//

AFAPL-TR-78-6
Part III

ROTOR-BEARING DYNAMICS TECHNOLOGY DESIGN GUIDE

Part III r -T 106ý

Tapered Roller Bearings

A. B. Jones
J. M. McGrew, Jr.

Shaker Research Corporation

Northway 10 Executive Park
Ballston Lake, New York 12019

February 1979

CD
C..) Interim Report for Period April 1977 - December 1978

L Approved for public release; distribution unlimited.

AIR FORCE AERO PROPULSION LABORATORY

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AIR FORCE SYSTEMS COMMAND
WRIGHT-PATTERSON AIR FORCE BASE, OHIO 45433

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BEST AVAILABLE COPY7N0 J 2
 NOTICE

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This technical report has been reviewed and is approved for publication.

JHB.SCHRAND HOWARD W-~JONES

Project Engineer Chief, Lubrication Branch

FOR THE COMMANDER

BLACKWELL C. DUNNAM
Chief, Fuels and Lubrication Division

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DX. n~qw.
READ) INSTtUCTIONS
(//)2REPORT DOCUMENTATION PAGE BEFORE COMPLETING FORM

REQTU;R-~GOVT ACCESSION No. 3.ECIPIENOT'S rrOGNM

L 4. T ITLE (E dSu.btitle)

OO-ERN DYarIC
ROTO-BEAINGDYNAICS.-

Tapered Roller Berigs

---..
TECHNOLOGY DESIGN GUILIEo~j,7j~
S. TYPE OF REPO03IEEWi*OOCOV9*E* -

~.....Technical -/Interim
-Nvme 9
8

A._ B./Jones /
J. M.7McGrev,_Jr. 1_133615-76-ýC-2038
S. PERFORMING ORGANIZATION NAME AND ADDRESS 10. PROGRAM ELEMENT. PROJECT, TASK

Shaker Research Corporation AE OKUI UBR

Northway 10 Executive Park 34.68
BallstonLake,_N.Y.__12019 _ ___________

I I. CONTROLLING OFFICE NAME ANO ADDRESS I.~R.OT.

Air Force Aero Propulsion Laboratory/SFL )I" Febr wy1979f
Air Force Sys tens Command 1
Wrigh-Paterson AFB, Ohio 45433 _____________
IS MNIORNGAGENCY NAME B ADDRESS(If dill.,.Ifrc1, Office) IS. SECURITY CLASS. (of this rePort)
Controlling

0 1ý 115s. OECL ASSIFVICATION/ DOWNGRADING

SCHEDULE

II. DISTRIBUTION STATEMENT (ofthieRope"f)

Approved for public release; distribution unlimited.

17. DISTRIBUTION STATEMENT (oftheob*Crecton...d Ini Block 20, Of dIIiffoEflowsXopoft)

III. SUPPLEMENTARY NOTES

19. KEY WORDS (CC..tlro.m towV** oldoif ecoomar 1~0

ormldtf br oe* owinw)

Tapered Roller Bearings Roller Bearing Stiffness

Tapered Roller Bearing Stiffness Turbine Bearings
Roller Bearings Rotordymamics
x.20. - revW~o @(ol. f necooo
ABSTRACT (Co..tirt. awl idotfltbr blocknowbow)
'This report is an update of the original Part IV of the Rotor-Bearing
Dynamics Design Technology Series, AFAPL-TR-65-45 (Parts I through X).
A computer program is given for preparation of tapered roller bearing
stiffness data input for rotordynamic response programs. The complete
stiffness matrix is calculated including centrifugal effects. Consider-
ations such as elastohydrodynamic and cage effects are not included since
they have little influence on the calculation of tapered roller bearing
st~ffni TP rPaiilti-onrpjra
q.gg. m i raqo~hi ~11 and Paqv to une.
,,A 1473
73~V EDITION OF I NOV 66BIS COBSLETE
S/N 0102-014- 6601 1UNCLASSIFT~fl
SECURITY CLASSIFICATION OF THIS PAGE (WRO,.Dt o .i0
 FOREWORD

This report was prepared by Shaker Research Corporation under USAF

Contract No. AF33615-76-C-2038. The contract was initiated under Project
3048, "Fuels, Lubrication, and Fire Protection," Task 304806, "Aerospace
Lubrication," Work Unit 30480685, "Rotor-Bearing Dynamics Design."

The work reported herein was performed during the period 15 April
1977 to 15 November 1978, under the direction of John B. Schrand (AFAPL/
SFL) and Dr. James F. Dill (AFAPL/SFL), Project Engineers. The report
was released by the authors in December 1978.

ilor

iViS
 TABLE OF CONTENTS

Section I INTRODUCTION 1

Section II ANALYSIS 3

2.1 General Bearing Model and Coordinate System 3

2.2 General Bearing Support Characteristics -------- 7

2.3 Tapered Roller Bearing Characterization -------- 9

2.4 Tapered Roller Bearing Under Combined Loading_ 15

Section III APPLICATION OF COMPUTER PROGRAM 40

3.1 Sample Test Case ------------------------------- 40

3.2 Input Format ----------------------------------- 42

3.3 Output Format -----.---------------------------- 42

APPENDIX COMPUTER PROGRAM FOR CALCULATING STIFFNESS MATRIX

OF TAPERED ROLLER BEARING 52

REFERENCES ....-................................................... 80

PRECEDING PAGE BLANK

 i

LIST OF ILLUSTRATIONS

Page

Figure l(a) Bearing Stiffness Model -............................. 4

Figure l(b) Bearing Lccation Coordinate System ------------------- 4

Figure 2 Linearization of Tapered Roller Bearing Stiffness.____ 8

Figure 3 Tapered Roller Bearing ................... 11

Figure 4 Bearing Coordinate System ---------------------------- 12

Figure 5 Tapered Roller Bearing Index, q ---------------------- 13

Figure 6 Boundary Dimensions of Typical Tapered Roller. 16

Figure 7 Dimensions of Roller Profile and Crown 17

Figure 8 Dimensions of Crown Drop-------------- 21

Figure 9 Forces and Moments on Roller 22

Figure 10 Geometric Intersection of a Roller and Raceway 26

Figure 11 Sample Tapered Roller Bearing Assembly --------------- 41

Figure 12 Input Data Format 43

Figure 13 Sample Problem Data Input------------- 44

Figure 14 Output Data for Load Condition #1 - - - - 45

Figure 15 Output Data for Load Condition #2 49

vi
 NOMENCLATURE

Symbol Description Units

b Semi-width of contact ellipse at x in.

