Rotordynamic Instability Problems in High Performance Turbomachinery 1990

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NASA Conference
NASA Conference Publication 3122
Rotordynamic
Rotordynamic
Instability
Instability
Problems in
Problems in
High-Performance
High-Performance
Turbomachinery
1990
1990
Proceedings of
Proceedings of aa workshop
workshop sponsored
sponsored by
by
Texas A&M
Texas A&M University,
University, College
College Station,
Station, Texas,
Texas,
and NASA
and NASA Lewis
Lewis Research
Research Center,
Center, Cleveland,
Cleveland, Ohio,
Ohio,
and held
and held at
at Texas A&M University
Texas A&M University
College Station,
College Station, Texas
Texas
May 21-23,
May 21-23, 1990
1990
National
NI\SI\
NationalAeronautics
Aeronautics and
and
Space Administration
Office of
Office of Management
Management
Scientificand
Scientific and Technical
Technical
InformationProgram
Information Program
1991
1991
PREFACE
PREFACE
From
From the
the first
first symposium,
symposium, where
where little
little information
information was
was available,
available, to
to the
the
present
present symposium,
symposium, continued
continued progress
progress has
has been
been made
made toward
toward an
an understanding of
of
rotordynamic
rotordynamic instability
instability problems.
problems. The
The proceedings
proceedings of
of these
these symposiums
symposiums are
are
reported
reported inin the
the following
following NASA
NASA documents:
documents:
· 1980
1980 Proceedings,
Proceedings, NASA
NASA CP-2133
CP-2133
• 1982
1982 Proceedings,
Proceedings, NASA
NASA CP-2250
CP-2250
• 1984
1984 Proceedings,
Proceedings, NASA
NASA CP-2338
• 1986
1986 Proceedings,
Proceedings, NASA
NASA CP-2443
CP-2443
• 1988
1988 Proceedings,
Proceedings, NASA
NASA CP-2409
CP-2409
• 1990
1990 Proceedings,
Proceedings, NASA
NASA CP-3122
CP-3122
This
This proceedings
proceedings continues
continues to
to report
report field
field experience
experience along
along with
with
laboratory
laboratory experiments
experiments and
and the
the theory
theory of
of seals,
seals, but
but it
it also
also includes
includes works
works on
on
dampers,
dampers, bearings,
bearings, and
and controls.
controls. These
These topics
topics are
are necessary
necessary since
since they
they are
are
interrelated
interrelated with
with current
current and
and future seals -- such
future seals such as
as damper
damper seals,
seals, smart
smart
seals,
seals, feedback
feedback controls,
controls, and
and eccentric
eccentric floating
floating ring
ring seals,
seals, as
as well
well as
as
theoretical
theoretical contributions
contributions of
of bearing flows
flows that
that are,
are, in
in essence,
essence, eccentric
eccentric
seals
seals with
with modified boundary conditions.
conditions.
Without
Without wishing
wishing to
to slight
slight any
any of
of the
the contributions,
contributions, we
we call
call your
your
attention
attention to
to the
the following
following papers:
papers:
(1) Sykes
(1) Sykes and
and Holmes
Holmes begin
begin the
the difficult
difficult task
task of
of delineating
delineating the
the effects
effects
of
of manufacturing
manufacturing (assembly) tolerance
tolerance on
on the
the vibration
vibration of
of rotor-damper
assemblies.
assemblies.
(2)
( 2 ) Nordmann and
and Weiser
Weiser form
form a partitioned computational
computational fluid
fluid dynamics
dynamics
(CFO)
(CFD) model
model for
for labyrinth
labyrinth seals
seals somewhat
somewhat similar
similar to
to multigriding,
multigriding, without
without the
the
complexity,
complexity, andand to
to cellular
cellular automatons,
automatons, without
without the
the behavior logic.
logic.
(3) Childs, Ramsey,
( 3 ) Childs, Ramsey, and
and Baskharone combine
combine CFD
CFD modeling
modeling with
with laboratory
laboratory
results
results to to design
design swirl
swirl brakes,
brakes, and
and they
they predict
predict and
and verify
verify the
the performance
performance of
of
these
these swirl
swirl brakes.
brakes.
(4)
(4) Muszynska and
and Bently
Bently provide
provide relations,
relations, comparisons,
comparisons, and
and results
results for
for
force-
force- and
and displacement-excited rotors.
rotors.
(5)
(5) San
San Andres
Andres provides several
several robust
robust numerical
numerical solutions
solutions to
to
hydrodynamic problems
problems in
in bearings
bsarings and
and dampers.
dampers.
We
We are
are confident
confident that
that you
you will
will find
find the
the papers
papers presented in
in this
this
proceedings to
to be
be of
of interest.
interest. Please
Please read
read them
them carefully and
and form
form your
your own
own
impressions.
impressions.
These
These workshops
workshops have
have been organized
organized to
to continue
continue addressing
addressing problems
problems of
of
rotordynamic
rotordynamic instabilities
instabilities by gathering
gathering those
those persons
persons with
with immediate
immediate interest,
interest,
experience,
experience, and
and knowledge
knowledge of
of this
this subject
subject and
and providing a forum
forum for
for infor-
infor-
mation exchange
exchange of
of both past stability
stability problems and
and present
present research
research and
and
development
development efforts.
efforts. The
The intent
intent of
of the
the workshop
workshop organizers
organizers and
and sponsors
sponsors is
is
iii
iii
PRECEDING PAGE
PRECEDING NOT FILMED
PAGE BLANK NOT
that the workshop and these proceedings provide a continuity of effort and an
impetus for an understanding and resolution ooff these problems.
Chairmen:
Chai rmen :
Jorgen L. Ni
Nikolajs~n,
kolajsen,
Dara Childs, and
John Vance
Turbomachinery Laboratory
Robert C.
C. Hendricks
NASA Lewis Research Center
iv
CONTENTS
CONTENTS
Page
S e s s i o n I -- Field
Session F i e l d Experiences
Experiences
INVESTIGATION
INVESTIGATION AND CONTROL OF ROTORDYNAMIC
ROTORDYNAMIC INSTABILITY IN
I N TYPICAL
LARGE
LARGE TURBOGENERATORS
TURBOGENERATORS
Lu
Lu Songyuan, Thermal Power Engineering
Engineering Research Institute .
Research Institute . . . . . 1
FIELD TELEMETRY OF BLADE-ROTOR

BLADE-ROTOR COUPLED
COUPLED TORSIONAL VIBRATION AT
MATUURA POWER STATION NO. 11 UNIT
Kuniyoshi
Kuniyoshi Isii
l s i i and Hideaki
Hideaki Murakami, Kyushu
Kyushu Electric
E l e c t r i c Power
Co., Inc.; and Yasuhiko Otawara and Akira A k i r a Okabe, Hitachi
Works, Hitachi
Hitachi Ltd.L t d . . . .. .
... .. .. .. .. .. .. .. .. .. .. .. .. .. . . . . . . . 15
15
Session I I -- Dampers
S e s s i o n II
THE EFFECTS
EFFECTS OF MANUFACTURING
MANUFACTURING TOLERANCES
TOLERAWCES ON THE VIBRATION OF
AERO-ENGINE
AERO-ENGINE ROTOR-DAMPER ASSEMBLIES
J.E.H.
J.E.H. Sykes and R. Holmes, University
U n i v e r s i t y of Southampton .
o f Southampton . . . . . . . 21
21
THE STABILITY
STAB1 L I T Y OF THE STEADY STATE AND BISTABLE RESPONSE
RESPONSE OF A
A
FLEXIBLE ROTOR SUPPORTED ON SQUEEZE FILM F l L M DAMPERS
Meng
Meng Guang, Northwestern
Northwestern Poly University . . .
technical University
Polytechnical . . . . . . . 49
STABILITY OF INTERSHAFT
INTERSHAFT SQUEEZE FILM F l L M DAMPERS
A.
A . EI-Shafei,
El-Shafei, University
U n i v e r s i t y of
o f South Florida
Florida . . . . . . . . . . . . . . 63
MEASUREMENTS
MEASUREMENTS OF PRESSURE
PRESSURE DISTRIBUTIONS AND FORCE
FORCE COEFFICIENTS IN
IN A
A
SQUEEZE F l L M DAMPER -- PART I:
SQUEEZE FILM I : FULLY OPEN
OPEN ENDED
ENDED CONFIGURATION
CONFlGURATlON
S.Y. Jung, L.A. San Andres, and J.M. Vance, Texas A&M A&M University
University . . . 79
MEASUREMENTS
PRESSURE DISTRIBUTIONS AND FORCE
FORCE COEFFICIENTS IN
IN A
A
F l L M DAMPER -- PART II:
SQUEEZE FILM II: PARTIALLY SEALED CONFIGURATION
CONFIGURATlON
S.Y.
S.Y. Jung, L.A. San Andres, and J.M. Vance, Texas A&MA&M University
University . . . 95
Session I l l -- Seals
S e s s i o n III Seals
EXPERIMENTAL
EXPERIMENTAL INVESTIGATIONS OF EXCITING FORCES FORCES CAUSED BY FLOW
IN
I N LABYRINTH SEALS
G. Thieleke and H. Stetter,
S t e t t e r , University
U n i v e r s i t y of Stuttgart . . .
o f Stuttgart . . . . . . 109
109
STATIC AND DYNAMIC PRESSURE

PRESSURE DISTRIBUTIONS IN
IN A
A SHORT LABYRINTH
LABYRINTH SEAL
K.T. Mi Martinez-Sanchez, Gas Turbine Laboratory .
I Isaps and M. Martinez-Sanchez,
Millsaps . . . 135
135
EVALUATION OF ROTORDYNAMIC
ROTORDYNAMIC COEFFICIENTS OF LOOK-THROUGH LABYRINTHS
BY MEANS OF A
A THREE VOLUME BULK FLOW MODEL MODEL
R. Nordmann
Nordmann and P. Weiser, University
U n i v e r s i t y of Kaiserslautern . . .
o f Kaiserslautern . . . . 147
147
v
TEST RESULTS FOR ROTORDYNAMIC COEFFICIENTS OF THE SSME HPOTP TURBINE
INTERSTAGE SEAL WITH TWO SWIRL BRAKES
Dara W. W . Chi Ids, Erian Baskharone, and
Childs, and Christopher Ramsey, Ramsey,
Texas
T e x a sA&M U n i v e r s i t y . .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. ..
A & MUniversity. . . . 165
165
SEAL-ROTORDYNAMIC-COEFFICIENT
SEAL-ROTORDYNAMIC-COEFFICIENT TEST RESULTS FOR AA MODEL SSME ATD-HPFTP
TURBINE INTERSTAGE SEAL WITH
WlTH AND WITHOUT AA SWIRL BRAKE
Dara W.
W . Childs and Christopher Ramsey,
Ramsey, Texas A&M University . . .
A&M University . . 179
179
SUPPRESSION OF SUBSYNCHRONOUS VIBRATION IN THE SSME HPFTP

David G.
G. Becht.
Becht, Larry A.
A . Hawkins, Joseph K.
K . Scharrer,
and Brian T. Murphy.
Murphy, Rockwell
Rockwell International
International . . .. .. .. .. . . . . . . . . 191
191
DETERMINATION OF ROTORDYNAMIC
ROTORCYNAMlC COEFFICIENTS FOR LABYRINTH SEALS
AND APPLICATION TO ROTORDYNAMIC DESIGN CALCULATIONS
P. Weiser and R. Nordmann, University
R . Nordmann, o f Kaiserslautern .
U n i v e r s i t y of . . . . . . 203
EXPERIMENT
EXPERINENT OF STATIC AND DYNAMIC CHARACTERISTICS OF SPIRAL GROOVED SEALS
T. Iwatsubo, B.C. Sheng, and M. Ono, Kobe
Kobe University . .. .. .. .. .. .. ..
University . . 223
ANNULAR SEALS OF HIGH ENERGY CENTRIFUGAL PUMPS: PUMPS: PRESENTATION OF
FULL SCALE MEASUREMENT
S. Florjancic
F l o r j a n c i c and R.
R . Sturchler,
S t u r c h l e r , Sulzer Brothers, Limited;
and T.
T . McCloskey, ElectricE l e c t r i c Power Research I n s t i t u t e . . . . . . . . . 235
Research Institute
Session IV -- General
HYDRAULIC ACTUATOR SYSTEM FOR ROTOR CONTROL
Heinz Ulbrich
U l b r i c h and Josef Althaus, Technical University
o f Munich
Munich . . . 269
A
A SIMPLIFIED METHOD FOR PREDICTING THE STABILITY OF AERODYNAMICALLY
EXCITED TURBOMACHINERY
Albert F.
F . Storace, General Electric
E l e c t r i c Aircraft
A i r c r a f t Engines . .. .. .. . .
Engines . . . . 285
ELECTROMECHANICAL SIMULATION OF ACTIVELY CONTROLLED ROTORDYNAMIC
SYSTEMS WITH
WlTH PIEZOELECTRIC ACTUATORS
Reng
Reng Rong
Rong Lin
L i n and A.B. Palazzolo, Texas A&M University;
University;
A.F.
A.F. Kascak, U.S. Army Aviation Systems Command;
and G. Montague, Sverdrup Technology,
Techno logy, Inc . .. .. .. .... .. . .
I nc.. . . . . . . 301
301
DYNAMIC CHARACTERISICS
CHARACTERlSlCS AND STABILITY ANALYSIS OF SPACE SHUTTLE. SHUTTLE
MAIN ENGINE OXYGEN PUMP
Edgar J. Guntet
Guntef and Lyle
L y l e Branagan, University
o f Virginia
Virginia . . . . . . 317
ROTOR-TO-STATOR PARTIAL RUBBING
RUB81NG AND ITS ITS EFFECTS ON ROTOR DYNAMIC RESPONSE
Agnes Muszynska, Wesley D. Frankl
F r a n k l in,
i n , and Robert D. Hayashida,
Bentley Rotor Dynamics Research Corporation . . .
... .. .. .. .. .. .. .. .. .. .. .. 345
vi
Session VV - Identification
THE ROCKETDYNE MULTIFUNCTION TESTER -- PART I:I: TEST METHOD
B.T. Murphy,
Murphy, Joseph K.
K. Scharrer,
Scharrer, and Robert F. Sutton,
Sutton,
Rockwel I International
Rockwell International .
. .
. .
. .
. .
. .. .. .
, . . .
. .
. . .. .. .
. . . . . . . .. .. 363
THE ROCKETDYNE MULTIFUNCTION TESTER -- PART III:
I : OPERATION OF AA RADIAL
MAGNETIC BEARING AS AN EXCITATION SOURCE
L.A. Hawkins,
L.A. Hawkins, B.T. Murphy,
Murphy, and K.W. Lang,
Lang, Rockwell International . .
Rockwel I International . .. 375
COMMENTS ON FREQUENCY SWEPT ROTATING INPUT PERTURBATION TECHNIQUES
AND IDENTIFICATION OF THE FLUID FORCE MODELS IN ROTOR/BEARING/SEAL
ROTOR/BEARING/SEAL
SYSTEMS AND FLUID HANDtlNG
HANDLING MACHINES
Agnes Muszynska and Donald E.
E. Bently,
Bently,
Bentley Rotor Dynamics Research Corporation . ... . .. .. .. .. .. .. .. .. .. .. 391
Session VVII -- Bearings
APPLICATION OF AA CYLINDRICAL-SPHERICAL FLOATING RING BEARIKG
THE APPLlCATlON BEARING
AS AA DEVICE TO CONTROL STABILITY OF TURBOGENERATORS
P.S. Leung and I.A. Craighead,
P.S. Craighead, Newcastle Polytechnic;
Polytechnic;
T.S. Wilkinson,
and T.S. Wi Ikinson, NEI Parsons Ltd. ..
Ltd . . . .. .. .. .. .. .. .. .. .. .. .. .. .. .... 411
411
FLUID COMPRESSIBILITY EFFECTS ON THE DYNAMIC RESPONSE OF
HYDROSTATIC JOURNAL BEARINGS
Andres, Texas A&M
Luis A. San Andres, . .. .. .. .. .
A&M University . . . .. .. .. .. .. .. .. 427
EFFECT OF ECCENTRICITY ON THE STATIC AND DYNAMIC PERFORMANCE
OF A
A TURBULENT HYBRID BEARING
Luis A.
A. San Andres,
Andres, Texas A&M ..
A&M University . . .. .. .. .. .. .. .. .. .......... 443
vii
N92-14347
INVESTIGATION
INVESTIGATION ANDAND CONTROL
CONTROL OF
OF ROTORDYNAMIC
ROTORDYNAMIC INSTABILITY
IN
I N TYPICAL
TYPICAL LARGE
LARGE TURBOGENERATORS
TURBOGENERATORS
Lu
Lu Songyuan
Songyuan
Thermal
Thermal Power
Power Engineering
Engineering Research
Research Institute
Institute
Xian, People's
People's Republic
Republic of
o f China
China
This
This paper
paper describes
describes the
the investigation
investigation and
and results
results of
of recent
recent studies
studies to
to
solve
solve oil
oil whip
whip in
in typical
typical large
large turbogenerators.
turbogenerators. ItIt includes
includes the
the following:
following:
(1)
(1) Calculations
Calculations are
are given
given of
of the
the instability
instability speeds
speeds and
and system
system damping
damping of
of
rotor-bearing
rotor-bearing systems.
systems. The
The polynomial-transfer matri~
matrix method
method which
which was
was devel-
devel-
oped
oped by
by the
the author
author during
during the
the last
last few
few years
years is
is used
used in
in the
the calculations.
calculations.
(2)
(2) Vibration
Vibration measurements
measurements and
and data
data indicate
indicate the
the stability
stability of
of these
these units.
units.
(3)
(3) Research
Research reveals
reveals that
that the
the cause
cause of
of the
the instability
instability lies
lies in
in the
the three-
three-
bole
bole offset
offset bearings.
bearings.
(4)
( 4 ) Work
Work was
was done
done to
to solve
solve these
these problems,
problems, and
and industry
industry tests
tests were
were per-
per-
formed
formed onon one
one of
of these
these abnormal
abnormal systems.
systems.
INTRODUCTION
INTRODUCTION
Since
Since 1970,
1970, many
many 200
200 MW-130/355/535
MW-130/355/535 turbogenerator
turbogenerator systems
systems have
have been
been in
in
operation
operation inin China,
China, and
and these
these units
units have
have gradually
gradually become
become the
the main
main fossil
fossil fuel
fuel
power
power generating
generating units.
units. Unfortunately,
Unfortunately, oil
oil whip
whip takes
takes place
place occasionally
occasionally in
in
some
some of
of these
these systems
systems (about
(about 13
13 percent
percent of
of the
the total
total number).
number).
This
This paper
paper describes
describes the
the investigation
investigation and
and results
results of
of recent
recedt studies
studies to
to
solve
solve this
this rotordynamic
rotordynamic instability
instability problem.
problem.
TYPE
TYPE OF
OF UNITS AND BEARINGS
UNITS AND BEARINGS
Figure
Figure 11 shows
shows the
the rotor-bearing
rotor-bearing system
system investigated.
investigated. It It consists
consists primar-
primar-
ily
ily of HP, IP,
of HP, IP, and
and LPLP sections
sections and
and aa generator.
generator. The
The turbomachinery
turbomachinery has
has aa
total
total weight
weight of
of 50,400
50,400 kgf
kgf and
and an
an overall
overall length
length of
of 18,823
18,823 mm.
mm. The
The generator
generator
rotor
rotor weight
weight is
is about
about 42,000
42,000 kgf
kgf and
and its
its length
length is
is 8000
8000 mm.
The
The rotors
rotors are
are supported
supported by
by seven
seven three-pocket
three-pocket bearings
bearings (TPB)
(TPB) which
which pos-
pos-
sess
sess three
three axial
axial grooves.
grooves. However,
However, each
each land
land contains
contains aa spiral
spiral pocket,
pocket, crea-
crea-
ting
ting the
the convergent
convergent film
film shape
shape shown
shown in
in Fig.
Fig. 2.
2. The
The principal
principal parameters
parameters of
of
these
these TPB
TPB are
are given
given in
in Table
Table 1.
1. .
CALCULATION
CALCULATION ANALYSIS
ANALYSIS OF
OF THE
THE INSTABILITY
INSTABILITY
Calculation
Calculation of
of the
the Stiffness
Stiffness and
and Damping
Damping Coefficients
Coefficients of
of the
the Bearing
Bearing
Four
Four stiffness
stiffness coefficients
coefficients Kxx,Kxy,Kyx,Kyy
K~,Kxy,Kyx,Kyy and and four
four damping
damping coeffi-
coeffi-
cients
cients Cxx,Cxy,Cyx,C
Cm,Cx ,Cyx,Cyy representing
representing the
the dynamic
dynamic character
character ofof the
the bearing
bearing were
were
obtained
obtained by
by solving
soKving the
tgz Reynold's
Reynold's equation
equation (1)
(1) with
with the
the finite
finite difference
difference and
and
finite
finite element
element methods.
methods.
e£E)+JL.
ax az\KZ £E)
az = u
2
(1)
where
where
x circumferential
circumferential coordinate
coordinate in
in the
the direction
direction of
of rotation
rotation
zz axial
axial coordinate
coordinate
J.1P dynamic
dynamic viscosity
viscosity of
of oil
oil
pP pressure
pressure
uu tangential
tangential velocity
velocity of
of the
the journal
journal surface
surface
Kx,Kz turbulence coefficients

turbulence coefficients
Considering
Considering that
that the
the actual
actual flow
flow state
state is
is between
between laminar
laminar and
and turbulent
turbulent flow,
flow,
and
and to
to compare
compare the
the results,
results, the
the calculation
calculation was
was carried
carried out
out on
on the
the basis
basis of
of
three flow
three flow states:
states:
(1)
(1 ) Laminar
Laminar flow
flow
For this condition,
For this Kx == K
condition, Kx K,z == 11
(2) Turbulent
(2) Turbulent flow
flow
According
According to
to Ng-Pan's law, K
Ng-Pan's law, K.? == 11 ++ o. 00 113R~0.9
0.00113RL .9
x
0.96 *
and
and KKZ = 11 ++ o.
z =
000.36R~· 96
0.00036Rh
(3)
(3) Laminar-turbulent
Laminar-turbulent mixed
mixed state
state flow
flow
In the
In the calculation
calculation of
of this
this state,
state, first
first the
the Reynold's
Reynold's numbers Rh at
numbers Rh at each
each
point on
point on the
the net
net of
of the
the bearing
bearing surface
surface were
were evaluated
evaluated to
to determine
determine the
the param-
param-
eters of
eters of each
each point,
point, then
then correct
correct turbulence
turbulence coefficients
coefficients were
were selected.
selected.
Calculation
Calculation of
of the
the Instability
Instability of
of the
the Rotor-Bearing
Rotor-Bearing System
System
In the
In the calculation
calculation process,
process, the
the following
following two
two methods
methods are
are employed:
employed:
Ke - ~ , t method.
!eq-=-Yst method. -- Usually,
Usually, the
the equivalent
equivalent stiffness
stiffness Keq
Keq of
of the
the oil
oil
film an1 the
film and the whirl
whirl rate
rate Yst
yst (where yst = w/Q
(where Yst w/Qst,
st ' w,
w, whirl
whirl frequency;
frequency; Qs.,
Qst, the
the
threshold speed)
threshold speed) can
can be
be used
used to
to analyze
analyze instability.
instability. KeqKeq and
and Yst
yst are,
are,
respectively,
respectively,
2
K
=K
~XX~~XX~
C + K C - K C - K C
__-LYLY-LYLY_____x~y~y_x____~yx
___x~y (2)
eq C + C
xx yy
(Keq - K )(K - K ) - K K
2 = _ xx eq yy xy yx (3)
Yst C C - C C
xx yy xy yx
They
They are
are the
the function
function of
of the
the bearing load
load coefficient
coefficient <
(4)
where
where
W
W load
load acting
acting on
on bearing
y
0/ clearance
clearance ratio
ratio
L length
length of
of bearing
The
The threshold
threshold speed
speed of
of the
the elastic
elastic rotor
rotor with aa single
single disk
disk is
is therefore
therefore
2
tI) m
o (5)
where tI)
where w is
is the
the natural
natural frequency
frequency of
of the
the shaft
shaft supported
supported by two
two stiff
stiff
pedestals.
pedestal! .o
Transfer
Transfer Matrix-Polynomial Method (TMPM)
(TMPM) (Ref.
(Ref. 1)
1)
This
This method uses
uses the
the block matrices
matrices forfor transferring
transferring the
the sequence
sequence of
of
calculations
calculations along the rotor~
along the rotor. The
The characteristic polynomial can
characteristic polynomial can be directly
directly
obtained,
obtained, then
then all
all complex
complex eigenvalues
eigenvalues are are solved
solved with the
the Bairstow-Newton
approach.
approach. InIn the eigenroot S =
the eigenroot X ++ itl),
= A iw, A X is
is the
the system
system damping.
damping. Meanwhile,
Meanwhile,
according
according to
to A,X, the
the logarithmic decrement &
logarithmic decrement 6 corresponding
corresponding toto various
various speeds
speeds
can
can be obtained.
obtained. It It is
is clear
clear that
that the
the stability
stability state
state of
of the
the systems
systems is known
is known
immediately
immediately on
on the basis of
the basis of the value &
the value 6 or X.
or A.
A
A program based on
on the
the previously mentioned transfer
transfer matrix polynomial
polynomial
algorithm
algorithm was
was developed by the
the author
author during
during the
the last
last few
few years.
years. The
The first
first
half
half of
of this
this program employs new recurrence
employs new recurrence expressions,
expressions, equations
equations (6)
(6) and (7):
(7):
L.1 = U.1- lL.1-1 + W.M.

1 1
(6 )
M.1 = U.1-1M1-
. 1 + R.1-1L1-
. 1 (7)
The
The second
second half
half of
of the
the program applies
applies the polynomial algorithm.
the polynomial algorithm. The
The size
size of
of
the
the new
new transfer
transfer matrices
matrices is
is one-fourth
one-fourth of
of those
those used in
in the
the Murphy and Vance's
Vance's
3
method (Ref.
(Ref. 2);
2); therefore,
therefore, the
the CPU
CPU time
time and the
the storage
storage required
required are
are greatly
reduced.
reduced.
NUMERICAL RESULTS
NUMERICAL RESULTS (Ref.
(Ref. 3)
3)
The
The results
results of
of calculating
calculating the
the threshold
threshold speeds
speeds nst
fist of
of 200
200 MW units
units by
the K,q -- Yst
the Keq yst method forfor the
the laminar
laminar state
state are
are 'presented
'presented in
in Table
Table 2.
2. AsAs
shown
shown in
in this
this table,
table, the
the nst
Qst of bearings 66 and 7 is
of bearings is the
the lowest,
lowest, only 3557.6
r/min,
rlmin, and itit is
is merely 1.19 times
times the
the working
working speed
speed 3000
3000 r/min.
rlmin. The
The next
next low-
low-
est value is the nst of
est value is the Qst of bearing 3,
3, 3911.9 r/min.
rlmin.
The
The nst
Qst of bearings 66 and 7,
of bearings 7, as
as determined
determined by TMPM for
for the
the same
same state,
state,
are
are also
also listed
listed in
in Table
Table 2.
2. ItIt should
should be noted
noted that
that the
the results
results from
from these
these
two
two algorithms
algorithms are
are almost
almost identical.
identical.
A diagram
A diagram of
of the
the dampec
damped natural
natural frequencies
frequencies for
for the
the laminar
laminar state
state of
of the
the
oil
oil film
film resulting
resulting from
from TMPN
TMPM is
is shown
shown in
in Fig.
Fig. 3.
3. With the
the rotor
rotor speed
speed as
as the
the
abscissa
abscissa and the
the damped
damped natural
natural frequency
frequency as
as the
the ordinate,
ordinate, aa number
number of
of the
the
modes
modes are
are shown
shown in
in this
this figure.
figure. The parameter values
The parameter values on
on the
the curves
curves give
give the
the
logarithmic decrement S.
logarithmic decrement 6.
In
In Fig.
Fig. 3,
3, it
it is
is noted
noted that
that the
the S 6 ofof the
the first
first forward
forward whirl
whirl changed
changed
from a positive value to a negative
from a positive value to a negative value value when the
the rotor speed reached
rotor speed reached 3601.5
r/min,
rlmin, then
then the
the generator
generator rotor
rotor began to become unstable.
to become unstable. This
This frequency
frequency is
is
rather lower than the first natural frequency of the generator
rather lower than the first natural frequency of the generator supported supported by the
the
stiff pedestal
stiff pedestal and is consistent
is consistent with the
the measured value of the first critical
value of the first critical
speed.
speed.
Again, it
Again, it should noted in
should be noted in Fig.
Fig. 3 that
that the
the value
value of
of 06 forfor the
the genera-
genera-
tor
tor rotor
rotor is
is only 0.08
0.08 at
at the
the working
working speed
speed of
of 3000
3000 r/min
rlmin and is
is much less
less than
than
the
the one
one recommended
recommended by current
current standards
standards (Ref.
(Ref. 4).
4).
-
Table
Table 33 shows
shows the
the variation
variation ofof 06 with the bearing dimensionless
the bearing dimensionless load
load P
and the
the oil
oil inlet
inlet temperature
temperature TinTin for
fog the
the laminar-turbulent
laminar-turbulent mixed state.
state. At
nominal
nominal working parameters (i.e.,
working parameters at P
(i .e., at P =
= 11 and TinTin =
= 42 "C) , nst
42 °C), fist is
is 3004.3
r/min.
rlmin. When Tin increases
increases to
to 48
48 °C,
"C, nst
Qst can
can also
also increase
increase to
to 4593.8 r/min.
rlmin.
The
The reduction
reduction of
of the
the bearing load
load can
can also
also sharply
sharply decrease
decrease nQst.
st • A A more com-
mon cause
cause of
of bearing load
load variation
variation isis the
the differential
differential thermal
thermal growth
growth of
of the
the
bearing pedestals.
bearing pedestals. Besides
Besides showing
showing that
that the
the stability
stability of
of the
the 200
200 MW generator
generator
units
units is
is inferior
inferior atat the
the nominal
nominal speed,
speed, an
an analysis
analysis of
of the calcul~ted results
the calculated results
of
of Table
Table 3 shows
shows that
that the
the stability
stability can
can easily
easily deteriorate
deteriorate with P and Tin. Tin.
The
The damped
damped natural
natural frequencies
frequencies of
of the
the HP,
HP, IP,
IP, and LPLP sections
sections of
of the
the
turbomachinery
turbomachinery rotor-bearing
system are
are shown
shown in
in Fig.
Fig. 4,
4, whereas
whereas Table
Table 44 pre-
sents
sents the
the S6 values
values of
of the
the second
second forward
forward whirl
whirl of
of these
these three
three rotors
rotors at
at 2700,
2700,
3000,
3000, and 3300 r/min, respectively.
3300 rlmin, respectively. From Fig.
Fig. 4,
4, it
it can
can be seen
seen that
that the
the sta-
bility of
of all
all of
of the
the rotors,
rotors, except
except the
the LPLP rotor,
rotor, are poor.
are poor.
To
To thoroughly
thoroughly investigate
investigate this
this kind
kind of
of turbogenerator
turbogenerator and toto better exam-
exam-
ine
ine the
the calculation
calculation program from
from an
an engineering
engineering viewpoint,
viewpoint, aa comparative
comparative cal-
cal-
culation
culation was
was made
made between these
these 200
200 MW units
units and aa 250
250 MW unit
unit known
known for
for its
its
good stability.
stability. The numerical results
The numerical results for
for this
this 250
250 MW unit
unit are
are listed
listed in
in
4
Table
Table 4.
4. It
It further
further demonstrates
demonstrates that
that the
the 200
200 MW units
units are
are much less
less stable
stable
than
than the
the 250
250 MW units
units (Ref.
(Ref. 5).
5).
MEASUREMENT
MEASUREMENT AND FIELD
FIELD DIAGNOSIS
DIAGNOSIS TEST
TEST ON THE
THE INSTABILITY
INSTABILITY
VIBRATION OF 200
200 MW TURBO GENERATORS
TURBOGENERATORS
Because
Because of
of the
the instability
instability of
of the
the 200
200 MW units,
units, aa series
series of
of measurements
measurements
and tests
tests in
in the
the field
field were
were performed toto diagnose
diagnose and determine
determine the
the cause
cause of,
of,,
violent
violent vibrations
vibrations that
that occurred
occurred in
in some
some of
of these
these units,
units, severely
severely affecting
affecting
normal
normal work as
as well
well as
as safety.
safety.
The
The results
results of
of the
the measurements
measurements and tests
tests follow:
follow:
(1)
(1) The
The large
large vibrations
vibrations that
that sometimes
sometimes occurred inin some
some 200
200 XMW
' W units
units was
was
oil
oil whip.
whip. InIn all
all of
of these
these cases,
cases, it
it is
is clear
clear that
that the
the whip originated
originated inin bear-
ings
ings 66 and 7,
7, and then
then expanded to
to the
the turbomachinery
turbomachinery causing
causing the
the whole
whole rotor-
rotor-
bearing system
system to
to vibrate
vibrate violently.
violently.
(2)
(2) Meanwhile,
Meanwhile, it
it was
was found
found that
that the
the dominant
dominant frequency
frequency of
of the
the generator
generator
vibration
vibration was
was 18-19
18-19 Hz,
Hz, which
which is
is approximately
approximately the
the first
first natural
natural frequency
frequency of
of
this
this rotor
rotor under
under actual
actual operating
operating conditions.
conditions. .The
The maximum vibration amplitude
amplitude
of
of these
these two
two bearings
bearings could
could reach
reach 0.6-0.8
0.6-0.8 rom
mm (p-p) during
during Whip.
whip.
(3)
(3) The
The oil
oil temperature
temperature in
in the bearings is
the bearings is of
of vital
vital importance
importance to
to stabil-
stabil-
ity
ity during
during the
the operation.
operation. Oil
Oil whip
whip can
can be temporarily
temporarily avoided
avoided by increasing
increasing
the
the oil
oil inlet
inlet temperature.
temperature. Consequently, before whip
Consequently, before whip was
was completely
completely eliminated
eliminated
in
in these
these defective
defective units,
units, some
some defective
defective units
units could be operated
operated reluctantly
reluctantly by
raising
raising the
the oil
oil inlet
inlet temperature
temperature to
to 48-50
48-50 °C
"C for
for several
several months,
months, even
even aa year.
year.
(4)
( 4 ) Spectrum
Spectrum analysis
analysis on
on some
some of
of the
the 200
200 MW units
units with higher
higher oil
oil inlet
inlet
temperatures
temperatures indicated
indicated that,
that, except
except for units with whip,
for units whip, aa subsynchronous
subsynchronous com-
ponent whose
ponent whose frequency ranged from
frequency ranged from 18-19 Hz at
18-19 Hz bearings 66 and 77 orbalf
at bearings or~alf running
running
speed
speed at bearing 33 exist
at bearing exist in
in most units,
units, though
though these
these subsynchronous
subsynchronous vibration
vibration
values
values are
are small
small and there
there was
was not
not typical
typical instability,
instability, i.e., whip or or obvious
obvious
oil
oil whirl.
whirl. Figure
Figure 55 shows
shows the
the spectrum
spectrum of
of shaft
shaft vibration
vibration of bearing 66 at
of bearing at 3000
3000
fmin in
rrlmin in this unit (Ref.
this unit (Ref. 6).·
6).
IMPROVEMENT
IMPROVEMENT OF THE UNITS ON SITE
THE UNITS SITE
So
So far,
far, all
all of
of the
the calculations
calculations and measurements
measurements have
have fully
fully demonstrated
the
the poor stability
stability of
of the
the 200
200 MW turbogenerators.
turbogenerators. Consequently,
Consequently, three
three main
measures
measures were
were taken
taken to
to improve
improve these
these systems:
systems:
(1)
(1) MOdify
Modify the
the geometric parameters of
geometric parameters of the
the TPB,
TPB, e.g., decrease
decrease the
the effec-
effec-
tive
tive length
length of
of the bearing.
the bearing.
(2)
(2) Re-adjust
Re-adjust the
the vertical
vertical height
height of
of the bearings and make the
the bearings the center
center of
of
bearing 66 higher
higher than
than bearing 5 by 0.05-0.1
0.05-0.1 rom
mm in
in the
the stopped
stopped condition
condition to
to
compensate
compensate for
for the
the rise
rise of
of the
the center
center of
of bearing 55 during
during operation.
operation.
5
(3)
(3) Use bearings with good stability
Use bearings stability instead
instead of
of the
the TPB.
TPB.
For
For some
some defective
defective units,
units, actions
actions (1)
(1) and (2)
(2) have
have been effective,
effective, but
but for
for
aa few
few units,
units, the
the situation
situation did not
not take
take aa favorable
favorable turn.
turn.
It
It is
is obvious
obvious that
that the
the former bearings at
former bearings at least bearipgs 66 and 7,
least bearings 7, should
should
be replaced
replaced by high-stability ones.
ones.
The
The new
new design
design adopted
adopted the
the elliptic bearings shown
elliptic bearings shown in
in Fig.
Fig. 5.
5. AA detailed
detailed
calculation
calculation ofof the
the logarithmic
logarithmic decrement
decrement 05 shows
shows that
that this
this improved
improved rotor-
rotor-
bearing system
bearing system will
will be much better than
than for previous systems
for previous systems of
of stable
stable TPB
TPB
units. From Table
units. Table 3,
3, it
it can
can be seen
seen that
that at
at working
working speed,
speed, the
the new
new value
value isis
about
about three
three times
times the previous value
the previous value of
of 0.08. ItIt is
is also
also noted
noted that
that S 6 is
is
still
still 0.213 atat the
the maximum calculation
calculation speed
speed 4000
4000 r/min,
rlmin, and this
this means
means that
that
the
the threshold
threshold speed
speed of
of the
the new
new rotor-bearing system
system has
has gone
gone beyond 4000
4000 r/min.
r/min.
TEST
TEST AND RESULTS
RESULTS OF IMPROVING
IMPROVING A
A UNIT
UNIT BY REPLACING
REPLACING THE
THE BEARINGS
BEARINGS
Bearings
Searings were
were replaced
replaced in
in aa unit
unit with severe
severe whip
whip at
at Xu
Xu Zhou
Zhou Power
Power Plant
Plant
to
to solve
solve instability
instability and to
to test
test the
the elliptic bearing on
elliptic bearing on site.
site.
Since
Since they
they were
were put into
into operation
operation atat the
the .end
end of
of 1985,
1985, this
this unmodified
system
system has
has experienced whip 3939 times.
times. Lastly,
Lastly, the
the oil
oil inlet
inlet temperature
temperature has
has
to
to be maintained above
above 48°C
48 O C to
to avoid
avoid the
the emergence
emergence of
of whip.
whip. Figure
Figure 66 gives
gives aa
typical
typical whip spectrum
spectrum of
of this
this unit
unit at
at an
an operation
operation speed
speed of
of 3000
3000 r/min
rlmin and an
an
oil
oil inlet
inlet temperature
temperature of
of 48°C
48 O C (Ref.
(Ref. 7).
7). After failures
failures in
in mOdifying
modifying the
the
design parameters of
design parameters of the
the TPB
TPB and inin readjusting
readjusting the
the centers
centers of
of the bearings,
the bearings,
it was finally
it was finally decided to
to replace
replace bearings
bearings 3 and 7 with thethe elliptic
elliptic ones.
ones.
The test of
The test the unit
of the unit with the
the new
new bearings
bearings was
was to
to verify the
the stability
stability and
to determine
to determine general vibration characteristics.
general vibration characteristics. The test was
The test was carried
carried out under
out under
the following
the two special
following two special severe
severe working conditions:
conditions:
(1)
(1) The
The oil
oil inlet temperature was
inlet temperature was decreased
decreased slowly
slowly from
from 48
48 to
to 35°C,
35 O C , which
which
is
is below the
the normal
normal value
value by 5°C.
5 OC.
(2)
(2) The
The speed
speed of
of the unit rose
the unit rose to
to 3300
3300 r/min,
r/min, then
then the
the trip
trip occurred.
occurred.
During
During the
the whole
whole test period, the
test period, the unit
unit operated smoothly
smoothly under
under several
several
working conditions
conditions from
from startup
startup to
to full
full power 200
200 MW,
MW, and no
no whip was
was
encountered.
encountered.
From Figs:
Figs; 7 and 88 (Ref.
(Ref. 8), it
it can
can be seen
seen that
that the predominant frequency
the predominant frequency
coincided
coincided with the
the operating
operating speed
speed of
of the
the turbine.
turbine. Between
Between the
the speeds
speeds of
of 2700
2700
3300 r/min,
and 3300 r/min, the
the maximum amplitude
amplitude of
of the Hz component
the 18.75 Hz was only 0.7 p
component was ~
and is
is considerably
considerably smaller
smaller than
than the
the amplitude
amplitude shown
shown in
in Fig.
Fig. 5.
5. It
It is,
is, there-
there-
fore,
fore, of
of interest
interest to
to note
note that
that whip has
has no
no longer
longer occurred
occurred and that
that instability
instability
is
is considered
considered to
to be completely
completely solved.
solved. InIn addition,
addition, the
the test proves the
test proves the fol-
fol-
lowing properties of
lowing properties of this
this new
new bearing rotor
rotor system:
system:
6
• From the
the Bode
Bode figure,
figure, it
it is
is seen
seen that
that there
there is
is no
no resonance
resonance peak at bearings
at bearings
66 and 77 in
in connection
connection with the
the second
second critical
critical speed
speed of
of the
the generator
generator rotor
rotor
from
from 2600
2600 toto 3250
3250 r/min.
r/min.
• The
The unbalance
unbalance response
response of
of the
the rotors
rotors mounted in
in the
the new bearings is
new bearings is normal
and its
its influence
influence coefficients
coefficients are
are approximately
approximately the
the same
same as
as those
those in
in the
the
previous TPB
previous units. ,The
TPB units. The maximum amplitude
amplitude of
of each
each bearing is
is less
less than
than
0.05 mm when the
the rotor passes various
rotor passes various critical' speeds.
critical'speeds.
• Other
Other operating parameters -- for
operating parameters for example
example power loss, te~perature of
loss, te2perature of bearing
surface,
surface, and amount
amount of
of oil flow -- are
oil flow are normal,
normal, too.
too.
CONCLUSIONS
CONCLUSIONS
The
The TMPM used to
to calculate
calculate the
the 200
200 MW units
units is
is aa valuable
valuable analytical
analytical tool.
tool.
T~e resulting
T5e resulting logarithmic
decrement can
can be effectively
effectively employed
employed to
to evaluate
evaluate the
the
stability
stability of
of large
large turbogenerators.
turbogenerators. The
The CPU
CPU time
time of
of the
the corresponding
corresponding program
is
is faster
faster than
than other
other ones.
ones.
The
The detailed
detailed calculation
calculation and measurement
measurement revealed
revealed that
that the
the stability
stability of
of
the
the 200
200 MW units
units is
is inferior
inferior and is
is not
not satisfactory
satisfactory for
for operation.
operation. In
In addi-
addi-
tion,
tion, investigation
investigation indicated
indicated that
that the
the main reason
reason for performance is
for poor performance is the
the
TPB
TPB which has
has poor stability properties with middle
stability properties middle to
to heavy bearing loads.
loads.
Adoption
Adoption of
of elliptic bearings for
elliptic bearings for 200
200 MW units
units is
is aa valid measure
measure for
for
eliminating
eliminating whip in
in these units. Meanwhile,
these units. Meanwhile, elliptic bearings do
elliptic bearings do not produce
not produce
side
side effects
effects on
on other
other general properties.
general properties.
A thorough
A thorough investigation
investigation is to choose
is needed to choose the
the optimum parameters
parameters for
for
elliptic bearings under
elliptic bearings under various
various working conditions.
conditions.
REFERENCES
REFERENCES
1.
1. Lu
Lu Songyuan,
Songyuan, "A Method for
for Calculating Damped
Damped Critical
Critical Speeds
Speeds and Stability
Stability
of
of Rotor-Bearing Systems."
Systems." ASME
ASME Paper No. 85-DET-ll6.
Paper No. 85-DET-116.
2.
2. B.T. Murphy and J.M. Vance,
Vance, "An Improved
Improved Method for
for Calculating
Calculating Critical
Critical
Speeds
Speeds and Rotordynamic
Rotordynamic Stability
Stability of
of Turbomachinery."
Turbomachinery." Journal
Journal of
of Eng.
Eng. for
for
Power,
Power, Trans.
Trans. ASME,
ASME, Vol. lOS,
105, July
July 1983.
1983.
3.
3. Lu
Lu Songyuan,
Songyuan, "Analysis
"Analysis on
on Stability
Stability of
of Rotor-Bearing
System of
of 200
200 MWTurbo-
MW Turbo-
generator
generator Units."
Units." Thermal
Thermal Power
Power Eng.
Eng. Research
Research Institute, No. 87248.
Institute, No. 87248, 1987.
1987.
4.
4. S.B.
S.B. Malanoski,
Malanoski, "Rotor-Bearing system
system Design
Design Audit." The
The 4th
4th Turbomachinery
Turbomachinery
Symposium,
Symposium, 1975.
1975.
5.
5. Lu
Lu Songyuan
Songyuan and Wu Rongqing,
Rongqing, "Calculation
"Calculation Analysis
Analysis on
on aa 250
250 MW Turbogenera-
Turbogenera-
tor
tor and Comparison
Comparison With 200
200 MW Units." Thermal
Thermal Power
Power Eng.
Eng. Research
Research Insti-
Insti-
tute
tute and Xian
Xian College
College of
of Technology, No. 87219,
Technology, No. 87219, 1987.
1987.
7
Lu Songyuan
6. Lu
6. Songyuan and
and Shi
Shi Weixin,
Weixin, "Measurement
"Measurement and
and Investigation
Investigation on
on Instability
Instability of
of
some 200
some MW Turbogenerators
200 MW Turbogenerators in
in Field." Thermal Power
Field." Thermal Power Eng.
Eng. Research
Research Insti-
Insti-
tute, No.
tute, No. 87248,
87248, 1987.
1987.
7. Gao
7. Gao Wei
Wei and
and Li
Li Yong,
Yong, "The
"The Vibration
Vibration Test
Test of No.. 6 Unit
of No.6 Unit at
at Xu
Xu Zhou
Zhou Power
Power
Plant." Nian Jing University, 1988.
P1ant." Nian Jing University, 1988.
8. Lu
8. Lu Songyuan
Songyuan and
and Quan
Quan Jun,
Jun, tiThe
"The Test
Test of
of Replace'
Replace.of Bearings at
of Bearings No. 66 Unit
at No. Unit at
at
Xu Zhou Power Plant." Thermal Power Generation, No. 6,
Xu Zhou.Power Plant." Thermal Power Generation, No.6, 1989. 1989.
HP IP LP 6e.
~__~,-----t;J
IS .28 38 48 58 '8 78
Fig. 11
Fig. Schematic
Schematic Diagram of
Diagram o f Rotor-Bearing
System
off 200
o MW
200 MW Turbogenerator
Turbogenerator
Fig.2
Fig.2 Schematic o f the
Schematic of the Three-
Three-
Pocket Bearing
Pocket Bearing
8
--_._.___.--_ ...._- -.-:.::::.::.::::::::::-::::.:.::.:.:.:.::..::-----:---:
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. ----~-.- .. ~- ... ... .. -_. ---. --'
JIIIItI
- F i g . 3 Damped
Fig.3 natural frequencies
Damped natural o f 2QOMW
frequencies of generator
20OMW generator
i n three-pocke t
in three-pocket bearings
bearings
9
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Fig.4 Damped natu ral rrequ~ncies o£ 200MW tur~machinery
·
o 40 80 120 200Hz
Fig.5
Fig.5 Frequency
Frequency Spectrum
Spectrum of
o f horizontal
h o r i z o n t a l vibration
v i b r a t i o n of ~ 0 . 6
o f No.6
bearing of
o f aa 200MW
200MW unit
u n i t at
at fullf u l l load, 3000r/min,
3000r/min,
Dec. 12,1985
12,1985
I 1,lb'''' V
1M"",,:::.:".""""'"""'''''''''"::J!·.~L~~L~J~~~ ___.
18'.5" '37.0 50 I OQ Hi:.
F i g , 6 Typical
Fig.6 Typical spectrum
s p e c t n m ~rlurJng
d u r i n g the
the whip
w h i p at No. 6 bearing
at No.6 bearing
of'
o f No.6
No.6 unit
unit; of of Xu
Xu Zhou
Zhou Power
Power Plant
Plant bef'ore
b e f o r e the
the
replacing
replacing TPB (2)
TIJL3 (1)
11
MI : 1 100 I 1 0 M 1 2
MI : 1 V 100HZ ! 10/2 Mll 2
~(:~~
l
; "
of' "
I .~" "v, , r
L"
1\ \
MI
] ~\~~-
II
II
N
,'" Y
\ 1\
~
0
! L
5"~ le"rJllVl .:t, " ; r
10 :ttW I
\ \
l ::."
~ ,1.\" ~r N
\
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I
1 ··~fi·.. ,r .c "
~.
,
\
0
,
II i
. 6mVOLT
J
W
HI-A
H I - A 11 .1J 8Q 5S . 0CPM
QC?M' 1
LO-M
L O - M
Fig.7
Fig.7 Frequency
Frequency spectrum
spectrum of o f vertical
v e r t i c a l vibration
v i b r a t i o n of
o f No.6
No.6
bearing
bearing o f ~ 0 . 6u n i t i n new e l l i p t i c bearings of
of No.6 unit in new elliptic bearings of
Xu
X u Zhou
Zhou Power
Power Plant,
P l a n t , power
power output:
output: 160 160 and and 180HW,
180MW,
oil
o i l inlet
i n l e t temperature:
temperature: 35°C 35OC
., I '- - -r - \ l l 1i l i r,,,y 'L ----.--

--------- -- A ' . ,
? ,ro
- 30 > a
5rdr
1
I-- .. d ,., .
-- --, ,..^..
,C ' 0
- A
- - ,8'!;."
.,%a
----
>, 2
--
--
---
--
-- J
,"!
---- .
,p,.,,
--
>/)a
.2 I
-' 79.-
LJ 6.. ,
0 U) iit 60 80 1m N2
Fig.8
Fig.8 Spectrum cascade of o f vertical
vertical v vibration
i b r a t i o n of
of N O . 6 bearing
No.6
of ~
of No.60 . 6u
unit
n i t in
i n new elliptic
e l l i p t i c bearing o off X
Xuu Zhou Power
Plant,
P l a n t , speed fromfrom 2520 r/minr/min tto o 3330 r/rnin,r/min, L Lin
i n••
..
12
Tab.l
Tab. 1 TP
TP Bearing d a t d o~
Bearing dat4 of 200MW
200MW turbogenerators
turbogenerators
No. o f bearing
No. o~ bearing 11 22 33 44 .55 66 and
and 77
Diameter
Diameter D(mnr)
~ ( m m ) 250
250 300
300 360
360 360
360 360
360 420
420
R a t i o LID
Ratio L/D 0.8
0.8 0.8
0.8 0.7.5
0.75 0.75
0.75 0.75
0.75 0.7619
0.7619
Load W (Kg~)
Load W ( ~ g f ) 3900
3900 13900
13900 12237
12237 10040
10040 8923
8923 21400
21400
Speci~ic
Specific PPa
a 7.652E5 1 89336 1.23.5E6
7.65235 1.893E6 1 235E6 1.013E6
1.013E6 9.006E.5
0 9 006E5 1.565E6
1 56536
pressure
pressure
Pm
pm
K~/Cm
~ g f / ~ m7.8
7.8 19.3
19.3 12.59
12.59 I 10.33
10.33 9.18
9.18 15.95
15.95
Table
Table 22 Calculation r e s u l t s o~
C a l c u l a t i o n results t h r e s h o l d speedsllsto~
of threshold speeds DJ#f units ( r/min)
u n i t s (r/min)
Calculation condition No. o~ bearings

1 2 3 4 5 0,7
IK.eq- rs t' LSingle
.
disc
am1nary 4220.8 4487.8 3911.9 4353.2 4206.0 3557.6
200Mw ~P,Multidisc,Lami. 1601.,,\
unit rrMP,Mu~tid1sc
Laminary- ~in=42b 3004.3
turbulence rr in=-lll:f(; 4593.8
250M" rrMP,Multidisc
unit Turbulence 5527.0
Table 33 The
Table The calculation r e s u l t s o~
c a l c u l a t i o n results of the
t h e threshold
t h r e s h o l d speeds
speeds
o~ TPB units
of TPB u n i t s versus
v e r s u s dimemsionless
diwemsionless load l o a d o~o f bearing
bearing
and
and oil
o i l inlet
i n l e t temperature
temperature
Dimensionless
Dimensionless
load 10~
1 00% 9~
9* 8~
8096 7~
7M
of bearing
l o a d o~ bearing
T *
Tin
Tin Tm ,* n,, e,,**
..as",
E:* fist
.clst' e.
f0 nrt
.tlH. E.
€a n~t eE•,
.n.,'t.
48'C
48°C 60·c
60.c 4593.80.571
4593.8 3620.70.5433018.30.5152651.40.478
0.571 3620.7 0.543 3018.3 0.515 2651.4 0.478
42'~
42°C 5.5"C
55OC 3004.30.5362458.90.5102228.30.4792171.30.443
3004.3 0.536 2458.9 0.510 2228.3 0.479 2171.3 0.443
** TTmm:: the
t h e average
average temperature
temperature in o i l ~ilm
i n oil f i l m o~
o f bearing
bearing
**eo:
** Eo: eccentrici
e c c e n t r i c ity
t y ratio
ratio
13
Table 44 The
Table The logari decrement ib of
thmic decrement
logarithmic 200MW unit
of 200MW unit
with
with TPB
TPB and 25OMW u n i t with
and 250MWunit with elliptic
e l l i p t i c bearing
bearing
Speed
Speed
t( r/min
r/min)
HP
HP IP
IP LP
LP
Speed
Speed
((r/min)
r/min)
Ge
Ge. .
200MW
2 0 0 M W unit
unit 0.2001
0.2001 0.1613 0.7217
0.1613 0.7217 0. 15
0.15
2700
2700 2400
2400
250MW unit
250MW unit 0.708
0.708 0.465
0.465 0.47
0.47
200MW
2 0 0 M W unit
unit 0.1131 0.5717
0.1477 0.11.31 0.5717 0.08
0.08
3000
3000 3000
3000 -
2 5 0 unit
250MW ~ n~i t
u 0.679
0.679 0.354
0.354 0.25
0.25
200MW unit
200MW unit 0.1041 10.0729
0.1041 0.441 1
0.0729 0.4411 0.00011
0.00011 ,
3300
3300 3600
3600
250MW unit
250MW unit .- 0.654
0.654 0.264
0.264 " 0.15
0.15 II
Table 55 The
Table The elliptic
bearing parameters
parameters
No. of
No. of bearing
bearing 3,4
3,4 and
and 55 66 and
and 77
Diameter
Diameter D{mm)
D(mm) 360
360 420
420
Assembled
Assembled clearance
clearance 1
I
0.001 5 - 1 0.0015
0.0015 0.001 5
I
Elliptic
E l l i p t i c ratio
ratio I 0.55
0. 55 0.55
0.55
Length/D (L/D) 0.75 0.7619
Table 66 The
Table The logarithmic
decrement of r
of 200MW
200MW
unit with
unit with new new elliptic
bearing of of
generator
g e n e r a t o r rotor
rotor
Speed
Speed (r/min)
(r/min)
rb whirl
whirl frequency:
frequency j
(Hz)
(HZ) . 1
3000
3000 0.217
0.217 16.00
16.00 1
3200
3200 0.202
0.202 16.11
16.11 !I
3400
3400 0.218
0.218 16.34
16.34
3600
3600 0.128
0.128 16.44
16.44
3800
3800 0.287
0.287 15.62
15.62
4000
4000 0.213
0.213 I 6. 01
16.01
14
FIELD TELEMETRY OF BLADE-ROTOR
BLADE-ROTOR COUPLED TORSIONAL VIBRATION
AT MATUURA
MATUURA POWER STATION NO. 1 UNIT
Kuniyoshi lsi
l s i i and
and Hideaki
Hideaki Murakami
Murakami
Thermal Power Department
Kyushu
Kyushu Electric
E l e c t r i c Power Co.,
Co., Inc.
2-1-82, Watanabedouri , Chuo-ku, Fukuoka-shi
2-1-82, Watanabedouri,
Fukuoka-ken,
Fukuoka-ken, Japan, 810
Yasuhiko Otawara and

and Akira Okabe
Steam
Steam Turbine Design
Design Section
Thermal Power Plant Design
Design Department
Hitachi
Hitachi Works, Hitachi
Hitachi Ltd.
3-1-1,
3-1-1, Saiwai-cho,
Saiwai-cho, Hitachi-shi
Ibaraki-ken, Japan, 317
At Matuura Power Station No.1 Unit, which is the 700MW coal fired plant of Kyushu Electric Corporation that
started commercial operation on June 30, 1989,1989, field telemetry of the last-stage bucket of the steam turbine is
+
executed just after the first steaming in order to verify the blade-rotor (HP, lP, 2LP's, and Generator) coupled
(HP, 1P,
torsional vibration frequency,
frequency, which is predicted to be near twice the line frequency.
frequency. 'The
' The measured frequency
frequency is
different from the double synchronous
synchronous frequency, and the steam turbine's reliable operation for the negative sequence
frequency,and
confirmed. This paper reports the analytical procedure for prediction of coupled
current is confirmed. coupled vibration incorporated
with a single manu~facturer'sfactory. It also compares the predicted
single rotor test of blade-rotor coupled vibration at the manufacturer's
value and the measured results.
1 INTRODUCTION
The effect of torsional excitation in a turbine generator system from the power line is an old but still ongoing
topic because of the growing size of electrical networks and larger unit capacity. The electric disturbances which
cause torsional excitation of the turbine generator include line accidents such as short circuits and faulty synchroni-
synchroni-
zation. Since the mid 1970's,
1970's, these matters have been widely discussed.
discussed. A turbine generator was generally modeled
as a lumped-mass
lumped-mass and spring system. Dynamic simulations of the grid system and shaft system were executed in
order to estimate the shaft torque. Stresses in the main journal bearings and coupling
coupling were analyzed by using the
simulation results. (Ref.l)
(Ref.1) Finally,
Finally, fatigue strength was evaluated for shaft life expectancy due to the power line
transient.
At the same time, the technology to monitor the torsional frequency of main shaft modes modes has developed.
developed.
Generally,
Generally, toothed gears are machined on each rotor to detect the phase differences between rotors by using a magnet
pick-up. The differences in shaft twisting during operation were analyzed using FFT
pick-up. F F T (Fast Fourier Transform) in
order to find
find natural frequencies,
frequencies, mode shapes,
shapes, and modal damping.
damping.
These discussions
discussions have focused
focused on the principle lower torsional vibration modes of the rotor system. From the
late 1970's,
19703, examinations of higher torsional frequency modes coupled with long buckets of low pressure turbines
have been reported. The so-called
so-called umbrella modes are blade-disk coupled vibration. Since all blades mounted on a
disk vibrate in the same direction and the disk vibrates with a zero nodal diameter in the case of an umbrella mode
4;:+
of blade-disk vibration,
vibration, this mode is hardly excited by
flow but can be excited by torsional excitation due
steam flow Disk-Blade:
Disk-Blade :
to negative sequence
sequence currents from
from the power line. (Figure
(Figure Blade:
Blade : Tangential
Tangential Vibration
Vibration Umbrella Axial Vibration
Umbrella Axial Vibration
1)
1) This frequency is a higher torsional mode, and f~
-4
approaches different from the mere shaft system torsional
approaches Shaft :
analysis are required in order to accurately estimate the Torsional Vibration ,Ij
higher torsional modes,
modes, because this problem is in the
boundary between the blade-disk
blade-disk coupled vibration prob-
prob-
problem.
lem and the rotor torsional vibration problem. I t
-:
In this paper, the analytical method will be reviewed ,I
,I
and estimation of input data for the calculation of a
blade-rotor
blade-rotor coupled system will be made by measuring the Blade-disk-rotor coupled vibration
Figure 1 Blade-disk-rotor
15
umbrella mode of blade vibration coupled with a double-flow low pressure rotor of a 700MW steam turbine during
manufacture. Then field telemetry of the last-stage buckets of a 700MW steam turbine ata t the Matuura P.S. was
executed in order to verify the predicted values. The measured results were tabulated and compared with the
calculated value.
2 MODELING FOR ANALYSIS
In a coupled shaft-blade
shaft-blade system of a turbine generator shaft set,
set, the shaft system and blade system correspond
flexible than th:is
to a main system and to a subsystem, respectively. The main shaft system is more flexible this subsystem. For
example, The first torsional frequency of the shaft system is about 7 to 20Hz compared to the lowest umbrella
150Hz. Therefore, the coupled model is obtained by combining the standard
frequency of blades which is about 50 to 150Hz.
FEM beam model of the shaft main system with additional branches of a spring-mass
spring-mass model derived from the blade
subsystem. A coupled model of the entire system is thus obtained. These additonal branches area r e actually simple added
nodal points with a mass connected to the boss of the shaft
by a spring, one for each eigen mode of the blade system. Equivalent Reduced
Equivalent Reduced System
System rneql
In case of long blade vibration, two kinds of umbrella Blade Eigenmodes)
(2 Blade Am
modes are generally considered for double synchronous
&I*
a s shown as in Figure 2. The equation of motion
resonance as
can be expressed in the following formula. (Ref.2)
(Ref.2)
x32 *
MI XI KI 00 0 XI
m,+dm
where
m,ql
m eq ,
x,
X 31•
X32 •
+
0keql C0k
o -keql
o -keq,
@ keqc,* -k kCeqlq l --kcq2
kkc,,
0
eql 0
keq ,
kkeqz
eq , 11
x,
X 31
X32
~ 3 2
•
•
=0
=
Figure 22 Equivalent
Figure Equivalent Reduced
Reduced Model (2 Blade
Model (2
Table 1
meqz
ffi eq 2
Blade Modes)
Modes)
me,, =a~q,ltM3q,1
mCql = atq51tM3q51 = equivalent mass of 1st mode
=equivalent
mCq,=a~q"tM3q,2=equivalent
Rated
Characteristic Rated 700,OOOkW
700,000kW
me,, =agq52tM3q52=equivalent mass of 2nd mode
kcq, = w~mCql
k,,, = oTm,,, = =equivalent
equivalent spring of 1st mode Evaporation Quantity
Evaporation Quantity 2,30OTon/Hr
2,300Ton/Hr
kCq2 = W~mCq2
k,,, = o,2meq,= =equivalent
equivalent spring of 2nd mode Boiler
Boiler Fuel
Fuel Coal
Coal
Stack Height 200m
200m
al
a, ==1 tM 3q,1 //q5,'M3q5,
ltM3q5, q,1 tM 3q,1 = = 1st coupling factor
a2
a, ==1
l ttM 4 , /q,2
M33q,2/ ~ tM
, ' M3q,2
3 ~=
=, 2nd coupling factor Main Steam
Main Steam Pressure
Pressure 246kg/cmz
246kg/cm'
CD
O denotes super imposing operation in FEM Turbine
Turbine Main Steam
Main Steam Temperature 538% deg
538°C
Steam Temperature
Reheat Steam 566°C deg
566°C
Nomenclature is as follows: Speed 3600rpm
3600rpm
XI
X, :: Absolute disp. vector of the main system Generator
Generator Capacity 778,000kVA
778,OOOkVA
x,2 :: Absolute disp. of a bonding point
X Voltage 25kV
x31
X * : Absolute disp. vector of 1st equivalent mass
31':
x3,*
X32 ' :: Absolute disp. vector of 2nd equivalent mass
M,
MI :: Mass matrices Qf ~f the main system (shaft)
(shaft)
m2
m, :: Mass of a bonding point
L'.m
a m :: Residual mass attached to a bonding point
M3
M, : Mass matrices of the blade subsystem
q,4 ,l i:s1st
t eigen umbrella mode of an uncoupled blade
subsystem
q,q5,2 :: 2nd eigen umbrella mode of an. uncoupled
an .uncoupled blade
subsystem
WI:
o , : Natural frequency of the 1st eigen mode of an
uncoupled blade subsystem
o,2 :: Natural frequency of the 2nd eigen mode
W of an
an
uncoupled blade subsystem
3 COUPLED VIBRATION CALCULATION
3.1 Turbine Plant Description

3.1
The Matuura Power Station is a coal fired 700MW
powerstation.
power station. Its major specifications areshown.in Table 1.
areshown inTable 1.
The steam turbine is a tandem-compound type with
four cylinders (high pressure turbine, intermediate pres-
pres-
sure turbine, two double-flow low pressure turbine, as as
1.)
shown in Picture 1.)
The last-stage buckets of the low pressure turbine Turbine View
Picture 1 700MW Steam Turbine
16
QRlGlNAk PAGE
ORIGINAL
BLACK AND WHITE PHOTOGRAPH
PW0TOGWAPC.r
are 33. 5 inches
inches in length,
length, and all blades are continuously connected
connected with loose covers and sleeves
sleeves for 360 degrees.
degrees.
This construction has very good structural damping
damping and good vibration suppression
suppression characteristics for the steam
force. The almost 20 years experience with this bucket design has shown its very high reliability.
force. reliability.
3.2 Modal quantity calculation

calculation of the blade
Due to the pretwisted blade configuration,
configuration, eigen modes vibrate in tangential and axial directions of the umbrella
figure.
figure. The two modal masses and modes can be calculated by the differential mesh model of buckets incorporating
the cover,
cover, sleeve,
sleeve, and dovetail configurations.
configurations. The details of this procedure were reported by Matsusita et al. (Ref. (Ref.
3)After the eigen1value problems of the last stage (L-O)
eigenivalue problems (L-0) and the last
Iast minus one (L-l)
(L-1) stage are solved independently,
independentIy, the
modes, called the tangential and axial modes,
two eigen modes, modes, are reduced to the equivalent additional masses,
masses, as shown
in Figure 3.
Concerning the L-O
L-0 blade, the equivalent masses of the tangential and axial modes comprise 46.1% 46.1% and 46.3%
of the polar moment of the total inertia of the blades,
blades, respectively.
respectively. The residual polar moment of inertia,
inertia, 7.6%, is
attached to the boss of the last stage (L-O).
(L-0). In the same way, the L-1 stage is reduced,
reduced, as shown
shown in Figure 4.
3.3 Single
3.3 Single LP
LP rotor test
In order to calculate the coupled torsional frequency,
frequency, it is necessary to first determine the uncoupled umbrella
frequency
frequency of the blades.
blades. In the factory balancing pit, the LP rotor with blade vibration measuring equipment was
excited by a torsional shaker during operation. Figure 5 shows
shows the eigen frequency
frequency of the coupled umbrella mode of
last-stage buckets near 120HZ.
last·stage 120HZ. Since
Since the measured result is a coupled frequency,
frequency, the uncoupled frequency
frequency can be
determined to match the measured results with the calcu-
calcu-
lated result. Table 2 compares the calculated uncoupled
Elgen. mode
Eigen mode umbrella frequency
frequency and the corrected uncoupled umbrella
, frequency.
frequency. Table 3 shows
shows the umbrella fretIuency
frequency coupled
BLADE
BLADE with the single LP rotor and the measured coupled fre- fre-
L-O
L-0 quency.
quency. Although the L-O L-0 tangential umbrella mode has
only one mode,
mode, the coupled mode with the single
single rotor
splits into two modes.
modes.
Figure 6 shows
shows the mode configuration of a single
single rotor
- Matuura P.S.
Matuura P S NO.1
NO.l Unit
Un~tALP Rotor
Rotor
s~de-tH-H-I-HHt111t
T side
W
LJJ
en
V)
Z
Z
-
oa.
2 -
en
W
V)
LJJ
Ck:
[L -
w
LJJ 107 4Hz
107.4Hz
on - \r
BLADE
BLADE
L-1
«4
...J
m
!D
o0 """ 121.50Hz
I
. Elgen mode
Eigen mode
..:,
-I -
Figure 3 Coupled Model of LP turbine

90 115 140
FREQUENCY (Hz)
FREQUENCY
frequency
Figure 5 Single rotor umbrella frequency
Uncoupled umbrella frequency

Table 2 Uncoupled frequency near 120Hz
120Hz
(L-O mode)
(L-0 Tangential mode)
Calculated frequency
Calculated 118.37Hz
Axial r!:.l Corrected frequency
Corrected 116.40Hz
modes
Table 3 Coupled umbrella frequency

Table frequency near 120Hz
120Hz
frequency *
Calculated frequency'
Calculated Measured frequency
Measured
107 40Hz
107.40Hz 107.40Hz
I07.4OHz
121.57Hz
121. 57Hz 121.50Hz
121. 50Hz
* ) Calculation
*) Calculat~onIS based
based on the corrected
corrected uncoupled
uncoupled fre·
fre-
Distribution
Figure 4 Equivalent Mass Distribution quency (1l6.4Hz)
(116.4Hz)
17
last-stage blades near 120Hz_
coupled with last-stage 120Hz. In this figure,
figure, split modes correspond with the opposite twisting modes
of the LP rotor and the blades, where both the turbine (T) (T)and generator (G)(G)side blades twist in the same direction_
direction.
During the single rotor test, the resonance stress was measured by exciting the torsional exciteL
exciter. Picture 2 shows the
torsional exciter and how it was connected to rotor. Picture 3 shows the LP rotor in the test pit.
t o the LP rotOL T h e measured
pit- The
Ikg/mm2 per 5% negative sequence equivalent torque_
blade stress is about lkg/mm2 torque. This means that the stress due to
strength.
torsional excitation is sufficiently lower than the material fatigue strength_
3.4 Coupled frequency analysis of the rotor train

3-4
Based on the single rotor test, the blade-rotor coupled torsional frequency of all rotors connected in a system
analyzed. The shaft system can be modeled by FEM and the blade subsystem can be added using the single rotor
was analyzed_
result.
test result_
Figure 7 shows the calculated modes and frequencies
of blade-rotor 120Hz. These results
blade-rotor coupled vibration near 120Hz_
are very similar to the single rotor test, because the modes
L-0 blades and LP rotor stiffness_
are chiefly related to the L-O stiffness.
The above results also show that there exist two
similar modes for each coupled-split result, because there
exists two LP rotors (ALP BLP). Since the 120Hz
(ALP and BLP)_ 120Hz
nearest coupled mode (Mode No.8) No_8) is the ALP and L-O L-0
frequency, it was decided to execute a single rotor
coupled frequency,
rotor.
test for the ALP rotoL
4 FIELD MEASUREMENT OF COUPLED

VIBRATION
VIBRATION
4_1
4.1 Measuring method
In order to verify the coupled frequency under field
CALC. FREQ.
FREQ. 107.40 (Hz)
~
0.0
==~~~L_-"_~~=r:==L=-O====~\~~~~~ ____ ___
0.0 f3'"-L -1 V
t'--L-O
CALC.
CALC. FREQ. 121.57 (Hz)
. .
L-1 L-1 Picture 3 Single LP rotor test view
y....... ~#
__~L_=o=~~~F=L-=0==:::::::....""'===---==-----
o.OF===It=
0.0
I
-
CALC. FREQ.
NO.]61 CALC.
IMODE NO.161
IMODE FREQ. 107.81
107.81 (Hz)
I.. ALP Rotor ·1 • Drive system --l

ooll--~-=r=:;;;r-'!L~o.~~= - - -
-a++o.o
Figure 6 Mode configuration

W
-I
<q IMODE NO.171
IMODE NO. 1 7 1 CALC. FREQ. 108.94 (Hz)
-
5
a IMODE NO.lsl
NO.181 CALC. FREQ. 121.67 (Hz)
e IMODE
2
0.0
aa t
I-
5
W
a MODE ~ 0 . 1 9 1 CALC.
IMODE No.191 CALC. FREQ.
FREQ. 121.97
121.97 (Hz)
(Hz)
oolt-----1"=='f~'t--=:±*==:l------
0.0
Torsional Exciter
Picture 2 Torsional Figure 7 Blade-Shaft Coupled Torsional Modes
18
ORIGINAL PAGE:
PAGE
BLACK,
@LACK AND WHITE PHOTOGRAPH
PHOTOGRAPH
conditions, it was decided to measure blade-rotor coupled vibration. Since the mode near the double synchronous
conditions,
L-0 blade umbrella mode coupled with the shaft system, strain gauges to measure vibration were
frequency is the L-O
L-0 blades of both a ALP rotor and a BLP rotor. The output of the strain gauges was transmitted
attached to the L-O
(FM) telemetry system to a receiving antenna. Figure 8 depicts the telemetry system.
by a frequency modulation (FM)
Picture 4 shows a transmitter and a receiving antenna under preparation. The transmitter and batteries were set in
a balance weight slot of the last stage disk. The receiving antenna was set in a bearing cone of the LP casing.
The test was executed just steaming, considering strain gauge life under a steam flow.
just after initial steaming, flow. Under a no
load condition, the turbine was slowly sped up and down near 60Hz 6OHz and the shaft system was excited from a
generator by a one phase grounding circuit at the high voltage side of the main transformer. Figure 9 shows the
excitation circuit. The breaker between the main tranformer and the line was open. open. The measured signal was
recorded and analyzed by FFT.
4.2 Field test results

Field
10 and 11
Field test results are shown in Figures 10 11 for the ALP rotor and the BLP rotor,rotor, respectively. The
120Hz is 124.2Hz in the ALP rotor. This frequency is
resonance point with double synchronous frequency nearest to 120Hz
58.5~60.5Hz (117Hz-121Hz).
far from twice the expected line frequency variation of 58.5-60.5Hz HI7Hz~121Hz).
The eigen frequencies of coupled umbrella modes are tabulated in Table 4. These measured values are also
compared with the calculated values. Since the calculated values were incorporated in the single rotor test of the ALP
rotor, the differences between the measured values and the analyzed results are smaller for modes dominated by the
ALP rotor than those of the BLP rotor. From these results and the single rotor test results, it is necessary to confirm
LlNE
LINE
eiver Antenna
!!!
El
I Gauge ITransmitter Antenna Receiver Antenna
Antenna
4
, I".'.p
I
q
-
Recorder Analyzer
Rotor
Rotor I Test
Test data
data acquisition
acquisition Figure
Figure 99 Excitation
Excitation Circuit
Circuit
facillty
facility
Telemetry System
Figure 8 Telemetry I COUPLED FREOUENCY
! MODE 8
Eigen
Value 124.2Hz
DOUBLE SYNCHRONOUS
DOUBLE SYNCHRONOUS
N 120 RESONANCE
RESONANCE
:s
>-
u
z
UJ /
/ I1 DOUBLE
DOUBLE
SYNCHRONOUS
SYNCHRONOUS
LlNE
LINE
::::>
' SPEED xX 2)
(ROTOR SPEED
i
0-
UJ
a::
u..
I COUPLED FREQUENCY
COUPLED
MqDE 6
MODE
FREQUENCY
Xn 60
107.3Hz
value
ROTOR SPEED (Hz)

