Dynamics of Rotor-Bearing systems using Finite Elements

Dynamics of Rotor-Bearing systems using Finite Elements

Hasan G. Pasha
Assistant Consultant
h as an.p ash a@ tcs .co m

1 Introduction
Rotating machinery is extensively used in diverse engineering applications. The accurate
prediction of dynamic characteristics, such as, critical speeds, natural whirl frequencies,
instability thresholds and response to mass unbalance, is important in the design of any
type of rotating machinery.
The utilization of finite element models in rotor dynamics has yielded highly
successful results. This report contains formulation of the equations of motion of rotor
system and its components using the Lagrangian formulation, and information on the use
of finite elements for modeling and analyzing flexible rotor-bearing systems supported on
linear stiffness and viscous damping bearings using effects of rotary inertia, gyroscopic
moments and axial load to model a flexible rotor system.

2 System configuration
A typical flexible rotor-bearing system to be analyzed consists of a rotor composed of
discrete discs, rotor shaft segments with distributed mass and elasticity, and discrete
bearings.

Figure 1: Displacement variables and coordinate systems

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The XYZ:ℑ and xyz:ℜ triads are the fixed (ℑ) and rotating (ℜ) references respectively
with X and x collinear and coincident with the un-deformed rotor center line. ℜ is
defined relative to ℑ by a single rotation ωt about X, where ω denotes the whirl speed.

A cross-section of the shaft, in a deformed state is defined relative ℑ by

translations V(x,t) and W(x,t) in the Y and Z directions to locate the elastic centerline and
small angle rotations B(x,t) and Γ(x,t) in Y and Z directions to orient the plane of the
cross-section.

A triad abc:C is obtained by the following rotations:

1. Rotation Γ about Z to obtain a ′′b ′′c ′′

2. Rotation B about b′′ to obtain the a ′b ′c ′

3. Rotation φ about a ′ to obtain the abc

⎧ω a ⎫ ⎡ − sin B 1 0 ⎤ ⎧Γ& ⎫
⎪ ⎪ ⎢ ⎪ ⎪
⎨ω b ⎬ = ⎢ cos B sin φ 0 cos φ ⎥⎥ ⎨φ& ⎬ (1)
⎪ω ⎪ ⎢cos B cos φ 0 − sin φ ⎥⎦ ⎪ B& ⎪
⎩ c⎭ ⎣ ⎩ ⎭

For small deformations the (B, Γ) rotations are approximately collinear with (X, Y)
respectively. The spin angle φ, for a constant speed system with negligible torsional
deformation, is Ωt, where Ω denotes the rotor spin speed.

3 Component equations
The component (rotor disc and rotor shaft) equations of motion can be found by using
Lagrangian formulation (equation (2)). The rotor shaft element equation of motion is
developed by specifying spatial shape functions and then treating the rotor shaft element
as an integration of infinite set of differential elements.
d ⎛ ∂L ⎞ ∂L
⎜ ⎟− =Q
dt ⎜⎝ ∂q& ⎟⎠ ∂q
(2)

3.1 Rigid disc

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The rigid rotor disc has four degrees of freedom. These are translation and rotation in Y
and Z direction, hence four displacement coordinates are associated with it. The kinetic
energy of a disc with mass center coincident with the elastic rotor centerline is given by
the equation (3).

⎧ω& a ⎫ ⎡ I d 0 0 ⎤ ⎧ω& a ⎫
T
T
1 ⎧⎪V& ⎫⎪ ⎡md 0⎤ ⎧⎪V& ⎫⎪ ⎪ ⎪ ⎢ ⎥⎪ ⎪
Jd = ⎨ ⎬ ⎢ ⎥ ⎨ ⎬ + ⎨ω& b ⎬ ⎢0 I d 0 ⎥ ⎨ω& b ⎬ (2)
2 ⎪⎩W& ⎪⎭ ⎣0 md ⎦ ⎪⎩W& ⎪⎭ ⎪ ⎪
⎩ω& c ⎭ ⎢0 0 I p ⎥ ⎪⎩ω& c ⎪⎭
⎣ ⎦

T T
1 ⎧V& ⎫ ⎡md 0⎤ ⎧V& ⎫ ⎧ B& ⎫ ⎡ I d 0⎤ ⎧ B& ⎫ & &
Jd = ⎨ ⎬ ⎢ ⎥ ⎨ ⎬+⎨ ⎬ ⎢0 I ⎥ ⎨ & ⎬ − φ Γ B I p (3)
2 ⎩W& ⎭ ⎣0 md ⎦ ⎩W& ⎭ ⎩Γ& ⎭ ⎣ d ⎦ ⎩Γ ⎭

Since the disc is considered as a rigid body no strain energy is involved. The Lagrangian
equation of motion of the disc for constant spin condition is given by equation (4). The
forcing term includes mass unbalance, interconnection forces and other external forces.