B Corner break at roller small end in.

B2 Corner break at roller big end in.

B ij Damping component, change of force in i direction lb-sec

due to velocity in j direction; i - x, y, z; in
j = x, y, Z.

B Damping matrix lb-sec

(N lineal 0 0 in

0 0
0 0

(BN)angular
0 0
(O)lineal Damping matrix due to lateral velocities ib-sec
B in

[:yx :YY1ineal
(#)angular Damping matrix due to angular velocities in-lb-sec
angular radian

SYlngular

11 for i = 1
C. A constant, Ci 1-1 for i = 2

d Roller diameter at midpoint of effective length in.

of roller
d Roller diameter at x in.
X
E Pitch diameter at midpoint of effective length in.
lbs/in2
EE Modulus of elasticity for roller

vii
 Modulus of elasticity for race body lbs/in2
ER

E Pitch diameter at x in.

x
Fc Roller centrifugal force lbs.

Fi External applied force, i " x, y, z lbs.

F' Reaction force, positive in direction opposite lbs.

to displacements, i = x, y, z

F Force Matrix = F lbs.

C Distance along roller cone element from extreme in.

end of effective length to point where crown drop
is measured

H Roller crown radius minus the rise of the arc at in.

midpoint of effective length

I cg Moment of inertia about roller center of gravity Ibs-in2

K Roller-race stiffness ibs/in.

K ij Stiffness component, change of force in i direction Ibs/in.

due to displacement in j direction.
i =x, y, z; j x, y, z

=KN Stiffness matrix

"K lineal 0 0
0 0
0 0 (0 angular

L0 0

(KWlineal Stiffness matrix due to lateral displacements lbsfin.

yx YYllineal

(K)angular Stiffness matrix due to angular rotations in-lb

K K tad

Sn aYYangular

viii
 Perpendicular distance from the line of action in.
of flange reaction, P3, to roller centerline at
midpoint of effective length
Ie Effective length of roller load carrying surface in.

IF Length of flat portion of roller measured along in.

roller cone element
LT Total length of roller measured parallel to roller in.
axis between sharp intersections of end faces with
roller cone elements

m Mass of roller lbs.

MG aller gyroscopic moment lbs-in.

Mi External applied moment, i x, y, z lbs-in.

Mi Reaction moment, i = x, y, z lbs-in.

M1 outer race/roller contact moment ibs-in.

M2 Inner race/roller contact moment lbs-in.

n Number of rollers

N1 Outer ring rotational speed rad/sec.

N2 Inner ring rotational speed rad/sec.

Px Contact unit loading lbs/in.

Px Current estimate of contact unit loading lbs/in.

PD Diametral clearance in.

P1 Outer contact load on qth roller lbs.

q
P2 Inner contact load on qth roller lbs.
q
P3 Flange reaction on qth roller lbs.
q
q Roller position index

R Roller crown radius in.

c
RE Roller big-end spherical radius in.

V Radial distance from roller center line to in.

flange reaction

ix
 6
K

6
SColumn
Y
Matrix 0
X

0
y
xyz Bearing coordinate system in.

x Static component of displacement in.

xv Dynamic component of displacement in.

XA Big-end extremity of contact pattern measured

parallel to roll axis from the midpoint of the
effective length

XB Small and extremity of contact pattern measured in.

parallel to roller axis from the midpoint of the
effective length

XA Maximum permissible distance of big-end pattern in.

extremity from midpoint of effective length
measured along race
XB Maximum permissible distance of small-end pattern in.
extremity from midpoint of effective length
measured along race

-N Impedance matrix %N + i N

Other notations as defined in text.

X
 GREEK SYMBOLS

Angle between roller axis and line of action of radians

flange reaction

8 Outer ring contact angle radians

YI dx cosO/Ex

S2 d x cos($-T)/Ex

6 Displacement in.

6 Linear displacement in x direction in.

x
6Y Linear displacement in y direction in.

6 Linear displacement in z direction in.

z

A Approach of inner race to outer race at midpoint in.

of effective length

Ax Approach of roller to race at x in.

A Approach of roller to outer race (cup) at qth in.

Alq roller

A2q Approach of roller to inner race (cone) at qth in.

roller

Ci Residues of simultaneous equations

4(1 - v) in 2
Roller elastic constant = EE

2
4(l - vR)
Race elastic constant = ER
nR

0
Angular rotation about x axis radians,
0
x
OY Angular rotation about y axis radians, 0
0
O Angular rotation about z axis radians,

Frequency of rotation rad/sec.

VE Poisson's ratio for roller

xi
VR Poisson's ratio for race

Material density lbs/in3

0
Included roller cone angle radians,
0
SCircumferential
roller position radians,

WR Angular velocity of roller about its own center rad/sec.

Orbital velocity of roller rad/sec.

V Crown drop in.

xii
 SUBSCRIPTS

Symbol Description

b Refers to bearing

cg Refers to center of gravity

E Refers to roller

F Refers to flat

g Refers to gyroscopic

i Index, i = 1, 2, 3 or i = x, y, z

i,j Refers to index of stiffness matrix; i.e.,

force in i direction due to displacement
in j direction

p Refers to pedestal

q Refers to roller circumferential position

R Refers to roller

T Refers to total

x Refers to x direction

y Refers to y direction

z Refers to z direction

1 Refers to outer race

2 Refers to inner race

xiii
 \

SECTION I

INTRODUCTION

The original Rotor-Bearing Dynamics Design Technology Series AFAPL-TR-

65-45 (Parts I through X) included a volume, Part IV(l), which presented
design data for typical deep-groove and angular contact ball bearings. The
data was presented in graphical form and consisted of direct radial stiff-
ness, load carrying capacity, and load levels. In addition design guide-
lines and limitat 3ns were discussed. The major deficiencies of this
original volume were that centrifugal effects due to high speed were
ignored, and axial and angular stiffness information were omitted.