ROTOR
65
Telemetry Equipment
Picture 4 Telemetry results
Figure 10 ALP rotor test results
ORIGINAL ?/U~f:: 19
the umbrella frequency
frequency and equivalent spring of blades in order to get better accuracy. The input data for blades are
one set, but four coupled modes are certain to be very accurate. This means that this analytical procedure (quasi·
(quasi-
technique? can be applied to estimate the shaft coupled umbrella frequency of an actual turbine
modal reduction technique)
shaft.
COUPLED FREQUENCY Table 4 Eigen frequencies
frequencies of test results
Mode Measured
Measured Calculated
Calculated Difference
Difference
Out-of-phase
Out·ot·phase
126.8Hz
DOUBLE SYNCHRONOUS
DOUBLE SYNCHRONOUS ALP 107.3Hz 107.81Hz 0.51Hz
-z 120
RESONANCE
RESONANCE BLP
BlP 108.3H.z
108.3Hz 108.94Hz
108. 94Hz 0.64Hz
O.64Hz
In-phase
In·phase
DOUBLE
>
>- SYNCHRONOUS ALP 121.8Hz
121. 8Hz 121.67Hz
121. 67Hz 0.13Hz
0
<.l
Z
z
W
UJ
LINE (ROTOR SPEED x 2) BLP
BlP 123.1Hz 121.97Hz
121. 97Hz 1.13Hz
1. 13Hz
:::>
3
0'
S
UJ
Q: LED FREQUENCY
COUPLED FREQUENCY 4.3 Evaluation
Evaluation at
at aa rated
rated load
load
u
CK
"-
MODE 7
4.3
The test was executed under a no load condition.
Table 5 shows a temperature comparison between the test
condition and a rated load condition. The T h e changes in
rigidity of the rotor due to this temperature change effect
are about 3% for a HPH P turbine, 4.5% for an IP turbine, and
60
60 65
65 1.5% for a LP turbine. Since the coupled umbrella modes
1.5%
ROTOR SPEED (Hz)
(HZ) are mainly dominated by the L-O L-0 buckets and the LP
11 BLP rotor test results
Figure 11 frequencies is small, as
turbine, the change in coupled frequencies as
shown in Table 6. Especially, the coupled modes near
120Hz do not change,
120Hz change, because these two modes are basically the blade umbrella mode.
Temperature condition
Table 5 Temperature condition Table 6 Frequency change under a rated load
Test condition Rated load Measured under
Measured under Expected change under
Expected
Mode
HP TB. Inlet 397SC deg 538.0°C deg load
no load condition
rated condition
Exhaust
HP TB. Exhaust 218.6"C deg
218.6°C 296.9"C deg
296.9°C Out-of-phase
Out·ot·phase
IP TB. Inlet 390.5"C deg
390SC 566.0"C deg
566.0°C ALP 107.3Hz -0.2Hz
-0.2Hz
Exhaust
IP TB. Exhaust 218.8'C deg
218.8°C 337.8'C deg
337.8°C BLP
BlP 108.3Hz -0.1Hz
-O.IHz
LP TB. Exhaust
lP Exhaust 35.1"C
35. 1°C deg 33.0"C deg
33.0°C In-phase
In·phase
ALP 121.8Hz O.OHz
O.OHz
BLP
BlP 123.1Hz O.OHz
O.OHz
5 CONCLUSION
The quasi-modal reduction technique and FEM model were used to construct an analytical model for the
blade-rotor coupled torsional vibration of a steam turbine generator of the Matuura Power Station. A single rotor
test was executed in order to evaluate umbrella vibration characteristics. Based on the single rotor test results and
the quasi-modal procedure,
procedure, the total rotor system was analyzed to predict coupled torsional frequencies. Finally,
Finally, field
last-stage buckets was made which confirmed that the double synchronous
measurement of the vibration of the last-stage
124.2Hz, meaning that the machine can be safely operated. The measured eigen values are very close
resonance is l24.2Hz,
to the predicted value. The single rotor test and this analytical procedure thus proved to be a valid technique to
estimate coupled torsional vibration.
6 ACKNOWLEDGEMENT
ACKNOWLEDGEMENT
The authors would like to express their thanks to the engineers of Matuura Power Station of Kyushu Electric
Power c.,
C., Inc., and field test crews of Hitachi Ltd
Ltd....
7 REFERENCES
[1] T., et al. :: Influence of High-speed

[l] Watanabe, T., High-speed Reclosing on Turbine Generators and the Shaft System,
System, Hitachi
Review, Vo1.27, No.1, PP.33-38
PP.33-38 (1978)
(1978)
Okabe, A., et al. :: COUPLED VIBRATION ANALYSIS: TORSIONAL VIBRATION OF

[2] Okabe, O F TURBINE-GENERATOR-
BLADE COUPLED SYSTEM, THE T H E 1989 CONFER-
1989 ASME DESIGN TECHNICAL CONFERENCES-12th BIENNIAL CONFER-
ENCE ON MECHANICAL VIBRATION AND NOISE, Vol. 18-1, 18-1, PP.135-140
PP.135-140 (1989)
(1989)
O., et al
[3] Matsushita, 0., a1 :: Torsional Vibration Analysis of Turbine-Generator-Blade Coupled System, Proc. Am.
Power Conf. Vol 4141 (1989)
(1989) (to
(to be published)
20
N92-14349
THE EFFECTS
EFFECTS OF MANUFACTURING TOLERANCES
TOLERANCES ON THE VIBRATION OF
AERO-ENGINE ROTOR-DAMPER ASSEMBLIES*
J.E.H. Sykes and R.
R . Holmes
Department of Mechanical Engineering
University of Southampton
Southampton,
Southampton, England
A
A range of rotor assemblies incorporating one and two
squeeze-film dampers with various static misalignments is is
investigated.
investigated. Waterfall diagrams are constructed which
demonstrate the effects of such misalignment and damper
support flexibility on the nature and severity of
subsynchronous resonance and jump phenomena. Vibration
signatures of similar rotor-bearing assemblies are shown to
contrast strongly due toto different accumulations of
tolerances
tolerances during manufacture, fitting and operation.
operation.
*Carried
* C a r r i e d out
o u t under a grant
g r a n t funded by The Science and Engineering
E n g i n e e r i n g Research
Council,
C o u n c i l , UK and Rolls
R o l l s Royce pplc. lc.
21
Notation
Notation
Notation
Notation Description
Description Unit
As
A, SFDl
SFDi Beari ng Factor,
Bearing Factor, lE. *. p.8.R'Rs (( Is1 2 I/cr Is fa
f2Ib.J( ka • I)
/bi(kz. I) -
Aa
A2 SFD2
SFD2 Bearing
Bearing Factor, *. p.R2a (lz/cz)3b/.J(k
Factor, lE.p.R
CI ):1
( 12 /c2 Is b/J( k2. z .l)I) -
a,b
a,b Rig
Rig Dimensions
Dimensions m
q
cc SFD
SFD Radial
Radial Clearance
Clearance m
m
dd Rig
Rig Dimension
Dimension m
m
ee SFD
SFD Eccentricity
Eccentricity m
m
ED
Eo SFDSFD Static
Static Eccentricity
Eccentricity Ratio Ratio -
ff Rig
Rig Dimension
Dimension m
m
GG SFD
SFD Groove
Groove Depth
Depth m
m
GG... SFD Groove Width
SFDGroove Width m
m
II Rotor
Rotor Moment
Moment ofof Inertia
Inertia per per land land kg.
kg. m 2
m2
k-k Flexible
Flexible Bearing
Bearing Support
Support Stiffness
Stiffness per per land
land N/m
N/m
ks Non-Dimensional
Non-Dimensional Stiffness
Stiffness per per land, land, kkr,f2/(l.w2)
l .f /(I.w )
Z 2 -
kak2 Non-Dimensional
Non-Dimensional Stiffness
Stiffness per per land, land, kz.bZ/(I.w
k2,b2/(l.w2) Z ) == (w/w,)-~ -
II SFD
SFD Land
Land Width
Width m
m
NN Number
Number ofof Lands
Lands perper SFD
SFD -
P1Pi SFD
SFD Radial
Radial Film
Film Force
Force per
per land land NN
P2P 2 SFD
SFD Tangential
Tangential FilmFilm Force
Force per per land land N
N
PcPC Rotor
Rotor Mass
Mass Unbalance
Unbalance ForceForce per per land land NN
-,psi
Psup
Psup SFD
SFD Oil
Oil Supply
Supply Pressure
Pressure N/m
N/m22 ,psi
QC2 Non-Dimensional
Qca Non-Dimensional Unbalance
Unbalance Force, Force, PPC. c .a.b/{l.cz.w
a. b/ ( I. c2. w2 2)
Q.QI Non-Dimensional Static
Non-Dimensional Static Force,
Force, m.g.d.b/«(.c2.wa)
m.g.d, b/( I.c2 .w2 1 -
R R SFD
SFD Mean
Mean Radius
Radius mm
tt Time
Time ss
w w Rotor
Rotor Rotational
Rotational Speed
Speed rad/s
rad/s
w, Rotor-Bearing
Rotor-Bearing Assembly
Assembly First
First Bounce Bounce Vibration
Vibration
Mode
Mode Frequency
Frequency (Configurations
(Configurations la,b) la,b) rad/s
rad/s
zZ Dummy
Dummy parameter
parameter -
,a
(It
S
SFD
SFD Journal
SFDl
Journal Attitude
Attitude Angle
SFDl non-dimensional
Angle
non-dimensional preload
preload (gravity (gravity offset),
offset),
rad
rad
-
E[m.g.d./(b.k2)lz )] ++ cc21.f/(b.ct
([m.g.d./(b.k 2 l.fI(b.cs)1
EE Eccentricity
Eccentricity Ratio,
Ratio, e/ce/c - 2
Pp Oil
Oil Dynamic
Dynamic Viscosity
Viscosity Ns/m
Ns/mz
Derivative
Derivative withwith repect
repect to to time,time, tt lis
1/s
' Derivative
Derivative withwith respect
respect to to Non-Dimensional
Non-Dimensional Time, Time, w.t w.t i/rad
l/rad
- Non-Dimensional
Non-Dimensional Quantity
Quantity
After
After aa parameter
parameter denotes
denotes SFDl SFDi
a After
After aa parameter
parameter denotes
denotes SFD2 SFD2
Abbreviations
Abbreviations
Abreviation
Abreviation Description
Description
c/min
c/min Cycles
Cycles Per
Per Minute
Minute
EO
EO Engine
Engine Order
Order
DOF
DOF Degree(s)
Degree(s1 of
of Freedom
Freedom
FFT
FFT Fast
Fast Fourier
Fourier Transform
Transform
RRG
RRG Rotor
Rotor Relative
Relative to
to Ground
Ground
SERC
SERC Science &
Science & Engineering
Engineering Research
Research Council
Council
SFD
SFD Squeeze-Film
Squeeze-Film Damper
Damper
22
INTRODUCTION
INTRODUCTION
The major source of aero-engine rotor vibration is is the state of rotor
balance which can alter progressively during service and sharply as a
result of minor damage. Even with well balanced rotors
rotors sudden unexpected
non-linear vibration phenomena, such as jumps
jumps and subharmonic resonances,
resonances,
can occur. The most prolific sources of non-linearity
non-linearity are the squeeze-film
dampers which surround some of the bearings.
The squeeze-film damper,

damper, SFD has been applied in a wide range of rotor-
bearing assemblies to attenuate resonant vibration and to combat rotor
instability. The ever increasing demand for
for high performance indicates that
rotor vibration isolation utilising squeeze-film dampers will remain a
prominent feature
feature of future
future turbomachinery designs.
SFD response characteristics and non-linear jump phenomena have been

demonstrated by numerous workers. White (Ref(Ref 1)
1) cited jumps
jumps in a vertical
rotor rig and Simandiri et al a1 (Ref
(Ref 2)
2 ) studied jumps on an idealised,
horizontal rotor,
rotor, single SFD rig,
rig, aligned to exhibit synchronous
synchronous circular
orbits. Holmes et al a1 (Ref
(Ref 3)
3) obtained jump phenomena with a horizontal
rotor rig involving a rigidly housed SFD, SFD, carrying appreciable rotor
weight. Actual engine tests have demonstrated jump phenomena,
phenomena, such as
observed by Gunter et al
a1 (Ref
(Ref 4).
4).
The operation of a SFD is is least beneficial when subharmonic resonances,

resonances,
sometimes dominating the synchronous
synchronous response,
response, develop in conditions of
light damping. Subharmonics of orders up to
to four
four were cited by Nikolajsen et
al
a1 (Ref
(Ref 5)
5 ) from a flexible
flexible rotor rig.
rig. Gunter et ala1 (Ref
(Ref 4)
4) carried out
numerical time marching toto observe the transient analysis of a rotor which
indicated some half engine order subharmonic resonance in its SFD orbits.
orbits,
The explanation of such jump phenomena and subharmonic resonances

resonances observed
in engines employing multiple shaft,
shaft, multiple SFD assemblies is
is difficult.
Previous simulation of such phenomena on simplified test rigs has met with
limited success. Consequently,
Consequently, existing literature has failed to address
address
this
this problem comprehensively. AppreCiation
Appreciation of the relationship between the
basic components of assemblies and their potential for for introducing
misalignment between SFDs provides an insight into the complex responses
observed in practice.
THE
THE TEST
TEST FACILITY
FACILITY
Aero-engine rotor operating speeds
speeds are often above one or more rigid body
modes and below any significant flexural
flexural mode. Because of this
this damping can
be successfully introduced in the bearing supports to attenuate vibration
induced by unbalance.
To create a realistic configuration a three-bearing rigid rotor assembly

incorporating the essential features
features of a small aero-engine was utilised,
utilised,
Fig 1.
1, This test rig was used to investigate the operation of the SFD's,
SFD's, 1,
at two of its three rolling-element bearings, 2. 2. The self alignment
capability of the bearing, 3,
3, constituted a pivot about which an
antisymmetric, or conical mode of vibration occurred when the rotor, 4,4, was
acted upon by a force
force arising from rotation of the unbalance mass,
mass, 5.5.
23
Flexible bars,
bars, 6,
6, simulated pedestal flexibility and were mounted into
heavy foundation blocks, 7,
7, which represented ground.
ground. Comparisons between
different rig configurations
configurations (Table
(Table 1)
1) allowed the influence of individual
individual
assembly components
components and in-service assembly misalignment conditions
conditions to be
analysed. Fig 2 gives a schematic diagram of a SFD and relevant dimensions
are given in Appendix 1.
1.
Tests were carried out employing four four unbalance masses. Values of the
unbalance parameter, QC2
Q c a ranged from 0.245
0,245 to 0.733, or 25g to 75g mass,
mass,
respectively and rotor speed from 900 900 to 4860
4860 c/min. Oil supply pressures
were varied between 22 psi and 2424 psi when one SFD was active and up to 15
psi with two SFDs
SFDs active. The tests were analysed by studying the SFD orbit
magnitudes and the phase angles
angles between SFD eccentricity vectors and the
unbalance. The rotor speed was represented as a frequency ratio,
unbalance, ratio, by
dividing by the first bounce mode frequency of configuration la (Table
(Table 1),
11,
namely 32.4
32.4 Hz. Rotor displacements relative to ground and relative to the
SFD2 housing were sampled by a spectrum analyser, utilising the Hanning
time window.
The transient response of the rig,

rig, when stationary,
stationary, to impulses
impulses from a soft
hammer enabled its static natural·
natural frequencies
frequencies to be determined.
Responses for
for configurations 1a
la through to 2b demonstrated a lowest natural
frequency at 32.4
32.4 Hz,
Hz, in both the horizontal (x)
(x) and the vertical (y)
(y)
directions. Higher natural frequencies were 200
200 Hz or more. Configurations
3a and 3b gave a lowest natural frequency at 34.8
34.8 Hz in the xx direction and
36.8 Hz in the y direction, indicating a degree of anisotropy.
THEORETICAL CONSIDERATIONS
The theoretical analysis assumed the following;

following;
1.
1. The Reynolds Equation and the Short Bearing approximation apply.
2.
2. The rotor remains rigid.
rigid.
3. The flexible bars contribute a constant, linear radial stiffness to
the system.
The rotor-bearing assembly was modelled as a dynamic system,

system, Fig 3,
3, with
the relevant equations summarised in Appendix 2.
2.
Simpson's
Simpson's numerical integration procedure was employed to derive film
force
force predictions at each step of a Runge-Kutta computation scheme.
Following work by Feng and Hahn (Ref
(Ref 6)
6) a cavitation pressure,
pressure, Pmin of
absolute zero (-14.7 psi gauge)
gauge) wa·s
was adopted.
The results of prime interest were the displacement orbit size and phase
with respect to unbalance,
unbalance, to be compared with the experimentally observed
rig behaviour.
Software development provided waterfall diagrams and,and, with a frequency

resolution of 1.0
1.0 Hz,
Hz, have provided sufficient spectral information at
reasonable mainframe speeds and data storage requirements. Attention was
given to the case with unbalance, QC2
Q c z equal to 0.611
0.611 as this
this illustrated
all
all the non-linear phenomena encountered during testing.
24
TABLE
TABLE 1 Test
T e s t Rig
R i g Configurations
Configurations
Static Set Up
Test Rig Simple Representative Rig Diagram
Configuration EDI
la 0.0 ROTOR
lb 0.4,0.8
2a 0.0,0.5 1.0 ROTOR

SFDl
2b 1.0 0.0
3a 1.0 1.0 ROTOR SFDl
IVOT kl
3b 0.0 1.0
EXPERIMENTAL &
EXPERIMENTAL & THEORETICAL
T H E O R E T I C A L RESULTS
RESULTS
The motion of the rotor in configuration la ia was 'well behaved9

behaved' for
for
reasonably low unbalance factors
factors (Fig
(Fig 4a),
4a), being attenuated by the damper
action of SFD1.
SFDI. When the unbalance factor
factor was above a certain level
level then
SFD1,
SFDI, even with increased supply pressure, had difficulty in maintaining an
acceptable,
acceptable, damped response and jump phenomena became a feature. This
response could take the form of a high vibration level
level persisting through
unity frequency ratio without any jump down. Alternatively, the high
response could be abruptly reduced by a jump down to some lower vibration
level.
level. Increasing oil pressure reduced the peak eccentricity and the size
of the accompanying phase jump to some degree. The orbits were almost
circular in shape.
At speeds higher than the minimum jump frequency,

frequency, any persistently large
rotor excursions were quite stable and an impact delivered to the rotor by
a soft hammer could not induce a jump down.
down, After inversion at high speed,
speed,
subsynchronous
subsynchronous response occurred at ,aia frequency equal to
Lo the natural
frequency,
frequency, Fig Sa.
5a, All of the above observations were supported by
theoretical predictions (Fig
(Fig 4b and Fig 5b).
With rig configuration lb1b the effect of increasing the static eccentricity,
Eat
EDI in SFDl
SFD1 was to generally increase the damping. damping, For EOI
Eat 0.8
0.8
configuration
configuration lb
1b produced a jump down with increasing speed when the
unbalance factor,
factor, Qcz,
Q c a , was only 0.490 (Fig
(Fig 6a)
6a) and strong subharmonic
resonance developed at the higher speeds. This is clearly demonstrated in
the bottom right experimental orbit (w/w (w/w,n =
= 2.253) ofof Fig 6c. Again
25
theoretical predictions supported the experimental findings
findings (Figs
(Figs 6b
6 b and
6d)
6d).•
The experimental results for

for configuration 2a showed that the rig response
was acceptably low for
for reasonably small unbalance factors,
factors, being attenuated
by the damper actions of SFDl and SFD2. Increasing oil pressure required an
increase in the unbalance at which bistable operation occurred,
occurred, introducing
jumps. Subsynchronous activity persisted at speeds above twice the first
jumps.
bounce mode frequency (Fig
(Fig 7a), and higher order vibrations were present
7a1,and
over most of the speed range. Again theoretical predictions (Fig (Fig 7b>
7b)
supported the experimental results.
results.
The effect of introducing a static eccentricity,

eccentricity, Eel of 0.5,
EOJ 0.5, to
configuration 2a was to change the experimental jump characteristics and
the nonsynchronous frequency response,
response, Fig Sa.
8a. AA jump up and a jump down
were observed above the first
first bounce mode frequency.
frequency. Half engine orders of
large amplitude were present at rotor speeds around 2.5 times the firstfirst
non-rotating bounce frequency. Theoretical predictions (Fig
(Fig Sb>
8b) again show
good agreement.
Experimental results revealed that the change in static misalignment

conditions from configuration 2a,
2a, constituting configuration 2b,2b, removed
the high synchronous
synchronous amplitudes associated with the first bounce frequency,
frequency,
leaving an apparently well damped response. However,
However, with high_unbalances
high-unbalances
and above the first
first bounce frequency,
frequency, a sudden jump up in vibration
amplitude with increasing speed was demonstrated, Fig 9a. This speed
decreased as unbalance was increased. Corresponding theoretical
theoretioal results
results are
given in Fig 9b.
The most significant result from configurations 3a and 3b was that rotor
excursions were much larger than previously experienced, Fig 10. Jump
phenomena were still in evidence but below the static natural frequency of
the assembly.
assembly. 'Safe'
*Safef operation at speeds above the first
first bounce mode was
achievable for
for all but the highest unbalance. The major effect of
statically offloading, or centralising SFD1,
SFDl, configuration 3b,
3b, was to
appreciably reduce the subsynchronous and higher engine order activity.
Configuration 3a exhibited some significant 1/2
1/2 EO at just higher than the
jump speed. This subharmonic was absent from the corresponding response in
configuration 3b.
NON-LINEAR PHENOMENA
The jump up with decreasing speed or jump down with increasing speed above
the first bounce mode frequency corresponds to the classical non-linear
'hardening
'hardening spring' response. The difference in the two speeds is is the
effective range of the bistable region. Equally, a jump up with increasing
speed might be attributed to a non-linear 'softening spring' effect.
In addition there is
is experimental evidence (Ref
(Ref 3)
3) that sudden venting of
the SFD from atmosphere changes the effective cavitation conditions,
conditions, and
could promote jump up. Oil-film pressure measurements taken for
configuration 2b indicated that the minimum pressure rose after jump up on
run up. A A limited hysteresis in the rotor speeds,
speeds, of about 4 Hz at most,
most,
was noted between the jump up on run up and the jump down on run down.
26
Subharmonic resonances of half engine order have been demonstrated both
experimentally and theoretically. Non-synchronous activity at 3/2
3 / 2 EO,
EO, 5/2
5/2
EO and 7/2
7/2 EO accompanied these subharmonios.
subharmonics.
A statically centred SFD in configurations 1a

A la and 2a gave rise to weak
subsynchronous resonance at the static natural frequency,
frequency, Figs 5 and 7.
7.
Static eccentricity applied to the same SFD increased its non-linearity and
excited strong half engine order subharmonics, this time corresponding to
the dynamic natural frequency,
frequency, determined by the stiffnesses of both the
static components and the SFD's,
SFD's, Figs 66 and 8.
8.
PRACTICAL
PRACTICAL IMPLICATIONS
IMPLICATIONS ARISING FROM THE
THE RESULTS
RESULTS
Jump phenomena can lead to high transmitted forces
forces and sudden changes in
engine vibration. Non-synchronous response causes fluctuating rotor
stresses in flexible
flexible shafts. It also leads to subharmonic resonances,
resonances,
sometimes larger than the resonances
resonances developed by unbalance.
The present research has demonstrated the ability of a range of rotor-

bearing assemblies, incorporating unsealed SFDs,
SFDs, to exhibit a number of
undesirable non-linear phenomena.
Aero-engine rotor assemblies employ one or more SFD's

SFD's per rotor,
rotor, each
within a bearing pedestal characterised by a certain stiffness. A
A degree of
misalignment in three-bearing assemblies is inevitable due to the 'stack
up' of toleranoes
tolerances and the effects of high speed manoeuvres of military
aircraft may serve to further affect the bearing alignments.
Most assemblies employ sealed SFD's

SFD's to improve damping capacity and strong
jump phenomena are not always a problem. However,
However, there have been many
reported instances and results
results emanating from this research indicate the
physical mechanisms which promote such phenomena.
Dogan's work (Ref

Holmes and Dogan's (Ref 3)
3) indicated that a jump up on run up can
exist when a rotor is supported by a rigidly housed SFD and high vibration
amplitudes can prevent higher speeds being attained. The same SFD,SFD, when
mounted flexibly
flexibly can respond without a jump up but non-synchronous rotor
centre orbits can be introduced at speeds around the assembly's
assembly's natural
frequency. Low vibration levels can,
can, however, be achieved at speeds above
the natural frequency.
frequency,
Based on the present research,

research, assemblies with a single SFD,
SFD, centred by a
flexible
flexible rotor support,
support, are likely to exhibit jumps only when the
unbalance is relatively high, probably outside acceptable contractual
limits.
limits, These jumps
jumps are analogous to the classical non-linear hardening
spring response and arise from the stiffness
stiffness property of a cavitated
squeeze-film which increases
increases with speed. On the other hand,
hand, the same
assemblies with the SFD statically off-oentred
off-centred are likely to demonstrate
that low unbalance, possibly within contractual limits,
limits, can excite jumps
jumps
and strong subharmonic resonance.
Some assemblies incorporate two SFD's

SFD's with very different housing supports,
supports,
for example,
example, one rigidly housed and the other flexibly housed. With the
former
former statically centred and the latter carrying the rotor weight the
27
response might well be governed by the former,
former, the latter having little
influence. Jump phenomena will occur around the first bounce mode
frequency.
frequency. At high speed,
speed, after jump down,
down, satisfactory operation should be
possible with low amplitude subsynchronous
subsynchronous activity at the bounce mode
frequency. Raising the housing of the rigidly-supported
rigidly-supported SFD will result in
subharmonic resonance possibly dominating the synchronous response and
degrading the vibration performance within the operating range.
range,
By raiSing
raising the rigidly mounted SFD housing further still,
still, until it carries
the static rotor weight and such that the flexibly supported SFD is
centred,
centred, safe operation can only be guaranteed up u p ttoo a certain speed, at
which a strong jump up can be expected. On running down,
down, the vibration will
jump down at a lower speed. A A static eccentricity applied to the flexibly-
flexibly-
supported SFD may alleviate the jump or increase the speed at which it
takes
takes place due to some of the rotor weight being supported dynamically by
this flexibly
flexibly supported SFD.
The flexible supporting of both SFDs with similar support stiffnesses

should give rise to desirable operation for
for all but a small speed range
around the first bounce mode. It may be that jumps and subharmonic
resonance at these speeds could be eliminated by additional damping from
SFD sealing without degrading the performance within the rest of the speed
range.
range, Centralising one of the SFDs has the effect of reducing the
subharmonic resonance at speeds around the first bounce mode.
The presence of half engine order subharmonic resonance dominating the

synchronous response at speeds well above the bounce frequency would
suggest that one of the SFDs was not supported flexibly
flexibly enough and was
neither fully eccentric,
eccentric, nor concentric in its housing. If,If, in another
case,
case, strong jumps up on acceleration were encountered at speeds
speeds well above
the bounce mode, then it might be caused by a SFD housing support being too
rigid for
for it to safely carry the ro~or
rotor weight. Improvements might be
achieved by off-loading the 'rigidly' housed SFD,
SFD, softening its
its support or
both.
CONCLUSIONS
CQNCLUSIONS
The rig configurations have demonstrated a range of non-linear
non- 1 inear responses
responses
associated with aero-engine rotor-bearing assemblies and there is pleasing
similarity between the experimental and theoretical responses. The
experimental dependence of jump phenomena and subharmonic resonances
resonances upon
SFD misalignment and housing support has been clearly illustrated in the
theoretical results.
This work has provided an insight into the mechanism of SFD phenomena and
the practical
praotical implioations
implications arising from these findings
findings should be useful in
the design of rotor-bearing assemblies.
assemblies,
REFERENCES
1. WHITE D.C.,
DSC., Sgueeze
Squeeze Film Journal Bearings, PhD Thesis,
Thesis, University of
Cambridge, 1970.
1970.
2.
2. SIMANDIRI S. &
& HAHN E.J.,
E.J., Experimental Evaluation of the Predicted
28
Behaviour ~ of Squeeze-Film-Bearing-Supported
Squeeze-Film-Bearing-Supported Rigid Rotors, Rotors, IMechE,
iMechE,
J Mech Eng Science,
Science, Feb 1976,
1976, pp 109-117.
109-117.
3.
34 HOLHiStR.,
#OLME$, fi. & DOGAN M a , Investigation
POGAN H., investigation of of ~a Rotor Bearing Assembly
Incorpoating
Incorpoating ~ Squeeze-Film Damper Bearing, Bearinq, IMechE,
IMechE, J Mech Eng
Science, 1982,
Science, 1982, Vol 24,
24, No 3,
3, pp 129-137.
129-137.
4.
4, GUNTER E.J.,
E.J., BARRETT L.E.L.E. & & ALLAIRE P.E.,
P.E., Design of Nonlinear Squeeze-
Squeeze-
Film
Film Dampers for Aircraft Engines,
Dampers for Engines, Trans
Trans ASME,
ASME, J Lubric
Lubric
Technology,
Technology, 1977,
1977, pp 57-64.
57-64.
5.
5. NIKOLAJSEN J.L. & & HOLMES
HOLMES R.,R., Investigation
investigation of of Squeeze-Film Isolators
Isolators
--
for
for the
the Vibration Control of ~a Flexible Rotor,
Control of Rotor, IMechE,
IMechE, JJ Mech Eng
Science,
Science, 1979,
1979, Vol 21, 21, No 4,
4, pp 247-252.
247-252.
6.
6. N.S. &
FENG N.S. & HAHN E.J.,
E.J., Effects
Effects of
of Gas
Gas Entrainment on on Squeeze
Squeeze Film
Damper Performance,
Performance, Trans Trans ASME,
ASME, J Tribology,
Tribology, 1987,
1987, Vol 109,
109, pp
149-154.
149-154.
APPENDICES
APPENDICES
APPENDIX
APPENDIX 1 SFD
S F D Geometry
G e o m e t r y ~& Other
O t h e r Rig
R i g Parameters
Parameters
SFDl
S F D l DamEer
D a m p e r Geometr~
Geometry
c,
Ct 0,000254 (m)
= 0.000254 (m) (l/c),
(l/c)l== 44.2 (-)
(-)
(1/R>,
(l/R)t== 0.144 (-1
(-) G.
GI = 0.002 (m)
(m)
Gw,
Gwt = 0.004
0.004 (m)
(m) Nt
N. = 2 ( - )1
(-
SFD2
S F D 2 DamEer
D a m p e r Geometr~
Geometry
Cz
C2 0,000216 (m)
= 0.000216 (m1 (1/c)z=41.6
(I/C)Z= 41.6 (-
( - )1
(I IR)z = 0.132
( 1/R)2= (m)
(m 1 G
Gzz = 0.002 (m)
(m
G w ~ = 0.004
Gwz 0.004 (m)
(m N
Nzz = 2 ( - )1
(-
Rig
Rig Parameters
Parameters
aa = 1.019
1.019 (m)
(m 1 b == 0.9716
0,9716 (m)
(m
d = 0.5434 (m)
(m1 ff == 0.5968 (m)
(m)
I1 = 11.5
11.5 (kg. mZ per land)
(kg.mz land) k,
kt == 0.505
0.505 (MN/m
(MN/m per land)
land)
kz
k2 = 0.505 (HN/m
(MN/m per land)
land) Wn
Wn = 203.58
203.58 (rad/s)
( rad/s 1
IIP == 6.0
6.0 (cP
(cP average)
average)
APPENDIX
A P P E N D I X 22 Equations
E q u a t i o n s of
of Motion
Motion
Equations
Equations ofof motion can
can be
be developed by taking
taking moments
moments about the
the pivot
pivot
bearing,
bearing, referring
referring to
to Figs
Figs 3a,b
3a,b and
and c.
c. Equations
Equations describing
describing the
the rotor
rotor
motion atat the
the SFD2
SFD2 journal
journal in
in aa cartesian (x,y)
( x , y ) coordinate
coordinate system can
can be
be
written,
written, non-dimensionally,
non-dimensionally, as
as
Configurations
Configurations la,b
ia,b (Table
(Table 1)
1)
- (c, Icz) (b/f) (Pl •• sin(oc.) + P2,. cos(oc, » - Q.
Xz" = Qc z • cos (w. t) - (k z • E, • cos (oc, ) ) (c, I cz ) (bl f)
- (c. Icz ) (b/f) (Pl, • cos (OCI) - P2 •• sin(oc, »
29
Configurations 2a,b and
and 3a,b
YZ" =
yz" Qcr .sin(w. t) -- (P1
= Qcz.sin(w.t)
- -
(PI2z .sin(az)
.sin(uz + P2z.cos{a2»
PPz .cos(a2 ) )
- (c,/c2)(b/f)(P1,.sin(a,) + P2,.cos(a,» - Q.
X2 " = Qc 2 • COS (w. t) - ( P1z • co s (az ) - P2 2 • sin(az»
- (c, I cz ) (bl f) (P 1, • cos (a, ) - P2,. sin(a, »

P1,22z = P1~, ,22~•ZbZ.I ~( ~I •/Cz( •IW.Z)C ~ . W ~ )
where P1,2
P1,2, = Pi, 2, • f 2 I ( I • c, • w2 )
.. ..
and yz , ~"~ =" Yz
y z"," Xz , Xz I (cz • WZ)
y~,xz/(cz.w~)
Variation in the
the SFD static misalignment conditions is is achieved by
employing the
the term S. Thus,
O. Thus, converting the
the cartesian rotor motion at SFD2
rotor SFD2
relative
relative to
to ground to the SFDi
to the SFDl polar motion for
for configurations 2a and 2b;
2b;
where Z = ((f.cz/b.cl
f • cz lb. c, )
Ey, = Z.Yz - ED' + S EYI' .. Z. Y2'

Ex, . Z. X2 Ex, ' . Z. XZ
,
E, .. ( Ex,z + Ey,Z )' I Z
a, .. arctan( Ey, lEx, )
El',
E, =
= ( Ex, • Ex, , + Ey,
Ex1.Ex1' • Ey, ,
Ey,.Eyt9 ) I/ E,
€1
a, , . Ex, • Ey, , - Ey, • Ex, ' I E,z
It has been shown (Ref

(Ref 3)
3) that the
the SFD housing mass of the
the test facility
for
for a series
series SFD and spring configuration has little
little influence on the
the rotor
Thus, neglecting the SFD2 housing mass the force
dynamics. Thus, force prevailing in
spring, kz
the spring, kz must equal and oppose the resultant SFD2 film force.
Therefore, we can conclude that,
Therefore, that, for
for Configurations 2a,b and 3a,b,
kz (Yz - E2 • sin (a2 ) ) .. Ph. sin(az) + P2 z .cos(az)
kz (XZ - Ez • cos (az ) ) . Pi z .cos(az) - P2 z • sin(az)
and, similarly, for

and, for Configurations 3a,b only,
only,
k, (y, - E,. sin (a, ) ) . P1, • sin (a, ) + P2,.cos(a,)
k, (x, - E,. cos (a, » . P1, .cos(a,) - P2,. sin(a, )
where
-xx,l =.. -Xz (CZ
x2 (cz /ct
/c, ) ( f /b)
) (fIb)
30
F
11 Squeeze-Film
Squeeze-Film Damper 55 Unba I ance Mass
Unbalance Mass
22 Rol ling Element
Rolling Element Bearing 66 Flexible
Flexible Bar
33 Self
Self Aligning Bearing 77 Foundation
Foundation Block
44 Rotor 88 Oil
Oil Supply
S u p p l y PPort
ort
Fig
Fig 11 Details
Details of
of Fully
Fully Assembled
Assembled Experimental
Experimental Rig
Rig
Outer race
ball bearing
Ijourna I)
'~::-----F-t---~
Fig 22 The
The Squeeze-Film Damper
31
31
UN8~LN-lCE Pc:
I I
I
PIVOT 1<.1. I I :
I
-k
I I
I ~
-- ..-~-
I I
, ../ ' I
/
/ Z.
, / /
/' /
I /
/
- I /
. . . . . . . J/
(a) Conf
( a ) Configurations la,b
"'"
I
"
I •
I ..
(b) Configurations 2a.b
32
Pc
I I
I I
I
I
I
I
I
I
I
,I
-k.
/
I //
'~
(C) Con f'gur
1 a t 1'ons 3a,b
Fig 33
Fig R i g Model
Rig Model Diagra
Diagrams
ms
33
Fig
F i g 4a
SQUEEZE-FILM
SQUEEZE-F ILM DAMPER
DAMPER SFDI
SF0 l (0.5mm
( 0.5mm Groove
G r o o v e DepLh)
Depth )
EXPERIMENTAL RESULTS
RESULTS
A::: 0 .21 32E - 1 0 .21 32E - 1 0 .21 32E -1
Qc2= o .7332E 0 0.4901 E 0 0 .2450E 0
Eo = o .OOOOE 0 O.OOOOE 0 O.OOOOE 0