( [M ] + [M ] ){q&& }− Ω [G ]{q& }= {Q }
d
T
d
R
d d d d
(4)

For the disc mass center located at (η d , ς d ) relative to C, the unbalance force in ℑ is

given by equation (6).

⎧η d ⎫ ⎧− ς d ⎫
⎪ς ⎪ ⎪ η ⎪
{Q } d ⎪ d⎪ ⎪ ⎪
= ⎨ ⎬ cos Ωt + ⎨ d ⎬ sin Ωt (5)
⎪0 ⎪ ⎪ 0 ⎪
⎪⎩0 ⎪⎭ ⎪⎩ 0 ⎪⎭

{Q } = {Q }cos Ωt + {Q }sin Ωt
d d
c
d
s (6)

3.2 Finite rotor shaft element

A typical finite rotor shaft element is as shown in the figure 2. The element time
dependent cross section displacements (V, W, B, Γ) are functions of position (s) along the
axis of the element. The rotations (B, Γ) are related to the translations (V, W) by equation
(7).

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∂W ∂V
B=− ; Γ= (7)
∂s ∂s

The coordinates ( q1e , q 2e ,..., q8e ) are the time dependent end point displacements of the
finite rotor shaft element. The translation and rotation of a point internal to the element
are chosen to obey the relations given by equation (8) and (9) respectively.

⎧V ( s, t ) ⎫
⎨ {
⎬ = [ψ ( s )] q (t )
e
} (8)
⎩W ( s, t )⎭

⎧ B ( s, t ) ⎫
⎨
Γ ( , )
{ }
⎬ = [Φ ( s )] q (t )
e
(9)
⎩ s t ⎭

Figure 2: Finite rotor shaft element

Each of the elements of the displacement function matrices represents the static
displacement mode associated with unit displacement of one of the end point coordinates
with all others fixed. These functions are given by equation (12).

ψ1 0 0 ψ2 ψ3 0 0 ψ4⎤
[ψ ( s)] = ⎡⎢ ⎥ (10)
⎣0 ψ 1 − ψ 2 0 0 ψ 3 − ψ 4 0 ⎦

0 − ψ 1′ ψ 2′ 0 0 − ψ 3′ ψ 4′ 0 ⎤
[Φ( s)] = ⎡⎢
0 ψ 4′ ⎥⎦
(11)
⎣ψ 1′ 0 0 ψ 2′ ψ 3′ 0

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2 3
⎛s⎞ ⎛s⎞
ψ 1 = 1 − 3⎜ ⎟ + 2⎜ ⎟
⎝l⎠ ⎝l⎠
⎡ ⎛s⎞ ⎛s⎞ ⎤
2

ψ 2 = s ⎢1 − 2⎜ ⎟ + ⎜ ⎟ ⎥
⎣⎢ ⎝ l ⎠ ⎝ l ⎠ ⎦⎥
2 3
(12)
⎛s⎞ ⎛s⎞
ψ 3 = 3⎜ ⎟ − 2⎜ ⎟
⎝l⎠ ⎝l⎠
⎡ ⎛ s ⎞ 2 ⎛ s ⎞3 ⎤
ψ 4 = l ⎢− ⎜ ⎟ + ⎜ ⎟ ⎥
⎣⎢ ⎝ l ⎠ ⎝ l ⎠ ⎦⎥

For a differential rotor shaft element located at (s), the elastic bending and axial load, and
kinetic energy are given by equation (13). These are expressed in terms of nodal
displacements (equations (8) and (9)) in equation (14).

⎧V ′′ ⎫ ⎡ EI 0 ⎤ ⎧V ′′ ⎫
T
1
dP = e
⎨ ⎬ ⎢ ⎨ ⎬ ds
⎩W ′′⎭ ⎣ 0 EI ⎥⎦ ⎩W ′′⎭
B
2

⎧V ′ ⎫ ⎡ P 0 ⎤ ⎧V ′ ⎫
T
1
dP = −
e
⎨ ⎬ ⎢ ⎥ ⎨ ⎬ ds
⎩W ′⎭ ⎣ 0 P ⎦ ⎩W ′⎭
A
2
(13)
T
⎧V& ⎫ ⎡ μ
1 0 ⎤ ⎧V& ⎫ 1
dT e = ⎨ &⎬ ⎢ ⎥ ⎨ & ⎬ ds + φ& I p ds
⎩W ⎭ ⎣ 0
2 μ ⎦ ⎩W ⎭ 2
T
1 ⎧ B& ⎫ ⎡ I d 0 ⎤ ⎧ B& ⎫
+ ⎨ ⎬ ⎢ ⎨ ⎬ ds + φ& Γ& BI p ds
2 ⎩Γ& ⎭ ⎣ 0 I d ⎥⎦ ⎩Γ& ⎭