Subsequent to the publication of Part IV, several extensive treatments of

rolling element bearings including elastohydrodynamic, thermal, and cage
effects have been published. The computer program of Mauriello, LaGasse,
and Jones (2) considers both eiastohydrodynamic and cage effects for ball
bearings. The more recent computer based design guide prepared by
Crecelius and Pirvics (3) treats elastohydrodynamic, thermal, and cage
effects for a system of ball and roller bearings.

Thus, very sophisticated analytical tools are available for the design and
application of rolling element bearings. Neither of these tools, however,
provide the user with the stiffness matrix required for solution of rotor
dynamics problems. In addition both computer programs are very large and
require an extensive computer facility for use.

Part 11(4) of the revised series provided an update of the original

Part IV(l). Those aspects of the original Part IV(l) which treated general
design aspects of ball bearings, load capacity, speed limitations, etc.
were deleted since their coverage is superficial compared to the more
sophisticated computer tools now available (2,3). Only those parts
directly connected with preparation of input for the rotordynamic response
 I

programs (Part 1(5) of the revised series) were retained. The stiffness
data included in the original Part IV were also updated.

The present volume (Part III of the revised series) extends the treatment
of rolling eJement bearings to the tapered roller bearing. The complete
stiffness matrix is calculated including centrifugal effects. Considera-
tions such as elastohydrodynamic and cage effects are not included since
they have little influence on the calculation of tapered roller bearing
stiffness. The resulting program (Appendix) is reasonably small z-nd easy
to use.
 SECTION I1

ANALYSIS

2.1 General Bearing Model and Coordinate System

Accurate calculation of the lateral dynamic response of a high-speed rotor

depends on realistic characterization of the support bearings. In the most
general case, both linear and angular motions are restraintd by the support
bearings at the attachment location. In the analytical model, the reaction
force and the reaction moment of each bearing are felt by the rotor through
a single station of the rotor axis As schematically illustrated in Figure
la, a coil spring restraining the lateral displacement and a torsion spring
which tends to oppose an inclination are attached to the same point of the
rotor axis. A complete description of the characteristics of the support
bearings, however, involves much more than the specification of the two
spring constants. This is because:

The lateral motion of the rotor axis is concerned with two

displacement components and two inclination components.

The restraining characteristics may include cross coupling

among various displacement/inclination coordinates.

The restraining force/moment may not be temporally in phase

with the displacement/inclination.

The restraining characteristics of the bearing may be

dependent on either the rotor speed or the frequency of
vibration, or both.

Bearing pedestal compliance may not be negligible.

To accommodate the above considerations, the support bearing characteristics

are described in Reference 5 by a four-degrees-of-freedom impedance matrix as
defined in Equation (1):

3
 I

(FIG la) Bearing Stiffness Model

"-Z ROTOR SPIN

STATIC LOAD

(FIG Ib) Bearing Location Coordinate

System

4
 iN

where W is a column vector containing elements which are the two lateral
displacements (6X9 6y) and the two lateral inclinations (G., 0y) of the
rotor axis at the bearing station N.

Employing a right-handed Cartesian representation in a lateral plane as

depicted in Figure lb, the z-axis is coincident with the spin vector of the
rotor. The x-axis is oriented in the direction of the external static load,
and the y-axis is perpendicular to both z and x axes forming the right-handed
triad (x, y, z). (6 x, 6 y) are respectively lateral lineal displacement
components of the rotor axis along the (x, y) directions. (0x, 0 y) are
lateral inclination components respectively in the (z-x, z-y) planes. Note

that 0 is a rotation about the y-axis, while 0, is a rotation about the

y
negative x-axis.

ZN is a complex (4 x 4 matrix), and in accordance with the common notation

for stiffness and damping coefficients, may be expressed as
N KN+ ivB (2)

where %K is the stiffness matrix and B. is the damping matrix. v is the

frequency of vibration. Most commonly, lateral lineal and angular displace-
ments do not interact with each other so that the non-vanishing portions of
and B are separate 2 x 2 matrices. That is

lineal
0 0 0 (3)

[ 0 0 angular

5
 E(B)0
(N lineal
0
0
0
0
N#

(4)
EN 10 0
0 0 (-N)
L angular

Accordingly, a total characterization of a support bearing would include

sixteen coefficients which make up the 4 (2 x 2) matrices:

K K
xx xy
= lieal L j linal(5)
KLyx K
YY- lineal

B B
[xx xy
(B) lineal (6)

=y
L
lineal
yx By lineal

FK K
(_)angular
xx xy
(7
LYX yy jangular

B B
xx xy
( angular L- (8)
BByx B
Byy angular

In the event that the pedestal compliance is significant, then the effective
support impedance can be calculated from

Z =N (Z---- + ZP -i (9)

where subscripts "p" and "b" refer to the pedestal and bearing respectively.
Note that both pedestal inertia and damping may be included in Z=P

6
2.2 General Bearing Support Characteristics

The function of a bearing is to restrict the rotor axis to a nominal axis

under realistic static and dynamic load environments. Deviation of any
particular point of the rotor axis from the nominal line can be character-
ized by three lineal and two angular displacements. These may be designa-
ted as (6 x, 6 y, 6z, Ox, 0y) in accordance with a right-handed Cartesian
reference system. The z-coordinate is coincident with the reference axis
and is directed toward the spin vector. (Ox, 0y) are rotor axis inclina-
tions respectively in the z-x and z-y planes. The x-coordinate is directed
toward the predominant static load; e.g., earth gravity. Ideally, the
bearing would resist the occurrence of any displacement so that the
reaction force system imparted by the bearing to the rotor is generally
expressed in matrix notation as

F - Z . x (10)

F is a column vector comprising the five reaction components (Fx, Fy, Fz,
MX, My), while x is the displacement vector (6x, 6y, 6z, 0,0 ). Z is
a (5 x 5) matrix containing the elements Zij with both indices (i, j)
ranging from 1 to 5. The values of Zij characterize how rotor displacements
are being resisted by the bearing.

