) 0.84

406 4.2. Computational efficiency of the improved method

407 Compared with the conventional method, the improved of the flow field is calculated; the grid number used in the cal- 419
408 method is more time saving in theory. To show the computa- culation is 60  20. The FDM is applied in solving the Rey- 420
409 tional efficiency of the improved method under the same con- nolds equation with given recess pressure and other 421
410 ditions with other methods, the computation time taken by boundary conditions. With a same personal computer (IntelÒ 422
411 these three different methods (the physical perturbation tech- CoreTM i3-380 M, RAM 4 GB), the computation time taken by 423
412 nique, the conventional method, and the improved method) these three different methods is presented in Table 2. 424
413 in calculating the eight dynamic coefficients of the water- As shown in Table 2, in the row of ‘‘Number of times”, the 425
414 lubricated hydrostatic bearing at the concentric position (i.e., number before ‘‘” means the number of the Reynolds equa- 426
415 eccentricity ratio e = e/C = 0) is recorded and compared. tions to be solved, and the number after ‘‘” means the num- 427
416 These three methods are all developed by the authors with ber of iterations required, which is variable for different 428
417 C# in MicrosoftÒ Visual Studio 2010. Considering the symme- equations owing to the variation of operating parameters, to 429
418 try of the flow field of the bearing shown in Fig. 1 (b), only half satisfy the mass continuity equation of the recesses. It can be 430

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 CJA 1427 No. of Pages 14
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Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing 7

431 seen that, compared with the physical perturbation technique, tion amplitude of displacement and velocity.6 It can be seen 478
432 the conventional method based on the mathematical perturba- from Fig. 5 that the direct stiffness (kyy) first increase and then 479
433 tion technique reduces the time for calculating the dynamic decrease with eccentricity ratio. This phenomenon is mainly 480
434 coefficients, whereas the improved method presented in this determined by the ratio of flow resistance between the orifice 481
435 paper can further reduce the calculation time. In this example, restrictor and the bearing clearance,15 which is dependent on 482
436 the computation time of the improved method is approxi- the geometric and operating parameters of a bearing. 483
437 mately one-fourteenth of that of the conventional method. The result in Fig. 5 indicates that the stiffness and 484
438 Only from the point of view of the data in Table 2, the compu- damping coefficients of the hydrostatic bearing have a non- 485
439 tational efficiency improvement of the improved method does linear relationship with eccentricity ratio. In the range of 486
440 not make much sense. However, in optimization design or small eccentricity ratio, the variation of the stiffness and 487
441 transient response calculation of hydrostatic bearings, where damping can be simply neglected. However, when the bear- 488
442 the solving of the Reynolds equation may be repeated thou- ing is operating in a range of large eccentricity ratio as a 489
443 sands of times and the time consumed may be several hours, result of large unbalance forces, the nonlinearity of the 490
444 the application of the improved method could make much dif- dynamic coefficients may have significant influence on the 491
445 ference in saving calculation time. dynamic characteristic of the rotor-bearing system. The 492
influence of the nonlinearity of bearing stiffness and damp- 493
446 4.3. Dynamic coefficients ing coefficients on the dynamic response of the rotor will be 494
discussed in Section 4.4. 495

447 As indicated in the Introduction, the improved method is an As shown in Fig. 6, the stiffness and damping coefficients 496

448 extension of a method used to calculate bearing static perfor- calculated with the two methods are almost the same. At the 497

449 mance characteristics.14,15 In this paper, the improved method calculated eccentricity ratio, the rotational speed has almost 498

450 can be used to calculate both the static and the dynamic per- no effect on the direct stiffness coefficients of the hydrostatic 499

451 formance characteristics of hydrostatic bearings. The load bearing; however it has significant effect on the cross stiffness 500

452 capacity and mass flow rate calculated with the improved coefficients. It can be seen from the figure that the cross stiff- 501

453 method are in agreement with the corresponding numerical ness coefficients have approximately a linear relationship with 502

454 and experimental results in Ref.15, which verifies the effective- the rotational speed. Considering that the cross stiffness coef- 503