Psup= 0.2000E 0.2000E 0.2000E (pSi)
'
1.00
-a
.,..) 0.80
JUMP
J U M P UP (RUN-DOWN)
(RUN-DOWN) :
o
~ ,
k
, ,
, ,
3' 0.60
- ~
,
,
_. - 1- - -
,
,
!;- 0.40
u
, ,
~ - - - ~ - - I.
c·
ClI
~ 0.20
w
O.OO+----T----~--~--_T----r_--~--~----r_--~--_.
0.00
0.00 0.20 0.40
0.40 0.60 0.80
0.80 1.00
1 .OO 1.20
1 .20 1.40
1 .40 1.60
1 .60 1.80
1 .80 2.00
o -
0 . - . . . . ., .
45-. . . . .. . . ., .
ClI 90
90-.____
. . :._ . . :
III
o
.c.
a..
135
135-. . . . ' . . . ., .
180
180~--_T----._--_r----r_--~--_.r_--,_--_.----T_--_,
, I I I 1 1 1 I 1I I
0.00
0.00 0,20
0.20 0.40 0.60 0.80
0.80 1.00
1 .OO 1.201 .20 1.40
1 .40 1.60
1 .60 1.80 1 .80 2.00
2-00
Frequency
F r e q u e n c y RaLlo
Ratlo
ROTOR-BEARING ASSEMBLY RESPONSE
RESPONSE TO UNBALANCE
UNBALANCE
SQUEEZE-FILM DAMPER RESEARCH
RESEARCH Rig
R i g ConF g . 1l aa
C o n f 1i g.
34
Fig 4b
SFo1
SQUEEZE-FILM DAMPER SFDl
NUMERICAL SOLUTION
THEORETICAL NUMERICAL SOLUTION
.1(
AA V K 0
0
AA = = 0.2132E --1
0.2132E 1 0.2132E --1
0.2132E 1 0.2132E --1
0.2132E 1 0.2132E --11
0.2132E
Qe2=
Qc2= 0.7332E
0.7332E 0 0.6107E
0.6107E 0 0.~901E
0.4901E 0 0.2450E
0.2~50E 0
Eo = O.OOOOE
0.0000E 0 O.OOODE
0.0000E 0 O.OOOOE
0.0000E 0 O.OOOOE
0.0000E 0
Psup= 0.2000E
0.2000E 1 0.2000E
0.2000E 1 0.2000E
0.2000E 1 0.2000E
0.2000E 1 pSi
(p si
Pmln=
Prnin= -.1 ~70E
-.1470E 2 -.
-. 11470E ~70E 2 -.
-. 11470E
~70E 2 -.
-. 11470E
~70E 2 (ps
C p s 1l
1 .00 ~ .. .. .. ~ .. .. I " .. .. .. .. ..
, '~~~~~~~-
.....o
.> 0.80 - JUM
d
~
3'
..... 0.60
.....u
.> O.~O
L .. .. I ...... _,
c
Q/
u
u 0.20
LU
O.OO+----T~~r_--;_--_T----r_--~--~----r_--~--_.
0.00 0.30 0.60 0.90 1.20 1.50 1.80 2.10 2.~0 2.70 3.00
o __ __
01 ~5 --
Q/
"0
Q/
11'1 90 ... "l ,-,.- .,J _ ~ ••
d
r:. '-
n..
135 - .. I· ..
180+-__~--;_--;_~~~~~~~~~~~_r--_,
0.00 0.30 0.60 2.70 3.00
Frequency
ROTOR-BEARING ASSEMBLY RESPONSE
SQUEEZE-FILM DAMPER
DAMPER RESEARCH
RESEARCH R l g ConF'
RIg 1 g. 1
ConFlg. l aa
35
lEO
CIJ
"tJ
;:J
.....
.... ZED
0..
e
-<
:>
N
:c UPPE~
UPPER CCHI AUTO POUER
H I RUTO ~OWER FREi i.IH:'
i ii FREB
I~i H: 3 100
WIt
- lEO
2~O
1.V
0
l£I 55 ........
l£I A •
Q.,
lfl
m
0: _A
I\..
l\.
1
. II
00 I
Jl A
f-
C-
00
0:
P: -CIJ
-A
11
J\ n
"'"
r)
,
I
"0
;:J :.A " !,
..... :...A II
A
4
JI I
,I
:.:.A II. 4
0..
e6
-<
a 1
1
-
A
- -- .A
A
.. .
A
i
m
III
,\ J\
u
"tJ A .
w
, A.
(5 •9kk
15~-----------t1 UPPER
UPPER CHl flulo POWER (dBI
Cnl AUTO
FREQUENCY CONTENT (Hz)
(Hz)
(a81 I/ FREe
FREP (Hz)
LHr) 2269
••
Experimental Waterfall
Waterfall Diagram
(a)
Configuration la
la (Qc2=O.490,
( Q c 2=0.490, Psup=2psi)
Psup=2psi)
Fig 55
Fig
36
= O.213200E
0.213200E-1
"A
OcZ
Qc2 = 0.490097E
O.~90097E
-I
0O
Eo
€0 = O.JOOOOOE
0.500000E 0O
Psup =
Psup O.200000E
O.iO0000E i (ps,
i p s , ))
Pmrn
Prnir1 = -0. 1~7000E
-0.147000E 2 ::PSI
P S I j>
lEO
"n
81 ~
n
73
I
65 !\
i 1\
iii
I" 57 i: I
1J
oli i : 1
oV 49
=1.~
C\.
til
..5
o
0<
41
31
IJ
zs
-.J\
n·J ~ I , I I I I
20 40
~O 60
60 80 100120 110 160 180
I80 200
Freouency
Freauenc J content ((Hz)
Hz )
O~EaIC'ED WATEQF~LL
"QE5!C'ED w"TE~F~LL DIAGRAM
SQUE'EZE -= !U1 2AMPE9
SQUEEZE-=!L1 J"MPE~ qFSE4RCH:
~E'SE~RCH: P ,no
otor-3earL
~otor-3ear n c Qesoonse
~esoonse
(Linear Amplitude)
(Linear Amplitude)
Diagram
Theoretical Waterfall Diagram
(b)
37
O.2!J20OE .\
Oc2 ... O. <490097E
Eo O.BOQOOoe
~SI.lP =: O.20000OE I CPS1)
= -O.'·'oooe 2 (1l51)
..
II ~"'I"
"0
::J
lEO
Q.
B
1/2EO lEO
<
~.:.pII~==-:~~--~~---
::: 73
_~.: 2EO
}-=H·~lt!
3/2EO
==---===
81
n
=~~=~-:::=-~~~~=
N ..J
17
~
l/2EO lEO bS
. I iL_=_
Q
0
III
W
r-- - A - 3/~ED illf
III ci
i ~, ~'---~
0..
In
73
73 --. .A A. l
VI
IN
00
...'"o
P -~ ,w<--r
i ~ --
0
"'"' -,;J.. dft ~--~-----
0
0t-
A
'"
0
-. J.
I :1L-.--A--_~
..--
v
u
0
"0
::J
~
]I
A
..J,....
!
II
,-
'" 33
-
----:;r
~~~~---------------
2S --t:~'-------
~.-+
Q.
P
B
R .A. ~~~~----------------------------
1
<
< '7
III
m
! A A " 0o . .\'29
20 ' i '10o 60 . 80
60 i o . 100
i o o . 120 iqo. :60
i 2 o ' 110 iso. 180
iao' 200
ioo'
"0
0 J. . .A.. .A ':".ou."cy c~o n ~ . n l (HZ)
F - C D U C ~ Ccont..nt. t HZ )
d
PQEDIC7ED UATERFALL OlAGRAM
OlAGRAn
• P~EOICTED
sauEEZE-F
w.HERFALL
SOUEEZE-P;LI DAnPER RESeA.RCH:
iU'1 DAMPER RESEARCH: Rot.or-Bear
R o t w - B e a r tIna Rtswnst
n o R.sDOnse
A. .A
... . ...b
11
17 • UPPER CHI ~UTG PO.U III) I FRU (Linear Amplitude)
Amplitude)
(Linear
FREQUENCY
FREQUENCY CONTENT
CONTENT (Hz)
(HZ)
Theoretical ~aterfall
Theoretical Uaterfall Diagram
Diagram
Experimental Uaterfall Diagram
Experimental ~aterfall Diagram
(b)
Ca)
(a)
Configuration
Configuration lb
lb (Qc.=O.490, Psup=2psi, E.,=O.S)
Fig
Fig 66
'.:.-,: ;: :::.~..:':.'
....
,: ... " . -:'
.",
. .
29 Hs (V/Wn a 0.895) 33 lIa

33 & (V/Wn -
1.0191
( U k .. 1.019) 41 Hz (V/Vlo .. 1.265)
ROTOR SPEED
lOTOJl. SFZED
43 Ha (VIVo. • 1.327) 6S b (VIVa .. 2.006) 73 Hs (V/Vlo m 2".253)
(c)
(C ) SPDl
SPD1 !XPllIH!NTAL
EXPLRIWNTaOUITS
OMITS (COtlfisuratlCIG',II»,
(~oatl~uzarioa:llb,Qc2Qc2 • 0.490,
0.490. Psup -
Psup a a 2pd,
2 p e i , E01
Eol • 0.8)
0.8) -
=_-,.-....::::------., l.oor-______
....,.oo,....-----=_-r-""":::------,
, .00..-______
....
~P--r--~~-----~
'.10
'.00 •• 110
......
• 1 .00 L.::-'!:-:::-:;:;:~;:;;;::::~~;;:-;:7n:_;:__;;;;_~
~t .OO~G.OO-O.SO-O ••O-O.l'O-O.OOO.lO 0.40 0.60 0.80 1.00 -1.oo_L,...,...,.,-.•,....,...:-_.,.•...,...,,;...::.~..,;;_.;.::"'::.:l:.=....
:;.~"'~.~...
:::-.;:.-;"';;-;.~,..
:::-~,...
2. No C",'v.... O •••SI » He ht/vft .. 1.01.' 61 MQ (vi,," .. 1.34tO)
....,.00..-------:::0-,--::::::------, ....
1.00..-_ _ _ _ _ _ =_-.--"""::::-------,
.....
,.OOr------:::::---r--=-----,
...., \
.... '" /
'~::-_--r--
......
,.CO . -, .00"',00-0.10-0.10-0.40-0.»-0.000.20 0.40 0.150 0.80 I.CO ... , .00., .oo-o.ao-O.SO-O.4o-o.20-0.000.20 O.4Q 0.50 u.1tO 1,00
'1.00-0.10-0.&0-0.40-0.10-0.000.20 O.~ 0.50 G.at) I.CO
11 HlI (vi""" iii 1.51.' I ' Me ",/vft .. 2.000'
SFDl THEORETICAL
( d ) SFDI
(d) THEORETICAL ORBITS
ORBITS (Configuration lb, Qc,=O.490,
(Configuration lb. Qc2=0.490,Psup=2psi,
Psup=Zpsi, Eo.=O.8)
Eot=0.8)
39
39
0RIQBNAL PAGE
ORIGiNAL W
PAGE IS
OF POO~
OF QUAL1W
POOR QUALITY
SF!)1 SFD2
tarts
JUHP
,/11, !EO
•
"CJ
NI ;:,
....
;LIL
IT - .
2EO 3EO
N
D.
II
..:
>
~
51'
I lEO 2EO
::t:
Q
N
::t:
~
_i']
IS,..!-- ""U QHl AUto 'OUl~ IV) I FUI (HI)
Q
III
III IS
11/ D.
.J::> 11/ wn A In
0 D. B.
In
" ~ 1 It:
It:
0
....
,1 0
....
Q
It:
-.
A"
0 ~
.~
It:
•
"CJ
::I A
~
•
"CJ
.......
D. :A.
I
Ii.
~ _A
• . ::I
....
:r :.
.
I Q.
II
..:
.A ..A ..A.
• i II
..:
III
"CJ
.A ~::'i , A
...J III
~
-a. I "CJ
~
.A
"i
1 . .n tt. 11
" tin AUTO "0"" UI. , 'IUt IMIl
FREQUENCy CONTENT (Hz> FREQUENCY CONTENT (Hz)
(a)
Experimental Waterfall Diagram

00
"Yll~
"13~ nooE
o~
O.l' O.401000E -.
O~ 0<2 I).SIG/O'E 0 Qe2 Q,61Q7Q7E 0
:;'iF Eo o .OOOOOOE () Eo O,laocoae I
€;:
, . !.")
P,;uo
Pili a r'I
O.}OOQOOE
-0.1 "'OOOE
,
2 (D$I )
(PSI 1 P'IUp
PIJII"
a.loonODe
-O.1HQnCE
I (PSI)
2(pSII
Cffl
~~
OJT
lEO
wn
lEO
:=~3'i=-~E-~ -~ ---- ~- ------

8\
81
.' -_._- --_ _---,,--------

,~----~ .,,~
·--j{HH+ilIt'L-------- -.-- --.. --.. ..
·
x
"-~
l'
. --"-----"------------ -- -_._-.-
~
·
c
~~l-W
• -=-_~~~!~J,.-----.
I
.. _ _ _ - . - . . . . A -_ _ _ _ . _ _ _ _ _ _ • _ _ _ _ _ _ _ _
j:::;$t~}~-~~:~~L_ . . _
Q
'"~ "
:~~~~~~;-~
~
o
"
.-J, _ _ j, ____ ~ __ .___ .__ . __ .__ .
" -.. -J~~4'.~~ ...---.--.--- ..............
__ ...
'
.- ...... -. . - . . - .
17 0'='-"- ~o .~- ;0 oil 0:. o os! or: uo? \1 --10--- 10 60 80 I

--.--~--~----.--..---
00 ~ 20 I 40 160
..... -.
: 80
-
,2WI
h3uarlta-3 (I*.
I=-"f'qut> ... r_,~ c.)nl_~nl .. I.-Ir.)
IY+IUU>
1=-"-f''=llJ(>nc,,:/ c.CI.,I.f'"L ').,fl)
(Linear Amplitude) (Linear Amplitude)
SFDl (b) SFD2
Theoretical Waterfall Diagram
Configuration 2a <Qc2=O.611, Psup=2psi, Eo1=O.O)
Fig 7
SFDl SFD2
JUHP
•
jl JUHP
".,
:l
lEO
H~
0-
e lUI LEO
<
>
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(Qc2=0.611,Psup=2psi)
Psup=2psi)
Fig
Fig 10
10
PAGEISiS
ORIGINALPAGE
ORIGiNAL
46 OF POOR QUALIW
OF POOR QUAliTY
Eo1
Eol =0.0
=0.0
Eol
E0l ~1. 0
-1.0
3EO Qc2
Qc2 =0.611
=0.611
51 Psup= 2psi
PSUp= 2psi
R
0
T If
0
R
S
P
E
E
D
Eol =0.0
(Hz) Eo2 =1. 0
Qc2 =0.490
Psup= 2psi
51
Hz ( V
SFDl FREQUENCY CONTENT Hz
SFD1 V Amplitude)
Amplitude)
Rotor
Rotor Displacement
Displacement Relative
Relative to
to Ground at SFD2
Ground at
Configuration
Configuration 33bb
CF/1GsNl1il PAGE
GRiGiNhPtL ~;YAGE 15
IS
F POOR
6Of QUALITY
POO~ QUALiTV
47
N92-14350
THE
THE STABILITY OF
OF THE
THE STEADY
STEADY STATE
STATE AND BISTABLE
BISTABLE RESPONSE
RESPONSE OF
OF A
A
FLEXIBLE
FLEXIBLE ROTOR
ROTOR SUPPORTED
SUPPORTED ON
ON SQUEEZE
SQUEEZE FILM
FILM DAMPERS*
Meng
Meng Guang
Guang
The
The Vibration Research
Research Counci
CouncilI
Northwestern
Northwestern Poly technical University
Polytechnical
Xian, China
In
In this
this paper,
paper, the
the stability
stability of
of the
the steady
steady state
state circular
circular response
response
and
and the
the bistable
bistable response
response of
of aa flexible
flexible rotor--centralised squeeze
squeeze film
film
damper
damper (shortened
(shortened as
as SFD)
SFD) system
system is
is analysed,
analysed, and
and the
the system's
system's charac-
charac-
teristics
teristics ofof accelerating
accelerating oror decelerating
decelerating through
through the
the bistable
bistable region
region
are investigated.
are investigated. It It is
is found
found that
that there
there are
are two
two unstable
unstable regions
regions for
for
the
the circular
circular response.
response. TheThe larger
larger the
the unbalance
unbalance parameter
parameter and
and the
the
. smaller
smaller the
the bearing
bearing parameter
parameter and
and external
external damping,
damping, the
the easier
easier it
it is
is
to
to cause
cause an
an unstable
unstable circular
circular response.
response. InIn addition,
addition, the
the larger
larger mass
mass
ratio
ratio and
and the
the smaller
smaller stiffness
stiffness ratio
ratio will
will decrease
decrease the
the threshold
threshold rota-
rota-
ting
ting speed
speed of
of instability.
instability. Although
Although in
in some
some cases,
cases, the
the system's
system's circu-
circu-
lar
lar response
response is
is unstable,
unstable, the
the system
system is
is still
still stable
stable and
and has
has stable
stable
nonsynchronous response.
It
It is
is also
also found
found that
that only when the
the initial
initial rotating
rotating speed
speed is
is
ahead of the bistable region can the bistable response
ahead of the bistable region can the bistable response be produced when
when
the system is accelerating through the bistable region. The small
the system is accelerating through the bistable region. The small
solution
solution ofof the bistable response
the bistable response is
is more stable
stable than
than the
the large
large one.
one.
NOMENCLATURE
NOMENCLATURE
aa = angle acceleration
angle acceleration
B = bearing parameter ( (=~RL3/mBwcc3),
= p ~ ~ ~ / r n ~ , cwhere
~ ) , R is
where is the
the bearing
radius,
radius, L isis land
land length
length of of SFD,
SFD, and ~p isis the
the absolute
absolute vis-
of the
cosity of the lubricant
lubricant
c
c =
= radial clearance
radial clearance ofof SFD
SFD
cd
Cd =
= external damping coefficient
external damping coefficient
eu
eu =
= unbalance eccentricity
unbalance eccentricity
kaa
k =
= retainer spring stiffness
retainer spring stiffness
kss
k =
= shaft stiffness
shaft stiffness
K = stiffness ratio
stiffness ratio (=kg/ks)
(=ka/ks)
mg,
mB, mD = mass lumped
lumped at
at bearlng station and rotor
bearing station rotor mid-span
mu =
= unbalance mass
unbalance mass for
for experiment
experiment
n
n = rotating
rotating speed inin RPM
U = unbalance
unbalance parameter (=eU/c)
(=eu/c)
·Supported by the Aviation Scientific

*Supported Foundation of China.
Scientific Foundation China.
49
PRECEDING PAGE BLANK NOT
PRECEDING NOT FILMED
FILMED
x,y;
x,y; r,tr,t == Cartesian
Cartesian and
and polar
polar coordinates
coordinates
X,Y
X,Y == x/c,
X/C, y/c
y/c
Z-Z == X+iY
X+iY
ZZ conjugation of
== conjugation of ZZ
a
a. mass ratio (=mB/mD)
= mass ratio (=mB/mD)
=
EB, ED == eccentricity
E B , ED eccentricity ratio
ratio of
of journal
journal oror disk
disk (=eB/c
(=eB/c or
or eD/c),
eD/c), where
where
eg and
eB and eD
eD are
are eccentricities
eccentricities
P == damping
damping ratio
ratio (=cd! 2m if> c)
(=cd/2meC)
r 2
a/wc2
== a/wc
$B, $D == attitude
attitude angles
angles
w == rotor
rotor rotating
rotating speed
speed
= pin-pin critical speed
= pin-pin critical speed (=(k s /mD)I/2
(=(ks/mD) 112
iC
-C =
= speed ratio (=w/wc)
= speed
at for
= wt
ratio
for steady
(=w/wc)
steady state
state response
response and and wet
wCt for
for transient
transient response
response
('1 == d/dt
d/dt
= d/d-r
Subscripts
Subscripts
(B)
(B) == bearing
bearing journal
journal
(D)
(Dl == disk
disk
(0)
(0) == steady
steady state
state condition
condition
(x),
(x), (y)
(y) == direction
direction subscripts
subscripts
INTRODUCTION
INTRODUCTION
A
A well
well designed
designed squeeze
squeeze film
film damper
damper (SFD)
(SFD) is
is aa good
good isolator
isolator and
and
damper
damper in
in rotating
rotating machinery
machinery and
and can
can increase
increase the
the system's
system's stability.
stability.
But
But poorly
poorly designed
designed SFD
SFD may
may destabilize
destabilize the
the rotor
rotor system,
system, so
so the
the sta-
sta-
bility
bility analyses
analyses ofof rotors
rotors supported
supported on
on SFD's
SFD's have
have received
received more
more atten-
atten-
tion
tion (Ref.
(Ref. 11 and
and Ref.
Ref. 2).
2). The
The bistable
bistable response
response which
which is
is induced
induced by
by
the
the nonlinear
nonlinear fluid·
fluid film
film forces
forces will
will cause
cause aa large
large vibration
vibration amplitude
amplitude
that
that is
is harmful
harmful toto the
the rotor
rotor system.
system. Since
Since the
the high
high nonlinearity
nonlinearity ofof
the
the fluid
fluid film
film force
force makes
makes the
the mathematical
mathematical analysis
analysis very
very difficult,
difficult,
most
most stability
stability analyses
analyses ofof the
the rotor-SFD
rotor-SFD system
system are
are limited
limited to
to the
the case
case
of
of steady
steady state
state circular
circular response
response ofof the
the centralised
centralised SFD
SFD system
system (Ref.
(Ref. 33
and
and Ref.
Ref. 4).
4). Whether
Whether the
the system
system isis unstable
unstable when
when its
its circular
circular response
response
is
is unstable
unstable is
is still
still an
an undiscussed
undiscussed problem.
problem. AsAs the
the system
system is
is nonlin-
nonlin-
ear,
ear, it
it may
may have
have aa stable
stable response
response other
other than
than the
the circular
circular response.
response.
Furthermore,
Furthermore, itit is
is not
not clear
clear what
what the
the properties
properties are
are when
when the
the rotor
rotor
system
system accelerates
accelerates through
through the
the bistable
bistable region,
region, and
and the
the influences
influences of
of
the
the system
system parameters
parameters onon the
the system's
system's stability
stability have
have not
not been
been thor-
thor-
oughly
oughly analysed.
analysed. As As these
these problems
problems are
are very
very important
important for
for designing
designing
good
good SFD,
SFD, they
they are
are worth
worth investigating.
investigating.
EIGEN-MATRIX
EIGEN-MATRIX FOR
FOR STABILITY
STABILITY ANALYSIS
ANALYSIS
For
For the
the flexible
flexible rotor
rotor supported
supported on
on the
the centralised
centralised SFD
SFD shown
shown in
in
Fig.
Fig. 1,
1, the
the nondimensional
nondimensional equations
equations of
of motion
motion can
can be
be derived
derived by
by taking
taking
the
the same
same assumptions
assumptions adopted
adopted in
in Ref.
Ref. 5:
5:
50
Bearing journal:
Bearing journal:
(1)
(2)
where F=f,+if, y is
where F=fx+if is the
the dimensionless
dimensionless fluid
fluid film
film force.
force.
In the
In the assumptions
agsumptions of
of the
the short
short bearing
bearing and
and ~-film,
v-film, there
there are
are
(ref, 6)
(ref. 6)
(3)
where
where
e +~ e +~ e +~
I =J 1 . sinecose 3de, I =J 1
1 e (1+€BCose)
co§2e
2 e (1+€BCOSe)3
de, I =J
1 sin 2e
3 e (1+€BCOS9)3
de
1 1 1 · mJ
" 2 2 1/2
e1=arctan[-€B/(€B¢B)]' €B=(XB+YB) '¢B=arctan(Ya/XB)
For the
For the steady
steady state
state circular
circular response,
response, there
there are
are
ZBO =Eoe
i@o I sO=c~nstl~ O = r - @ ~@l=const
l and ZBO'iZBO
Linearizing the
Linearizing the nonlinear
nonlinear fluid
fluid film
film force
force about
about the
the steady
steady state
state cir-
cir-
cular response
cular ZBO with
response ZBO with the
the Taylor
Taylor series,
series, we
we get
get (Ref.
(Ref, 6)
6)
(4)
where, Z2=ZB-ZBO'
where, Z~=ZB-ZBO. The
The linearizing
linearizing coefficients
coefficients are
are
(5)
51
and
and
K= ~ C0=2- -(1-'_:....€-.2or)....,.3r-:1~2
'ff
o (l-€~
o o
As %=const, ~o=~-~l'
As eo=const, $o=~-$~, ~l=const,
$l=const, it
it can
can be
be seen
seen that
that these
these coefficients
coefficients
are
are periodic
periodic functions
functions ofof time,
time, the
the period
period being
being ~.
n.
In
In Eq.
Eq. (1) and Eq.
(1) and (2), note
Eq. (2), note Zl=ZD-ZDO'
Z1=ZD-ZDO, Z2=ZB-ZBO'
Z =Z -2
2 B BO' we we can
can get
get the
the
perturbed
perturbed equations
equations of
of motion
motion about
about the
the steady
steady state
state response
response
i~o
iOo i~DO
zBO=eoe
ZBO=eoe and
and ZDO=e D8
ZDo=&Dcr i4Do(approximated
(approximated to
to the
the first
first order
order term):
term):
2i c p
+ (B2+iC2)e OZ;] =O
Thus,
Thus, the
the perturbed
perturbed equations
equations ofof motion
motion of
of the
the system
system about
about its
its cir-
cir-
cular
cular response
response are
are in
in the
the form
form of
of the
the Hill
Hill equation
equation with
with periodic
periodic
coefficients.
coefficients.
Now U1=P1+iP2'
Now U1=p1+ip2, U2=P3+iP4'
U2=p3+ip4, and
and make
make the
the transformation
transformation ofof
Zl =Ulei¢o, (7)
that
that is,
is, analysing
analysing the
the problem
problem in
in the
the coordinate
coordinate rotating
rotating synchronously
synchronously
with
with the
the rotor
rotor shaft,
shaft, we
we have
have
(8)
There
There are
are similar
similar results
results for
for Z2'
22. Substituting
Substituting Eq.
Eq. (7)
(7) and
and Eq.
Eq. (8)
(8)
into
into Eq.
Eq. (6)
(6) and
and separating
separating the
the real
real and
and imaginary
imaginary parts,
parts, wewe get
get
P"+DP'+SP=O (9)
where
where P=(P1,P2,P3,P4)T,
P = ( P ~ , ~ ~ , P ~and
, ~ the
and ~ ) ~damping
the damping
, matrix
matrix DD and
and stiffness
stiffness matrix
matrix SS
are
are
52
:£11 -2 0 0
0
2 If}. 0 0
0
D= 2B 2B
0 0 n(A2+ B2) n- C2- 2
2B 2B
0 0 n C2+ 2 n(A2- B2)
1 -1 -lJ2 0 0
fl2 0
2/3 ~-1 0 0
0
s=
- -.L 0 l+K -1+2B(A +B +C ) _2B(A +B -C )
2 2 1
2aO 2a0 2 0 1 1 2 0
0 - 1 ~B(A2-B2+C1) l+K -1+2B(A -B -C )

2aO 2a02 0 1 1 2
substituting
Substituting Eg.
Eq. (5)
(5) into Eg.
Eq. (9)
(9) and noting R=(r
1 ,r 2 , ....,r8)
R=(rl,rZ,. ,ra)T
T .
=(pl,pi,p2,pa,p3,pj,~4,Pi)TI Eg.
=(Pl,Pi,P2,P2,P3,P3,P4,P4)T, (9) can be transferred to the first
Eq. (9)
form:
order form:
dR
- HR (10)
dr
Note
These are the same eight fluid film force coefficients commonly used
for SFD in the polar coordinate (Ref. 4); then the coefficients matrix
(Ref. 4);
HH is
53
0 1 0 0 0 0 0 0
1-~ -~ ~
0 0 0
2
~ 0 0 0
0 0 0 1 0 0 0 0
-Y} -2 1 .1 -Yl.. 0 0 1 0
0 -0"2 0 0
H= (11)
0 0 0 0 0 1 0 0
1 1_1+K _2Bl{ _ 2BC _2BK 2_ 2B C

20:0 2
0 0 0
20:0 2 0 rr n rr n rs n rs
0 0 0 0 0 0 0 1
1 _2BK 1_1+K -~K _ 2BC

0 0
20:0 2
0
n sr
-2_2BC
n sr 20:0 2 0 ss n ss
The stability
The stability of of the
the system's
system'ssteady
steady state
state circular
circular response
response can
can
be determined by the eigenvalue of matrix H. The steady
be determined by the eigenvalue of matrix H. The steady state respon-state respon-
ses ZBO
ses ZBO and
and Zno
ZDO of
of Eq.
Eq. (1) and Eq.
(1) and (2) are
Eq. (2) are asymptotically
asymptotically stable
stable when
when
all the eigenvalues of H have negative real parts, and
all the eigenvalues of H have negative real parts, and they are they are
unstable if
unstable if only
only one
one eigenvalue of HH has
eigenvalue of has aa positive
positive real
real part.
part.
NUMERICAL ANALYSIS
NUMERICAL ANALYSIS OF
OF STABILITY
STABILITY
The eigenvalues
The eigenvalues of of matrix
matrix HH are
are solved
solved with
with the
the QR
QR method,
method, andar.d the
the
stability of the system's steady state circular response
stability of the system's steady state circular response is analysed. is analysed.
From numerical
From numerical results
results we we find
find that,
that, for
for both
both 0<1 and 0>1,
Q<l and there are
Q>l, there are
two unstable regions. The unstable region generally begins
two unstable regions. The unstable region generally begins before the before the
peak point of response and finishes after the peak point
peak point of response and finishes after the peak point (see Fig. 2). (see Fig. 2).
In most
In most cases,
cases, the
the larger
larger the
the unbalance
unbalance parameter
parameter U,U, and
and the
the smaller
smaller
the bearing parameter B and the external damping ratio at the easier
the bearing parameter B and the external damping ratio P, the easier it it
is to produce the unstable response. Furthermore, the
is to produce the unstable response. Furthermore, the larger the mass larger the mass
ratio aa and
ratio and the
the smaller
smaller thethe stiffness
stiffness ratio
ratio K,
K, the
the lower
lower the
the threshold
threshold
rotating speed of instability - perhaps because the
rotating speed of instability - perhaps because the larger a and larger a and
smaller K may reduce the critical speed of the system.
smaller K may reduce the critical speed of the system. No instability No instability
is found
is found inin the
the region
region ofof 0<1
Q< and ~~<0.5.
l &0<0.5.
and
The middle solution of the bistable
The middle solution of the bistable response response is
is always
always unstable,
unstable,
while the small solution is always stable. For the bistable
while the small solution is always stable. For the bistable response response
of the isolated bifurcation form, the large solution
of the isolated bifurcation form, the large solution is generally is generally
stable (see
stable (see Fig.
Fig. 3), but it
3). but it may
may be
be unstable
unstable when
when the
the bistable
bistable region
region
is large (see Fig. 4). For the bistable response of
is large (see Fig. 4). For the bistable response of the nuffing formthe Duffing form
54
when
when 0<1
Q<l (although
(although in in most
most cases
cases the
the large
large solution
solution isis stable)
stable) it it may
may
become
become unstable
unstable in in some
some cases
cases (see
(see Fig.
Fig. 2).
2). When
When 0>1,
Q>l, the
the large
large solu-
solu-
tion
tion isis unstable
unstable in in most
most cases
cases (see
(see Fig.
Fig. 22 and
and Fig.
Fig. 3).
3).
In
In order
order to
to find
find the
the reason
reason for
for this
this instability,
instability, Eg.Eq. (1)
(1) and
and
Eg.
Eq. (2)
(2) are
are directly
directly solved
solved with
with the
the Runge-Kutta
Runge-Kutta method
method in in the
the unstable
unstable
region.
region. It It is
is found
found that
that inin most
most cases,
cases, thethe instability
instability is is caused
caused by by
the
the nonsynchronous
response. That That is
is to
to say,
say, within
within the
the unstable
unstable
region,
region, although
although the
the circular
circular response
response isis unstable,
unstable, the
the system
system isis still
still
stable
stable and
and has
has aa stable,
stable, nonsynchronous
response. For For the
the example
example of of
Fig.
Fig. 3,3, when
when 0=2.0,
Q=2.0,thethe circular
circular response
response is is unstable,
unstable, butbut the
the system
system
has
has aa stable
stable 1/3
1/3 subharmonic
subharmonic response
response at at the
the same
same time
time (see
(see Fig.
Fig. 5).
5).
Besides
Besides the
the nonsynchronous
nonsynchronous response,
response, thethe lack
lack of
of aa steady
steady state
state
response
response is is another
another reason
reason for
for instability.
instability. In In only
only aa few
few cases,
cases, the
the
system
system isis very
very unstable,
unstable, andand the
the response
response is is divergent.
divergent.
The
The above
above results
results explain
explain thethe reason
reason why
why the
the bistable
bistable response
response is is
seldom
seldom found
fcund inin practical
practical rotor
rotor systems,
systems, although
although itit is
is cornmon
common inin theo-
theo-
retical
retical analyses.
analyses.
From
From the
the numerical
numerical results
results it it is
is also
also found
found that
that the
the instability
instability
can
can be
be avoided
avoided by by selecting
selecting reasonable
reasonable system
system parameters,
parameters, es-pecially
especially
for
for the
the instability
instability in in 0<1.
Q<l.
It
It is worth paying special
is worth paying special attention
attention to to the
the fact
fact that
that the
the nonsyn-
nonsyn-
chronous
chronous response also occurs frequently in centralised SFD, 'both in
response also occurs frequently in centralised SFD, 'both in
'the
'the regions
regions ofof 0<1
Q <andand
l 0>1
Q >although
although
l the
the nonsynchronous
nonsynchronous response
response maymay bebe
more
more prevalent
prevalent in in the
the uncentralised
uncentralised SFD. SFD. TheThe nonsynchronous
response
should
should bebe avoided
avoided as as it
it will
will cause
cause alternating
alternating fatigue
fatigue toto the
the rotor
rotor
system.
system.
TRANSIENT
TRANSIENT CHARACTERISTICS
CHARACTERISTICS WHEN
WHEN THIS
THIS SYSTEM
SYSTEM IS
IS ACCELERATING
ACCELERATING THROUGH
THROUGH
THE
THE BISTABLE
BISTABLE REGION
REGION AND
AND STABLE
STABLE DEGREE
DEGREE OF
OF BISTABLE
BISTABLE RESPONSE
RESPONSE
We
We have
have analysed
analysed the
the stability
stability ofof bistable
bistable response.
response. But
But what
what is
is
the
the bistable
bistable jumping
jumping process,
process, and
and what
what isis its
its relationship
relationship with
with the
the
initial
initial rotating
rotating speed?
speed? Furthermore,
Furthermore, the the large
large and
and small
small solutions
solutions ofof
the
the bistable
bistable response
response are
are both
both stable
stable inin most
most cases,
cases, but
but which
which is
is more
more
stable?
stable? So So the
the transient
transient response
response of of the
the system
system accelerating
accelerating through
through aa
bistable
bistable region
region isis analysed
analysed inin the
the following.
following,
Supposing
Supposing that
that the
the accelerating
accelerating motion
motion ofof the
the flexible
flexible
rotor---centralised
rotor---centralised SFD SFD system
system has
has aa constant
constant acceleration,
acceleration, that
that is,
is,
+"= const
<p"= const == a,
a, then
then the
the dimensionless
dimensionless equations
equations of of motion
motion can
can be
be
written
written asas
ZB+~(1+K)ZB-ZDJ=2BF (12)
2a
¢"=r, ¢'=rr+no, ¢=rr 2 j2+n o r+¢o
where
where ~z is
is now
now denoted
denoted as ~=w,t and
as ~=wct and 00
Q0 is
is the
the initial
initial speed
speed ratio.
ratio.
By
By solving
solving Eg.
Eq. (12)
(12) numerically,
numerically, we we find
find that,
that, for
for different
different lnl-
ini-
tial rotating speeds at the beginning of acceleration,
tial rotating speeds at the beginning of acceleration, the
the response
response
routes
routes when
when passing
passing through
through thethe bistable
bistable region
region are
are different.
different. If If we
we
note
note the
the beginning
beginning and
and finishing
finishing speed
speed ratio
ratio of
of the
the Duffing
Duffing bistable
bistable
55
response as
response as as
Qs and Qe (see
and Oe (see Fig.
Fig. 6), then the
6 ) , then the response
response will
will take
take the
the
route of
route of L1
L1 when
when OO<OSI
Qo<Qs,and and aa bistable
bistable response
response occurs
occurs (see
(see Fig.
Fig. 7).
7).
But the
But the response
response after
after jumping
jumping downdown will
will not
not completely
completely take
take the
the route
route
of the
of the steady
steady state
state response,
response, it it goes
goes toto steady
steady state
state after
after aa period
period
of oscillation.
of oscillation. During
During the the period
period of of oscillation,
oscillation, aa nonsynchronous
nonsynchronous
response appears
response appears inin some
some cases.
cases. WhenWhen the
the initial
initial speed
speed ratio
ratio 00>Os'
Q0>QsI
only for
only for very
very suitable
suitable initial
initial response
response conditions
conditions can
can the
the response
response
take the
take the large
large solution
solution and and cause
cause bistable
bistable jumping.
jumping. In In most
most cases,
cases,
the response
the response will
will take
take the
the route
route ofof L2;
L2; that
that is,
is, the
the small
small solution
solution is is
the practical
the practical one
one and
and no
no bistable
bistable jumping
jumping occurs.
occurs. If If 00<Os'
Qo<Qs,butbut stops
stops
accelerating when
accelerating when 0s<</>0e,
Qsc$Qe, then
then the
the bistable
bistable jumping
jumping down
down will
will occur
occur inin
most cases,
most cases, and
and when
when the
the acceleration
acceleration is is continued,
continued, the
the response
response will
will
take the
take the route
route of
of L2.
L2. Therefore,
Therefore, the the response
response will
will take
take the
the route
route ofof
L3 for
L3 for the
the whole
whole process.
process.
From the
From the above
above analysis,
analysis, it it can
can bebe seen
seen that
that the
the small
small solution
solution of of
the bistable
the bistable response
response isis more
more stable
stable thanthan the
the large
large one.
one. InIn decelera-
decelera-
ting, the
ting, the response
response takes
takes thethe route
route of of L4.
L4. ItIt is
is easy
easy to
to see
see that
that the
the
jumping phenomenon
jumping phenomenon ofof deceleration
deceleration is is not
not obvious
obvious and
and sudden
sudden asas that
that ofof
acceleration, and
acceleration, and the
the faster
faster thethe deceleration,
deceleration, the the smaller
smaller the
the jumping
jumping
amplitude.
amplitude.
EXPERIMENTAL ANALYSIS
EXPERIMENTAL ANALYSIS
In this
In this experiment,
experiment, aa symmetric
symmetric rotor
rotor is
is used
used which
which has
has aa diameter
diameter
of 32
of rnm and
32 mm and aa length
length of
of 889
889 mm, with aa 10.325
mm, with 10.325 kg
kg disk
disk assembled
assembled in in its
its
mid-span, The
mid-span. The SFD
SFD is
is fabricated
fabricated with
with two
two load
load lands,
lands, aa circumferential
circumferential
groove for
groove for the
the oil
oil supply,
supply, and
and no
no seals.
seals. The
The first
first rigid
rigid critical
critical
speed of
speed of the
the rotor
rotor shaft
shaft is
is about
about 5500
5500 RPM,
RPM, the
the absolute
absolute viscosity
viscosity ofof
the lubricant
the lubricant atat 18°C
18 "C is about ~=8.05x10-8
is about p=8.05~10-~ kgs/cm.
kgs/cm.
The rotor
The rotor and
and journal
journal vibrations
vibrations inin the
the horizontal
horizontal and
and vertical
vertical
directions are
directions are measured
measured and
and recorded
recorded byby aa TEAC-R50C
TEAC-R50C type
type recorder
recorder and
and
then processed
then processed with
with an
an SM-2100B
SM-2100B signal
signal analyser.
analyser. ThisThis gives
gives usus the
the
magnitudes of
magnitudes of vibration,
vibration, the
the oscillation
oscillation orbits,
orbits, and
and the
the power
power spec-
spec-
trum charts
trum charts ofof the
the response.
response.
Figure 88 is
Figure is the
the stable
stable nonsynchronous
response ofof 1/2
1/2 the
the sub-
sub-
harmonic. Although
harmonic. Although theoretical
theoretical analyses
analyses show
show that,
that, in
in this
this case,
case, the
the
steady state
steady state circular
circular response
response ofof the
the system
system isis unstable,
unstable, the
the system
system isis
still stable.
still stable.
Figure 99 shows
Figure shows aa stable
stable synchronous
synchronous (almost
(almost circular)
circular) response
response
and theoretical
and theoretical analyses
analyses also
also indicate
indicate that
that the
the circular
circular response
response isis
stable.
stable.
Figure 10
Figure 10 shows
shows the
the experimental
experimental results
results ofof aa bistable
bistable jumping
jumping
down when
down when system
system isis accelerating
through the
the bistable
bistable region.
region. It It can
can
be seen
be seen that
that the
the middle
middle solution
solution of
of the
the bistable
bistable response
response is
is unstable,
unstable,
as shown
as shown inin the
the orbit
orbit figure.
figure.
CONCLUSIONS
CONCLUSIONS
1. The
1. The perturbed
perturbed equations
equations of
of motion
motion of
of aa flexible
flexible rotor
rotor supported
supported
on SFD
on SFD about
about its
its circular
circular response
response are
are of
of the
the form
form of
of Hill
Hill equations
equations
with periodic
with periodic coefficients,
coefficients, and
and there
there are
are two
two unstable
unstable regions
rsgions for
for the
the
system'scircular
system's circular response
response separately
separately in
in 0<1
Q<l and
and 0>1.
Q>l. InIn most
most cases,
cases,
56
the
the larger
larger the
the unbalance
unbalance parameter
parameter and
and the
the smaller
smaller the
the bearing
bearing parame-
parame-
ter
ter and
and external
external damping,
damping, the
the easier
easier it
it is
is to
to produce
produce instability.
instability.
Furthermore,
Furthermore, larger
larger mass
mass ratio
ratio and
and small
small stiffness
stiffness ratio
ratio will
will decrease
decrease
the
the threshold
threshold rotating
rotating speed
speed of
of instability.
instability.
2.
2. Although
Although the
the steady
steady state
state circular
circular response
response isis unstable,
unstable, the
the
system
system isis still
still stable
stable in
in most
most cases
cases and
and has
has aa stable
stable nonsynchronous
nonsynchronous
response.
response. In In many
many cases,
cases, especially
especially when
when Q)l,
Q>l, the
the large
large solution
solution of
of
bistable
bistable response
response is
is also
also unstable,
unstable, and
and then
then bistable
bistable jumping
jumping will
will not
not
occur.
occur. This
This explains
explains why
why the
the bistable
bistable response
response isis seldom
seldom observed
observed in
in
practical
practical rotor
rotor systems.
systems. Thus
Thus further
further work
work on
on bistable
bistable response
response is
is
not
not worth
worth pursuing.
pursuing.
3.
3. Whether
Whether the
the bistable
bistable jumping
jumping occurs
occurs or
or not
not is
is largely
largely related
related
to
to the
the initial
initial rotating
rotating speed
speed where
where acceleration
acceleration begins.
begins. Only
Only when
when the
the
initial
initial speed
specd is
is ahead
ahead of
of the
the bistable
bistable region
region can
can the
the bistable
bistable jumping
jumping
be
be caused.
caused. The
The small
small solution
solution ofof the
the bistable
bistable response
response is
is more
more stable
stable
than
than the
the large
large one.
one.
REFERENCES
REFERENCES
[1]
111 Tonneson,
Tonneson, J.;
J.; Lund,
Lund, J.W.,
J.W., "Some
"Some Experiments
Experiments on
on Instability
Instability of
of Rotor
Rotor
Supported
Supported in
in Fluid
Fluid Film
Film Bearing,"
Bearing," Trans.
Trans. of
of ASME. J . of
ASME. J. of Mechanical
Mechanical
Design,
Design, Vol.
Vol. 100,
100, No.1,
No. 1, 1978,
1978, pp.
pp. 147-155.
147-155.
[2]
121 Yan
Yan Litang,
Litang, "The
"The Bistable
Bistable Characteristics
Characteristics of
of Rigid
Rigid Rotor
Rotor Supported
Supported
on
on Squeeze
Squeeze Film
Film Dampers,"
Dampers," Proc.
Proc. of
of Fourth
Fourth Conf.
Conf. on
on Structure,
Structure, Strength
Strength
and
and Vibration,
Vibration, 1987,
1987, China,
China, pp.
pp. 76-78.
76-78.
[3]
131 Rabinowitz,
Rabinowitz, M.D.;
M.D.; Hahn,
Hahn, E.J.,
E.J., "Stability
"Stability of
of Squeeze
Squeeze Film
Film Damper
Damper
Supported
Supported Flexible
Flexible Rotors,"
Rotors," ASME
ASME paper
paper 77-GT-51.
77-GT-51.
[4]
141 White,
White, D.C.,
D.C., "The
"The Dynamics
Dynamics of
of aa Rigid
Rigid Rotor
Rotor Supported
Supported on
on Squeeze
Squeeze
Film
Film Bearings,"
Bearings," Proc.
Proc. Inst.
Inst. mech.
mech. Engs.
Engs, Vol.
Vol. 186,
186, 1972,
1972, pp.
pp. 213-219,
213-219,
Conf.
Conf. on
on Vibration
Vibration in
in Rotating
Rotating System.
System.
[5]
151 Meng
Meng Guang;
Guang; Xue
Xue Zhongging,
Zhongging, "Investigation
"Investigation on
on Steady
Steady State
State Response
Response
and
and its
its Nonlinear
Nonlinear Characteristics
Characteristics of
of Flexible
Flexible Rotor--Squeeze
Rotor--Squeeze Film
Film
Damper
Damper System,"
System," ASME
ASME paper
paper 85-DET-141.
85-DET-141.
[6]
161 Meng
Meng Guang;
Guang; Xue
Xue Zhongging,
Zhongging, "Some
"Some Theoretical
Theoretical Analyses
Analyses on
on Flexible
Flexible
Rotor--Squeeze
Rotor--Squeeze Film
Film Damper
Damper Bearings
Bearings System
System and
and Fluid
Fluid Film
Film Forces,"
Forces,"
Proc.
Proc. of
of the
the IntI.
Intl. Conf.
Conf. on
on Rotordynamics,
Rotordynamics, Sept.
Sept. 1986,
1986, Tokyo,
Tokyo,
pp. 511-516.
pp. 511-516.
57
squeeze film
1. squeeze
1. film damper
damper 2. squeeze oil
2. squeeze oil film
film
outer race
3. outer
3. race constrained
constrained not
not to
to rotate
rotate
ball bearing
4. ball
4. bearing centralising spring
5. centralising
5. spring
Schematic diagram
Fig.1 schematic
Fig.l diagram of
of aa flexible
flexible rotor
rotor
with squeeze
with squeeze film
film damper
damper
58
EB
EB unstable
unstable
1.0
1.9 --
....... stable
stable
n
.II
..
;T7 ...
.....,- ..
a~
"
7
..
.
.
'0 ......
.......
..........
•••••.•
........
.......•..................................
................................... " . ....
................
...........
... ....
,
.0 4 ...' "
on
0
.0
.0 .5.5 1.0
1 .O 1.5
1.5 2.0
2.C 2.5
2.5 3.0
3.0 3.5
3.5 4.0
4.0
0M
OM
Fig.2
Fig.2 stability
Stability analysis
analysis of
of system's
system's circular
circular response
response
(U=0.2, P=0.0005, a=O.l,
(U=0.2, fi=0.0005, a=0.1, B=0.025,
B=0.025, K=0.2)
K=0.2)
EB
EB unstable
unstable
1.0
1 .O ..
....... stable
......• stable
.55 - .
..
'
........
...... ...
7
. ....
.................
......................*.....
...................
. . ....
.....
. ".
'
. .........................
"~ ..............""-"."
....... ...."."-"." ....... ...,,.....-.,,-.
.O~----~--~~--~~--~--~~----~
0 4 ____~____- +on_ _
.O
.0 .5
.5 1 .O
1.0 1.5
1.5 2.0
2.0 2.5
2.5 3.0
3.0 3.5
3.5 4.0
4.0
.OM
-OM
Fig.3
Fig.3 stability
Stability analysis
analysis ofof system's
system's circular
circular response
response
(U=0.4,
(U=0.4, fi=0.005, a=0.2, B=0.05,
P=0.005, a=0.2, B=0.05, K=O.Ol)
K=0.01)
59
EB unstable
unstable
1.0
....... stable
stable
.5
.. "
............................... H .. U.'H ........ H .................
U
U U H . . . . . . . H . . . . . . . H H • • • • • • • • • • • • • ••••• .. HH.~ -----
••••••• * · · · U -
..............................
o
.o~--~~--~~--~~~~--~~---+----~----~
.0 .5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
OM
Stability of
Fig.4 stability
Fig.4 of isolated
isolated bistable
bistable response
response
(U=0.4, fi=0.0005,
(U=0.4, P=0.0005, a=O.Ol,
a=0.01, B=0.3,
B=0.3, K=O.OOl)
K=0.001)
- Ll L2 L3
n
o
Nonsynchronous response
~ i g . 5Nonsynchronous
Fig.5 response in
in Fig.6 Schematic diagram of the
Fig.6 the
unstable region
region (U=0.4,
(U=O.4, P=0.005,
fi=0.005, influence
influence of initial
initial rotating
a=0.2, B=0.05,
a=0.2, B=0.05, K=O.Ol,
K=0.01, n=2.0)
R=2.0) speed on bistable jumping
60
EB
1.
.2
o
.0 •1 .2 .3 .4 .5
OM
Bistable jumping
Fig.7 Bistable
Fig.? jumping response
response of
of accelerating
through
bistable region
bistable (U=0.25, ~=0.0005,
region (U=0.25, P=0.0005, a=O.l,
a=0.1, B=0.05,
B=0.05,
K = o . ~ ,
aO=o.42, r=o.0005)
K=O.2, 00=0.42, r=0.0005)
.:l3~WOO·OOS-
~ R '----t----------""1
AUTl'l Pill
lH~ 1S.S19mREF 38.000 HE
System's 1/2
Fig.8 System's
Fig.8 1/2 subharmonic
subharmonic response
response by
by experiment
experiment
(L=1.2cmIc/R=0.5%,
(L=1.2cm, c/R=0.5%, m
mu=10.5g,
u =10.5g, n=4320rpm)
n=4320rpm)
61
CH'
CH2 TEST
1.0000 REF -1.0000 REF
System's synchronous
Fig.9 System's
Fig.9 synchronous response
response by
by experiment
experiment
(L=l.Gcm, c/R=O.l%,
(L=1.6cm, c/R=O.l%, m
m,=7.6gI
u =7.6g, n=5280rpm)
n=5280rpm)
+00001
331
.:l"3~ 0000'1-
0000'1- 3 3 1 00?,&:
.:l3(! CHI TEST
1 * 0 0 0 0 REF - 1 * 0 0 g 0 REF
9998 S
t 1 I I I
I 1 I I I
I I I I I
I I 1
SWZO0666
1 1 I 1 1
swo '
1 I 1 I I I I I 1 I I I
j
33:08;85*.1- . fia.-0080'PO C H ~T1 E* S0 T0 0 0 REF -1 *0000 REF

IS3i i%3
System's bistable
Fig.10 System's
Fig.l0 bistable response
response by
by experiment
experiment
(L=1.2cmI c/R=O.l%,
(L=1.2cm, c/R=O.l%, m
mU=4.6gI
u =4.6g, n=5430rpm)
n=5430rpm)
62
STABILITY OF INTERSHAFT SQUEEZE
SQUEEZE FILM
FILM DAMPERS
DAMPERS
A.
A . EI-Shafei
El-Shafei
University
o f South Florida
Florida
Tampa, Florida
F l o r i d a 33620, U.S.A.
U.S.A.
squeeze film dampers have been investigated for damping

Intershaft squeeze damping of dual rotor aircraft jet
engines. Initial
engines. Initial investigations indicated that the intershaft dampers
dampers would attenuate
attenuate the amplitude
amplitude of the
decrease the force
engine vibration and decrease force transmitted
transmitted through the intershaft bearing,
bearing, thereby increasing its
life. Also it was thought that the intershaft damper would enhance enhance the stability
stability of the rotor-bearing
rotor-bearing
theoretically and experimentally that the intershaft
system. Unfortunately, it was determined both theoretically intershaft squeeze
squeeze
engine's fIrst
film damper was unstable above the engine's critical speed. In this paper, a stability
first critical stability analysis
analysis of rotors
squeeze film dampers
incorporating intershaft squeeze dampers is performed. A rotor model consistingconsisting of two Jeffcott
rotors sq~eeze film dampers
rotors with two intershaft squeeze dampers is investigated. Examining the system characteristic
characteristic
equation for the conditions at which the roots indicate
equation indicate an ever growing unstable motion,
motion, result in the
instability is identifIed
stability conditions. The cause of the instability identified as the rotation of the oil in the damper
I
clearance. The oil rotation adds
clearance. adds energy to the forward
forward whirl of the rotor system above
above the critical speed
critical speed the oil fIlm
and thus causes the instability. Below the critical film removes energy from the forward·rotor
forward rotor
whirl. It is also shown that the backward whirl of the rotor system is always stable. stable. Several
Several proposed
configurations of intershaft squeeze
configurations squeeze film dampers are discussed,
discussed, and it is shown that the intershaft
dampers supercritically only with a confIguration
dampers are stable supercritically configuration in which the oil film
film does not rotate.
INTRODUCTION
squeeze film
The ability of a squeeze film damper to attenuate
attenuate the amplitudes
amplitudes of engine vibration and to decrease
decrease
dynamic forces
the dynamic forces transmitted to the frame
frame of
of gas turbine engines,
engines, make it an attractive rotor support.
support. In a
single spool application,
single application, the squeeze film damper consists
consists of an oil film in an annulus
annulus surrounding a
squirrel cage.
rolling element bearing whose outer race is constrained from rotating, usually by a squirrel cage. Thus the
spinning of the rotor does not reach the oil,
spinning oil, and only when the rotor whirls does
does the oil film act to damp
damp
motion.
the motion.
applications it may be necessary to use inters

In some applications intershaft differential rolling element bearings in a
haft differential
configuration. The use of the intershaft bearing reduces the rub between the two rotors,
two-spool engine confIguration. rotors,
decreases the shaft deflections,
decreases deflections, and eliminates the static
static support structure in the aerodynamic
aerodynamic flow path.
Thus the engine's performance, efficiency and reliability are improved.
improved. But the intershaft bearing may
I), and will also provide a direct path for the
decreasing the life of the bearing (ref. 1),
carry a large load, thus decreasing
trans&ssion of vibration between the inner and outer rotors.
transrllssion
Hibner et. al., in reference 2, proposed using a squeeze

et. al., squeeze film damper in an intershaft configuration
configuration
to decrease both the intershaft bearing loading and the vibration of the engine. They proposed a damper
configuration in which the oil film
confIguration film rotates
rotates at the speed of the inner (LP) that, for
(LP) rotor. They found out that,
specific engine,
their specifIc engine, by using the intershaft squeeze
squeeze film damper,
damper, the intershaft bearing loads
loads could be
reduced to less than half the level achieved by the incorporation of squeeze dampers on the other
system. Furthermore, the cyclic stresses
bearings of the rotor system. stresses on the bearing supports
supports and the engine
engine
substantially reduced (ref. 2). However,
mount structure were also substantially However, they also found
found out that the engine
became unstable
unstable above its first critical speed.
speed. They were able to demonstrate
demonstrate both theoretically
theoretically and
squeeze fIlm
experimentally that this instability is due to the intershaft squeeze film damper.
damper. To control this instability,
instability,
63
increase the engine's
they had to increase engine's critical speed,
speed, and they proposed adding a spring in parallel to the damper
to achieve this goal (ref. 3).
experimental study of an intershaft squeeze film

Courage (ref. 4) did an experimental film damper which was quite
2,3), i.e. the oil film rotated at the speed of the inner (LP) rotor. He
et. al. (ref. 2,3),
similar to that of Hibner et.
mentioned that another possible damper configuration
configuration would be one in which the oil film rotates
rotates at the
experimental rig was also unstable above
(HP) rotor. His experimental
speed of the outer (HP) above the first critical
critical speed.
speed. He
suggested, as a solution to the instability
suggested, instability problem, a damper configuration in which there are two squeeze squeeze
films,one rotating at the speed of the inner (LP)
films,one (LP) rotor, and one rotating at the speed of the outer (HP) rotor,
but he did not determine the feasibility
feasibility of such a design.
design.
(ref. 5,6)
et. al. (ref.
Recently, Li et. 5,6) used more advanced numerical methods (namely the transfer matrix
method and the component mode synthesissynthesis method) to determine
determine the steady state and transient responses
responses
of a dual rotor system incorporating intershaft squeeze film film dampers. film in the intershaft damper
dampers. The oil film
they studied was also rotating at the speed of the inner (LP) (LP) rotor. They also were able to determine
determine that
system became unstable above
the system above the engine's
engine's critical speed.
speed. They suggested that the operating speed of
critical speed. Their results indicated that, below the critical
the engine should be below this critical critical speed, the use
squeeze film damper in a rotor system is effective
of an intershaft squeeze effective in reducing amplitude
amplitude response and
loading, especially for the bearing loading at the location of the intershaft damper and adjacent
bearing loading,
rotor bearing supports.
experimental investigation
In reference 7, Alderson conducted an experimental investigation on a two spool rig with an
squeeze film
intershaft squeeze film damper.
damper. The oil film
film in his damper was also rotating (LP) .
rotating at the speed of the inner (LP)
first critical speed. He was able to show
rotor. He also determined that the system was unstable above the first
nonsynchronous
that this unstable whirl was non synchronous with the speed of any of the rotors, and that the instability
forces in the intershaft damper that develop when the system
was driven by destabilizing hydrodynamic forces
instability, he replaced the
tends to whirl at a speed less than the damper spin speed. To remove the instability,
squeeze film
intershaft squeeze film damper with a spring cage.
discussion, one may conclude
From the above discussion, conclude that intershaft squeeze film
film dampers
dampers are desirable
desirable in
turbomachinery,
high performance dual rotor turbo machinery, if their inherent instability above the engine's firstfirst critical
critical
overcome. In this paper, we study the stability
speed could be overcome. stability of two leffcott
Jeffcott rotors with two intershaft
film dampers. It will be shown that the instability
squeeze film instability of the intershaft
intershaft squeeze
squeeze film damper is caused
configurations. If the oil is rotating and the
by the rotation of the oil in the previously proposed damper configurations.
rotating oil will tend to damp the whirling motion below the engine's critical
rotor is whirling, then the rotating
speed. Above the critical speed the rotating
speed. rotating oil tends to enhance
enhance the forward whirl of the rotor thus
causing the instability.
causing instability. A new design 8,9) to eliminate the oil film rotation in the intershaft squeeze
design (ref. 8,9) squeeze
film damper is discussed. It is shown that this design is stable
film stable for all speeds.
speeds.
PREVIOUSLY PROPOSED
PREVIOUSLY DAMPERS
PROPOSED INTERSHAFT DAMPERS
Figure 11 illustrates
illustrates the two previously proposed intershaft squeeze
squeeze film damper configurations.
Figure 11 (a)
(a) shows
shows the configuration
configuration in which the intershaft damper's
damper's oil film is rotating with the speed of
(LP) rotor. This is achieved by constraining
the inner (LP) constraining the inner race of the intershaft rolling element
squirrel cage ( a dog mechanism
bearing to rotate with the speed of the LP rotor by using a squirrel mechanism is sometimes
sometimes
used fitted between the inner race of the ball bearing
). The oil film is confined between two rings that are fitted
used).
configuration (or variations of it) that was experimentally
and the LP rotor. This is the configuration experimentally tested in references
2,4 and 7. Figure 11 (b) shows the configuration
configuration in which the intershaft damper's oil film
film is rotating with
(HP) rotor. This is achieved by constraining
the speed of the outer (HP) constraining the outer race of the intershaft rolling
element bearing to rotate with the speed of the HP rotor by using a squirrel
squirrel cage. The oil film is confined
between two rings that are fitted between the outer race of the ball bearing and the HP rotor.
configuration proposed earlier (ref. 4) consists of two intershaft rolling element bearings
Another configuration
films, one rotating at the speed of the inner rotor and one rotating at the speed of the outer
and two oil films,
64
configuration is just the combination of the configurations shown in figure
rotor. This configuration figure 1.
1. It will be shown
configuration would also be unstable above
later that such a configuration above the engine's fundamental
fundamental critical speed.
Squirrel Cage
Squirrel Cag~
Squeeze Film
(b)
designs
Figure 11 Previous designs
HYDRODYNAMIC FORCES IN INTERSHAFf

HYDRODYNAMIC INTERSHAFT DAMPERS
DAMPERS
shows the nomenclature used in an intershaft squeeze

Figure 2 shows damper. At any angle e
squeeze film damper. 8
measured from the whirling (r ,t,,t, z) coordinate
coordinate system,
system, which is centered at the center of the bearing but
whirling with the journal ( with z perpendicular to the plane of the paper ), the film thickness h is given by
ose
h = c --eeccos 8 (1)
(1)
clearance, and e is the eccentricity of the journal in the bearing.
where c is the clearance,
forces generated in a squeeze

The forces squeeze film damper are usually calculated
calculated based on Reynolds equation t.
equation?.
elaborate analytical models of the forces
Although more elaborate forces in squeeze
dampers exist (ref. 1I), which
(ref. 11),
instability can be completely
include the effects of fluid inertia, they will not be used here since the instability
described based on the more simple model based on Reynolds
described Reynolds equation.
equation. Also for values of squeeze
tf For a derivation of Reynolds

Reynolds equation
equation see, 10.
see, for instance, reference 10.
65
Reynolds number significantly 10, the effects of fluid inertia can be neglected (ref. 12),
significantly less than 10, 12), but the
instability would still
instability still exist.
y
Y t
I
Intershaft Squeeze
Figure 2 Intershaft Squeeze Film Damper
Reynolds equation
Reynolds equation is the differential
differential equation that the pressure in the oil ftlm
film bearing has to satisfy.
squeeze ftlm
For an intershaft squeeze film damper,
damper, Reynolds equation is
where R is the radius of the bearing, ~ e

p is the viscosity of the oil, p is the pressure, e' and e\jl
e$ are the radial
tangential velocities of the journal with respect to the bearing, respectively,
and tangential respectively, and Qb and Qj Qj are the
angular velocities of the bearing and the journal respectively. For the intershaft damper of figure
angular figure 1 (a), we
have Qb == Qj
hilVe Q1, where Q
= Q1,
Qj = Q11 is the rotational speed of the inner (LP) (LP) rotor, while for the intershaft
figure 11 (b),
damper of figure (b), we have Qb == QjQj = = Q2, where Q2Q2 is the rotational speed of the outer (HP) (HP) rotor.
forces in the damper of figure
We will study the forces figure 1 (a), that is we have nb
Qb == Qj = Q1,but the results
Qj =QJ, results can be
figure 11 (b) just by replacing Q
applied to the damper of figure Q11 with Q2.
Q2.
dampers, with length to diameter ratio less than 0.25, the short bearing approximation
For short dampers,
10) is usually used, which implies that the oil flow in the damper is predominantly axial and thus the
(ref. 10)
pressure gradient in the a-direction
0-direction is much smaller than the pressure gradient in the z-direction and can be
neglected in equation (2). In this case,
case, Reynolds equation can be integrated with respect to z subject to the
atmospheric at z == L/2 and at z == -- L/2, then the pressure becomes
boundary conditions that the pressure is atmospheric
p = 6: ( ~2 _ z2 ) [ ecos a + e ( \jI- Q 1 ) sin a ] (3)

h
66
The forces
The forces acting
acting on the journal are
are obtained by integrating
integrating the pressure over both 88 and z. Thus
Thus
radial
the radial and tangential forces are given
tangential forces are given by
L
Fr = - r9
J91
2
I'2L
-'2
P cos 8 R d8 dz
92
F =- JIr IT
t L psin8 Rd8dz
91 -'2
respectively, where
respectively, where 8181 and
and 82
82 represent the
the extent of the
the film.
film. The
The forces
forces in the
the damper depend
depend heavily on
cavitation, but since
cavitation, since the instability
instability under investigation
investigation is not caused by cavitation,
cavitation, and will,
will, in fact,
fact, occur
for cavitated and uncavitated dampers,
for both cavitated dampers, thus,
thus, for
for simplicity,
simplicity, we are
are going
going to assume
assume an uncavitated
damper and we have a full
damper full film
film and 81 82 == 21t.
81 == 00 and 82 2n;. This
This would be the case
case if the damper was highly
pressurized. this case
pressurized. In this case the
the damper
damper forces
forces become
become
(4)
(5)
where eE =
where = etc,
e/c, is
is the
the eccentricity
eccentricity ratio.
ratio. The
The tangential
tangential force
force FFtt acts
acts in the
the direction
direction opposite
opposite of the
the whirl if
\I, >> 0.1,
\jf while if \jf
R1, while )I <
< 0.1
Ql then Ft Ft acts
acts in
in the
the direction
direction of thethe whirl.
whirl. This
This is
is the
the case
case inin which
which the
the oil
oil is
is
rotating at
rotating at the
the speed the LP
speed of the LP rotor
rotor 0.1
Q1(fig.(fig. 11 (a»).
(a)j. For the
the intershaft
intershaft squeeze
squeeze damper figure 11 (b)
damper of figure (b) in
in
which the
which the oil
oil is
is rotating
rotating atat the
the speed
speed of the the HP rotor 0.2,
HP rotor Q2, the
the tangential
tangential force
force FFtt acts
acts in the directio~
in the direction-
opposite of the
opposite whirl if \jf
the whirl I$ >> 0.2,
Q2,while
while ifif \jf<
I$<0.2Q2then
then FFtt acts
acts in
in the
the direction
direction of the
the whirl.
should be noted that the
It should the radial force
force acting
acting on
on the
the journal, equation
equation (4),
(4), is
is aa damping
damping force
force that is
is
proportional to
proportional to the
the radial
radial velocity
velocity of the
the journal, however,
however, it is
is aa nonlinear
nonlinear damping
damping forceforce because
because of the
the
dependence on
dependence on the
the eccentricity
eccentricity of the
the journal in the
the damper.
damper. For small
small oscillations
oscillations of thethe journal in the
the
damper, the
damper, the damping
damping force
force can
can be linearized,
linearized, and
and the
the linear
linear damping
damping coefficient C will
coefficient C will be
(6)
Similarly, itit can

Similarly, can be shown that,
be shown that, for
for small
small oscillations,
oscillations, the
the linearized
linearized damping
damping coefficient
coefficient for
for the
the tangential
tangential
force is
force is also
also given
given by equation (6). Thus,
equation (6). Thus, if we
we consider
consider the
the plane
plane of the
the damper
damper in figure 22 to
in figure to be
be aa
complex plane,
complex plane, then
then the
the force
force acting
acting in
in the
the damper,
damper, for
for small
small oscillations,
oscillations, considering
consideringequations (4)-(6), is
equations (4)-(6), is
(7)
where Fd
where Fd is
is the
the complex
complex linearized
linearized damping
damping force
force acting
acting in
in the
the damper,
damper, Ze is the
Zeis the position
position vector
vector of
of the
the
in the
journal in the damper
damper in
in the
the complex
complex plane, and ii =
plane, and = n.
0.
67
STABILlTYANALYSIS
STABILITY ANALYSIS
Consider aa rotor system
Consider system consisting
consisting of two
two Ieffcott
Jeffcott rotors
rotors of masses
masses ml andand m2,
m2, as
as shown
shown in figure
figure
3. The
3. The inner rotor,
rotor, which
which represents
represents the
the low (LP) rotor in aa two
low pressure (LP) two spool
spool gas
gas turbine,
turbine, isis mounted
mounted
on two
on two identical
identical rolling
rolling element bearings
bearings (which
(which are
are assumed
assumed toto be rigid and massless),
massless), and
and isis rotating
rotating at
at
Q1, and
QI. and has
has aa stiffness
stiffness KI.
K1. The
The outer rotor, which
which represents
represents the
the high pressure
pressure (HP) rotor, is
(HP) rotor, is mounted on
squeeze film
two intershaft squeeze film dampers
darnpers (similar
(similar to those in figure
figure 11 (a)),
(a)), and is
is rotating at Q2,
Q2, and has a
stiffness K2.
stiffness
Intershaft Damper
Intershaft Rolling Element
Rolling Element Bearing
Schematic of the rotor system

Figure 3 Schematic system under investigation
investigation
shown in figure
Since the rotor system shown figure 3 is symmetric,
symmetric, then we can use the planar rotor model
introduced by Crandall
introduced Crandall in reference 13,
13, shown in figure
figure 4, to model this system.
system. The outer massless
massless ring
figure 4 represents the journal of the LP rotor rotating at QI
of figure Q1 in the ball bearings. The mass of the LP
rotor is represented by the second outer ring which has mass ml and is rotating at QI' Q1. The flexibility
flexibility of
the LP rotor is represented by the springs stiffness K1/2
springs of stiffness Kl/2 connected between the two outermost rings.
intershaft
The two inters squeeze film
haft squeeze film dampers
dampers are represented by the rotating dashpots
dashpots of linearized
linearized coefficients
coefficients
C, and they are rotating between the ring representing the mass of the LP rotor and the outer race of the
ball bearing in figure
figure 4 which represents the inner race of the ball bearing of figure 1 (a) and is constrained
figure l(a)
to rotate at QI.
Q1. The mass of the HP rotor is represented
represented by the disk of mass m2 in the center of figurefigure 4.
flexibility of the HP rotor is represented by the springs
The flexibility springs of stiffness
stiffness Kd2.
K2f2. It should be noted that we
stiffness of the retaining spring, that is we are assuming that the
did not incorporate in this model the stiffness
intershaft squeeze film damper is constrained to rotate at the speed of the LP rotor by using a dogging
mechanism rather than by a squirrel cage. This will not affect the stability analysis, since the instability is
caused by the hydrodynamic forces
forces in the oil film,
film, however, if a squirrel cage is used then it will affect the
critical speeds of the rotor system.
Considering figure 4 to be a complex plane, and neglecting gyroscopic effects, then the equations
Considering
figure 4, as
of motion can be obtained directly from figure
ml Zl +Kl Zl = 2Fd
..
m2 Z2 + K2 ~ = K2 ~
(8)
(9)
K2 ( Z3 - ~ ) = - 2 F d (10)
where Fd is given by equation (7) with

(11)
68
We have
We have used
used here
here ZZ to
torepresent
representthetheposition
position vectors
vectors in
in the
the complex
complex plane, i.e. ZZ ==xx ++iy,
plane, i.e. iy, with
with the
the
subscripts11for
subscripts forthe
theLP rotor,22for
LProtor, forthe
theHPHProtor, and33for
rotor, and for the
theposition
position of
of the
the intershaft
intershaftrolling
rollingelement
element
bearing. Equations
bearing. Equations(8)(8) and (9) are
and (9) arethe
the equations
equationsof of motion
motion ofof the
the LP
LP and
andHP rotors,respectively,
HProtors, respectively,and
and
equation (10)represents
equation(10) representsthe
theforce
forcebalance
balanceatatthe
theintershaft
intershaftbearing.
bearing.
y1
Figure44 Planar
Figure Planarrotor
rotormodel
model
We begin
We begin by by studying
studying the
the undamped
undamped case. case. If If the
the oil
oil film
film was
was rigid,
rigid, then
then the
the system
systemwould
would bebe
undamped,as
undamped, ascan
canbe beeasily
easilyvisualized
visualizedininfigure
figure4, 4,ifif the
thedashpots
dashpotsbecome
become rigid.
rigid. That
Thatwould
would bebe the
the case
caseifif
the damping
the dampingcoefficient
coefficientbecame
becameinfinite.
infinite. In
In this
this case
casethe the system
systemcan can be
be thought
thoughtof of as
as the
the two-mass-two-
two-mass-two-
springsystem
spring systemofof fig~lfe 5,as
fig:u-e5, asthe
the motions
motionsin in the
thexx and
andyydirections
directionsareareuncoupled.
uncoupled. Then Thenequations
equations(8)(8) and
and
(9)reduce
(9) reduceto
to
(12)
69
x-direction, with similar equations
in the x-direction, equations in the y-direction. The motion in the complex plane has exactly
same natural frequencies
the same directions. It is useful to think:
frequencies for the motion in both the x and y directions. think of these
frequencies as forward and backward whirling motions. Thus this system exhibits
natural frequencies exhibits two forward
forward
whirls and two backward whirls corresponding to the four degrees
degrees of freedom
freedom the system possesses.
possesses.
X1
... X2
...
-I -I
Figure 5 Undamped model of system
characteristic equation for the system described by equation

The characteristic equation (12)
(12) is
(13)
, where 0)11
all2 2= Kl/ml, 0)
= Kdmb 222 =
0222 K2/m2, p~ == m:z/ml'
= K:z/m2, m2/ml, and O)n frequency of the system.
On is a natural frequency system. 0)11
0.111 is the
natural frequency alone, and 0022
frequency of the LP rotor alone, alone. The
a 2 2 is the natural frequency of the HP rotor alone.
frequencies ofthe
natural frequencies of the system can be obtained by solving
solving the quadratic
quadratic of equation (13) and we get
2 1 2 2_r,::
'%2,1 = '2 { [ 0)11 + ( ~ + 1) 0022 ] ± "D } (14)
where
2 4 (15)
~ = w ~ ~ + 2 1( )p ~- C0Z2+(p+
: ~ 1) q 2 (15)
&-plane
Figure 6 Mohr's circle representation in the ro2-plane
O)nl first natural frequency and O)n2 is the second natural frequency of the system.
onlis the flrst system. It should be
~ l ) n 2,,and there are two backward
~1 and the other at ffin2
emphasized that there are two forward whirls: one at COnI
- ~ 2 It. will prove beneficial
whirls one at -O)nl and the other at -COn2. magnitudes of COnI,
beneflcial to know the relative magnitudes
70
and(011.
Oln2 and Todo
all. To do so,
so, we
we use
use the
the Mohr's
Mohr's circle
circlerepresentation
representation of
of equations
equations(13)
(13) and
and (14)
(14) (ref.
(ref. 14),
14),
whichisisshown
which shownin
infigure
figure6,6,and
andfrom
fromwhich
whichititcan
canbe seenthat
beseen that
(16)
To study
To study the
the stability
stability of
of the
the damped
damped system,
system, we
we assume
assume that
that Zl,Z1, Z2
Z2 and
and Z3
Z3 have irot time
have eeiat time
behavior, where (0o isis aa complex
behavior, where complexquantity.
quantity. IfIf the
the imaginary
imaginarypart of (0o isis negative,
part of negative, then
then the
the system
system isis
unstable. Substituting
unstable. Substitutingequations (7),(9),
equations(7), (9),(10)
(10)and
and(11)
(11)into
intoequation
equation(8),
(8),and
andafter
aftersome
somemanipulation,
manipulation,we we
get
get
. 2 (2 2 )
4 2 2 2 2 2 1 11 (011 (0 (0 - (011
(0 - [ (011 + ( J..L + 1) 0>22 ] (0 + (011 (022 + =0 (17)
(Q 1 - (0)
where11q ==KLi(2
where K2/(2CC(011)
a l l )isisaanondimensional
nondimensionalparameter.
parameter. ItItshould
shouldbe
benoted
notedthat
thatas +0,0,i.e.
as11q ---7 i.e. as +00,
asCC---7 =,
equation (17)
equation (17)reduces
reducestotoequation
equation(13)
(13)for
forthe
the undamped
undamped system.
system. This
This would
would be
be the
thecase
caseifif the
the oil
oil film
film
becomesrigid.
becomes rigid. Solving
Solvingthetheabove
abovequadratic,
quadratic,we
weget
get
1. 11 (011 (02(0
(2 2)}
- (011
D-4------- (18)
(Q1 - (0)
We can
We can solve
solveeither
eitherequation
equation (17)
(17)oror (18)
(18) numerically
numerically to to obtain
obtain the
the characteristic
characteristicroots
roots for
for this
this system.
system.
However,we
However, weneed
needtotofind
findanalytically
analyticallyan anexpression
expressionto determinethe
todetermine theeffect
effectofof the
theintershaft
intershaftdamper
damperon onthe
the
stabilityof
stability ofthe
thesystem,
system,andand also
alsowe
weneed
need ananindication
indicationof ofthe
theregions
regionsofofinstability.
instability. WeWecancanconsider
considerthe the
effect of
effect of relaxing
relaxing the
the rigid
rigid damper
damper forfor the
the undamped
undamped system,
system, andand introduce
introduce somesome damping
damping into into the
the
undamped system,
undamped system,and
andstudy
studyits
itseffects
effectsononthe
the stability.
stability. This
Thiscorresponds
correspondsto tostudying
studyingthe the system
systemfor for small
small
valuesof
values q. Thus,
of11. Thus, expanding
expandingthe the square
squareroot
root in
in equation
equation(18) (18) and
and neglecting
neglectingterms
terms ofof O(11 2
0(q2), equation
),equation
(18)becomes
(18) becomes
2 1 2 2 _~ 1·2 11 (011 (02(0

(2 - 2
(011
)J}
(0 = '2 { [(011 + (J..L+ 1) 0>22] ±-v D ( 1- - - - - - - - (19)
(Q - (0) D 1
Thereal
The real part
part of
ofequation
equation (19)
(19)represents
representsthe
the square
squareof of the
the undamped
undamped natural
naturalfrequencies
frequencies(On1 wn122 and
and Oln22.
wn22.
Toobtain
To obtainthe
thedamped frequenciesco2,
dampedfrequencies 0.9,we have
we haveto toiterate
iterateon on equation
equation(19)
(19)in
in the
the neighborhood
neighborhoodof of ffin1
q,12 2 for
for
thefirst
the firstmode,
mode, andandinin the
theneighborhood
neighborhoodof of (On2 2
0*2 forforthe
the second
secondmode.
mode. Note
Note that
that there
thereisisaa sign
signchange
changein in
theimaginary
the imaginarypart of (0oin
part of in equation
equation(19)
(19)when
when we we are
are studying
studying the
themotion
motion in
in the
the neighborhood
neighborhood of of Oln1
on12,2,
from that
from that when
when wewe are
arestudying
studyingthe
themotion
motionin
in the
theneighborhood
neighborhoodof
of ffin22. Thus we
on22. Thus we have
have two
two equations
equationsto
to
iterateon,
iterate on,for
forthe
thefirst
firstmode
mode
. 22(22 22 )
22 22 1i11q (011
o l l(0o ((0o --o (011
11)
=
~l + - - - - - - - -
0 =%1+
(0
(20)
(Q
( n11- -(O)-fD
w)G
andfor
and forthe
the second
secondmode
mode
71
. 2 (2 2 )
22 22 1i11a11a2(a2-a:1)
1'\ 0>11 0> 0> - 0>11
w =~2-
0> =%2- (21)
( Q1 -1 0»
(Q -a)G rn
Iteratingon
Iterating onequation
equation (20)
(20)in
inthe
theneighborhood
neighborhoodof
of COnI we get
(hl we get (neglecting
(neglectingterms
termsof
of 0(1'\2))
0(q2))
2
i q all a n 1 ( d l - anl)
a=onl- (22)
(22)
2(~l-anl)fi
for the
for the forward
forward whirlwhirl inin the
the flrst
first mode.
mode. Note
Note that,
that, byby equation
equation (16),
(16), 0>11
a112 >0>01
2> 0n12,2 , and
and thus
thus the
the quantity
quantity
(a112
(0)11 2 -- 0>01
an1')2) isis always
alwayspositive.
positive. Equation
Equation (22)
(22) shows
shows that
that the
the forward
forward whirl
whirl in
in the
the flrst
first mode
mode will
will bebe
stableas
stable aslong
long asas QQ1, the speed
1, the speedof of the
theLP
LProtor,
rotor,isis less
less than
than COnI,
u>nl,the
the fundamental
fundamentalnatural
natural frequency
frequencyof of the
the
system. If
system. If QQ11> >O>oI.
onl,the
theimaginary
imaginarypart of 0>owill
part of willbe negativeand
be negative and the
theforward
forwardwhirl
whirl in in the
thefIrst
first mode
mode will
will
be unstable.
be unstable.
Iteratingon
Iterating equation(20)in
onequation(20) inthe
theneighborhood
neighborhoodof
of -COnI.
-%I, we
we get
get(neglecting
(neglectingterms
termsof
of 0(1'\2))
0(q2))
. (2 22 )
a = -a n 1 +
q 0>11
1i1'\ %I (0>11
all COnI -
d l - O>nl
an11
0>=-0>1+ 03)
(23)
n 22 ((QQ1 +
l +O>nl
a n) l ) n rn
forthe
for thebackward
backwardwhirl
whirlininthe
thefrrstmode.
first mode. Equation
Equation(23)
(23)shows
showsthat
that the
the backward
backwardwhirl
whirlininthe
thefrrst
firstmode
modeisis
always stable, irrespective of the speeds of the rotors, since the imaginary part of o is always positive.
always stable, irrespective of the speeds of the rotors, since the imaginary part of 0> is always positive.
Forthe
For theforward
forwardwhirl
whirlin
inthe
thesecond
secondmode,
mode,we
weiterate
iterateon
onequation
equation (21)
(21)in
in the
theneighborhood
neighborhoodof w.
cnf 0>02.
Thus(neglecting
Thus (neglectingterms
termsof
of 0(112))
0(q2))
(24)
Also, by
Also, by equation
equation (16),
(16), O>n22>
on22 >0>11 2 , and
a112, and thus
thus the
the quantity (an2'2 -- 0>11
quantity (0)02 2) is
oI12) is always
always positive.
positive. Equation
Equation
(24)shows
(24) showsthatthatthe
theforward
forwardwhirl
whirlin
inthe
thesecond
secondmode
modeisisstable
stableifif the
the speed
speedof
of the
theLP
LProtor Q1,isisless
rotor Ql, lessthan
than
the second
a n 2 , the
oon2, secondnatural
naturalfrequency
frequencyof of the
the system.
system. If Q1>>COn2 the
If Ql the forward
forward whirl
whirl inin the
the second
secondmode
mode will
will
becomeunstable,
become unstable,asasthe
theimaginary
imaginarypart
partof of0>oin
inequation
equation(24)
(24)would
wouldbe benegative.
negative.
Iteratingon
Iterating onequation
equation(21)
(21)in
inthe
theneighborhood
neighborhoodof
of -COn2,
-%2, we
we get
get (neglecting
(neglectingterms
termsof
of 0(1'\2))
0(q2))
o = - 61' 12 iq a11 %2 (d2-41)

+ (25)
(25)
2(Ql+wn2)n
forthe
for thebackward
backwardwhirl
whirlininthe
thesecond
secondmode.
mode. ItItcan
canbebe seen
seenfrom
fromequation
equation (25)
(25)that
thatthe
theimaginary
imaginarypart of 00a
partof
isisalways
alwayspositive,
positive,for
forthe
thebackward
backwardwhirl
whirlin
inthe
thesecond
secondmode,
mode, and
andthus
thusthe
thebackward
backwardwhirl
whirlin
inthe
thesecond
second
modewill
mode willalways
alwaysbe
bestable,
stable,irrespective
irrespectiveof
ofthe
thespeeds
speedsofofthe
therotors.
rotors.
Thus, we
Thus, we have
have shown
shown that,
that, for
for the
the intershaft
intershaft squeeze
squeezemmfilm damper
damper of of flgure
figure 1l(a), the backward
(a), the backward
whirlsare
whirls arealways
alwaysstable,
stable,while
whilethe
theforward
forwardwhirls
whirlsbecome
becomeunstable
unstableifif the
thespeed
speedofofrotation
rotationofof the
theLPLProtor
rotor
surpassesthe
surpasses thenatural
naturalfrequencies
frequenciesofof the
the system.
system. Thus,
Thus,thetheinters
intershaft squeezefilm
haft squeeze filmdamper
damperof of flgure
figure l(a)
l(a)
72
will become a destabilizing device if the speed of the LP rotor surpasses
surpasses the fundamental
speed.
squeeze film damper of figure
For the intershaft squeeze earlier, all
figure l(b), as mentioned earlier, stability analysis
all the above stability
will be valid, if we replace 01
Q1 by 02,
Q2, the speed of the HP rotor, in all of the equations. Thus, for the
squeeze film damper of figure l(b), the backward whirls are always
intershaft squeeze always stable,
stable, while the forward
whirls become unstable if the speed of rotation of the HP rotor surpasses the natural frequencies of the
system. Also, we conclude that the intershaft squeeze film damper of figure l(b) will become a
destabilizing device
destabilizing device if the speed of the HP rotor surpasses
surpasses the fundamental
DESCRTPTION OF THE
DESCRIPTION TJ3E INSTABILITY
If a tangential force acts in the same direction
If direction as the whirl,
whirl, then it would be adding energy to the
whirl, and thus results in the system spiralling
whirl, spiralling outwards with an ever growing whirl amplitude
amplitude (ref. 15).
15).
In the preceding sections, we had shown that the intershaft squeeze film damper of figure
figure 11 (a) produced a
force acting on the journal in the same direction as the forward whirl if "0/
tangential force
tangential \jl < .Q1.
SZ1. Thus it is
pumping energy into the forward whirl and causing the instability. This energy is obtained from the
spinning of the LP rotor. The intershaft squeeze
kinetic energy of the spinning squeeze film damper of figure
figure 1 (b) produces
force acting on the journal in the same direction as the forward whirl if "0/
tangential force
a tangential I) < 02.
Q2. Thus it is
pumping energy into the forward
forward whirl obtained from the kinetic
kinetic energy of the spinning
spinning of the HP rotor,
and causing the instability.
force is acting in the opposite direction of the whirl, then it

On the other hand, if the tangential force
would be removing energy from the whirl. This is the damping mechanism of squeeze film dampers in
general. For the intershaft squeeze film damper of figure 1 (a) this occurs when "0/
general. \jl > .Ql,
C21, while for the
figure 1 (b) this occurs when "0/
intershaft squeeze film damper of figure \jl > 02.
C22. Also, this occurs for the
force always
backward whirls, the tangential force is always opposing the whirl.
whirL
analysis it can be seen that the threshold of instability of intershaft squeeze film
From the above analysis film
dampers
dampers is when the whirl frequency \jl
frequency "0/ is equal to the speed of rotation of the oil ( Q1
01 for the intershaft
squeeze figure 11 (a), and 02
squeeze film damper of figure Q2 for the intershaft squeeze
squeeze film damper of figure 1 (b». (b)). For
free vibration, the whirl frequency "0/ \jl of the rotor system is its natural whirling frequency.
frequency. Thus rotor
systems incorporating
systems incorporating intershaft squeeze
dampers of the configuration
configuration shown in figure 1 (a) (a) become
unstable if the speed of rotation of the LP rotor 01 frequency of
$21 is larger than the lowest natural whirling frequency
system, while for rotor systems incorporating intershaft squeeze film dampers of the configuration
the system, configuration
shown in figure 11 (b), they become unstable if the speed of rotation of the HP rotor 02 C22 is larger than the
frequency of the system.
lowest natural whirling frequency system. It is important to interpret 01Q1 and Q2, for the intershaft
intershaft
dampers of figure
dampers figure l(a) and figure
figure l(b), respectively,
respectively, as being- damper, in
being, the speed of oil rotation in the damper,
absence of vibration. This oil film rotation is due to the spinning of the journal and the bearing at the
the absence
speed of either the LP or the HP rotor.
The design proposed by Courage

Courage (ref. 4) incorporating
incorporating two oil films,
films, one rotating at 01Q1 and one
Q2 will also
rotating at 02 also be unstable if both 01
Q1 and 02
Q2 are above the lowest natural whirling frequency
frequency (first
speed) of the rotor system, since the tangential
critical speed) tangential forces
forces in both of the oil films
films will act to enhance the
whirl. If
If one of the rotors is operating
operating above the critical
critical speed and the other below it, then the stability
stability of
the rotor system will depend on the amount of energy being pumped into the whirl by the unstable damper
and the amount of energy removed from the whirl by the stable damper.
A pictorial representation of the instability is shown in figure figure 7

figure 7. The outer ring in figure
represents the bearing while the inner ring represents the journal. If
If the oil in the gap is rotating at a speed
73
a, then as
.0, then as the
the journal whirls in the the bearing
bearing at at aa speed o, the
speed 00, the oil
oil film
film will produce aa drag
drag force
force on the
the
opposite to
journal opposite to the
the whirl o is
whirl if 00 is larger
larger than .0 L?(figure
(figure 77 (a»),
(a)), and
and thus
thus acts
acts to
to damp
damp the
the whirl.
whirl. While
While if
is larger
L2 is
.0 larger than o then
than 00 then aa drag
drag force
force acts
acts on
on the
the journal in thethe direction
direction of the (figure 77 (b»,
the whirl (figure (b)), and
and thus
thus
acts to
acts to enhance
enhance the
the whirl. IfIf the
the oil
oil film
film is
is stationary,
stationary, then the the oil
oil film
film will
will always
always produce
produce aa drag
drag force
force
opposing the
opposing the whirl (figure 77 (c»,
whirl (figure (c)), and
and thus
thus will
will always
always be stable.
stable.
(a) 00
(a) o> Q
>.0 o < GI
(b) 00<.0
(b) (c) 0=0
(c) C2 = 0
Figure 77 Instability
Instability mechanism
STABLE IN1ERSHAFT
STABLE INTERSHAFT DAMPER
operating above
If the rotor system is operating above a natural frequency
frequency it is said to be operating
operating supercritically.
supercritically.
Usually high performance turbomachinery operate supercritically, above several critical critical- speeds,
speeds, but
above, rotating systems
because of the instability described above, systems incorporating
incorporating either of the intershaft squeeze
squeeze
dampers shown in figure
film dampers figure 11 cannot operate supercritically.
supercritically.
discussion in the preceding section,
From the discussion section, it can be seen that the reason for the instability
instability is the
rotation of the oil film.
film. The oil film is rotating because the journal and the bearing are both rotating,
rotating, at .01
Q1
figure 11 (a)
for the damper of figure (a) and at 02 figure 11 (b). It can also be seen that if the oil
Jn2 for the damper of figure
(figure 7 (c»
film was stationary (figure (c)) then the intershaft squeeze
squeeze film
film damper would be stable irrespective
irrespective of
stationary oil film can only be achieved
the speed of either the LP or the HP rotor. A stationary achieved if both the journal
and the bearing are not rotating.
To show that the intershaft squeeze film damper will be stable if both the journal and the bearing
are not rotating, let us find the forces acting on the journal. In this case, .oj
Qj and .ob
Qb are both zero, and if
we substitute in Reynolds equation, equation (2), and solve for the pressure, and then integrate the
pressure over 8e and z, as we did before, we will find that the tangential force acting on the journal is
(26)
Thus from equation (26) it can be seen that the tangential force Fb for an intershaft damper with a
stationary oil film, always acts in the opposite direction of
of the whirl, and thus it is always removing energy
from the whirl. Also, ifif we substitute for Q1 =0
.01 = 0 in the stability analysis equations, it can be seen that the
intershaft damper with a stationary oil film is always stable.
74
A new design of inters haft squeeze film dampers (ref. 8,9)
intershaft 8,9) to eliminate the instability by
incorporating a stationary
incorporating stationary oil film is shown in figure
figure 8. In this design two intershaft rolling element
bearings are used. The outer race of the outer bearing is rotating with the speed of the HP rotor, and the
bearings
inner race of the inner bearing is rotating with the speed of the LP rotor. The inner race of the outer
bearing and the outer race of the inner bearing are both held stationary by two squirrel
squirrel cages
cages connected to
the engine frame.
frame. The oil film annulus between the nonrotating outer race of the inner
film is confined in an annulus
bearing and the nonrotating inner race of the outer bearing. Thus Thus neither the rotation of the LP rotor nor
the rotation of the HP rotor will reach the oil film,
film, which will act only to damp the whirling vibration of the
. rotor system. The squirrel
squirrel cages,
cages, which are light springs,
springs, aside from keeping the oil film stationary,
stationary,
provide a means for centering the squeeze
squeeze fIlm
film damper.
damper.
Squeeze Film Two Squirrel Cages

Connected To Engine
Frame
c::
c:
Stable ,intershaft
Figure 8 Stable intershaft squeeze
squeeze film
film damper
advantage of this design is that intershaft squeeze
The main advantage squeeze film
film dampers
dampers can be used in rotating
operate supercriticaUy
machinery that operate supercritically without becoming unstable. The other advantages
advantages of using intershaft
squeeze fIlm
dampers are also retained,
retained, namely, the reduction of bearing loading,
loading, the reduction of cyclic
cyclic
stresses both in the bearings and in the support
stresses support structure,
structure, and the reduction of the amplitude
amplitude of vibration
(ref. 2,5). Also the use of intershaft bearings results in the decrease
(ref. 2,5). decrease of rubbing between the rotors and the
deflections (ref.
reduction of shaft deflections (ref, 1).
1).
disadvantage of this design of intershaft squeeze
The disadvantage squeeze film dampers is that the damper must be
structure. Thus one of the advantages
located close to the support structure. advantages of using intershaft bearings is lost,
lost,
aerodynamic flow
namely the obstruction of the aerodynamic flow path. Also, because the damper must be located close to
structure, it may not be always possible for the engine designer to locate the damper at the best
the support structure,
damp the engine modes effectively.
possible locations to damp effectively. If the damper is located near a node of one or
engine, then it will provide very little damping
more of the important modes of the engine, damping to these modes. The
use of long squirrel cages may be a remedy for such a situation,
situation, but since
since the squirrel cages
cages act as soft
springs, then having unnecessary flexibility
springs, flexibility at the intershaft bearing location may be detrimental
detrimental to the
overall dynamics
overall dynamics of the engine. Thus such a solution should be assessed carefully.
disadvantage may be the cost of an additional ball bearing. The stable design of the
Another disadvantage
intershaft squeeze
intershaft squeeze film damper requires
requires two intershaft ball bearings instead of one. Usually engine engine
designers
designers try to minimize the number of bearings in the engine. If the designer had the luxury of adding
location, and this may
another ball bearing to the engine, then he may choose to place it in a non-intershaft location,
always possible, since
well reduce the bearing loadings. But again this may not always be possible, since this would require that
the support structure be close to the rotor in yet another location.
location.
75
CONCLUSION
CONCLUSION
Astability
A stabilityanalysis
analysisof of rotors
rotorsincorporating
incorporatingintershaft
intershaft squeeze
squeezefilm
filmdampers
damperswaswaspresented.
presented. A Arotor
rotor
model consisting
model consisting of of two
two Jeffcott
Jeffcott rotors
rotors with
with twotwo intershaft
intershaft squeeze
squeeze filmfilm dampers
dampers waswas investigated.
investigated.
Examiningthe
Examining the system
systemcharacteristic
characteristicequation
equationfor forthe
theconditions
conditionsat atwhich
which the
theroots
rootsindicate
indicatean an ever
evergrowing
growing
unstablemotion,
unstable motion,result
resultin inthe
thestability
stabilityconditions.
conditions. The Thereason
reasonforforthe
theinstability
instabilityof
of the
thepreviously
previouslyproposed
proposed
intershaftsqueeze
intershaft squeezefilm filmdampers
dampersaboveabovethe theengine's
engine's first
firstcritical
criticalspeed,
speed,isisshown
showntotobebethe
therotation
rotationof of the
theoil
oil
film. If
film. the oil
If the oil film
film isis rotating
rotating atat aa speed
speed above
above thethe critical
critical speed
speed of
of the
the engine,
engine, then will be
then itit will adding
be adding
energyto
energy tothe
the whirl
whirlfrom
fromthe thespinning
spinningrotor,rotor, thus
thuscausing
causingthetheinstability.
instability.
A new
A new design
designofof intershaft
intershaft squeeze
squeezefilm
filmdampers
dampers inin which
which the the oil
oil film
film isis stationary
stationaryisis described.
described.
Thisdesign
This designisisshown
shownto tobebe stable
stableirrespective
irrespectiveofof the
the speeds
speedsof of rotation
rotationof of the
therotor
rotor system.
system.TheThe advantages
advantages
anddisadvantages
and disadvantagesof of such
such aadesign
design are
arealso
alsodiscussed,
discussed,andand itit isis pointed
pointed out
out that
that although
althoughitit may
may not
not be
be
alwayspossible
always possible to
to place
place thethe damper,
damper, with
with this
thisdesign,
design, in
in the
the best
best possible
possible location
location to to damp
damp the
the engine
engine
modeseffectively,
modes effectively,this
thisisisthe
theonly
onlystable
stableintershaft
intershaftsqueeze
squeezefilm
filmdamper.
damper.
REFERENCES
REFERENCES
1.
1. Gunter, E.
Gunter, E. J.,
J., Li,
Li, D.
D. F.,
F., and
and Barrett,
Barrett, L.
L. E.,
E., "Unbalance
"Unbalance Response
Responseof
of aa Two
Two Spool
Spool Gas
Gas Turbine
Turbine
Engine with
Engine with Squeeze
SqueezeFilm
Film Bearings", ASME paper
Bearings", ASME paper 81-GT-219,
81-GT-219,presented
presented at
at the
the Gas
Gas Turbine
Turbine
Conference&
Conference ProductsShow,
&Products Show,March
March9-12,
9-12,1981.
1981.
2.
2. Hibner,D.
Hibner, D. H.,
H., Kirk,
Kirk,R.
R. G.,
G., and
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77
N92-14352
MEASUREMENTS OF
PRESSURE DlSTRlBUTlONS
DISTRIBUTIONS AND
AND FORCE
FORCE COEFFlClENTS
COEFFICIENTS
IIN SQUEEZE FILM DAMPER --
N AA SQUEEZE
PART II:: FULLY OPEN ENDED CONFIGURATION
S.Y. Jung, L.A.

S.Y. L.A. San Andres, and J.M. Vance
Department ooff Mechanical Engineering
Texas A&M A&M U
University
niversity
Col lege S
College Station, 77843-3123, U.S.A.
t a t i o n , Texas 77843-3123, U.S.A.
Experimental measurements of of pressure distributions and force coefficients

obtained from a squeeze film damper test rig executing a circular centered orbit
are presented. The test rig has been designed to study the effect of of fluid inertia
force response on a damper configuration
on the pressure field and dynamic force
with a relatively large clearance. Past measurements ofof the squeeze fdmfilm damper
Reynolds numbers
force characteristics have been carried out at squeeze film Fkynolds
not exceeding a value equal to 10. following contemporary
10. In the present paper, following
applications, operations at Reynolds numbers up to fiftyfifty axe
are tested for CCO1s
OOO's
with an orbit radius=0.8 (Re 5 10
(Re :S 10 at fE =
= 0.5). The results obtained from ftom a
fully open ended damper are presented in detail. The effects effects of fluid inertia,
cavitation and the open end geometry on the pressure distributions and force force
coefficients
coefficients are discussed.
discussed.
NOMENCLATURE
o =SFD radial clearance

3 /C damping coefficient
CdRe =pw L R3
=pwLR coefficient conversion
conversion factor
CiRe
3
=pL R3/C inertia coefficient
=pLR coefficient conversion
conversion factor
2
Cf =pwR3L/C
=pwR3 L/C2 force
force conversion
conversion factor
2 2
Cp =pw R2/C
=pwR / C 2 pressure conversion
conversion factor
fact or
CpRe =C,p •. Re == pw2 R2
=C R2 pressure conversion
conversion coefficient
coefficient
Ctt =dimensionless direct direct damping coefficients
coefficients
=- It/f,f t / e , normalized by pR3 pR3L/C3
L/C3
D =damper journal diameter
Drr =dimensionless direct direct inertia coefficients
coefficients
=Ir/f, normalized by pR3
= f , / e , normalized pR3 L/wC
L/wC3 3
=dimensionless radial radial and
and tang.
tang. film
fdm forces Cf
forces normalized by C f
== f pcos Ode, f psin fJdfJ,
pcos fJdfJ, Ode, respectively
L =damper journal length
79
79 PRECEDlNG PAGE FILMED
NUT fiLMED
B U N K NOT
PAGE BLANK
PRECEDING
P =dimensionless pressure normalized by C Cpp
R =damper journal radius
Re = w e 22 /Iv
=wC u modified Reynolds number
Z =axial coordinate
=axial
E =dimensionless orbit radius
o =circumferential coordinate
J.L =absolute viscosity
=absolute
v =kinematic viscosity
p =density
=density
<P =90°0 +
=90 +tan-' Ir I It, phase angle
tan -1 fT/ft, angle
w =frequency of damper journal journal center motion
INTRODUCTION
Squeeze film dampers have been successfully used to control vibration in

Squeeze
turbomachinery. Numerous studies both theoretically and experimentally have
been presented for squeeze
squeeze film
film dampers. However,
However, due to the fluid film pressure
grooves, end seals,
distortion factors such as oil grooves, seals, cavitation, and fluid inertia,
experimental results are often not consistent with predictions.
In the 1970's,
1 9 7 0 ' ~many
~ [I-51 measured the hydrodynamic pressure
researchers [1-5]
damping;coefficients from aa number of squeeze
field and damping; squeeze!film:damper,
flm'damper test rigs and
themuto the1conventionallsolutionofReynolds
compared them,tothel conventional~solutionofReynolds equation. Co.rrelation
Correlation be-
tween experimental measurements and theoretical predictions was qualitatively
reasonable but quantitatively poor in most cases. cases.
In the 1980's, the effect of fluid inertia on the pressure distribution and
dynamic force
force response of squeeze
squeeze film dampers was shown to be of great impor-
[6-SO]. Experimental
tance [6-10]. Experiment a1 measurements [11-15] [ll-151 demonstrated the significant
significant
effect of fluid inertia through both the direct measurements of film film pressure
forces and the indirect measurements from the dynamic response of rotor
and forces
systems.
systems.
Most measurements of a squeeze squeeze film damper have been carried out at
squeeze
squeeze film
film Reynolds numbers not exceedingexceeding 10.
10. However, in contemporary
practical applications, the squeeze
squeeze Reynolds number ranges from 10 10 to 50.
50. Thus
the need exists for experimental measurements to cover the maximum practical
range of Reynolds numbers up to Re=50.
The objective of this paper is to present an experimental study on the effect
of fluid inertia and cavitation on the pressure distributions and force force coefficients.
coefficients.
squeeze film
Two types of squeeze film dampers with its journal
journal executing a circular centered
fally open ended and partially sealed configurations.
orbit are tested: fully configuratiocs. The results
obtained from a fullyfully open ended test rig rig and a partially sealed test rig are
presented in part II and II, 11, respectively. The range of Reynolds number tested
is between 2 and 50. Measured fluid film film pressure profiles and force
force coefficients
coefficients
are compared with existing theoretical predictions.
80
EXPERIMENTAL FACILITY AND PROCEDURE
Description of the SFD Test Apparatus

The schematic drawing in Figure 11 shows shows the structure of the squeeze
squeeze film
film
damper (SFD) test rig. rig. The damper journal
journal with an outer diameter of 12.7 12.7
cm (5(5 inch) and a length of 2.4 cm (0.94 (0.94 inch) is mounted with a press fit on
the outer race of a ball bearing. An O-ring seal is installed at the left end
face of the damper journal and provides aafilll
face full proof of a no leak seal. The L/D
proof.of LID
ratio is equal to 0.188 and simulates a short bearing configuration typical of aa
real engine damper application. The clearance is 0.159 cm (0.0625 inch). The
Reynolds number at low speeds so that
large clearance produces large values of Reynolds
effects of fluid
significant effects fluid inertia are produced.
The end plate of the journal secures
secures the right end face
face of the journal. The
outer diameter of the end plate is used to measure the orbital motion of the
journal during operation.
operation. The end plate not only preservespreserves alignment of the
housing and journal, but also dso provides a circumferential end cavity. The width
and depth of the end cavity are 0.44 cm (11/64 (11164 inch) and 0.40 cm (0.156
(0.156 inch),
inch),
respectively. The end cavity is utilized with ancillary hardware to produce
different configurations such as short, long,
several different long, and finite length bearings
seals.
using different types of end seals.
The ball bearing supporting the damper journaljournal is mounted on aa replaceable
eccentric sleeve that lockes to the shaft with a special retainer. The shaft is
driven by a constant speed electric motor at 1770 1770 rpm (29.5 Hz).
Hz). The motor
end of the shaft is supported by two more ball bearings (not shown in Figure
I ) mounted on stiff supports to minimize lateral movement of the shaft and the
1)
damper journal. The shaft is connected to the motor by a flexible flexible coupling to
prevent axial loads on the journal.
journal.
The bearing housing has numerous holes for oil inlet and outlet, pressure
transducers, and proximity probes. Figure 2 shows shows a sketch of the squeeze
squeeze film
film
land. At the axial location ZO, two 0.24 cm (3/32 (3132 inch) diameter holes located at
the circumferential locations 270 270" (top) and 90
0 0
90" (bottom)
(bottom) serve as the oil inlets
to the damper annulus. The two oil inlet holes have check valves to prevent flow
reversals from the squeeze film region. Dial pressure gauges gauges are connected to
lines in order to measure the oil supply pressure.
the inlet lines
At two different axial locations, Zl=0.56
Z1=0.56 cm (0.22 inch) and Z2=1.67 cm
(0.66 inch), a total of 1616 holes are distributed in the circumferential direction for
installation of pressure transducers (PT). (PT). These holes may be used to directly
measure the temperature of the fluid film inside the damper using a dummy
pressure transducer with a small hole plugged with a thermocouple wire. The
unused holes in the housing are plugged with dummy pressure transducers to
prevent lubricant leakage.
leakage.
At the axial location Z3=3.72 cm (1.46 inch), a single 0.64 cm (1/4 (114 inch)
81
270" (top)
diameter oil outlet is located at the circumferential location 270 (top) of the
0
.
housing in order to get a completely submerged arrangement. Oil is never

pumped out of the damper oil outlet, but flows
flows naturally. The bearing housing
has a hole for proximity probes (PP) 23 and circumferential
(PP) at the axial location Z3
0
180" (left).
locations 180 (left).
covers the end of the bearing housing
The Plexiglas cover with a lip seal covers
and insures a completely submerged arrangement and sufficient oil in the squeeze
squeeze
film region. The completely submerged arrangement prevents air entrance into
film
the squeeze
squeeze film
film region.
region.
Experimental Procedure
Procedure
Figure 3 shows the instrumentation arrangement for measurement of the
fluid film
flrn pressure and real time calculation of the film flrn force
force coefficients
coefficients at a
specified
specified axial
axial location of the SFD SFD test rig.
In the case of a circular centered SFD, SFD, since the time variations in cir- cir-
cumferential pressure measured at any location on the damper annulus should
any one cycle of the journal, the fluid
be identical for anyone fluid film
film pressure profile for
a centered orbit motion can be measured with only one pressure transducer.
Furthermore, sincesince the orbit motion is centered, only one proximity probe is
required to determine the dynamic eccentricity ratio.
Therefore, one proximity probe was installed at the axial location Z3 2 3 and·
and
the circumferential location 180 180" on the outside diameter of the end plate. The
0
proximity probe measures the journal displacement, from which the variation
of film
film gap in the squeeze
squeeze film film region can be determined. Two dynamic
pressure transducers were installed at two different axial locations Zl 21 and Z222
ciLcumfe::,~ntial location 180 180" 0
and ciztumfe-~ntial to study the axial pressure variation caused
by end leakage.
leakage. The variation of the pressure distribution in both the axial
and the circumferential directions are monitored with two dynamic pressure
transducers. The piezo-electric
piezo-electric pressure transducers used can measure only the
dynamic variation of film film pressure. Thus, a strain-gage pressure transducer
to measure absolute pressure was installed at the axial location Zl Z1 and the
circumferential location 330 330".
0
• Absolute value of pressure obtained from the
pressure transducer gives information about the cavitation pressure.
A thermocouple type T T was embedded with an epoxy resin into a small
hole drilled into a dummy pressure transducer at the axial location Zl Z1 ancl
and the
circumferential location 210 0
210". • The thermocouple is flush with the wall of the
bearing housing so that the temperature of the oil film flrn in the squeeze film
flrn region
is directly measured. The value of temperature was input for calculation of the
viscosity of the oil and the corresponding Reynolds number. The increase of
the temperature of the oil is mainly due to shear friction friction of the oil and heat
conduction fromfrom the ball bearing supporting the damper journal.
Reynolds number Re =
squeeze film Reynolds
The squeeze 2
uC2/v
= wC Iv physically represents the
force to the viscous force.
ratio of the fluid inertia force force. Observation of the variation
82
Reynolds number is
in Reynolds is very important to study the effects effects of fluid
fluid inertia on
the pressure distribution and force force coefficients.
coefficients. Since
Since the whirling
whirling frequency
frequency w
of the journal and the radial clearance C of the SFD SFD test rig rig are
are fixed
fixed values,
values,
the oil viscosity is the only factor
the oil viscosity is the only factor that can
can be varied to
varied to obtain a change in
a change in the
the
Reynolds
Reynolds number.
Oil viscosity
Oil viscosity waswas measured for for aa range;ofltemperatures
range:ofkemperatures prior to to experimental
experimental
using aa Synchro-Lectric viscometer (LVF
tests using (LVF model).
model). Oil Oil viscosity
viscosity formulae
formulae
were obtained in terms
were terms of temperature using using aa mathematical
mathematical relation suggested suggested
in the
in the ASTM
ASTM D-341.
D-341. Three
Three kinds
kinds of oils
oils have
have been used in the experimental
experimental tests; tests;
SAE30 oil
SAE30 oil (engine
(engine oil), IS022 IS022 oil oil (turbine
(turbine oil),
oil), andand DOW10
DOWlO oil oil (silicone
(silicone oil).
oil).
The range of temperature measured was
The was between 27° C(80° F)
27"C(80° F ) and
and 49°49"C(120°
C(120°F). F).
The corresponding
The corresponding Reynolds numbers range range from
from Re=2 to to Re=7 for for SAE30
SAE3O oil, oil,
Re=17 to to Re=35 for for 1S022
IS022 oil,
oil, and Re=42 to to Re=48 for for DOWI0
DOWlO oil. oil.
Oil supply
Oil supply pressures were were about
about 68.75
68.75 KPa (10 (10 Psig)
Psig) which
which allowed
allowed aa flowflow
rate equal to 200 ml
to 200 rnl per min.min. for
for SAE30
SAE30 oil,oil, and
and about 13.8-20.6 KPa (2-3 (2-3 Psig)
Psig)
for lower
for lower viscosity
viscosity oils.oils. Higher oil oil supply pressures can not be applied to to the
the
because of deformation
damper because deformation of the the plexiglas
plexiglas cover.
cover. Also,
Also, higher oil oil supply
supply
pressures produce aa notable distortion of the
pressures the fluid
fluid film
film pressure field,field, because
because
the two
the two small
small oiloil inlets
inlets directly supply
supply oiloil into
into the
the squeeze
squeeze film
film region
region (there
(there
is no
is no circumferential
circumferential oil oil inlet groove).
groove). The The oiloil inlet groove
groove is is often
often employed
employed
in squeeze
in squeeze filmfilm dampers
dampers to to prevent distortion
distortion of of the
the pressure fieldfield due
due toto inlet
inlet
holes. Previous
holes. Previous experimental
experimental measurements have have shown
shown that an an oil
oil groove
groove hashas aa
large effect
large effect onon the
the pressure
pressure distortion [11 [11,13]. Since experiments with
,13J. Since with aa circular
circular
orbit should yield
centered orbit yield pressure distributions
distributions independent
independent of the the location
location of
the pressure transducer,
the transducer, itit is is very
very important to to get
get rid of potential distortion
distortion
factors for
factors for better comparison between between experiment
experiment and and analysis.
analysis.
In the
In the experimental
experimental measurement reported here, here, 6060 data
data points per cycle cycle
per pressure transducer and and proximity
proximity probe were were taken. Each Each measurement
consisted typically of 33 cycles.
consisted cycles. TheThe force
force coefficients
coefficients are are the
the averaged
averaged values
values
obtained fromfrom integration of these these 33 cycles
cycles of the
the measured pressure profiles. profiles.
EXPERIMENTAL RESULTS AND
AND DISCUSSIONS
Experimental tests
Experimenta.l tests have
have been
been performed
performed on the squeeze
on the squeeze film
film damper (SFD)
damper (SFD)
to measure
rig to
test rig measure dynamic
dynamic pressure distributions
distributions and
and force
force coefficients
coefficients with
orbit radii equal
orbit equal toto 0.5
0.5 and
and 0.8. Table II shows
0.8. Table shows the
the conversion
conversion factors
factors for
for proper
dimensional values
dimensional values of pressure and force coefficients for the three kinds of oils
pressure and force coefficients for the three kinds oils
used in
used in the
the experimental
experimental work.work. These
These factors
factors are
are used
used toto get
get the
the corresponding
corresponding
dimensional values
dimensional values ofof the
the measured
measured dimensionless
dimensionless pressure
pressure andand force
force coefficients.
coefficients.
To predict
To predict the
the measured
measured pressure
pressure distributions
distributions and
and film
film force
force coefficients,
coefficients, aa
modified short bearing solution [I61 is used. The analytical model used
modified short bearing solution [16] is used. The analytical model used included
included
the effects
the effects of
of finite
finite length
length and
and fluid
fluid inertia.
inertia.
83
Pressure Distributions
Pressure Distributions
Figures 44 and
Figures and 55 show
show comparisons
comparisons between between the the measured
measured and and predicted
predicted
pressure profiles
pressure profiles for for orbit
orbit radius
radius equal
equal to to 0.5
0.5 and
and 0.8,0.8, respectively.
respectively. The The viscous
viscous
lubrication solution
lubrication solution produces
produces antisymmetric
antisymmetric pressure pressure profiles
profiles with
with respect
respect to to the
the
maximum film
maximum film thickness
thickness (wt* (wt* = = 7r),
n), while
while the the additional
additional pressure
pressure due due to to the
the fluid
fluid
inertia isis symmetric
inertia symmetric with with respect
respect to wt* == 7rx [14].
to wt* [14]. Referring
Referring to to the
the combined
combined
pressure profile
pressure profile including
including the the additional
additional inertial
inertial pressure,
pressure, the the main
main effects
effects offluid
of fluid
inertia are
inertia are that
that thethe positive
positive dynamic
dynamic peak peak pressure
pressure isis smaller
smaller thanthan the the negative
negative
dynamic peak
dynamic peak pressure,
pressure, and and thethe dynamic
dynamic pressure
pressure has negative value
has aa negative value at at thethe
minimum film
minimum film thickness
thickness (wt* (wt* == 0) 0) while
while itit has
has aa positive
positive valuevalue atat the
the maximum
maximum
film thickness
film thickness (wt* (wt* == 7r).
n).
The pressure
The pressure profile
profile with
with aa orbit
orbit radius
radius €E == 0.8 0.8 corresponds
corresponds to to aa cavitated
cavitated
film as
film as shown
shown in in Figure
Figure 5. 5. The
The absolute
absolute levels
levels of of pressure
pressure measured
measured are are close
close to to
zero absolute
zero absolute and and thus,
thus, these
these indicate
indicate vaporvapor cavitation
cavitation in in the
the lubricant
lubricant film. film.
According to
According to conventional
conventional lubrication
lubrication theory,
theory, negative
negative dynamic
dynamic pressurepressure isis
produced in
produced in the
the diverging
diverging section
section of of bearing
bearing whilewhile positive
positive dynamic
dynamic pressurepressure isis
produced in
produced in the
the converging
converging sectionsection of of bearing.
bearing. Contrarily,
Contrarily, as shown in
as shown in Figure
Figure
5, negative
5, negative pressurepressure exists
exists in in the
the converging
converging sectionsection of of the
the SFD.
SFD. It It has
has been
been
generally assumed
generally assumed that that thethe positive
positive pressure
pressure profile
profile isis unaffected
unaffected by by cavitation,
cavitation,
but itit isis presumed
but presumed here here thatthat vapor
vapor cavitation
cavitation influences
influences the the positive
positive pressure
pressure
region.
regIOn.
For reduced
For reduced oil oil viscosities,
viscosities, the the extent
extent of of the
the vapor
vapor cavitation
cavitation becomesbecomes
smaller. For
smaller. For €E == 0.8,0.8, the
the measurements
measurements showed showed that that the
the cavitation
cavitation completely
completely
disappeared at
disappeared Re=22.1. Figure
at Re=22.1. Figure 66 shows shows the the measured
measured pressurepressure whichwhich corre-
corre-
sponded to
sponded to IS022
IS022 oil. oil.
An important
An important characteristic
characteristic of of the
the open
open endedended configuration
configuration isis the the large
large
pressure drop
pressure drop in in the
the axial
axial direction
direction due due to to the
the substantial
substantial flow flow in in the
the axial
axial
direction. In
direction. In Figures
Figures 55 and and 6, 6, the
the amount
amount of of pressure
pressure drop drop measured
measured at at axial
axial
location Z2
location 22 isis about
about 40% 40% of of the
the peak
peak positive
positive pressure
pressure at at axial
axial location
location Zl. Z1.
The modified
The modified short short bearing
bearing solution
solution [16] [16]predicts
predicts 46% 46% of of pressure
pressure drop drop between
between
the two
the two axialaxial locations.
locations. The The measurements
measurements confirm confirm that that thethe modified
modified short short
bearing model
bearing model can can adequately
adequately describedescribe the the axial
axial pressure
pressure drop drop in in aa parabolic
parabolic
form. However,
form. However, the the predicted
predicted pressure
pressure profile
profile at at the
the axial
axial location
location Z2 22 isis poor
poor
in the
in the negative
negative dynamic
dynamic pressure
pressure region.
region. The The peak peak negative
negative pressure
pressure drop drop
measured at
measured at the
the axial
axial location
location Z2 22 isis about
about 20% 20% of of t.hat
that at at Zl
Z1 at. Reynolds
large Reynoln.s
a.t largt>
numbers (Re~20).
numbers (Re>20). The The parabolic
parabolic variation
variation of of the
the axial
axial pressure
pressure predicted
predicted
from the
from the modified
modified shortshort bearing
bearing solution
solution isis therefore
therefore not valid in
not valid in the
the negative
negative
pressure region
pressure region where
where the the Reynolds
Reynolds number number isis large.
large. Since
Since thethe film
film isis completely
completely
submerged, the
submerged, the negative
negative pressure
pressure produced
produced in in the
the diverging
diverging section
section creates
creates
reversed flow in the axial direction. Thus,
reversed flow in the axial direction. Thus, a Bernoulli effect is likely to
a Bernoulli effect is likely to bebe
significant which
significant which violates
violates the the boundary
boundary condition
condition p=O p=O at at the
the end
end ofof the
the damper.
damper.
Figure 77 shows
Figure shows dynamic
dynamic pressure
pressure waveswaves obtained
obtained at at Reynolds
Reynolds numbernumber equal equal
to 44.2. In
to 44.2. In these
these figures
figures thethe distortion
distortion of of the
t,he antisymmetric
antisymmetric shape shape of of the
the viscous
viscous
84
pressure profile is magnified,
magnified, and the pressure profile is dominated by the effects
effects
of fluid inertia. The negative peak pressure is about three times the positive
peak pressure in magnitude. The analytical predictions deteriorate for these
large Reynolds numbers.
During the pressure measurements at small Reynolds Reynolds number with E=0.5 ~=0.5
Reynolds number with E=.8,
and at large Reynolds ~ = . 8 ,the pressure signals
signals on an oscilloscope
oscilloscope
fluctuating, as seen on the Figures 4 and 7. Thus the fluid flows
were fluctuating, flows at these
large Reynolds numbers may not be laminar and the Bernoulli effects effects may
become more significant at low viscosities.
viscosities. Also there is a noise interference
levells of pressure. For an orbit radius E
at low levells E = 0.5, it was not possible to
= 0.5,
measure the pressure distribution at large Reynolds (Re~10) because
Reynolds number (Re>lO)
values.
of the large ratio of noise to measured values.
During operation of the SFD SFD test rig no bubbles came out of the squeeze squeeze
f l m region, but many minute bubbles simultaneously appeared in the oil a few
film few
seconds after stopping the test rig and oil supply pump.
seconds pump: It is presumed that
the air dissolved in the oil came out of solution when the external oil supply
pressure was removed.
Coefficients
Force Coefficients
Experimental fluid film film forces
forces and force
force coefficients
coefficients are determined by
numerical integration of the measured pressure waves around the damper journal
surface. For the analytical predictions, a full full film
film assumption (27T"
(27r film)
flm) with
orbit radii E = 0.5 and 0.82 are used. Since
E = Since the pressure profiles for E E =
= 0.8 are
cavitated at small Reynolds
Reynolds numbers (Re::; lo), corresponding predictions are
(Re5 10),
excluded here.
here. The force
force coefficients
coefficients are calculated locally and corresponded to
a unit axial width of the damper at the specificspecific axial locations.
coefficients Ctt
Figures 8 show the local damping coefficients Ctt computed from the
measured pressure profiles. Since Since cavitation is present in the pressure profiles
of EE = = 0.8 and for Reynolds numbers less than 10, 10, the measured damping
coefficients must be regarded as
coefficients coefficients, i.e. equal to
as equivalent damping coefficients,
(Ctt
(C tt -- DtT).
D tr ). But at Reynolds numbers larger than 15, 15, the damping coefficients
coefficients
are purely direct coefficients
coefficients because of no cavitation in the measured pressure
profiles.
profiles.
Generally, the predictions for the local damping coefficients
Generally, coefficients using the
modified short bearing solution [16] [16] c.ompare
compare favorably
favorably with measurements at
the axial location Zl. Z1. However,
However, the predicted coefficients
coefficients are poor at the axial
22.
location Z2. The main reason is that the parabolic axial pressure profile obtained
axial
from the short bearing theory does not properly predict the axial pressure drop
in the negative region when both Reynolds number and orbit radius are large.
A level of the dimensional values of damping achieved in the test rig can be easily
coefficients Ctt are multiplied by C
obtained if the measured damping coefficients dRe IRe
CdRe/Re
(CdReis given Table I).
(CdRe I).
coefficients D,,
Figures 9 show the local inertia coefficients Drr' calculated from the mea-
85
sured pressure
sured pressure data. data. ForFor €E ==0.8 0.8 at
at Reynolds
Reynolds number number below below Re=10,
Re=lO, the the inertia
inertia
coefficients are
coefficients are toto be
be regarded
regarded as as an
an equivalent
equivalent inertiainertia coefficient,
coefficient, i.e. i.e. equal
equal to to
(D,,
(D rr -- Crt)
CVt)due due toto the
the observed
observed cavitation
cavitation in in the
the measured
measured pressurepressure profiles.
profiles.
Since
Since the the region
region of of cavitation
cavitation increases
increases as as the
the Reynolds
Reynolds number number decreases,
decreases, the the
equivalent
equivalent inertiainertia coefficients
coefficients correspond
correspond mainly mainly to to thethe cross
cross coupled
coupled damping
damping
coefficients at
coefficients at small
small Reynolds
Reynolds number number with with €=0.8.
~=0.8. The The dimensional
dimensional values values of of
inertia coefficients
inertia coefficients can can bebe obtained
obtained by by multiplication
multiplication of of CCiR,/Re
iRe IRe in
in Table
Table I.
1.
For aa orbit
For orbit radius
radius €E ==0.8 0.8 at at Reynolds
Reynolds numbernumber less less than
than Re=10,
Re=lO, the the inertia
inertia
coefficients
coefficients at at both
both thethe axial location Zl
axial location and Z2
Z1 and 22 are
are negative,
negative, showing
showing the the cross
cross
coupled
coupled damping
damping force force isis dominant.
dominant. (Cross (Cross coupled
coupled damping
damping has has been
been described
described
as
as dynamic
dynamic stiffness
stiffness [17,18]).
[17,18]). For For Reynolds
Reynolds number number larger larger than 15, the
than 15, the inertia
inertia
coefficients
coefficients becomebecome positive,
positive, which which meansmeans that that fluid
fluid inertia
inertia overcomes
overcomes the the effect
effect
of the
of the cross
cross coupled
coupled damping
damping and and acts
acts asas anan added
added mass mass on on the
the journal.
journal. The The
prediction of
prediction of the
the local
local inertia
coefficients are are poor
poor atat thethe axial location Z2
axial location 22 near
near
the
the end
end of of the
the damper
damper journal
journal as as in
in the
the case
caseof of the
the damping
damping coefficient
coefficient prediction.
prediction.
Once
Once again,
again, the the parabolic
parabolic axialaxial pressure
pressure profile
profile cancan notnot be be used
used inin the
the negative
negative
pressure region.
pressure region.
Damping
Damping coefficients
coefficients are are seen seen to to be
be large
large at at small
small Reynolds
Reynolds numbernumber and and
indicate aa dominance
indicate' dominanceof of viscous
viscous effects.
effects. As As the the Reynolds
Reynolds number number increases,
increases, the the
inertia
coefficientseventually
eventually approach approach the the same
samelevel
level of of the
the damping
damping coefficients
coefficients
as shown
as shown in in Figures
Figures 88 and and 9,9, and and show
show thatthat the the fluid
fluid inertia
inertia forces
forces become
become
dominant
dominant
San Andres
San Andres [9,10J [9,10]determined
determined fluid fluid film forces and
film forces and forceforce coefficients
coefficients basedbased
on the
on the assumption
assumption that that fluid
fluid inertia
inertia do do not
not affect
affect thethe velocity
velocity profiles
profiles or or flow
flow
rates. The
rates. The important
important results
results were were
1) The
1) The dimensionless
dimensionless damping coefficient CCtt
damping coefficient tt is is purely
purely viscous
viscous and and not not
affected greatly
affected greatly by by fluid
fluid inertia.
inertia.
2) The
2) The fluidfluid inertia
inertia force
force increases
increases linearly
linearly with with Reynolds
Reynolds number
number so so that
that
the dimensionless
the dimensionless inertia coefficient Drr
inertia coefficient IRe has
D,,/Re has aa constant
constant value value for for small
small to to
moderate Reynolds
moderate Reynolds number.number.
However, since
However, since thethe above
above assumption
assumption isis valid valid for for very
very small
small Reynolds
Reynolds
number
number (Res), (Re<l), as as the
the fluid
fluid inertia
inertia forces
forces approach
approach the the same
same order
order of of magnitude
magnitude
as viscous forces for large Reynolds number (Re~lO),
as viscous forces for large Reynolds number (ReZlO), the effect of fluid inertia the effect of fluid inertia
forces
forces on on the
the velocity
velocity profile
profile then then becomes
becomes significant
significant and and needs
needs to to be
be considered.
considered.
When
When the the effect
effect of of the
the fluid
fluid inertia
inertia forces
forces on on the
the velocity
velocity profiles
profiles oror flow
flow rates
rates isis
included
included in in the
the analysis,
analysis, the the dimensionless
dimensionless damping coefficient C
damping coefficient Ctt
tt and
and inertia
inertia
coefficient Drr IRe, both become strongly dependent
coefficient D,,/Re, both become strongly dependent on the Reynolds number on the Reynolds number
[16J.
1161. Experimental
Experimental evidence evidence supporting
supporting these these results
results isis shown
shown in Figures 88 and
in Figures and
9.9.
Figure 10
Figure 10 shows
shows thethe force
force phasephase angle
angle calculated
calculated from from the the force
force coefficients
coefficients
given in
given Figures 88 and
in Figures and 9.9. ItIt isis important
important to to notice
notice howhow the the point
point ofof application
application of of
the
the total
total fluid
fluid film
film force
force relative
relative to to the
the position
position of of the
the maximum
maximum film film thickness
thickness
changes
changes as as the
the Reynolds
Reynolds numbernumber increases.
increases. IT If the
the viscous
viscous film film force
force isis dominant,
dominant,
86
film force
the radial film force is very small compared to the tangential film film force
force and the
approaches ¢>
phase angle approaches q5 = 90"; while if the inertial film
= 90°; f l m force
force is dominant, the
f l m force
radial film force is very large (outward)
(outward) compared to the tangential film film force
force
and the phase angle ¢> q5 approaches ¢> 180". Thus, phase angles
= 180°.
q5 = angles above
above 90°
90"
film radial force
indicate a film force component due to fluid inertia.
inertia. Predictions of phase
angle obtained from the modified short bearing solution agree well with the
measurements.
CONCLUSIONS
Experimental measurements have been performed on an open ended squeeze

film damper executing circular centered orbits. Dynamic pressure measurements
film
were obtained for two orbit radii, fc = 0.5 and 0.8. Corresponding force force coeffi-
coeffi-
cients were calculated by numerical integration of the measured pressure profiles
From the experimental measurements presented, the following following conclusions can
be described:
I) The parabolic axial pressure profile obtained from the modified short
1)
bearing solution can adequately predict the axial pressure drop in the positive
dynamic pressure region, but not in the negative dynamic pressure region.
region. These
more pronounced at large Reynolds numbers.
effects are more.
2) Cavitation observed in the submerged damper corresponds to vapor
influences not only the negative pressure field
cavitation. The vapor cavitation influences
in the diverging region of a damper, but also also the positive pressure field in the
damper.
converging region of the damper.
3) Inertia coefficients Drr / Re (radial film force)
coefficients D,,/Re force) become comparable to
damping coefficients Ctt (tangential film force)
coefficients Ctt force) as Reynolds number increases.
coefficients increase with increasing
Both the measured inertia and damping coefficients
Reynolds numbers.
The experimental results obtained from a partially sealed configuration are
11.
presented in Part II.
REFERENCES
[I]J Thomsen K. K. and Andersen H., "Experimental Investigation of a Simple

[1 Simple
Squeeze Film Damper", ASME J.
Squeeze J. of
of Eng. for Industry, May 1974,
1974, pp.427-
430
[2J
[2] Vance J. M. and Kirton A. J., "Experimental Measurement of the Dynamic
Squeeze Film Bearing Damper", ASME J.
Force Response of a Squeeze J. of
of Eng. for
Industry,, Nov. 1975,
Industry 1975, pp. 1282-1290
1282-1290
[3] J.,"Experimental Parametric Study of a Squeeze
[3] Tonnesen J.,"Experimental Squeeze Film Bearing",
ASME J. ofof Lubrication Technology,
Technology, April 1976,
1976, pp. 206-213
206-213
[4] Feder E., Bansal P. N., and Blanco A.,"Investigation
[4] A.,"Investigation of Squeeze
Squeeze Film
Forces Produced by Circular Centered Orbits", ASME J.
.' Damper Forces J. of Eng.
for Power, Vol. 100,
100, Jan. 1978,
1978, pp. 15-21
15-21
87
c-~
[5] MiyachiT.,
Miyachi T.,Hoshiya
HoshiyaS., S.,Sofue
SofueY., Y., Matsuki
Matsuki M., M., and
and Torisaki
TorisakiT., T., "Oil
"Oil Squeeze
Squeeze
Film Dampers
Film Dampers for for Reducing
Reducing Vibration
Vibration ofof Aircraft
Aircraft Gas Gas Turbine
Turbine Engines",
Engines",
ASME paper
ASME paper no.
no. 79-GT-133,
$9-GT-133, 1979 1979
[6] Szeri, A.
Szeri, Z., Raimondi,
A. Z., Raimondi, A. A. A.,
A., andand Giron-Duarte,
Giron-Duarte, A., A., "Linear
"Linear Force
Force
Coefficients
Coefficientsfor Dampers", J.J. of
Squeeze-Film Dampers",
for Squeeze-Film of Lubrication Technology ,Vol.
Lubrication Technology, Vol.
105, July 1983, pp. 326-334.
105, July 1983, pp. 326-334.
[7] Tichy,J.J. A.,
Tichy, A., "The
"The Effect
Effect of
of Fluid
Fluid Inertia
Inertiainin Squeeze
Squeeze Film Film Damper
Damper Bearings;
Bearings;
AA Heuristic
Heuristic and
and Physical
Physical Description",
Description", ASME ASME paper paper no.no. 83-GT-177.
83-GT-177.
[8] Tichy, A., "J:.
Tichy, J.J. A., "A Study
Study ofof the
the Effect
Effect ofof Fluid
Fluid Inertia
Inertia and and End
End Leakage
Leakage inin
the Finite Squeeze Film Damper", ASME paper no. 86-Trib-62, 1986
the Finite Squeeze Film Damper", ASME paper no. 86-Trib-62, 1986
[9] San
San Andres,
Andres, L.,L., and
and Vance,
Vance, J.J. M, M, "Effects
"Effects of of Fluid
Fluid Inertia
Inertia andand Turbulence
Turbulence
on
on the
the Force
Force Coefficients
Coefficients for for Squeeze
Squeeze FilmFilm Dampers",
Dampers", ASME ASME paperpaper no.no.
85-GT-191,
85-GT-191,1985. 1985.
[10] SanAndres,
San Andres,1., L., and
andVance,
Vance,J.J.M.,M.,""Effects
Effectsofof Fluid
Fluid Inertia
Inertiaon on Finite
Finite Length
Length
Squeeze Film
Squeeze Film Dampers",
Dampers", ASLE ASLE Trans.
Trans. Vol.
Vol. 30,30, 3,3, 1987,
1987,pp.pp. 384-393
384-393
[11] Tecza J.J. A.,
Tecza A., Giordano
Giordano J.J. C.,C., Zorzi
Zorzi E.E. S.,
S., and
and Drake K.,"Squeeze Film
Drake S.S. K.,"Squeeze Film
Damper
Damper Technology:
Technology: Part Part 22-- Experimental
Experimental Verification
Verification Using
Using aa Controlled
Controlled
Orbit Test
Orbit Test Rig",
Rig", ASME
ASME paperpaper no.no. 83-GT-248,
83-GT-248, 1983 1983
[12] Tichy A.,"Measurements ofof Squeeze
Tichy J.J. A.,"Measurements SqueezeFilmFilm Bearing
Bearing Forces
Forces to to Demonstrate
Demonstrate
the
the Effect
Effect of
of Fluid
Fluid Inertia",
Inertia", ASME
ASME paper paper no.no. 84-GT-ll,
84-GT-11,1984 1984
[13] Ramli M.
Ramli M. D.,
D., Roberts B., and
Roberts J.J. B., and Ellis
Ellis J.J. "Determination
"Determination of of Squeeze
Squeeze Film
Film
Dynamic
Dynamic Coefficients
CoefficientsfromfromExperimental
Experimental Transient
Transient Data",
Data", ASME
ASMEpaper paper no.
no.
86-Trib-17,1986
86-Trib-17, 1986
[14] San Andres
San Andres L.L. A.A. and
and Vance M.,"Experimental Measurement
Vance J.J. M.,"Experimental Measurement of of the
the Dy-
Dy-
namic Pressure
namic Pressure Distribution
Distribution in in aa Squeeze
Squeeze FiimFiim Bearing
Bearing Damper
Damper Executing
Executing
Circular Centered
Circular Centered Orbits",
Orbits", ASLE
ASLETrans.,
Trans., Vol.
Vol. 30,3,
30, 3,July
July 1987,
1987,pp.pp. 373-383
373-383
[15] Burrows C.
Burrows R., Kucuk
C. R., Kucuk N. C., and
N. C., and Sahinkaya
Sahinkaya M. M. N.,
N., "Estimation
"Estimation ofof Squeeze
Squeeze
Film Bearing
Film Bearing Inertia,
Inertia, Damping
Damping and and Stiffness
StiffnessCoefficients",
Coefficients", ASME ASME Rotating
Rotating
Machinery Dynamics,
Machinery Dynamics, Vol. Vol. 1,1,Sep.
Sep. 1987,
1987,pp.pp. 109-114
109-114
[16] Y. Jung,
S.S.Y. Jung, "Effects
"Effects ofof Fluid
Fluid Inertia
Inertia and
and Cavitation
Cavitation on onthethe Force
Force Coefficients
Coefficients
of a Squeeze Film Damper", Ph.D. Dissertation, Dept. of Mechanical Eng.,
of a Squeeze Film Damper", Ph.D. Dissertation, Dept. of Mechanical Eng.,
Texas A&M
University, MayMay 19901990
[17] Rabinowitz, M.
Rabinowitz, M. D.,D., and
and Hahn,
Hahn, E. E. J.,
J., "Optimal
"Optimal Design Design of of Squeeze
Squeeze FilmFilm
Supports for
Supports for Flexible Rotors", J.J. of
Flexible Rotors", of Eng.
Eng. for for Power,
Power, JulyJuly 1983,
1983, pp.
pp. 487-
487-
494 .-
494.
[18] Gunter, E.E. J.,
Gunter, Barrett, L.L. E.,
J., Barrett, E., and Allaire, P.P. E.,
and Allaire, E., "Design
"Design of of Nonlinear
Nonlinear
Squeeze-FilmDampers
Squeeze-Film Dampers for for Aircraft
Aircraft Engines",
Engines", J.J. of of Lubrication
Lubrication Technology,
Technology,
Jan. 1977,
Jan. 1977,pp.
pp. 57-64.
57-64.
88
I conversion Cp R4 C,m. C'R4 I
I
I
factor
factor Kpa
Kpa N ~ec/m
N sec/m N ~ec2/m
N sec2/m
I (pai)
(poi) (lbf sec/ in) (Ibf
(lbf sec/in) (Ibf ssec2/in)
e2/in)
SAE3O
SAE30 'i
I
119.75
119.75 616.99
616.99 3.328
3.328
I
i (17.37) (3.523) (0.0190)
I
IS022 123.06 634.03 3.420
I
ii (17.85)
(17.85) 1 (3.620)
(3.620) (0.0195)
(0.0195)
DOWlO
DOW10 1Ii 128.98 1 664.56
664.56 3.584
3.584
I (18.71) (3.795) (0.021)
26.7° C
TABLE I. Conversion factors for a SFD test rig at 26.7'
II
oil
... ==;r====il
inlet
." oil
o il
outlet
Housing
1. Housing
End cavity
2. End
Journal
3. Journal
Eccentric sleeve
4. Eccentric sleeve
Sleeve holder
5. Sleeve
6. End plate
6. End plate
7. Plexiglas
7. Plexiglas cover
and Lip seal
and Lip seal
8. Housing
8. Housing support
- support
..
9. Shaft
10. Antirotation
10. Antirotation ear
11.
11. Coring
O-ring
PT: Pressure
PT: Pressure Transducer
Transducer
PP PP: Proximity
PP: Proximity Probe
Probe
oil
oil PO: Pressure
PG: PressureGauge
Gauge
inlet
inlet
"'==:::!J CV: Check
CV: Check Valve
Valve
Fig.
Fig. 11 Schematic drawing of
Schematic drawing SFD test
of aa SFD test rig
rig
89
Oil:
oil
I
' 23
Z3 PP
PP
--t.-
001
inletf----------------------------------------~ ~ '-4
7 S
r-
signal
signal
~I ~ I
MCJTCfl condition er
1
1----------------...
I I ,,--squeeze
P - - squeeze
F
0 KID= conditioner
: Z1 : ...
1-----... IO~1
P film
film
( J
I I ,
PT I
I 1 1 I ...
, PT PT 0
•
housing
1
1I
1I
I
I
1
1I
I
I . . . .I. .
I , C
I"
I '"
I ./end
. . end
......
•
cavity
cavity thermometer
thermometer PT
PT
Jif
... ,
I
I
PT 00 00 00 00 00 00
r PT
-T-I
-i- IA rr
1I journal
journal
c
C - --t I
- PP
PP
end plate
end plate 0 0 00 0 00 00 0 00
I I
L 1 I I
signal conditioner
signal conditioner
o
<.0
o
R P '---
'--- ring
0 ring
0
D~
oscilloscope
IJ
PP&PT signal
PPBPT signal
~jfi
I 00-0.188--'
21-0.56
Z1-0.56 cm
cm (0.2200
(0.2200 inch)
inch) L-2.39
L-2.39 cm
cm (0.94
(0.94 inch)
inch)
2211.67
~-1.67 cm
cm (0.6575
(0.6575 inch)
inch) R-6.35
R-6.35 cm
cm (2.50
(2.50 inch)
inch)
2313.71 cm (1.4600 inch)
1==1
Z3.3.71 cm (1.4600 Inch) C-0.159
C-0.159 cm
cm (0.0625
(0.0625 inch)
inch)
PT :: Pressure
PT Pressure Transducer
Transducer PP :: Proximity
PP Proximity Probe
Probe
II'
II~I
HP plotter
nr plotter
II Hi:i: I:" il ili,,:i 'i!:l
"ii:i,,:i,,:i:
9000 series
HP 9000 series model 216
model 216
HP
desktop computer
desktop computer
Fig. 22 SFD
Fig. SFD geometry
geometry of
of an
an open
open ended
ended configuration
configuration Fig. 33 Schematic
Fig. Schematic diagram
diagram of
of instruments
instruments
II:SAE30 Re:2.14
\
Flew/pump:200 ml/m 011 :SAE30 Re:2.26 Flew/pump:200 ml/mi
PP2 at 9: 180" ,Z3 5 PP2 at 9: 180" ,Z3
ffim~
PH at 9: 18ta" ,ZI PT2 at 9: 180 0 ,ZI
PT6 at 9: 180" ,Z2 PT3 at 9: 180" ,Z2
Eccentrtc:.497 Eccentric:.8
4
~ .4 til
L
Zl
~I
II:
d
II:
1 1 3 Z2
0 0
u. u.
Ul .2 Ul
2 film gap
~
a-
121
II
a:
a-
\
-,
~
u u
I)
,II
I. L
~ -.2 ::I
III
III III
II II 1<3 ~~;/-:"'--
L
Il.
L
Il. // ----=
-.4
//
-I // ons
---- p red t ct tens ---- pred t ct i ens
-.6 -2
Ii!! 2 3 4 5 6 7 1<3 2 3 4 5 6 7
Re:2.26, T e r t No:0220-1
No:0220-1 wt
Re:2.14,
Ra:2.14. Test
T e s t Ne:0331-20
No:0331-20 tilt
w t Re:2.26, Test wt
Fig.
Fig. 44 Dimensionless
Dimensionlesspressure
pressure profiles,
profiles, Fig. 55 Dimensionless
Fig. Dimensionless pressure
pressure profiles,
profiles,
open
open ended
ended configuration,
configuration, Re=2.14,
Re=2.14, f E ==0.5
0.5 open ended
open ended configuration,
Re=2.26, f c ==0.8
0.8
Re:22.1 :DOWI0 Re:44.2 Flow
.8 9:180° ,Z3 PP2 at 9: 180 0 ,Z3
9: 180° ,ZI PT2 at 9:180°,ZI
9:180°,Z2 PT3 at 9: 180° ,Z2
'centr j c: .806
.4
.'i
III
.4
..
III
o
II:
~
II:
1 0 1 .2
0 film gap
u.. u.. i
Ul Ul
//
.//~:=:=:=--=::::::.>"
(3
13
u
0::
\
u
0:: '/
, V
0..0
N
u
a..
'( -. 4
8- -.2
, P
i :
: V
D
..::s u
...
.. ::s
"~ -.4
"..
u
...
» a.. a..
-.8
-.6
---- pred jet j ons - - - pred j et j ons
-1.2 -.8
o 2 3 4 5 6 7 (3 2 3 4 5 6 7
Re:22.I, Test No:0407-IS wt Re:44.2, Test No:0827-14 wt
Fig. 6 Dimensionless pressure profiles.

iz
Fig. 7 Dimensionless pressure profiles,

hil
hil
open ended configuration, Re=22.1, E = 0.8 open ended configuration, Re=44.2, E = 0.8
oil:SAE30 oil:SAE30
15
PT2 at e: laB , Zl o •
8
o~ PT2 \!t --
~ 9:18B ,Zl
l
0 0 0 0 ..
.... .. PT3 0000 I.. PT3
.... at 9: laB ,Z2 0 c 09
. t 9: laB Z2
..
I..
U Ecce ,tric: B § 0 1 0 C Eccehtric: Ii3 8 0.5
.... 8. o g
. .. . .. ,.
...c: -
A'f
al,
4
c: 3: 80
II
u
Iii! -g
00
0
g 0
t
..... . II
U IilflillQlillilil .. ,aU- II.U III Zl

...... .... t ......
II
"t"t.. t ...
Itt ..
II
B
. . ....... ttt t . · .. t ... .. ].2 ... .. .. .. t
u
0
.--:?" E = 0.5 0
.
." t .... &.. .
... ...... ........... ...>il
U
5
en
c:
-Soooo a- •• o.~' ' • • VIS- ttl
00 0 8 8
~
........... Z2
....
I..
-4
0 0
9 00
008
0
§o 0 8 00 80 0
g
8
0 8 v 0 0
0
e QI og 0
III c:
C ....
Ii!
2
- 3 4 5 6 7
-8 j
2 3 4 5 6 7
Reynolds number Reynolds number
(a) (a)
0.0
IN
oii:IS022, DOWIO oil:IS022, DOWIO

4 iii 4 iii
o PTe at E : laB· Zl 0 PT Zl
.... .. PT:: at E : 18B· Z2
I..
.. PT
.... I.. Z2
U Ec centr c: B. c E
.... .... 30
c: c:
II II
31i1
u U
...... ......
oogo ZI R Cb..IA
........:- .... -...::

0
~
2 Ii!
~-~ ~
~ o -
II II
0
..... . 0
u
en
c:
~
21i1
~
- ........... ......... U
....'"
I..
10 I lu.!t!°U"v .-----1 Z2
e Z2 QJ
III c:
C ....
I iii ...::::::::::---
21i1 25 3 iii 35 4 iii 45 5 iii
o ~I----~------~----~----~----~------~--~
20 45 50
m 0
El-
15 15 25 313 35 40
X
C
(b) (b)
Fig. 8 Dimensionless damping coefficients vs. Reynolds no. Fig. 9 Dimensionless inertia coefficients vs. Reynolds no.
oil:SAE30
ISla
0 PT2 p.t 6: lsa • Zl
.... PT3 ~t 6: lsa • Z2
Ecce '1 t ,.ic: a B
I
";2€=o.5
.s::.
. .t .... •• ~t" &~"
a. 121a ...... ~g8 "g~6·
lS·<P'tll
" .-
III ••••• 0° 0 0
j
.. .. .. .
Cl ;"0008 "
C
Zl.Z2
a:
II . ..
\II
'"
.s::.
Sla
. . . . ..... t .....
... . . -
a.
••• t
tt~ .
.
.. 6 .. ..
8 "
0 00
,,&"08 0 " B " 8 i
0 888 11 0 "00
()O~ g 000
61a
2
-
o 3 4 5 6 7
Reynolds numbe,.
(a)
oil:IS022. DOWIO
ISla
o PTe: at I: : ISa- Zl
. ....
• PT~ at E : ISa- Z2
Ec cent,. c: a.
. . ~
.s::.
~ !!fa>
~
..... .......
a. 131a ..
.. "-*-w
~_
II
•• *t& .. t .. ~~
Cl
C ........ ...... Oil 0'1
0
~
0:0"10
Zl.Z2
OSo~ ~
a: oor
: lIla
0..08
'"
.s::.
a.
0"'
.............. I
Sla
15 21a 25 31a 3S 41a 45 sla
Reynolds numbe,.
(b)
Fig. 10 Phase angle vs. Reynolds number
94
N92.-14353
MEASUREMENTS
MEASUREMENTS OF PRESSURE DISTRIBUTIONS AND FORCE FORCE COEFFICIENTS
IN
IN A
A SQUEEZE F I L M DAMPER --
SQUEEZE FILM
PART II:
I I : PARTIALLY SEALED CONFIGURATION
S.Y.
S.Y. Jung, L.A. San Andres, and and J.M. Vance
Department of o f Mechanical
Mechanical Engineering
Texas A&M A&M University
University
Col lege Station,
College S t a t i o n , Texas 77843-3123,
77843-3123, U.S.A.
U.S.A.
In part I,
I, a squeeze
squeeze film
film damper (SFD)
(SFD) test rig and measurement procedures
were explained, and the experimental results obtained from an open ended
damper were presented. In this paper, the experimental results measured from
a partially sealed SFDSFD test rig executing a circular centered orbit are presented
discussed. A serrated piston ring is installed at the damper exit. This
and discussed.
involves a new sealing
device involves sealing concept which produces high damping values while
flow to cool the damper. In the partially sealed damper, large
allowing for oil flow
cavitation regions are observed in the pressure fieldsfields at orbit radii eE =
= 0.5
= 0.8. The cavitated pressure distributions and the corresponding force
and ec = force
coefficients are compared with a cavitated bearing solution. The experimental
coefficients
results show the significance of fluid inertia and vapor cavitation in the operation
of squeeze f l m dampers. Squeeze
squeeze film Squeeze film
film Reynolds numbers tested reach up to
applications.
Re=50, spanning the range of contemporary applications.
NOMENCLATURE
C =SFD radial clearance

CdRe =pw L R3
=pwLR 3/C damping coefficient conversion factor
fact or
CiRe =pLR 3
=pL R3//C C inertia coefficient
coefficient conversion factor
Cf =p,wR3
=pw R3L/C2 2
L/C force
force conversion factor
Cp =pwR2//C
=p,wR 2 2
C 2 pressure conversion
conversion factor
CpRe =C
=Cpp •. Re = pw2 R2
= pw2 R2 pressure conversion coefficient
Ctt coefficients
=dimensionless direct damping coefficients
=- f t / c , normalized by pR3
=-/t/e, p,R3 L / C 33
L/C
=damper journal
=damper journal diameter
coefficients
=dimensionless direct inertia coefficients
=f T / e , normalized by CLR3
=/r/e, L/wC 3
JLR3 L/wC3
=dimensionless radial and tang. film forces normalized by Cff
f l m forces
= J
=J ppcos
cos fJdfJ,
Odd,J ppsin
sin fJdfJ,
0d0, respectively.
95
=damper journal
=damper journal length
Cp
=dimensionless pressure normalized by Cp
=damper journal
=damper journal radius
=wC22 /Iv
=wC V modified Reynolds number
=axial coordinate
=ax:ial
=dimensionless orbit radius
=circumferential coordinate
=circumferential
=cavitation termination position
=cavitation
=cavitation inception position
=cavitation
=absolute viscosity
=absolute
=kinematic viscosity
p =density
=density
</> +
=90°0 + tan
=90 tan-'-1 ir ft, phase angle
f,/I it,
w =frequency of damper journal center motion
INTRODUCTION
In Part I, a companion paper, a squeeze

squeeze film
film damper (SFD) test apparatus
and experimental procedure were detailed, and the experimental results obtained
for an open ended configuration were presented and compared with a modified
short bearing solution.
solution.
In this paper, the experimental results measured from aa partially sealed
SFD test rig executing a circular centered orbit are presented. The squeeze
squeeze film
film
damper is sealed with a serrated piston ring to partially prevent side leakageleakage
increased. The
of lubricant so that the damping capability of the damper is increased.
~errated
serrated piston ring is described in detail and its function is explained in the
next section. The experimental conditions are the same as in the open ended
SFD test rig described in Part I.
SFD
In the partially sealed damper,
damper, a large cavitation region in the pressure
field is observed at orbit radii E€ =
= 0.5 and E€ = = 0.8. The cavitated pressure
force coefficients
distributions and the corresponding force coefficients (both damping and inertia)
are compared with a cavitated bearing solution. The squeeze squeeze film
film Reynolds
applications.
number tested are within the range of contemporary applications.
R.IG AND PROCEDURE

EXPERIMENTAL TEST RIG
The overall structure of the damper test rig and experimental procedure
have been described in detail in Part I and thus, related details are omitted here.
Figure 11 shows
shows .the
the axial geometry of the partially sealed SFDSFD configuration.
A serrated piston ring (see
(see Figure 2) is placed at the cavity (or piston ring
groove) at the end of damper journal. The other experimental conditions,
groove) conditions, such
as oil supply pressure and locations of pressure and temperature transducers,
are the same as described in Part I. However,
However, in the partially sealed damper, the
96
oil temperature
oil temperature increases
increases more more rapidly
rapidly because
because of of the
the reduced
reduced axial axial flow
flow rates
rates
through the
through the damper.
damper.
With aa uniform
With uniform conventional
conventional piston piston ringring located
located at at thethe damper
damper end, end,
early experimental
early experimental measurements
measurements showed showed that that no no leakage
leakage through
through the the end
end seal
seal
occured. Under
occured. Under this this condition,
condition, measured
measured film film pressures
pressures and and forces
forces reproduced
reproduced
closely the
closely the predictions
predictions given given for for the
the fully
fully sealed
sealed SFD SFD model.
model. Therefore,
Therefore, the the
levels of
levels of damping
damping forces forces obtained
obtained were were large
large and
and quite
quite accurately
accurately predicted
predicted withwith
the inertial
the inertial SFDSFD fluid
fluid flow
flow model
model [1]. [I].
Since aa damper
Since damper without
without through
through flow flow does
does notnot represent
represent conditions
conditions foundfound
in practice,
in practice, the the piston
piston ringring end
end sealseal waswas modified
modified to to allow
allow somesome amount
amount of of oil
oil
leakage. The
leakage. The idea
idea of of enlarging
enlarging the the circumferential
circumferential groove groove in in which
which thethe piston
piston
ring is
ring is located
located was was discarded
discarded after after experiments
experiments indicatedindicated that that the the piston
piston ring
ring
cocks in
cocks in the
the groove
groove and and distorts
distorts the the pressure field. field. A piston ring ring with
with aa radial
radial
split was
split was also
also found
found not not attractive
attractive since since thethe pressures would would be be distorted
distorted duedue to to
the localized
the localized jet effecteffect atat the
the piston ring ring opening.
opening.
A piston ring ring with
with aa largelarge number of small small axial axial grooves
grooves aroundaround the the
circumference allows
circumference allows aa sufficient
sufficient amount
amount of oil oil circulation,
circulation, and and does does not
not distort
distort
the rotating
the rotating pressure field. field. ThisThis condition
condition is is only
only insured provided provided that the the
lubricant inlet pressures are are notnot tootoo large
large soso asas not to to induce
induce distorting
distorting effects
effects
at the
at the inlet holes
holes in in the
the squeeze
squeeze film. film.
As shown
As shown by by aa schematic
schematic drawing drawing "In in Figure
Figure 2, 2, the
the serrated piston piston ring
ring
consists of aa piston ring
consists ring of inner
inner and and outer diameters
diameters equal equal to 12.23 cm
to 12.23 (4.816
cm (4.816
inch) and
inch) 13.02 cm
and 13.02 (5.125 inch),
cm (5.125 inch), respectively,
respectively, and and with with thickness
thickness and and width
equal to
equal 3.97 mm
to 3.97 (5132 inch).
mrn (5/32 inch). 72 72 semi-circular
semi-circular holes holes of radius
radius 0.79 0.79 mm (1132
mm (1/32
inch) are
inch) are drilled
drilled every
every 5° 5" on
on the
the outer surface surface of the the piston ring. ring. The The total
total area
area
grooves is
of grooves is 88 times
times larger than the the area
area of the the inlet holes.holes. This This number was was
chosen so
chosen so that the the total
total pressure loss loss factor
factor forfor the
the holes
holes inin thethe piston ring ring is is
similar to
similar to the
the loss
loss factor
factor atat the
the inlet
inlet holes.
holes.
experiments were
Preminary experiments were aimed aimed to to determine,
determine, first, first, if the the rotating
rotating
pressure wave wave waswas distorted by the the presence
presence of the the piston ring ring holes,
holes, andand second,
second,
to measure the
to the absolute
absolute levels
levels of film film pressure generated in the the squeeze
squeeze film film
region.
regIon.
The preminary tests showed
The showed that the the film
film pressure wave wave was was not distorted
distorted
and remained stationary with respect
and respect to to the rotating shaft. shaft. Therefore, aa single single
pressure transducer was was needed
needed to to reproduce the the pressure field field around the the
surface.
journal surface.
The most important preliminary finding
The fmding was was that film film cavitation did did occur
the
as the
as observed dynamic
dynamic pressure waves showed
waves showed a a uniform region of minimum
dynamic pressures. Experimental
dynamic Experiment a1 measurements
measurements of absolute absolute pressure showed showed
that the region region of film film cavitation represented pressures which which are are close
close to to
zero absolute.
zero absolute. Thus, Thus, it is is presumed that the the form
form of cavitation observed observed in
the
the experimentation corresponded to
to incipient boiling
boiling (vapor cavitation) of the
cavitation)
lubricant at low low values
values of absolute
absolute pressure.
97
From the discussion
discussion above, it is apparent that the measurements show the
film pressure to attain large levels of subatmospheric.
subatmospheric pressures,
pressures. which remain
during a substantial portion of the total time required to describe a complete
journal orbit. This comment is made here since since current theoretical treatments
often consider film
film cavitation to start at pressure levels very close,close, but lower
than, atmospheric pressure. This form of cavitation relates to the release release of air
dissolved in the oil or the ingress of external air in the film
film region, and is likely
[2].
flooded in oil [2J.
to occur if the damper is not completely flooded
The partially sealed damper, due to the reduced side leakage, produces a
smaller axial pressure drop and larger peak pressures and damping levels levels when
compared to the open end damper. The most important outcome of this is
that the pressure field is significantly disturbed due to the large extent of vapor
field. In this case,
cavitation in the pressure field. case, the supply pressure can not be
large enough to suppress the cavitation. Because higher supply pressures to
suppress the cavitation produce enough flow through the check valves to hold
them open and produce distortion of the pressure wave due to backflow through
the inlet holes. Consequently the damping level achieved from the partially
sealed damper can be greatly reduced or widely varied depending on the extent
of vapor cavitation taking place in the pressure profiles. Another important
factor is fluid inertia which tends to move the position of cavitation inception
toward the minimum film film gap and to decrease
decrease the peak pressure [3,4].[3,4].
The following
following experimental measurements show the effects
effects of vapor cavita-
cavita-
tion and fluid inertia on the pressure fields
fields and force
force coefficients.
coefficients.
EXPERIMENTAL RESULTS AND DISCUSSIONS
Pressure profiles
Figures 3 and 4 show the dimensionless
dimensionless dynamic film pressure distribution
vs. time at axial locations, Zl 21 and Z2,22, for orbit radii E€ = 0.47 and 0.76,
0.76,
respectively.
respectively. Reynolds numbers are Re=2.07 and 2.3, respectively.
respectively. These
pressure profiles are significantly affected by vapor cavitation.
cavitation. As described
before, the cavitation pressure is close to zero absolute.
before, The damper is
completely submerged in oil which prevents the ingress
ingress of external air. Thus, it
is presumed that the measured cavitation here corresponds to vapor cavitation.
In these figures,
figures, the double dotted lines are the pressure profiles predicted
Z1 and Z2
at the two axial locations Zl 22 by the cavitation analysis [3,4J.
[3,4]. The analysis
includes extended cavitation effects on the pressure distribution using the Swift-
Swift-
[5,6]. In order to compare experimental measurements with
Stieber conditions [5,6].
the cavitated pressure predictions, the predicted absolute pressure profile has
been shifted to the measured dynamic pressure profile, because the measurement
with the absolute pressure transducer established the cavitation pressure here
as absolute zero. To predict the cavitated pressure field, 8, of
field, the position (}a
cavitation termination is taken from the measured pressure profile and leakage
98
coefficient values, CLl
coefficient CLl = CL, = 0.18, are used.
= 0.0 and CL.,. used. The cavitation end
points for t:E = 0.47 and t:E = 0.76 are about ()a 8, =
= 30° 8, = 350°
30" and ()a 350°,, respectively,
as shown in Figures 3 and 4. ()e 8, = = 141.3° 8, =
141.3" and ()e 158.7" are predicted by
= 158.7°
the analysis asas the corresponding positions of cavitation inception, respectively.
The prediction of cavitation inception points and the whole of the pressure
field agrees well with the experimental measurement. The above comparisons
using the Swift-Stieber conditions show that the cavitation effect is significant
on pressure distributions.
Generally, a much larger level of the measured peak pressure is expected
from the partially sealed damper when compared to that from the open ended
damper (see Part I). I). But at small Reynolds numbers the peak pressure measured
from the partially sealed damper is only slightly larger than that obtained from
the open ended damper.
damper. The two main reasons for this are 1) 1) a smaller orbit
radius of the partially sealed damper and 2) a larger extent of vapor cavitation
in the pressure fields.
fields. The peak pressure of a SFD SFD or a journal
journal bearing is so
sensitive to large orbit radius or eccentricity ratio that a small reduction of orbit
causes a large reduction of the peak pressure. Furthermore, as
radius causes as shown
in the vapor cavitation analysis [3J, 131, the peak pressure is greatly reduced as the
extent of the vapor cavitation increases.
Figure 5 depicts pressure waves measured at Reynolds Reynolds number equal to
Re=22.1 and an orbit radius E€ = = 0.81.
0.81. As shown in the previous pressure
comparison, the double dotted line is the pressure profile predicted at the axial
location ZlZ1 using the cavitation analysis which includes vapor cavitation effects effects
on the pressure field.
field. The position ()a 6, of cavitation termination is ()a 8, =130°
= 130"
which was taken from the measured pressure profle. profile. But, instead of the seal
coefficients CLl =
coefficients CLl = 0.0 and CL CL,r = 0.18,
0.18, the seal coefficients CLl =
coefficients CLl CL, =
= CL.,. = 0.0
are required, which implies no side side leakage from the damper.
damper.
The prediction of pressure profiles using the analysis gets degraded as the
Reynolds number becomes large, because an assumption that fluid inertia does
not affect the velocity profiles is used in the cavitated long bearing analysis [3J. [3].
The assumption is valid for ReSl0.
ReSlO. Thus, as as shown in Figure 5, the prediction is
not good at large Reynolds number (note (note the different seal coefficients
coefficients required),
and also the pressure profiles shown in Figure 6 which were measured using
DOWlO oil,
DOWIO oil, can not be compared with any predictions. However, However, it is very
interesting to compare these pressure profiles with those of the open ended
damper.
damper.
The relevant difference
difference between these configurations are
1) The peak pressures measured from the partially sealed damper are much
1)
larger than those from the open ended damper.
2) As orbit radius increases,
increases, the extent of cavitation greatly increases. The
pressure profiles of the partially sealed damper are more extensively cavitated
than those of the open ended damper.
3) The pressure profiles of the partially sealed damper show less fluid fluid inertia
99
effects than those of the open ended damper. The main effects of fluid inertia
on the pressure profile are that the positive peak pressure is smaller than the
negative peak pressure, and the pressure has a negative value at the minimum
film thickness region (wt =
film film
= 0) while it has aa positive value at the maximum film
thickness region (wt = = 1\"). Moreover, as
T ) . Moreover, as fluid inertia becomes dominant in the
forces, the shape of the pressure profile tends to change from antisymmetric
film forces,
to symmetric with respect to the maximum film thickness. The measured
pressure profiles of the partially sealed damper are fairlyfairly antisymmetric, while
the pressure profiles of the open ended damper are more symmetric with respect
to wt == 1\" Reynolds numbers.
.rr at large Reynolds
Force coefficients
coefficients and phase angles for orbit radii equal
Local damping and inertia coefficients
= 0.5 and 0.8 are obtained by integrating the measured.
to E€ = measured pressure field
around the journal of the damper. Since Since the measured pressure wave has been
to~be~synchronous~
determined to,belsynchronous1witht with1 speed, the relation of the pressure/time curve
to that of pressure/angle
pressure/angle curve around the journal surface surface is well known. In
the numerical calculations, the entire pressure wave has been used to determine
film forces
film forces and force
force coefficients.
coefficients. The pressure signals
signals at orbit radius E€ == 0.5
with large Reynolds numbers were not large enough to measure so that the
force coefficients are presented here.
corresponding force
Figures 7 show the local damping coefficients Ctt Ctt measured at the axial
locations ZlZ1 and Z2. 22. Since
Since the measured pressure fields fields at small Reynolds
number are greatly cavitated, as as shown in the previous pressure profiles, these
coefficients shown in Figure 7(
damping coefficients 7(a)
a) represent the equivalent damping
coefficients Ceq
Ceq equal to (C (Ctt D tr ).
tt -- Dt,).
In Figure 7(a), the solid lines are predictions of damping coefficients
coefficients at the
axial location ZlZ1 for t:E =
= 0.5 and 0.8. These lines are obtained from a curvefitcurvefit
coefficients predicted from a cavitated bearing solution [3,4J,
of damping coefficients [3,4], based
on the measured cavitated pressure profiles. Considering the effect of vapor
cavitation on the entire pressure field, field, the predictions of damping coefficients
coefficients
are fairly matched with the measurements. Figure 7(b) shows shows comparison of
coefficients at large Reynolds numbers where cavitation disappeared.
Thus an uncavitated model is used to calculate the damping coefficients
coefficients with the
coefficients CLl
seal coefficients CLl = = CL
CL,r = = 0.0. The predicted damping coefficients
coefficients remain
constant for increasing Reynolds numbers.
The level of local damping achieved from the partially sealed damper is
about twice that from the open ended damper for the whole range of Reynolds
(dimensional) damping can be determined if the measured
numbers. The actual (dimensional)
dimensionless damping coefficients Ctt are multiplied by the damping conversion
coefficients Ctt conversion
factor CdRe / Re. (see
CdRe/Re. (see Table I of Part I) I)
coefficients Orr
Figures 8 show the local inertia coefficients Z1 and
DTTat the axial locations Zl
22. For Reynolds numbers below Re=10
Z2. Re=lO in Figure 8(a), the local inertia forceforce
100
coefficients D,,
coefficients coefficients Deq
Drr represent the equivalent inertia coefficients Deq = = D,,
Drr --Crt
Crt due
to the cavitation taking place in the pressure field (Figures 3 to 5). 5). Once again
the solid lines in Figure 8( 8(a)
a) are predictions of inertia coefficients
coefficients obtained from
from
the cavitated bearing solution [3,4J.[3,4]. The predictions are fairly
fairly matched with the
However, the solid line in Figure 8(b)
measurements. However, 8(b) represents a prediction
coefficients calculated from an uncavitated film
of inertia coefficients film model with the seal
coefficients CLl =
coefficients CLI CL,r =
= CL = 0.0.
coefficients measured from the open ended
When compared with the inertia coefficients
damper, the (negative) values of the equivalent inertia coefficients
damper, from the
coefficients from
partially sealed damper are about twice as as much asas at small Reynolds number,
due mainly to the large cross coupled damping coefficient ("dynamic stiffness")
caused by the cavitated pressure field. field. However, for large Reynolds number, the
pure inertia coefficients
coefficients of the partially sealed damper show the same magnitude
as those of the open ended damper, while the pure damping coefficients of the
partially sealed damper are about three times as those of the open ended damper. damper.
Therefore, the ratio of the fluid inertia force force to the fluid viscous force
force measured
from the partially sealed damper is less than that of the open ended damper. damper.
is, the partially sealed damper has been less influenced by fluid inertia than
That is,
the damper with open ends. This phenomenon was also found in the comparison
of pressure distributions measured from from the two types of squeeze
squeeze film
film dampers.
dampers.
force phase angle tjJ
The force q5 determined from the ratio of the radial film film force
force
force is shown in Figures 9.
to the tangential film force 9. The predictions are good as as
9(a). Since
shown in Figure 9(a). Since the pressure profiles at Reynolds numbers less than
Re=lO are greatly cavitated,
Re=10 cavitated, phase angles
angles are below tjJ = 90°.
q5 = ReynoIds
90". But as Reynolds
increases, the extent of cavitation is reduced and the fluid inertia force
number increases, force
is dominant so that phase angle becomes larger than tjJ q5 = 90' as
= 90° as shown in Figure
9(b).
9(b).
CONCLUSIONS
Experimental tests have been performed on aa partially sealed squeeze film film
film pressure distributions and force
dampers to measure fluid film force coefficients
coefficients with
circular centered orbits with both E€ =
= 0.5 and 0.8. The measurements performed
completely cover the practical range of Reynolds number which reaches Re=50.
following conclusions
From the experimental measurements described, the following conclusions
can be obtained
1) There is aa small pressure drop in the axial direction. It is thus apparent
1)
that the partially sealed configuration will give substantial levels of damping due
to the uniformity of the pressure in the axial direction.
However, the present experimental results show that the development
2) However, development of
the region of negative dynamic pressure is sharply detained by vapor cavitation.
The extent of vapor cavitation greatly reduces both damping and inertia
coefficients, and the phase angles
coefficients, angles are below 90°
90'. . .
101
The extent
3) The
3) extent of of cavitation
cavitation isis larger
larger at
at low
low Reynolds
Reynolds numbers
numbers (lowest
(lowest
temperature) than
temperature) than atat higher
higher Reynolds
Reynolds numbers.
numbers. This This isis due
due toto the
the effect
effect ofof
increasing temperature
increasing temperature which which diminishes
diminishes the
the fluid
fluid viscosity
viscosity and
and consequently,
consequently,
reduces the
reduces the level
level of
of generated
generated pressures.
pressures.
4) The
4) The partially
partially sealed
sealed configuration
configuration has
has been
been less
less influenced
influenced byby fluid
fluid inertia
inertia
than the
than the open
open ended
ended configuraton.
configuraton. Larger
Larger extent
extent ofof vapor
vapor cavitation
cavitation region
region
has been
has been observed
observed in in the
the partially
partially sealed
sealed configuration
configuration thanthan in the open
in the open ended
ended
configuration. The
configuration. The effect
effect of
of cavitation
cavitation must
must be
be properly
properly included
included inin the
the analysis
analysis
ifif accurate
accurate predictions
predictions are are to
to be
be made.
made.
ACKNOWLEDGMENTS
ACKNOWLEDGMENTS
The support
The support by by the
the Turbomachinery
Turbomachinery Research
Research Consortium
Consortium at
at Texas
Texas A&M
A&M
University isis greatly
University greatly acknowledged.
acknowledged.
REFERENCES
REFERENCES
[1] San Andres,

[I] San Andres, L. L. A.,
A., "Effect
"Effect ofof Fluid
Fluid Inertia
Inertia on_Squeeze
on-squeeze Film
Film Damper
Damper Force
Force
Response", Ph.D.
Response", Ph.D. Dissertation,
Dissertation, Dept.
Dept. of of Mechanical
Mechanical Eng.,
Eng., Texas
Texas A&M
A&M
University, December
University, December 19851985
[2] Zeidan, F.
[2] Zeidan, F. Y.,
Y., "Cavitation
"Cavitation Effects
Effects on on the
the Performance
Performance of of Squeeze
Squeeze Film
Film
Damper Bearings",
Damper Bearings", Ph.D.
Ph.D. Dissertation,
Dissertation, Dept.
Dept. ofof Mechanical
Mechanical Eng.,
Eng., Texas
Texas
A&M University,
A&M University, August
August 1989
1989
[3] Jung, S.S. Y.
[3] Jung, Y. and
and Vance,
Vance, J.J. M.,
M., "Effects
"Effectsof of Vapor
Vapor Cavitation
Cavitation and
and Fluid
Fluid Inertia
Inertia
on the
on the Force
Force Coefficients
Coefficients ofof aa Squeeze
Squeeze Film
Film Damper,
Damper, PartPart 1-I- Analysis
Analysis ofof aa
Long Squeeze
Long Squeeze Film Film Damper",
Damper", to to be
be presented
presented atat the
the 1990
1990 annual
annual meeting
meeting
of STLE
of STLE in Denver
in Denver
[4]
[4] Jung,
Jung, S.
S. Y.Y. and
and Vance,
Vance, J.J. M.,
M., "Effects
"Effects ofof Vapor
Vapor Cavitation
Cavitation and
and Fluid
Fluid Inertia
Inertia
on the
on the Force
Force Coefficients
Coefficients ofof aa Squeeze
Squeeze Film
Film Damper,
Damper, Part
Part 11-
11- Experimental
Experimental
Comparisons", to
Comparisons", to be
be presented
presented at at the
the 1990
1990 annual
annual meeting
meeting of of STLE
STLE in in
Denver
Denver
[5] Swift, H.
[5] Swift, H. W.,
W., "The
"The Stability
Stability of of Lubricating
Lubricating Films
Films inin Journal
Journal Bearings",
Bearings",
Proceedings Institute
Proceedings Institute of
of Civil
Civil Engineers,
Engineers, Vol.
Vol. 233,
233, London,
London, 1932,
1932, pp. 267-
pp. 267-
288
288
[6] Stieber, W.,
[6] Stieber, W., "Das
"Das Schwimmlager",
Schwimrnlager", VDI, VDI, Berlin,
Berlin, 1933
1933
102
r "1
oil: Z3 PP A
inletr----------------------------------------·
ZO : Z2 : 5° 5°
~--------------- ~I
,.--squeeze ~ radius 0.79 mm
: Z1 : film
~----~I II
t PT: PT I
housing I
I
:
I , serrated
... piston ring
-T-
journal end plate j
A
L
----------------------~
-- 0 ring
o R
w
b
I.. ..I
LlD-0:188 I a-3.97
b..3.97
mm
mm
(5/32
(5/32
in)
in)
c c..3.97 mm (5/32 in)
Z1.0.56 cm (0.2200 inch) L-2.39 cm (0.94 inch) d ..0.79 mm (1/32 in)
Z2.1.67 cm (0.6575 Inch) R-6.35 cm (2.50 inch) r-61.2 mm (2.408 in)
Z3-3.71 cm (1.4600 inch) C..0.159 cm (0.0625 inch)
Section A-A
PT : Pressure Transducer PP : Proximity Probe
(Note: 72 holes of radius 0.79 mm are equally spaced)
Fig. 1 SFD geometry of a partially sealed configuration Fig. 2 Geometry of a serrated piston ring
Oil :5AE30 Re:2.07 Flow/pump:200 ml/mi 011:SRE30
01 I :5AE30 Re:2.3
Re:2.3 Psupply 0 psig
Psupply 110 psig
PP2 at a: lS0" ,Z3 5 PP2 at 8:180*,23
PP2 at a: IS0" ,Z3
2.5 PT2 21
PT4 at a:1S0",Zl PT2 at
at 8:180',21
a: lSIi!I" ,Zl
PTS at a:1SIi!l°,Z2 PT3 at 9:180*,22
PT3 at 9:1S0" ,Z2
Eccentric: .472 Zl Eccentric:.763
Eccentric:.763
2 4
CD
Z2 \ - . m
L. L.
~
d1. 5
II:
Q
II: 1
QI Q 3
L... L...
til til
& .5 film gap

~
I)
~
8-
, ,
U
~ a I)
Vffi~gap
L.
o.,::. :l :l
'>
II
II
II
""
I) 121
0':-.5 L.
a.
-1
-1
---- pred I ct Ions --predictions
CLI-B.0 CLl-B.B
CLr-B.18 CLr-B.18
-1.5 -2
a 2 3 4 5 6 7 8
121 1 2E 33 44 55 66 77
Re:2.1i!17, Test Ra:2.3.

Re:2.3, Test No:1i!I821i!1-2
Test No:0820-2 wt
wt
Re:2.07. Test No:1i!I408-34
No:0488-34 wt
wt
pressure profiles,
profiles, partially
partially sealed
sealed configuraHon,
config~ra~tion,
Re=2.07,
Re=2.07,
f = 0.47
pressure profiles,
profiles, partially
partially sealed
sealed configuration,
Re=2.3,
f = 0.76
011 :15022
/ Ren22.'i Flow/pump:200 ml/m 01 I:D~10 Re:49 Fl~w/Pump:800ml/mln
1.5 P[1P"t e: 18S-.~ P at
PTZ at e: 18a- ,Z P 2 at
PT ate;lBa·,ZZ :3 at e: 180- ,Z2
Ecce" ric: .814 Ecce-"trlc:.821
..
I:lI ~ .8
da:, d
a:,
Q Q
!li .5 !li .4
film gap
& 0 & 0
a.
8-
o
01 ,
u
.... ,
..
II
;: -.5
..i! -.4
II
..
..
It
II II
L
a. n..
-1 -.8
---predict i o n s
--predictions
CLI-0.0
CLI-S.S
CLr-0.0
CLr-0.S
-1.5 -1.2
o 2 :3 4 5 6 7 o 2 :3 4 5 6 7
Re:22.1.
Re:22.1, T e s t Na:a527-26
rest No:0527-26 wt Re:49,
Re:49, Test No:0925-11
T a s t Na:0925-11 r wt
lilt
lilt
pressure profiles,
profiles, partially
partially sealed
Re=22.1,
t = 0.81
pressure profiles,
profiles, partially
partially sealed
Re=49.0,
tE ==0.82
0.82
oii:SAE30 oil:SAE30
30 10
o PT2 t 9: laS , Zl 0 PT2 t 9: las ,Zl
...... r..
r.. PT3 t 9: las ,Z2 E = 0.5 •
~
.. PT3 t 9: las ,Z2
U trie: S a c trle: e a .. • • , Ii Ii \ \
...C o 0 clbcP <to ...c
ID
25 ....
0
..
0000 .. .. .._"..tI-
III
iii
.
• Ii
U E= 0.5 ••• & U
.......
I "- _III
....
....
ID
0
u
:1. 6 -:- .. , , - ,---- - , III
0
u . ."
. . . ....... . .
.." .. :1"
o
. ......
m
20 III
-10
."
00"00 00 0"
. 0-
,,"
,,0 " u
0 0", .. ..
00
.. ..
o 0 ~ ~ o 0
c ..... Zl
1
D-
e III
c
III
...
C
IS -2a
2 3 4 5 6 7 2 3 5 S 7
Reynolds number ""
Reynolds number
(a) (a)
o
O'l
oi1:15022, DOWIO 40 oil:1S022, DOWIO
100
......
o PTe
"" PT~
at E : laS· Z1
at E : laS· Z2
.
r..
_~::;a .L. A_ i_. I
U Ec eentr e: S. c
... j ; ...c:
C
ID
sa o :» ID
20
u •ttl-a.: 1\ "
0 u
.... I aa .a ......
....ID a • a
0
It o..&aO·a 0
III
0
u a a &a
m
c
6a
6&....",
.. &1 ... &
&Ita .- U
III
...r..
0
D-
e -.-~ ....... Zl
III
c
III
~. ...c
4a
15 2a 25 30 35 4a
----sa -20
IS 20 25 30 35 ""0 'IS 50
""5
(b) (b)
Fig. 7 Dimensionless damping coefficients vs. Reynolds no. Fig. 8 Dimensionless inertia coefficients vs. Reynolds no.
oil:SAE30
115
0 PT2 t e: 180 • Zl
'" PT3 t e: 180 • Z2
8
.c
a- se
11)
m
c:
a::
QI
.. ". .. ... .... .. .. . . . . .. ...
00 00 00 00
'"
11/
.c
65
..:......... ..
0..
.A.A."
Q
Q
0
a. 00 0 00°0. 0°0
I)
Zl
40 1 I I I I 1
40
a2 33 .. 4
Reyno l ds number-
Reynold:s number
55 66 7
(a)
(8)
d:ISOZZ, DOWIO
oil:IS022, DOW10
138
13111
Zl
Z2
-
.cr
1111 t---j---t--=~~""'::=iF:"""-t-~~r¥~
.,-
a-0 ! 110
CDm
c::c
a::a
":L
98
9111
.ca
a.
7111.~---=~--~--~~ __~__~____J-__ -J
78
15
15 t0
28 ill
2S 38
3.
Reyno 1 ds
35
3S
number
R.ynalds numb.,.
40 41
45 S8
5111 "I.
(b)
(b)
Phase angle
Fig. 99 Phase
Fig. angle vs.
vs. Reynolds
Reynoldsnumber
number
107
N92-14354_. -,...
EXPERIMENTAL INVESTIGATIONS OF EXCITING FORCES CAUSED
EXPERIMENTAL
BY FLOW IIN LABYRINTH SEALS*
N LABYRINTH SEALS*
G.. Thieleke and H. S
G Stetter
tetter
lInstitut
n s t i t u t fur ThermiThermische Stromungsmaschinen
sche St romungsmasch i nen
und Maschinenlaboratorium
University of S Stuttgart
tuttgart
Pfaffenwaldring 6
D-7000 S Stuttgart
t u t t g a r t 80, Federal Republic ooff Germany
flow through the labyrinth seals with the shaft of the rotor can have
The interaction of the flow
so-called cross forces or
an effect on the stability of turbomachines. Thus, the excited forces, so-called
non-conservative forces, arise, which act perpendicular
non-conservative perpendicular tto o the rotor eccentricity. This effect
is caused by an unsymmetrical pressure distribution within the labyrinth cavities.
Experimental investigations are carried out for different types of labyrinth geometries:
two staggered labyrinths with teeth on the stator and grooved rotor as well as a full and a
convergent stepped labyrinth. These labyrinths can be found on the tip shrouding of bladings
in steam or gas turbines. The following
following parameters are varied in the test-facility:
test-facility: geometry
of the labyrinth seals (number of cavities,
cavities, inlet region), shaft rotation, pressure difference on
the seal, entry-swirl
entry-swirl and eccentricity of the rotor.
The results are presented for stiffness coefficients
coefficients of the labyrinth seals, leakage flow
flow and
circumferential flow in each cavity which was measured with special probes. Generally, the
inlet swirl has the greatest influence on the coefficients
coefficients of the seals. The experimental results
are compared with theoretical results and are in good agreement.
·Work
*Work under this
this study of seals has been sp~nsored
o f labyrinth seals sponsored partially by the
the
Forschungsvereinigung Verbrennungskraftmaschinen e.V. <Research
(Research Association
for Internal Engines) , Frankfurt/Main,
Internal Combustion Engines), Frankfurt/Mai n, Federal Republic
Republ i c of Germany.
Germany.
109
PRECEDING PAGE
PRECEDING BLANK NOT
PAGE BLANK FILMED
NOT filMED
1I Nomenclature
Nomenclature
A Area
B Height of labyrinth seal strip
cC Stiffness-term
Stiffness-term
cC flow
Circumferential velocity of flow
Cuo
cuo Inlet swirl
d Damping-term
Damping-term
D Diameter
Eo E,* Flow characteristic
e Dimensioned eccentricity
F
F Force
FB
FB Reference force
f Cross-sectional area of control volume
FFoo Cross-sectional area for centered shaft-position
gi
9; Value of parameter of J(Q
HH Local radial clearance
hd Hydraulic diameter
]j Complex unity
k = GR/CB +
C R / ( B+ GR)
CR) Factor of area change
J(Q
KQ Cross force
force spring-coefficient
KR
J(R Restoring force
force spring-coefficient
m Inertia-term
Inertia-term
m,,I?
m,N Number of cavities
mRjS,nRjS
m R ; S ,n R ; S Coefficients for friction factor
mm Leakage flow
flow
mi
mi Leakage flow per circumferential length
Mo
n;ro flow for centered shaft-position
Leakage flow
p
P Pressure
Po Pressure before seal
PI
P1 Position of probe
QQ Cross force
R Restoring force
R Gas constant
Re Reynolds number
r,RR
r , RR Shaft radius
b.r,GR
A T , CR Nominal clearance
T Temperature
tt Time
t,L
t ,L Pitch of seal strips
uw Rotor peripheral velocity
u = c/RRu Dimensionless circumferential velocity of flow
flow
U Length on which shear stress acts
z
2 Number of seal strips
P*
(3* Flow coefficient
coefficient
EE = e/CR
= elGR Eccentricity ratio, perturbation parameter
P
J.L coefficient
Flow coefficient
V
1/ Kinematic viscosity
110
p Density of fluid
fluid
n Pressure ratio (Pa/PO)
1[" (p,/po)
cp Peripheral angle
<p
TT Dimensionless time
a Shear stress
(j
ww Shaft angular velocity

nQ Shaft
Shaft precessional velocity
subscripts
subscripts
0 zeroth-order component
11first-order
first-order component
c cosine
i i-th chamber value
Q cross
R R rotor,
rotor, restoring
restoring
rr radial-direction
S stator
stator
ss SIlle
sine
uu circumferential
circumferential direction
direction
w shaft
y-direction
y y-direction
zz z-direction
- mean-value
mean-value
* dimensionless
dimensionless value
Not presented notations are
are declared in
in text.
text.
22 Introduction
Introduction
In order to turbomachine rotors, it is
to carry out a thorough stability analysis of turbomachine is essential
essential to to know all
all the
forces causing oscillations. 'These
forces 'These forces,
forces, acting
acting on the rotating subassembly
subassembly units of the rotor s,haft, shaft, can
can
effect
effect the stability
stability behaviour in such
such a way that the operation is seriously
operation is seriously disturbed or even impossible.
The major causes
The causes for
for rotor instability
instability are
are mostly exciting
exciting forces
forces resulting from
from fluid-mechanisms,
fluid-mechanisms, which which
are found
are found inin journal bearings
bearings andand in
in labyrinth seals.
seals. The
The interaction
interaction between the the flowing
flowing medium
medium and
and the
the
shaft cause
rotor shaft cause aa transmission of energy
energy to
to the
the flexural
flexural oscillation
oscillation system.
system. That
That leads
leads to
t o rotor-instability,
rotor-instability,
damping is
if damping is not sufficient.
sufficient.
In order
In order to
to be
be able
able toto judge the
the stability
stability qualities
qualities in
in advance,
advance, the
the engineer
engineer has
has toto carry
carry out
out oscillation
oscillation
analyses. For that he
analyses. he needs
needs information about the the dynamic
dynamic characteristics of the the seals
seals which
which are
are charac-
charac-
stiffness, damping
terized by stiffness, damping and and inertia
inertia terms.
terms. When
When these
these properties areare known the the fluid-mechanisms
fluid-mechanisms
can be
can be described
described inin aa linear equation
equation ofof motion,i.e.,equation (1). (1).
(a) (::: 2 )(:)

( Fy
Fz
) = (c
= czy
yy
C
yz
c ) ( y )
zz z
+
+ (2: 2:) (:)~ + (::; 2:)(:)
(d
yy
d zy
yz
d ) (
d zz Z
)
+
(myy
m zy
m
yz
m zz
) ( ¥. )
z
(1)
These quantities
These quantities must
must be
be known
known in in order
order to
to design
design the
the dynamics
dynamics ofof turbomachines
turbomachines properly.
properly.
Experimental results
Experimental results of
of labyrinth
labyrinth seal
seal forces
forces have
have been
been presented
presented by
by Benckert
Benckert and
and Wachter [I], [2].
Wachter [1], [2].
They investigated
They investigated several
several multistage
multistage types
types of
of different
different labyrinth
labyrinth seals
seals and
and found
found out
out that
that for
for long
long seals
seals
the
the shaft
shaft rotation has
has aa great
great influence.
influence.
Childs and
Childs and Scharrer [3] surveyed
Scharrer [3] surveyed experimentally
experimentally thethe dynamic
dynamic characteristics of long
long straight
straight through
111
labyrinths. On this test facility, the stiffness behaviour as well as the damping characteristics could be
determined, since the rotor carries out an oscillation motion in addition to t o its rotational motion.
Leong and Brown [4] [4] surveyed long straight through labyrinths with different cavity geometries. The
seal strips were attached to the stator. Their results show, that with increasing peripheral velocity of the
cross-coupled stiffness coefficients
rotor, the cross-coupled coefficients decrease and can become even negative.
Rajakumar and Sisto [5][5] and Serkov [6]
[6] investigated the flow forces for short straight through labyrinths.
They found out, that the inlet swirl compared to the shaft rotation has a great influence on the cross forces.
In reviewing previous experimental investigations, there is a clear need for testing of short prevalent
labyrinth seals, which can be found on the tip shrouding of bladings in steam or gas turbines.
3 Test-Facility
Test-Facility
test-facility at
The investigations are carried out on a labyrinth test-facility a t the 'Institut
'Institut flir
fiir Thermische Stromungs-
test-facility was originally set up in
maschinen und Maschinenlaboratorium' of Stuttgart University. The test-facility
[I], [2]
[1], [2] and has now been modified to fit the changed requirements. Using this setup the inlet flow flow is the
same as in the shroud ring seals of a real turbine stage (e.g., overlapping of guide- guide- and rotor-bladings,
rotor-bladings,
variation).
radial streamline variation).
16) shows one of the shroud ring seals with grooved rotor and teeth on the stator
The cutaway (figure 16)
to be examined. The flow force in the labyrinth seals is always determined by integration of the measured
the perimeter.\
pressure in axial direction andlalong .the perimeteq Inlthelaxialldirectionleach\cavity\isl1ookedlat
In~the~axial~direction~each\cavitis\looked~at individually
and then all cavities are summed up. The reduction of these results to components gives the cross and
the restoring force Q
Q and R. The influence of the following
following parameters have been surveyed:
surveyed:
•a Inlet state before the jrst

first seal tip 7r, c , ~ . It depends on the pressure ratio being at
n,cuo. a t the seal a.nd
and the
flow.
inlet swirl of the flow. A nozzle ring in conjunction with a vacuum assembly can produce different
swirl components Cuo.c , ~ . The measuring of the resulting circumferential component of the labyrinth
flow is made with three-hole-cylinder
flow three-hole-cylinder probes specially developed for this purpose (see figure figure 1).
1).
Since the probes are also used in the area of the labyrinth strips and near the rotor surface, surface, the wall
factors, defined in figure 1,
effect on the calibration factors, 1, must be tested and taken into consideration.
The test medium is air which expands to the ambient conditions.
•a Eccentricity of
o j the rotor E.
E. The eccentricity is varied from negative over the centered position to
positive values.
of rotor Uu,.W ' The rotational rotor speed is increased from Uu,w = Om/
•a Peripheral velocity of Omlss upto over
u,w = 100m/
U 100mls.
s. The influence of the direction of rotor rotation is likewise being tested.
•a Geometry ofof the seal. Measurements are made with 15 15 different labyrinth configurations. They can
be subdivided into three different types of labyrinths;
labyrinths; grooved, interlocking and stepped labyrinths
18). Besides the number of cavities, the inflow contour of the labyrinth was also varied.
(figures 18).
Figure 2 shows a summary of variations of the test parameters.
112
Pm=P2+P3
2
FFMP=~
M PI-Prn
P = r == ff(Ma)
(Ma)
7
CPTOT=~f=~~
CPTOT==P t - P I ==f(FMP)=-Pt}Ma
f (FMP)-P t ..
(PO YN-
CPDY N _Pt-Ps m = f ( FMP)-Ps
P =t -Ps
P1 - Pm =f(FMP)=-Ps
~
CC
RCF='H=t~ =f(FMP) =-Ts
(.x~
sina Cu
sino. == c
~U -Cu
-
a .. .Tuning
a... Tuniqofangle
of "ngte AP=P2-P3=O
A P=P2-P3=0 --a =-(u
_ (ax
cosa - -C- Cax
=-Cax
Cu
Cu
Figure 1:
1: Three-hole-cylinder
Three-hole-cylinder probe
Variation of Test Parameters

pressure ratio
ratio p,/po
Pa/PO 0,5
0,5 0,3
0,3 0,25
0,25
inlet
inlet state
state
[-I
[-] I I
inlet
inlet swirl
swirl CuO
CUO 00 80
80 120
120
[m/s]
[m/sl steps
3 steps
dimensionless
dimensionless EE +0,7 00 -0,7
-0,7
rotor eccentricity
E = i.r
AT
[-] 55 steps
steps
eccentricity [-I
peripheral velocity of
of rotor U
21,w +loo
+100 00 -100
-100
, [m/s]
[m/sI ,. 55 steps
steps
typ
ty P A1-3
Al-3 G1
G1 Kl-7 M1-4
K1-7 Ml-4
labyrinth
labyrinth 77 33 44 88
geometry
geometry number
number of
of cavites
cavites
55 (*I
33 (*) 77
44 22 (**)
(**) 55
11 33
(*)
(*) 22 variations
variations of
of strips
strips
(**) 33 variations
(**) variations of
of cavities
cavities
Figure
Figure 2:
2: Variation
Variation of
of test
test parameters
parameters
113
44 Analysis of
Analysis of test
test data
data
The
The results
results are
are presented
presented as
as follows:
follows:
Variation of
• Variation of the
the flow
flowforces
forcesin
in the
the individual
individual cavity
cavityasas dimensionless
dimensionless cross
crossand
and restoring
restoring force
forcein
ineach
each
cavity. The
cavity. The restoring force Ri
restoring force Rf acts
acts against
against the
the rotor
rotor eccentricity
eccentricity EE (centering
(centering effect)
effect) and
and the
the cross
cross
force Qi
force Q f acts
acts perpendicular
perpendicular to t o E.E.
Variation of
•a Variation of the
the forces
forces in
in the
the entire
entire labyrinth
labyrinth asas dimensionless
dimensionless cross
cross force
force spring coefficient KQ
spring coefficient
dependent on
dependent on the
the test
test parameters
parameters and and the
the flow characteristic Ez. The
flow characteristic Eo.
quantity Ez isis the
The quantity Eo
the ratio
ratio of
of
the inlet
the inlet swirl
swirl energy
energy and
and axial
axial pressure
pressure drop.
drop.
Leakage characteristic
•0 Leakage characteristic
The
The definitions
definitions for
for the
the calculation
calculation of
of the
the forces
forces and
and the
the stiffness
coefficientsare
are summarized
summarized in
in figure 17.
figure 17.
5 Experimental Results
Experimental Results
Forthe\differentilabyrinthltypledof M-
Fortheldifferent\labyrinth\typles\of M- and
and A-configuration,
A-configuration, the thefigures
figures 19,20
19,20showshowthe
thepressure
pressure distribution
distribution
and the
and the resulting
resulting rotor
rotor loads,
loads, i.e.i.e. cross
cross and
and restoring force Qi
restoring force and Ri-
Q! and R f . The
The pressure distribution pi.(<p)
pressure distribution pf(cp)
isis related
related to
t o the
the static
distributions depending
distributions
static pressure
depending on
pressure difference.
on the
difference. For
the individual
For three
individual labyrinth
labyrinth cavities
eccentricities (E
three eccentricities
cavities and
and its
(E = ° and EE ±f 0,66),
= 0 and
its circumferential
circumferential angle
0,66), the
the pressure
pressure
are depicted.
angle cpcp are depicted.
Theflow
The flow conditions
conditions 7r, are noted~
w are
c , ~ U,u,
a,Cuo, noted:inin the
the figures.
figures.
For centered
For position (E
centered position (E == 0),O), the
the pressure
pressure distributions
distributions along
along the
the perimeter
perimeter of of thethe rotor
rotor are
are almost
almost
constant in
constant in the
the individual
individual cavities.
cavities. Thus,
Thus, the
the resulting forces Qi
resulting forces and Ri
QT and Rz areare nearly
nearly zero.
zero. But
But looking
looking at at
thepressureldropin
the pressureldrop inthe the axialdirection\
axial direction1shows,\
shows,(thatlthel
t hat it heipressure
pressuredrop
drop depends
depends on on the
the geometry
geometry of of the
the cavity
cavity
(transitionsof
(transitions of the
the staggered
staggered grooves). Figure 33 shows
grooves). Figure shows thethe resulting
resulting flow
flowcoefficient
coefficient J.Li
p; asas aa function
function ofof the
the
cavity number
cavity number ii forfor the M1toto M4-configuration.
the M1 M4-configuration.
M2-4, u",cuo=Om/s,
M2-4, u,c,=Om/s, n=0.47
11=0.47
M1, u"'cuo= 0 m/s, 11=0.47
•m M4
M4
+ fLi x fL vv M2
M2 AA M3
M3
0.8 0.8
0.8
::t t
::t
"5 0 . 7 -0.7
.....
50u
0.7
'0 m .w
'0
Ii O. 6 -:f---\-+--+-f---'r--+-~ Ai
PoVo
p~ - P~+l
0
~0.6
0.6
8 88
~0.5
fi:
5~
1i:
0.5
00.5
0.4
012345678
cavity
Cavity I 0 1
0 1223
34455667788
Cavity
Cavity
Figure 3:3: Flow

Figure Flow coefficient
coefficient J.Li of MI-M4-configurations
p; of MI-M4-configurations
114
For positive and negative eccentricity (E± ( € 50, 66), the variations of
0,66), pressurelinithe circumferential
of pressurelinlthe
direction are almost identical. This correspo~'1dence for
'This correspio~dence f€,\which must come'aboutlfor
for ±E,\which cometabout\fora'a perfect labyrinth
geometry and a~a a exactly adjusted rotor, is even more evident for Qi RT.
QT and Ri.
The results show, that it is not the first cavity which provides the highest contribution of cross force.
In the front part of the labyrinth, the cross force force rises to its maximum and drops then continuously.
For the M2-configuration
M2-configuration the maximum is located in the 2. cavity (see figures figures 19,
19, 21). This pattern is
independent of inlet swirl, eccentricity and pressure rate. It was detected for all all M-configurations.
M-configurations. But
force in the front part depends on the inflow contour of the labyrinth. Relatively
the increase of the cross force
high gradients dQi
d Q l / ddii were measured for the inflow contour with rotor groove and opposite long seal tip
(M2 to M4-configuration).
M4-configuration). In figure figure 4 this is depicted for the M3
M3 and M4--configuration.
M4--configuration.
x &=+0.66 cc..=105m/s
••=l05m/s x c=+0.66
&=+0.66 cc..=llOmb
••=110m;S
vv &=
&= 0 u,= 0 m/s
u.,= m/s vv &=
&= 0 uw= 0 m/s
u.,= m/s
+ &=-0.66
&=-0.66 n=0.48
11"=0.48 +
+ &=-0.66
&=-0.66 n=0.57
11"=0.57
..-
'.-
a
0.13-
0.13
0 0.11-
0.11
It M3, •
6
0.2
0 . 16
0.16
X M4,
0.09- :.: 8 +
8
\0< 0.07-
lIE
:.:
0 . 14 -:
\0< 0.12-:
X X
..s 0.05
0.05
<Il 0.03
* lIE
m=5
o 0.1
,o oOd
"'" 0_06
~ 8:8t::
+
~
+
g
<Il
0 0.01 g 0.02
00.02-: v v V m=3
U--{)·Ol U
U 00
v
g~s 1 ~ j ! $ g~s 1 £ j
Cavity Cavity
_L
Figure 4: Cross force Qi

Qf of M3-
M3- and M4-configuration
M4-configuration
dQf l/ ddii is smaller for a inflow contour with rotor stage and opposite
force dQt
The increase of the cross force
short seal tip (M1-configuration,
(Ml-configuration, see figure 5). 5).
x &=+0.66 cc.,=65m/s
••=65m/s
vv &=
&= 0 u,=w= 0 m/s
m/s
+
+ &=-0.66
&=-0.66 11"=0.47
n=0.47
..a- o.os-
lIE
M1,
MI,
:k X+
8 0.03-
..sr;:
0
\0<
0.01-
0.01 * * ;: +
x
:.: ;:
<Il
0
<Il
v V
v " V
m=8
U --{).01
g),sl £! ! $ ~ 1A
Cavity
force Qi
5: Cross force
Figure 5: Qf of Ml-configuration
M1-configuration
115
Apparently, the changed inflow geometry brings about a different inflow condition at a t the labyrinth.
force in the.
An extension of the space in front of the first seal tip results in a larger increase of the cross force the
front part of the labyrinth.
Like the experiments, analytical investigations show different cross force characteristics for each cavity
conditions. The boundary conditions are: the pressure distribution and the
when varying the boundary conditions.
flow along the perimeter in front of the first seal tip,
circumferential velocity distribution of the labyrinth flow
and the flow coefficient J.Lo.
PO. Furthermore, the boundary conditions at the exit of the labyrinth may also
haveIan influence.
havelan
force characteristics could be proved for the A-full-
The influence of the inflow geometry on the cross force A-full-
fig. 6).
labyrinth as well (see fig.
A 2 , m=5
A2, AS,
A3, m=4
x ~=+0.66
e=+0.66 cuo=102m/s
cuo=102m/s x s=+0.66
e=+0.66 c.,=Wm/~
Cuo='()()m/s
vv e= 0
E= 0 uuw= m/s
w= 0 m/s vv e=
&= 0 uuw=
w= 0 m/s
m/s
+ e=-0.66
E=-0.66 11'=0.47
n=0.47 +
+ E=-0.66
e=-0.66 7~0.48
11'=0.48
0.14-
0.14
o- x * .- xX X
a 0.1-
+ ~
x 6-
0
0.1-
0.1:
X 8
¥
11.) X X
+ 8 + ++ +
C,,)
0
0.06- + + + Y~ +
.s'"'
k 0.06
.s4'2"' '::),06-
'3.064
;0.02-
<n
0.02
<n V V 3
<n 0.02-
0.02: vv
U
0
0 -0.02
-0.02
V
* V V
U
<n
00
6 -0.02
-0.02
V
V
I
-
V
I
V
v v
v
I
~s I ~ ! ~ $ g~s
ges I1 1~ !I ~
4
Cavity Cavity·
Cavity
Figure 6: force Qi
6: Cross force Qf of A2-
A2- and A3-configuration
A3-configuration
M2-configuration, fig.
For the M2-configuration, fig. 21
21 shows the influence of the inlet swirl Cuo
c,o and the eccentricity £:E on
force- and restoring force
the cross forceforce characteristics.
In contrast to Qf , the restoring force
t o Qi, force is alternating along the cavities. Hence the resultant restoring
forcez,
force Ri, recorded ata t the cavity number ii = ges, is almost zero (see fig.7).
fig.7).
m=7,
Al, m=7
A1, . , Cc,,=
uo = 0 m/s
0 m/s
x uu,=+100 m/s
..=+100 m/s
vv u=
,.. = 0 m/s
m/s ~=+0.6
e=+0.6
.tY&- 0.06-
-
0.06-7
-
+
+ uuw=-100m/s
w=-100m/s n=0.48
11'=0.48
0.04- 5~
G!
u
U
0.02- *"8
L
$.
....00 0.00
0.00
~
•m -
X
;II;
s.:
0
-0.02-
t; -0.04-
-0.04-
~ -0.06 - II I
g e s 1~
ges
~
%
I
~
2 ~
3
I *"$I
~
4 bI
5 *1
I
~
6
I
7
Figure 7: Restoring force

force Ri of AI-configuration
Rf Al-configuration
116
This
This characteristic is is even more evident for for the A-full-labyrinth.
A-full-labyrinth. Pressure maxima and -minima -minima
respectively dependent on the cavity number occur in the area of the narrowest gap (<p (cp == 180°).
180'). Similar to
the Lomakin-effect
Lomakin-effect [7], [7], the losses
losses due to
t o friction and infl.ow
inflow respectively at each seal
seal strip varying along the
circumferential
circumferential direction
direction areare responsible
responsible forfor that. That means, besides the dep~ndence
dependence on the arrangement
of the seal strips,
strips, the fl.ow
flow coefficient
coefficient f1p is
is also
also a function of the peripheral angle angle <p.
cp.
The
The alternating run of the the restoring force Ri
restoring force R5 isis independent
independent from
from the
the peripheral velocity of thethe rotor.
rotor.
This is
This is shown in figure
figure 77 for
for the
the AI-configuration
Al-configuration with 77 cavities
cavities and
and CuD Om/s.
c,o == Om/so
For the
the Ml-(m=8)
M1-(m=8) and M4-configuration
M4-configuration (m=3) the the figure illustrates Qi
figure 88 illustrates Q t versus
versus cavity number i forfor
different
different Uu,w and superposed
superposed CuD, cue.
x
. u.=+100 m/s
u.= 0 m/s
c •• =65mfi.;
&=+0.66
xx
o
u.=+100
u
.
m/s
u.,=+100 m/s
m/s
= 00 m/s
u.=
cc.,=llOmk
••=llOmls
&=+0.66
&=+0.66
+ u.=-100 m/s 1T=0,46 ++ u.=-100 m/s
u.=-lOO m/s n=0.58
1T=0.58
0.05-
0.05
6' 0.04- + v
+
Ml,
.6 0.2
+
+ ~ M4,
§ 0.03 +
v 8 0 . 16 - +
J3
0.03 +
v X
v
x v +
vv ++
S 0.12
0.12 5< ~
,
0.02-
0.02 +
x x x v ~ 0.08- i<
~ 0.01- X X +
0
0.01 X m=8 ~ 0.04- m=3
U 0
gk 1 ~ ~3 ~4 $
5 /; ~ ~
U 0
r}s
ges I1 ~2 ~3
Cavity
Cavity Cavity
Cavity
Figure 8: Cross
Figure 8: force Qi
Cross force MI- and
Qf of Ml- and M4-configuration
M4-configuration
If
If the
the shaft
shaft rotates
rotates in in the
the opposite
opposite direction
direction of thethe inlet
inlet swirl,
swirl, the
the value of Uu, w becomes
becomes negative.
negative. By
definition the
definition the inlet
inlet swirl
swirl isis positive in
in the
the direction
direction ofof the
the peripheral angle
angle <p.cp. Changing thethe direction
direction of
u,w different
U different situations
situations in in turbines
turbines and
and compressors can can be be simulated.
simulated. Figure
Figure 88 shows
shows that thethe cross
cross force
force
for -95m/ss is
for Uu,w == -95ml is higher compared to Omls.
t o Uu,w == Oml S.
This
This effect
effect can be explained by the the ratio of decelerating to to accelerating friction
friction areas
areas at rotor and
stator. It
stator. It has
has an
an effect
effect onon the
the distribution of the the circumferential
circumferential component of the the labyrinth
labyrinth fl.ow
flow along
along
the
the seal.
seal. The
The variation of Cc,u along along the
the cavities
cavities shows
shows that the the amount of cross cross force
force doesn't depend on
the
the amount
amount of circumferential velocity of the the labyrinth
labyrinth fl.ow,
flow, but onon the
the change
change of the the circumferential
circumferential fl.ow
flow
between the the cavities.
cavities. For negative Uu,w the the swirl
swirl changes
changes are are maximal (see (see fig.
fig. 9)
9) and
and consequently
consequently thethe
cross
cross force
force asas well.
well.
With
With the the help
help of fl.ow-measuring
flow-measuring probes it it was
was ascertained
ascertained that the the circumferential
circumferential component of the the
labyrinth fl.ow
flow is
is nearly not radial-changing
radial-changing within
within the
the cavities.
cavities. Fig.
Fig. 1010 illustrates
illustrates Cc,u versus
versus the
the cavity
cavity
number ii for for centered
centered shaft
shaft position.
position. Only
Only in in the
the vicinity of the
the stator
stator surface
surface thethe cu-components are are not
constant.
constant. This This is
is because of the the effect
effect of thethe boundary layer.
layer. Hence
Hence thethe circumferential
circumferential velocity of the the
labyrinth flowflow in
in the
the cavities
cavities cancan be
be approximated by aa mean circumferential
circumferential velocity.
velocity.
117
M2, rr=0.47.
1.12.
.x
+
n=0.47, 1:=0
wt+100
.....
w-?X
.....
c=O
lW mil
m/8
-100 mil
m/8
.-
......
ly. 00 m/e
Pl - 0.7
PI 0.7
mi•
1.14. rr=0.S7. 1:=0
•• u.-+1OO
u.--1OO
mi.
mi.
...... 0 mil
PI - 0.7
110
110 ++ vV X + vX
4.l
100
90
xX
"8
- v
v X ~
= 110
X
- m-
70
-
+
+ v X
'J::
~
::>
+
v
X
X X
-7 <tI 7 v
C
....... +
+ vv
4.l
...... 110
.,
I.
X v
,£50
E SO- ,£ +
a3 - .,v a
JO-
JO +
+ Ii: 40
+
+
10-
10 20
-10
-10
O lI l~ C!J . l!
Cavity
aVlty
bA ,A +
I~
Stator
Slalar Rotor
Ralor
0
I C .. ~
aVlty·
!
9: Circumferential velocity Cc,u with superposed rotor speed

Figure 9:
1;:: ; ; ; ;
~
0'
S
U
:l
140-
140
120-
100-
80-
40
60
60-
40-
20-
20
00
.
x
A
M L , m=3, e=O,
Mi.,
1r=O.57
d 5 7
P3=0;1
P3
PI
*
v
- 0.3
Pl -= 0.7
j
0.7
E=O, Uw=O
iii
Cavity
V
~
m/s
u.=O m/s
.. -
P4-0
P4 - 0
+ P2 - 0.5
05
*
V
!
b.
~
~
L
S
8d
140-
140
120-
100-
80-
60-
60
40-
40
20-
20
0
Mi.,
. - ... -
x P3
II!
v
j
m=3. e=O,
M L , m=3,
....0.57
n-057
P3-0.3
- 0.3
a7
PI - 0.7
C
E-0, u.=O
~.
Cavity
aVlty
u p 0 m/s
~
vv
rn/s
P4-0
P4
+ P2
- 0
PZ - 0.5
~
05
vv
!
b.
10: Circumferential velocity Ccu

Figure 10: M4-configuration
u of M4-configuration
Even for eccentric rotor position the cu-components

cu-components are almost constant in radial direction. Further-
fig. 25 shows for the M4-configuration
more, fig. the!variationiOfiCu\in,the\peripheral\direction\ ineach cavity. An
M4-configurationthe~variationI~f!culinhe~peripheraldirection
approximation of Ccu
u in terms
CuU,i, ~
C = Cum
Cum,i + E (C(~u,c,i
,i + c i cos
u" COS
r +"CC,,,,;u s i sin cp)
cp + If) If))
T
(2)
(2)
confirms the assumptions of equations (9) and (11),

confirms ( l l ) , see figure 25.
25.
force @
The relationship between the total cross force Q* and the eccentricity EE is linear for all
all configurations
as the plots in figure 11
11 show.
The characteristic field of the spring coefficient KQ as a function of 1r, n,CuDcUo and Uu,w is shown in figure
fields enable a separate investigation of the varied test parameters and its
22 and 23. These characteristic fields
coefficient. It shows that the inlet swirl has the greatest influence on K Q.
effects on the spring coefficient. q.
118
MI, m=B,
Ml, ~=0.47,cc,=65m/s
m=8, 1\=0.47, uo=65m/s
m/s
u,=-100 m/s
++ u,.=-100
v u,,= 0 m/s x u.= lOOmis
0.04-
O.OJ,-
0.02 ~
10
0.01
0
-
~~ ~ ~
-{l.01 - y i--"""
-0.02
.~
~
-0.03 - ~
-0.04-
-0.9 -0.7 -0.5 -0.3 -0.1 0.1 0.3 0.5 0.7 0.9
Eccentricity EE
Eccentricity
Figure 11: Cross

Figure 11: Cross force
force Q* versus
versus eccentricity of Ml-configuration
eccentricity €e of MI-configuration
Introducing the
Introducing the flow-characteristic
flow-characteristic Eo, E;, the
the results
results can
can be
be transferred
transferred to
to seals
seals in
in real
real machines.
machines. Fig.
Fig.
1'2 shows for the M-configurations the obtained spring coefficients and the approximated
1'2 shows for the M-configurations the obtained spring coefficients and the approximated curves. The curves. The
approximatingfunction
approximating functionisisgiven
givenbybythe
thenonlinear
nonlinearequation
equation Kq ==gl gl+g2E;g3. Thecoefficient
+g2E~g3. The coefficientgl g, corresponds
corresponds
tospring
to springcoefficient
coefficient Kq for
for axial ( E ;=
inflow (Eo
axial inflow =0).
0).
M4, m=J M-Config.. u..... 0 m/s

+ u.,..Om/_
0.2
0.22
0.18
0.20
0.16
0.18
0.14
0.16
0.12
0.14
0.1
0.12
I~ 0.08
0.06
1';2 0.10
0.08
0.04
0.06
0.02 0.04
0-
0.02
-0.02 0.00
-0.04 -0.02
0.04 0.08 0.12 0.16 0.2 0.04 0.08 0.12 0.16 0.2
Eo· Eo·
Figure 12: KQ versus

Figure 12: a
E: of
versus Eo of M-configuration
M-configuration
119
The comparison
The comparison of th~ four
of the four M-configurations
M-configurations shows that
that the
the parameters
parameters 91,2,3 depend on
g1,2,3 depend on the
the number
number
of cavities (see table
of table 1).
In table 1
In addition, table 1 shows the f3* for Ez =
the flow coefficient P* Eo
= 0. The relationship
relationship between
between the
the leakage
leakage
flow m and
flow m and thethe flow coefficient f3*
coefficient p* is:
is:
m. = f3*~rA
-mt res
P6 - p~
Po/Po
Confi- Uw
u, g1
91 g2
~2 9g3
3 P*
f3*
gurat. [m/s]
[m/s]
Ml
M1 0 -0,0031
-0,0031 0,3551 0,7336 1,9
M1 °
47 -0,0092 0,3809 0,7687 1,86
M1 94 -0,0115 0,4174 0,8252 1,79
M2 0 -0,0023
-0,0023 0,3533 0,6591 1,84
M2 °
47 -0,0081
-0,0081 0,3210 0,6489 1,82
0,60 1,76
M2 94 -0,018 0,298
M3 0 -0,0016 0,4726 0,6485 1,78
1,78
M3 °
47 -0,0139 0,4843 0,6710 1,76
M3 94 -0,0327 0,5091 1,72
0,6636 1,72
M4 0 0,0008 0,7586 0,8059 1,68
1,68
M4 °
47 -0,0109 0,5063 0,6472 1,67
M4 94 -0,0326
-0,0326 0,4826 1,64
0,6004 1,64
Al
A1 0 0,0030
0,0030 0,7316 1,56
0,8132 1,56
Al
A1 °
47 0,0004 0,6954 1,55
0,7743 1,55
Al
A1 94 0,0062 0,7616 1,53
0,8274 1,53
A2 0 0,0020 0,7747
0,7747 0,8978 1,55
0,8978 1,55
A2 °
47 0,0010 0,7132
0,7132 1,54
0,8362 1,54
A2 94 -0,0007 0,6859
0,6859 0,8046 1,52
0,8046 1,52
A3
A3 0 0,0044
0,0044 1,0057
1,0057 0,8812 1,45
0,8812 1,45
A3
A3 °
47 -0,0013
-0,0013 0,7879
0,7879 1,44
0,7544 1,44
1,42
A3
A3 94
94 -0,0058
-0,0058 0,7110
0,7110 0,6955 1,42
0,6955
1: Values of the parameters

Table 1: g1,2,3
g1,2,3 8' of M-
I<Q and {3* M- and A-labyrinth
A-labyrinth
Furthermore, the
the characteristic fields
fields of the
the restoring force
force spring
spring coefficient
coefficient Kh as aa function
as function of the
the
test parameters are
are depicted in the
the fig.
fig. 24.
24.
120
66 Analysis
In order to compare the experimental with the theoretical results an analysis was developed. It bases on
[8] and Child's [9]
Iwatsubds [8] [9] basic equations for compressible flow
flow in a labyrinth seal. The continuity and
momentum equation will be derived for a single cavity control volume as shownin 13.
shown in figure 13.
Stator
Stator
strip
Gap -L-
mi - mi+l -------~
V
~~~~~~~,,~
\\\\\\\\\\\\\\\\\\\\\ 1
Rotor I
13: Cavity control volume
Figure 13:
The governing equations are