dPBe =
1
2
{ } [ψ ′′] [ψ ′′]{q } ds
EI q e
T T e

dPAe = −
1
2
{ } [ψ ′] [ψ ′]{q } ds
P qe
T T e

(14)
dT e =
1
2
{ } { } 1
μ q& e [ψ ]T [ψ ] q& e ds + φ& I p ds
T

2
1
2
{ } T
{ }
+ I d q& e [Φ ] [Φ ] q& e ds + φ&I p q& e
T
{ } [Φ ] [Φ ]{q }ds
T
Γ
T
B
e

The energy of the complete element is obtained by integrating equation over the element
length, equation (15).

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PBe + PAe + T e =
1 e T
2
q { } ([ ] [ ]){ }
K Be − K Ae q e

1 T
{ } ([ ] [ ]){ }
+ q& e M Te − M Re q& e
2
(15)
1
+ I pe φ& 2 + φ& q& e N e q& e
2
T
{ } [ ]{ }

[M ] = ∫ μ [ψ ] [ψ ]ds
l
e T
T
0

[M ] = ∫ I [Φ] [Φ]ds
l
e T
R d
0

[N ] = ∫ I [Φ ] [Φ ]ds
l
e T
p Γ B (16)
0

[K ] = ∫ EI [ψ ′′] [ψ ′′]ds
l
e T
B
0

[K ] = ∫ P[ψ ′] [ψ ′]ds
l
e T
A
0

The Lagrangian equation of motion of the finite rotor shaft element under constant spin
condition is given by equation (17).

( [M ] + [M ] ){q&& }− Ω [G ]{q& }+ ( [K ] + [K ] ){q }= {Q }

e
T
e
R
e e e e
B
e
A
e e
(17)

[G ] = ([N ] − [N ] )
e e e T
(18)

3.3 Bearings
The classical approach to represent the effects of a bearing on a rotating shaft in a
mathematical model is to treat the shaft as though it were pinned at the bearing location.
If flexible bearings are used the rigid constraint is relaxed and the bearing effect is
represented by two springs acting in orthogonal directions.

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Figure 3: Fluid film bearing Figure 4: Rolling element bearing

The fluid film bearings are generally represented by the springs and dampers (figure 3).
The stiffness and damping coefficients for various types of the fluid film bearings
commonly employed have been presented in dimensionless forms. Anti-friction bearings
are commonly used in high speed rotating machines. The damping in rolling element
bearings is neglected; its effect is represented by springs (figure 4). The linear bearings in
the present FEM notations are represented by the equation (19).

[C ]{q& }+ [K ]{q } = {Q }
b b b b b
2×1
(19)

{q } = ⎧⎨VW ⎫⎬
b

⎩ ⎭

[K ] = ⎡⎢ k ⎤
b b
b VV kVW
b b ⎥ (20)
⎣k WV kWW ⎦
⎡ cVV ⎤
[C ]
b b
cVW
b
=⎢ b b ⎥
⎣cWV cWW ⎦

4 System equations of motion

The assembled system equation of motion, consisting of component equations is given by
[ ]
equation (21). The mass matrix M s contains the assemblage of the translational and
rotary effect of the shaft, the rigid disc mass and the diametric moment of inertia. The
[ ]
matrix C s represents the gyroscopic moments and the bearing damping. The stiffness

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[ ]
matrix K s contains stiffness effects of cracked element and/or flexible coupling element
in addition to the assemblage of the stiffness of shaft elements and the bearing. The
excitation matrix {Q s } contains the excitation forces due to mass unbalance and other
external forces.

[M ]{q&& }+ [C ]{q& } + [K ]{q } = {Q }

s s s s s s s
2 n ×1 (21)

For efficiently computing the response, equation (21) is expressed in terms of the first
order the state vector in equation (22). The coefficients are of the equation are symmetric
matrices.