455 ness of the improved method in calculating bearing static per- ficient of fluid film bearing is a main factor leading to instabil- 504

456 formance characteristics. ity, the variation of cross stiffness coefficients with rotational 505

457 In this section, only the dynamic coefficients (including speed should be paid enough attention in the dynamic perfor- 506

458 stiffness and damping) of the water-lubricated hydrostatic mance analysis of rotor-bearing systems. The rotational speed 507

459 bearing calculated with the improved method are presented has almost no effect on the damping coefficients of the hydro- 508

460 and discussed. As a comparison, the dynamic coefficients cal- static bearing. 509

461 culated with the conventional method are also presented. The results in Figs. 5 and 6 confirm the effectiveness and 510

462 The variation of stiffness and damping coefficients of the bear- correctness of the improved method in calculating the dynamic 511

463 ing with eccentricity ratio and with rotational speed are pre- coefficients of hydrostatic bearings. 512

464 sented in Figs. 5 and 6 respectively. The solid lines with solid
465 symbols in the figures represent the results obtained with the 4.4. Dynamic responses 513

466 improved method and the dashed lines with hollow symbols
467 represent the results from the conventional method. As shown in the previous section, the dynamic coefficients 514
468 As shown in Fig. 5, the stiffness and damping coefficients have a nonlinear relationship with eccentricity ratio. To figure 515
469 calculated with the improved method have a pretty good out the effect of the nonlinearity of stiffness and damping coef- 516
470 agreement with the results calculated with the conventional ficients on the dynamic response of a rotor supported by the 517
471 method based on physical perturbation technique. The maxi- hydrostatic bearings, the unbalance responses of the rotor 518
472 mum differences of the results between the two methods lie shown in Fig. 4 are calculated using both the nonlinear and 519
473 in the direct stiffness coefficients (kyy) and damping coefficient the linear bearing dynamic coefficients models. In the calcula- 520
474 (cyy) at large eccentricity ratios, where the gradient of these tion, the Jeffcott18 rotor model is used for simplicity and the 521
475 coefficients are larger. These differences are mainly due to that rotor-bearing system is simplified to a rigid rotor supported 522
476 the stiffness and damping coefficients calculated with the phys- by two identical hydrostatic bearings. The simplified rotor- 523
477 ical perturbation technique are easily affected by the perturba- bearing model is shown in Fig. 7. 524

Table 2 Computation time of different methods.

Time Method
Physical perturbation technique Mathematical perturbation technique
Conventional method Improved method
Number of times* 9  (104–244) 5  (48–244) (4 + 5)  1
Computation time (s) 10.07 6.09 0.43
*
The number of times of solving the Reynolds equation with given recess pressures and other boundary conditions to get the static
characteristics and the eight dynamic coefficients at a specific eccentricity ratio.

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 CJA 1427 No. of Pages 14
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8 J. DU, G. LIANG

Fig. 5 Variation of dynamic coefficients with eccentricity ratio at N = 30000 r/min.

Fig. 6 Variation of dynamic coefficients with rotational speed at e = 0.3.

525 Considering the symmetry of the rotor-bearing system, only where mR is half of the rotor mass; Fx and Fy are the film 533
526 half of the system (half of the rotor and one hydrostatic bear- forces of the hydrostatic bearing; Wx and Wy are external sta- 534
527 ing) is taken into account in the following analysis. The equa- tic loads applied to the rotor, including the gravity of the rotor; 535
528 tion of motion for the rotor with unbalance forces can be eu is the eccentricity of the rotor mass center, and Fu ¼ mR eu X2 536
529 written as is the unbalance force. 537
530
( In the linear dynamic coefficients model, the dynamic char- 538
mR x€ ¼ Fx þ Wx þ mR eu X2 cosðXtÞ
ð20Þ acteristic of the hydrostatic bearing is modeled with the stiff- 539
532 mR y€ ¼ Fy þ Wy þ mR eu X2 sinðXtÞ ness and damping coefficients at the equilibrium position of 540
the rotor under external static loads. And the film forces can 541
be written as follows 542
(  
543
Fx ¼  kxx Dx þ kxy Dy þ cxx Dx_ þ cxy Dy_
  ð21Þ
Fy ¼  kyx Dx þ kyy Dy þ cyx Dx_ þ cyy Dy_ 545

where kij and cij (i, j = x, y) are the stiffness and damping coef- 546
ficients of the hydrostatic bearing at the equilibrium position, 547
respectively. 548
In the nonlinear dynamic coefficients model, the film forces 549
are numerically calculated by solving the time dependent Rey- 550
nolds equation (Eq. (2)) with the displacement and velocity of 551
Fig. 7 Simplified rotor-bearing model. the journal at each time step during the whirling motion. In 552