•e Continuity equation:
(3)
•e Momentum equation:
(4)
• Leakage equation:
2 2
Pi - Pi+!
(5)
RT
with leakage mass flow per circumferential length
• Friction equation:
O't,Si .
(6)
with hd as hydraulic diameter.
121
•a Ideal gas law:
Pi =RT (7)
Pi
•o Normalization of the variables:
- Pi
Pi = - Ji- =Ii- T = wt (8)
Po Fo
[lo]:
The solution procedure is similar to the perturbation analysis used by Childs [10]:
•a Linearized zeroth and first-order perturbation equations describe the pressure and velocity distribu-
'1') shaft position. The,
tions for the centered (index '0') and eccentered (index '1') following I p
The ,following1 ertur
pertul1-
bation variables are defined:
bation;variables
+ fUI,i
UO,i Pi = PO,i + fPI,i
CR + fHI,i f.Li = f.Lo,i + ff.L1,i (9)
where fE = e/C
e / C r, is the eccentricity ratio.
zeroth-order solution for the circumferential velocity (zeroth-order
•a The zeroth-order (zeroth-order momentum equation) is
RTMo
o =
w R0(UOi-1-
'
UOi)
,
-"21 RRPO,iuo,insi
2 (IUOiRRWlhdi)mSi.
' v
( )
Sign WUO,i U Si
+"21 RRPO ,i(l-uo,i) 2 nRi (I (1- UOi)RRWlhdi)mRi

