OPЛОВСКИЙ ГОСУДАРСТВЕННЫЙ УНИВЕРСИТЕТ

ИМЕНИ И. С. ТУРГЕНЕВА

КАФЕДРА МЕХАТРОНИКИ, МЕХАНИКИ И РОБОТОТЕХНИКИ

APPLICATION OF MAGNETORHEOLOGICAL SQUEEZE

FILM DAMPERS IN THE FIELD OF ROTATING MACHINES

JAROSLAV ZAPOMĚL
PETR FERFECKI
 ROTATING MACHINES
 Technological loading
 Loading produced by assembly and manufacturing inaccuracies
 Ground vibration

 Vibration excitation
 Increase of the time varying forces transmitted through the support elements
 ROTATING MACHINES
 Loading transmitted through the support elements

 Wear
 Heating
 Energy losses

 Reduction of the service life of component of rotating machines

ACCIDENTS OF ROTATING MACHINES
ACCIDENTS OF ROTATING MACHINES
ACCIDENTS OF ROTATING MACHINES
HISTORY OF THE ROTOR DYNAMICS SCIENCE

• 1869, William John Macquorn Rankine

report on whirl vibration of rotors

• 1889, Carl Gustaf de Laval

invention of the first steam turbine operating above the
critical speed
HISTORY OF THE ROTOR DYNAMICS SCIENCE

• 1894, Stanley Dunkerley

derivation of the relation for determination of critical speeds of
multi-dics rotors,

• 1895, August Föppl

explanation of vibrations of a simple rotor excited by
unbalance

• 1919, dr. Henry Homan Jeffcott

presentation of the first comprehensive theory on foundations
of rotor dynamics
 HISTORY OF THE ROTOR DYNAMICS SCIENCE

• 1924, 1925 Kimball, Newkirk, Taylor

material damping of the shaft, hydraulic forces in hydrodynamic bearings can
become a source of rotors self excited vibration

• 1859 - 1942, Aurel Boleslav Stodola

- dynamics of multi-discs rotors with an elastic shaft
- balancing of rigid rotors
- study of gyroscopic effects
ROTATING MACHINES
ROTATING MACHINES
ROLLING ELEMENT BEARINGS

Rolling element bearings

• high stiffness
• low resistance against the shaft rotation

• very little damping

• higher noise
 SQUEEZE FILM DAMPER

• 60 ties of the 20 century : beginnings of regular research of squeeze film dampers

• 1963, article of S. Cooper, research worker of the Rolls-Royce company,

Squeeze film damper

designed by S. Cooper

• 1967, granting the patent to the Rolls-Royce company,

• Since the beginnings of 70-ties - regular use of squeeze film dampers
SQUEEZE FILM DAMPERS
SQUEEZE FILM DAMPERS
ROTOR SYSTEM MODELLING
 CLASSICAL THEORY OF LUBRICATION
Assumptions
• the width of the lubricating gap is small relative to the shaft journal radius,
• the damper rings are absolutely rigid,
• their surfaces are absolutely smooth,
• the oil is Newtonian liquid,
• the lubricant is incompressible, massless, perfectly adheres to the rings surfaces
• the flow in the lubricating gap is laminar and isothermal,
• the pressure distribution in the layer of lubricant is constant in the radial direction,
• the influence of the curvature of the oil film on the flow is negligible
HISTORY OF THE CLASSICAL THEORY OF LUBRICATION

1883, Beauchamp-Tower
the first documented experiments with a
radial hydrodynamic bearing lubricated with
olive oil

1886, Osborne Reynolds

fundanmental equation governing the pressure
distribution in a thin oil layer

1883, 1886, 1887, Николай Павлович Петров

friction
mathematical theory of flow in thin layers
 CAVITATION

• complex of physical phenomena taking place in the lubricating layer

• occurance of a two-phase medium, mixture of
- oil
- gases (air) released from the oil
- air sucked from the ambient space
- oil vapours
SQUEEZE FILM DAMPER - PRESSURE DISTRIBUTION