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 CJA 1427 No. of Pages 14
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Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing 9

553 this way, the nonlinearity of stiffness and damping coefficients In Fig. 9, the responses of the two models show no appar- 614
554 is taken into account in the calculation, although these coeffi- ent difference except that the amplitude calculated with the 615
555 cients are not explicitly used. nonlinear model is a litter larger than that calculated with 616
556 Fig. 8 shows the unbalance responses of the rotor-bearing the linear model, whereas in Fig. 10 the difference is clear. 617
557 system in cases with different static loads and unbalance forces As shown in Fig. 10, the frequency spectrum of the linear 618
558 applied to the rotor. The stiffness and damping coefficients response has only one peak at the rotational frequency 619
559 used in the linear model and the corresponding equilibrium 500 Hz (30000 r/min) of the rotor, which is undoubtedly 620
560 positions under different static loads are listed in Table 3. induced by the unbalance force. However, the spectrum of 621
561 The minus sign in front of the static load indicates the load the nonlinear response has two peaks, one is at the rotational 622
562 direction is opposite to the axis direction in Fig. 1 (a). In cases frequency and the other is at the double rotational frequency. 623
563 (a), (c) and (e), the unbalance force amplitude is Fu = 12.4 N That is to say, the double rotational frequency component is 624
564 (eu = 3 lm); in cases (b), (d) and (f), the unbalance force very likely induced by the nonlinearity of the dynamic coeffi- 625
565 amplitude is Fu = 24.8 N (eu = 6 lm). In all cases, the supply cients of the hydrostatic bearing. 626
566 pressure of water for the hydrostatic bearing is 1.7 MPa and
567 the rotational speed is 30,000 r/min. 4.5. Stability analysis 627
568 It should be noted that in Table 3 and Fig. 8, the displace-
569 ments of the rotor are given in dimensionless form, and X and Stability analysis is an important part to evaluate the dynamic 628
570 Y are the normalized horizontal and vertical displacements of performance characteristics of a rotor supported by fluid film 629
571 the rotor respectively, X = x/C, Y = y/C. bearings. The whirl frequency ratio is a commonly used 630
572 In the calculation of unbalance response, the four-order parameter indicating the stability characteristic of a rotor- 631
573 Runge-Kutta method is used to solve the motion equations, bearing system. A smaller whirl frequency ratio means that 632
574 Eq. (20), for the rotor. The initial positions of the unbalance the rotor-bearing system can safely operate at a higher rota- 633
575 responses are the equilibrium positions of the rotor under tional speed relative to the critical speed of the system. It is 634
576 external static loads. defined as the ratio between the whirl frequency and the rota- 635
577 In Fig. 8, the solid lines are the results calculated with the tional frequency of the rotor in the stability threshold state. 636
578 nonlinear model and the dashed lines are the results calculated Under a given operating condition, the whirl frequency ratio 637
579 with the linear model. As shown in Fig. 8 (a), (c) and (e), when cst of a fluid film bearing is calculated as20 638
580 the journal whirls in a small eccentricity ratio range in cases sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
   ffi 639

581 with small unbalance force, the results calculated with the kxx  keq kyy  keq  kxy kyx
cst ¼   ð22Þ
582 two models show a pretty good agreement. While when the cxx cyy  cxy cyx X2 641
583 journal whirls in a large eccentricity ratio range in cases with
larger unbalance force, as shown in Fig. 8 (b), (d) and (f), ðkxx cyy þkyy cxx kxy cyx kyx cxy Þ
584
where keq ¼ is the equivalent stiffness
585 the responses calculated with the nonlinear and the linear mod- ðcxx þcyy Þ 642