From the standpoint of dynamic perturbation, distinction is made between

a static equilibrium component and a dynamic perturbation component for
both the displacements and the reactions. Thus,

x = x + x'; F = F + F' (11)

(x', F') are respectively presumed to be infinitesimal in comparison with

(x , F ). Accordingly, Zij are regarded as dependent on x-xbut not on x'.
To illustrate the idea of perturbation linearization, one may examine the
one-dimensional load-displacement curve shown in Figure 2.

7
F' - ,°
.t a ,,

TA x-Sx

8'o

Figure 2. Linearization of Tapered Roller Bearing Stiffness

8
As illustrated, the load-displacement relationship is a 10/9 power law in
accordance with the Hertzian point contact formula. It is not possible
to describe the entire range by a linear approximation. However, if a
small dynamic perturbation is taken around a static equilibrium point,
6'x < 6x , the small segment of the load-displacement curve can be
approximated by a local tangent line. The corresponding force increment
is
aF
F' 0 _x 6' (12)
x 36 x

where 6'x is the incremental displacement. 3F x /36 x will depend on the

amplitude of 6 .
0

The question of history dependence is resolved by regarding x' as periodic-

motions at any frequency v of interest, and Z accordingly would have both
real and imaginary parts and may also be dependent on both the rotor speed w
and the vibration frequency v.

To avoid notational clumsiness, the primes will be dropped from (F', x')
which are understood to be dynamic perturbation quantities unless the sub-
script "o" is used to designate the static equilibrium condition.

2.3 Tapered Roller Bearing Characterization

In many ways the tapered roller bearing is much simpler to model from. a rotor
dynamic point of view than a fluid film bearing. In general, the following
two simplifications can be made:

The restraining characteristics do not include cross coupling

among the various displacement/inclination coordinates.

The restraining force/moment is normally temporally in phase

with the displacement/inclination.

9
Figurc. 3 shows a tapered roller bearing referred to in an orthogonal xyz
coordinate system. The outer ring is fixed but the inner ring may move
with respect to the coordinate system. Both rings are free to rotate about
their axes.

Three lineal displacements, 6X, 6y, 6z, and two angular displacements, Ox,
0y, are required to define the spatial position and attitude of the inner
ring when it is displaced from its initial position. For purposes of deriva-
tion the initial situation is that existing when the bearing's end play is
just taken up in the thrust direction. Figure 4 shows these displacements
in the positive sense. Figure 5 establishes the convention of the roller-
position index q.

2.3.1 Stiffness

The total characterization of a tapered roller bearing's stiffness

can be expressed by the matrix.

FaF 3F aF~ aF aFj

Dx ay az M0x a0

aF aF aF DF aFI
ax ay ax a® x a®y

aF 3F aF aF aF
[K] = 30 (1y
3)
(13)
x y

am X aM X am aM X aM
X X

ax ay az a® x ac
y

am aM am aM am
ax ay az a0® 0

10
 Y

CONE

I • CUP

Figure 3. Tapered Roller Bearing

1i
x

Crz "iN cn

to
N~S-I

120
 ( q -4
q--q

Figure 5. Tapered Roller Bearing Index, q

13
The lineal and angular stiffness matrices (Equations 5 and 7) can
be derived from Equation (13). For example:

aF x DFx
ax ay

(_lineal (14)

3F aF
-y y
Lax ay_

am am 1
x x
ao ao
x y
~angular
- (15)
am am
ao 30
x Y

Note that although the axial components of stiffness are not utilized
by the lateral rotor dynamics program (5), they have been retained in
the general tapered roller hearing stiffness matri:,, Equation (13). The
axial stiffness would be required, for example, if the reader was calculat-
ing the axial natural frequency of a tapered roller bearing mounted shaft.

23.2 aming

An extensive search of the literature revealed no experimental damping

data for tapered roller bearings. As the current state-of-the-art
does not permit accurate calculation of tapered roller bearing damping,
no damping data is included in this report.

14
2.4 Tapered Roller Bearing Under Combined Loading

Solution for the stiffness matrix of a tapered roller bearing under com-
bined loading is a tedious problem and requires the use of a digital
computer. In this section, the derivation of the solution is described.
A computer program for obtaining the solution is included in the Appendix.

2.4.1 Bearing Applied Forces and Moments

As the result of the five displacements described previously in

Figures 3 and 4, there are the reactions FI,
x F', z and M'x and
y F;,
M'. F'x, F', and F' are forces. M'I and M' are moments. All are
yy x zx y
shown in their positive sense in Figure 4. External forces F and
F may be applied at the inner ring center. The senses of the
zI
signs are the same as for the reactions F'x and F'.z

2.4.2 Roller Geometry

Figure 6 shows the boundary dimensions of a typical tapered roller.

Roller mass, moment of inertia, and location of the center of
gravity are calculated assuming the roller is a flat-ended, trun-
cated cone bounded by R1 , R2 , and t

In general, the big-end face of the roller is not flat but is a

sphere having the radius Re which is generally a proportion of the
slant height, Zs, of the untruncated roller cone. Roller crown and
corner breaks are also omitted from mass and moment of inertia
calculations as their contributions are second order.

Figure 7 is a more complete sketch of the roller showing the details

of the roller crown. The big-end spherical surface is neglected
here also.

T is the included angle of the roller cone and is obtained by itera-

tion of
r -l d
- tan {4 sin( - (16)
2E2
 -4

STo
E-4

00

i64

16
 / U

S -- 4
0'

L• , -• -

2' L-'-4
, a,

17
From Figure 7

cH
V2_)2 (17)

where R is the crown radius and I the length of the flat portion
c F
of the roller profile. In a fully crowned roller, the flat length
is zero.

e is Se
the effective length of the roller load-carrying surface.
The actual working length for any loading must lie within e" B1
and B2 are the corner breaks. Their shapes are unimportant as long
as they blend smoothly into the crowned surface.

V is the drop of the crown and is measured at the extremes of the

effective length of the roller.