'v
.
sIgn(w(1-uO,i))URi (10)
The partial differential equations (first-order

(first-order solution) will be reduced to linear complex equations by
following assumptions for the perturbation variables:
introducing the following
cp:
•a Elimination of circumferential angle r.p:
P1,i P1,i,e cos r.p + P1,i,s sin r.p U1,i = U1,i,e cos r.p + U1,i,s sin r.p
HI
H1-
= --'i
i - . .
, -
CR
= -Yi
-Yi cos cp -- Zi
COS r.p sin r.p
zi sm cp pi,; =
f.L1,i cp +
pl,i,, cos r.p
= f.L1,i,e pl,;,,sm
f f.L1,i,s sin r.p
cp (11)
CR
•o Complex variables:
P..1 ,i P1,i,e + jpl,i,s 1£l,i = Ul,i,e + J U1,i,s

h .
-1" ~l,i = f.L1,i,e + j /L1,i,s (12)
harmo~iicseal motion (circular orbit with frequency n

•a Elimination of time t with harmonic R around the cente-
red position, see fig.
fig. 14)
14) ::
hh . =
-I,*
-1"
,
h,ie
-1"
-
- h ·ejnt
jOt
(13)
(13)
and corresponding response for the other perturbations variables:
.n
a1,i = -16 ,z fi
= -1,z .e3;7
.n . n ~
, p . = f~ .eJG7 p . = $ .el; (14)
-1 ,z -1 ,z -l,z -1,s (14)
t o the complex continuity and momentum equation:
yields to
122
Complex continuity
•a Complex continuity equation:
equation:
(j~ - jUo,i + ~~o~~ (P~'i ~o~6'Hl + P6'i-~o~ P6'i) ) P.1,i

RT kIo PO,H1 _ RT kIo PO,i-l _
wRoRo pZo,~ pZO,t+l E1,i+1
0 0 wRoF.o pZ.
O,t-1
_ pZ oE
O,t
1,i-l jPo,i:M.1,i
(
JkpO,i UO,i -
0 ( n) + wPoF
W
RTMo)-
o
al,i
-
RT Mo hh1+1+ RT kIo (l!:.1'i
----
l!:.l'i+1) (15)
wPoFo - ,t wPoFo /ho,i /hO,Hl
Complex momentum
• Complex momentum equation:
equation:
RTMO
RT PO,^-1(Uo
kIo PO,i-1 i-I --Uo
(~0,i-1 210,;)
i) _
---
wPoF pZ . " pZ2 PEl$-,
-l,t-l
-
0
wPoF0
o pi,;-1
O,t-I Po,;
O,t
0
+ (RT kIo PO,i (UO,i-1 UO,i) . RT

POZ,i
J R2 W 2
wPoFo P6 ,i-I R
_!2 RR
F (URonRoReRmfl.i (Uo
t t t ,t
0
1)2 sign(w(1- UO,i)) - USinSiResl'u5,isign(wuo,d) ) P.1,i
o
RTMo~
- wPoFo1!.1,i-l
+ (jPO,i ~ - jPO,iUo,i + ~~o~6 - ~:PO'i(URinRiRe'Rri (UO,i - 1) sign(w(l- UO,i))
USinSiRestuo,isign(wuo,i)) )
RT kIo ) • RT Mo f!:.l,i
R F. (UO,i-l
( woo UO,i) al,i + woo
R F. (Uo,i-l - UO,i) -
/ho,i
(16)
With equations
•e With equations (15),
(15), (16)
(16) aa system
system equation
equation for
for all
all cavities
cavities isis formed
formed and
and solved
solved by
by linear
linear equation
equation
algorithms. As a result the values of the complex amplitud,e E1,i and .Y.l,i CEl,i = PUc + jPl,is) are
algorithms. As a result the values of the complex amplitude p
-1,~. and iili ( & , = jl,ic are +
found.
found.
The flow
• The flow force
force for
for the
the seal
seal (see
(see equation
equation (1))
(1)) is
is found
found byby integrating
integrating the
the first-order
first-order pressure
pressure pertur-
pertur-
bation along
bation along and
and around
around the
the shaft
shaft of
of the
the rotor.
rotor. ForFor the
the i-th
i-th cavity
cavity itit isis
LL
Fy,i(t) == -P
Fy,i(t) -PORRET
ORR£7r 0 (pl,iccosnt JJ
(Ijl,ic cos Rt -- PI,issinnt)dx
IjlliSsin Rt) dz
Fz,i(t) == -PORR£7r
Fz,i(t) -poR~€L n L(Pl,i,c sin nt
(@I,;,,sin °
fit + PI,i,s cosnt)
fq,;,,cos Rt) + (17)
Introducing aa rotating
• Introducing rotating coordinate-system
coordinate-system (see
(see figure
figure 14)
14) the
the rotatin.g
rotatisg forces
forces are
are
N
F<p -PORRf.7rL I:Pl,i,s (18)
i=l
123
z
r
f--+'#.-- Y
14: Harmonic
Figure 14: I-Iarmonic seal motion and transformation of the
t h e coordinate system
• With the assumed orbit about the centered position the structure of the matrices of equation (1)
becomes
Cyy =
Cyy = CCzz, yz =
zz , CCyz = -C , ;.
- C y zyz dyy = d,,, dyz = -dyz; ... (19)
(19)
coefficients can be found by a least square fitting for different frequencies of D:
•e The searched coefficients 52:
FT = Ee
rCT (e,,
r (cyy + dyzD
+ dyZn-- myyD2)
myyfi2)
F' -6CT (C
= -fer dyYR-- mYZD2)
(e,,YZ -- dyyD mY,fl2) (20)
(20)
7 Comparison of the Results

Comparisons of theoretical and experimental resu.lts cross-coupled stiffness coefficient c,yz
results of the exciting cross-coupled
coefficients ]('Q are made for the staggered labyrinth, configuration M4. The correlation
respectively spring coefficients
is as follows:
follows: -
(21)
The results are presented for ]('Q as a function of the flow Eo.
flow characteristic Ez. The friction parameters (see
equation (6)) for the evaluations are set to
nRi = 0,079 = -0,25
mR; ::=:
mRi -0,25 ns; = 0,15
nSi 0,15 msi = -0,25.
mSi -0,25.
The other input data like flowflow coefficient p;
J-Li and boundary conditions are derived from experimental
results, see figure 3.
coefficients ]('Q (see figure 15).
The results are in good agreement with the spring coefficients 15).
Furthermore, an identification algorithm is currently under development. Its aim is to determine the
friction factors nR;Si
nR,Si and mR;si
rnR;Si for each cavity based on the zeroth-order
zeroth-order solution for the circumferential
labyrinth . The first results (see figure 23) confirm the
velocity (see quation (10)) of the staggered labyrinth.
assumptions
assumptions of this bulk-flow-theory,
bulk-flow-theory, equations (9), (11).
(11).
124
m=3, u=,w= 95m/s
M4, m=3, 95m/s
=
c,O,
CuO-O, 40,...,
20, 40, 140m/ss
...,140m/
¢0 Theory,n=0,32
TheorY.1I=0.32 00 Theory,n=0,24
Theory,1I=0,24
++ Experiments
Experiments Theory,n=0,49
x Theory,1I=0,49
0.25
0.25
0.2
0.15
1'1." O;
*
:y:
0 0.1
0.05
0
-0.05
-D.05
o0 0.05 0.1 0.15 0.2 0.25 0.3
Eo*
15: Comparison of theory and experiment

Figure 15:
8 Conclusions
Conclusions
Experimental results have been presented for stiffness
coefficients and leakage flow
flow of different types of
labyrinth geometries, such as grooved, interlocking and convergent stepped labyrinths. The influence of
rotor speed, pressure ratio, inlet swirl and labyrinth geometry on the coefficients
coefficients has been investigated.
following conclusions:
The results of this study support the following conclusions:
force are linear to eccentricity. Thus, the force-motion

•a The cross force and restoring force (1)is
force-motion equation (1)
confirmed experimentally.
q.
cross-coupled stiffness coefficient K Q.
• The inlet swirl has the greatest influence on the cross-coupled
• The relationship between KQ and the flow Eo depends on the test parameters.
flow characteristic E,*
• The cross force in each cavity depends on the change of circumferential velocity from cavity to cavity.
force is
• The restoring force shows an alternating behaviour along the seal. Thus, the total restoring force
nearly zero.
• The results of the presented analysis are in good agreement with the experimental results. The
experiments verify the assumptions of the analysis.
125
References
[I] Benckert,H.:
[1] Benckert ,H.: Stromungsbedingte
Strijmungsbedingte Federkennwerte in Labyrinthdichtungen. Diss. Univ. Stuttgart, 1980
1980
[2]
[2] Benckert,H.,Wachter,J.: Flow Induced Spring Coefficients of Labyrinth Seals for Applications in
Rotordynamic. NASA Conference Publication 2133, Rotordynamic Instability Problems in High-
High-
Performance Turbomachinery 1980
1980
[3] Childs,D. W., Scharrer J.K.: Experimental Rotordynamic Coefficient Results for Teeth-on-Rotor
[3] Childs,D.W., Teeth-on-Rotor and
Teeth-on-S tator Labyrinth Gas Seals.
Teeth-on-Stator Seals. Trans. AS
ASME
ME (Journal of Engineering for Gas Turbines and
Power) Vol. 108
108 (1986)
(1986) S.599-604
S.599-604
[4] ,Brown,R.D.:Experimental Investigations of Lateral Forces Induced by Flow

[4] Leong, Y.M.M.S. ,Brown,R.D.:Experimental
Through Model Labyrinth Glands. NASA Conference Publication 2338, Rotordynamic Instability
High-Performance Turbomachinery 1984
Problems in High-Performance 1984
[5]
[5] Rajakumar,C., Sisto,F.: Experimental Investigations of Rotor Whirl Excitation Forces Induced by
Labyrinth Seal Flow. 11th ASME Biennial Conference on Mechanical Vibration and Noise 1987, 1987,
S .263-272
S.263-272
[6] Serkov,S.A.:
[6] Serk0v)S.A.: Die Bestimmung von aerodynamischen Kraften in Turbinendichtungen zur Erhohung
1986, No.4-5, S.79-83
der Grenzstabilitat. Warme, Vo1.92, 1986, S.79-83
[7] Lomakin,A.A.:
[7] Lomakin,A.A.: Calculation of Critical Speed and Securing of the Dynamic Stability of the Rotor of
Hydraulic High Pressure Machines with References to
t o Forces Arising in Seal Gaps. Energomashino-
1958, H. 4, S.
strojenie 4, 1958, S. 1-5
1-5
[8]
[8] Iwatsubo,T.,Matooka,N.,
Iwatsubo,T.,Matooka,N., Kawai,R.: Flow Induced Force of Labyrinth Seal. NASA Conference Publi-
cation 2250, Rotordynamic Instability Problems in High-Performance
High-Performance Turbomachinery 1982
1982
[9]
[9] Childs,D.W.,Scharrer,J.K.:
Childs,D.W.,Scharrer,J.K.: An Iwatsubo-Based
Iwatsubo-Based Solution for Labyrinth Seals: Comparison to
t o Expe-
rimental Results. Trans. AS ME (Journal of Engineering for Gas Turbines and Power) VoLl08
ASME Vo1.108 (1986)
(1986)
S.325-331
S.325-331
[10] Chang-Ho Kim: Analysis and Testing for Rotordynamic Coefficients of Turbulent An-
[lo] Childs,D.W., Chang-Ho
Surface-Roughness Treatment for Rotor and
nular Seals with Different, Directionally Homogeneous Surface-Roughness
Stator Elements. NASA Conference Publication 2338, Rotordynamic Instability Problems in High-
High-
Performance Turbomachinery 19841984
126
Flow
Flow dir,ection
direction
1 - - - - -------
- 1 . 6L60
0 ¢@ I
+
- vacuum assembly
swirl
swirl (nozzle)
(nozzle) ring
ring
flow
flow measuring
Rotor and Stator

Stator
N
N
..,....,.-r\: ...:-TTT"-:-~~- of Test Labyrinth
of Test Labyrinth
('1
with
with 12
12pedpheric
peripheric
static
static pressure
pressurf:
measuring
measuring points
pornts
co
Ul
o
f'-
Ul
o
to Air to
to the
the
Compensating Piston
'compensating
170
Finely Threaded
Screw for Regulating
the Eccentricity
Variable-Speed
DC Drive
Figure 16:
16: Testing facility of labyrinths
labyrinths
127
+0
- i - - - I - y--.r-. -::aio<)T- A --i-''--1V - # - - 4 - ....
11--
Inlet state
Inlet state : (Po) To,cuo)
( P O ,To) C ~ O )
Static
Static pressure
pressure difference
difference Apst
: 6.pst po --Pa
= Po pa
Relativ~
Relative pres?ure
pressure P ~ <p)
: Pi( ( ~ i <p)
( ( P ) = (Pi( ( i p--
) Pa) /6.Pst
pa)lApst
per cavIty
per cavity 1i
Flow
Flow characteristic
characteristic : E,* = ~poc~o/
~ P O C6.Pst
;O/APS~
Reference
Reference force
force : FB Apstrmt
= b..pstrmt
Cross force
Cross force Restoring force
Restoring force
27r
271" 2~
21r
QT
Qi = JJ Pi(
p?(cp) sincpdrp
<p) sin <pd<p R
R~f
•
= JS Pi(
PT (cp)
<p ) cos
cos<pd<p
cpdv
o0m o0
m m
IT1
L Qi R;es L Ri
i=l i=l
Q;es/ m R* RZes/m
(labyrinth mean
(labyrinth mean value)
value)
Dimensionless spring
Dimensionless
- spring coefficient
coefficient ::
J(Q(Eo)
I q ( E ; ) == dQ*/dJ;.r
d@/d& G ( E , * )=
J(R(Eo) = dR*/d€
dR*/d€
Dimensioned spring coefficient
Dimensioned spring coefficient ::
- -
J(
IiQQ = J(*
Ii-6 fu 2
Q /:;.r KQ * h
KQ
Resulting labyrinth
Resulting labyrinth
- load: load : -
Q
Q = J(Q
IiG €E FE
FB R = KT2 E FB
17: Definitions of test data

Figure 17: d a t a analysis
analysis
128
M..Staggered ..Labyrinth A..Full-Labyrinth
1
Hr. Typ Mr.

Hr. Typ
T~~
q-
Number of cavities
cavities
m=8
m=8 Number of
Number of cavities
cavities
11 1 m=7
m=7
~
5 Inlet region:
Inlet
~.
0s Inlet region:
Inlet region:
!5 tooth on inflow
tooth inflow tooth on
on inflow
inflow
~
~
CD tooth
~rl-,--------------~------------~
~ of cavities
Number of cavities Number of
of cavities
cavities
J, m=7 Number
c+ m=7 m=5
m=5
~ I 2
2
OC! Inlet
Inlet region:
region: Inlet region:
inlet region:
~ groove on
groove on inflow
inflow
N ~
tooth on
tooth on inflow
inflow
1.0
I
:r
~
m=5
Number of cav i t i es
of cavities
Number
T
]=' 3 - 3
Inlet region:
region:
m=4
m=4
~ Inlet
S· groove on
on inflow
inflow
c+
P"'
groove
0 D, = 331,nrnm
j no' 1 "
B I ROI 175, o D. '" 311,77 mm
Dw = 307,9 mm
1 10)1 I / o00h2 '" 307,9 mm
O Dhl = 301,8 mm
4 r.P 0 . . . 315 mm A rN = O.91mm II> 0n1 .. 301,8 mm
4 0 DR = 299,88 mm
(II 0RK =299 mm l; tK =O.91mm r.P DR = 299.88 mm
A rN = 1.9 mm
(/) DRN = 305mm A rN '" 1,9 mm
I I I I A rK = 0 , s rnm
l; r K '" 0.98 mm
m=3
-
M2, m=7
x e=+O.66
• e= 0 u",= 0 m/s
+ p-o.66 1f=O.47 u,.=+100 m/s u",=-1OO m/s
Ci"
Restor. force R; o.~ o.~ o.~
0.06 0.06 0.06
t-:I:j
c/tl'
.s8 0.04
0.02
'"' 0.00
lIE
0.04
0.02
0.00
~ ~
0.04
0.02~
0.00
-1
lIE ~
:*:
'" lIE
~ S -<1.02 4'> -0.02 -0.02
.-;
(l) 1(j -<1.04 -0.04 ~ -0.04
f-' ~ -0.06 -0.06 -0.06
'.0
*
$92eassz
$I4GGLLLL'
Q 0'11~ ~
Q;
e_ 0.11 0.11
::r'
~
o O.aI ~ O.aI ~ 0.09 ¥
8
&C'oPP???
.-; 0.07 0.07 X 0.07:*: ~

Cross force
~
('l ... 0.05 ~ ~ ~ ~ 0.05 ~ lIE +;,: ~ 0.05;': .....
c-t-
..s 0.03 ~ X 0.03 X 0.03 ~
(l)
.....
.-;
en
:a
0.01
;; -0.01
V V 0.01
-0.01
~ 0.01
-0.01
*'
W
.....
c-t-
(") U -0.03 -0.03 -0.03
0
0 .3 ...
........ Cavity
~
~.*
,..--..
c".= 98 m/s
-El - - -
-
"---<
0.9 0.9 0.9

g ? ?cn g $ g ?w
cO
-
~.*
0.8 - 0.8 - 0.8 -

~
e_
- - .....
Pressure ratio p;
~.* Q. 0.7 0.7 0.7

o
~ 'i... 0.6 - 0.6 - 0.6 -
~ 00.5 - 0.0 - 0.5 -
t-.:)
~ 0 .... - 0 .... - 0.'" -

C
&:: 0.3 0.3 0.3

0.2 0.2 0.2
0.1 - 0.1 - 0.1 -
o o o
sO do 1~ 2.k ~ 'JJ sb 1:k lAo 2.k ~ ~ s6 1~0 1~ 2.kJ ~ ~
Circumfer. angle f/J Circumfer. angle f/J Circumfer. angle f/J
A1, m=7
----
x t==+o.61
•+ pO
p-o.61
u,,= 0 m/s
1t'=O.48 u,,=+100 m/s u,,=-1OO m/s
Ci' 0.09
X ~
0.09
x
0.09
If
II.)
0.05 X + 0.05 X X + 0.05 X
u +
5 + X + X + X
'+"t
~ -{l.03
0.01
)!(
v v + v 0.01 v v
• V
+
0.01 V
+
Figure 20: Characteristic of pf(cp), Qf, Rf of A1
* *
":rj X -{l.03 X -{l.03
t.; X +
aq' +
..,
~
(1)
~
II.)
-{l.07
+
-{l.07 * -{l.07
~ X
X
tv
0
6" X X
~
0.15 0.15 X
X X X
X X + X
()
8.... 0.11 X +
+ ¥ 0.11 X + X
+ + •• 15
0.11 + ~
p-' X + + + X X +
~
..,>l' .s 0.07 + + :.: 0.07 ¥ 0.07 + + ~
>l'
~
('l
cot- 0
....
0.03· )!(
0.03 V
0.03 :.:
..,
(1)
U -{l.01
V V
-{l.01
V V V V :sz V
-{l.01
00'
W
.....
cot-
('l
0
,.....,
-
.'i:::j~
~
~.*
..........
i)
.........-
~
d::) .. ~~
0.9
0.8
0.9 -
0.8 -
..:w..
~
-
~
-
... * 0.7 0.7 -
... *
~.
0
,....., ~ 0.5-1='- .. ::::::".._
0.6
0.5
0.6 -
0.5 -
""""
~
-- .........
-
>- III
~ 0.4·· ..... 0.4 0.4 - ........
I-'
....
~ 0.3· 0.3 0.3 -
--
::-.... ..........
0.2- 0.2 0.2 -
0.1- 0.1 0.1 -
0 0 o
lib 1k 1~ 2.k ~ JJ
Circumfer. angle f{J
M2, m=7
xx e=+0.66
c;=+0.66 c uo=97 m/s
cu0=97 m/s
++ &=+0.33
c;=+0.33 uUw=O
,=O m/s
m/s
0
0 n=0.48
-rr=0.48
M2, m=7 .&ci:- v
0.05
0.05
c;=
E=
xx =,cc...,= 97 m/s &=+0.66

~=+0.66 cu 0.03 X
m/s u X X
v =,cc",,= 71 m/s
m/s n=0.47
1~=0.47 ~
0.01 X X +
'" Y-
0
~ -0.01
4).01
0.12-- u m/s
u,=w= 0 m/s +
•0.- 5 -0.03
-{l.03 >'<
6 0.1-
0.1- X
cu 0.08- v xX t;
v, -{l.05
4.05
u
U
v Q
CU
2 13 2 4-3 45 5 6 6 7
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.66
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en
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-Figure Qr versus cCuo,

21:: Q5
Figure 21 , ~ eE, of M2
M1, m=8
..... -U.=97}
--_-u.=48 c..=Om/s
--o--u.=o
- . -.... ~ =97} ·_·_·-u.=97 }
---_-u:=48 c.,.>Om/s --... --u.=48 c.,.>Om/s II u.=-97m/s. n=O.47
----u.=O o u.=-48m/s. n=O.47
0.05 --...=0
0.04
0.03
0.02 _"'__... __ -T
- F-'~ -' ".-

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[
0.00
~
I
4:>.01
4:>.02
4:>.03 I r
0 0.2 0.4 0.6 0.8 -10 10 30 50 70 90
1\ C uo
Figure 22: Characteristic

Figure 22: field KQ of
Characteristic field M1
of M1
132
M4, m=3
-,- -' -u.",93 }
-"'- -u.=46 c..,=Om/ S
---o-u.=O
U.=93} c,..>Om/s .-,
-_'--u.46
____
.......U.=93}
-----u.=46 c,..>Om/s II u.=-93m/s. 1f=O.49
-......-u ....e:O -u.=O c u.=-46m/s. 1f=0.49
0.24
0.21
0.18
V6 ~ :--
0.15 , ~ ..-
:>/ '1 - 8 I~ ~
0.12
-'v'
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-~
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/;Z 0.09
0.06
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-
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'Or '~
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,
-0.06 .
o 0.2 0.4 0.6 0.8 -10 30 70 110 15
1\ C uo [m/s]
Figure23:
Figure 23: Characteristic
Characteristicfield M4
fieldK'Q ofofM4
M1, m=8 M4, m=3

• ~94 ~-<Kn/s
• ~4B. ~-om/s _.
D tJ,FO, ~=Om/. _
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• ~8. ~=60 A Ui=48, ~=75
• u.=O. ~=5 7 .. u..=O. c.,.= 72
0.02 0.07
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III
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1\ 1\
24: Characteristic
Figure24:
Figure Characteristicfield M1and
fieldKh ofof Ml M4
and M4 a
133
Mt.. m=3, u.=O, 7T=O,57
• PI = 0.7
Cavity 0
.
''''
::I
o '"
..
eo
~'~~~'~~'~20~~rI~.
Cavity 2
Circumfer. angle
Karmer 2
P3 = 0.3 Cavity 1
.
x x P3=0.3
• PI = 0.7 + P2 = 0.5 a = 0.7
Pl ==
P1 0.7 + P2 = 0.5
P2=0.5
eo
.,'"
.
.
3D+rrT~rry~~rT~~
'" 1 1 1 0
Circumfer. angle
x P3 = 0.3 3
..!:'!
lIO · P1 = 0.7 + P2 = 0.5
eo
,.
• P1 = 0.7 Cavity 4
.. ..
70
E
0
::I
. cJ ..
~ =
3D
20
'lO'.'.'JO........
Circumfer. angle
+ &=0,66
e=0,66 x e=0,33
1:=0,33
vv e=0
c=O u.=9Om/s
u,i9om/s 50-
50
+ e=0,66 ~=0,33
~ 0 ~ 6xx 6 e=0,33 - +
+ ~ 0 ~ 6x 6 1:=0,33
e=0,66 &=0,33
100
100- 40-
40 10
10-
- - ¥Y -~* 30-- - -
~
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90
90-
- 30
*
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80-
80
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E %~ V~ ..s
s 20
20-
-
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.E.
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•
U
=-5 + +
** - *m
U 70-
- $ ::s- 10 2 5- + $ +
*
u< lo-- u
u
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U
X +
+
60-
60
- 00
- + -10
-10- - X
x
50-
50
40
40
- -10
-10-
- * *%
-15
-15-
-
-20
-20 -20
-20
I
I I I I I I I I I I I I I
Cavity Cavity Cavity

Cavity
J
Figure 25: Circumferential velocity Cc,u versus cavity i and peripheral angle cp of M4
134
N92-14355
STATIC AND DYNAMIC
DYNAMIC PRESSURE
PRESSURE DISTRIBUTIONS IN
IN A
A
SHORT LABYRINTH
LABYRlNiH SEAL
K.T.
K.T. Mi
M i Il Ilsaps
saps and
and M. Martinez-Sanchez
Martinez-Sanchez
Massachusetts Institute
I n s t i t u t e of
o f Technology
Gas Turbine Laboratory
Cambridge,
Cambr idge, Massachusetts 02139, U.S.A. U .S . A .
1. Introduction
Although important progress has been made in the last few years on the understanding of
mechanics, and in particular, on the generation of side forces
labyrinth seal fluid mechanics, forces by such seals, there is
theoretical correlation
quantitative data and theoretical
still a need for quantitative correlation on several
several points, particularly with respect
dynamic effects. The widely quoted test results of Benckert and Wachter [1]
to dynamic [I] covered adequately a
flow
range of flow and geometric parameters, but only f ~ static
for r
static offsets. Good correlation linearized
to linearized
131. Several authors
theory has been achieved for these data [2], [3]. authors have reported measurements of a
dynamic nature [4], [5], [6], [7], but their tests lacked control over important parameters, making
dynamic
comparison to theory difficult. Scharrer
comparison Scharrer and Childs [8] presented the first set of dynamic data in which
frequency were adequately
inlet swirl as well as vibratory frequency adequately controlled, although
although a single
single shaking
shaking
frequency was used. They reported directly measured force data for three 16-tooth
frequency 16-tooth rotors with
different sealing clearances, and obtained good correlation to theory on the effect of some of the
parameters.
No data of this type have been obtained for short (one or two cavity) seals, of interest in
aerospace applications, including
aerospace including turbine tip shrouds. There are also no published data (static or
dynamic) on labyrinth seals with honeycomb land.
dynamic)
As part of an investigation
investigation into turbine blade-tip destabilizing
destabilizing forces,
forces, sponsored by NASA
SFC, we have built a seals test rig in which spin rate, circular whirl rate, direction
Marshall SFC, direction and
amplitude of inlet swirl angle,
amplitude angle, and eccentricity can all be controlled over wide ranges, and
measurements can be made at gap Reynolds numbers up to about 2xl04
measurements 2x104 (previous data have been
104). In this paper, we describe
limited to well below 1(4). describe this facility
facility and present preliminary data for a
flat, stator-mounted
one-cavity labyrinth seal with a flat, stator-mounted land.
2. Test Facility
Tests are conducted using airair in an open loop with atmospheric

atmospheric discharge. The overall
overall layout is
shown in Fig. I.1. The test rotor is forced to execute
execute a circular whirl motion while spinning.
spinning. This is
accomplished by mounting the rotor shaft bearings eccentrically
accomplished eccentrically on an inner rotating assembly (Fig. 2),
which is driven by a belt independently of the in-line rotation drive. The rotating parts are shown in
Fig. 3. The test seal is mounted on the left-hand rotor (28 (28 cm diameter), with seal air flow being from
air is also introduced behind this rotor to balance the thrust. The pulley
left to right. Pressurized air
sheaf for the whirl drive can be seen at the right-hand end of the rotating housing. Variable amounts'
amounts of
eccentricity can be introduced by appropriate rotation of eccentric
shaft eccentricity eccentric inserts placed between the
rotating bearing housing and the outer bearing races (Fig. 4).
replaceable swirl vane rings into the pre-

Pressurized air is fed from an annular plenum through replaceable
spacing of the vanes is used to ensure azimuthal
seal cavity (Fig. 3). Close spacing azimuthal uniformity. The
convergence in the vane passage imparts high velocity, and hence high azimuthal
convergence azimuthal momentum,
momentum, to the
flow. Flow swirl angles from zero to about 60°
inlet flow. 60' can be generated in this way.
135
The main data obtained are pressure time histories at four points (90°
(90' spaced)
spaced) in the gland.
These are acquired by flush-mounted,
flush-mounted, fast response
response Kulite XCS-190 transducers, which have a 55 psid
XCS-19O transducers,
increase the response sensitivity,
range. To increase transducers are referenced to an auxiliary pressure-
sensitivity, the transducers
averaging
averaging plenum, which is connected
connwted by thin tubes to several points on the gland and is filled
filled with a
porous material for damping purposes. In this way, only the necessary pressure non-uniformity
non-uniformity
component is measured.
component
S . 1 mil by two orthogonally mounted Bently

displacements are measured to within ±O.1
Rotor displacements
Nevada CSN-5
CSN-5 proximeters. measurements include
proximeters. Other measurements include flow rate, using a Venturi flow
flow meter, and
accelerometer data, mainly for health monitoring purposes. The spin and whirl motors are velocity
controllable, in both directions,
controllable, +6000 RPM
directions, ±6000 FWM for spin and ±3000 FWM for whirl.
k3000 RPM
10 kHz
The transducer data are digitized at up to 10 kHz by a 12-bit,
12-bit, 32-channel A D converter,
32-channel Lecroy AID converter,
orbits
and then stored in a computer disc. 256 whirl orbits are acquired and phase-lock averaged in each
synchronizing signals
test, using synchronizing signals derived from
from two photocell-photodiode
photocell-photodiode pairs in combination
combination with a
gives 32 averaged samples
chopper wheel. This gives samples per whirl orbit from each transducer. Fitting a cosine
cosine
allows calculation
curve to these data allows calculation of both components of the pressure force
force acting on the rotor, and
rotating in space at the whirl frequency.
frequency. In principle, anyone
any one of the four transducers
transducers would suffice
suffice for
this; the others provide redundancy and cross-checking.
this; cross-checking. A typical trace of raw voltage vs. angular
location in the whirl cycle for one of the pressure channels is shown in Fig. 5. Most of the noise is
effectively removed by the averaging procedure as shown in Fig. 6.
approximate range of parameters that can be covered with this facility

The approximate facility is shown in Fig. 7
for a seal with 10 length, as used in ihis
10 mm cavity length, this study. The left-hand boundary is a line of Reynolds
number (based on gap and gap flow flow velocity) equal to 104. This is not, however, a hard limit and,
and, as
noted, many experimenters
noted, experimenters have worked below it. For rocket turbopump
turbopump applications,
applications, however,
however, we do
complications with the transition regime of the discharge
wish to operate above this range to avoid complications discharge
coefficient. The right-hand boundary is a value of order unity for the parameter K, defined as K = = tL
tan6'/6 (t
tan6°jCi length, Ci6 == mean gap). For too small values of K, the exit gap iS'larger
= gland length,
(& = is larger than the jet
from the first gap,
width from gap, and excessive
excessive carry-over
cany-over is expected. Clearly,
Clearly, use of a longer seal will allow
correspondingly wider gap sizes,
correspondingly sizes, hence higher Reynolds numbers for a given pressure ratio;ratio; lengths up
to about 1.8 cm can be easily accommodated.
accommodated.
The upper boundary in Fig. 77 corresponds
corresponds to choked exit flow.
flow. Again, this is not a hard limit,
limit,
subsonic regime of interest for shroud seals in low pressure
but we wish to restrict attention to the subsonic
turbopump turbines.
ratio turbopump turbines.
3. Experimental Results
The range of parameters used in the tests reported here is listed in Table 1. 1. Figures 8 and 9
cross-forces calculated from
show the direct and cross-forces from the measured pressure distributions,
distributions, using the gland
integration. The data in Figs. 8 and 9 are for
length times the seal perimeter as the effective area for integration.
spin. The forces
zero rotor spin. forces are presented vs. whirl speed (positive
(positive in the pre-swirl direction) and pre-
forces (Fig. 8),
swirl vane angle. For the direct forces 8), positive sign indicates a force
force in the direction opposite
displacement. For the cross-forces
that of the rotor displacement. 9), positive sign indicates a force·tending
cross-forces (Fig. 9), force tending to
drive forward
drive pre-swirl direction. Data are presented for inlet swirl angles of 0°, 15°,
forward whirl, i.e. in the pre-swirl IS0,
30'. For zero inlet swirl,
and 30°. swirl, the direct force
force is almost independent of whirl frequency
frequency as is predicted
by theory. The direct force
force decreases
decreases with inlet swirl.
cross-force increases with inlet swirl and decreases

The cross-force decreases with whirl speed. Figure 10 10 shows
RBM with no inlet swirl or shaft rotation for three different inlet pressures (mass
cross-force vs. whirl RPM
cross-force (mass
136
flow rates). The forces increase with flow rate. Figure 11 11 shows the same cross-force but now
nonnalized by the ratio of
normalized of flow rate to design flow. Notice that the data are collapsed to a single
curve. This also works quite well for the direct forces. The reason for this is that the magnitude of of the
pressure wave scales with mass flow but the relative phase (the angle between the minimum whirling
gap and the maximum pressure) is virtually independent of of flow for a given whirl speed. This is the
case for zero inlet swirl. However, when inlet swirl exists, the theory suggests that the flow
nonnalized forces
normalized forces should be plotted vs. a reduced whirl speed if
if they are to effectively collapse. One
possible whirl parameter is Q'Rfli,
n·RsfYi> where Q n is the whirl speed (radslsec),
(rads/sec), Rs is the seal radius, and
Vi is the inlet swirl velocity.
Vi
Once cross-force vs. whirl is available,

available, the cross-stiffness
cross-stiffness and direct damping coefficients are
readily obtained. A least squares linear curve fit is used to obtain the zero-frequency crossing. This
cross-stiffness K
is the cross-stiffness X y Figure 12
Kxy. 12 shows Kxy vs. inlet swirl angle for several different seal rotation
speeds. In general, it is seen that rotation in the direction of of pre-swirl tends to reduce the cross-
stiffness, while rotation in the direction opposite that ofof swirl tends to increase the zero-frequency
force. The direct damping, Cxx,
Cxx , is the slope of
of the cross-force
cross-force vs. whirl curve fit line. Figure 13
13 shows
the direct damping vs. inlet swirl angle for several different seal rotation speeds. The damping
substantial impact on
generally increases with swirl inlet velocity. The spin rate is seen to have a substantial
both stiffness and damping coefficient.
4. Discussion
The data were compared to theoretical predictions based on a lumped parameter Kostyuk-
Iwatsubo type model [2], [9]. Briefly, the continuity and momentum equations for the single gland
labyrinth are first solved for the centered position. These steady state parameters are used in in a linear
perturbation expansion. When harmonic behavior is assumed, a system of linear algebraic algebraic equations·
equations
in pressure and velocity perturbations
perturbations are obtained (see Ref. [9] [9] for details).
details). These are solved to
yield the pressure amplitude and phase relative
relative to the minimum whirling gap. The actual computations
were done in non-dimensional fonn.
form. The dimensionless
dimensionless parameters which introduce the most
uncertainty are the flow coefficients
coefficients J,11 and J,12 knife, respectively. In general,
y2 for the first and second knife,
p2 is greater than J,11
J,12 carry-over. Let the effective flow area divergence
p.1 due to the kinetic energy carry-over. divergence be
defined by
(1)
a == 1,
For a. 1, theory indicates
indicates zero direct force
force (for zero preswirl, spin,
spin, and whirl). It is clear,
from Fig. 8, that a significant direct force
however, from force does
does exist for this case.
case. One possible explanation
large sensitivity of direct forces
for this is the large forces to small departures of a.
small departures a from
from unity. In fact,
fact, the value of
a.a required to explain the data can be extracted fromfrom the theoretical [9]
[9] direct force
force for zero spin,
spin, whirl,
and swirl:
(2)
where RS is the seal

where Rs radius, tL the gland length,
seal radius, Pi and PPee are
length, Pi are the inlet and discharge
discharge pressures,
pressures, r is the
the
eccentricity and B*
eccentricity 6* the nominal gap.
gap. We obtain
obtain from
from Eq.
Eq. (2)
(2) and Fig. 8 the value a == 1.113.
value a.
137
On the other hand, a a has only a very minor effect on the cross-forces
cross-forces according
according to theory.
theory. An
equivalent statement
statement is
is that, as aa varies, there
that, as there are significant
significant effects
effects on the spatial
spatial phase angle
angle of the
forces,
forces, and somewhat
somewhat less
less on the force
force magnitude, while
while the cross-force
cross-force component changes
changes little.
little.
Thus,
Thus, our direct
direct data
data on phase angle also used to extract a,
angle can be also a, and the range is
is indeed
indeed found
found to be
1.1 to 1.2.
1.1
Referring
Referring to
to Figs. 99 and
and 13,
13, the
the data
data for
for zero
zero inlet
inlet swirl
swirl and
and zero
zero spin
spin indicate
indicate non-zero
non-zero
damping, C
damping, Cxx (slope of cross-force
xx (slope cross-force vs. whirl),
whirl), although
although with zero
zero cross-force
cross-force at
at zero
zero whirl (K]t.Y
(Kx == 0).
0).
The linear theory
The theory predicts
predicts these
these features.
features. In particular,
particular, the C,xx
the predicted C , at
at zero
zero whirl
whirl is
is 17
17 Ndsec/m,
sec/m,
while the
while the data
data (Fig. 13)
13) indicate
indicate 23
23 N sec/m.
seclm.
Figure 14 shows
Figure 14 shows aa comparison
comparison of thethe cross-force
cross-force data
data to
to linearized
linearized theory for
for zero
zero spin,
spin, 30°
30'
inlet swirl.
inlet swirl. The
The zero-frequency
zero-frequency crossing
cmssing (Kxy)
(Kxy) is
is well
well predicted,
predicted, while
while the
the data
data show
show once
once again
again aa
larger slope
slope (more
(more damping)
damping) than theory
theory indicates.
indicates. The
The agreement
agreement as as to
to Kxy
Kxy is
is worse
worse for
for 15°
15' since,
since,
as
as shown
shown in in Fig. 9,
9, there
there is
is an
an as
as yet unexplained non-linearity of cross-force
unexplained non-linearity cross-force versus
versus swirl.
swirl. This
This may
result of the
be aa result the inlet
inlet swirl
swirl being significantly
significantly different
different from
from its
its design
design value,
value, aa circumstance
circumstance that
that
needs to
needs to be verified.
verified.
5. Conclusions
The Labyrinth
The Labyrinth Seal
Seal Test Facility,
Facility, which has has been built toto cover aa wide range
range of test conditions
conditions
obtained, has
not previously obtained, has been completed
completed and and is
is fully
fully operational.
operational. Rotordynamic
Rotordynamic coefficient
coefficient
measurements for
measurements for aa single
single gland labyrinth
labyrinth seal
seal were
were made
made for
for many different
different flow
flow rates,
rates, whirl
whirl speeds,
speeds,
shaft
shaft speeds,
speeds, and
and inlet swirls.
swirls. ToTo the
the authors'
authors' knowledge,
knowledge, these
these are
are the
the first
first such
such controlled
controlled
measurements for
measurements for either
either aa single
single gland
gland or atat aa Reynolds
Reynolds number above above transition (104). There
transition (104). There is
is
reasonable agreement
reasonable agreement between the the experimentally
experimentally obtained
obtained data
data and
and the
the simple
simple Kostyuk-Iwatsubo
Kostyuk-Iwatsubo
Theory. However,
Theory. However, manymany more
more comparisons
comparisons over over aa wider range
range of parameters
parameters is is necessary.
necessary. The
The
impact of different
impact different flow
flow coefficients
coefficients forfor the
the first
first and
and second
second knives
knives on
on the
the rotordynamic
rotordynamic coefficients
coefficients has
has
been found.
been found. While
While this
this effect
effect is
is dominant
dominant forfor the
the direct forces, it should
direct forces, should also
also be
be incorporated
incorporated into
into
calculations of cross-forces
calculations cross-forces where
where itit has
has an
an impact
impact under manymany conditions.
conditions.
References
References
1. Benckert,
1. Benckert, H.
H. and
and Wachter,
Wachter, J., "Flow-Induced
"Flow-Induced Coefficients
Coefficients of Labyrinth
Labyrinth Seals,"
Seals," NASA CP-2133,
CP-2133,
May 1980.
May 1980.
2. Lee, O.K., Martinez-Sanchez,

Lee, Martinez-Sanchez, M.
M. and
and Czajkowski,
Czajkowski, E., "Prediction
"Prediction of Force
Force Coefficients
Coefficients for
for
Labyrinth Seals,"
Labyrinth Seals," NASA
NASA CP-2338,
CP-2338, 1984,
1984, pp.
pp. 235-256.
235-256.
3.
3. Scharrer, J.K. and
Scharrer, and Childs,
Childs, D.W.,
D.W., "An
"An Iwatsubo-Based
Iwatsubo-Based Solution
Solution for
for Labyrinth
Labyrinth Seals:
Seals: AA Comparison
Comparison
to Experimental
to Experimental Results," J. o/Gas
Results," J. of Gas Turbines
Turbines and
and Power,
Power, Vol.
Vol. 108,
108, April
April 1986,
1986, pp. 325-331.
325-331.
4.
4. Wright, D.V., "Labyrinth
Wright, "Labyrinth Seal
Seal Forces
Forces on
on aa Whirling
Whirling Rotor,"
Rotor," Rotor Dynamic
Dynamic Instability,
Instability,
Proceedings of the
Proceedings the ASME
ASME Applied Mech.,
Mech., Bioeng.
Bioeng. and
and Fluids
Fluids Engineering
Engineering Conf., Houston, TX,
Houston, TX,
1983,pp.19-31.
1983, pp. 19-31. .
5. Iwatsubo,
5. T., Matsuoka,
Iwatsubo, T., Matsuoka, N. and Kawai,
N. and Kawai, R.,
R., "Flow-Induced
"Flow-Induced Force
Force and
and Flow
Flow Pattern
Pattern of
of Labyrinth
Labyrinth
Seals," NASA
CP-2133, 1982,
1982,pp.
pp. 205-222.
205-222.
Brown, R.D.
6. Brown,
6. R.D. and Leong, Y.M.M.S.,
and Leong, Y.M.M.S., "Experimental
"ExperimentalInvestigation
Investigation of
of Lateral
Lateral Forces
Forces Induced
Induced by
by
Flow Through
Flow Through Model
Model Labyrinth
Labyrinth Glands,"
Glands," NASA
NASA CP-2338,
CP-2338, 1984,
1984,pp.
pp. 187-210.
187-210.
138
7. Hisa, S.,
S., "Steam Excited Vibrations in Rotor-Bearing Systems," Proc. of
of the International Conf.
on Rotordynamics, Tokyo, Japan, Sept. 1986, pp. 635-641.
8. D.W. and Scharrer, J.K.,

Childs, D.W. lK., "Theory vs. Experiment for the Rotordynamic Coefficients of
of
Labyrinth Gas Seals: Part II-A, Comparison to Experiment," ASME Rotating Machinery
1, 1987,
Dynamics, Vol. 1, 1987, pp. 427-434.
9. Millsaps, K.T.,
K.T., "Analysis of
of Aero-Elastic Forces in Labyrinth Seals and the Design of
of an
Experimental Facility to Measure Them," Master's Thesis, Department of of Aeronautics and
Astronautics, MIT, 1987.
TABLE 1
OPERATING PARAMETERS FOR THIS WORK
Seal Radius 150mm

Number of Seal Glands 1
Gland Length lOmm
Dam Height 5mm
Type of Land Flat, on stator
Mean Seal Gap 0.813mm
Seal Eccentrici 0.185 mm
Inlet Total Pressure 1.48 to 1.69 atm
Discharge Pressure 1 atm
Air Temperature 2800 K
Inlet Swirl Angle 0°, 15°,30°
Whirl Speed -2500 to +2500 RPM
S innin Rate -4200 to +4200 RPM
V-BELT
\r-----f
ROTATING
MACHINERY
SPIN ...- AIR
MOTOR
WHIRL
MOTOR
5- STAND
j
VIBRATION ISOLATORS
Figure 1.
Figure Side view of labyrinth
1. Side labyrinth seal
seal test
test facility.
facility.
139
Figure 2.
Figure spinninglwhirling shaft.
Mechanism for producing spinning/whirling
SPIN
-AIR
DRIVE
Figure 3. Cross-section of test section along

Figure along with whirl/spin producing
producing
rotating machinery. The air flow through the apparatus is shown
rotating shown by arrows.
140
i
-~,-
\ :
- _ 1-'+-<,--1_ _
Figure
Figure 4. Mechan~srnfor producing
4. Mechanism produc~rryvariable whiri
whtri ecc;erili
B C C ~ It,ili·
~ ~ ~ , I L ~ ; ~
2.00 •.••••••• : .••••••.••••• · •••• 1 ••••••••••••••••.••••.••• !• • • • , •.. . . . . . .

en
~
o
-
I
>
~ ..~LL L..L~it..!
::l
:t-lo~ ..... ·'1·:·····

.. I...... :.....
~. . ...... .
:..... . ~
: .......
. ! ...... ·1:.. ·.. ... lj .:.
;;
-1.00 ........
,.~ , , .... , , ~
L.. ..
" ;
It -2...1:1·;:.::..[rI1·::.:· .:.:··::1
32.9 96.9 169. 224, 28 .
NUMBER
POINT NUMBER
DATA POINT
Figure 5.
Figure 5. Raw voltage from
from a Kulite
Kulite vs. data point number.
number.
141
+-+
-
DATA
DATA
- CURVE FIT
CURVE FIT
•2 ~G l·.·············· 'PH'~~'E
~ ~ ~ . ~
.............. ~ r. ::::::. .:.::::::[::::..... ,........ .
. .~. . . .~. . . ~. . . .~. . . . . . ~. . . ... . ... . ... . ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
~. ,...:-t. .......
'1~~~""" .............
¥.
¥<~~~::·r:·:~~{:···::J:::::.:
! ! ""\ \
..l.. ....... . AMPLrrUDE
VOLTS
VOLTS ... . ...... , ·tt' ..
"
•, 000
8 0 0 ~ ....... .
~........ ;
-.•ooj' HH'HHHH!HHHH'HH
i
4. 90 12'.0 20 ,0 2Si,0
ANGULAR LOCATION
ANGULAR LOCATION
Figure
Figure 6.
6. Typical
Typical 4 transducer
transducer composite
composite phase-locked
phase-locked average
average pressure
pressure
data
data along
along with
with least
least squares curve fit.
squares curve fit.
SUPERSONIC
SUPERSONIC
EXIT
II
2··1_
2.2 I
o
~O 00 I:,.,
I~_s~~
SONIC EXIT
2.0
" l'I\\
" ~
, ~
IE
1:
.-~
0
(a ~
(0: E 0.75)
0.75)
II
0 = TEST
0= TEST POINT
POINT
1.8 Iq. 0 1::0
1/ ~ O II .ISIS TOO
K TOO SMALL
SMALL
1.6
LAMINAR / '/
FLOW
II ~.
~./.~+..o.
,"".--;s;
I: ; S
S
1.4 C9C'
1.2
"
~ ______ ~ ____ ~ __ ~ ________ ~ _________L--
1.0
o 0.5
6= 0.75 mm
I 1.0
6 (mm)
1.5 2.0
Figure 7. Approximate
Figure Approximate operational
operational boundaries
boundaries for test seal
seal with
with 1=10mm.
I=lOmm.
142
o,-----------------~----------------~------~~------~----------------~
INLET SWIRL
I
. ---- ~ -- - -- . -- - - - ! -- - -- - ----
I
-1-· ---------- ----------- ---

I I
~
,
··
.
I I I ·.·
I I I
6
c; --- --------~-- .-- ----- -~- - ~-~-- ~-- --A- ~- - -..&.. - - - -~- - -.- -A-- - - !-~ ---- ----
I : : : : : :
_M - - - --- -- - - - - - - -- -
~ e,.: : : : :
~ I : I : : I
w 6'
::
I I I
::
I I I
u A : l : : C9: (!) : (!):(9 C9

a: c:i -----------:-----------t----~---rC9--------t---------t--------9-----------;-----------
~ m fT1 ~I
....o I I I
(!]! [!]: :.~ ~

w
en
t:J f!I : ' W p
I
I
[!J:£!J '
I
:
1
I
I
I
I
I I
I I I I I I I
a: "1 ----- ------~-- - ~- ~-- ~--- -1----------- ~- ----------~- ----------
is I
I
0- -- - - - -
I
I
--- - - - - - - -
I
I
- - --- - ---
I
I
-- - ----
I
J I
I I
I
I I I I I I I
I I I , I I I
I : : : : : I
I I I I
I I I I
I I I I
t9 ---- -------~- -- -.-. ----1------ -----1-----------1-----------1-----.-----1-----------1- ----------

I I I I I I I
I I , I , I I
I I I I I I I
I I I I I I I
I I I I I I I
I I I I I I I
I I I I I I
I I I I I I
I I I I I I
t.p I I I I I I
-2_500 -1.875 -1_250 -0_625 0_000 0_625 1.250 1.875 2.500

x10"3
x10"3
WHIRL
WHIRL (RPM)
(RPM)
Figure 8.
Figure Direct force
8. Direct force vs.
vs. whirl
whirl RPM
RPM for
for three
three different values
values of inlet
inlet swirl.
swirl.
kg/s.
m=0.166 kg/so
m=O.166
\Q ()A
INLET SWIRL G 1s"'
:e:.. , : . . : e,. 30"
----Qj 1---- -- --.- -1------~-- -1-- ---------1-------- ---:- --- -------:-- ---------:-- ------
I (9: iA : ' I I
·
P
I e!) Ie!)
l
. b: : .
N - - - - - - - - - - - ~- - -.- - - - -- - ~- - -- -- -- --- ~- ----- - --- -~- ---- - - -- -..:~- -- -A- - --- - i- ----- -- -- -~- ------- ---
~
w :: :: : !: : ~ ::
o : (9: fT\ : A
a: : : : : : U I :A
~ : : :
cq ( ! ) : ~ : :
CI)
~ Et -------- ~- --- ------- ~ -----------~- ---------- ~- ---------- ~ ---------- -1-----------~_C!l_ -------
CI) ~1 : : 1 1 : 1 (!)
oa: , [!] I I I , , 1
o :
I
~
I [!]
!
I
I
I
:
I
1
I
:
I
I I I [!] I I I I
ci - - - - - - - -- - - ~- - -- - - - - - - - ~ - - - - - ---- -- ~- - - -- -- - - - - ~- - - - -- - - [!].. ~- - - -- - --- - - ~- -- - .-- - ---- ~- -- - -- -- - --

1 I! ~: I I
~ ~
:
I I
.
1
I I I I I
-------- - --~---- .-- - --- ~- -- -- ------ ~----- -- ---- ~- - - - -- -- -- -~------ -----~- --.... - -- - ~--.
···
I
.
I
. I I
·· ...
,
~+_------_r------~--------~------~------_+--------r_------~------~
-2.500
-2.500 -1.875
-1.875 -1.250
-1.250 -0_625
-0.625 0.000
0.000 0.625
0.625 1.250
1.250 1.875
1.875 2.500
2.500
xl0"3
xlO"3
WHIRL (RPM)
Figure 9. Cross-force vs. whirl RPM

Figure RPM for three different values of inlet swirl.
kgls.
m=0.166 kg/so
m=O.166
143
- a
U!
~T-----~------~------~----~----~~'-~~
~ (!) : : : :
h=0.166 Kg/S
El m=O.166
rk0.137 Kg/S
AA m=O.137
KglS (b
KglS
(base)
••• )
El_~_7~!)_~_~___ ~g!.~L ________ _

---- .. -.. ~1----(!)-------1- ... --.. -- .. ---~-- .. ----- .. --~- .. - .. ----: :
1 :
: : : : I I I
A: (!]:
8~
:I A
:~ :~ :: I I
I I I t I I
III r.D : : (!): : : : :

oa:: ci -----------r-------~r-~---~r---------r---------r---------r---------r---------
~
o : : ~: : : : :
U) : : : m: : : :
U) ~ ... ---... ----.. -~-- ... ------- ... ~-----------~ ... ----------~ ..-... ---~--~--- ... --- ... ---~- .. ---------~-------- . --
o i ; : : : : :
: : :
a::
o
aq
:I
:
:
•
:
:
•
:
::i
I
:::tD 9:::A
• I
:::
•
c?- -----------r---------r---------r---------r---------r---------It!f---~--r~-------
• I I I • I (!):t!J
~ -----------~-----------~-----------~-----------~----*------~-----------~---------~-~--------
: : : : ; i :
: i i i : f• :,
I
: : ~
1
: : : •
: I I
~4_--------~:--------_1:---------1:---------1:---------1'--------~'---------1'--------~
-::3-000 -2-250 -1..500 ~_75O 0.000 0.750 1..500 2.2!50 3.000
.,0""3
x10-3
WHIRL
WHIRL {RPM}
(RPM)
Figure 10. Cross

Figure Cross force vs. whirl RPM
RPM for three different mass
mass flow rates.
rates. All
are with no
conditions are no inlet swirl
swirl or shaft rotation.
~.-----~------~------~----~------~------~----~------~
,
,,
• -------V j---~-- -- t----------j-----------;---------+ -- ---+--- - ----;- ------