586 els show an apparent discrepancy. This is mainly due to the coefficient of the bearing. 643

587 nonlinearity of the stiffness and damping coefficients, as seen Fig. 11 shows the variation of the whirl frequency ratio 644

588 in Fig. 5. As shown in Fig. 5, with the increasing of eccentricity with rotational speed at different eccentricity ratios. Because 645

589 ratio, the change rates of kyy and cyy versus eccentricity ratio the whirl frequency ratio at a very low speed may be meaning- 646

590 are getting larger. The maximum difference of kyy in the calcu- less (i.e., c2st < 0 in Eq. (22)), only the values in the concerned 647

591 lated eccentricity ratio range is about 80% of the maximum rotational speed range are presented. The stiffness and damp- 648

592 value. ing coefficients used in calculating the whirl frequency ratio are 649

593 In Ref.4, it was concluded that the rotordynamic force coef- calculated with the improved method. 650

594 ficients have a weak dependency on the journal equilibrium As shown in Fig. 11, in the presented speed range, the whirl 651

595 position and hence the linear model should be adequate to pre- frequency ratio at the concentric position (e = 0) is almost a 652

596 dict the rotor-bearing system time response due to applied constant close to 0.5; however, in the eccentricity ratio range 653

597 dynamic loads. The results in Figs. 5 and 8 indicate that the of 0.2–0.5, the whirl frequency ratio varies significantly. The 654

598 linear dynamic coefficient model is applicable for a hydrostatic variation of whirl frequency ratio of the hydrostatic bearing 655

599 bearing operating in a small eccentricity ratio range (e < 0.3– with rotational speed is different from that of a plain hydrody- 656

600 0.4) in cases with small rotor unbalance forces. However, if the namic bearing. Thus, the methods of predicting stability 657

601 journal whirls in a range of large eccentricity ratio (e > 0.3– threshold speed for the two kinds of bearings should be differ- 658

602 0.4) in cases with large unbalance forces, the linear dynamic ent. Under a short bearing assumption, the dimensionless stiff- 659

603 coefficients model will lead to larger errors. ness and damping coefficients of a hydrodynamic bearing are 660

604 It can be seen that the locus of shaft center in Fig. 8 (a) and independent of rotational speed, and then the whirl frequency 661

605 (b) is a circle, while the locus in Fig. 8 (c), (d), (e) and (f) is ratio at a specified eccentricity ratio is independent of rota- 662

606 approximately an ellipse. This anisotropic behavior is mainly tional speed as well; it is a constant close to 0.5. Therefore, 663

607 due to the nonlinearity of stiffness and damping coefficients the stability threshold speed of hydrodynamic bearings can 664

608 of the hydrostatic bearing19, although it is geometrically axi- be directly predicted with the dimensionless stiffness and 665

609 ally symmetrical. damping coefficients, as the method given in Refs. 17 and 666

610 To show the difference between the nonlinear and the linear 20. However, for the hydrostatic bearing studied, as seen in 667

611 unbalance responses clearly, the normalized vertical displace- Fig. 11, the whirl frequency ratios at e  0.2 vary significantly 668

612 ment (Y) in Fig. 8 (f) is additionally presented in time domain with the increase in rotational speed. Therefore, the variation 669

613 in Fig. 9 and presented in frequency domain in Fig. 10. of whirl frequency ratio with both the eccentricity ratio and 670

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 CJA 1427 No. of Pages 14
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Fig. 8 Dynamic responses calculated with nonlinear and linear dynamic coefficients model in cases with different static loads and
unbalance forces at N = 30000 r/min.

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 CJA 1427 No. of Pages 14
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Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing 11

Table 3 Stiffness and damping coefficients used in the linear model (30,000 r/min).
Case Static load (N) Equilibrium position Stiffness (106N∙m1) Damping (103N_ss∙m1)
Wy (X,Y) kxx, kxy, kyx, kyy cxx, cxy, cyx, cyy
(a), (b) 0 (0, 0) 4.523, 1.159, 1.159, 4.523 0.738, 0, 0, 0.738
(c), (d) 40 (0.053, 0.200) 4.316, 1.239, 1.167, 5.397 0.738, 0.004, 0.004, 0.835
(e), (f) 80 (0.103, 0.355) 3.913, 1.434, 1.059, 7.246 0.747, 0.018, 0.018, 1.055

Fig. 9 Unbalance response in Fig. 8 (f) plotted in time domain.