[M~ ]{h& }+ [C~ ]{h } = {H }

s s s s s
8 n ×1 (22)

[M~ ] = ⎡⎢[M[0] ] −[ΩM[G] ]⎤⎥ ; [C~ ] = ⎡⎢− [[M0] ] [K[0] ]⎤⎥

s s
s s
s s s
⎣ ⎦ ⎣ ⎦

{H } = ⎧⎨{0} ⎫⎬ ; {h } = ⎧⎪⎨{q& }⎫⎪⎬

(23)
s
s s

⎩{Q }⎭ ⎪⎩{q }⎪⎭

s s

5 Whirl speed analysis

Rotating shafts tend to bow out at certain speeds and whirl in a complicated manner.
Whirling is defined as the rotation of the plane made by the bent shaft and the line of
centers of the bearings. The phenomenon results from various causes, such as, mass
unbalance, hysteretic damping in the shaft, gyroscopic forces and fluid friction in
bearings. The whirling of the shaft can take place in the same or opposite direction as that
of the rotation of the shaft and the whirling speed may or may not equal the shaft rotation
speed.
For an assumed solution of the form, {h} = {h0 }e α t , for the homogenous case of
equation (22), the associated eigenvalue problem is represented by equation (24).

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⎡ [0] [I ] ⎤
{h0 } = 1 {h0 }
⎣ [ ] [ ] Ω[K ] [ ]
⎢− K s −1 M s s −1 ⎥
G ⎦ s
α
(24)

In the case of orthotropic bearings, the cross coupling terms equal zero and there is zero
damping and the eigen values of equation (24) appear as purely imaginary conjugates
pairs with the magnitude equal to a natural whirl speed. The superposition of the
eigenvalues yields the elliptical precession mode shape. In the case of an isotropic
bearing, circular precession modes are produced.

6 Unbalance response
The unbalance force for equation (21) is of the form given in equation (25).

{Q } = {Q }cos Ωt + {Q }sin Ωt
s s
c
s
s (25)

A steady-state solution is of the same form, equation (26), which upon substitution is
equation (21) yields, equation (27), which can be substituted in equation (26) to yield the
undamped system unbalance response.

{q } = {q }cos Ωt + {q }sin Ωt
s s
c
s
s (26)

⎧⎪{q cs }⎫⎪ ⎡( K s − Ω 2 M s
[ ] [ ]) − Ω [G ] ⎤ ⎧⎪{Q }⎫⎪ 2 s −1 s

⎨ s ⎬=⎢
c

⎪⎩{q s }⎪⎭ ⎣ [ ]
Ω2 G s ([K ] − Ω [M ])⎥⎦ ⎨⎪⎩{Q }⎬⎪⎭
s 2 s s
s
(27)

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Dynamics of Rotor-Bearing systems using Finite Elements

7 Simulation
Modal and Harmonic analysis for a Jeffcott rotor (simplified lumped parameter model
with disc loaded symmetrically) was performed in ANSYS.

Figure 4: Jeffcott Rotor

A uniform steel shaft supported at the two ends by rigid rolling element bearings was
considered. Shaft diameter and length were set to 0.25 m and 5 m respectively. The
density and elastic modulus of the shaft material were 7800 kg/m3 and 0.20000E+12
N/m2 respectively.

Modal analysis was performed and the natural frequencies of the rotor system were
retrieved.

Mode Natural frequency (Hz)

1 0
2 39.713
3 88.047
4 158.57
5 238.85
6 315.33
7 356.42
8 461.84
9 508.45
10 634.38

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Harmonic analysis was performed and the forced response at center span rotor system
was retrieved.

Figure 5: Jeffcott Rotor – Forced response

8 Conclusion
A finite element model including the effects of polar moment of inertia, gyroscopic
moments, axial load had been developed for a rotor-bearing system. The finite element
model can easily be utilized to model rotor-bearing systems for the purposes of
determining dynamic characteristics, such as, transient response, critical speeds, natural
whirl frequencies, instability thresholds and response to mass unbalance.

9 References
1. H.D. Nelson and J.M. McVaugh, The dynamics of rotor-bearing systems using finite
elements. Journal of Engineering for Industry 98 (1976), pp. 593–600
2. John M. Vance, Rotordynamics of Turbomachinery, John Wiley and Sons Inc, 1988
3. William T. Thompson and Marie Dillion Dahleh, Theory of Vibration with Applications,
5th edition, Pearson Education
4. Madhumita Kalita and S.K. Kakoty, Analysis of whirl speeds for rotor-bearing systems
supported on fluid film bearings, Mechanical Systems and Signal Processing 18 (2004)
1369–1380

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