Reynolds equation adapted for squeeze film dampers

  h3 p  2   h3 p  2 h
   R    12 R
     Z   Z  t

Cavitation
pd  p for p  pCAV

pd  pCAV for p  pCAV

Hydraulic force acting on the rotor journal

L 2
Fhy   R   pd cos  d dZ
0 0

L 2
Fhz   R   pd sin  d dZ
0 0
CONTROLLABLE SUPPORT DAMPING
 CONTROLLABLE SUPPORT DAMPING

Flexible suspension
 CONTROLLABLE SUPPORT DAMPING

Flexible suspension
VARIABLE ROTOR SYSTEM CONFIGURATION

3
 ELECTRORHEOLOGICAL FLUIDS
Electrorheological phenomenon
Willis M. Winslow, 1947
increase of resistance against
the liquid flow
by the effect of an electric field
Electrorheological fluids
• compositions
- carrying liquid
- dielectric particles
- additive matters
• sufficiently high electric field
intensity transforms the fluid to
solid matter
• the changes are reversible
• response time in order of
milisecond
• high voltage (order kV/mm)
• low current (order mA)
MAGNETORHEOLOGICAL FLUIDS

Magnetorheological phenomenon
Jacob Rabinow, 1948

increase of resistance against the liquid flow

by the effect of a magnetic field
 MAGNETORHEOLOGICAL FLUIDS

Magnetorheological fluids
• compositions
- carrying liquid
- ferromagnetic particles
- additive matters
• sufficiently high magnetic
field intensity transforms the
fluid to solid matter
• the changes are reversible
• response time in order of
miliseconds
• low voltage
• low current (order A)
MATHEMATICAL MODEL OF THE MR DAMPER

Journal of Intelligent Material Systems and Structures, vol. 16, 2005

MAGNETORHEOLOGICAL FLUIDS
SQUEEZE FILM MAGNETORHEOLOGICAL DAMPER
ROTOR EXPERIMENTAL DEVICE
SQUEEZE FILM MAGNETORHEOLOGICAL DAMPERS
SQUEEZE FILM MAGNETORHEOLOGICAL DAMPERS
MATHEMATICAL MODEL OF THE MR DAMPER

Bingham material

Herschel - Bulkley
material

Bilinear (biscous)
material
 MAGNETORHEOLOGICAL FLUIDS

Magnetorheological oil
(MRF- 140CG)

80
Yielding shear stress

Yielding shear stress [ kPa ]

60
 y  ky B
ny

40

Relative permeability 5.9

20
Oil proportional constant 48 260
Oil exponential constant 0.54
0
0 0.4 0.8 1.2 1.6 2
Magnetic induction [ T ]
 MATHEMATICAL MODEL OF THE MR DAMPER

Damper modelling : • assumptions of the classical theory of lubrication

MR oil : • bilinear material,
• dependence of the yielding shear stress on magnetic
induction
Dampers assumptions : • short dampers
• damper symmetry with respect to the middle plane
MATHEMATICAL MODEL OF THE MR DAMPER
Reynolds equation for bilinear material

  1 3 
h p  12h

Z   

 1  3  3
 y C2  8  C3 
  h p  3h  y  8 2  12 2 
   p 2 
 12h
2 C
Z   p p   

h
0
t
p  pCAV

L L
2 2 2 2
Fmrz  2 R  p d sin d dZ Fmry  2 R  p d cos  d dZ
0 0 0 0
MATHEMATICAL MODEL OF THE MR DAMPER

Magnetic induction
I
B  k B 0  r
h

Specific magnetic force

B2
pm 
2 0  r
 MATHEMATICAL MODEL OF THE MR DAMPER
L
2 2
Hydraulic force Fmry  2 R  p d cos  d dZ
0 0

L
2 2
Fmrz  2 R  p d sin d dZ
0 0

L
2 2
Magnetic force Fmagy  2 R   pm cos  d dZ
0 0

L
2 2
Fmagz  2 R   pm sin d dZ
0 0

Elastic force
Felasty  kspring yspring

Felastz  kspringzspring
 CASE STUDY 1 - ROTOR SYSTEM

Rotating machine parameters :