Fig. 11 Variation of whirl frequency ratio with rotational speed.

threshold speed, Nst , at a specified eccentricity ratio and rota- 688

tional speed could be defined as follows. 689
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 690
keq =mR 60
Nst ¼
ð23Þ
cst 2p 692

It should be noted that the virtual stability threshold speed 693

is not the (actual) stability threshold speed of the bearing; it is 694
only a reference value used to judge the stability state of the 695
bearing. The virtual stability threshold speed can be calculated 696
Fig. 10 Frequency spectrum of unbalance response in Fig. 9. using the equivalent stiffness coefficient and whirl frequency 697
ratio at a given operating state. For a hydrostatic bearing, 698
both the equivalent stiffness coefficient and the whirl frequency 699
ratio are dependent on rotational speed and hence the virtual 700
671 the rotational speed needs to be taken into account in calculat- stability threshold speed is also dependent on rotational speed. 701
672 ing the stability threshold speed of hydrostatic bearings. If the rotational speed is smaller than the virtual stability 702
673 The variation of whirl frequency ratio with speed in Fig. 11 threshold speed (i.e., N < Nst ), it means the rotor-bearing sys- 703
674 also indicates that the hydrodynamic effect, a factor leading to tem is operating in a stable state, or else the system is in an 704
675 instability, in the hydrostatic bearing plays a more and more unstable state. 705
676 important role with the increase in rotational speed. For the Fig. 12 shows the variation of the virtual stability threshold 706
677 hydrostatic bearing studied, the whirl frequency ratio at a speed of the bearing with rotational speed. The (actual) stabil- 707
678 specified speed decreases with the increase in eccentricity ratio ity threshold speed, Nst, of the bearing at a specified eccentric- 708
679 in the range of 0–0.5. ity ratio is the point where N ¼ Nst in Fig. 12. 709
680 Compared with the whirl frequency ratio, the stability As shown in Fig. 12, in the presented speed range, the vir- 710
681 threshold speed is a more intuitive parameter to show the tual stability threshold speed is approximately a constant at 711
682 dynamic performance of a rotor-bearing system. Considering small eccentricity ratios (e  0.1) and it decreases with the 712
683 the influences of the eccentricity ratio and rotational speed increase in rotational speed in the eccentric ratio range of 713
684 on the bearing dynamic coefficients, the calculation of the sta- 0.2–0.5. The speed value at the intersection point of line 714
685 bility threshold speed is as follows. Assuming that the bearing N ¼ Nst with line e = 0 is the stability threshold speed of the 715
686 is operating in a stability threshold state and being similar to bearing at e = 0. In the same way, the rotational speeds at 716
687 the expression of instability speed in Ref. 20, a virtual stability other intersection points have a similar meaning. 717

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 CJA 1427 No. of Pages 14
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12 J. DU, G. LIANG

4.6. Experimental verification 758

In order to validate the numerical results of the hydrostatic 759

bearing, the four-recess bearing was tested with water on the 760
test rig shown in Fig. 4. 761
The variation of rotational speed with time in a test is 762
shown in Fig. 13. The vibration displacements of the rotor 763
were measured and the waterfall diagram of the vertical vibra- 764
tion displacement is shown in Fig. 14. In the test, the supply 765
pressure of water for the bearing is 1.7 MPa; the rotor is 766
speeded up graduately and its maximum speed value is about 767
50,500 r/min. 768
As shown in Fig. 14, no half speed whirl (or subsyn- 769
chronous vibration) is found in the whole tested speed range. 770
That is to say, the hydrostatic bearing is operating in a stable 771
state in the whole speed range. Accordingly, the stability 772
threshold speed of the bearing under the test conditions is lar- 773