I ' I .
.... as:":"
d ....... ----... -- -1-'" ---.. . . ---1-"" W"""" "1---.. . . . _. --1----------1"' . -.. --_ . . . . -1---.. . . __ . . -1-.. . . . . . . . . . . .
I t I I I , I
:
I
:
I
II! I
:
,
: I
:
I
:
I
I I I I I I I
-::IE o
:, : : m i 111 : i :
o -.. -.. . . . . . . . . . . . ~- . . --.. . . . . . ---~--- . . ---.. --.. ~--- . . . -----.. ~------~--~------- . . --1-----------~ . .-----.. ----
I , • I I I
x : : : ! : : :
III
o : : : : : I!I : :
a:: ..,q :
I •
: :
I I
i
•
: e:
I ,
:
o
~ --.. -.. . . . ----1-.. ---------1-----------1---.. -.. . . . . . --1-----.. -----1-----------1!!f'-------1-.. ---.. ----
I , • I • I •
U)
en
o
: I
:
•
: I
:
•
: •
:"
,
:
I
a:: : : : i : : : II
o ~ : ; ! : :
-;.. . . ---.. -.. . . . -.. 1----------.. ~-------- ....-1-.. . -.. -.. . . ---1..---------1-.. ----------:--------.. ---:-----------
: !
: ! : : i : :
:: :: :: :: :
:
:: ::
"! : : : : : : :
-3.000 ·2.250 -1..500 ~.750 0.000 0.750 1.500 2.250
.,0-:3
r10T
WHIRL (RPM)
WHIRL (RPM)
Figure 11.
Figure 11. Cross
Cross force.
force, normalized
normalized by
by the
the base
base mass
mass flow
flow vs
vs whirl
whirl RPM.
RPM. This
This is
is the
the
same
same data
data as
as shown
shown above.
above.
144
o
~.~------------------~--------~--------~----------~--------~--------~------.--,
o RPM m
.1250 RPM ill
.2700 RPM l!\ ,
0 +4200 RPM +
1" --- ---- ---1-- --' --- --- 1 1-- _.- -----
I , I I :
0
N- -1250 RPM ~ ------ 0
- - - -- - -- - - ~- - - - - -. - - -- _.1._
~ , ,,
·2700 RPM ~ ,, ,,,
~ ,,, ,
en , ,, ,,
en 0
"! ____ A _____ A .JI ___________ .1I ___________ .I.
I __________ ...I ______ • ____ .1.
I __________ .J.
I I _________ _
__________ .I.
W I I I I I I
Z I
I
I
I
I
I
I
I
I
I
I
I
II.. I
I
I
I
I
I
I
I
I
I
II.. I I I I
, I ,
t= :'
, I ,
en 0 0
,
I
I'
I
I
I
I
I I
,
I
I
en X "! -----------i---- ---- ---1- --- ----- --1------ ---- -1- _... - ----------1----- ...... -_ . . -1-'" --- ---.. --
en
,,, ,,, ,
I I I I
0
c:
0
,, ,,
0 :, :, ,
)0- <Xl
ci ---- --- ----1- --- ----- --1-- ~~------- ~--- -- ."-- , -- - -- --~-
,,,
)(
~ ,,
,, ,,
,,
,,
,
,,
0
, ,, ,
"ci --------~-----------.J-----------1---
~1~oLI--------4---------~---------+---------t--------~----------~o--------T---------4
o IS" 30
INLET SWIRl
INLET SWIRI ANn!
PMCi [
Figure
Figure 12.
12. Cross
Cross stiffness
stiffness vs.
vs. inlet
inlet swirl
swirl for
for six
six different
different values
values of
of spin.
spin.
m=O.166 kg/so
~r-----O~R~PM~~~--~------~------~------~--------~------~-------,
.1250 RPM QJ
.2700 RPt.I 41 ,
.4200 RPM + , , ,,
~
~. ·1250
·2700
RPM
RPM
._* ~---··----··t---··---T-·--···---
• ______ .1 ____ _
,,
,
en ,,
,,
z ,,
Cl ~
I
-- ----- -~-- ~ - --- - --- --- ~--- ----- -- - ~- -- ------

I ,
-- ~---- ----- - -~- -------

I I.
-----------1-----------
,
z I : I I
,
a: ,,
~ ,
c(
C ,, ,
~ ___________ ~ ___________ ~ _______________ w ______ ~ ___________ ~_ ___ ______ _ _ _________ .J _ _ _ _ _ _ _ _ _ _ _
I-
,,!
U
W
'
,, : I
a:
0 ~ ________ ~--------~:--------~r--
, , i,
~ I
~_ I
~_ I
~_ I
~__ I ~I _ _ _ _ _ _ _ _ _ _
x
- - __ - - - - - - - - - - _______ - - - __ - - - - - _________ - _w _ _ _ _ _ _ _ ______ _ ___________ _
)( I I I I I
I I 1 I I
I I I I I
0 I
I
I
I
I
I
I
I
I
I
I I I I
"" ,,
I I I I I I I
ci - - - - -- - - -- - ~-- - - --- ----~----- - - -- -

I I
-i----------- ~---- ------- ~----- ------i----------- ~- ----------
I I I I
I I I 1 I
I I I I I
I I I I I
I I I I I
I I I I I
I I I I
, , I I I I
o;~--------~--------~'--------_+--------_t--------_1----------~'--------_t--------~
D
o· 150 30
INLETSWIRL
INLET SWIRLANGLf
A?J& F
Figure13.
Figure Directdamping
13. Direct dampingvs.
vs. inlet
inletswirl
swirlfor
forsix
sixdifferent
differentvalues
valuesofof spin.
spin.
m=O.166
m=0.166kg/so
kgls.
145
~.-------~--------~------~~------~--------~------~----------------~
,
,, ,
...... ___ L _________ i___ ... _____ L__________ i___________ L _________ i m EXPERIMENT
I , , , I I
~
I I I I I I
I I 1 I I
I I I I
w
" ,, ---THEORY
,
U
IX: ,,
,
o J I I I I I
u. -<i -- -- -- --[1-~----- ------~--- --------~--- ----- --- ~- ---------- ~-----------~-- --- ----- -,-- --- ---- --
en
en : [!]!
I I
:
I
!I
i
I
l
I
!
I
o I
I I!I:
I I
: :
I I
:
I
:
I
:
IX: I I I I I I I
U I I I I I I I
M --- - -- - - - -. ~-----------~--- ~ --- ----- ---~---- --- - --- ~----------- ~- - - -- - - ---- ~-- - -- - - - - --
I I I I I I
' ,':, I
I
I
:
I
: l
I
: :, I : :,
::
,
N -- -- - - - -- --1-------·---1-----------1-----------1-----------11!1--------1------ -.J. ------ ----
:I :I :I :I :I [!]:m
ILJ
I I I I
I I I I
"" ,
" ,,
___________ -II ___________ .JI ___________ ../I ___________ .J, ___________ .1I ___________ .1I __________ _
I I I I I I
I I I I I I
I I I I I
I I I I
I I I I
"" ,,
"
"
" ,,,
ci1----------r---------r'---------t'---------+--------~'--------~~--------~------~
·3000 -2250 -1.500 ·0.750 0000 0.750 1.500 2250 3 000
xl0··3
WHIRL (RPM)
Figure 14. Comparison of experimental data with theory. The inlet swirl
for this case is 30 degrees and the mass flow is 0.166 kg/So
146
N92-14356
EVALUATION
EVALUATION OF ROTORDYNAMIC
ROTORDYNAMIC COEFFICIENTS OF LOOK-THROUGH LABYRINTHS
LABYRINTHS
BY MEANS
MEANS OF A
A THREE VOLUME BULK FLOW MODEL
R. Nordmann
Nordmann and P. Weiser
Engineering
University
o f Kaiserslautern
Kaiserslautern, Federal Republic of o f Germany
Germany
To describe the
t h e compressible, turbulent flow in a labyrinth seal, a three t h r e e volume
bulk flow model is presented. The conservation equations for f o r mass, momentum
and energy are
a r e established in every control volume. A perturbation analysis is
performed, yielding zeroth
z e r o t h order equations for
f o r centric rotor
r o t o r position and firstfirst
order equations describing the flow field for f o r small rotor
r o t o r motions around the the
seal center. The equations are a r e integrated numerically. From perturbation pressure,
t h e forces
the forces on the
t h e shaft
s h a f t and thet h e dynami,?
dynamic coefficients are
a r e calculated.
NOMENCLATURE
Ft , F2 Forces on the t h e shaft

s h a f t in x,y direction
u1' u 2 shaft
s h a f t displacements
displacements
K, k cross-coupled stiffness
direct and cross-coupled
D, d cross-coupled damping
direct and cross-coupled
p pressure
u, v, w axial, radial and tangential velocity
T temperature
p density
z, r, cp axial, radial and tangential coordinate
t time
L length of labyrinth chamber
B depth of labyrinth chamber
R shaft
s h a f t radius
147
nominal clearance
seal fin thickness
t o t a l seal length
total
eccentricity ratio, perturbation parameter
s h a f t orbit
radius of circular shaft
seal clearance
rotational frequency of the t h e shaft
shaft
precession frequency of the t h e shaft
shaft
pressure before labyrinth
pressure behind labyrinth
swirl
g a s constant
perfect gas constant
specific heat ratio
t s h e a r stress
shear stress
factor
friction factor
Reynolds number
hydraulic diameter
Mach number
relative surface roughness
entrance loss l o s s factor
factor
l o s s factor
loss f a c t o r at
a t seal fin entrance
laminar viscosity
imaginary unit
SUBSCRIPTS
SUBSCRIPTS
o zeroth orderorder
1 f i r s t order
first
s stator
stator
r rotor
z axial
cp circumferential
f fluid-
fluid-
cu chamber, upper wall
chamber,
cs chamber, side wall
S Sine
C Cosine
e s e a l entrance
seal
reI relative
I,II,III f o r the
Indices for t h e different control volumes
148
INTR.ODUCTION
INTRODUCTION
turbomachinery
Labyrinth seals, commonly used in turbo machinery to t o reduce the leakage loss,
can have a strong influence on the dynamic behavior of a turbine or o r a compressor,
compressor,
especially for high performance machines. In some cases, the fluid forcesforces gene-
rated in labyrinths caused severe rotor instabilities. Therefore,
instabilities. Therefore, the design engi-
neer needs information concerning the possible influences thatt h a t a lahyrinth
labyrinth can
system.
have on the dynamics of a rotating system.
t h e seal forces
For mathematical modeling, the forces can be described in terms of stiffness
and damping parameters,
parameters, the so-called rotordynamic seal coefficients (see (see Eq.1)'
Eq.1).
These coefficients are input parameters for rotordynamic investigations and have
t o be determined by fluid mechanics methods. In contrast to
. to t o WEISER and
NORDMANN (1987,1988,1989),
(1987,1988,19891, where we used Finite-Differencing (FDM)
Finite-Differencing methods (FDM)
t o solve the conservation equations in conjunction with a turbulence model,
to
Florjancic developed a more conventional three volume bulk flow method which
takes advantage from FDM calculations and reduces the computational effort
1987, KLAUK has already developed a three volume model for
dramatically. In 1987,
labyrinths, which is extended in WEISER (1989),
the compressible flow in labyrinths, (1989). In
t h e energy equation and the
this approach, the t h e equation of state for a perfect gas
is used in addition tot o the previously existing model.
MATHEMATICAL MODEUNG
MATHEMATICAL MODELING
&tempts have been made for the calculation of labyrinth coefficients,

Many attempts
e.g. see the publications of KOSTYUK(197S),
KOSTYUK(197S), CHILDS(1984)
CHILDS(1984) or
o r WYSSMANN(984).
WYSSMANN(1984).
show, that
Flow visualization experiments show, t h a t for look-through
look-through labyrinths, the flow
field can be divided in two characteristic regions: a vortex flow in the seal
chamber and a jet
jet flow region beneath the groove.
t h e seal strip and the groove.
Therefore, the calculation domain is divided into three control volumes (CVL
Therefore, (CV).
two
see Fig.1: one in the seal chamber accounting for the vortex flow and two
volumes representing the jet fain. Fig.1
jet flow beneath chamber and seal fin. Fig.1 also gives
volumes.
an impression of the bulk velocities in the different. volumes.
149
Coordinate
Coordinate System
System 3-Volume-Model
,rdcp
u vv .........../
T-l! I1
L.: J'
...............•../ \', \ \ \.\"\\'\ ',\\.\'
Rotor
z
u
Control Volumes
Control Volumes ---
Oth
0 t h Order
Order Bulk
Bulk Velocities
Velocities
~..L--c r
r ,
I
--~
r
I----------~-
CVIII /;
---./ ,
cP';
,1/1: cu
./ ,B _-,...I..--B
'I .' 'I
(~:~ ·~7~ ==: === =i -T;-
;I'/cs~ rrc,s"
" If..:fcp , .. / rdcp
~----rfi---':~
dz
Fig. 1:1: 3-volume

Fig. 3-volume bulk
bulk flow
flow model
model
For mathematical
For mathematical description,
description, we
we use
use the
t h e momentum,
momentum, continuity
continuity and
and energy
energy
equation in
equation in every
every control
control volume.
volume. Paying
Paying attention
attention to
t o the
t h e following
following assumptions:
assumptions:
-- compressible
compressible medium medium (p const.)
(Q '## const.)
-- constant
c o n s t a n t laminar
laminar viscosity
viscosity t.tp
-- modelling
modelling of of turbulence
turbulence by by wall
wall shear
shear stresses
stresses
-- no
n o shear
shear stresses
s t r e s s e s within
within the
the fluid
fluid (exception:
(exception: jet
jet friction
friction shear
shear stress
stress
in the
in t h e contact
c o n t a c t region
region of C V III1 and
of CV and CV 111)
CV III)
-- no
n o radial
radial shear
shear stresses
stresses
-- first
f i r s t order
order radial
radial velocities
velocities only
only in CV III1 and
in CV I11
and III
150
weobtain
we obtain the
thefollowing
followingset
s e tof
o f equations
equationstot o describe
describe the
the turbulent,
turbulent, compressible
compressible
seal flow
seal flow (equations
(equations shown
shown here
here for
for teeth-on-stator
teeth-on-stator seal):
seal):
aU au ~ E!L}
- ~h - "sz "rz = ph { at + u az + r ocp
2
o = ...2..-{~h
at x-1
+ I"Ih(U
\"' 2
+ y2+ W2)}
2 2
+
...2..- { p u h ( ~ E. + u2 + y2 + W2)} +
oZ x-1 p 2 2 2
(2)
1 3 {p w h ( .2L..e. + uu2
_1_...2..-
-- 3cp { p w h ( x-1 p + 2
rr ocp
2 v2 ++ W2)} ++
+ y2
2 + 22 2
F~)]
z (w
"rep
rv
( w -- RRw)
o)
o= oat (p h) + o~ (p u h) +
_1...2..-(pwh)
r ocp
.L £Q.. h- " fep

r ocp -
"rep = \"' h {
1"1 ~Wt
V
+ u oW
oz + y ow
or + w OW}
r ocp
(3)
a { p (U 2 y2 W2) }
o = at x-1 h + P h 2" + "'2 + 2" +
2 2
az
a {
pu h
(X P u y2 w )}
x-1 P + 2" + '2 + 2" . +
w 2 2) }
r1 ocpa {
pwh
(X
x-1 PP + 2"
u y2
+ '2 + 2" +
-a { pvh (X P + u-2 + y2
--- - +w
2
- ) } +
or x-1 p 2 2 2
"rrep ( w - Ro)
r v (w-Rw)
151
151
o= :t (p h) + o~ (p u h) +
+ dOcp ( P w h) + d~ ( r pv h)
-£ItB+
OZ t fz - tcuz =0
_ L £It 2B OW
= pB { at + v ow + W dW}
r dcp L t csep- t cuep + t fep
--
or r dcp (4)
~ £r..}
r ocp
mentioned, the
As already mentioned, t h e modeling of flow turbulence is performed using semi-
s t r e s s formulations which is
empirical wall shear stress i s the
t h e usual way in bulk flow
analysis, see
s e e for
f o r example CHILDS(984),
CHILDS(19841, SCHARRER0987L
SCHARRER(1987). The fluid shear stress
stress
in the I1 and CV III
t h e contact region of CV II I11 is described in the
t h e same manner as as
WYSSMANN(1984)
WYSSMANN(1984) suggested. All A1 1 shear stress
s t r e s s components can be written
wsi t t e n in
form:
a generalized form:
T..
'J
= -21 Q Ai Vj Vrel
with Ai =n { 1 + [ C 1 k re1 + SRe J m

} (5)
D,Vre,
and
and Re =
Re = DHV reJ
!lIp
P/Q
Vrel
V t h e relative velocity,
reI is the velocity, Vj
Vi the component of the t h e resulting velocity vector
which isi s in the
t h e same direction iass thet h e shear stress
s t r e s s component to to bbee calculated.
Index i indicates the t h e appropiate shear stress
s t r e s s (s: stator-, r: rotor
(s: stator-, r o t o r etc.) and index
t h e direction (z:
j gives the axial, cp: tangential). With these definitions,
(z: axial, definitions, we obtain
t h e following relations:
the
152
c v I:
-
Rotor:
Rotor: Vrel = ( ( w 1 - R W ) +~ U:)O.~ Stator:
Stator: V rel == ((Wf
vreI W: U2I
+ u1
+
)°
2 )0.55 0
v cp = wI-
V,= Rw
wI - R o V cp = wI
V,= WI
vz= UI V z = UI
vz= UI
c v 11:
--
Rotor:
Rotor: Vrel = ( ( wI1- R oI2 + U F ~ ) ~ ' ~Stator:
Stator: V re1 == ( wf1
Vrel
2
Wfl ++ u:~)""
Un
)005
V cp = Wn
V z = Un
Jet: 're, = ( ( WII- WIII) + (uI1- u ' ~ )O"

~ ~ with
) ~ uiII = u I I ( 1 - fir)
Vz = Un - u'nl
(6)
cv -
- 111:
Jet: vreI
V reI =
= (
( (( w 1r W
WIC
2 + (
'
wnl ) ~ (~U IC
11- ~U
,)2
u nl' ) ~ )'.' ~
)005 ~ ) ~
V cp = W1C WIn
vz =
Vz
u~~ --
= Un u'nl
ui11
Chamber side
side wall:
wall:
V reI == (( WWIII 2 + .. 2
U nl 2
)005
)0.5 with uiII
U'in
, B
u' -
== Uni B
're1 nl + U'~II I1 L
V cp = WIn
Upper
Upper wall
wall in
in the
t h e seal
seal groove:
groove:
Vr reIe == ( WIn
(
Wrll
2 +
+ U
'
nl
~'111
22 )O.'5 )° 0
V cp = WIn
V z = U'III
153
The
Theparameters
parameters introduced
introduced inin the
t h e shear
s h e a r stress
s t r e s s formulations
formulations according
according to
t o MOODY
MOODY
(1944)
(1944) are
are
n=0.001375
m=0.33333
C 1=10 4
C 2 =10 6
For
For the
t h e fluid
fluid shear
s h e a r stress,
s t r e s s , m,
m, CC1 and C 2 are
1 and C2 are zero;
zero; nn isis set
s e t to
t o 3.762
3.762 (according
(according
to
t o WYSSMANN).
WYSSMANN). To To account
account for f o r the
t h e real
real flow
flow situation
situation in in the labyrinth, nn isi s
t h e labyrinth,
multiplied with
mUltiplied with the
t h e factor 6 , which
f a c t o r (3, which depends
depends on
o n geometry
geometry and
and performance
performance data.
data.
BOUNDARY CONDITIONS
BOUNDARY CONDITIONS
For the
For t h e solution
solution of
of the
t h e differential
differential equations,
equations, boundary
boundary conditions
conditions have
have to
t o be
be
specified. To
specified. To calculate
calculate thet h e pressure,
pressure, density
density and
and axial
axial velocity
velocity at
a t the
t h e seal
seal en-
en-
trance, we
trance, w e use
use the
t h e same
same relations
relations as
a s NELSON(1985),
NELSON(1989, calculating
calculating thet h e entrance
entrance
values depending
values depending on
on the
t h e Mach
Mach number:
number:
(7)
1;;e = V 5.3
19 (Re)
- 1
At the
At t h e entrance
entrance of of every
every seal seal fin,
fin, there
t h e r e occurs
occurs aa pressure
pressure dropd r o p due
d u e to the
to the
acceleration of
acceleration of the
t h e fluid.
fluid. Therefore,
Therefore, the equations 77 are
t h e equations a r e used
used in
in aa modified
modified form,
form
with aa constant
with c o n s t a n t loss
l o s s factor rI:
f a c t o r 1;;1:
154
x
= [ (x-1)('C1+1) M2J1-x
PI Pu 1 + 2 II
x
= [ (x-t) 2 [ (x-t)('CJ+1) M2J1-x
9I 9 II 1 + 2 MIl J 1 + 2 II (8)
T = Pu
II Rg 9 II
The B, !3Byv and 'TI

The model parameters 13, C are
I
are determined with the
t h e help of the
t h e Finite-
Finite-
Difference programs of NORDMANN
NORDMANN and WEISER(t987,1988,1989>'
WEISER(1987,1988,1989).
ANALYSIS
PERTURBATION ANALYSIS
PERTURBATION
In order to
t o determine
determine the
t h e seal
seal forces,
forces, we assume
assume that
t h a t the
t h e rotor
r o t o r performs only
small
small motions around the t h e seal
seal center.
center. Then we
we cancan describe
describe the t h e dependent
dependent
variables
variables with a
a perturbations series, truncated after the linear
series, truncated a f t e r t h e linear term:term:
p = Po + e P1
(9)
9 = 90 + e 91
As perturbation parameter,
As parameter, wewe choose
choose the
t h e relative eccentricity
eccentricity e,
e, which is
i s the
the
ratio of
ratio of the
t h e shaft
s h a f t eccentricity
eccentricity and
and the
t h e nominal clearance:
clearance:
r
e = ...:....0
C
(to)
r
t h e s e expressions
Inserting these expressions into i n t o the
t h e governing
governing equations,
equations, separating
separating terms
t e r m s without
ee and
and with 1
with eei yields
yields twot w o sets
s e t s of
of equations:
equations: the
t h e zeroth
zeroth order
order relations
relations describe
describe
t h e flow
the flow field
field for f o r aa centric
centric rotor
r o t o r position
position and
and thet h e first
first order
order terms
t e r m s stand
s t a n d for
for
the flow
the flow situation
situation at
a t small
small eccentric
eccentric shaft
s h a f t motion.
motion.
155
ELIMINATION OF
EUMINATION TEMPORALAND
OF TEMPORAL AND CIRCUMFERENTIAL
CIRCUMFERENTIAL DERIVATIVES
DERIVATIVES
While the
While t h e zeroth
zeroth order
o r d e r equations
equations depend depend only only ono n the
t h e axial
axial coordinate
coordinate z,z, thethe
f i r s t order
first o r d e r set contains also
set contains a l s o derivatives
derivatives with with respect
respect to t o time
time t,t , tangential
tangential and
and
radial coordinates.
radial coordinates. Assuming
Assuming that t h a t the
t h e shaft
s h a f t moves
moves on on aa small
small circular
circular orbit
orbit
(see Fig.
(see Fig. 2),2), the
t h e seal
seal clearance
clearance can can be b e written
written as as . '
hh == ho hl == CC, -- X(t)
ho ++ eehi cOSfj) -- Y(t)
X(t)coscp Y(t)sincp
sincp (11 )
(11)
r
./ / F' /
I
I
I .
. I
--. yet)
--- -~ro
-f~' -_ .. ---
-.----- -- i:k~~)--·-·-
x
. I
I .
Fig. 2:2: Circular

Fig. Circular shaft
s h a f t orbit
orbit
For the
For t h e dependent
dependent variables,
variables, we
we prescribe
prescribe aa corresponding
corresponding solution:
solution:
1 =
uul -- uUIC coscp + ul sincp
t coscp + u 1 sincp
pl == P1
P1
pl coscp
coscp ++ PI
pl sincp
sincp
c sS C
c S
s
v1
VI =-- Vivlc
c
coscp ++ vv l
cOSfj) 1s S
sisincp
nfj) Tl == Tl
Tl Tl coscp
C
coscp ++ Tl
c
T1 sincp
S
sincp
s
(12)
(12)
wl == Wi
Wi w, coscp
coscp + Wi
+wl sincp
sincp =
pl = PI coscp ++ P1
Q lccoscp Q sincp
sincp
c C S P1
s c sS
Now, the
Now, t h e circumferential
circumferential derivatives
derivatives cancan be
b e calculated
calculated analytically.
analytically. Separating
Separating
t h e equations
the equations with
with respect
respect to
t o sine
sine and
and cosine
cosine terms
t e r m s and
and introducing
introducing complex
complex
variables:
variables:
156
u1 = u 1c + i u1
s
P1 = P1 c + i P1
s
v1 = v tc + i vt
s
Tt = Tt c + iTt
s
(13)
~ = w1c + i w1
s
P1 = P1 c + i P1
s
f i r s t order equations.
we obtain a now complex system of first
w e assume a circular shaft

As already mentioned, we s h a f t orbit,
orbit, which gives for
f o r the
the
t h e clearance
time dependence of the
(14)
Again, similar expressions for

f o r the
t h e variables are established:
i0 t i0 t iOt
ut = '"u t e wi = '"w t e T1 = '"Tt e
(15)
iOt
v1 = '"v 1 ei 0 t
P1 = '"P1 ei 0 t
P1 = '"P1 e
Thereby, the
Thereby, t h e derivatives with respect to
t o time can b
bee expressed analytically. Fi-
Fi-
C V II
t h e radial derivatives in CV
nally, the I11 are
I1 and III a r e modeled with
'" ( PIIIO 'V II11 - PlIo 'V llt )

~=
or PlIO C r
(16)
~=
'"
-
( PIIIO ~llIt - PlIO 'V lIt )
or PIlI 0 B
After having performed these steps,

s t e p s , the
t h e first
f i r s t order equations do
d o only depend
s t a r t s with a numerical integration of zeroth order equations
on z. The solution starts
151
r e s p e c t to
with respect t o the
t h e boundary conditions. The first
f i r s t order solution using the
t h e per-
per-
turbed boundary conditions yields the
t h e pressure distribution in the
t h e seal for
f o r small
r o t o r motions. The forces
rotor forces are obtained by a pressure integration:
J2~ 4.
Fl = - f p coscp r dcp dz = r
rrr
-
o Cr f P1 c
dz
00 0
(17)
4.2~ 4.
F2 = - f f p sin cp r dcp dz = - r
rrr
-
o Cr f P1 s
dz
00 0
(K, k,
Because we have to determine 4 parameters (K, k, D, d),
d), the
t h e calculation of first
first
to be
order equations has to be done twice for two
for two different rotor
rotor precession fre-
fre-
(f2=0 and O=w).
quencies (0=0 t h e rotordynamic coefficients can b
Q=w). Then the bee calculated:
rrr
4.
K + Od =
Cr
f P1 c
dz
0
(18)
rrr
4-
-k+OD =
Cr
f P1 s dz
0
EXPERIMENTS AND OTHER BULK-FLOW-THEORIES

COMPARISON TO EXPERIMENTS BULK-FLOW-THEORIES
1. Example
1.
BENCKERT(1980) investigated experimentally a three chamber look-through

BENCKERT(1980) look-through laby-
laby-
rinth. Due to t o the
t h e design of his test
t e s t rig, he could only measure stiffnesses. The
d a t a of the
data t h e labyrinth areare
R 150 mm Ta: 300 K

Ta:
L 7.75 mm working fluid: air
B : 5.5 mm number of chambers : 33
S : 0.25 mm
C r : 0.5 mm No shaft
s h a f t rotation !
Pa: 1.425bar
Ph: 0.953bar
158
Fig.3 and
Fig.3 and 44 show
s h o w the
t h e comparison
comparison to
t o the
t h e experimental
experimental data
data for
f o r different
different pre
preswirl
swirl
conditions. While
conditions. While the t h e 3-volume
3-volume approach
approach predicts
predicts aa positive
positive direct
direct stiffness
stiffness
according to
according t o the
t h e measurements,
measurements, the t h e theory
theory of CHILDS(1984) gives
of CHILDS(1984) gives the
the opposite
opposite
sign for
sign K. The
f o r K. The agreement
agreement betweenbetween experiment
experiment and
and 3-volume
3-volume model
model isis good,
good,
especially showing
especially showing thatt h a t the
t h e model
model presented
presented isis capable
capable to
t o ensure
ensure sufficient
sufficient
accuracy in
accuracy in the
t h e calculation
calculation of
of dynamic
dynamic seal
seal parameters
parameters even
even for
f o r short
s h o r t labyrinth
labyrinth
seals where
seals where the
t h e approaches
approaches of
of CHILDS
CHILDS or
o r WYSSMANN
WYSSMANN have
have some
some problems.
problems.
Comparison of measurement,
Comparison of measurement, bulk
bulk theory
theory of
of CHILDS
CHILDS
-and
and 3-volume
3-volume model
model
100000.-------~--------~------_r------_,------__.
- -Experiments
Experiments
~ .. - . - . - . - ' -::-:: . r-. 0
CJ
BENCKERT
BENCKERT
K [N/m]
- - Theory of
- ..; Theory
+ of
0,-1-..--:_=----_+-_---_----+--------+----------+---------1 CHILDS
CHILDS
-.-:-:: 3-volume
~-------+--------+-----~-r~----~------~-;~3-volume
model
model
-1000001--------+--------+--------+------~------~
o0 toO
100 200
200
preswirl [rn/s]
preswirl [m/s]
Fig. 3:3: Direct

Fig. stiffness KK
Direct stiffness
Comparison of measurement,
Comparison of measurement, bulk
bulk theory
theory of
of CHILDS
CHILDS
and 3-volume
and 3-volume model
model
400000.--------.--------~------_r------_,------__.
400000
-Experiments
-Experiments
0
CJ BENCKERT
BENCKERT
kk [N/m]
CN/m] -_. _-t-
.0
-+ - Theory of
-+-Theory
- .-
CHILDS
CHILDS
of
-- .... -.- ;;--~-3-Volume

::-:: 3-Volume
~.
-~--.--
.....- --~. model
model
~~--'
O~~-----+--------+--------+-------+---------I
0
o0 100
100 200
200
preswirl [m/s]
preswirl [rn/s]
Fig. 4:
Fig. 4: Cross-coupled stiffness kk
Cross-coupled stiffness
159
2. Example
In a paper published 1986, 1986, WYSSMANN shows s h o w s a comparison of measured data data
for
f o r a 1S'-chamber
15.-chamber look-through
look-through labyrinth. The experiments were carried out o u t by
CHILDS<t984>'
CHILDS(1984). WYSSMANN compares the t h e measurements to t o his 2-volume
2-volume approach.
For a 16-strip
16-strip seal with fins
fins on
o n stator,
s t a t o r , the
t h e results
r e s u l t s of the
t h e experiments, of WYSS-
WYSS-
MANN and the t h e 3-volume
3-volume model are a r e shown in Fig. S 5 - 7. -
comparison of measurement,
Comparison measurement, bulk theory of WYSSMANN
-
and 3-volume
3-volume model
o,_--_r---.---.-_----r-~~~-,,---.---,----r---,
-+1-- - - - - - - 1-_ Experiments

Experiments
-
-CHILDS
CHILDS
Cl
0
__ Theory of
--Theory of
K [N/m]
+
t WYSSMANN
:::J
>< 3-volume
:=- . -I- . - . .-.--i~
model
-50000
-so o so
preswirl [m/s]
[m/s]
Fig. 5: Direct stiffness
Comparison of measurements, bulk theory of WYSSMANN

3-volume model
and 3-volume
100000
100000
- Experiments
-
.~ ~ Cl CHILDS
~
--.. ~ I=-
-
-+-' Theory of
+ of
[N/m]
kk [N/m] 0
0 ~ WYSSMANN
.-.-~
,;.-- -.-
-;.<-
:, 3-volume
: 3-volume
::- ~
- model
-100000
-so o so
preswirl [m/s]
[m/s]
Fig. 6: Cross-coupled
160
of measurement,
Comparison of measurement, bulk theory of WYSSMANN
and 3-volume
and 3-volume model
model
200 - measurement
-
0
CJ
measurement
CHILDS
CHILDS
...
D [Ns/m]
.....
- -- - -. - _. -i
b
f-::
-+-
-.;: theory of
theory of
WYSSMANN
WYSSMANN
100
-. -
x
;-c 3-volume
3-volume
model
model
o
-SO o0 SO
preswirl
preswirl [m/s]
[m/s]
Fig. 7:
Fig. 7: Direct
Direct damping
damping
In contrast
In c o n t r a s t to
t o the
t h e 2-volume
2-volume theory,
theory, the
t h e model
model presented
presented here
here predicts
predicts the
t h e direct
direct
s t i f f n e s s more
stiffness more accurate.
accurate.
CONCLUSION
CONCLUSION
A new
A new bulk
bulk flow
f l o w model
model has has been
been presented
presented forf o r the
t h e calculation
calculation of of the
t h e rotor-
rotor-
dynamic
dynamic sealseal parameters.
parameters. The The theory
theory usesuses aa three
three volume
volume approach,
approach,and and conser-
conser-
vation
vation equations
equations for f o r mass,
mass, momentum
momentum and and energy
energy are a r e set
s e t up
u p for
f o r every
every control
control
volume.
volume. A A perturbation
perturbation analysis analysis yields
yields zeroth
zeroth andand firstf i r s t order
order equations.
equations. The The
integration
integration of of first
f i r s t order
o r d e r pressure
pressure perturbation
perturbation results
r e s u l t s inin the
t h e desired
desired dynamic
dynamic
coefficients.
coefficients.
The
The comparison
comparison to t o experiments
experiments shows s h o w s good
good agreement;
agreement; compared compared to to other
o t h e r bulk
bulk
flow
flow models,
models, thet h e present
present theorytheory allows
allows aa much
much better
b e t t e r calculation
calculation of of the
t h e direct
direct
stiffness.
stiffness. This
This is i s mostly
mostly due due to
to the
t h e determination
determination of of thet h e model
model parameters
parameters with with
the
t h e help
help of
of the FDM programs,
t h e FDM programs, as a s aa comparison
comparison to t o anan earlier
earlier 3-volume
3-volume model model
of
of KLAUK, which w a s developed in 1987 and did n o t have t h e benefit of using
KLAUK, which was developed in 1987 and did not have the benefit of using
FDM results, shows.
FDM results, shows.
161
REFERENCES
REFERENCES
BENCKERT, H.:
"Stromungsbedingte Federkennwerte in Labyrinthdichtungen"
Dissertation TU
T U Stuttgart,
S t u t t g a r t , 1980
1980
CHILDS, D. W., SCHARRER, J. K.:

"An Iwatsubo Solution for
f o r Labyrinth Seals Comparison of
Experimental Results"
NASA 2338, May 1984
1984
CHILDS, D.W.; SCHARRER, J.K.:J.K.:

f o r Teeth-on-Rotor-
"Experimental Rotordynamic Coefficients Results for Teeth-on-Rotor-
and Teeth-on-Stator
Teeth-on-Stator Labyrinth Gas Seals"
NASA CP
C P 2443, 1986,
1986, p.259-276
p.259-276
FLORJANCIC, S.:
FLORJANCIC,
"Annular Seals of High Energy Centrifugal Pumps"
Dissertation,
Dissertation, Swiss Federal Institute of Zurich, 1990
1990
KLAUK, E.:
"Berechnung der
d e r rotordynamischen Koeffizienten von mit kompressiblen
Medien durchstromten Labyrinthdichtungen unter Anwendung von
Mehr- Volumen- Modellen"
Mehr-Volumen-Modellen"
Diplomarbeit, University of Kaiserslautern, 1987;
Diplomarbeit, 1987; AG Machine Dynamics
KOSTYUK, A. G.:
"Circulation Forces over the
"Circulation t h e Shrouding and their Influence on
o n the
the
Threshold Capacity of Large Turbine Units"
197.5, Vo1.22,No.3, p. 41-46
Teploenergetika, 1975, 41-46
MOODY, L. F.:
f o r Pipe Flow"
"Friction Factors for
Trans. ASME 66 (November 1944),1944), p. 671-684
671-,684
NELSON, C. C.:
f o r Compressible Flow in Tapered Annular
"Rotordynamic Coefficients for
Seals"
107, July 1985
Journal of Tribology, Vol 107, 1985
162
DIETZEN. F. J.,
NORDMANN, R., DIETZEN. WEISER, H. P.:
j., WEISER,
"Calculation of Rotordynamic Coefficients and Leakage for Annular
Gas Seals by Means of Finite-Difference
Finite-Difference Techniques"
llth Biennial Conference on Mechanical Vibration and Noise,
11th
27-30
Boston, 27-30 1987
Sept. 1987
NORDMANN, WEISER, H.P.:

NORDMANN, R., WEISER,
"Rotordynamic Coefficients for Labyrinth Seals Calculated by
Means of a Finite-Difference
Finite-Difference Technique"
NASA, CP 3026,
3026, 1988
1988
SCHARRER, J. K.:
SCHARRER, K.:
"Theory versus Experiment for f o r the Rotordynamic Coefficients
of Labyrinth Gas Seals: Part I -- A Two Control Volume Model"
l l t h Biennial Conference on Mechanical Vibrations and Noise,
The 11th
Sept. 1987
Boston, 27-30 Sept. 1987
WEISER, H. P., NORDMANN, R.:

WEISER,
"Calculation of Rotordynamic Labyrinth Seal Coefficients by Means
Finite-Difference Method"
of a Threedimensional Finite-Difference
Accepted for presentation for: 12th Biennial Conference on
Mechanical Vibration and Noise, Montreal, Sept. 1989
1989
WEISER, H. P.:
"Ein Beitrag zur Berechnung der dynamischen Koeffizienten von
Labyrinthdichtungssystemen bei turbulenter Durchstromung mit
kompressiblen Medien"
Thesis, University of Kaiserslautern 1989
Ph. D. Thesis, 1989
WYSSMANN, H. R., PHAM, T. C., JENNY, R. J.:

WYSSMANN,
"Prediction of Stiffness and Damping Coefficients for
Centrifugal Compressor Labyrinth Seals"
ASME Journal of Engineering for Gas Turbines and Power,
1984, B. 106,
Oct. 1984, 106, p. 920-926
920-,926
WYSSMANN, H.R.:
WYSSMANN,
"Theory and Measurement of Labyrinth Gas Seal Coefficients for Rotor
Stability of Turbocompressors"
NASA CP 2443, 1986,
1986, p.237-258
163
TEST
TEST RESULTS
RESULTS FOR
FOR ROTORDYNAMIC
ROTORDYNAMIC COEFFICIENTS
COEFFICIENTS OF
OF THE
THE SSME
SSME HPOTP
HPOTP TURBINE
TURBINE
INTERSTAGE
INTERSTAGE SEAL
SEAL WITH
WITH TWO
TWO SWIRL
SWIRL BRAKES*
Dara
Dara W.
W . Chi Ids, Erian
Childs, E r i a n Baskharone,
Baskharone, and
and Christopher
Christopher Ramsey
Ramsey
Turbomachinery
Laboratory
Mechanical
Engineering Department
Texas
University
College
College Station,
S t a t i o n , Texas 77843-3123, U.S.A.
Texas 77843-3123,
Test results
Test results are
are presented for
for the
the HPOTP
HPOTP Turbine
Turbine Interstage Seal
Seal with both
the current
the current and
and an aerodynamically-designed, swirl
an alternate, aerodynamically-designed, swirl brake. Tests
Tests were
were
conducted atat speeds
speeds out
out to
to 16,000
16,000 rpm,
rpm, supply
supply pressures
pressures upup to
to 18.3
18.3 bars, and
and the
the
following three
following three inlet-tangential-velocity conditions:
conditions: (a)
(a) no
no preswirl,
preswirl, (b) intermediate
(b) intermediate
preswirl in
preswirl in the
the direction of rotation,
rotation, and
and (c) in the
(c) high preswirl in the direction
direction of rotation.
The back pressure can
The can be controlled
controlled independently and and was
was varied
varied to
to yield the
the
following four
following four pressure ratios: 004,
0.4, 0045,
0.45, 0.56,
0.56, and
and 0.67.
The central
The central and
and simplest
simplest conclusion
conclusion to
to be obtained
obtained from
from the
the test series
series is
is
the alternate
that the alternate swirl
swirl brake consistently outperforms
outperforms the
the current swirl
swirl brake
brake in
in
terms of stability
terms stability performance.
performance. The The alternate
alternate swirl-brake's whirl-frequency
whirl-frequency ratio
ratio
was generally
was generally about
about one
one half or less
less than corresponding
corresponding values
values for
for the
the current design.
design.
In many cases,
cases, the alternate
alternate design
design yielded negative whirl-frequency-ratio
whirl-frequency-ratio values in
values in
comparison to
comparison to positive values
values for
for the current design.
design. The
The alternate
alternate design
design can be
directly substituted
directly substituted into
into the space
space currently occupied
occupied by the current design.
design. There
There
is
is no change
change in leakage
leakage performance.
*The work reported

r e p o r t e d herein
h e r e i n was supported
supported by by NASA
NASA Lewis
Lewis Research
Research Center under
contract
c o n t r a c t NAG3-l8l;
NAG3-181; contract
c o n t r a c t technical
t e c h n i c a l monitor:
m o n i t o r : Robert Hendricks.
165 PRECEDlNG PAGE BLANK NOT FllMED

PRECEDING PAGE BLANK NOT FILMED
NOMENCLATURE
A Rotor shake amplitude (L) (L)

c,c
C,e
- Direct and cross-coupled damping coefficients (FT (FTIL)/ L)
C Normalized direct damping coefficient (T) (T)
Cr Radial clearance; illustrated in figure 1, (L)
figure 1, (L)
D
D (L)
Rotor diameter (L)
K,k
-K, -k Direct and cross-coupled stiffness coefficients (F
stiffness coefficients / L)
(FIL)
K,k
K ,k Nondimensional
Nondimensional direct and cross-coupled stiffness
((dimensionless)
dimensionless)
ff == k/Cw frequency ratio (dimensionless)
Whirl frequency (dimensionless)
L (L)
Axial seal length (L)
P
P Seal pressure (bar)
(bar)
Pra Pressure ratio == discharge pressure/supply
pressure/supply pressure
Rs Seal radius (L)
(L)
V Seal inlet tangential velocity (LIT)
Seal (LIT)
x,
X,Y y Rotor to stator relative displacement components
m
rh Seal mass flow rate (MIT)
Seal (M/T)
ueo == U
'[£00 oo // Rsw Nondimensional
UOo Nondimensional inlet tangential velocity
ueo
Uoo Inlet tangential velocity (LIT)
(LIT)
w Shaft angular velocity (liT)
(1/T)
Subscripts
b
b Sump Value
rr Reservoir value, radial component
t Tangential component
x,
X,Y
y Rectangular coordinate directions
direct ions
INTRODUCTION
INTRODUCTION
Background and Motivation

One of the early steps in eliminating subsynchronous vibration problems in the
Space
Space Shuttle
$huttle Main Engine(SSME)
Engine(SSME) High Pressure Oxygen Turbopump(HPOTP)
Turbopump(HP0TP)
involved redesign of the turbine interstage (Scharrer , 1989)
interst age seal. The redesign (Scharrer, 1989) con-
sisted of the following
following sequential steps: (a)
(a) replace the original, stepped, tooth-on-
rotor labyrinth with a smooth-rotor Ihoneycomb-stator
smooth-rotor/honeycomb-st ator design, and (b)
(b) introduce a
swirlbrake upstream of the honeycomb seal. The initial redesign markedly reduced,
but did not eliminate, the subsynchronous whirl; however,
however, the addition of the swirl
brake completely eliminated the sub synchronous motion over the full,
subsynchronous full, steady-state,
range of the unit.
166
AAside
sideview
viewofof the
thecurrent
current seal
sealwith
with itsitsinstalled
installed s,wirlbrake
swirlbrakeisisillustrated
illustratedin infigure
figure
1.A
1. A detailed
detailed view
view ofof this
this swirl
swirl brake
brake isis provided
provided inin figure
figure2.
2. AA proposed
proposed alternative
alternative
design isis illustrated
design illustrated inin figure
figure 3. The current
3. The current design
design uses
uses radial
radial slots
slots to
to reduce the
reduce the
tangential velocity of the flow approaching the seal, the alternate
tangential velocity of the How approaching the seal, the alternate design uses aa design uses
standard aerodynamic
standard aerodynamic design design based
based on on the
the approach
approach velocity
velocity vector
vector toto smoothly
smoothly
eliminate the tangential velocity component. The alternate
eliminate the tangential velocity component. The alternate design turning vanes design turning vanes
have aa constant
have constant thickness
thickness and and their
their entrance
entrance sections
sections are
are not
not rounded.
rounded. TheThe second
second
author of
author of this
this paper
paper developed
developed the the basic
basic design
design of
of figure
figure3.
3.
IIPOTPturbin41
1.1.IIPOTP twbinaIntcrsb,IeuaI(relaUve
Inlentaga meal(relat1vaaeal
mealdhnenaions:
dilncnsionsue: nottolo.ca.lf).
arenol male).
-1 1~59
2.54-1 H
2.54
[L ..J.~
1-
L
r~lI5'O'
0.97 f-
0.97 _ 146.94
=TION
SECTION A-A
A-A
2.2. Current
Current.will-brake
awirl-brakeddcaign.
..lgn.
167
167
To appreciate
To appreciate the design
design constraints onon these
these swirl
swirl brakes, observe
observe in figure
figure 11
leakage flow
that the leakage flow approaches
approaches the sealseal with aa predominantly radial inflow
inflow direc-
direc-
velocity. The
tion with very little axial velocity. The swirl
swirl brake reduces
reduces the tangential velocity
velocity or
leakage flow
"swirl" of the leakage flow before it enters
enters the seal
seal to
to reduce
reduce the seal's rotordynamic
destabilizing forces.
destabilizing forces. The
The slots
slots in the swirl
swirl brakes
brakes are
are specifically
specifically provided for
for this
this
effectiveness of the swirl
purpose. The effectiveness swirl brake isis maximized by minimizing the axialaxial
distance between the swirl
distance swirl brake and the adjacent turbine wheel. Unfortunately,
excursions permitted by the HPOTP
the large axial excursions HPOTP balance piston at startup
startup and
force the axial spacing
shutdown force spacing to higher than desirable
desirable values. The alternate
alternate de-
sign of figure
sign figure 33 maintains the same(minimum)
same(minimum) axial clearance throughout its its radial
expanse.
expanse.
-] t- 6.32
2.54-] t-I
~ 0.97
~ 149.99
i,,".
J=:j I-
SECTION A-A
1.40
NOTES8
NOTES, ~ 177.55
<D
@) AT POINT @ , VANE rACE
A1 POlN1 <D , FACE TO
BE TANGENT
BE TANGENT 10TO A RADIAL LINE.
RADIAL LINE.
o
Q AT POINT
VANE rACE
a
POINT ~ TANGENT TO
T O BE
FACE TO BE 31' mOM
FROM
A RADIAL
RADIAL LINE
LlNE AS SHOIJN
SHOWN
OJ
(p BETIJEEN POINT @ AND @
BETWEEN PDlNT <D~
VANE rACE
FACE SHOULD
SHOULD HAVE A
RADIUS
CONSTANT RADIUS
3. Alt.emal.e #wid-brake desiln.

Alternate Iwitl·brue deai'n
Figure 4 illustrates the basic honeycomb-stator design. As illustrated, the

honeycomb uses a 1.40mm (O.055in)
(0.055in) cell width and 3.81mm (O.150in)
(0.150in) cell depth.
The swirl brakes are attached by screws to this piece. The seal section illustrated
Rocketdynej the two swirl brakes were manufactured
in figure 4 was provided by Rocketdyne;
by local machine shops.
motion/reaction-force model
For small motion about a centered position, the motion/reaction-force
for an annular seal is
- {~~ } = [~ ~] { ~ } + [Cc ~] { i} (1)
168
1- 1.055 In --J
1
~i~~Oln
HONEYCOMB.
VIDTH -- 0.055 In
DEPTH -- 0.150 In
0.995 In
=r5.758 In
5.758
DIA .
DIA.
5.920
DIA
In
4.
.f.. 6e.I .1 .. toc dimensions.
Seal atator dimenaiolUl.
where X,Y are components of the rotor displacement vector relative to the hous-
Rx ,Ry are components of the reaction vector acting on the rotor. Test
ing, and Rx,Ry
results were obtained for the rotordynamic coefficients (K, k, C) and leakage for
the HPOTP turbine interstage seal with the current and alternate swirl brakes. In
terms of equation(l),
equation(l), swirl brakes are provided to minimize the cross-coupled stiff-
ness coefficient k. The original published results for swirl brakes were by Benchert
and Wachter(1980).
Wachter (1980).
Test Apparatus Modifications

Modifications
The basic configuration of the test apparatus has been discussed in several
earlier publications (Childs et al., 1986,
1986, Childs and Scharrer, 1988,
1988, etc.).
etc.) However, .
since these publications, the apparatus and facility
facility have been modified by adding a
new compressor
compressor with a consequent increase in supply pressure from 7.1 to 18 18 bars.
bars.
increase in supply pressure yields an increase in the transient forces
This increase forces which
the rig measures. With the original compressor,
compressor, the full
full supply pressure had to
be dropped to atmosphere across
across the seal to achieve
achieve reasonable force
force amplitudes.
The new compressor introduced the possibility of independently varying the back
pressure (and hence pressure ratio and density)
density) of the seal for
for a range of inlet
pressures. Figure 5 illustrates the modifications
modifications which permit pressure-ratio control.
A labyrinth back-pressure seal has been inserted downstream of the test seal. Two
ports have been introduced between the test seal and the back-pressure
back-pressure seal
seal for
for
either injecting or venting air flow.
flow.
Figure 55 also modification to the inlet flow
also illustrates a modification field of the seal. In the
flow field
previous
previous apparatus,
apparatus, swirl
swirl vanes
vanes to prerotate the fluid
fluid were positioned immediately
immediately
upstream of the seal
seal inlet. The guide
guide vane designs
designs of Childs
Childs et al.(1986)
a1.(1986) were
were
used here. The suggestion
suggestion was made that introducing an axial spacing between t~~_
axial spacing the
- --
169
PROXIHITI PRODE
BACK PRESSURE
!JACK
SEAL
SEAL
EnCK PRESSURE
AIR INLET
5.6.Back.
Backprenun andInlet
preasuraand inletmodification
modilicatlons.
•.
preswirl vanes
preswirl vanes and
and the
the seal
seal could
could reduce
reduce "jetting"
"jettingn of
of flow
flow from
from the
the vanes
vanes into
into thethe
test seal.
test seal. While
While the
the new
new arrangement
arrangement permits
permits direct
direct access
access for
for measurement
measurement of of the
the
inlet velocity
inlet velocity direction
direction with
with aa pitot-head
pitot-head probe,
probe, the
the velocity
velocity head
head isis too
too low
low forfor
accurate measurement.
accurate measurement.
Figure illustrates the
the apparatus
apparatus modification
modification whichwhich was
was developed
developed to to sim-
sim-
ulate the
ulate the radial
radial approach
approach velocity
velocity that
that occurs
occurs in HPOTP. As
the HPOTP.
in the As illustrated,
illustrated, the the
preswirled flow
preswirled flow approaches
approaches thethe rotor
rotor axially,
axially, proceeds
proceeds radially
radially outwards
outwards at at the
the end
end
of the
of the rotor,
rotor, andand then
then radially
radially inwards
inwardsbetween
between thethe swirl
swirl brake
brake and
and the
the rotor.
rotor. With With
this design,
this design,the the tangential
tangentialvelocity
velocityofof the
the flow
flow leaving
leavingthethe inlet
inlet guide
guidevanes
vanes isisknown,
known,
but the
but the tangential
tangential velocity
velocity ofof the
the flow
flow actually
actually entering
entering thethe swirl
swirl brakes
brakes and and the
the
seal itself
seal itself isis not.
not. The
The inlet
inlet preswirl
preswirl arrangement
arrangement illustrated
illustrated inin figure
figure 66 isis less
less than
than
ideal, but
ideal, but thethe constraints
constraints involved
involved inin fitting
fitting the
the swirl
swirl brake
brake designs
designs into
into an an existing
existing
apparatus precluded
apparatus precluded the
the development
development of of aa more
more representative
representative geometry.
geometry. Observe
Observe
in figure
in the axial-clearance
figure 66 the axial-clearance differences
differences forfor the
the two
two swirl
swirl brake
brake designs.
designs.
0.044 IN,
1 CUNSTANT
CLEARANCE
---jk
0.044 IN.
0,044 IN.
---It-
MINIMUM
MINIMUM
CLEARANCE
CLEARANCE
ROCKET DYNE SWIRL

RCICI<ETDYNE SWIRL BRAKE
BRAICE TAMU
TAMU SWIRL
SWIRL BRAKE
BRAICE
6.6. HPOTP
HPOTP turbine-interstage-aeal
turbine-interstage-seal teat
teat configuration.
configuration.
170
-
Test Procedure and Parameter - Identification Changes
Changes
In addition to the above-cited changes
changes in hardware, changes
changes have been intro-
parameter-identification methods. In prior tests, three
duced in the excitation and parameter-identification
different excitation frequencies
frequencies were used with rotor dynamic coefficients
rotordynamic coefficients calculated
at each frequency.
frequency. Theoretically, the rotordynamic coefficients
coefficients should be inde-
pendent of excitation frequency,
frequency, and the results at different excitation frequencies
frequencies
should be the same. For some seals, seals, generally those with low magnitude rotordy-
namic coefficients, rotordynamic coefficients showed frequency
frequency dependency, while
coefficients were, as predicted, independent of frequency.
for others the coefficients frequency.
For the present test cases, a fast swept-sine
swept-sine wave excitation was used with the
frequency
frequency increasing
increasing from 3535 to 75 Hz. Bolleter et al.(1985)
75 Hz. a1.(1985) used this approach
earlier for impeller tests. The excitation amplitude is around .090mm with each
sweep lasting approximately one second. Swept-sine-wave excitation is repeatedly
periods of zero-excitation of approximately 2
applied to the rotor with intervening Periods
to 3 seconds. The no-excitation interval is inserted to allow the vibration which
has been applied to the rotor to decay and to complete computer calculations. The
excitation is initiated based on a phasor hole on the shaft. Hence, Hence, within rea-
son,
son, each swept-sine-wave
swept-sine-wave excitation input and response should be identical, and
by averaging
averaging the time histories of the input and response over many tests, spuri-
ous or random excitation should be reduced or eliminated. Ewins(1986)
Ewins(1986) provides a
thorough discussion of swept-sine-wave
discussion swept-sine-wave excitation for modal identification in con-
ventional structural-dynamics.
To appreciate the application of swept-sine-wave excitation to the current
modal identification problem, consider the following
following statement of the equations
of motion for the seal housing.
FRx,
FRX, FRY
FRY are the measured reaction forces
forces acting on_
on theM
the stator housing. The ac-
celeration components of the housing are denoted by Xs, Y zs,
pss and are also
also measured.
The test apparatus only permits motion in the X direction,
direction, hence the model be-
comes
{ FRX - Ms ~s } = {Fx } = { K } X +{ C }k (3)

FRY - MsYs Fy -k -c
X(t) is also measured and can be considered the input to the
The displacement X(t)
model. An analog circuit is used to generate Fxx Mszs
FRX -- MsXs and FRY -- MsTs MsYs
from
from measured reaction-force and acceleration components. The swept-sine-wave
excitation yields time-averaged histories kx (ti),ky (ti), a ( t i ) ; ti =
Fx(td,Fy(ti),X(ti)i ... over 35
= 1,2, ... 35
swept-sine-wave excitation inputs. The Fourier transform version of Eq. (3) (3) is
is
171
{ F:x}
Fy
= {K Z}X
+ i?W} x = { -z
-k-Jcw
(4)
Px,Fy ,,2
where the "hat" denotes Fourier-transformed variables. The variables Fx, fi'
X are
of the time-averaged histories @'(ti),
obtained by calculating the FFT ofthe Fx (ti), fiy
Fy (ti)' Z(tj).
( t i ) ,X( ti)'
(4) are defined from the Fourier variables by
The impedance functions of Eq. (4)
Z = Fx/X, z = -Fy/X,
d e h e d by
and the rotordynamic coefficients are accordingly defined
K = Re(Z) , C = Im(Z)/w (5.a)
k = Re(z) , c = Im(z)/w (S.b)

Example plots are shown in figures
figures 7 through 9. Only frequency
frequency data from
40 to 70 Hz are used from these transfer functions in calculating rotordynamic
frequency) of ~Ree (F
average (over frequency)
coefficients. The average ( &x //gX) Re
) and ~ e ((- . Fy
& / g/ )X) define K
slopes of Im(Fx/X)
average slopes
and k. The average 12)and ~rn(-$y
Im(-Fy/X) /k) define C and c. Note
figures 7 through 9 that there is a significant
in figures significant deviation about the average and
slopes; however, no systematic error is apparent. By a least-squares curve fit,
slopes; fit, figures
figures
7 through 9 yield the following
following coefficients.
K = S,46 X 105 N/m, C = 194.0Nscc/m
k = 2.S0 X 104N/m
The standard deviation for these variables is
UK = 4.10 X 103 N/m, ua = 8.7SNsec/m
Uk = 5.2SN/m
No results are presented for the cross-coupled stiffness coefficient
coefficient c, because the
relative uncertainty of this parameter is too high.
A review of figures
figures 7 through 9 shows
shows that calculation of rotor dynamic co-
rotordynamic
efficients at three arbitrary frequencies
frequencies could yield different and quite misleading
misleading
results. The swept-sine-wave approach eliminates random errors involved in the
calculations and provides a basis for examination of any systematic errors due to
changes
changes in excitation frequency.
frequency.
172
FROM S1002C7.221
DATA FROM
DATA FROM S1002C7.221
DATA FROM 51 002C7.221
o0
-
-1000
1000 x
........
x
X lL. -400
>-2000
S-2000
~
\
LL
lL.
..J
-I
a -3000
i:5
lx
~
-3000 - ~
~
-600
;;§
-BOO
-4000
-4000
-5000.:h,-r
-5000 ,rr,.rr,.,,..,,,'rr20rr,
. ,,..,,
. . . ,rr,
. .,,..,, , ,.,.,
, ,,..,,
. r "'",-n,'rr'
,rrm , ......
' ,..,-r,
~ r.'5·~80
-,m ~
r rIr lm lr I, r ~ -1000 "~lrrrii'
~ ~ ~ "
i ,. Ii"I i . '"i ' i'~I Ii '
j. ii'j'~
' ~ " " r -
20 40
40 60 80 o 20
20 40
40 60
50 80
80
FREQUENCY (Hz)
(Hz) FREQUENCY (Hz)
(Hz)
T. Re(tx/i) - K 8. Im(Fx/X) - Cw
DATA fROM
OATA FROM S1002C7.221
51002C7.221
2503
2.50
200
X
:?150
..J
i:5 100
~
50
o~ - - - - - - - - 2~.,.,-~r-r"""i'I"i
0 40 60 80
20 40 60 80
FREQUENCY (Hz)
Introduction
facility used for this study were developed
The test apparatus and facility developed as part of an
extended, joint, NASA-USAF funded research program for annular gas seal studies.
The test fluid is air. As noted in the proceeding section, the test apparatus provides
an excitation about the centered position and has been thoroughly discussed in
earlier publications.
Test Variables
Variables
When shaking about the centered position, the following
following four independent vari-
ables can be controlled: supply pressure, pressure ratio, rotor speed, and inlet cir-
cumferential velocity. The pressure ratio used here is discharge
discharge pressure divided
by supply pressure; hence Pra = difference, and Pra ~ 0
= 11 implies no pressure difference,
implies an infinite supply pressure. Test points for these independent variables are
shown in table 1. symbols of table 11 is helpful and necessary to
1. Reference to the symbols
understand the figures
figures which follow.
follow.
173
The reservoir
The reservoir pressures, as flowmeter, are
as measured upstream of the flowmeter, are given
given in
table 1. These values
1. These values differ
differ (slightly)
(slightly) from
from the actual
actual inlet pressure because
because of
frictional losses
frictional losses and acceleration of the fluid
fluid due
due to inlet guide
guide vanes.
vanes. Tests
Tests are
are
zero pressure difference,
not run at zero difference, since
since aa small
small pressure difference is necessary to
difference is to
keep the rotor from
keep from shifting
shifting axially and rubbing the inlet-guide-vane assembly. No
since rotor rotation is
zero-rotor-speed tests were run, since is necessary to prevent daIIlage
damage
shaking.
to the thrust bearing during shaking.
Table 1.
Table Definition of symbols
1. Definition symbols used
used in figures.
figures.
Supply
supply Pressure
Pressure Rotor
Rotor Inlet Circumferential
Circumferential
Pressures
Pressures Ratios
Ratios Speeds
Speeds Velocities
Velocities
-
11 - '7.9
7.9 bar 1
1-- .50
.50 1 - 5000
1- 5000 cpm o0 - Zero tangential
2 -- 13.1
13.1 bar 2-- .42 12000 cpm
2 - 12000 velocity
3 -- 18.3
18.3 bar 3 -- .35
.35 33 -- 16000
16000 cpm 11 -- Intermediate velocity
4 -- .30
.30 with rotation
2 -- High velocity with
rotation
There were three test points forfor inlet circumferential velocity:

velocity: one zero pre-
rotation and two prerotated in the direction of shaft rotation. The zero-prerotation
different magnitudes of posi-
case is obtained with straightening vanes. The two different
tive inlet circumferential velocity correspond to different inlet-guide-vane geometry
depths. The calculated inlet tangential velocity tends to decrease
decrease with rotor speed,
since the rotor grows with increased speed and reduces the leakage. The ratio of
inlet circumferential velocity to rotor surface velocity ranges from zero to about O.B.
0.8.
Measurement of leakage
leakage flowrates
flowrates showed no differences
differences between the two swirl-
brake designs.
Whirl-Frequency Ratio Definition

Whirl-Frequency
w,, the resultant
of amplitude A and precessional-frequency w
For a circular orbit of
forces developed by the seal model of equation (1)
radial and tangential forces (1) are
-Fr/A = K +cw
Ft!A=k-Cw (6)
From a stability standpoint, the destabilizing tangential force Ft is of
force Ft of most interest.
stiffness k is destabilizing because it "drives" the forward
A positive cross-coupled stiffness
174
orbital motion of the rotor. Positive direct damping C and a negative cross-coupled
stiffness are stabilizing because they oppose the orbital motion.
A convenient measure of seal stability is the whirl frequency
frequency ratio, which is a
nondimensionalized ratio of cross-coupled stiffness to direct damping forces
nondimensionalized forces with a
circular orbit.
k
whirl -- frequency
frequency ratio = = --
= ff = (7)
Cw
Cw
Relative Uncertainty
dynamic coefficients can be determined using the
The uncertainty in the dynamic
method described by Holman(1978).
Holman(1978). The uncertainty in the force,
force, excitation fre-
fre-
quency, and displacement measurements are 0.55 N (0.1251b),
quency, (0.125 lb), 0.065 Hz, and 0.0013
(0.05 mils), respectively. Before normalization, the nominal calculated uncer-
mm (0.05
tainty in the stiffness coefficients is 6.7 N/mm (38 lb/in) and 0.014 N-s/mm
N/mm (38 N-s/mm (0.082
lbs/in) for the damping coefficients. The predicted uncertainties are generally
lb-s/in) generally sat-
isfactory in comparison to nominal values for K, k, and C. C.
The principal source of uncertainty in the resultant force
force measurement is the
acceleration measurement for the stator, not the piezo-electric force
force transducer
"normaln accelerometers
measurements. The "normal" accelerometers used in the tester have a resolution
of 5 x 10- 3 g's. Although more sensitive accelerometers
accelerometers are available,
available, they can
not generally be used when testing honeycomb seals, because high-frequency ac-
"spikesn are frequently seen with these seals,
celerometer "spikes" seals, presumably because of a
Helmholtz-acoustic
Helmholtz-acoustic excitation.
Test Results
Figure 10 K for the current(Rocketdyne)
10 illustrates K current (Rocketdyne) swirl brake design versus
inlet tangential velocity for three supply pressures and four pressure ratios. Gen-
speaking, K
erally speaking, K increases
increases with increasing running speed, supply pressure, and
pressure ratio. Although not illustrated, comparable results are obtained with the
alternate(TAMU) swirl brake design. The increase in K
alternate(TAMU) K with increasing
increasing running
speed arises due to a reduction in clearance. When K K is nondimensionalized,
nondimensionalized, re-
moving the influence of clearance changes,
changes, no speed influence
influence is present.
Figure 11
11 illustrates k for the current and.
and. alternate swirl brake designs. Ob-
serve that the alternate swirl-brake design consistently yields much lower values for
coefficient. In some cases, the alternate design actually yields negative values
this coefficient.
for
for versus positive values for the current design. Negative k values would oppose
k
forward whirl of the turbopump.
Figure 12
12 illustrates C for the current swirl brake. C is observed to decrease
decrease
slightly with increasing
increasing running speed. Although not illustrated, comparable damp-
damp
ing results were obtained for the alternate swirl brake design.
175
IDOG
IlFIh .... IEOoo ..... ITO
'000 11000 11000
10.
r~ul.An05'
.00 I. ,n 2_ .,.
000
fU!ISUJIC aIono!
I • • 17 :2 • •~. '" " • • 411 . . . . .0
'~ gg;r~~~'-~'~'~';~
l • ." " • .AO
.1 .,:
TOO
100
-.
-..
.oo ...1,..,......-,.-,-,--,-.,....,,,-,-.,-........,..., ..1,....,.....,......-,.-,..,..-, -Tl-'r-"-,...,-'-"-rT-"-,....,-'-...,....,...,...., ..a,,-,.-,-,....,-r~
ITO
...
1000
I ••
'00
• 00 10.
TOO
.O·l·--:::::::i±:======::;--< :: f ;;;#4.~?:::-:::-:X~;::'.
&oo-~tt.,
-.. ~"--
...
400
.00
.
...1,-,-.,-,...,..,.....,.-.,.-,-,--,-,.-,,-,-, ..1.,........,......-,,-,--,
- .. %1,
-7' -'r'-rT-,-,.--,rr-r,...,-,-.,....,,..,.-, ..1,-,.-.-,....,,-,.~
1000
• 00
......
17.
• 00
700 ~
800 _ - --------.
.oo~ =,.
.oo~
.00
0,0 0.2 0.4 0.1 0.1 1.0 1.2 1.4 0.0 0.2 0.4 0.8 0.0 0.2 0 .• M ~ u u u u U U M ~ U U M U U
INLET CIRCUMFERENTIAL VELOCITY RATIO (-) INLET CIRCUMFERENTIAL VELOCITY

V E L O C I N RATIO (-)
RATIO (-)
10. Direct .turness K Cor

stiffnem K lor the
thc current
current IwicJ..brake
SWLI-brdcdesign.
dcsi~n. Crosn-couplcd-atilTncsrk ror
11. Croes-<oupled-IIUffness for the current
current and
m d alternaLe
alternate Iwirl-brake
mwirl-brake designs.
.000 uooo 11000 aooo 12000 .1000

'.T '.7
0.' rlll:S5UJll IUno!
0.' fllE!SUlI1 MYlOS ...... ::~
... I • . 111 • . 51 0.81-."2-.51 .... : ......... .
~r:~
;'''.41'' • • <10
0.'
0.'
0.'
•.,
0.'
0.1
0.0
0.' -0.1
•• 1 -0.2
•.• -I,--,-,....,-,-..-,....,.-'-"-rT-"-"--'-' ..lr-r-,--T'"l-'-'-'

'.T •• 7
0 ••
0.'
... 0.'
0.' .. '
•.. ::: --;-::~~:::~::::::::::"
...
... ~~~~,
•• 1
-:'.:
-0.1 v=--- ==~§:=:===='!"
-0.' -'T...,....,-,..,...,......-~,.....~~,....,.~ -'r'T",,-,-....--r-.
•• T 0.7
u
0.' •..
0.'
... 0.'
... 0.'
... 0.'
1 8 , ,I, , ,
0.1
... -0.1
0.0
•. 1 , , , , , -0.1
•.• -I,--,-,-,-,-...,....,....,.-,-,.-ro-,.-,.--,-, ..1r-r...,-,-,-,-..,....,
0.0 -0.::1
0.0 0.2 0.4 0.8 0.8 1.0 1.2 1.4 0.0 0.2 0 1 0.8 0.0 0.2 0.4 0.2 0.4 o.e 0.0 0.1 0.4
INLET CIRCUMFERENTIAL
INLET CIRCUMFERENTIAL VELOCITY RATIO (-)
VELOCITY RATIO (-) INLET CIRCUhlFERENTlAL
INLET CIRCUMFERENTIAL VVELOCITY RATIO (-)
E L O C I N RATIO (-)
12. Direct
12. Direct damping
damping C ror the
C lor current swirl-brake
the current Iwlrl-brake dmign.
design. 13.
13. Whirl-frequency ratio fI lor
Whirl-rrequency ratio ror the
the current
current m d alternate
and .wirl-bru.e dmiglu.
alternate swirCbrrLe desilU.·
176 ORIGiNAL PAGE IS

Of POOR QUA-UlY
Figure 12
Figure 12 illustrates C for
illustrates C for the
the current
current swirl
swirl brake.
brake. CC is
is observed
observed to
to decrease
decrease
slightly with
slightly with increasing
increasing running
running speed.
speed. Although
Although not
not illustrated,
illustrated, comparable
comparable damp-
damp
ing results
ing results were
were obtained
obtained for
for the
the alternate
alternate swirl
swirl brake
brake design.
design.
Figure 13
illustrates the
the whirl-frequency ratio ff for
whirl-frequency ratio for the
the current
current and
and alternate
alternate
swirl-brakedesigns
swirl-brake designs demonstrating
demonstrating thethe improved
improvedrotordynamic-stability
rotordynamic-stability performance
performance
of the
of the alternate
alternate design. In all
design. In all cases,
cases, the
the alternate
alternate design
design yields
yields lower
lower values for f.
values for f . In
In
many cases,
many cases, the
the alternate
alternate design
design yields
yields negative
negative values for ff versus
values for versus positive
positive values
values
for the
for the current
current design.
design.
As noted
As noted in in the
the introduction,
introduction, thethe present
present teststests include
include thethe pressure
pressure ratio as aa
ratio as
parameter for
parameter for the
the first
first time.
time. Field
Field experiences
experiences have have demonstrated
demonstrated that that centrifugal
centrifugal
compressors using
compressors using teeth-on-stator
teeth-on-stator labyrinth
labyrinth seals
seals become
become lessless stable
stable as
as the
the average
average
density isis increased,
density increased, KirkKirk and Donald(1983). One
and Donald(1983). One of of the
the influences
influences ofof aa change
change inin
pressure ratio
pressure ratio with
with aa fixed
fixed supply
supply pressure
pressure isis aa density
density variation
variation of of the
the fluid
fluid within
within
the seal.
the seal. Specifically,
Specifically, as as the
the pressure
pressure ratio increased, the
ratio isis increased, the density
density increases
increases while
while
AP decreases.
l::..P decreases. From
From figure
figure 13,
13, at
at the
the lowest
lowest speed
speed andand supply
supply pressure,
pressure, stability
stability
is improved
is improved by by increasing
increasing the the pressure
pressure ratio(
ratio(and average density)
and average density) and
and decreasing
decreasing
AP. However,
l::..P. However, at at the
the highest
highest supply
supply pressure,
pressure, stability
stability isis improved
improved by by decreasing
decreasing
the
the pressure
pressure ratio,
ratio, i.e.,
i.e., decreasing
decreasing density
density while increasing l::..P.
while increasing AP. The
The high
high supply-
supply-
pressure results
pressure results are
are consistent
consistent with
with Kirk
Kirk and
and Donald's
Donald's experience
experience withwith centrifugal
centrifugal
compressors.
compressors.
SUMMARY
SUMMARY AND
AND CONCLUSIONS
CONCLUSIONS
Test
Test results
results are
are presented
presented for
for the
the rotor dynamic coefficients
rotordynamic coefficients of
of the
the HPOTP
HPOTP tur-
tur-
bine interstage
bine interstage seal
seal with
with the
the current
current swirl
swirl brake
brake and an alternate
and an alternate design
design swirl
swirl brake.
brake.
The
The two
two swirl-brake
swirl-brake designs
designs yield
yield identical
identical leakage
leakage performance
performance andand comparable
comparable re-
re-
sults for direct stiffness and damping; however, the alternate design has much
sults for direct itiffness and damping; however, the alternate design has much better better
stability
stability performance
performance over
over all
all operating
conditions.
Test
Test results·
results since Benchert and
since Benchert and Wachter(1980)
Wachter(l980) demonstrate
demonstrate that
that almost
almost any
any
swirl
swirl brake
brake will
will improve
improve rotordynamic
rotordynamic stability
stability by
by reducing
reducing the
the inlet
inlet tangential
tangential ve-
ve-
locity and consequently reducing the cross-coupled stiffness coefficient.
locity and consequently reducing the cross-coupled stiffness coefficient. However, However,
the
the stability
stability improvement
improvement accruing
accruing to to an
an aerodynamic
aerodynamic design
design isis clearly
clearly demon-
demon-
strated
strated to to be
be substantial
substantial by
by the
the present
present test
test results.
results. Given
Given the
the critical
critical nature
nature of
of
these
these devices
devices forfor rotordynamic
rotor dynamic stability
stability of
of many
many machines,
machines, aa thorough
thorough aerodynamic
aerodynamic
design isis clearly
design clearly in
in order.
order.
177
REFERENCES
Benchert, H., and Wachter, J.(1980), "Flow Induced Spring Coefficients of
Seals for
Labyrinth Seals Rotordynamics ," NASA CP2133,
for Application in Rotordynamics," CP2133, Proceed-
ings of the workshop: Rotordynamic Instability Problems in High Performance
Turbomachinery, held at Texas A&M University, 12-14
Turbomachinery, 12-14 May 1980,
1980, pp. 189-212.
189-212.
BoUeter, I., and R. Sturchler, (1985),
Bolleter, U., Wyss, A., Welte, 1., (1985), "Measurement of
Hydrodynamic Matrices of Boiler Feed Pump Impellers," ASME Journal 0/ of
Vibrations, Stress and Reliability in Design, Vol. 109,
Vibrations, 109, pp. 144-151.
Childs, D. W., and Scharrer,
Childs, Scharrer, J.(1988), "Theory Versus Experiment for the
Rotordynamic Coefficients of Labyrinth Gas Seals: Part II I1 -- A Comparison to
Experiment ," ASME Journal 0/
Experiment," of Vibration,
Vibration, Acoustics, Stress, and Reliability in
Design, Vol. 110,
110, No.
No.3,3, July 1988,
1988, pp. 281-287.
Childs, D. W., Nelson, C. E., Nicks, C., Scharrer,
Scharrer, J., Elrod, D., and Hale,
K.(1986), "Theory Versus Experiment for the Rotordynamic Coefficients of
K.(1986),
Seals: Part I-Test
Annular Gas Seals: Apparatusn,ASME Transaction
1-Test Facility and Apparatus" Transaction
Journal 0/
of Tribology,
Tribology, Vol. 108,
108, pp. 426-432.
Testing: Theory and Practice," Research Studies
Ewins, D. J.(1986), "Modal Testing:
Press Ltd.
Kirk, R. G., and Donald, G. N.(1983),
N.(1983), "Design Criteria for Improved Stability
Dvnamical Instability,
of Centrifugal Compressors," Rotor Dynamical Instabilitv, ASME presented
at The Applied Mechanics,
Mechanics, Bioengineering and Fluids Engineering Conference,
Texas, 20-22 June 1983.
Houston, Texas, 1983.
J. P.(1978)
Holman, J. P.(1978),, Experimental
Experimental Methods for Engineers, McGraw Hill, 1978,
1978,
pp.45.
pp. 45. *
Scharrer,
Scharrer, J.(1989), discussion
discussion of the paper, "Annular Honeycomb
Honeycomb Seals: Test
Leakage and Rotordynamic Coefficients;
Results for Leakage Coefficients; Comparisons to Labyrinth
al., ASME Journal 0/
and Smooth Configurations," by D. Childs et aI., of Tribology,
12).ibology,
pp. 793-301.
793-301.
178
N92-14358
SEAL-ROTORDYNAMIC-COEFFICIENT
SEAL-ROTORDYNAMIC-COEFFICIENT TEST RESULTS
RESULTS FOR A
A MODEL SSME ATD-HPFTP
ATD-HPFTP
TURBINE INTERSTAGE SEAL WITH AND WITHOUT A
A SWIRL BRAKE*
Dara W.
W . Chi Ids and Christopher Ramsey
Childs
Mechanical Engineering Department
Col lege Station,
College Station, Texas 77843-3123, U.S.A.
Test results are presented and compared to theory for a model Space Shuttle
Engine(SSME) Alternate Turbopump Development(ATD)
Main Engine(SSME) Development(ATD) High-Pressure Fuel
Turbopump (HPFTP)
(HPFTP) with and without swirl brakes. Tests are conducted with sup- sup
ply pressures out to 18.3 bars and speeds out to 16,000
16,000 rpm. Seal
Seal back pressure is
controlled to provide four pressure ratios at all supply pressures. Three inlet guide
following three fluid prerotation cases:
vanes are used to provide the following cases: (a)
(a) no prerota-
(b) moderate prerotation in the direction of rotation, and (c)
tion, (b) (c) high prerotation
in the direction of rotation. Test results demonstrate the pronounced favorablefavorable
influence of the swirl brake in reducing the seal destabilizing forces. Without the
swirl brake, the cross-coupled stiffness k increases
increases monotonically with increasing
increasing
inlet tangential velocity. With the swirl brake, k tends to either be constant or
decrease
decrease with increasing inlet tangential velocity. Direct damping either increases
or remains relatively constant when the swirl brake is introduced. Direct stiffness
stiffness
is relatively unchanged. No measurable differences
differences in leakage
leakage were detected for the
seal with and without the swirl brake.
Comparisons between Scharrer's(1988)
Scharrer's(l988) theory and measurements for the seal
without a swirl brake indicate that the predictions can be used to provide design
guideline.s
guide1ine.s only. Specific predictions
Specific predict ions for rotor dynamic coefficients should be treated
cautiously, since systematic differences
differences were observed between theory and experi-
ment due to changes in running speed, supply pressure, and pressure ratio.
*The work reported herein was supported by NASA Lewis Research Center under
contract NAG3-181;
NAG3-18l; contract technical monitor: Robert Hendricks.
179
NOMENCLATURE
NOMENCLATURE
c,c
C,e Direct and cross-coupled damping coefficients (FT ( F T//L)
L)
K,k
-,
K Direct and cross-coupled stiffness coefficients (F / L)
(F/L)
K,k
K ,k Nondimensional direct and cross-coupled stiffness
((dimensionless)
dimensionless)
ff =
= k/Cw Whirl frequency ratio (dimensionless)
frequency (dimensionless)
L
L Axial seal length (L)
(L)
Pra
PTa Pressure ratio == discharge
discharge pressure/supply
pressure/supply pressure
Rs Seal-tip radius (L)
(L)
x,
X,Y y Rotor to stator relative displacement components
Uoo
ueo = Ueoo// Rsw Nondimensional
= Uo Nondimensional inlet tangential velocity
ueoo
Uo Inlet tangential velocity (L/T)
(LIT)
w Shaft angular velocity (l/T)
(1/T)
INTRODUCTION
INTRODUCTION
Background and Motivation

For small motion about a centered position, the motion/reaction-force
motion/reaction-force model
for an annular gas seal is
(1)
Y are components of the rotor displacement vector relative to the housing,
where X, Yare
Fx ,Fy
and Fx, Fy are components of the reaction vector acting on the rotor. Further, K, K,
k, C, e,
c, are denoted as the direct stiffness,
stiffness, cross-coupled stiffness,
stiffness, direct damping,
and cross-coupled damping coefficients, If one assumes
coefficients, respectively. If assumes a circular orbit
of the seal at amplitude A and precessional
precessional frequency w, the radial and tangential
force coefficients can be stated
force
-Fr/A = K +cw Fo/A=k-Cw (2)

Hence, KK and c act in the radial direction and would be expected to predominantly
influence rotor critical speeds, and k and c act in the tangential direction and
would be expected to predominantly influence rotor stability. For a typical gas
K and c have a negligible influence on rotordynamicsj
labyrinth seal, K rotordynamics; however,
significantly degrade stability, while C can significantly
k can significantly significantly improve
improve stability.
The cross-coupled stiffness
stiffness coefficient k arises
arises due to fluid
fluid rotation within the seal,
and Wachter and Benchert(1980)
Benchert(l980) demonstrated that a "swirl brake" consisting of
radial ribs upstream of the seal, which reduce the inlet tangential velocity,
velocity, could
substantially reduce or eliminate k.
180
C-3
Pratt and Whitney(P&W) is in the process of developing
developing an Alternate Tur-
bopump Development(ATD)
Development (ATD) version of the SSME
SSME high pressure Turbopumps. The
guidelines for their design requires direct interchangeability with the current Rock-
guidelines
emphasizes reliability, reusability, and reduced manufactur-
etdyne turbopumps and emphasizes
designs;
ing and maintenance costs. The units are nominally similar to the current designs;
e.g., the ATD-HPFTP uses a three stage fuel fuel pump driven by a two-stage tur-
bine. However,
However, various details related to rotordynamics are quite different. For
example, the ATD-HPFTP has a high pressure drop across
example, across the turbine interstage
seal; whereas, the current HPFTP does
seal; whereas, does not. Because of the high-pressure drop,
the rotordynamic coefficients increase sharply, and rotordynamics analysis
analysis of the
ATD-HPFTP indicated a strong sensitivity of rotordynamic stability to the turbine
interstage seal. Further analysis strongly suggested that a swirl brake be provided
to reduce or eliminate the destabilizing forces
forces developed by this seal.
The present test program compares predictions(Scharrer, 1988)
1988) and measure-
ments for a model version of the seal, with and without a swirl brake, to establish
a degree of confidence in seal calculations for the ATD turbopumps. Results are
presented to answer the following
following questions:
quest ions:
(a)
(a) How effective
effective is the swirl brake in improving the stability characteristics of the
seal, and
(b)
(b) How good is Scharrer's theory in predicting rotordynamic
rotor dynamic coefficients?
coefficients?
Test Hardware
Hardware
above, tests were undertaken for a model ATD-HPFTP turbine
As noted above,
interstage seal which differs in the following
following details from the actual seal design:
design:
(a) The radius is smaller. The model seal has a labyrinth tip diameter of about
(a)
14.3cm dimensions of about 20.2cm.
14.3cm versus the actual dimensions 20.2cm. This change was required
by constraints of the test apparatus.
(b)
(b) The test seal has twelve cavities versus five
five for the turbopump seal.
seal. This change
was required to increase the measured force levels
force levels in the test apparatus, since
the pressure drop across
across the seal is much lower in the test apparatus than the
turbopump.
(c) Test clearances between the labyrinth teeth and the honeycomb stator.
(c) stator coincide
coincide
with cold, nonrotating, conditions but are looser than hot operation conditions
cdnditions
for the turbopump.
The model seal is otherwise identical with the ATD design using the same nominal
axial clearance between the first labyrinth tooth and the swirl brakes, the same
swirl-vane, tooth, and honeycomb-stator geometries.
geometries.
181
Figure 11illustrates the model seal dimensions,
dimensions, and figure
figure 2 illustrates the swirl
brake geometry. There are 145 145 individual vanes with a pitch between vanes of
3.12mm at their base radius of 7.42cm. Each vane is 2.1mm
2.lmm deep. The directions
of the air approaching and leaving the swirl vanes in figure
figure 2 are not necessarily
necessarily
representative of the performance of either the model or the turbopump swirl brake.
They are provided to illustrate the intended function of the vanes in eliminating
the tangential
tangential velocity entering the seal.
r
LqOs
3.56 MM
0.51 MJ
HM CLEARANCE
0.31 MM
0.31
HONEYCOMB INSERT
SWIRLBRAKE
ATTACHMENT 7
-
EXIT _ _I
EXIT
VELOCITY
VELOClTY
I
! 0.51 R TW.
TYP.
2.1 MM
I
6.10 nm \
APPROACH
APPROACH
VELOCITY
VELOCITY
ROTOR
7.16 eM
cn
t
1
2. Swirl
6wLI vane
v l n a geometry.
geometry.
Model lui
1. Model dimemiom.
seal dimeo.aiolli.
Test Apparatus
The basic configuration of the test apparatus has been discussed in several several
earlier publications(Chi1ds al., 1986,
publications (Childs et aI., 1986, Childs and Scharrer, 1988,
1988, etc.). Childs
a1.(1990) have recently provided a discussion
et al.(1990) discussion of modifications
modifications of the apparatus
involving: (a)
and facility involving: (a) the addition of a new compressor which increases
increases the
available supply pressure from 7.1 to 18 bars, (b)
18 bars, (b) modification of the inlet preswirl
(c) introduction of a swept-sine-wave
arrangements, and (c) swept-sine-wave excitation approach. With
full supply pressure was discharged
the original compressor, the full discharged across
across the test seal
forces which were large enough to measure. With the
to obtain seal-amplitude forces
elevated supply pressure, the back pressure can be varied independently from the
supply pressure and still yield measurable force
force amplitudes. Hence, the pressure
across the seal has been introduced as an independent parameter, and shorter
ratio across
seals can now be tested.
The basic apparatus is unchanged. The rotating seal is shaken horizontally
force components on the stator,
by a hydraulic shaker, the reaction force stator, due to relative
seal motion, are measured and then corrected to account for stator acceleration,
and the relative motion between the seal and stator are measured. From these
coefficients are calculated.
measurements, the seal rotordynamic coefficients
182
Scharrer 's Theory(1988)
Scharrer's Theory(1988)
Scharrer uses a two-control-volume model to represent the known velocity dis-
figure 3. The velocity field
tribution of a labyrinth seal illustrated in figure field involves
involves
leakage region next to the rotor and a vortex flow.
a through-flow leakage flow field in the
labyrinth cavity. Scharrer's two-control-volume model has one control volume from
the labyrinth tip to the stator and the second control volume in the labyrinth cavity.
free jet
A free jet is assumed to exist between the two control volumes. The model for the
involves the following
seal involves following equations:
(a) an empirical leakage
(a) leakage equation,
(b) circumferential-momentum equations for both control volumes, and
(b)
(c) continuity equations for the two control volumes.
(c)
The circumferential momentum equation for flow flow in the cavity includes
includes the shear
stresses at the solid boundary and a jet
jet shear stress between the vortex flow and
flow. Hirs(1973)
the through flow. Hirs(d973) turbulence model is used to define
define the sheer stresses
between solid boundaries and the fluid.
fluid.
?//#///////////////////////////////////,-
3. Labyrinth-seal flow field.