V H - JR ~ (18)

d
H (19)
0 2tan(T)

1 I H0
H -- -- cos
cos1 () + Vsin(j) B1 (20)

H2 = H0 + cos (1) + Vsin(½) + B2 (21)

R1 = Hltan(T) (22)

R = H2 tan( ) (23)

Let the cone corresponding to H1 have the mass mI and a moment of

inertia about its center of gravity I1
cg

Let the cone corresponding to H2 have the mass m2 and a moment of

inertia about its center of gravity 12
cg

18
 irR2 H P
2 3x386.4 (24)

3mI R2 H2
I I I) (26)

cg 3MR2 2
""'21. (26)
3m2 R2 H2
12 "-• 2 2 (27)+
cg

where p is the material density in lb/in3

Then the distance X from the big end of the roller at H2 to the
center of gravity of the roller is X'
m2 H2 3H1
4 - ml (H2 - (28)
2 -1

The moment of inertia I cg of the tapered roller about its center of

gravity at X is

ic i2 + m2 H__2 •) i13 - ml (H2 - 3HI

•- , )2
2
cg cg + - cg (29)

Later the distance X, being the distance left from H0 to the center
of gravity of the roller, will be required.

H2 - H0 - •' S- (30)

The slant height, Is, of the truncated roller cone is shown in

Figure 6 and is

2 = (31)
sir ()

and the big-end spherical radius, RE, is a proportion of Is.

19
V is the radius from the roller centerline to the point of contact
of the roller and inner-race guide flange and the flange reaction.
It is directed at an angle, a, where

a sin-1 (32)
R
e

The lever arm of the flange reaction about the midpoint of the work-
ing surface of the roller at H10 is

f=
[R- 72 - H2 + H0 sinc (33)

Figure 8 is an enlarged view of the race profile showing the crown

drop V which is measured at a distance G from the end of the
effective length. The contour is the same at both ends of the roll.
If the radius R is known, the drop at G is
C

f H- R2 -C-- e G) 2 (34)

If the drop is known and the radius R c is not, the radius is

e• G2 (42F k , 2- 2

R + G) (35)

2.4.3 Roller Equilibrium

Figure 9 shows the forces and moments acting on a roller which is

in contact with both outer and inner races and with the inner ring
guide flange.

In the following discussion, the subscripts 1 and 2 refer to the

outer and inner contacts, respectively.

P and P 2 are the contact loads. M1 and M2 are contact moments

resulting from nonuniform loading along the roller's length. Fc
is the centrifugal force and MG is the gyroscopic moment. The

20
 u -3

0
0
',4
U

m
0

'.

2I)
 c7a

be4

t"4
4) 0
-41

00

22
latter acts at the center of gravity of the roller which is located
the distance X from the central plane of the roller which contains
the midpoint of the effective length.

The centrifugal force and the gyroscopic moment are

F - (m + m + sin(B - I-) 2 (36)

T

MC - IcgfSEwRsin(B - f) (37)

where fZE is the orbital velocity of the roller and wR the angular
velocity of the roller about its own center, both In radians/secnnd.

I~
E [a +
cosf cE4) + -T
+ P(2
(1 dcos(S T)38 (38)

T 2
•R a (d_
[ý1-22) 1 - - E- (39)

0 1 and 0 2 are the input angular velocities of outer and inner rings

in radians/second. P 3 is the reaction of the inner-ring flange on

the roller.

In the present problem, we are concerned with external forces applied

to the bearing inner ring along x and/or z (Figure 4) only. There
may also be initial linear displacements along any or all of the.
coordinate axes, x, y, and z; and initial rotations about x and y.
These initial displacenents do not change when external forces are
applied along x and/or z. However, when initial rotations are pre-
sent about x or z, operating displacements may occur along x and/or
y as the case may be. The system, therefore, has the possibility
of three degrees of freedom; i.e., working linear displacements along
any or all of the axes x, y, and z. If initial displacements exist
about x or y, working displacements in these modes are prevented.

23
The approach of the inner race to the outer race along the line
defined by 6 for a roller at azimuth ' is
P
S (6z + V")sinz + ((6 + 6")cos + (6 + 6y)sin¢ - \
2 zx xy y -- 7D1

cos6 + -{EsinS + dsin(2)11(0 + 0x)sino + (0 + O")COSO}

2 2 dsn&)1( x n'.

(40)

PD is the diametral clearance or the total diametral play of the

inner ring relative to the outer ring before loading.

The azimuth angle, 0, is related to the roller position index, q,

through

2r (g-l) (41)
n

where n is the number of rollers.

The double-primed items in Equation (40) are the initial displace-

ments Ln the several modes.

Also, as a result of the initial misalignments which may exist about

x and/or y, the inner race at the qth roller may be misaligned the
amount 0.

0 (0 + 0)sinO + (0 + 0y)COSO (42)

If A1 is the approach of the roller to the midpoint of the outer

race, the approach A2 of the inner ring to the roller at its midpoint
is

(A - A1 )COS(C
j)T
-(43)

2 cos(a +

If 01 is the misalignment of the roller relative to the outer race,

the misalignment e 2 of the inner race relative to the roller is

24
 02 a 0 - 01 (44)

Misalignment is positive if it tends to squeeze the big end of the

roller more than the little end when the big end is at the left.

Figure 10 illustrates the geometric intersection of a roller and

raceway.

The profiles of race and roller bodies are referred to an XY

coordinate system. Note that the X axis is positive to the left
of the origin.

The equation ef the race surface is

Y = 0 (45)

The equation of the flat portion of the roller or the element of the
basic roller cone is
Y = Ai + XtanO (46)

The equation of the crowned portion of the roller profile is

(X - HsinOi)2 + (Y + HcosOi - Ai)2 . R2 (47)

c

The subscript i is 1 for an outer contact and 2 for an inner contact.