Fig. 12 Stability threshold speed at different eccentricity ratios. ger than the maximum operating speed, 50,500 r/min. This is 774
consistent with the numerically predicted result that Nst - 775
 6.27  104 r/min and it also verifies the rationality of the 776
designed working speed range of 0–50000 r/min. However, it 777
should be noted that in spite of that no half speed whirl insta- 778
718 From the series of intersection points of line N ¼ Nst
with
bility occurs in the working speed range, the rotor-bearing sys- 779
719 other lines in Fig. 12, it can be known that the stability thresh-
tem may still suffer from a rub-impact failure caused by 780
720 old speed of the hydrostatic bearing increases with eccentricity
unbalance forces if the rotor is not properly balanced. 781
721 ratio in the calculated range. Considering that both the whirl
It can be seen in Fig. 14 that three different frequency com- 782
722 frequency ratio in Fig. 11 and the virtual stability threshold
ponents clearly appear in the rotor vibration frequency spec- 783
723 speed in Fig. 12 at e = 0 are constant, the stability threshold
trum. The rotational frequency component, which has the 784
724 speed of the bearing at e = 0 can be easily obtained with the
largest amplitude in the three, is undoubtedly partly, if not 785
725 stiffness and damping coefficients at a nonzero speed.
all, caused by the residual unbalance of the rotor. Except for 786
726 Whereas, when calculating the stability threshold speeds at
the rotational frequency component, the other two are the 787
727 eccentric positions, the variation of the virtual stability thresh-
double and the triple rotational frequency components. The 788
728 old speed, as shown in Fig. 12, needs to be obtained firstly.
frequency components in Fig. 14 are very similar to the fre- 789
729 Therefore, the calculation of the stability threshold speed at
quency spectrum of the modified turbocharger with three- 790
730 the concentric position (e = 0) is much easier than that at
lobe journal bearings in the stable speed range in Ref.21. 791
731 eccentric positions. Owing to its increasing with eccentricity
According to Ref.22, double and triple rotational frequency 792
732 ratio, the stability threshold speed at the concentric position
components could be induced by the misalignment of a rotor 793
733 (e = 0) can be conservatively seen as the highest speed that
or a looseness fault of the test rig; however, both of the two 794
734 the bearing can operate stably. However, if more accurate sta-
phenomena were not found during the test. The numerical 795
735 bility threshold speed is needed and the bearing operates at
results in Fig. 10 shows that double rotational frequency com- 796
736 e  0.2, the variation of virtual stability threshold speed with
ponent appears in the spectrum of unbalance response calcu- 797
737 rotational speed should be accounted. For the water-
lated with nonlinear bearing dynamic coefficient model. For 798
738 lubricated hydrostatic bearing under the studied condition,
this reason, it might be concluded that the nonlinearity of 799
739 the stability threshold speed at e = 0 is 6.27  104 r/min Thus,
the dynamic coefficients of the hydrostatic bearing could 800
740 it can be concluded that the stability threshold speed of the
induce double rotational frequency component in the dynamic 801
741 bearing is no smaller than 6.27  104 r/min, that is Nst -
response spectrum of the rotor-bearing system. Meanwhile, 802
742  6.27  104 r/min.
743 It is known that the hydrostatic effect of a hydrostatic bear-
744 ing becomes smaller with the decrease in eccentricity ratio. As
745 shown in Fig. 11 and Fig. 12, with the decrease in eccentricity
746 ratio and increase in rotational speed, the whirl frequency ratio
747 and virtual stability threshold speed are becoming a constant,
748 which is a feature of hydrodynamic bearings. This indicates
749 that the dynamic characteristic of a hydrostatic bearing is
750 becoming closer to that of a hydrodynamic bearing. The
751 increase in the stability threshold speed with eccentricity ratio
752 in the range of 0–0.5 indicates that the rotor-bearing system is
753 more stable with the increase in eccentricity ratio from 0 to 0.5.
754 This is consistent with the conclusion for plain hydrodynamic
755 bearings that the stability of the bearing can be improved by
756 increasing the operating eccentricity ratio of the journal in
757 the bearing.17 Fig. 13 Variation of rotational speed with time in a test.