Bow field.
Comparisons between Scharrer's theory and test results have been presented
Comparisons
previously by Childs
Childs and Scharrer(1988)
Scharrer (1988) for teeth-on-stator(smooth-rotor)
teet h-on-stator (smooth-rotor) and
teeth-on-rotor (smooth-stator) seals and by Hawkins and Childs(1988)
teeth-on-rotor Childs(1988) for teeth-
on-rotor seals with honeycomb stators. These results were for 5.08 em cm long seals
with the original 7.1 bar supply pressures at three clearances and showed generally
generally
reasonable agreement between theory and experiments.
htroduction
Introduction
facility used for this study were developed as part of an
The test apparatus and facility
joint NASA-USAF funded research program for annular gas seal studies.
extended, joint
183
fluid is
The test fluid is air. As noted in the preceding section, the test apparatus
apparatus provides
provides
an excitation about the centered position and has been thoroughly discussed
discussed in
earlier publications.
Test Variables
Test Variables
When shaking
shaking about the centered position, the dynamic-seal apparatus is is capa-
controlling the following
ble of controlling following four variables: supply pressure, pressure
four independent variables:
ratio, rotor speed, and inlet circumferential velocity. The
speed, and· The pressure
pressure ratio used here
is
is discharge
discharge pressure divided
divided by supply
supply pressure;
pressure; hence Pra == 11implies
hence PTa implies no
no pressure
pressure
difference, and PTa
difference, Pra :::::
Z 00 implies
implies an
an infinite
infinite supply pressure. Test points for for these
independent variables are shown
variables are shown in table Reference
1. Reference
1. to the symbols
symbols of table 1 is
is
helpful and necessary
helpful necessary to understand the figures
figures which follow.
follow.
The reservoir
reservoir pressures, as
as measured upstream of the flowmeter,
flowmeter, are
are given in
table 1.
1. These
These values
values differ
differ (slightly)
(slightly) from
from the actual inlet pressure because
because of
frictional losses
frictional losses and acceleration of the fluid
fluid due
due to
to inlet guide
guide vanes.
vanes. Tests are
are
not run at zero
zero pressure difference,
difference, since
since aa small
small pressure difference
difference is
is necessary to
keep
keep the rotor from
from shifting axially
axially and rubbing the inlet-guide-vane assembly.
assembly. No
zero-rotor-speed tests were
tests were run, since
since rotor rotation is
is necessary to prevent damage
damage
to the thrust bearing during
during shaking.
shaking.
Table 1.
Table Definition of symbols
1. Definition symbols used in figures.
used in figures.
Supply
S ~ P P ~ Y Pressure
Pressure Rotor
Rotor Inlet Circumferential
Inlet Circumferential
Pressures
Pressures Ratios
Ratios Speeds
Speeds Velocities
Velocities
-
1 7.9 bar
1- -
11- .50 1 - 5000
1- 5000 cpm
cpm o0 - Zero
Zero tangential
-
22 - 13.1 bas
13.1 bar -
22 - .42
-42 - 12000 cpm
22 - 12000 velocity
33 -- 18.3
18.3 bar 33 -- .35
25 33 -- 16000
16000 cpm -
11- Intermediate velocity
velocity
-
44 - .30
.30 with rotation
- velocity with
2 - High velocity
rotation
There
There were
were three
three test points for for inlet circumferential velocity:
velocity: one
one zero
zero pre-
rotation and
and two
two prerotated
prerot ated in
in the
the direction of shaft
shaft rotation.
rotation. The
The zero-prerotation
case
case is
is obtained
obtained with straightening vanes. The two
vanes. The two different
different magnitudes of posi-
tive velocity correspond to
tive inlet circumferential velocity to different
different inlet-guide-vane
inlet-guide-vane geometry
geometry
depths. The
depths. The calculated
calculated inlet
inlet tangential
tangential velocity
velocity tends
tends to
to decrease
decrease with rotor speed,
speed,
because the
the rotor grows
grows with increased
increased speed and
and reduces the leakage. The ratio
reduces the leakage. The ratio
of
of inlet
inlet circumferential velocity to
circumferential velocity to rotor
rotor surface
surface velocity
velocity ranges
ranges from
from zero
zero to
to about
about
0.8.
0.8.
Measurement
Measurement of
of leakage
leakage flowrates
flowrates showed
showed no
no differences
differences with
with and
and without
without the
the
swirl brake.
swirl brake.
184
Relative Uncertainty
Uncertainty
The uncertainty in
The in the
the dynamic
dynamic coefficients
coefficients cancan bebe determined
determined using
using the
the
method described
described by Holman(1978).
Holman(1978). The The uncertainty
uncertainty in in the
the force,
force, excitation
excitation fre-
fre-
quency,
quency, and
and displacement
displacement measurements
measurements are are 0.55
0.55 NN (0.1251b), 0.065 Hz,
(0.125 1b),0.065 Hz, and
and 0.0013
0.0013
nun
rnm (0.05
(0.05 mils),
mils), respectively.
respectively. Before
Before normalization,
normalization, the the nominal
nominal calculated
calculated uncer-
tainty in the stiffness coefficients is 6.7
tainty in the stiffness coefficients is 6.7 N/nun (38 lb/in) and 0.014 N-s/mm (0.082
N / m (38 lb/in) and 0.014 (0.082
lb-s/in) for
lb-s/in) for the
the damping
damping coefficients.
coefficients. TheThe predicted uncertainties
uncertainties areare generally
generally
satisfactory
satisfactory in
in comparison
comparison to t o nominal
nominal values
values for K and
for K and k.k. They
They are
are generally
generally un-
satisfactory
satisfactory for
for cc and
and are
are only
only satisfactory
satisfactory for C at
for C at the
the highest
highest supply
supply pressure.
pressure.
Hence,
Hence, data
data are for K
are presented for K and
and kk at
at all
all test
test conditions,
conditions, for C at
for C at the
the highest
highest
supply pressure, and
supply pressure, and are
are not presented for for c.
c.
The
The principal source
source of uncertainty in the resultant force
in the force measurement is is the
the
measurement for
. acceleration measurement for the
the stator,
stator, not thethe piezo-electric force
force transducer
measurements.
measurements. TheThe accelerometers
accelerometers used forfor these
these tests have aa resolution of 55 xx 10- 3
tests have
accelerometers are
g's. Although more sensitive accelerometers are available,
available, they can
can not generally
generally be
used
used when
when testing honeycomb
honeycomb seals,
seals, because high-frequency
high-frequency accelerometer
accelerometer "spikes"
"spikesn
are
are frequently
frequently seen
seen with these
these seals,
seals, presumably because
because of aa Helmholtz-acoustic
Helmholtz-acoustic
excitation of the
the honeycomb
honeycomb cavities.
cavities.
Test
Test Results
illustrates experimental and and theoretical values for K
values for K versus uoo for
versus Uoo for
three
three speeds,
speeds, three
three supply
supply pressures, and and four
four pressure ratios. The The experimental
experimental
results
results presented are for no
are for no swirl
swirl brake;
brake; however,
however, very similar results
results were
were obtained
obtained
with the
the swirl
swirl brake. Solid
Solid lines
lines denote
denote test
test results;
results; dashed
dashed lines
lines denote
denote theoretical
predictions. The
The theory doesdoes an
an adequate predicting K
adequate job of predicting K atat low
low speeds;
speeds; how-
ever, as the
ever, as increases, K
the speed increases, K isis progressively
progressively under predicted. The The test results
results
are
are much more sensitive
sensitive to
to changes
changes in the
the pressure ratio
ratio than the
the theory.
theory. Moreover,
Moreover,
the theory predicts that K
the K increases
increases asas Pra decreases,
decreases, while tests
tests show
show an
an opposite
trend. The changes in K
The changes K due
due toto changes
changes in speed areare primarily duedue to
to changes
changes
in clearances. eliminates the
clearances. Nondimensionalization, which eliminates the influence
influence of clearance,
clearance,
eliminates the
eliminates the apparent speed dependency.
dependency.
illustrates kk versus
Figure 55 illustrates uoo for
versus Uoo for the
the seal
seal with and without swirl
swirl brakes. For
the
the seal
seal without the
the swirl
swirl brake, Uoo
tie0 is
is the
the actual(calculated)
actual(calcu1ated) normalized
normalized tangential
tangential
velocity entering the
velocity the seal.
seal. With the
the swirl
swirl brake, Uoo
ueo is
is the
the normalized tangential
velocity entering the
velocity the swirl
swirl brake. Obviously,
Obviously, the
the swirl
swirl brake sharply reduces k.
sharpIy reduces k . At
low speeds, k's rate of increase with increasing Uoo
low speeds, uoo is
is decreased.
decreased. At higher speeds,
speeds,
k actually decreases
decreases as increases.
uoo increases.
as Uoo
Figure 66 compares
compares theory versus
versus experiment for kk for
experiment for for the
the seal
seal without the
the
swirlbrake. The
The theory does an
does an adequate job at low speeds
low speeds and low
low pressures
but does
does poorly as
as the
the supply
supply pressure and speed increase.
increase. Generally
Generally speaking,
185
...... ... y, 6000 11000 leooo
.•..•• .. w, oaoo 11000 101Xl0
'00 I'QSS\JU RATto'

nos
I ••n 2 ••441
"0 ••• PQ::!!lU'" ...
J •••
~ •.n .... I ••• 0 Z •• n
.
3 .. ~. 4"..$CI
.oo
...•••
e
lO. ,..---'---1
,~ 1 '00
.. ~a ~
!1 >--<--<
.. -
I
I~-t , • • :::: ~
!1 "0
.."
I--
.: 10 •
~'--··"""····Ir§ ~~ .: -.- ---""0

-I
"." 1 0
1y
-'0
-00 -'0
-00
e"-
-100
-JOO -100
-100
-100
"-
.,.•••
.00
e ••• "-,/" '"
I/)
'" ~ ~
~;
'00
Ia ••• 3D.
~ ~
; , .... >.......-----« 150
~ !l ...
.00
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'.0
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>- : I I ::=t
~"""""·t·····-----~ ,-.
'00
t; .: g; '0'
~ :::'\
.. ..
'0 f;=!t!!!!f
~
0
.:
-• f!:1! ~~I u
'" -00
!:l
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-
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-100
-100 0
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U
101, '00
000 •••
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; IO.
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t~~::: :/
-00
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-100
•
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-
-JOO
-60
-100
MUM M M U U MUM MUM - -100
... -',-...,...-rr-,.-,-,-...,...-rr-,.-,-" J,-,-,-...,.....,., -'r-....-,-,-,
0.0 0.I 0.1 0.8 0.1 1.0 1.1 PO 01 0.4 0.0 0.1 0.4
INLET
INLETCIRCUMFERENTIAL
CIRCUMFERENTIALVELOCITY
VELOCITYRATIO
RATIO (-)
(-)
INLET CIRCUMFERENTIAL
INLET CIRCUMFERENTIALVELOCITY
VELOCITYRATIO (-)
RATIO (-)
....4. KKVeuUJ
varaluu'o
up0for
lorthetha.eal
sealwithout
withoutthe
theIIwlrl
mwlrlbrale,
brake,(or
lorthree
threeIpeeru.,
apeeda, 6.6.Itkver8U8
verauaUeo
uaoror
lorthe
theIleal
sealwith
withand
andwithout
withoutIIwlrl
awirlbra.kea
brakesror
lortmee
t h r w'peedl,
speed.,
threslupply
three @upply p r a s u r m ,and
prelSUrel, lourpreaeure
and(our prmnura,.UOI.
ratiw.Solid
Solidlinel dcnota
r i adenote threalupply
thret!J *upplypreasures,
prmsurm,and m d[our
l o wpressure
prmaurera.tiOi.
ration. Duhed
Daahedlinea
linm
teat
teatdata.
data;daahed
d u h e dlinea
lineadenote
denotetheory.
theory. denotethe
denote thelea.! with aIwlrl
w dwith. awhlbrue,
brake,loUd
lolidlines
lincswithout.
wlthout.
... w, ClOOO 11000 18000