The intersections of the race and the crowned roller surface occur at
XA and XB

A.X =\R2 - (Hcosei Aj)2 + HsinOi (48)

2
XB = - (Hcos9 1 - A) + HsinGi (49)

25
 0.

low

V4

A-4

264
XAi and XBi must be within the projected extremities of the roller
crown. That is
xl < xi (50)
XA XA (5

xBi XB (51)

where

* e
XA - cOsO8+ VsinO1 (52)

e ~s
£-~ + Vsinoi(3

If the quantity under the radical in Equations (48) and (49) is zero
or negative, there is no contact between roller and race.
IF
If 2 cosO > XA, there is also no contact.

If X > XAi is set equal toX

A i A, Ai i

If <XBi XB is set equal to XBi.

L - > -_- coso and Xi •

if cs1 2 coso
A 2 1
IA
the value of XB is X (54)
Bi Bi tanOi

From Figure 9 the conditions for roller force equilibrium are

"-P1 cos8 + P2 cos(8-T) - P 3 sin(8 - - - s) + Fc . 0 (55)

-P1 sin8 + P2 sin(B-T) + P3 cos(8 - .- a) = 0 (56)

Equations (55) and (56) are a set of simultaneous nonlinear equations

in which the variables are A and 91 at the outer contact of the

27
particular roller.

The flange reaction P3 is obtained by taking moments about the roller

midpoint.
{-M 1 + M 2 - M +F Xcos(8 - - dsi( -T

P~ 1~ 2 2 (P1 P 2)sn2)
P3

(57)

From Figure 10 the intrusion of the roller into the race is

A = Ai + Xtanoi XI < -'F cosoi (58)

i i lxi
xR (X-HsinOi) - HcosO + A IXI > -• cosO
(59)
The derivatives of Ax with respect to 0i will be required later and
are

0c2 lCosx2

dA (X-HsinOi)Hcosoi iF
__x

di
=
7
PRff T(X-HsinOG1 2c + Hsin-
sni
1XI > - cosO (61)

Lundberg (6) gives the approach A of two cylindrical bodies pressed

together with the uniform loading p as

(qR + nE) XA - XB
Ax 2 p {1.8864 + Ln ( 2b } (62)
x

nR and n E are elastic constants for race and roller, respectively,

having the form

= 4(l - v 2) (63)
qR,E ER,E

where v is Poisson's Ratio and E is the modulus of elasticity.

28
bx is the semi-width of the pressure area in the rolling direction.
(nR + n d 1/2
bx a 1 21 Px dx (I + Ci ¥1 (64)

Ci is 1 for i - 1, corresponding to an outer contact; and -1 for

i - 2, corresponding to an inner contact.

d cos8
xE S=
(65)
x
d X2cos(B-T)
E(66)
2 Ex

where
d + 2XsMin()
d = (67)
x cos(2)

E - E + 2Xsin8 + dcos(6 - -) - dxcosO (68)

x2

The value of px corresponding to Ax is required. This cannot be

obtained from Equation (62) in closed form. It can be obtained
numerically in the following manner.

Let p' be an estimate of px. A good starting value is

x

5 x 107 A10/9
P 5, x (69)
(XAXB) (/9

An improved value of px is

(Ax Ax)
Px Px, dx /dp (70)
x x dA'/dp'
K x

of race and roller bodies calculated for the

x is the approach
L'
current estimate of pI using Equation (62).

29
dA'/dp' is obtained from Equations (62) and (64) using the current
estimate p' and is
x

ciA' S
(nX
(nR + nE) A - xB
dp- 2i (1.3864 + in ( 2 )b (71)
x x

Iteration of Equation (70) yields px to any desired accuracy.

The contact force, P, and the moment, M, are

(XAi X

P (72)
fXBi

Mi X. PxdX (73)
XBi
X

Equations (55) and (56) may now be solved for A1 and 01, the dis-
placements at the outer contact. Again, a closed-form solution
cannot be obtained and numerical techniques are employed.

If estimates are made of the variables A1 and 01, Equations (55)

and (56) may not be satisfied and there will be the residues EI
and c2 for Equations (55) and (56), respectively. Differentiating
Equations (55) and (56) gives:

d_ dP 1 dP 2 dA 2 dP 3
d -coss + COS(--T) sin( - - a)
dlA~ld 1 A1A 2 1
(74)

d_1 dP 1 dP2 dO2 dP3

dO -O di + cos(B-r) 22 dO 1- (E)- do-1
(75)
de 2 dP 1 dP 2 dA 2
dP d P3
dA1 =-- sn 1 + s'in(6-t) dA2 d•- + cos(ý
d--A
-
2
n)
t- dP
A
1A T11d 2 dA1 1
(76)

30
 dc2dOa sinO dP1
• + sin(P-T)2
dP2 dO
do2 + CoOS(-2 a) dP3
d1-

(77)

From Equations (43) and (44)

dA2 -cos(a - )
2 2) (78)
dA1 cos(a + j)

dO 2

dGI

And, from Equation (57)

dM1 dM2 dA2 d dP1 dP dA

12 d 1 2 sin 1
dP 3- dA1=11
dA dA1 2 ( dA dA22 1 2(
(80)
dAI

dM1 dMd dos dMn dM o

dP3 - dTO- + dO 20 d01 dOd02d1 2
dI - (81)
I'adO01 r urn siae, mrvdetmtsae
IA' and 0 are current estimates, improved estimates are:

d11

1I do 1

d e2
£2 dO--
SI d--A(82)
d -A

dA1 dO1

dc:2 de2
dA do 1

31
 de1
dA- l

dA '2
01 ol- de 1 d1 (83)

dA dO
d1 1e
2 2
dA do1

The determinants in Equations (82) and (83) are calculated at current

estimates.

The derivatives of P. and M. with respect to A. and 0. are

3 . 1 1

dP.
1 -5rX i dpx dAx
x i dX (84)
dA. dA
---A dA.
dA.
1 1B x 1.

dP. XA dp dA
d f i - x dX (85)
do X dA do

dM. -fXAi X dpxdA xdX (86)

AdAx dAx -
X 1
dM.i= XAi dp dA

-X
dEi X dA' 1do
dX (87)
dM . dPx dAx
dO.. Jv~ dx do

The value of dpx/dAx is obtained from Equation (71) and the value of
dA x/dAi is unity.