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 CJA 1427 No. of Pages 14
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Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing 13

(4) The rotational speed has little effect on the direct stiff- 845
ness and damping coefficients of the hydrostatic bearing; 846
however it has significant effect on the cross stiffness 847
coefficients. With the decrease in eccentricity ratio and 848
the increase in rotational speed, the whirl frequency 849
ratio is approaching a constant and the dynamic charac- 850
teristic of the hydrostatic bearing is becoming closer to a 851
hydrodynamic bearing. 852
853

References 854

[1]. Garg HC, Sharda HB, Kumar V. On the design and development 855
Fig. 14 Waterfall plot of rotor vibration frequency spectrum in a of hybrid journal bearings: a review. Lubr Sci 2006;12(1):1–19. 856
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dynamic coefficients and stability for a hydrostatic/hydrody- 858
namic conical bearing. J Tribol 2009;131(4) 041701. 859
803 because many influence factors and parameters are neither [3]. Ren TM, Feng M. Stability analysis of water-lubricated journal 860
804 considered in the numerical calculation nor measured during bearings for fuel cell vehicle air compressor. Tribol Int 861
805 the test, the factors inducing the triple rotational frequency 2016;95:342–8. 862
806 component are still not determined in this paper. [4]. San Andres L. Transient response of externally pressurized fluid 863
film bearings. Tribol Trans 1997;40(1):147–55. 864

807 5. Conclusions [5]. Rowe WB, Chong FS. Computation of dynamic force coeffi- 865
cients for hybrid (hydrostatic/hydrodynamic) journal bearings by 866
the finite disturbance and perturbation techniques. Tribol Int 867
808 An improved method based on the mathematical perturbation 1986;19(5):260–71. 868
809 technique for calculating the dynamic coefficients of hydro- [6]. Kim H, Jang G, Lee S. Complete determination of the dynamic 869
810 static bearings is presented. The stiffness and damping coeffi- coefficients of coupled journal and thrust bearings considering 870
811 cients of a water-lubricated four-recess hydrostatic bearing five degrees of freedom for a general rotor-bearing system. 871
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814 responses of a rotor supported by the hydrostatic bearing are capillary compensated hydrostatic journal bearings by finite 874
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819 to evaluate the static and dynamic performance of hydrostatic effect on the dynamic characteristics of multirecess hydrostatic 880
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824 (1) In contrast with the conventional method, the improved
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826 tricity ratio; it ensures the accuracy of the calculation bearing. Tribol Int 2011;44(5):617–26. 889
827 results of dynamic coefficients and shortens the calcula- [12]. Lund JW, Thomsen KK. A calculation method and data for the 890
828 tion time. However, the improved method can only be dynamic coefficients of oil-lubricated journal bearings. Topics in 891
829 applied to laminar flow hydrostatic bearings. fluid film bearing and rotor bearing system design and optimiza- 892
830 (2) The dynamic characteristic of the hydrostatic bearing tion. New York: ASME; 1978, 1000118. 893
831 operating in a small eccentricity ratio range (e < 0.3– [13]. Yan PY, Liang GZ. Application of Powell optimization algo- 894

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834 (e > 0.3–0.4), the linear dynamic coefficients model will
of the general incompressible fluid film lubrication problem. J 898
835 lead to larger errors, owing to the nonlinearity of the Lubr Technol 1967;89(2):211–8. 899
836 dynamic coefficients. Moreover, the nonlinearity of the [15]. Du JL, Yan PY, Liang GZ. Performance calculation and 900
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Please cite this article in press as: DU J, LIANG G Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing by solving the uncoupled
Reynolds equation, Chin J Aeronaut (2019), https://doi.org/10.1016/j.cja.2019.09.030
 CJA 1427 No. of Pages 14
16 October 2019
14 J. DU, G. LIANG

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Please cite this article in press as: DU J, LIANG G Dynamic coefficients and stability analysis of a water-lubricated hydrostatic bearing by solving the uncoupled
Reynolds equation, Chin J Aeronaut (2019), https://doi.org/10.1016/j.cja.2019.09.030