Rotor mass 426 kg
Rotational speed extent 0 ÷ 500 rad/s
Rotor imbalance 42.6 kgmm
CASE STUDY 1 - MODEL ROTOR SYSTEM

mR y  bP y  2 k D y  2 Fmry  2 Fmagy  mR eT  2 cost  o 

mR z  bP z  2 k D z  2 Fmrz  2 Fmagz  2 FPS  mR eT  2 sint  o   mR g

CASE STUDY 1 - SIMULATION RESULTS
CASE STUDY 1 - SIMULATION RESULTS
MATHEMATICAL MODEL OF THE MR DAMPER

Delayed yielding

 I   
t ny

 y t    Gt ,  k D k y   d
0  h 

1  Ty t  
1

G e
Ty

ny
I
Ty y   y  k D k y  
h

Cavitated area y 0
 CASE STUDY 2 - ROTOR SYSTEM

System parameters :
Disc mass 250 kg
Shaft bending stiffness 20 MN/m
Squirrel spring stiffness 5 MN/m
Rotor imbalance 45 kg mm
Angular speed 150 rad/s
Damper diametre/length/clearance 150/50/0.8 mm
MR oil viscosity 0.3 Pas
CASE STUDY 2 - MODEL ROTOR SYSTEM

my  bP y  kS y  kS yB  meT 2 cos 

mz  bP z  kS z  kS zB  meT 2 sin   mg

0  kS y  kS  2k D yB  2 Fmry

0  kS z  kS  2k D zB  2 Fmrz  2 FPS

 CASE STUDY 2 - SIMULATION RESULTS

Time constant 1 ms Time constant 5 ms

-60 -60

-80 -80
Displacement z [ m ]

Displacement z [ m ]
-100 -100

-120 -120

-140 -140

-160 -160

-180 -180
-60 -40 -20 0 20 40 60 -60 -40 -20 0 20 40 60
Displacement y [ m ] Displacement y [ m ]
 CASE STUDY 2 - SIMULATION RESULTS

Parametres :
Current 0.2 A
Angular speed 150 rad/s

Time constant 1 ms Time constant 5 ms

800 800
Yielding shear stress [ Pa ]

Yieldig shear stress [ Pa ]

600 600

400 400

200 200

0 0
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
Time [ s ] Time [ s ]
ENERGY LOSSES IN SUPPORTS OF ROTATING MACHINES

PLOSS = PLOSS ( F, ω )
SQUEEZE FILM DAMPERS

Loss power

PMR  Fmry y  Fmrz z

PRB  M RB
 ROLLING ELEMENT BEARINGS

Rolling resistance moment

dH
M RB  f B FBE
2

FBE  X FR  Y FA

Bearing Rolling resistance coefficient

roller bearing 0.0011
one row ball bearing 0.0015
tapered roller bearing 0.0018
spherical roller bearing 0.0018
 CASE STUDY 3 - ROTOR SYSTEM

System parameters :
Rotor mass 639 kg
Disc imbalances 3.8 kg mm
7.4 kg mm
Angular speed 0 - 1000 rad/s
CASE STUDY 3 - MODEL ROTOR SYSTEM

Mx  (B P  B M  G)x  (K  K C )x  f A  f H
 CASE STUDY 3 - SIMULATION RESULTS

DISC D1
0.3
0A
Vibration amplitude [ mm ]

1A
10 A
0.2

0.1

0
0 200 400 600 800 1000
Speed [ rad/s ]
 CASE STUDY 3 - SIMULATION RESULTS

4
Force to the foundations - z [ kN ]
2 1A 10 A

-2

-4

-6

-8
0 200 400 600 800 1000
Speed [ rad/s ]
 CASE STUDY 3 - SIMULATION RESULTS

LEFT SUPPORT, 0 A
250

200
Power loss [ W ]

BEARING
150

100

50 DAMPER

0
0 200 400 600 800 1000
Speed [ rad/s ]
 CASE STUDY 3 - SIMULATION RESULTS

LEFT SUPPORT
900

750
Power loss [ W ]

600

450 10 A

300

150
0A
0
0 200 400 600 800 1000
Speed [ rad/s ]
 CONCLUSIONS

• The rising requirements put on qualitative parametres of contemporary rotating

machines can be met by application of new materials, engineering designs, and
utilization of new physical principles.

• Magnetorheological squeeze film dampers can be utilized to reduce

- vibration amplitude
- magnitude of the force transmitted between the rotor and stationary part
- energy losses in the support elements
- wear of the support elements.

• A good deal of research work must be done to implement these new

technological solutions in mathematical models at appropriate distinguishing
level.