If Equations (43), (44), (55), and (56) are differentiated with

respect to A, there results four equations which are linear in

32
dA1 /dA, dA 2 /dA, d 1 /dA, and d0 2 /dA and from which all four deriva-
tives can be obtained. Of the four derivatives, only dAI/dA and
d01 /dt are of interest here.

d-cos-dP dP 3 " dA 1 + dP 2

1 CO 2 dA1 LA 2

dP3 dA2 [_Cos$ dP 1 dP3"

0-
sin(8 -a) - 2'dO+ a _-
2 d P2 dAde ' dO d0
dO1 +cos(B-T) dP 2 sinC - T a 2 0 (88)
2A2 d 2 d

dP 1 dP 3 dAl n dP 2
1 sin5 d + cuS(-B a) +
=J- sin( 8 Ta-0 -- +
A12+ 1 d2 d P3"

d - dP3d 2 a)+ s dP 3
+ cos( a) dO
- - dP3d
2 1

do I inBT dP 2 +csa- T- a d31 2o 0 (89)

dAj02 2

dA cos(a + T dA
)d1
-()
1 (90)
dA + cos(ac

dcI dcz _
da- + da-2 0 (91)

Equations (88) through (91) are easily solved for dA /dA and dO I/dA.
dA 1/dO and dOI/dO are obtained in a similar manner.

2.4.4 Bearing Equilibrium

The reactions of the bearing on the shaft at the central plane of the
roller are

33
 n
F' - cosP l PlqCOSBq (92)
Sq= 1 q

n
F' = cos8 E Pl sPnl (43)
q1 q q

n
F' =sina P1 (94)
qY1 q

FI + dsin(F)}Pq + Mq]sin (95)

x Z

F nF [={Esin + dsin(j)1PI + Ml COSq (96)

Considering the three-degree-of-freedom system, the inner ring is

acted upon by the external forces F and F and may have working
displacements along x, y, and z. Equilibrium requires that

F'
x
+ Fx 0 (97)
F' = 0 (98)
y
F +FV
z
0 (99)
z

Here the variables are 6XI 6 and 6z. Again, a direct solution is
not possible and numerical methods must be employed.

For initial estimates 6',

x 6',
y 6'z of the variables Equations (97),
(98), and (99) may not be satisfied and there remain the residues
Ell E', and L3" Improved values of the variables are
dcI dc1
de1 de1
1l d6 'd6
y z

de 2 de2
d2 2
€2 d-6- dd-6•2
y z

de3 de3
E3 d-6 d-
6x 6'x Dy z (100)

34
 d E1 dcI1
d6 'I -d
x z

d6 2 'd6
x z
d F-3 d c3
d6 £3 'd
6 = 6' - x z (101)
Y Y D

d 1 d 1 1

x y
d-2 dc2

x y
dE3 dc3
d•6 d- 3
6 -6' x y (102)
z z D

where D is the determinant of the system.

dc1 d1 de1
d6 d6 d6
x y z
d 2 d c2 d c2
D d x- d- d- (103)
(
y z

de3 dc3 dc3

d6 d6d6
x y z

The right members of Equations (100) through (103) are evaluated at

current estimates

de1 dF'
(104)
d(6x 6 y, 6 z) d(6 x, 6,6
x y z x y z

dc2 dF'
2 Y -(105)
d(6x 6y, 6 Z) d(6x, 6y, 6 Z)

de3 dF'
d( 6
K, 6 y, 6 ) (106)
d(6x, 6 y, 6 z)
z x z

35
Although only the above derivatives are required in determining the
equilibrium of the system, the complete matrix is required for
stiffness calculations.

dF'n dPl
dF , - - cos2 qq (107)
d(6 9yS6' 0 ) qd q d(6x'6y6z1 0. )

dF' X 7-Cosa n cOSOq dPlq (108)~zxv

d(6X 6y'6z' x'y) = q T(6,6 q0 x
6 zo (108)

dF' n dPlq
d(6 ,6 6 ,O ) sint d(6 x6 y6zOO 10
xy z x y q=1 x y z'x' ) 19

n dP1
dM'
d(6x , ) E=2{E sina+d sin(! •6 6,) +
d(X6y z'2x9 y q=l [22dSX'6'~ y 6zO x 0y

dM1

6 )] sinq (110)
d(6 6 qq ,

dM' n l
d69 d(-
6O ==6 2: {E sinB+d sin
VO2d(6x,*y,*zOxOt) ,6 ) +
x y zxy q1 x y zx y
dM1
d(6 6 6q 0 ] cOSq (1ii)

where
dPl q dP1 dolq dAd

d(6 ,6y,6zExOy)
y
[dAI qq ddA do J d( ,6y,6z,0xO z)
x q q xz

dP 1 d61 dP do I dO
dA doq do+ d1 d(6,6y,6zO ,y
q qq 1q qJ xy'Z'x y

(112)

36
 -I t ! |-|s

dM I dM dtA dM dOId
d(6,6 ,6ZO ,o dA dAq dO 1d(6dA ,66+
q q

dM dA 1q +dM I dO
..... + _._..•. .. i______
dO
dA dO dO dO d(6,6 ,6 ,0 ,o)
qLi q Iq q' Z

(113)

The derivatives of A and 0 with respect to the inner-ring displace-

q q
ments are, from Equations (40) and (42)

dA
(114)
d6 = cos6 cOS q
x

dA
d6 = cosB siniq (115)
y
dA
d6 sin6 (116)
z

__dO
= I{E sinP,+d sin(2)1sln~q 17
x
---q = -{ sin+d s (!))}cSi (17
dA
dA q=I E sin,,+d sin( cos (18)
dO 2 2 j q(1)

dO
d(= 0 (119)
d(x9 y ,6 Z)

dr

"•)x = sin q (120)

d •j q

2.4.5 Effect of Unloaded Roller

In some instances one or more rollers may be out of contact with the
inner race while in contact with the outer race and the inner-ring
flange. The conditions for equilibrium of such rollers are

37
 -P Cos$ - P3 sin(a - a- + FC
c) 0 (121)

-P sin8 + P3 cos(W - - a) - 0 (122)

where
-M - P dsin(t) + F i cos( -
PM3 1-M. - 2 1 . (123)

Here the variables are A and 0I. Initial estimates A' and 0' will
generally fail to satisfy Equations (121) and (122), and there will
be the residues e1 and c2"

Improved values are

d EI

11 dO-1
d e2
C2 dO''
A - 2A 1
(124)
1 1 dc 1 de1

Ke
dA1 dO1
dA dO

1
dA
1

dO1
1

! 1 d (125)
1A de1I _

de2 dc2
1 d

The right members of Equations (124) and (125) are evaluated at

current estimates. Iteration of Equations (124) and (125) yield
A1 and 0 to any desired accuracy.

38
The derivatives required in Equations (124) and (125) are

dc1 dPI dP3

d- - cosa - sin(a - - - a) d (12•)

1 dP 1 dP1
-- B - + in(L - T- a) d 3 (127)
dA 1 1A2 d

dc2 dP 1 dP3
1
dc - -sin8- + COW - .1- a) dP(128)
dOI do d1 2 dO1

where dM 1 ds1n() dPI

dP3 d1 1 (129)
dA1k

dM1 1 dsin(T)2 dPl

dP3 dO1 1
dO1

Rollers which are out of contact with the inner race must be considered
in evaluating the bearing's reactions. They, however, contribute
nothing to the stiffness matrix since P 1 and M for these rollers do
not change with changes in the inner-ring displacements.

39
 SECTION III

APPLICATION OF COMPUTER PROGRAM

The analysis of Section II has been programmed in Fortran IV for a

digital computer and is suitable for use on the CDC 6600. A program
listiiig is presented in the Appendix.

3.1 Sample Test Case

To illustrate a typical case consider the bearing in Figure 11. This

is a tapered roller bearing assembly modified for high speed operation.
The geometry of this sample bearing is summarized below.

Number of rollers 37
Roller diameter at midpoint .2913 in.
Pitch diameter 5.0 in.
Contact angle at outer race 140409
Effective length of roller .6001 in.
Roller big-end spherical radius 0.8 in.
Radius from roller centerline to point of big- 0.75 in.
end spherical surface with inner race flange
Roller crown radius 100 in.
Roller small-end corner break .02 in.
Roller big-end corner break .03 in.
Crown drop gage point .03 in.

The operating conditions for the sample case are:

Rotational speed = 20,000 rpm

Load Condition #1
Thrust Load = 3,000 lbs.
Load Condition #2
Thrust Load = 3,000 lbs.
Radial Load = 700 lbs.

40
 7J0'7

Ir ve~AVA. 416 zP
r -~7d7ek2it

V-d 78M~'~

X"~"
2.*4'dOP

Figure
11. Samplxel
T f"ipcrcJd .u hrtai seml

41 414,l~eo
3.2 Input Format

Figure 12 presents the input data format and Figure 13 shows the actual
input data for Load Conditions #1 and #2 of the sample case.

3.3 Output Format

Figure 14 presents the output data for Load Condition #1. The input data
are summarized in Figure 14, followed by the output data including the
internal load distribution as well as various other stress and displace-
ment parameters. The stiffness matrix is given on the last page of Figure
14.

The output data for Load Condition #2 are presented in Figure 15.

42
 C 4c

.ICC C

-C - C

4..j

o. 0

-- 41

0c' -C

C,
c

c c

l.A -- c4

- ccc 0 A

c. -. 1 0 1

-43-
 ti
0 ~ 4 co'
r

fAW! i1 It
U. II Iw

I--

to

in
0, * iiCiLI

II-

c* ty a) Z da4 C 0
ci Im a
uj0
0: (L W wz z
w
fn to 03
M
Fn fA U.

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m-0 =0J

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a...

m w 0 c 3

#0x z 0

N C45
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02~~73
dd4444
013555= 0 Z5.. .330O023002J
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4~c C4 2 0 S~lt~t *S
------------
2* S. *s

cto

440u4 0 "aN N N N N ~ Nfh44 N N' tN N

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*. o..o..
.- ........ S0.- 0I

* -* 2 *.:u4s
-S-. S. *-- rg-t--- - * .
* 2- *
1 00 0 c4

,i • _ .ii • ~~~~~~~-
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.. ..• =-S..- • .............. . . . . . . . . . .

':Z + • +, + oo +.o .o .o +.....0......o....0.

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 REFERENCES

1. Lewis, P. and Malanoski, S.B., "Rotor Bearing Dynamics Design Technology.

Part IV: Ball Bearing Design Data Technical Report," AFAPL-TR-65-45,
Part IV. Air Force Aero Propulsion Laboratory, Wright Patterson AFB,
Ohio.

2. Mauriello, J.A., LaGasse, and Jones, A.B., "Rolling Element Bearing

Retainer Analysis," DAAJ02-69-C-0080, TR105.7.10, USAAMRDL-TR-72-45.

3. Crecelius, W.T. and Pirvics, J., "Computer Program Operation Manual on

"SHABERTH" a Computer Program for the Analysis of the Steady State and
Transient Thermal Performance of Shaft Bearing Systems," AFAPL-TR-76-90,
Air Force Aero Propulsion Laboratory, Wright Patterson AFB, Ohio,
October 1976.

4. Jones, A.B. and McGrew, J.M., "Rotor Bearing Dynamics Technology Design
Guide--Part II: Ball Bearings," AFAPL-TR-78-6, Part II, February 1978,
Air Force Aero Propulsion Laboratory, Wright Patterson Air Force Base,
Ohio.

5. Pan, C.H.T., Wu, E.R., and Krauter, A.I., "Rotor Bearing Dynamics
Technology Design Guide: Part I, Flexible Rotor Dynamics," AFAPL-TR-78-6,
Part I, June 1978, Air Force Aero Propulsion Laboratory, Wright-Patterson
Air Force Base, Ohio.

6. Lundberg, G., "Elastische Beruhrung Zweier Halbraume," Forschung auf

dem Gebiete des Ingenieurwesens, September/October, 1939.

80
*U.s.Govunmrflt rinting Office: 1979 - 657-002/43