•••
•• 0
U&!l5UIHC RAno,
.0. I • •00 2 ...41
.1 ...n .... ""0
•••
l •••
~ , ;;t
~
RrMI aooo 12000 18000
!1 "0
.......... ."
.:
• 00
"'......... 0.'
... .- ...... -- ....
00
sa ,
"
0
~
-00
-100
r
" 0.'
0.'
rR[S!>IIII1IItATIII.!
! : ::: 1: :::
" . ", • • • ,,<'
...
.t::: r:
-160
~~~!!~~!=!!!!!!!~~
'"'"'" .0.:1
A
...
~
.00
• 00
~ ~. If/
.oo
j zo. 0- 0.'
~ .. 0
~
g; !l '00 0.0 rr-rrI
0
u .: ••0 / 0.'
M ~ U U U ~ U ~ U U ~ U U
I
-oo ...
"
L
!:l - I'
0 -100 t
...
1
0:
...... ...
-100
U
... ....r1 J
.
...
.. B
~ ~ ).
3D•
.oo
j
3 ••• ...
'0.
..- I.:
-O.J
-0.2
-0.1
-0.3 -'r--.-....-",..,-,-...,...-,-.,.-",-,-, ...lr-r-r.,.-,...., ...l,-~....-,-,

~
-...
.: •• 1.0 l.Z 0.0 0.1
• 0.0 0.X 0.4 0.8 0.1 0.4 0.0 0.1 0.4
-00
-100
r
l l
INLETCIRCUMfEIlENTlAL
INLET ClRCUhIFEIIENTlALVELOCITY
VELOCITYIlATIO (-)
IlATlO(-)
-&GO
0 •• 0.' 0.' 0.' ... '.0 ... 0.0 0.' 0.' ... ... ...
INLET
INLETCIRCUMFERENTIAL
CIRCUMFERENTIALVELOCITY
VELOCITYRATIO
RATIO(-)
(-) 7.I.Theory
TheoryveuUII
versuaexperimental
experimentalresulh rmultsforforC;C;ProP,~ =18.3bar.:
I8.3barr:
) TheorynnUII
( ATheory
(A) verauauperiment
experimentforlorthe theIleal
aeslwithout
without•• whl
swLIbrue,
bralo,
) Experlmsntllreoull.
( 8Exp.rlm~nla.l
(8) r a u l t awllh
with• a8wirl
owirl bru brake.
••
6.6,k kvenue
versusUfO utoforlorthe l e dwithout
theled without. nwirlbrue.
.. Iwlrl DaahedUnel
brake.DMhed Uno
repraent
r e p r o c nthe
t thotheory;
thaaly;,oUdmildllnel rcprsmontteet
llnureprelont testreaullt.
result&
186
ORIGINAL PAGE
ORIGINAL PAGEISIS
OF POORQUALITY
OFPOOR QUAlbiW
ueo, k is underpredicted, and measured k values increase more slowly than
for low 'Uoo,
theoretical predictions as 'Uoo
ueo is increased. Measured results are much more sensitive
to changes in the pressure ratio than predictions.
Figure 7 illustrates C
C versus 'Uoo.
ueo. The A frame of this figure
figure provides theory
versus experiment comparisons for the seal without the swirl brake. The B frame
swirl brake. C
provides experimental results for the seal with the 'swirl C is seen to be
ueo. In A, the theory is seen to substantially
comparatively insensitive to changes in 'Uoo.
changes in Pra than
C. Also, measured values of C are more sensitive to changes
overpredict C.
theoretical predictions. Comparing the experimental results in A and B illustrates
that the swirl brake increases C substantially at low speeds but has only a minimal
influence at higher speeds. As noted earlier, test results are only presented for C' C
at the highest supply pressure because of problems with excessive
excessive uncertainties at
lower supply pressures.
A convenient overall measure of seal stability is the whirl-frequency ratio which
is a nondimensionalized ratio of the destabilizing tangential force
force due to k and the
forces due to C. From equation
stabilizing forces equation(2),
(2) , the definition is
f = k/Cw
where w is the shaft speed. Figure 8 illustrates f versus 'Uoo.

uoo. Theory versus experi-
mental results are presented for the seal with no swirl brake. Measured results are
much more sensitive to changes in the pressure ratio than predictions. Typically,
Typically,
ff is underpredicted at low values for 'Uoo,
ueo, and measured values for f increase more
ueo
slowly with increasing 'Uoo than predicted. available, correlation
For the results available,
between theory and experiment improve as running speed increases.
increases.
Figure 9 compares ff versus 'Uoo 0b-
ueo results with and without the swirl brake. Ob-
viously, the swirl brake sharply reduces f and sharply increases stability of the seal.
The scaling used in this figure
figure suggests that the swirl brake is becoming less effective
effective
as speed increases;
increases; however, figure 10 shows that the swirl brake is exceptionally
figure 10
effective at the highest speed. With the swirl brake, f decreases
effective decreases with increasing
ueo and is much lower.
'Uoo
UN, .... 11000 11000
... ... 111'.,

."". 11000 18000
-. ...
0 r"p~II'" uno! •• 1
j ... oo:r ... 41
~ 1 I.' .. ,:15 . . . . .'0
1.1 0 rl!.t.~~u", UTI!)!
I.'
~ 1
I ...10 1 ... 41
J .. ,sa 4 .... 0
I.'
i .. •..I.'
a
~ t;
~ ~..
U
.:
•..... '.1
......
~ '.1
~ .:
~
B -0.3 .:lr~'-'-"""T'T-.-r-'-'--.-" "f-,-,--,-,,, "i-r-,-,~
0.0 0.2 0.4
8 •.. -0.3
0.0
M 0.2
U 0.4
U 0.6
M 0.1
M ~
1.0 1.2
U M U U M U U
VELOCITY RATIO
INLET CIRCUMFERENTIAL VELOCITY (-)
RATIO (-)
(-)
INLET CIRCUMFERENTIAL VELOCITY RATIO (-)
m d experimental
8. Theory and axpsrlmenlsl rea:ulla for If VeI.UI
m u l b Cor u , ~ no
vsrrtu uIO, brue: PP.r
swirl brlLs;
n, o Iwirl -
.. 18.3Nr••
18.3krr. O.
0. IJ nulU u'o wUh
vermlv uro h d without ••
with .:nd wirl bbrue:
a swirl rlls; P = 18.3borr.
P.r li:I'18.3bar,.
187
RPIl: 16000
0.40
~ ~
O.JO
t; .,
~
e ~ 0.20
"
~
a
..:-
~
..., 0.10 PRESSURE RATIOS
1 CI .00 2 • . 42
ei
Iii
---t--- __ ~=~
l • .35 ". • .30
0.0
0.0
0.0 0.2
0.2 0.'
0.4
WLET CIRCUMFERENTIAL
INLET CIRCUMFERENTIAL VELOCITY
VELOCITY RATIO (-)
RATIO (-)
10.If versus
10. uoo with
versusUoo andwithout
with and without aa swirl brake; ww =
awirl brake; r =
16,000rpm; PP,
=16,OOOrpm; =18.3bar6.
18.3bars.
Discussion
Discussion
The outstanding
The outstanding effectiveness
effectivenessofof the
the swirl
swirl brake
brake in
in reducing
reducing destabilizing
destabilizing forces
forces
developed by
developed by the
the seal
seal largely
largely speaks
speaks forfor itself.
itself. The
The present
present results
results echo
echo those of aa
those of
companion paper,
companion paper, Childs
Childs etet aI.
a1.(1990), in emphasizing
(1990), in emphasizing the the advantages
advantages accruing
accruing to
to
an aerodynamically designed
an aerodynamically designed swirl
swirl brake.
brake.
As noted
As noted earlier, Scharrer's(l988) theory
earlier, Scharrer's(1988) theory uses
uses Hirs(1973)
Hirs(1973) results
results to
to model
model the
the
wall shear
wall shear stresses
stresses on
on the
the fluid.
fluid. Hirs'
Hirs' model
model defines
defines the
the stress
stress on
on the
the fluid
fluid at
at aa wall
wall
in terms
in terms of
of the
the friction-factor
friction-factor definition
definition
A = nRtn
where the
where the Reynolds
Reynolds number
number R R isis defined
defined in
in terms
terms of
of the
the average
average bulk-flow
bulk-flow velocity
velocity
relative to
relative to the
the wall.
wall. The
The empirical
empirical parameters n ,m
parameters n, m characterize
characterize wall
wall roughness.
roughness.
The present
The present theoretical
theoretical predictions
predictions used
used
nr = 0.079, mr = -0.25 (3)

for the
for the smooth
smooth rotor,
rotor, and
and
ns = 0.047, ms = -0.1275 (4)

for the
for the honeycomb
honeycomb stator
stator surfaces.
surfaces. The
The results
results of
of equation
equation (3)
(3) were
were developed
developed
by Yamada(1962)
by Yamada(1962) from from measurements
measurements of of flow
flow between
between rotating
rotating cylinders.
cylinders. The
The re-
re-
sults of equation(4)
sults of equation(4) are
are from
from Ha(1989)
Ha(1989) and
and areare based
based on
on flat-plate
flat-plate test
test results
results fQr
for
the honeycomb
the honeycomb cell
cell dimensions
dimensions used
used in
in this
this study.
study. When
When friction
friction factors
factors based
based
on the
on the coefficients
coefficients of equation(4) are
of equation(4) are plotted
plotted on on aa Moody
Moody diagram,
diagram, thethe equiva-
equiva-
lent relative
lent relative roughness
roughness parameter
parameter isis about
about 0.03. When the
0.03. When the friction
friction factor
factor was
was in-
in-
creased(arbitrari1y) by
creased(arbitrarily) by about
about aa factor
factor of
of twenty,
twenty, much
much better
better agreement
agreement between
between
theory and
theory and measurements
measurements werewere obtained.
obtained. The
The authors
authors have
have no
no explanation
explanation forfor this
this
188
model; how-
result and do not endorse this sort of arbitrary manipulation of the model;
ever, the results suggest that higher energy dissipation is present in the seal than
Scharrer's(l988) model. Since
accounted for by Scharrer's(1988) Since the empirical model used for leakage
predictions does
does not account for a deliberately roughened stator, no comparisons
comparisons
are presented between theory and experiment for leakage.
SUMMARY AND CONCLUSIONS
Swirl-Brake
Swirl-Brake Effectiveness
aerodynamically-designed swirl brake proposed for the ATD-HPFTP tur-
The aerodynamically-designed
bine interstage seal is remarkably effective. It reduces kk markedly and actually
yields a reduction in k with increasing values for Uno.
ueo.
Theory versus Experiment

A summary review of theory versus experiment for the rotor dynamic coeffi-
rotordynamic
frequency
cients and the whirl frequency ratio follows:
follows:
increases, K
K: The theory does a good job at low speeds; however, as the speed increases, K
substant ially underpredicted. As the speed is increased, increasing
is substantially increasing supply
pressure magnifies
magnifies this difference
difference between theory and experiment. Measured
values of K changes in Pra than predicted. Also, in
K are more sensitive to changes
contrast to predictions, measured K increasing Pra.
K values increase with increasing
k: The theory does a good job at low speeds and low supply pressures. Increases
Increases
in either the speed or supply pressure degrades agreement between theory and
Typically, k is underpredicted for zero Uno
prediction. Typically, uoo and increases
increases more
changes in Pra than
slowly than predicted. Also, k is much more sensitive to changes
predicted.
C: The theory underpredicts C, but the correlation improves(slightly)
improves(slightly) as speed
is increased. changes in Pra than pre-
increased. Measured results are more sensitive to changes
dicted.
f ==
= kk/Cw:
/ Cw: The theory does
does a reasonable job, and the comparison between theory
and experiment improves as speed is increased. Measured f values are higher
uoo. A reasonable prediction of f results from
than predicted at low values of Uno.
compensating errors in predicting C(too high) and k(too low)
low) for higher values
of Uno.
uoo.
Conclusions
Conclusions
The results presented here support the following
following general conclusions:
conclusions:
(a) The proposed swirl brake design is remarkably effective.
(a)
(b) Scharrer's(1988)
(b) Scharrer's(l988) theory can provide some basic guidance for the analysis of
tooth-on-rotor/honeycomb stator annular seals;seals; however, discrepancies
discrepancies be-
tween theory and measurements can be pronounced. An improved theoretical
model for this type of seal is clearly needed.
189
REFERENCES
REFERENCES
~ o e ~ c i e nof
Benchert, H., and Wachter, J.(1980), "Flow Induced Spring Coefficients ts
Seals for
Labyrinth Seals for Application in Rotordynamics," NASA CP2133,
CP2133, Proceed-
ings of the workshop: Rotordynamic Instability Problems in High Performance
12-14 May 1980,
Turbomachinery, held at Texas A&M University, 12-14 1980, pp. 189-212.
C.(1990), "Test Results for
Childs, D. W., Baskharone, E. A., and Ramsey, C.(1990),
Coefficientsof the SSME HPOTP
Rotordynamic Coefficients HP OTP Turbine Interstage Seal
Seal With
Two Swirl Brakes," submitted for review ASME Journal 0/ of Tribology,
fiibology, Feb.
1990.
1990.
Scharrer, J.(1988), "Theory Versus Experiment for the
Childs, D. W., and Scharrer,
Rotordynamic Coefficients of Labyrinth Gas Seals: Part II I1 -- A Comparison to
Experiment," ASME Journal 0/ of Vibration,
Vibration, Acoustics, Stress,
Stress, and Reliability in
Design, Vol. 110, No.3,
110, No. 3, July 1988,
1988, pp. 281-287.
Childs, D. W., Nelson,
Nelson, C. E., Nicks, C., Scharrer, J., Elrod, D., and Hale,
K.(1986), "Theory Versus Experiment for the Rotordynamic Coefficients of
Annular Gas Seals: 1-Test Facility and Apparatus," ASME Transaction
Seals: Part I-Test lil).ansaction
Journal 0/
of Tribology,
Dibology, Vol. 108,
108, pp. 426-432.
Ha, T. W.(1989),
W.(1989), "Friction Factor Data for Flat-Plate Tests of Smooth and
Honeycomb
Koneycomb Surfaces," TL-SEAL-1-89, Turbomachinery Laboratory Report,
University, May 1989.
Hawkins, L., Childs, D., and Hale, K.(1988),
K.(1988), "Experimental Results for
Labyrinth Gas Seals
Seals With Honeycomb
Honeycomb Stators:
Stators: Comparisons to Smooth Stator
Seals and Theoretical Predictions," ASME Journal of Tribology,
Seals 111, No.
Tribology, Vol. 111,
1, pp. 161-168,
1, 161-168, Jan. 1989.
Hirs, G. G.(1973),
G.(1973), "A Bulk-Flow Theory for Turbulence in Lubricant Films,"
ASME Journal of Lubrication Technology,
Technology, April' 1973, pp. 137-146.
April'1973, 137-146.
Holman, J. P.(1978), Methods/or
P.(1978), Experimental Methods Engineers, McGraw Hill, 1978,
for Engineers, 1978,
pp.45.
pp. 45.
Scharrer, J.(1988), "Theory Versus Experiment for the Rotordynamic Coeffi-
Seals: Part I -- A Two Control Volume Model," ASME
cients of Labyrinth Gas Seals:
Journal 0/of Vibration, Acoustics, Stress, and Reliability in Design,
Vibration, Acoustics, Design, Vol. 110,
110,
No.3,
No. 3, July 1988,
1988, pp. 270-280.
Yamada, Y.(1962), "Resistance of Flow Through an Annulus
~ n n u f u swith an Inner
Rotating Cylinder,"
Cylinder," Bull. JSME, Vo1.5, No. 18,
18, 1962,
1962, pp. 302-310.
190
SUPPRESSION
SUPPRESSION OF SUBSYNCHRONOUS
SUBSYNCHRONOUS VIBRATION IN
I N THE SSME HPFTP
David G. Becht, Larry A.

A . Hawkins, Joseph K. K . Scharrer,
and Brian T. T . Murphy
Murphy
Rockwel
RockwellI International
International
Canoga
Canoga Park, California
C a l i f o r n i a 91304, U.S.A.
U.S.A.
SSME HPFTPHPFTP hot-fire

h o t - f i r e dynamic data d a t a evaluation
e v a l u a t i o n and rotordynamic
r o t o r d y n a m i c analysis
a n a l y s i s bboth
o t h confirm
confirm
that
t h a t two of o f the
t h e most significant
s i g n i f i c a n t turbopump attributes a t t r i b u t e s in i n determining
d e t e r m i n i n g susceptibility
susceptibility
to
t o subsynchronous vibration v i b r a t i o n area r e impeller
i m p e l l e r interstage
i n t e r s t a g e seal configuration
c o n f i g u r a t i o n and rotorrotor
sideload
s i d e l o a d resulting
r e s u l t i n g from turbinet u r b i n e turnaround
t u r n a r o u n d duct
d u c t configuration
c o n f i g u r a t i o n and hot h o t gas manifold.
manifold.
Recent hot-fire
h o t - f i r e testing
t e s t i n g has pprovidedr o v i d e d ppromising
r o m i s i n g indications
i n d i c a t i o n s that
t h a t the
t h e incorporation
i n c o r p o r a t i o n of
of
roughened "damping" "damping" seals s e a l s ata t the
t h e impeller
i m p e l l e r interstages
i n t e r s t a g e s may further f u r t h e r increase
i n c r e a s e the
the
stability
s t a b i l i t y margin of o f this
t h i s machine. A A summary of o f thet h e analysis
a n a l y s i s which led l e d tot o the
the
conclusion
c o n c l u s i o n that
t h a t roughened
roughened seals s e a l s would enhance the t h e stability
s t a b i l it y margin is i s ppresented
resented
herein,
h e r e i n , along
a l o n g with
w i t h a correlation
c o r r e l a t i o n of o f the
t h e analysis
a n a l y s i s with
w i t h recent
r e c e n t test
t e s t data.
data.
NOMENCLATURE
NOMENCLATURE
ON
DN Bearing
B e a r i n g Bore Diameter (mm) times t i m e s shaft-
s h a f t . sspeed
p e e d (rpm)
FMOF
FMOF First
F i r s t Manned
Manned Orbital
O r b i t a l Flight
Fl i g h t
FPL Full
F u l l Power Level
FWR
FWR Forward Wear Ring
Grms Accelerations
A c c e l e r a t i o n s (G's)
(G's) root r o o t mean
mean square
HPFTP
HPFTP High
H i g h Pressure Fuel Fuel Turbopump
HGM
HGM Hot Gas Manifold
Manifold
LOSI
LOS I Linear
L i n e a r Onset Speed of o f Instability
Instability
RWR
RWR Rear Wear Ring Ring
SSME Space Shuttle
S h u t t l e Main
Main Engine
TAD Turnaround Duct
INTRODUCTION
INTRODUCTION
Since SSME testing began in

t e s t i n g began i n mid-1975,
mid-1975, it i t became apparent that t h a t two of o f the
t h e key design
design
features
f e a t u r e s which determined the t h e high
h i g h ppressure
r e s s u r e fuel
f u e l turbopump's
turbopump's susceptibility
s u s c e p t i b i l i t y to
to
subsynchronous vibration v i b r a t i o n were the t h e interstage
i n t e r s t a g e seal configuration
c o n f i g u r a t i o n and the t h e turbine
turbine
turnaround
d u c t configuration
c o n f i g u r a t i o n (affecting
( a f f e c t i n g aerodynamic sideload). s i d e l o a d ) . The purpose of o f this
this
paper is i s to
t o ppresent
r e s e n t the
t h e evolution
e v o l u t i o n ofo f thet h e design
d e s i g n and supporting
s u p p o r t i n g rotordynamic
r o t o r d y n a m i c analyses
of
o f thet h e turbopump,
turbopump, which uultimately l t i m a t e l y led
l e d to t o increased
i n c r e a s e d stability
s t a b i l i t y margin and the the
elimination
e l i m i n a t i o n of
o f subsynchronous vibration v i b r a t i o n from the t h e SSME HPFTP.
TURBOPUMP
TURBOPUMP DESCRIPTION
DESCRIPTION
A
A cross
c r o s s section
s e c t i o n of
o f the
t h e SSME HPFTPHPFTP rotor
r o t o r is
i s shown in i n figure
f i g u r e 1. Its I t s rotating
r o t a t i n g assembly
weight
w e i g h t of
of only
o n l y 578 N N (130 lbs),
l b s ) , combined with w i t h a maximum
maximum rating r a t i n g of
o f 57.4
57.4 MW (77,000 (77,000
hp),
hp), makes it i t one of o f the
t h e highest power-to-weight ratio
h i g h e s t power-to-weight r a t i o machines ever e v e r bbuilt.
u i l t . Table
Table 1
191
shows
shows some of the more significant
s i g n i f i c a n t operating parameters associated with the Full
Power Level (FPL)
(FPL) rating.
The turbopump
turbopump consists of three identical pump stages driven on a common built-up
shaft by a two stage turbine. The shaft is i s supported radially
r a d i a l l y by two pairs of
preloaded duplex bearings. All four bearings have 45 mm bores, and operate at a t a DN
in excess of 1.6 million. The outer race of each bearing can slide s l i d e axially in itsits
housing to t o accommodate shaft growth/contraction
growth/contraction and small amounts amounts of axial travel
brought on by changes in thrust t h r u s t balance. Transient thrust
t h r u s t imbalances experienced
during start-up
s t a r t - u p and shut-down are reacted by an additional mechanical bearing at a t the
pump end of the shaft. s h a f t . During mainstage operation (>12,000
(>12,000 cpm), cpm), the shaft liftsl i f t s off
this
t h i s bearing as a balance piston, integral with the third t h i r d stage pump impeller,
becomes active.
The turbopump
turbopump has a pair of high-pressure interstage seals s e a l s located between the 1st
1st
and 2nd stage pump impellers and the 2nd and 3rd stage pump impellers. The influence
of these interstage seals,
s e a l s , along with the aerodynamic sideload generated by the
turbine discharge gases flowing
flowing through
t h r o u g h the turnaround duct and hot h o t gas manifold, on
the rotordynamics of the turbopump is i s appreciable, as will tie be developed later.
later.
DISCUSSION OF SUBSYNCHRONOUS VIBRATION

Two primary mechanisms
mechanisms are postulated as potential causes of turbopump subsynchronous
vibration of the type experienced on thist h i s machine: 1)
1) forced vibration response due
to
t o interaction of the rotor with a support nonlinearity such as bearing deadband, and
2)
2 ) self-excited rotor whirl at
a t the first
f i r s t rotor mode frequency.
The first
f i r s t mechanism, called deadband interaction, refers r e f e r s to
t o the behavior of a rotor
passing through the bearing deadband clearance of at a t least
l e a s t one of its
i t s bearings. If a
rotor's
r o t o r ' s orbit
o r b i t passes through t h r o u g h the bearing deadband, it i t will experience reduced
effective stiffness
s t i f f n e s s compared to t o an orbit
o r b i t which does not n o t pass through the deadband.
This reduced stiffness s t i f f n e s s may potentially lower the rotor vibration mode frequencies.
If the rotor is i s operated at a t a speed that t h a t is just less
i s just l e s s than twice the natural
frequency of a rotor mode, dead band interaction can lower the frequency of that
deadband t h a t mode
to
t o one half ha1 f of the operating speed. The synchronous forcing function (unbalance) (unbalance) may
then excite the second harmonic of this t h i s mode, causing all a l l harmonics and the
fundamental to t o respond. The result r e s u l t is
i s a forced vibration response of the rotor mode
at
a t 50%
50% of the synchronous frequency. This phenomenon is i s well documented in papers by
Ehrich, Bently, and Childs (references 1-3). 1 - 3 ) . In the SSME SSME HPFTP operating at a t FPL, the
synchronous speed is i s 1.8 to t o 1.9 times the predicted first f i r s t rotor mode frequency.
Thus, subsynchronous vibration at a t 50%
50% of the synchronous frequency can result r e s u l t if
if
conditions are correct for f o r deadband interaction.
The second mechanism, referred to t o as limitl i m i t cycle whirl, can occur with any machine
that
t h a t possesses whirl drivers capable of causing one of the rotor modes to t o become
unstable. If a rotor mode becomes linearly l i n e a r l y unstable, its
i t s orbit
o r b i t will grow until some
nonlinearity in the system limits l i m i t s further growth. Such nonlinearities may be 1) 1) the
nonlinear load-deflection characteristic
c h a r a c t e r i s t i c of ball bearings or other rotor support
elements, and 2) 2 ) light
l i g h t rubbing at a t various seal locations.
The potential whirl drivers in the HPFTP include cross-coupled stiffness s t i f f n e s s of the pump
impellers
impel 1e r s or impeller interstage seals, s e a l s , turbine aerodynamic forces, and internal
rotor friction.
f r i c t i o n . Current estimates for
f o r the interstage seal coefficients,
c o e f f i c i e n t s , bearing
stiffnesses,
s t i f f n e s s e s , and other rotor support parameters result r e s u l t in a rotor that t h a t has a linear
linear
192
stability
s t a b i l i t y threshold speed greater than 50,000 cpm. However the nonlinear stability stability
threshold could be less l e s s than
t h a n the linear
l i n e a r value due to t o interaction of the rotor with
system nonlinearities such as bearing deadband. Since the linear 1,inear first
f i r s t mode is
is
nominally 52% 52% to
t o 55%
55% of synchronous, limit l i m i t cycle whirling of the first
f i r s t mode could
produce 47% 47% to
t o 52%
52% subsynchronous vibration response.
ROTORDYNAMIC
ROTORDYNAMIC ANALYSIS AND TEST RESULTS
RESULTS
Rotordvnamic
Rotordvnamic Model The linear l i n e a r elastic
e l a s t i c model of the rotating assembly (shown
(shown in
figure 2) 2 ) is
i s comprised of cylindrical and tapered finite f i n i t e element beam elements.
Complete descriptions of the model and the solution technique are presented by Murphy
et
e t al.
a l . (ref.
( r e f . 4).
4).
All of the key elements in the model are defined throughout the turbopump operating
speed range using appropriate appropri a t e computer codes. Ball bearing load-deflection 1oad-defl ection curves
are obtained using an industry standard quasi-static q u a s i - s t a t i c rolling
r o l l i n g element bearing program
by Jones (ref. ( r e f . 5).
5 ) . The bearing stiffness s t i f f n e s s isi s then combined in series s e r i e s with a bearing
support stiffness
s t i f f n e s s before input to t o the rotordynamic model. The relatively re1 a t i v e l y small
rotordynamic coefficients for f o r the impeller wear ring seals s e a l s were estimated using
results
r e s u l t s from the short seal analysis of Childs (ref. ( r e f . 6),
6 ) , since no theory currently
exists
e x i s t s tot o adequately predict rotordynamic coefficients for f o r incompressible flow
,' labyrinth seals. s e a l s . The turbine interstage seal coefficients were calculated using the
analysis by Scharrer (ref. ( r e f . 7).
7 ) . Both turbine stages are unshrouded, and the load
split
s p l i t between them is i s 50/50, so experience dictates d i c t a t e s that
t h a t the aerodynamic cross-
coupling be based on an efficiency factor of B=1.5 0=1.5 (ref. ( r e f . 8): Interstage seal
coefficients for f o r the roughened seal confi~uration configuration are calculated with a bulk flow
model for f o r arbitrary
a r b i t r a r y clearance functions (ref. ( r e f . 9).
9 ) . Table 2 lists 1 i s t s all
a l l these
coefficients for f o r the FPLF P L rating.
Nonlinear Analysis As As outlined previously, the proposed scenarios by which
subsynchronous vibration is i s generated in the HPFTP all a l l involve interaction of the
rotor with nonlinearities in its i t s support elements. Therefore meaningful predictions
of subsynchronous response can only be performed using a nonlinear rotordynamic
model, specifically
s p e c i f i c a l l y performing a transient simulation. In this t h i s nonlinear simulation
simul ation
model, the equations of motion are integrated numerically with time to t o yield steady
state
s t a t e responses. Due to t o the on/off
on/off nature of some of the nonlinearities, all a l l results
results
reported herein employed first f i r s t order integration schemes
schemes with a time step of about 12 12
microseconds.
In
I n the so called deadband interaction scenario, where subsynchronous vibration would
nominally be at a t 50%
50% of pump speed, the nonlinear model can easily e a s i l y be made to t o exhibit
this
t h i s phenomenon by adjusting the eccentricities, e c c e n t r i c i t i e s , bearing deadband, and unbalance
distribution (all ( a l l well within expected tolerance bands). For cases where the
vibration is i s at
a t other than 50%, 50%, it i t has been hypothesized that t h a t it
i t isi s a limit
l i m i t cycle
whirl of the firstf i r s t rotor mode. This type of motion has also been simulated with the
nonlinear rotordynamic model. To achieve this, t h i s , however, it i t was found necessary to to
lower the logarithmic decrement of the first f i r s t mode by altering
a l t e r i n g the bearing and
interstage seal coefficients.
c o e f f i c i e n t s . Changes to t o the coefficients on the order of 5% 5% to
t o 10%,
lo%,
in addition to t o reducing the static s t a t i c sideloads by 25%, 25%, were necessary to t o bring on the
limit cycle whirl. These changes reduced the log dec by about half, while still still
maintaining a linearl i n e a r onset speed of instability i n s t a b i l i t y (LOSI)
(LOSI) greater than 50,000 cpm.
Numerous studies of HPFTP subsynchronous vibration behavior have been conducted

employing
employing bboth
o t h the deadband interaction and the limit
l i m i t cycle whirl models. The
193
standard approach
approach is is to
to adjust
adjust mass and seal
seal eccentricities
eccentricities to
to match measured
synchronous
synchronous and subsynchronous
subsynchronous housing acceleration
acceleration levels
levels for
for a given test of a
particular unit.
particular unit. This
This model
model is
is then
then used as
as a basis for
for investigating
investigating the
the
sensitivity
sensitivity of the
the HPFTP toto various
various parameter changes.
changes. One of the more comprehensive
comprehensive
studies
studies was done
done by matching the
the model to
to a particular Phase
Phase II
I1 unit
unit which displayed
displayed
4.0
4.0 Grms
Grms of synchronous
synchronous vibration
vibration and 1.5 Grms
Grms of 50% subsynchronous
vibration at
at
1 evel . Figure
109% power level. Figure 3 shows
shows typical
typical results
results employing
employing the
the deadband interaction
interaction
mechanism to
to induce
induce the
the subsynchronous
subsynchronous vibration,
vibration, and in
in this
this case
case shows
shows how
variations
variations in
in turbine
turbine sideload
sideload affects
affects the
the amplitude
amplitude of the
the synchronous
synchronous and
subsynchronous
vibration components.
components.
Influence of Interstage
Influence Interstaqe Seal
Seal Design
Desiqn For thethe original
original three
three stepped
stepped labyrinth
labyrinth seal
seal
design
design incorporated
incorporated prior to to the
the whirl problem,
problem, the
the LOSI
LOSI was predicted to to be about
about
20,000
20,000 cpm
cprn (ref.
(ref. 10). With the the incorporation
incorporation of the
the stepped
stepped smooth
smooth seals,
seals, the
the
predicted LOSI
LOSI was increased
increased to
to about
about 40,000
40,000 cpm.
cpm. Additional
Additional stiffness
stiffness in
in the
the ball
bearing support
support structures
structures was also
also an important
important contributor
contributor toto this
this increase.
increase.
Subsequent
Subsequent engine testing
testing confirmed
confirmed these predictions, as
these predictions, as it
it was possible toto operate
operate
up to
to full 1 evel . However,
full power level. However, the
the HPFTP henceforth
henceforth experienced
experienced moderate levels
levels of
subsynchronous
subsynchronous vibration,
vibration, and an increase
increase in
in stability
stability margin was
was considered
desirable.
desirable. An example of housing accelerometer
accelerometer data typical
typical of this
this configuration
configuration
turbopump
turbopump isis shown
shown inin figure
figure 4.
4. InIn this
this particular test,
test, the
the subsynchronous
subsynchronous
vibration frequency
frequency was at at approximately
approximately 53% of synchronous,
synchronous, and comparable to to
synchronous
synchronous inin amplitude
amplitude during
during certain portions of the
certain portions the test.
test. Several
Several tests
tests with
this
this configuration
configuration turbopump
turbopump also
also showed
showed subsynchronous
subsynchronous vi-bration
vibration amplitudes
amplitudes greater
than
than synchronous.
synchronous.
Rotordynamic
Rotordynamic analyses
analyses performed subsequent
subsequent to
to the
the 1976
1976 whirl investigation
investigation indicated
indicated
that
that the
the stability
stability margin of the the pump could be further
further enhanced by changing
changing the
the
configuration
configuration of the
the impeller
impeller interstage
interstage seals
seals from
from the
the 3-stepped
3-stepped smooth
smooth to
to a
straight
straight smooth
smooth design.
design. This
This would effectively
effectively increase
increase the
the stiffness
stiffness and damping
damping
coefficients
coefficients generated by the seals,
the seals, and the LOSI
the LOSI was predicted to
to be greater than
than
50,000
50,000 cpm.
cpm. Many model
model parameters
parameters are
are not
not valid beyond 50,000
50,000 cpm,
cprn, so
so the
the actual
actual
value is
value is not
not relevanc.
re lev an^. Engine
Engine test
test results,
results, given
given in
in table-3,
table '3, confirmed
confirmed that the
the
amplitude
amplitude of subsynchronous
subsynchronous vibration decreased significantly
significantly with the
the incorporation
incorporation
the straight
of the straight smooth
smooth interstage
interstage seal
seal configuration.
configuration. The percentage of turbopumps
turbopumps
which displayed detectable levels
detectable levels was also
also somewhat
somewhat lower,
lower, as
as indicated
indicated in
in table 3.3.
The
The goal
goal of eliminating
el iminating subsynchronous
vibration completely led to
to consideration
consideration of
other
other interstage
interstage seal
seal configurations,
configurations, specifically
specifically the
the straight
straight rough
rough design.
design.
Rotordynamic
Rotordynamic analyses
analyses performed asas early as
as 1983
1983 predicted that
that the
the stability margin
of the
the HPFTP could be further
further enhanced by changing
changing the
the impeller
impeller interstage
interstage seal
seal
configuration
configuration from
from the
the straight
straight smooth
smooth to
to a straight
straight rough
rough design,
design, which was
predicted to
to provide increased damping
damping by the seals
seals for
for just a slight
slight decrease inin
stiffness.
stiffness.
Since LOSI
LOSI could not
not be used as as an indicator
indicator of relative
relative stability,
stability, a logarithmic
logarithmic
decrement criteria was established
decrement established at
at this point. A
this point. A comparison
comparison of first
first mode log
dec's at
at FPL shows
shows the
the straight
straight smooth
smooth configuration
configuration atat 0.14,
0.14, while the
the straight
straight
rough configuration has
rough configuration has a log dec
dec of 0.22.
0.22. Therefore enhanced stability
stability margin would
be expected for
for turbopumps
turbopumps incorporating
incorporating the
the roughened
roughened interstage
interstage seal
seal design.
design.
Influence
Influence of Turn Around Duct
Duct Design
Desiqn At approximately
approximately the
the same
same time
time as
as the
the change
from
from a 3-stepped
3-stepped to
to a straight
straight smooth
smooth seal,
seal, a change
change was proposed for
for the
the turbine
turbine
turnaround duct
duct design
design which was
was intended
intended to
to improve
improve turbine
turbine efficiency and reduce
reduce
the
the turbine
turbine temperatures.
temperatures. This
This new design
design came
came to
to be known-as
known.as the
the FPL turnaround
turnaround
194
duct
d u c t configuration,
c o n f i g u r a t i o n , and was incorporated
i n c o r p o r a t e d into
i n t o the
t h e development configuration
c o n f i g u r a t i o n of
o f the
the
HPFTP
HPFTP in i n 1981, soon after a f t e r thet h e straight
s t r a i g h t smooth interstage
i n t e r s t a g e seals.
seals. A A block
b l o c k change was
subsequently made made to t o the
t h e pump design, incorporating i n c o r p o r a t i n g these and other o t h e r rotordynamically
rotordynamically
less
l e s s significant
s i g n i f i c a n t modifications,
m o d i f i c a t i o n s , thet h e resulting
r e s u l t i n g configuration
c o n f i g u r a t i o n henceforth
h e n c e f o r t h referred
r e f e r r e d to
t o as
Phase I. I.
It
I t was eventually
e v e n t u a l l y determined that t h a t thet h e analytical
a n a l y t i c a l tools
t o o l s available
a v a i l a b l e ata t that
t h a t time
t i m e did
d i d not
not
adequately ppredict r e d i c t the
t h e turbine
t u r b i n e aerodynamic effects, e f f e c t s , and the t h e FPL turnaround
duct
actually
a c t u a l l y had hhigher i g h e r rresistance
e s i s t a n c e and greater g r e a t e r transverse
t r a n s v e r s e ppressure
r e s s u r e differential
d i f f e r e n t i a l across
the
t h e turbine
t u r b i n e than
t h a n thet h e FMOF
FMOF configuration.
c o n f i g u r a t i o n . This T h i s hadhad the t h e effect
e f f e c t ofo f increasing
i n c r e a s i n g the
the
aerodynamic sideload s i d e l o a d acting
a c t i n g on the t h e rotor
r o t o r tot o about 1.33 1.33 timest i m e s that
t h a t of o f the
t h e FMOF
FMOF duct.
duct.
As illustrated
i l l u s t r a t e d in i n figure
f i g u r e 3, this t h i s increase
i n c r e a s e in i n sideload
s i d e l o a d was ppredicted
r e d i c t e d to t o suppress
subsynchronous vibrations. v i b r a t i o n s . ThisT h i s pprediction
r e d i c t i o n was verified
v e r i f i e d by test,t e s t , with
w i t h almost
almast no
occurrences of o f subsynchronous vibration v i b r a t i o n ever experienced on the t h e Phase I HPFTP.
After
A f t e r considerable
c o n s i d e r a b l e ground testing t e s t i n g and flights f l i g h t s with
w i t h the
t h e Phase I HPFTP, it i t became
apparent that t h a t the
t h e reduced
reduced turbine t u r b i n e efficiency
e f f i c i e n c y and higher h i g h e r tempuratures generated by the the
FPL turnaround
d u c t were detrimental
d e t r i m e n t a l to t o the t h e life
l i f e ofo f the
t h e turbine
t u r b i n e blades, and the the
turnaround duct d u c t configuration
c o n f i g u r a t i o n had to t o be returned
r e t u r n e d tot o the
t h e FMOF design, except with with
thicker
t h i c k e r sheet metal metal w walls
a l l s (called
( c a l l e d FMOF
FMOF II). 11). Again, Again, this t h i s modification
m o d i f i c a t i o n along
a l o n g with
with
several other o t h e r rotordynamically
r o t o r d y n a m i c a l l y less
l e s s significant
s i g n i f i c a n t changes were instituted i n s t i t u t e d ini n a bblock
lock
-change
+change in i n 1985, with w i t h the
t h e resulting
r e s u l t i n g configuration
c o n f i g u r a t i o n referred
r e f e r r e d tot o as Phase II. 11.
Influence
I n f l u e n c e ofo f Hot Gas Manifold M a n i f o l d Design
Desiqn Since modifications m o d i f i c a t i o n s to t o the
t h e turbine
t u r b i n e turnaround
duct
d u c t had failedf a i l e d to t o be effective
e f f e c t i v e in i n reducing
r e d u c i n g thet h e resistance
r e s i s t a n c e to t o turbine
t u r b i n e hot h o t gas flow,
flow, a
different
d i f f e r e n t approach was subsequently adopted. With the t h e advent of o f improved aerodynamic
analysis
a n a l y s i s techniques, such as CFD analysis, a n a l y s i s , iti t was determined that t h a t one significant
significant
contributor
c o n t r i b u t o r tot o turbine
t u r b i n e flow
f l o w resistance
r e s i s t a n c e was the t h e relatively
r e l a t i v e l y inefficient
i n e f f i c i e n t 3-duct
3 - d u c t hot
h o t gas
manifold
m a n i f o l d used
used to t o channel the t h e turbine
t u r b i n e discharge
d i s c h a r g e flow
f l o w from the t h e turbopump to t o the
t h e main
injector.
injector. A A design
d e s i g n alternative
a l t e r n a t i v e was proposed, which ppredicted r e d i c t e d that
t h a t two recontoured
recontoured
ducts
d u c t s could
c o u l d transfer
t r a n s f e r thet h e hoth o t gas more efficientlye f f i c i e n t l y thant h a n thet h e current
c u r r e n t 3-duct
3-duct
arrangement, thus t h u s rreducing
e d u c i n g turbine
t u r b i n e back ppressure r e s s u r e and turbulence
t u r b u l e n c e in i n the
t h e hot
h o t gas flow.
flow.
A
A further
f u r t h e r consequence of o f this
t h i s modification
m o d i f i c a t i o n was ppredictedr e d i c t e d to t o be lowerl o w e r transverse
transverse
pressure across the t h e turbine
t u r b i n e and correspondingly
c o r r e s p o n d i n g l y lower
1ower rotor r o t o r aerodynamic sideload. side1 oad. As
ppredicted
r e d i c t e d ini n figure
f i g u r e 3, the t h e reduced sideload s i d e l o a d (about 0.56 0.56 x x FMOF
FMOF sideload)
s i d e l o a d ) would be
expected to t o increase
i n c r e a s e the
t h e amplitude
a m p l i t u d e and frequency of o f occurrence of o f subsynchronous
vibration
v i b r a t i o n in i n a Phase II I 1 HPFTP
HPFTP used in i n conjunction
c o n j u n c t i o n withw i t h a 2-duct hot h o t gas manifold.
manifold.
Coincidently,
C o i n c i d e n t l y , thet h e first
f i r s t 2-duct
2 - d u c t hoth o t gas manifold
m a n i f o l d powerhead and the t h e first
f i r s t HPFTP
HPFTP to to
incorporate
i n c o r p o r a t e straight
s t r a i g h t rough interstagein t e r s t a g e seals
seal s were completed and ready for f o r development
testing
t e s t i n g ata t approximately
a p p r o x i m a t e l y the t h e same time, May 1989. To minimize m i n i m i z e thet h e rrisk
i s k of o f testing
testing a
new powerhead design design w with
i t h an unproven HPFTP HPFTP design, the t h e 2-duct
2 - d u c t hhot o t gas manifold
manifold
engi.ne was first
engtne f i r s t tested
t e s t e d with
w i t h a Phase II I 1 pump that t h a t had significant
s i g n i f i c a n t test
t e s t time
t i m e on other
other
engines and had not n o t experienced subsynchronous vibration. v i b r a t i o n . However, with w i t h itsi t s first
first
test
t e s t on the t h e 2-duct
2 - d u c t HGMHGM engine, it i t exhibited
e x h i b i t e d subsynchronous vibration v i b r a t i o n ata t rated
r a t e d power
level,
l e v e l , as illustrated
i l l u s t r a t e d in i n figure
f i g u r e 5, which Phase II pumps rarely
I 1 pumps r a r e l y ever did. d i d . Based on
other
o t h e r performance data, it i t was verified
v e r i f i e d that
t h a t the
t h e turbine
t u r b i n e had achieved the t h e ppredicted
redicted
reduction
r e d u c t i o n ini n turbulence
t u r b u l e n c e and transverse
t r a n s v e r s e ppressure
r e s s u r e differential.
d i f f e r e n t i a l . Consequently, the the
appearance of o f subsynchronous vibration v i b r a t i o n in
i n this
t h i s Phase II I1 pump confirmed the t h e ppredicted
redicted
reduction
r e d u c t i o n ini n stability
s t a b i l i t y margin resulting r e s u l t i n g from the t h e lower
l o w e r rotor
r o t o r sideload.
sideload.
The nextn e x t test

t e s t on the
t h e 2-duct
2 - d u c t HGM
HGM engine was conducted w with
i t h the
t h e first
f i r s t roughened
roughened
interstage
i n t e r s t a g e seal turbopump, and it i t did
d i d not
n o t experience subsynchronous vibration v i b r a t i o n at
a t any
power level,l e v e l , as shown in i n figure
f i g u r e 6. Since that t h a t time,
time, the
t h e straight
s t r a i g h t rough
rough interstage
interstage
seals
s e a l s have been tested t e s t e d ini n 3 different
d i f f e r e n t turbopumps, a total t o t a l of
o f 23 tests t e s t s and over o v e r 12,000
12,000
195
seconds on several s e v e r a l different
d i f f e r e n t engines, includingi n c l u d i n g bboth
o t h the
t h e 2-duct
2 - d u c t and 3-duct
3 - d u c t HGM, and
encompassing all a l l power levels l e v e l s up to t o and including
i n c l u d i n g FPL. None None of o f the
t h e tests
t e s t s to t o date
date
have shown any indication i n d i c a t i o n ofo f subsynchronous vibration v i b r a t i o n on this
t h i s configuration
c o n f i g u r a t i o n HPFTP.
Turbopumps which incorporate i n c o r p o r a t e this
t h i s change are a r e currently
c u r r e n t l y bbeing prepared for
e i n g prepared for
certification
c e r t i f i c a t i o n as ppart a r t ofo f the
t h e sustained
s u s t a i n e d flight
f l i g h t configuration.
configuration.
CONCLUSION
CONCLUSION
In
I n general, the t h e stability
s t a b i l i t y trends
t r e n d s observed throughout the t h e HPFTP
HPFTP test t e s t history
h i s t o r y have been
simulated
s i m u l a t e d quite
q u i t e accurately
a c c u r a t e l y by the t h e current
c u r r e n t rotordynamic model. Two points p o i n t s continue
c o n t i n u e to
to
be reinforced
r e i n f o r c e d through
t h r o u g h all
a l l the
t h e numerous parametric p a r a m e t r i c studies
s t u d i e s performed with w i t h this
t h i s model.
First,
F i r s t , the
t h e stability
s t a b i l it y ratio
r a t i o of o f thet h e interstage
i n t e r s t a g e seal configuration,
c o n f i g u r a t i o n , evolving
e v o l v i n g from
stepped labyrinth
l a b y r i n t h tot o stepped smooth to t o straight
s t r a i g h t smooth and eventually e v e n t u a l l y to t o straight
straight
rough, always had had a significant
s i g n i f i c a n t influence
i n f l u e n c e on the t h e machine's susceptibility
s u s c e p t i b i l i t y toto
subsynchronous vibration v i b r a t i o n and its i t s associated
a s s o c i a t e d amplitude.
amplitude. Second, the t h e same conclusion
conclusion
can be made rregarding e g a r d i n g ttheh e influences
i n f l u e n c e s of o f aerodynamic sideload, s i d e l o a d , as its i t s contributing
contributing
components evolved from FMOF FMOF II TAD to t o FPL TAD to t o FMOF
FMOF II I 1 TAD to t o 2-duct
2 - d u c t HGM. Finally,
Finally,
it
i t appears that t h a t a longl o n g standing
s t a n d i n g goal of o f increasing
i n c r e a s i n g the
t h e stability
s t a b i l i t y margin sufficiently
sufficiently
to
t o totally
t o t a l l y suppress subsynchronous vibration v i b r a t i o n ini n this
t h i s machine may be realized r e a l i z e d through
through
the
t h e incorporation
i n c o r p o r a t i o n ofo f straight
s t r a i g h t rough
rough impeller
i m p e l l e r interstage
i n t e r s t a g e seals.
seals.
REFERENCES
REFERENCES
1. Ehrich, F. F.,
F., "Subharmonic Vibrations
V i b r a t i o n s of
o f Rotors in
i n Bearing Clearance",
Clearance", ASME
Paper 66-MD-1,
66-MD-1, Design Engineering Conference and Show, Chicago, Chicago, Ill.,
Ill.,May 1966.
2.
2 . Bently,
B e n t l y , D.,
D., "Forced Subrotative
S u b r o t a t i v e Speed Dynamic Action
A c t i o n of
o f Rotating
R o t a t i n g Machinery", ASME
Paper 74-PET-16,
74-PET-16, Petroleum Mechanical Engineering Conference, Dallas, D a l l a s , Texas, Sept
1979.
3. Childs,
C h i l d s , D. W.,
W., "Fractional-Frequency
" F r a c t i o n a l - F r e q u e n c y Rotor Motion M o t i o n Due to t o Nonsymmetric Clearance
E f f e c t s " , ASME
Effects", Paper 81-GT-145,
81-GT-145, International
I n t e r n a t i o n a l Gas Turbine
T u r b i n e Conference and Products
Show, Houston, Texas, March March 1981.
4. Murphy, B.T.,
B.T., Scharrer,
Scharrer, J.K., J.K., and Hawkins, L.A., L.A., liThe"The SSME HPFTPHPFTP Wavy Interstage
Interstage
Seal: Part
P a r t II-Rotordynamic
11-Rotordynamic Analysis", A n a l y s i s " , ASME Publication
P u b l i c a t i o n DE-Vol.
DE-Vol. 18-2, Machinery
Dynamics - Applications
A p p l i c a t i o n s and Vibration
V i b r a t i o n Control
C o n t r o l Problems, 1989, pp. 95-100. 95-100.
5. Jones, A. B.,
B., "A General Theory for f o r Elasically
E l a s i c a l l y Constrained Ball B a l l and Radial Roller
Roller
Bearings Under Arbitrary
A r b i t r a r y Load and Speed Conditions",
C o n d i t i o n s " , ASME Journal
J o u r n a l of
o f Basic
Engineering, Vol. 82, 1960, p. 309.
6. Childs,
C h i l d s , D. W.,
W., "Dynamic Analysis
A n a l y s i s of
of Turbulent
T u r b u l e n t Annular Seals Based on Hir'sHir's
Lubrication
Lubrication Equation", ASME Journal of
o f Lubrication
L u b r i c a t i o n Technology,
Technology, Vol. 105, No.
No.3,
3,
1983, pp. 437-445.
437-445.
7. Scharrer, J.K., J.K., "Theory Versus Experiment for

f o r the
t h e Rotordynamic Coefficients
C o e f f i c i e n t s of
of
Labyrinth
L a b y r i n t h Gas Seals: Part P a r t I-A
I - A Two Control
Control Volume Model
Model," ," ASME Transactions
Transactions
Journal of o f Vibrations,
V i b r a t i o n s , Acoustics,
Acoustics, Stress,
Stress, and Reliability
R e l i a b i l i t y in
i n Design, Vol. 110,
No.3, July
NO. 3, J u l y 1988, pp. 270-280.
8. Alford,
A l f o r d , J.S.,
J.S., "Protecting
" P r o t e c t i n g Turbomachinery From
From Self-Excited
S e l f - E x c i t e d Rotor
R o t o r Whirl",
W h i r l " , ASME
Journal of o f Engineering for f o r Power, 1965, pp. 333-344.
196
9.
9. Scharrer,
Scharrer, J.K.
J.K. and
and Nunez,
Nunez, D.J.,
D.J., "The
"The SSME
SSME HPFTP
HPFTP Wavy
Wavy Interstage
Interstage Seal: Part I-Seal
Seal : Part I-Seal
Analysis", Publication DE-Vol.
Analysis", Publication DE-Vol. 18-2,
18-2,Machinery Dynamics
Dynamics - Applications and
Applications and
Vibration
Vibration Control
Control Problems,
Problems, 1989,
1989, pp.
pp. 101-108.
101-108.
10.
10. Childs,
Childs, D.
D. W.,
W., "The
"The Space
Space Shuttle
Shuttle Main
Main Engine
Engine High
High Pressure
Pressure Fuel
Fuel Turbopump
Turbopump
Rotordynamic
Rotordynamic Instability
Instability Problem",
Problem",ASME
ASME Journal
Journal of
of Engineering
Engineering for
for Power,
Power, Vol.
Vol.
100,
100, 1978,
1978, pp.
pp. 48-57.
48-57.
Table 1.
Table FPL Operating
1. FPL Operating Parameters
Parameters for
for SSME
SSME HPFTP
HPFTP
Rotating
Rotating Speed
Speed 36,600
36,600 cpm
cpm 36,600
36,600 rpm
Pump
Pump Flow
Flow Rate
Rate 67,000
67,000 lpm 17,000
17,000 gpm
Pump Inlet
Pump Inlet Pressure
Pressure 23.5
23.5 Bar 341
341 psi
psi
Pump Discharge
Discharge Pressure
Pressure 482
482 Bar
Bar 6,990
6,990 psi
psi
Turbine
Turbine Inlet
Inlet Tempurature
Tempurature 994
994 KK 1,790
1,790 R
R
Turbine Inlet
Turbine Inlet Pressure
Pressure 338
338 Bar 4,900
4,900 psi
psi
Power
Power 57.4
57.4 MW 77,000 hp
77,000
Table
Table 2.
2. Rotordynamic
Rotordynamic Coefficients
Coefficients-for
for Rotor
Rotor Support
Support Elements
Elements
Kxx KXY
Kxy Cxx
(1 bs/in)
(lbs/in) (1 bs/in)
(lbs/in) (1 b-sec/in)
(lb-sec/in)
Ball
Ball Bearing
Bearing (w/
(w/ Support)
Support) 370,000
370,000
1st
1st Stage
Stage Imp
Imp FWR+RWR 45,000
45,000 5,000
5,000 2.7
2.7
2nd
2nd Stage
Stage Imp FWR+RWR 29,000
29,000 4,600
4,600 2.5
2.5
3rd Stage
Stage Imp
Imp FWR 7,700
7,700 1,500
1,500 0.0
0.0
Turbine Interstage
Turbine Interstage Seal
Seal 3,300
3,300 2,800
2,800 1.5
1.5
(each turb
Alford's (each turb stage)
stage) 18,700
18,700
1-2 Interstage Seal
1-2 Pump Interstage Seal 460,000
460,000 253,000
253,000 106
106
2-3 Pump Interstage
2-3 Interstage Seal
Seal 460,000
460,000 253,000
253,000 106
106
Table 3.
3. Occurrence the
Subsynchronous Vibration with the
Occurrence of Subsynchronous
Three Stepped
Three Stepped and Straight Smooth Seals
Straight Smooth Seals
Seal
Seal Units
## Units Units
## Units Subsync
Avg Subsync Sync
Avg Sync
Type
Tvpe Tested w/wi Subsync
Subsync %
% Ampl itude
Amplitude Ampl itude
Amplitude
Three Step
Three Step 63
63 13
13 21%
21% Grms
5.1 ~
5.1 rms 5.9 Grms
5.9 Grms
Str Smooth
Smooth 70
70 12
12 17% Grms
1.2 Grms
1.2 Grms
4.9 Grms
197
IMPELLERS
IMPELLERS
TURBINE DISKS
I/S
1st/\2nd
SEAL
I
\
DRAW BOLT
' " DRAW BOLT
FIGURE
FIGURE 1.
1. HALF
HALF CROSS
CROSS SECTION
SECTION OF
OF HIGH-PRESSURE
HIGH-PRESSURE FUEL
F U E L TURBOPUMP
TURBOPUMP
0 10 20 30 (em) 40 50 60 70
3
!Z2.l STEEL
2.8 70
ES.1 TITANIUM
2.6
2.4 60
2.2
2 50
!ilL 8
Q)
15 1 . 6
c:
40
~1.4 E
..§..
::J
(51.2 30
«0:: 1
0.8 20
0.6
0.4 10
0.2
0 0
00 44 88 12
12 16
16 20
20 24
24 28
28
AXIALLENGTH
AXIAL LENGTH(inches)
(inches)
FIGURE
FIGURE2.2.SSME
SSMEHPFTP
HPFTPROTORDYNAMIC
ROTORDYNAMICSHAFTSHAFTELASTIC
ELASTICMODEL.
MODEL.
198
SIDELOAD VARIATION
TURBINE SIDELOAD
DEAD INTERACTION MODEL
BAND INTERACTION
DEADBAND MODEL
S
5
4.S
1
4 .",.
,.-.,
(f)
("
w
.3.S - SYNCH~
?(
(f)
.3 -
:2
0:::
'-"
2.5 - 2-WCT f-flI1
2-DUCT HGM
w
0 SIDELQl\I}
::>
I-
:J 2 -
0_
:2
<{ / SUBSYNCH
en 1.S -
:>
1 -
FPL
FPL TAD
TAD
O.S - sroELQl\I}
o- I I
)
SO 70 90 110 1.30
FMOF SIDELOAD
% FMOF
% SIDELOAD
FIGURE
FIGURE 3.
3. TURBINE
TURBINE SIDELOAD
SIDELOAD INFLUENCE
INFLUENCE ON
ON VIBRATION
V I B R A T I O N AMPLITUDE
AMPLITUDE
199
-.11001.*. SECOIIIS
_IDTH ••• HIJIf1:
F1LTB I. K1LO>DTZ IA'
'-+, SYNCHRONOUS
.- .-
---::::::
j~:-··--3
4n.
_UIIC'I. H[1fTZ
no. ....
1111£ lAS[ 0l"'.1
1C1<1.
................1i..... s u ~ s ~ N c H R o N o u.......
s
.........i .............. .........4 SYNCHRONOUS ........ !.................1................I
. !
10.
1•
•l
••1 1 I I
o.
•• ne.
ate. w. cu.
ma. ow. IIW.
l l I _ t tllle eM.
nlll 1M!
._·'411.
!lll'MtIO~·l.
CAl. Y01.T1·I.f41
M'!tIAlATOll ","11Il'"
FIGURE
F I G U R E 4.
4. TURBOPUMP
TURBOPUMP VIBRATION
V I B R A T I O N SPECTRA
SPECTRA WITH
WITH
3-STEPPED
3-STEPPED I/S I / S SEALS,
SEALS, FMOF
FMOF TAD
TAD
200
OR1GiNAl PAGE IS
Of POOR 'lUAUTV
30.0
28.0
26. °
24.0
22.0
or 20.0
l ! .0 SUBSYNCHRONOUS
16.0
14.0
I< SYNCHRONOUS
12.0
10.0
8.0
6.0
AI<.
2.0 - 1.0
0.0
-2. °
-4.0
-6.0 0.0
I I I I I I I I I
100 200 300 400 500 600 700 .00 '00 1000
QL V2. 3
l'REQutlfCT (Ha'
SSME
SSHE --
- - POWER
POWER SPECTRAL
SPECTRAL DENSITY
DENSITY _.
- - TEST
TEST 901-599
901-599
FASCOS HPFP
FASCOS -- S+
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S+ 6.0 -- POWER
9.2 -- POWER LEVEL
LEVEL PROFILE
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o0
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250
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500
500 750
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FREQUENCV
FREQUENCY (Hz)
(Hz 1
FIGURE
F I G U R E 5. TURBOPUMP VIBRATION
V I B R A T I O N SPECTRA WITH
WITH
STR-SMOOTH liS SEALS,
STR-SMOOTH I / S SEALS, 2-DUCT HGM
HGM
201
ORIGINAL
ORlGlNAL PAGE
PAGE IS
IS
OF POOIt QUAUTY
OF POOR QUALITY
I •
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o 750
250
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FREQUENCY ( Hz )
'150 lo'?"
FREQSUONCV (Hz 1
FIGURE
F I G U R E 6. TURBOPUMP V I B R A T I O N SPECTRA WITH
STR-ROUGH VIBRA~~~~S,
TURBOPUMP l/S 2-DUCT HGM
I / S SEALS, 2-DUCT HGM
202 OR!G~NAL PAGE IS

OF POON QUAI.JfY
DETERMINATION OF ROTORDYNAMIC COEFFICIENTS FOR LABYRINTH SEALS AND
APPLICATION TO ROTORDYNAMIC DESIGN CALCULATIONS
P. Weiser and R R.. Nordmann

Nordmann
Department ooff Mechanical Engineering
University
U off K
niversity o Kaiserslautern
aiserslautern
Kaiserslautern, Federal Republic o off Germany
In today's rotordynamic calculations, tthe h e input parameters ffor o r a Finite Element Analysis
(FEA)
(FEA) determine very much the t h e reliability of Eigenvalue and Eigenmode predictions. While
modelling of an a n elastic structure
s t r u c t u r e by means of beam elements etc. is relatively straightfor- straightfor-
ward tot o perform and the t h e input data d a t a for
f o r journal bearings area r e usually known exactly enough,
the
t h e determination of stiffness
s t i f f n e s s and damping for f o r labyrinth seals is i s stilllthe,subject.ofmany
stilllthe,subject ofmany
investigations. Therefore, the t h e rotordynamic influence of labyrinths is often o f t e n not
n o t included
in FEA forf o r rotating machinery because of a lack of computer programs to t o calculate these these
parameters. This circumstance can give rise to t o severe vibration problems especially for for
high performance turbines or o r compressors, resulting in remarkable economic losses.
The forces
forces generated in labyrinths labyrinths can be b e described for
f o r small motions around the t h e seal
center with the t h e linearized force-motion
force-motion relationship of eq. 1:
where K, k are the

t h e direct and cross-coupled
cross-coupled stiffness
s t i f f n e s s and D, d are
a r e the
t h e direct and cross-
coupled damping. These elements are a r e the
t h e so-called
so-called dynamic dynamic labyrinth coefficients.
Several years ago,
ago, we started
s t a r t e d with the
t h e development of computer codes for f o r the
t h e determina-
determina-
tion of rotordynamic
rotordynamic seal coefficients. The following following sections
sections will introduce our our
different approaches to evaluate the
t h e dynamic
dynamic fluid
fluid forces
forces generated by turbulent,
turbulent, com-
pressible labyrinth seal flow.
flow.
203
NOMENCLATURE
K, k cross-coupled stiffness
Direct and cross-coupled stiffness G Labyrinth leakage
D, d cross-coupled damping
Direct and cross-coupled ra Radius from seal center
U1 ' U2 Rotor displacements t o stator
to stator
U1 ' U2 Rotor velocities ri Radius from seal center
F , F2 Labyrinth fluid forces to end of seal fin
1
<I> General variable x,y cart. coordinates
fc]) Diffusion coefficient x,y rot. coordinate system
Sc]) term
Source term wi preswirl
pre swirl
r, ep, z Cylinder coordinates t stress
shear stress
1) Transformation coordinate u,v,w axial,
axial, radial and circum-
circum-
e Perturbation parameter ferential velocities
ro Rotor eccentricity
0 -' Rotor precession frequency
w Shaft rotational frequency
h Local seal clearance
Cr Nominal clearance
Indices
o Zeroth order a before labyrinth

1 order
First order b behind labyrinth
FUND DYNAMICS
COMPUTATIONAL FLWD DYNAMICS METHODS <CFD>
(CFD)
compressible, turbulent, time dependent and threedimensional flow in a labyrinth seal

The compressible,
can b
bee described by the
t h e Navier-Stokes
Navier-Stokes equations in conjunction with a turbulence model.
Additionally, equations for
Additionally, f o r mass
m a s s and energy conservation and an equation of state s t a t e are
are
required. These equations can b bee solved with the
t h e aid of a finite
finite difference procedure. To To
t h e desired coefficients, two
determine the t w o methods have been developed:
- 2-dimensional procedure based on

- 2-dimensional o n a perturbation analysis
- 3-dimensional theory using a moving frame of reference rotating with the
- 3-dimensional t h e shaft.
shaft.
204
T o describe the
To t h e labyrinth seal seal flow,
flow, wew e use the
t h e time-averaged
time-averaged conservation equations for for
momentum, mass m a s s and energy and the t h e equation of states t a t e for
f o r a perfect gas.
gas. The correlation
t e r m s of the
terms t h e turbulent
t u r b u l e n t fluctuation
fluctuation quantities
quantities are
a r e modeled via the t h e k-E turbulence model
of LAUNDER /I/. All these
LAUNDER and SPALDING /1/. t h e s e equations
equations can be
b e arranged in the
t h e following
following
generalized
generalized form:
form:
(2)
where <D stands

s t a n d s for
f o r any
any of the
t h e dependent variables(e.g. velocities,
velocities, pressure,
pressure, temperature,
temperature,
density), rTo
density), cI> is
is the
t h e diffusion coefficient and ScI> So the
t h e source
source term.
t e r m . To
To calculate the
t h e dynamic
dynamic
coefficients, several assumptions
assumptions area r e introduced:
1. small
small rotor
r o t o r motions around the t h e seal
seal center onon aa circular orbit
2.
2. coordinate
coordinate transformation
transformation
3. perturbation series
3. series expansion for f o r the
t h e dependent
dependent variables
4.
4. solutions
solutions for f o r the
t h e dependent variables corresponding to t o the
t h e temporal
temporal and circum-
ferential
ferential variation of of the
t h e seal
seal clearance
clearance function
function
Assumption 1I assures
a s s u r e s that
t h a t we
w e can
can use use eq.
eq. 11 tot o calculate
calculate the
t h e dynamic
dynamic coefficients.
coefficients.
supposing that
When supposing t h a t the
t h e shaft
s h a f t rotates
r o t a t e s on
o n aa circular
circular orbit,
orbit, one
o n e can
can imagine
imagine thatt h a t the
t h e local
local
seal
seal clearance hh varies in time time for f o r every
every location cp=const.
cpzconst. To T o avoid the
t h e use of time
dependent calculation grids,grids, we w e transform the t h e governing equations
equations to t o another coordinate
coordinate
system
system by introducing aa new radial coordinate l]r] whereby the t h e eccentrically moving
moving shaftshaft
is
i s converted
converted to
to aa shaft
s h a f t rotating
rotating in
in the
t h e center
center of
of the
t h e seal
seal (see
(see Fig.
Fig. 1).
1).
The
The third assumption,
assumption, together with assumption
assumption 1,1, implies
implies that
t h a t the
t h e perturbation series
series
n = 1 ... (C (3)
f o r the
for t h e dependent
dependent variables
variables can
can be
b e truncated after
a f t e r the
t h e linear
linear term.
term.
205
....x
1: Coordinate transformation
Fig. 1:
t h e s e equations for
Inserting these f o r every dependent variable into the
t h e basic conservation relations
yields two
Yields t w o sets
sets of equations. The zeroth order set describes the t h e flow in the
t h e centric laby-
laby-
t h e first
rinth while the f i r s t order equations are
a r e governing the
t h e flow field for
f o r small eccentric shaft
shaft
l a s t assumption allows!
motions. The last:assumptiol1l allowsl the
t h e elimination
eliminatiion of'
of thel
the1 temporall
temporal1 andcircumferentiallderiva-
and circumferential~deriva-
t h e first
tives in the f i r s t order
o r d e r equations analytically.
The seal clearance function for s h a f t pl-ec~ssion
f o r a circular shaft precession orbit around the
t h e seal center
center
can b
bee stated
s t a t e d as
as
h = hl =
= ho + ee h1 Crr -- X(t)
= C X i t ) coscp -- Y(t)
Y ( t ) sincp
sincp (4)
(4)
t o this
Corresponding to t h i s function,
function, we assume
a s s u m e that
t h a t the
t h e dependent variables vary in the
t h e same
same
t h e circumferential direction.
way concerning the
t h e circumferential derivatives can be calculated analytically. After separating
Thereby, the
t h e equations into sine and cosine terms
the t e r m s and rearranging them by introducing complex
variables, solutions for f o r the
t h e first
f i r s t order variables corresponding to t o the
t h e temporal change
of seal clearance due circularshaft o r b i t a r e prescribed,iallowing t h e elirninat'ioniof t h e
d u e to a circularshaftorbit,areprescribed,lallowingtheeliminat1ion:ofthe
derivatives with respect to time. Finally, we w e obtain two
t w o sets
s e t s of differential equations which
have to b bee solved subquently in order to determine the t h e desired coefficients.
THREEDIMENSIONAL METHOD
c o n t r a s t to the
In contrast t h e perturbation analysis,
analysis, where wew e have made many assumptions to
t o reduce
t h e computational effort,
the e f f o r t , the
t h e threedimensional procedure shows much greater generality
in avoiding these t h e s e restrictions. Again, Again, the
t h e time-averaged
time-averaged conservation equations are
a r e solved
206
in conjunction with the t h e already mentioned k-Ek-E model.
T o determine the
To t h e dynamic coefficients we w e assume that
t h a t the
t h e shaft
s h a f t moves on
o n a circular orbit
with precession frequency 00 around the t h e seal center. Since this would normally result r e s u l t in
a time dependent problem we introduce a rotating coordinate system which is i s fixed at at
t h e shaft
the s h a f t center (Fig.
(Fig. 2).
2). In this moving frame of reference, the t h e flow isi s stationary. Due
t o the
to t h e rotating coordinate system, centrifugal and coriolis forces f o r c e s occur in the
t h e equations
f o r radial and circumferential momentum.
for
system
Fig. 2: Rotating coordinate system
PROCEDURE FOR THE CFD-METHODS

SOLUTION PROCEDURE CPD-METHODS
Because of the
t h e complexity of the t h e derived equations,
equations, no
n o analytic solution can beb e obtained.
t h e r e is
Therefore, there i s a need for
f o r a numerical algorithm to t o solve the
t h e equations with the
t h e aid
of a computer. We made our o u r decision for
f o r the (FDM), which is
t h e Finite Difference Method (FDM),
well established in fluid dynamics.
The FDM procedure starts
s t a r t s with the
t h e discretization of thet h e calculation domain, which must
must
be performed in a different manner for f o r the
t h e two
t w o methods: While we can use a twodimen-
twodimen-
sional Finite Difference grid for
siona} f o r the
t h e perturbation analysis (Fig. 3), t h e threedimensional
3), the
approach requires additional grids in the t h e circumferential direction (Fig.
(Fig. 4).
4).
207
WI
Fig.
Fig. 3:
3: Grid
Grid for
f o r perturbation
perturbation method
method , A
Lz
Fig.
Fig. 4:4: 3D
3D Finite
Finite Difference
Difference grid
grid
In the
In t h e next
n e x t step,
s t e p , the
t h e generalized
generalized equation (2) isi s integrated
equation (2) integrated over
over aa control
control volume
volume linking
linking
every node
every node point
point with with his his neighbours
neighbours inin space.
space. The The resulting
resulting algebraic equations ar~
algebraic equations ark then
then
solved for
solved f o r the
t h e zeroth
zeroth and and first
f i r s t order
order equations
equations (perturbation
(perturbation analysis)
analysis) or
o r the
t h e 3D
3D equations
equations
respectively.
respectively.
Finally,
Finally, the
t h e dynamic
dynamic forces
forces are
a r e calculated
calculated from
from the
t h e pressure
distribution on on the
t h e rotor
r o t o r sur-
sur-
face
face for
f o r two
t w o precession frequencies 0=0
precession frequencies and 0=(,),
0=0and 0=o, resulting
resulting inin two
t w o sets
s e t s of
of forces.
forces. Then Then
the
the dynamic
coefficients are
a r e determined
determined from
from eq.
eq. 1,I, where
where the
t h e prescribed
prescribed circular
circular shaft shaft
orbit is introduced:
orbit is introduced:
(5)
- F2 = ro (- k + 0 D)
208
t h e perturbation analysis or
For more detailed information concerning the o r the
t h e 3D algorithm,
algorithm,
a r e referred to
readers are t o WEISER and NORDMANN 12,3/.
/2,3/.
SIMPLEIED METHODS
SIMPLIFIED
While the
t h e CFD algorithms·
algorithms require a lot
l o t of computer storage and cpu time, thet h e simpli-
fied methods described in this chapter show a reduced effort to
t o determine the
t h e rotordyna-
rotordyna-
mic labyrinth coefficients.
THREE VOLUME BULK FLOW MODEL
t h e conventional approach (see

Following the (see for
f o r example IWATSUBO 141
/4/ or
o r CHILDS 151),
/S/),
a three volume bulk flow model has been developed based on the t h e conservation equations
for
f o r mass, momentum and energy working with velocities, pressure, density and tempe- tempe-
rature, which area r e averaged over the
t h e control volume height.
Flow visualization experiments show, show, that
t h a t for
f o r look-through
look-through labyrinths,
labyrinths, the
t h e flow field can
be divided in two
t w o characteristic regions: a vortex flow in the t h e seal chamber and a jet jet flow
region beneath thethe seal strip
strip and the
the groove. Therefore we use three control volumes (CV)
(CV)
t o describe the
to t h e flow situation in the labyrinth (Fig. (Fig. 5).
5).
f o r the
To account for t h e flow turbulence, wall shear stresses
s t r e s s e s and a fluid shear stress
s t r e s s in the
the
contact region of CV C V II
I1 and CV III
I11 are
a r e introduced. Following SCHARRER 16/, / 6 / , a vortex
velocity in thet h e chamber is assumed. The constants appearing in the t h e shear stress
s t r e s s formula-
a r e determined with the aid of the
tions are t h e CFD programs for centric shaft s h a f t position.
Again, a perturbation analysis in connection with the t h e implementation of solutions for f o r the
temporal and circumferential variation of the dependent variables is i s performed, resulting
t h e already known two
in the t w o sets
s e t s of differential equations, which now depend only on the the
axial coordinate z. After their numerical solution, solution, the
t h e forces and the t h e dynamic seal coeffi- coeffi-
a r e calculated by a pressure integration over the
cients are t h e shaft
s h a f t surface.
More information concerning the bulk flow model can b
bee found in NORDMANN and WEISER
/7,8/.
17,8/.
209
Coordinate System
Coordinate System 3-Volume-Model
!~rdcp
,. L. L
. . . ..,,~ "',;,.I'"'. -.. . . . -..-\, .\~.,,.. J
. ,_ -.. . . . , -'" '~ "'' ' ' '_'....., t... . . . -.........................

\
, -%->
\.,'.\,
....... ' Rotor

~otor
z
u
C o n t r o l Volumes
Control Volumes 0 t h Order
---
Oth O r d e r Bulk
Bulk Velocities
Velocities
1'. .,: rdrp

';
. ..
rtr rcrtr
uI VI wI
CVII /'j
, 2. f z
, - - - -p&- - - - - -
- -
'f'~r ,,'Ti, r
T~
C _ _ _ _ _ Cr r
---'> -Cr
:
vII wn
rt: l=lr:
.
Fig. 5:5: Three
Fig. T h r e e volume
volume bulk
bulk flow
f l o w model
model
CORRELATION EQUATIONS
CORRELATION EQUATIONS FOR
FOR THE
THE DYNAMIC
DYNAMIC COEFFICIENTS
COEFFICIENTS
Already in
Already in the
t h e design
design stage s t a g e of
of aa turbine
turbine or o r aa compressor,
c o m p r e s s o r , thet h e estimation
estimation of o f labyrinth
labyrinth
coefficients isi s important
coefficients i m p o r t a n t for
f o r inclusion
inclusion ofof these
t h e s e effects
e f f e c t s into
i n t o rotordynamic
rotordynamic calculations.calculations.
Therefore, we
Therefore, w e developed
developed approximation
approximation formulas
f o r m u l a s for
f o r the
t h e desired
desired stiffnesses
s t i f f n e s s e s and
a n d dampings
dampings
to provide aa tool
to provide t o o l for
f o r the
t h e design
design engineer, which can
engineer, which can give give somes o m e information
information about a b o u t the
the
rotordynamic seal
rotordynamic s e a l influence
influence to to be be expected.
expected. These
These correlations
correlations are .are based
b a s e d on
o n extensive
extensive FD FD
calculations for
calculations f o r aa model
model labyrinth,
labyrinth, wherewhere performance
performance data
d a t a and
a n d geometry
geometry were w e r e varied
varied in
in
aa wide
wide range
r a n g e ofof practical
practical interest.
interest.
First, the
First, t h e influence
influence parameters
p a r a m e t e r s which
which will
will be
b e included
included in
in the
t h e correlation
correlation to t o perform
p e r f o r m must
must
be
b e defined
defined (shown( s h o w n in in Fig.
Fig. 6).
6).
210
Pa
Pa *.,.,',*,.
number of
/ ./'
,,,' ,
,/ Pb
'Ta
a
:,i',,,,, //
,/' /, '.:',
pre swirl
preswirl , chambers ,,." ,,-,
ddata of
a t a of ,-;,/,,:
,- ,,'
"k
.,.,"'
8 ,,,' :/,<'
medium
medium /,,,',/* o ,.,,,//.'/
r ,,,",/
/ ,! ,,,,;-;.;,/.,,;
.
,,,/ ,,/
,,.,<,.'
,,,,,:,,+,,- /,,,. ./'../,' / / ,..~'/////,,~~:,.,~~~,,~,;.,; .,,,,;:,/; ,,,,,,'
,,,' ,,' ,
,,
::
;
/
.,.,'
,~,;*,..,.,,/,,"
,'./,,,/.',- :,,,~,;~.*,./,(,.
,
,
,, /" /'/'
,,,,..,,,,,,.,*;Rotor /':,,
,/
,/" ,/" ,./ ,,,.,,,',,.
. . . . .../",,', ., ,. ,,,,, ,, .,,, ,,. ,. ,
,
, .,,,
,, ., ,-;.,,/,.,;,
*, ,
i
I
Fig. 6: Influence parameters ffor
o r tthe correlation of
h e correlation of dynamic coefficients
For tthe
h e approximation equations, several definitions aare
r e used:
1 ' 2 x+1
G kr =1
I 9.80665 x ( - - )x-1
, x+l
= 12
1 2R
R ++ C,
Cr + Bm = 00 :: ff Strips on sstator
tator
Om = -
Dm
22 22 m = 1:
m 1 : kl Strips on rrotor
otor
- E
(.. 1 - "7
e2 \
;
k kr n2 I
k'
1- Ek )2
q = { n ::. 7: r (6)
nIt 7:
ex = V14.44
14.44 --
- 1
1 1 ( C,r // S -- 4)2
(C 4 )2 -- 26.656
0.2 0:5 C .., // S << 4
f o r 0.2
for and
a =
-- 33.32
33.32
a = 0.675
ex 0.675 for
for C
Crr // SS 22 44
C -2
k = ~/i nk + J.u \,' 1 + 16.6...:::.c )
u n~ 1 - ~) L .
e
"z
Ez
-- fh
=.£b skr
Ekr == 0.528
0.528 (air)
(air)
Pa
Pa
211
DESCRIPTION
DESCRIPTION O
OFF DIRECT
DIRECT STIFFNESS
The approximation
approximation ffor o r tthe
h e direct sstiffness
t i f f n e s s consists of
of three
three parts:
parts:
- sstiffness
t i f f n e s s ffor situation (( KO
o r axial flow situation Ko ))
-- sstiffness
t i f f n e s s induced by sshaft rotation ( Ko)
h a f t rotation K )
w
-- sstiffness
t i f f n e s s induced by preswirl velocityvelocity (( K Kw.)1
wi1
From FD calculations, we found tthat h a t tthe of preswirl changes sign ffor

h e influence of o r labyrinths
with more than 5 sstrips
t r i p s and tthat
h a t K becomes negative ffor multi-chamber seals. This iiss
o r multi-chamber
included in tthe
h e following formulas:
K = KO + K, + Kw. f o r nk&S
1
(7)
o + K,W - Kw
= KO
K
K=K +K -K
Wi
ffor
or % > S
l'\?' 5
i
with
fg = R ~2
hITl
f p = \: Pa - Pb ) ( 1 + 1:: ) 4J = ( 2:.!:s + 1:: + 1 ) Asp = 2rc R C r
'2 hITl
f =',100 - tonk);nJtto
hITl = 0.5 i. B + C r )
n \ 10 nk - n~) ; nk:o..to Kw = C*2 .£iii.
Pb m
w Pm = 0.5 ( Pa + Pb j I ( Rl a i
,2
Z
LS = 4L + SS
- C*.£iii.
X ,. w·
.!,?a \( 3 )j
.
K
Kwi
Wi =
' pb
3 ' 3 Pb
...:.:.l.
Dm.
'Dm
G5
G f o r 55 strip
S :: Leakage for strip
Labyrinth
CROSS-COUPLED STIFFNESS
STIFFNESS
The
The cross-coupled
s t i f f n e s s is
i s directly related to
to the
t h e leakage
leakage loss
l o s s of the
t h e labyrinth. Also,
Also,
the
t h e influence
influence of
of geometry,
geometry, shaft s h a f t rotation
rotation and
and preswirl are included:
a r e included:
212
(8)
k = G tg tw,w
The average circumferential velocity wIn t h e 1/7-power

wm is determined using the l/7-power law.
DIRECT DAMPING
t h e direct damping D, some of the

To describe the t h e previously defjned
defined functions
functions are
a r e used. The
s h a f t rotation, preswirl and geometry are
influence of shaft a r e found to
t o be
b e smaller than for
f o r the
the
stiffnesses:
( 9)
C*..E.A w
7 Ph m
DW· = C*.£a. ~
1
8 Ph DIn
r e s u l t s for
The correlation coefficients were determined from the FD calculation results f o r the
t h e data
data
t h e chosen model labyrinth:
variations of the
C*
1 = 3.141 10-2 C*
2 = 16.0 KgII."m Sl C; = 2.80 10- 2 Kg
C* = f 4.2 10- 3 (strips
i strips rotor i
on rotor)
3 C:s* = 1.50
C m-I1
1.50 m- C:6* = 1.571
C 1.571 10- 3 ss
C'4 = l3.5 i s t r i p s on stator)
'3.5 10- (strips s t a t o r ,i
C*
7
= 0.18 N s2 I m 2 C*
8
= 1.60 10- 2 N s2 I m
THE DIFFERENT
COMPARISON OF THE
COMPARISON DlFFERIiNT APPROACHES
APPROACHES WITH MEASUREMENTS
1. Example: A three
1. t h r e e chamber look-through
look-through labyrinth
t h e two
To compare the t w o FDM,
FDM, the
t h e bulk flow model and the
t h e correlation equations to
t o measure-
measure-
look-through labyrinth which was experimentally investigated
ments, we have chosen a look-through
/9/ (seal
by BENCKERT 191 (seal data
d a t a given in 12/).
/2/).
213
80
80
- ...... ;~
..<!b.
o
Measurement
Measurement
Benckert
-_ . .
--
Benckert
.. . .- .....:::::- ~
+ Pert. Analysis
Pert. Analysis
---- .- --- .....

KK N/m
N/m
.;:-~ ~
<thousands}
(thousands) _.-;:-
-'l!'""
.
...0-
-::-::-
. - -' ¢.
A-
~-::
3D-Method
Bulk Flow
Bulk Flow Model
Model
Correlations
Correlations
I
o0 !
o0
9
100
100
I
200
200
I
preswirl m/s
preswirl m/s
Fig. 7 : Direct
Fig.7: Direct Stiffness
Stiffness
160
160
~ ~
- Measurement
Measurement
--:..::: ::: P"~
0
-.- Benckert
Benckert
---
kk N/m
N/m
100
100
/
/'"
~
~
~p'
. .::---,z-;,,: -
~/.'. +t
-c.
-
-n..-
¢.
.L..
Pert. Analysis
Pert. Analysis
3D-Method
3D-Method
Bulk Flow
Bulk F l o w Model
Model
<thousands}
( t h o us a n d s ) ~-Cf.r --.
foJ ~~ xx Correlations
Correlations
~.
o0
o0 100
100 200
200
preswirl m/s
preswirl m/s
Fig.
Fig. 88 :: Cross-coupled
Cross-coupled Stiffness
Stiffness
2.2. Example:
Example: AA multi-chamber
multi-chamber look-through
look-through labyrinth
labyrinth seal
seal
SCHMIED
SCHMIED /to//lo/ published
published experimental
experimental results results obtained
obtained byby CHILDS
CHILDS for for aa 12
12 strip
strip stator
stator
labyrinth
labyrinth (seal
(seal data
data given
given in / l o / ) . The
in /to/). The comparisons
comparisons in Fig. 99 -- 1111 show
in Fig. show thethe results
results of
of
perturbation
perturbation analysis,
analysis, bulk
bulk flow
f l o w model
model and and correlation
correlation for
for the
the stiffnesses
stiffnesses and and the
the direct
direct
damping.
damping.
214
0
Measurement
Measurement
D
CHILDS
CHILDS
K N/m
-1 0 - ..t-- .....- I-~-' i"l...- ..
.,.1;
. . --" + Pert.
Pert. Analysis
Analysis
v
<thousands> ~v L;,. Bulk
Bulk fflow
low m odel
model
-20
-'--- - .- -' -- -- - - . ::-~ Correlations
Correlations
-3 u
-so o so
m/s
preswirl m /s
Fig. 9
Fig. 9 : Direct Stiffness
Direct Stiffness
80
80 .4~ - Measurement
Measurement
.1/ JP D
CHILDS
CHILDS
_V " ,... v. .....: -.-
kk N/m
+
+ Pert. Analysis
Pert.
"" ~""
N/m
<thousands> 0 o J"./
. ' ~ ~.......
-..- Bulk f l o w model
flow model
(thousands) A
L;,.
--::/ I?"" --.

:
.-- Correlations
Correlations
i~
r?'
Clr
-80
-80
-SO o0 so
preswirl
preswirl m/s
m/s
Fig.
Fig. 10:
10: Cross-coupled
stiffness
- Measurement
Measurement
D0
20u CHILDS
CHILDS
f==. : ;:.~ -.-
~.~: ~~ Ir'-~ Ir'-- I-'-~
DD Ns/m + Pert. Analysis
Ns/m
100
If---
r--- t--
t- - - 1---1 - - -
-
- .-
I--
.
~P
~I. ...
+
-..-
-
L;,.
::-~
Pert. Analysis
Bulk flow
Bulk f l o w Inodel
--:*:. Correlations
Correlations
model
o
-so
-50 o0 so
50
Fig.
Fig. 11:
11 : Direct
Direct damping
damping
215
APPLICATION OF
APPUCATION OF SEAL
SEiAL DYNAMICS
DYNAMICS CALCULATION
CALCULATION TO
TO ROTORDYNAMIC
ROTORDYNAMIC DESIGN
DESIGN
AND VIBRATION INVESTIGATIONS
AND VIBRATION INVESTIGATIONS
In 1988,
In 1988, SCHMIED
SCHMIED 1101
/lo/ published
published rotordynamic
rotordynamic calculations
calculations for f o r aa high
high performance
performance injec-
injec-
tion compressor,
tion compressor, where
where he
he included
included the t h e most
m o s t important
important fluid
fluid interaction
interaction influences
influences coming
coming
from journal bearings,
from bearings, oil
oil ring
ring seals
s e a l s and
and labyrinths.
labyrinths. Fig.
Fig. 12
12 shows
s h o w s aa sketch
sketch ofof the
t h e compressor
compressor
r o t o r discretization
rotor discretization and
and gives
gives the
t h e basic
basic data.
data. The
The labyrinth
labyrinth data
d a t a are
are given
given in /lo/. SCHMIED
in 110/. SCHMIED
uses the
uses t h e program
program MADYN
MADYN to perform the
to perform t h e eigenvalue
eigenvalue calculations.
calculations. In In this
this chapter,
chapter, aa compa-
compa-
rison is
rison i s made
made to SCHMIEDs results
t o SCHMIEDs r e s u l t s for
f o r the
t h e first
f i r s t forward
forward bending
bending mode
mode with
with straight
straight
through shroud
through shroud and
and hub
hub labyrinths,
labyrinths, the t h e comb-grooved
comb-grooved balance balance piston
piston and
and ideally
ideally floating
floating
oil ring
oil ring seals.
seals.
Balance piston
Balance piston
Journal bearing1
Journal bearing1 Impeller Labyrinths
Impeller Labyrinths bearing 22
Journal bearing
Journal
Basic compressor
Basic compressor data:
data:
Suction pressure:
Suction 198 bar
198 bar Mass flow:
Mass flow: 47.5 kgls
47.5 kg/s Op. speed:
Op. speed: 13400 rpm
13400
pressure:
Discharge pressure: 700 bar
700 bar mass:
Rotor mass: 265 kg
265 kg
Mol. weight
Mol. weight of
of gas:
gas: 20.05
20.05 dist.:
Bearing dist.: 1565 mm
1565 mm
Fig. 12:
Fig. 12: Investigated rotor
rotor
TO SCHMIED'S RESULTS
COMPARISON TO RESULTS FOR THE
THE SIXTH
SIXTH STAGE
STAGE SHROUD
SHROUD LABYRINTH
SCHMIED uses
SCHMIED u s e s the
t h e labyrinth seal
seal model of WYSSMANN 1111 /11/ to t o determine
determine the t h e rotordynamic
rotordynamic
coefficients. For the t h e sixth stage
s t a g e shroud
shroud labyrinth,
labyrinth, hishis calculations
calculations show s h o w negative
negative direct
direct
s t i f f n e s s values.
stiffness values. As As can be b e recognized in Fig. 13 13 to
t o 15,
15, the
t h e results
r e s u l t s of our
o u r investigations
investigations
with the t h e perturbation analysis,
analysis, the t h e bulk flow
f l o w model
model andand the t h e correlation
correlation equations
equations yield
direct stiffness
positive direct s t i f f n e s s as
a s expected.
expected. The
The agreement of cross-coupled
s t i f f n e s s and direct
direct
damping to
damping t h e values
to the values obtained with WYSSMANNs theory is good. Especially,
is good. Especially, the t h e different
procedures presented in this paper are are in relatively good agreement with each each other
o t h e r for
for
all rotordynamic
all rotordynamic parameters. This This statement
s t a t e m e n t holds
holds also
also true
t r u e for
f o r all
all other
o t h e r labyrinth seals seals
t h e investigated compressor.
of the
216
6 ,."""", . - .- j... • •
r:-.:..: . .:.' .~ '. :;t
-o0 Theory of
o f WYSSMANN
-.-
K N/m
K N/m ~.t--- .- - -,- +- • - f-- - I-~ + Pert. Analysis
Pert.
(millions)
(mil lions) q ...-
-- r--
- r-- ""'-'
-.--
A
..:::..
--x
;-C
Bulk flow
f l o w model
Correlations
-6
o so 100
preswirl m/s
m/s
13: Direct Stiffness

Fig. 13:
to
10
-
v· o
CJ Theory of
o f WYSSMANN
~.
~ -.-
1--:""- ~
---'
..,.";:,,..' +
+ Pert. Analysis
Pert.
kk N/m
N/m
t....s-'"
f.-"';-
. ~ -..:::..-- - Bulk
A Bulk Flow
Flow model
model
(millions)
(millions)
.-V 1.:" •
~
--. Correlations
::;V- •
:;:
---= "'?'
~.
---- 3 i
;-C Correlations
o
0
o so toO
preswirl m/s
pre swirl m/s
Fig.
Fig. 14:
14: Cross-coupled
Cross-coupled Stiffness
10
-0 o f WYSSMANN
Theory of
. -"- . ..-.,.~
0
---
+
+ Pert. Analysis
Pert.
D Ns/m
D Ns/m .::. _. -..-
--
~
AL:::.. Bulk Flow
Bulk Flow Inodel
model
(thousands)
(thousands) I
- .- - - - ---
- .- .. - t-- -I--
4 • --x
--w; -d.
:::-:: Correlations
o0 1---~---+--~~--+---1----r---+--~----r-~
I 9 I
o
0 so tOO
100
preswirl m/s
pre swirl m/s
15: Direct Damping

Fig. 15:
217
ROTORDYNAMIC
ROTORDYNAMIC ANALYSIS
ANALYSIS OF
O F EIGENPROBLEM
EIGENPROBLEM AND
AND STABILITY
STABILITY
SCHMIED
SCHMIED investigated
investigated three t h r e e cases
c a s e s of
of rotordynamic
rotordynamic interest:
interest:
-- "ideal":
"ideal": rotor
r o t o r running
running inin journal
journal bearings,
bearings, no
n o labyrinth
labyrinth influence
influence
-- "with
"with swirl
swirl brakes":
brakes": labyrinth
labyrinth influence
influence included
included for
f o r low
low preswirl
preswirl conditions
conditions
-
- "without
"without swirl
s w i r l brakes":
brakes": labyrinth
labyrinth influence
influence included
included for f o r high
high preswirl
preswirl conditions
conditions
For
For these
t h e s e cases,
c a s e s , we
w e have
have calculated
calculated the
t h e eigenfrequencies
eigenfrequencies and
a n d modal
modal dampings
dampings of of the
t h e rotor
rotor
system
s y s t e m using
using the t h e Finite-Element
Finite-Element program
program of of DIEWALD /12/ . .In
DIEWALD /12/ In Fig.
Fig. 16
16 and
a n d 17,
17, comparisons
comparisons
are
a r e presented
p r e s e n t e d for
f o r the
t h e first
f i r s t forward
f o r w a r d bending
bending mode. mode. For For the t h e "ideal"
"ideal" system,
s y s t e m , the
t h e calculations
calculations
show
s h o w nearly
nearly the t h e same
s a m e results.
r e s u l t s . Because
Because of of the
t h e labyrinth
labyrinth coefficients
coefficients obtainedobtained with w i t h the
t h e FD
FD
perturbation
perturbation analysis analysis for f o r the
t h e hubh u b and
a n d shroud
s h r o u d labyrinths
labyrinths and a n d the
t h e bulk
b u l k flow
f l o w model
m o d e l for
f o r the
the
balance
balance piston,
piston, the t h e first
f i r s t eigenfrequency
eigenfrequency isis higher higher than t h a n in in SCHMIEDs
SCHMIEDs calculations. calculations. This This
isis mainly
mainly due d u e tot o the
t h e positive
positive direct direct stiffnesses
s t i f f n e s s e s for
f o r the
t h e impeller
impeller labyrinths.
labyrinths. Also Also thet h e modal
modal
damping
damping shows s h o w s great
g r e a t differences.
differences.
..,.,I First
First Eigenfrequency
Eigenfrequency
160
i!:J SCHMIED
SCHMIED
(MADYN)
(MADYN)
f1 Hz
o0 FE prograIYl
FE program
(DIEWALD)
(DIEWALD)
o
"ideal"
"ideal" "with swirl
"with swirl "without
"without
brakes"
brakes" swirl brakes"
swirl brakes"
Fig. 16:
Fig. 16: Comparison
Comparison of
o f first
f i r s t eigenfrequency
eigenfrequency
218
Modal dampIng
Modal damping
c:J SCHMIED
SCHMIED
(MADYN)
(MADYN)
C3 FE program
FE program
(DIEWALD)
(DIEWALD)
"ideal"
"ideal" "w-ith
"with "without
"w-ithout
sw-irl
swirl brakes"
brakes" swirl brakes"
sw-irl brakes"
Fig. 17:
Fig. 17: Modal
Modal damping
damping of
of first
f i r s t forward
forward bending
bending mode
mode
CONCLUSION
CONCLUSION
Four
Four calculation
calculation methods
methods have
have been
been described
described allowing
allowing calculation
calculation of
of the
t h e dynamic
dynamic labyrinth
labyrinth
coefficients.
coefficients. Comparisons
Comparisons to
t o experiments
experiments show
show good
good agreement
agreement for
f o r all
all methods
methods and
and all
all
investigated cases.
investigated cases.
The
The practical
practical example
example of of rotordynamic calculations for
rotordynamic calculations f o r aa high-performance
high-performance compressor
compressor
has shown
has shown that
t h a t the
t h e determination
determination of of labyrinth
labyrinth coefficients
coefficients must
m u s t be
be performed
performed as a s exactly
exactly
as
a s possible
possible in
in order
o r d e r to
t o predict
predict the
t h e eigenfrequencies
eigenfrequencies and
and modal
modal dampings
dampings correctly.
correctly. Also,
Also,
it
i t has
has been
been pro:ved
praved that t h a t the
t h e methods
methods presented
presented in
in this
t h i s paper
paper are
are superior
superior for
f o r this
this task
task
to
t o the
the existing
existing theories.
theories.
LITERATURE
LITERATURE
/1/
/1/ LAUNDER, B.
LAUNDER, B. E.,
E., SPALDING,
SPALDING, D. B.:
D. B.:
"The Numerical
"The Numerical Computation
Computation of of Turbulent
Turbulent Flows"
Flows"
Computer Methods
Computer Methods in in Applied
Applied Mechanics
Mechanics and
and Engineering
Engineering 3,
3,
(1974), S. 269 - 289
(1974), S. 269 - 289
/2/
/2/ NORDMANN, R.,
NORDMANN, R., WEISER,
WEISER, H.P.:
H.P.:
"Rotordynamic Coefficients
"Rotordynamic Coefficients for
f o r Labyrinth
Labyrinth Seals
Seals Calculated
Calculated by
by
Means of
Means of aa Finite-Difference
Finite-Difference Technique"
Technique"
NASA
NASA CPCP 3026,
3026, 1988
1988
219
/3/ WEISER, H. P., NORDMANN, R.:
"Calculation of Rotordynamic Labyrinth Seal Coefficients by Means
o f a Threedimensional Finite-Difference
of Finite-Difference Method"
o n Mechanical Vibration and
Biennial Conference on a n d Noise, Montreal 1989
1989
/4/ TAKAHARA, K.; KAWAI, R.:

IWATSUBO, T.; TAKAHARA,
"A New Model of Labyrinth Seal for
f o r Prediction of the
t h e Dynamic Force"
NASA CP
C P 2338, 1984
1984
/5/ CHILDS, D. W., SCHARRER, J. K.:

Iwatsubo-Based Solution for
"An Iwatsubo-Based f o r Labyrinth Seals - - Comparison with
Experimental Results"
NASA CP
C P 2338, 1984
1984
/6/ SCHARRER, J. K.:

SCHARRER,
"Theory versus Experiment for f o r the
t h e Rotordynamic Coefficients
of
of Labyrinth Gas
Gas Seals: Part
Part I -
- T w o Control
A Two C o n t r o l Volume Model"
T h e 11th Biennial Conference on
The o n Mechanical Vibrations and a n d Noise,
Boston, 27-30
27-30 Sept. 1987
1987
/7/ NORDMANN, R.; WEISER, H.P.:

"A Three
T h r e e Volume Bulk Flow Model for
f o r the
t h e Calculation of Rotordynamic
Coefficients ofo f Look-Through
Look-Through Labyrinths"
Third International Symposium on o n Transport
T r a n s p o r t Phenomena and
a n d Design of
of
Rotating Machinery, Honolulu, USA, 1990
/8/ NORDMANN, R.; WEISER, H.P.:

"Evaluation of Rotordynamic Coefficients of Look-Through Look-Through Labyrinths
by Means of a Three T h r e e Volume Bulk Flow Model"
The
T h e Sixth W Workshop
o r k s h o p on
o n Rotordynamic Instability Problems in High Per-Per-
formance
f o r m a n c e Turbomachinery, College Station
S t a t i o n Texas, USA, 1990
1990
/9/ BENCKERT, H.:

"Stromungsbedingte Federkennwerte in Labyrinthdichtungen"
Labyrinthdichtungen"
T U Stuttgart,
Dissertation TU S t u t t g a r t , 1980
1980
/10/ SCHMIED, J.:

SCHMIED,
"Rotordynamic Stability Problems and
a n d Solutions in High Pressure
Turbocompressors"
Turbocompressors"
NASA CP
C P 3026, 1988
1988
220
/11/
/11/ WYSSMANN, H. R, R., PHAM, T. C., JENNY, R R. J.:
j.:
"Prediction of o f Stiffness
S t i f f n e s s and
a n d Damping Coefficients for for
Centrifugal
C e n t r i f u g a l Compressor
C o m p r e s s o r Labyrinth Seals"
ASME Journal journal of o f Engineering for f o r Gas
G a s Turbines and
a n d Power,
Okt.
O k t . 1984,
1984, B. 106, 106, S. S. 920 -- 926
/I2
/12 DIEWALD,
DIEW ALD, W., NORDMANN, R: R.:
"Dynamic Analysis of o f Centrifugal
C e n t r i f u g a l Pump
P u m p Rotors
R o t o r s with
w i t h Fluid- Mechanical
Fluid-Mechanical
Interactions"
Interactions"
C o n f e r e n c e on
11th Biennial Conference o n Mechanical Vibration and a n d Noise,
Boston,
B o s t o n , 27-30
27-30 Sept.
S e p t . 1987
1987
221
N92-14361
EXPERIMENT
EXPERIMENT OF STATIC AND DYNAMIC CHARACTERISTICS
CHARACTERISTICS OF
OF SPIRAL GROOVED
GROOVED SEALS
T.
T . Iwatsubo,
Iwatsubo, B.C. Sheng, and M. Ono
The Faculty ofo f Engineering
Engineering
Kobe
Kobe University
University
Kobe, Japan
The
The leakages
leakages and the
the dynamic
dynamic characteristics
characteristics of of six
six types
types of
of spiral
spiral
grooved
grooved seals
seals are
are experimentally investigated.
investigated. TheThe effect
effect of the helix
of the helix angle
angle
of the seal
of the seal is
is investigated under the
investigated mainly under the conditions
conditions of the same
of the nominal
same nominal
clearances,
clearances, land
land and groove
groove lengths,
lengths, and groove
groove depths.
depths. TheThe dynamic
dynamic character-
character-
istics
istics are
are measured for various parameters
for various parameters such
such as preswirl velocity,
as preswirl velocity, pressure
difference between inlet
difference between inlet and outlet
outlet ofof the
the seal, whirling amplitude,
seal, whirling whirling
amplitude, whirling
speed,
speed, and rotating
rotating speed
speed of
of the rotor. The
the rotor. The results
results are
are also
also compared with
those
those of
of parallel grooved
grooved seals
seals obtained previously. The
obtained previously. The results
results show
show that
that the
the
leakage
leakage increases
increases with the
the increase
increase ofof the helix angle,
the helix angle, but asas the
the rotating
rotating
speed
speed increases,
increases, the
the leakages
leakages ofof the
the larger
larger helix
helix angle
angle seals
seals quickly drop.
drop.
The
The leakage
leakage of
of the
the SS/SGR
SS/SGR seal
seal (smooth-stator/spiral-grooved-rctor
(smooth-stator/spiral-grooved-rctor seal) seal) drops
drops
faster
faster than
than that
that of
of the
the SGS/SR
SGS/SR seal
seal (spiral-grooved stator/smooth-rotor
stator/smooth-rotor seal).
It
It is
is found
found that
that aa circumferential
circumferential flow
flow can
can be produced by thethe flow
flow along
along the
the
helix
helix angle
angle direction,
direction, and this
this circumferential
flow acts
acts as
as aa negative
negative swirl.
swirl.
For
For the
the present helix
helix angle
angle range,
range, there
there is
is an
an optimum helix
helix angle
angle with which
the
the seal
seal has
has aa comparatively positive effect
comparatively positive effect on
on the
the rotor
rotor stability.
stability. Compared
with the
the SGS/SR
SGSISR seals,
seals, the
the SS/SGR
SS/SGR seal
seal has
has aa worse
worse effect
effect on
on the
the rotor
rotor
stability.
stability.
1.
1. INTRODUCTION
INTRODUCTION
Spiral
Spiral grooved
grooved seals
seals used in
in turbopumps
turbopumps have
have the
the advantage
advantage of
of less
less leakage
leakage
due
due to
to their
their pumping effect,
effect, and have
have aa smaller possible contact
smaller possible contact area
area with the
the
rotor
rotor in
in comparison
comparison to
to smooth
smooth seals.
seals. However,
However, knowledge
knowledge about
about their
their dynamic
dynamic
characteristics
characteristics is is very limited.
limited. InIn aa theoretical
theoretical study,
study, Iwatsubo
Iwatsubo et
et al.
al.
(ref.
(ref. 1)
1) modeled thethe flows
flows in
in the
the spiral
spiral grooved
grooved seals
seals by considering
considering the
the
pumping effect
pumping effect due
due to
to the
the spiral
spiral grooves,
grooves, and analyzed
analyzed the
the static
static and dynamic
dynamic
characteristics
characteristics of of SS/SGR seals
seals by aa short-seal
short-seal solution.
solution. InIn an
an experimental
experimental
study,
study, Kanki
Kanki etet al.
al. (ref.
(ref. 2)
2) measured the
the static
static and dynamic
characteristics
of
of two
two SGS/SR
SGSISR seals
seals with different
different lengths.
lengths. Recently,
Recently, Childs
Childs et
et al.
al. (ref.
(ref. 3)
3)
experimentally
experimentally investigated
investigated six
six SGS/SR
SGSISR seals
seals with different
different helix
helix angles
angles
(15° -
(15' - 70°).
70').
ventional
In practice, the
In practice,
pumps. So
ventional pumps. So the
the small
small helix
the investigation
helix angle
investigation of
angle seals
of the
seals are
the small
small helix
usually used in
are usually
helix angle
angle seals
seals is
in con-
con-
is neces-
neces-
sary
sary and important.
important. Sometimes,
Sometimes, the
the SS/SGR
SS/SGR seals
seals are
are also
also adopted
adopted in pumps due
in pumps due
to
to their
their excellent
excellent pumping effect.
effect. But unfortunately, their
But unfortunately, their dynamic
dynamic character-
character-
istics
istics have not been experimentally investigated
have not investigated yet.
yet.
223
PAGE BLANK NOT FILMED
PRECEDING PAGE
In
In this
this experiment,
experiment, the
the static
static and
and dynamic
characteristics of
of the
the five
five
SGS/SR
SGSISR seals
seals and
and one
one SS/SGR
SS/SGR seal
seal are
are measured
measured under
under the
the condition
condition of
of asynchro-
asynchro-
nous
nous whirling
whirling motion.
motion. These
These seals
seals have
have comparatively
comparatively small
small helix
helix angles
angles
(0.83°
between
between inlet
-
(0.83" - 15.1°).
15.1"). The
inlet and
The effects
effects of
and outlet
outlet of
of the
of the
the preswir1
the seal,
preswirl velocity,
seal, whirling
velocity, pressure
whirling amplitude,
pressure difference
amplitude, whirling
difference
whirling speed,
speed, and
and
rotor
rotor rotating
rotating speed
speed on
on the
the static
static and
and dynamic
characteristics of
of the
the seals
seals are
are
investigated.
investigated. The The results
results are
are also
also compared
compared with
with those
those of
of the
the parallel
parallel grooved
grooved
seal.
seal.
2.
2. NOMENCLATURE
NOMENCLATURE
BB : Groove
Groove depths
depths
CC : Radial
Radial clearance
clearance of
of seal
seal
Cxx,C xy
, C ,Cxy Damping coefficients
: Damping coefficients
eP : Whirling
Whirling amplitude
amplitude of
of rotor
rotor
F,,Fy,Fr,Fa
:x,F ,F r ,F9 : Seal
Seal forces
forces for
for x,y,r, and 98 directions
x,y,r, and directions
xr<xy
Kxx , Kxy Stiffness coefficients
: Stiffness coefficients
LL : Seal
Seal length
length
LZ,Lg
Li ,Lg : Land
Land and
and groove
groove widths
widths
Mxx
Mxx : Inertia
Inertia coefficients
coefficients
NN : Number
Number of
of lands
lands or
or grooves
grooves
AP
fiP : Pressure
Pressure difference
difference between
between inlet
inlet and
and outlet
outlet of
of seal
seal
R,D
R,D : Rotor
Rotor radius
radius and
and diameter
diameter
,9
rrye : Radial
Radial and
and tangential
tangential coordinates
coordinates
tt : Time
Time
V
vt
t : Preswir1
Preswirl velocity
velocity
Vts
vts : Preswirl velocity
Preswir1 velocity at
at zero
zero rotating
rotating speed
speed
x,y
X,Y Fixed coordinates
: Fixed coordinates
a
ex. : Helix
Helix angle
angle
nQ : Whirling
Whirling speed
speed of
of rotor
rotor
w : Rotating
Rotating speed
speed of
of rotor
rotor
3.
3. TEST
TEST APPARATUS
APPARATUS AND
AND MEASUREMENT
MEASUREMENT
The
The test
test apparatus
apparatus has
has been
been illustrated
illustrated inin reference
reference 44 in in detail.
detail. So So the
the
apparatus
apparatus is is only
only outlined
outlined here.
here. TheThe assembly
assembly and
and layout
layout ofof the
the test
test facility
facility
are
are shown
shown inin Fig.
Fig. 11 and
and Fig.
Fig. 2,2, respectively.
respectively. The The working
working fluid,
fluid, that
that isis
water,
water, is
is injected
injected into
into the
the apparatus
apparatus through
through three
three pairs
pairs ofof pre swirl passages
preswirl passages
to
to yield
yield different
different swirl
swirl velocities
velocities asas shown
shown in
in the
the cross
cross section
section B B of
of Fig.
Fig. 1.1.
The
The water
water passes
passes through
through the
the clearance
clearance between
between the
the seal
seal and
and rotor,
rotor, then
then it it
flows
flows through
through thethe outlets.
outlets.
The
The preswirl
preswirl velocity
velocity isis adjusted
adjusted by
by the
the six
six valves
valves inin order
order to to obtain
obtain
arbitrary
arbitrary values.
values.
The bearing
The bearing part
part which
which consists
consists ofof two
two ball
ball bearings
bearings isis used
used toto yield
yield thethe
rotating
rotating and
and whirling
whirling motions
motions of of the
the rotor.
rotor. AnAn inside
inside sleeve
sleeve and and an
an outside
outside
sleeve
sleeve which
which have
have 0.05 mm eccentricity
0.05 rom eccentricity toto each
each other
other are
are attached
attached between
between thethe
two
two bearings,
bearings, as as shown
shown inin the
the cross
cross section
section A.
A. ByBy rotating
rotating thethe two
two eccentric
eccentric
sleeves
sleeves relatively,
relatively, an an arbitrary
arbitrary whirling
whirling amplitude
amplitude can
can be
be adjusted
adjusted in in the
the
range
aa motor
of 0 mm
motor through
- 0.1
through timing
mm.
range of 0 rom - 0.1 rom. The
timing belts
The sleeves
sleeves of
belts to
to obtain
of both
both sides
sides are
obtain aa whirling
are synchronously
whirling motion.
synchronously driven
motion. The The whirling
driven by
whirling speeds
by
speeds
and
and their
their directions
directions are
are controlled
controlled byby an
an electric
electric inverter.
inverter. The The rotating
rotating
224
speed
speed and the
the direction
direction ofof the
the rotor
rotor can
can also
also be changed
changed by the
the other
other motor
controlled
controlled by an an electric
electric inverter.
inverter.
The
The geometries
geometries ofof the
the spiral
spiral grooved
grooved seals
seals are
are shown
shown in
in Fig.
Fig. 3.
3. There
There
are
are five
five spira1-grooved-statorlsmooth-rotor
spiral-grooved-statorlsmooth-rotor seals seals and one
one smooth-statorlspira1-
smooth-statorlspiral-
grooved-rotor seal
seal to
to be tested
tested as
as shown
shown in
in Table
Table 1.
1. These
These seals
seals have
have the
the same
same
nominal
nominal clearances,
clearances, land
land and groove
groove lengths,
lengths, and groove
groove depths,
depths, but
but they
they have
have
different
different helix
helix angles.
angles.
The
The measuring
measuring system
system consists
consists ofof the
the measurements
measurements ofof rotating
rotating and whirling
whirling
speeds
speeds of
of the
the rotor, pressure, preswirl
rotor, pressure, preswir1 velocity,
velocity, leakage,
leakage, fluid
fluid force,
force, and
displacement
displacement of of the
the rotor.
rotor. TheThe fluid
fluid forces
forces acting
acting on
on the
the stator
stator are
are measured
by load
load cells as shown in the cross section C. The signals from the measuring
cells as shown in the cross section C. The signals from the
instrument
instrument are
are recorded
recorded by aa data
data recorder
recorder and analyzed
analyzed by aa computer.
computer.
The
The experimental
experimental conditions
conditions are
are shown
shown in
in Table
Table 2.
2.
4.
4. FLUID
FLUID FORCE
FORCE MODEL
MODEL OF SEAL
SEAL
For
For aa small
small centered
centered whirling motion of
of the
the rotor,
rotor, the
the fluid
fluid reaction
reaction
force
force in
in the
the seal
seal can
can be represented
represented as
as aa linear
linear function
function of
of the
the displacement,
displacement,
velocity
velocity and acceleration
acceleration of
of the
the rotor,
rotor, as
as follows:
follows:
In
In the
the test,
test, the
the whirling motion
motion the
the rotor
rotor is
is given
given by
xx =
= ee cos
cos nt,
Qt, y -- ee sin
sin nt
Qt (2)
(2
Substituting
Substituting Eq.
Eq. (2)
(2) into
into Eq.
Eq. (1)
(1) and transferring
transferring the
the fixed
fixed coordinate
coordinate
system
system to
to aa radial
radial and tangential
tangential coordinate
coordinate system,
system, the
the following
following expressions
expressions
are
are obtained.
obtained.
-F Ie
r
= _n 2Mxx + ncxy + K
xx
(3)
To determine
To determine the
the dynamic
coefficients of Mn,C,,CXy,K,,
of Mxx,Cxx,Cxy,Kxx and KKxy, for aa
xy ' for
given
given rotating
rotating speed, Fr/e and Fg/e
speed, Fr/e Fe/e are
are measured for for the the different
different forward
forward and
backward whirling
whirling speeds,
speeds, then Fr/e is
then Fr/e is approximated
approximated by aa quadraticquadratic function,
function,
Fe/e by aa linear
and Fgle linear function
function of Q. According to
of n. to Eq. (3), ( 3 ) , inertia
inertia coefficient
coefficient
,,M
Mxx , damping
coefficients Cxx,C
C,,Cxy, xy ' and stiffness
coefficients x are
Kxx,Kxy are
K
,
represented
represented by thethe curvature,
curvature, the the slopes
slopes and the
the intercepts
intercepts (at 6)
(at nQ =
= 0) of
of the
the
curves
curves of Fr/e Fe/e, respectively.
,le and Fele,
of F respectively.
5.
5. TEST
TEST RESULTS
RESULTS AND DISCUSSION
DISCUSSION
5.1 Leakage
Leakage
The
The seal
seal leakages
leakages versus
versus the pressure difference
the pressure difference are
are shown
shown in
in Fig.
Fig. 4.
4. AsAs
the
the helix
helix increases,
increases, the
the leakages
leakages show
show aa tendency
tendency to
to increase.
increase. The
The leakages
leakages
225
versus
versus the
the rotating
rotating speed
speed are
are shown
shown in
in Fig. 5. The
Fig. 5. The leakages
leakages of
of spiral
spiral seals
seals
drop
drop monotonically
monotonically with thethe increase
increase ofof the
the rotating
rotating speed.
speed. ItIt can
can be seen
seen
that
that the
the larger
larger the
the helix
helix angle
angle is,
is, the
the faster
faster the
the leakage
leakage drops.
drops. TheThe leakage
leakage
of
of the SSISGR seal (seal 7) is larger than that of the SGSISR seal (seal 3),
the SS/SGR seal (seal 7) is larger than that of the SGS/SR seal (seal 3),
but with the
the increase
increase of
of the
the rotating
rotating speed
speed it
it quickly
quickly drops. Namely, the
drops. Namely, the
SS/SGR
SSISGR seal
seal has
has the
the stronger pumping effect.
stronger pumping effect.
5.2 Fluid
Fluid Force
Force Coefficients
Coefficients
(a) Effect
Effect of
of rotating
rotating speed
The
The fluid
fluid force
force coefficients
coefficients Fr/e
Fr/e and Fe/e
Fe/e of parallel grooved
of parallel grooved seal
seal 1,
1,
spiral
spiral grooved
grooved seal
seal 3,
3, and seals
seals 55 and 77 are
are illustrated
illustrated inin Fig.
Fig. 6.
6. These
These
results
results show
show that
that the
the radial
radial force
force coefficients
coefficients of
of seal
seal 1,
1, seal
seal 3 and seal
seal 77
almost
almost do
do not
not vary with the
the rotating
rotating speed, but the
speed, but the radial
radial force
force coefficient
coefficignt ofof
seal
seal 55 decreases
decreases with the
the increase
increase of
of the
the rotating
rotating speed.
speed. InIn these
these seals,
seals, the
the
tangential
tangential force
force coefficients
coefficients tend
tend to
to increase
increase as
as the
the rotating
rotating speed
speed increases.
increases.
The
The tangential
tangential force
force coefficient
coefficient of
of seal
seal 7 increases
increases at
at the
the fastest
fastest rate,
rate, and
its
its sign
sign varies
varies from
from negative
negative to positive, which
to positive, means it
which means it has
has aa negative
negative effect
effect
on
on the
the rotor
rotor stability.
stability.
(b)
(b) Effect
Effect of preswir1 velocity
of preswirl
Figure
Figure 7 shows
shows the
the effect
effect of preswir1 velocities
of preswirl velocities on
on the
the force
force coefficients
coefficients
of
of aa parallel
parallel grooved
grooved seal
seal (seal
(seal 1).1). From this
this figure,
figure, the
the effect
effect of preswir1
of preswirl
velocities
velocities onon Fr/e
Fr/e can
can not
not be recognized,
recognized, but thethe effect
effect of preswir1 velocities
of preswirl velocities
on
on Fe/e
Fele is
is very distinct.
distinct. The positive preswirl
The positive preswirl velocity causes
causes Fe/e
Fe/e to
to vary
towards positive values,
towards positive values, soso that
that the
the unstable
unstable area
area is
is enlarged.
enlarged. TheThe effect
effect of
of
the
the negative preswirl velocity
negative preswirl velocity on on Fe/e
Fg/e isis exactly the
the opposite
opposite that
that of
of the
the pos-
itive preswir1 velocity.
itive preswirl velocity. TheThe effect
effect of preswirl velocities
of preswirl velocities onon the
the force
force coef-
coef-
ficients
ficients of
of the
the spiral
spiral grooved seals seals isis similar
similar to
to that
that ofof the parallel grooved
the parallel
seal.
seal. ToTo compare
compare the
the effect
effect of preswirl velocities
of preswirl velocities on
on these
these seals,
seals, the upper
the upper
limits
limits of
of the unstable area,
the unstable area, thatthat is
is the
the intersections
intersections between thethe approximated
approximated
lines
lines of
of Fe/e
Fe/e and axis
axis of Q / w , are
of 0/00, are shown
shown inin Fig.
Fig. 8.
8. They areare measured for
for
different positive preswirl
different positive preswirl velocities.
velocities. According to to these
these results,
results, as
as the
the
helix
helix angle
angle aa increases
increases from
from 0° 0" to
to 3.32°,
3.32', the
the values
values of
of the upper limits
the upper limits
decrease,
decrease, but asas the
the helix
helix angle
angle increases
increases more
more than
than 3.32°,
3.32', these
these values
values begin
to
to increase.
increase. Seal (a = 3.32")
Seal 33 (a 3.~2°) has has the
the minimum value
value which means
means the best
the best
effect
effect on
on the
the rotor
rotor stability.
stability.
(c)
(c) Effect
Effect of pressure difference
of pressure difference
The
The force
force coefficients
coefficients are
are also
also measured for
for several pressure differences
several pressure differences
between the
between the inlet
inlet and outlet
outlet of
of the
the seal.
seal. The
The results
results show
show that
that for
for different
different
seals, the force
seals, the force coefficients
coefficients only
only change
change their values, they
their values, they do not change
do not change
their
their qualitative
qualitative characteristics.
characteristics. This tendency is
This tendency is similar to that
similar to that of the
of the
parallel grooved
parallel grooved seal.
seal. One
One of these results
of these results is
is shown
shown in
in Fig.
Fig. 9.
9.
(d)
(d) Effect
Effect of
of whirling
whirling amplitude
amplitude
Figure
Figure 10
10 shows
shows the
the effect
effect of
of whirling
whirling amplitude
amplitude on
on the
the fluid
fluid force
force Fr
Fr and
Fe of
Fe of seal
seal 4.
4. The
The results
results show
show that
that the
the absolute
absolute values
values of
of the
the fluid
fluid forces
forces
linearly
linearly increase
increase with the
the increase
increase of
of whirling amplitude.
amplitude. This
This means
means that
that
under the
under the present experimental
experimental conditions
conditions the
the relation between the
relation between the fluid
fluid forces
forces
and the
the displacement
displacement can
can be correctly
correctly expressed
expressed by the
the approximated
approximated Eq.
Eq. (1).
(1).
226
(e) Effect
(e) Effect of
of helix
helix angle
angle
To
To compare
compare the
the effects
effects ofof the
the helix
helix angles,
angles, the
the force
force coefficients
coefficients ofof five
five
seals
seals measured under
under the
the same
same conditions
conditions are
are shown
shown in
in Fig.
Fig. 11.
11. These
These force
force
coefficients
coefficients show
show the
the same
same qualitative
qualitative tendencies.
tendencies. However,
However, they
they show
show some
some
quantitative
quantitative differences.
differences. Though
Though the preswir1 velocity
the preswirl velocity is not given
is not (Vts =
given (Vts = 0).
01,
the
the tangential
tangential force
force coefficients
coefficients of of the
the spiral
spiral grooved seals
seals show
show aa result
result
similar
similar to to that
that ofof the parallel grooved
the parallel grooved seal under aa negative
seal under preswir1 velocity
negative preswirl
(refer
(refer toto Fig.
Fig. 7). Namely, the
7). Namely, unstable areas
the unstable areas shift
shift to
to the
the negative
negative side
side of
of
Q/oo.
Qlw. Furthermore,
Furthermore, thethe sequence
sequence of
of these
these values
values is
is the
the same
same as
as that
that of
of Fig.
Fig. 88
in
in which
which seal
seal 33 also
also has
has the
the minimum value.
value. This
This phenomenon may be explained
by the
the opposite
opposite circumferential
flow caused
caused by the
the helix
helix angle.
angle. ItIt is
is obvious
obvious
that
that the
the fluid
fluid in
in the
the seal
seal clearance will flow
clearance will flow along
along the
the grooves,
grooves, and the
the vel-
ocity ofof the
the flow
flow can
can be divided
divided into
into the
the circumferential
circumferential and axial
axial components.
components.
The
The circumferential
circumferential velocity is just opposite
is just opposite to
to the
the rotating
rotating velocity of of the
the
rotor, because in
rotor, because in order
order to
to obtain
obtain the
the pumping effect
effect the
the rotor
rotor always
always rotates
rotates
in
in the
the direction
direction opposite
opposite to
to the
the helix
helix direction.
direction. This
This circumferential
circumferential flow,
flow,
in
in fact,
fact, acts
acts as
as aa negative
negative swirl.
swirl. "Both
Both the parallel grooved seal
the parallel seal and the
the ver-
tical
tical grooved
grooved seal (a =
seal (a = 90°)
90") do
do not produce this
not produce this circumferential
circumferential flow;
flow; there-
there-
fore,
fore, atat least
least one
one optimum
aptimum helix
helix angle
angle with which
which the
the seal
seal gets
gets the
the maximum
negative
negative swirl
swirl ought
ought to
to exist
exist for
for aa constant
constant operating
operating condition.
condition. ForFor the
the
present experimental
experimental condition,
condition, seal
seal 33 (a
(a == 3.32°)
3.32") is
is the
the optimum
optimum seal.
seal.
According toto this
this discussion,
discussion, aa positive
positive swirl
swirl also
also ought
ought to produced
to be produced
by the
the SS/SGR
SSISGR seal.
seal. Indeed,
Indeed, this phenomenon can
this phenomenon can be confirmed
confirmed by thethe results
results
shown
shown inin Fig.
Fig. 12.
12. This
This figure
figure shows
shows the
the force
force coefficients
coefficients of of the
the SGS/SR
SGS/SR
seal
seal 33 and the
the SS/SGR
SSISGR seal
seal 7.
7. The
The results
results of
of the
the tangential
tangential force
force coefficients
coefficients
show
show that
that the
the SS/SGR
SSISGR seal
seal is
is worse
worse than
than the
the SGS/SR
SGSISR seal
seal from
from the point of
the point of view
of
of the
the rotor
rotor stability.
stability.
5.3 Stiffness,
Stiffness, Damping,
Damping, and Inertia
Inertia Coefficients
Coefficients
The
The stiffness
stiffness coefficients,
coefficients, damping
coefficients and inertia
coefficients
of seal 11 -- 55 are
of seal are shown
shown in
in Fig.
Fig. 13.
13. The
The inertia
coefficients ,Mxx
M ofof the
the seals
seals
have
have the
the same
same tendencies,
tendencies, and they
they almost
almost dodo not
not vary as
as the
the rotating
rotating speed.
speed.
The
The direct
direct damping
coefficients ,Cxx are
are always positive and much larger
always positive larger than
than
the
the cross-coupled damping
coefficients C xy • The
Cxy. parallel grooved
The parallel grooved seal
seal has
has aa
relatively
relatively large
large,,Cxx , and the
the spiral
spiral grooved
grooved seal
seal 55 has
has aa relatively
relatively small .,Cxx •
small
The
The cross-coupled damping
coefficients C xy are
Cxy are almost
almost negative,
negative, which
which implies
implies
that
that there
there isis aa negative
negative effect
effect on
on the
the rotor
rotor stability
stability according
according toto Eq.
Eq. (3).
(3).
Seal
Seal 33 has
has aa relatively
relatively small
small value
value of
of C
Cxy.
xy • The
The direct
direct stiffness
coefficients
,Kxx
K show
show the positive values,
the positive values, while
while the
the cross-coupled stiffness
coefficients
Kxy show
show values
values that
that are
are almost
almost negative.
negative. So So in
in general,
general, these
these stiffness
stiffness coef-
coef-
ficients
ficients contribute
contribute to to the
the stability
stability of
of the
the rotor
rotor system.
system. With thethe increase
increase
of
of the
the rotating
rotating speed,
speed, the
the direct
direct stiffness
coefficients ,,Kxx
K of
of the
the larger
larger
helix
helix angle
angle seals
seals tend
tend to
to increase.
increase. Attention should
should be paid to to the
the variation
variation
of
of Kxy. As As the
the helix
helix angle
angle aa increases
increases from
from 0°0" to
to 3.32°,
3.32", the
the values
values of
of Kxy
decrease,
decrease, but as as the
the helix
helix angle
angle continues
continues to to increase,
increase, these
these values
values begin toto
increase.
increase. Seal (a =
Seal 33 (a = 3.32°)
3.32") has
has the
the minimum value.
value.
Childs
Childs et et al.
al. (ref.
(ref. 3)
3) investigated
investigated the
the static
static and dynamic
characteristics
of
of six
six SGS/SR
SGSISR seals
seals with the
the comparatively
comparatively large
large helix
helix angles (a =
angles (a = 15° -
15" - 70°).
70").
It
It should
should be pointed out out that
that their
their dynamic
coefficients are
are different
different from
from
those
those of
of the present experiment.
the present experiment. In In the
the first place, their
first place, their dynamic
dynamic coeffi-
cients
cients are
are obtained fromfrom aa fixed
fixed axial
axial Reynolds
Reynolds number
number over
over aa range
range of
of rotating
rotating
227
speeds;
speeds; while
while the present ones
the present ones are
are obtained fromfrom aa fixed
fixed rotating
rotating speed
speed (equiv-
(equiv-
alent
alent to
to aa fixed
fixed circumferential
circumferential Reynolds
Reynolds number)
number) over
over aa range
range of
of rotating
rotating
ratios
ratios (0/00). Next, their
(Qlw). Next, their dynamic
coefficients areare measured under
under the
the condi-
condi-
tion
tion of
of synchronous
synchronous rotor
rotor motion; while the
motion; while present ones
the present ones are
are measured under
under the
the
condition
condition of of asynchronous
asynchronous rotor
rotor motion. For For these
these reasons,
reasons, the
the two
two results
results
can not be compared
can not compared directly.
directly. However,
However, thethe two
two results
results have
have aa similar
similar effect
effect
on the stiffness
on the stiffness coefficients
coefficients for the helix angles.
for the According to
angles. According to the
the results
results
of
of Childs
Childs etet al., the
the direct
direct stiffness
stiffness coefficient
coefficient Kef Kef (equivalent
(equivalent to -K=,
to -Kxx'
here)
here) decreases
decreases at at first,
first, then
then increases
increases as as the
the helix angle ~
helix angle a increases
increases from
from
15°
15" to
to 70°.
70'. The
The seal
seal with the
the 30°
30" helix
helix angle
angle has
has the
the minimum value
value of
of Kef'
Kefy
which
which means
means itit has
has aa comparatively positive effect
comparatively positive effect onon the
the rotor
rotor stability.
stability.
The
The stiffness
coefficients, damping
coefficients and inertia
coefficients
of
of SGS/SR
SGSISR seal
seal 33 and SS/SGR
SSISGR seal
seal 7 are
are shown
shown inin Fig.
Fig. 14.
14. Seal
Seal 77 has
has relatively
relatively
large
large values
values of of ,Cxx and CCxy,
xy ' which
which means
means the
the better damping
damping effects
effects in
in compar-
compar-
ison
ison with seal
seal 3.3. For
For ,Kxx
K and K Kxy,
xy ' seal
seal 7
7 also
also has
has the
the larger
larger values.
values. The
The
increase
increase of of ,Kxx
K gives
gives aa positive
positive effect
effect to to the
the rotor
rotor stability,
stability, but thethe
increase
increase of of Kxy gives
gives aa negative
negative effect
effect to to the
the rotor
rotor stability.
stability. In particular,
In particular,
when the
the rotating
rotating speed
speed increases,
increases, Kxy of of seal
seal 7 tends
tends toto increase
increase rapidly.
rapidly.
According to to K xy ' the
Kxy, the SS/SGR
SS/SGR seal
seal is
is worse
worse than
than the
the SGS/SR seal
seal in
in rotor
rotor
stability.
stability.
6.
6. CONCLUSIONS
CONCLUSIONS
The
The static
static and dynamic
characteristics ofof spiral
spiral grooved
grooved seals
seals have
have been
investigated
investigated and compared
compared with those
those of
of aa parallel
parallel grooveu
grooved seal.
seal. The results
The results
of
of the
the spiral
spiral grooved
grooved seals
seals and the
the parallel grooved
grooved seal
seal show
show similar
similar charac-
charac-
teristics
teristics for the pressure
for the pressure difference
difference and the
the whirling
whirling amplitude; however, the
amplitude; however, the
spiral
spiral grooved seals
seals also
also show
show some
some specific
specific characteristics,
characteristics, asas follows:
follows:
(1)
(1) With the
the increase
increase of
of the
the helix
helix angle,
angle, the
the leakage
leakage increases,
increases, but asas
the
the rotating
rotating speed
speed increases,
increases, the
the leakages
leakages of
of the
the larger
larger helix
helix angle
angle seals
seals
quickly
quickly drop.
drop. The
The SS/SGR
SSISGR seal
seal has
has aa stronger
stronger pumping effect
effect than
than that
that of
of the
the
SGS/SR
SGSISR seal.
seal.
(2) For
For the
the SGS/SR
SGSISR seals,
seals, aa circumferential
flow can
can be produced by thethe
flow
flow along
along the
the helix
helix angle
angle direction,
direction, and this
this circumferential
flow acts
acts as
as aa
negative
negative swirl.
swirl. For
For this
this experimental
experimental helix
helix angle
angle range,
range, an
an optimum
optimum helix
helix
angle
angle exists
exists with which
which the
the seal produces the
seal produces the maximum negative
negative swirl.
swirl. OnOn the
the
contrary,
contrary, the
the SS/SGR
SSISGR seal produces aa positive
seal produces positive swirl
swirl velocity.
velocity.
(3) The
The SS/SGR
SSISGR seal
seal is
is worse
worse than
than the
the SGS/SR
SGSISR seal
seal in
in rotor
rotor stability.
stability.
REFERENCES
REFERENCES
(1) Iwatsubo, T., Yang,

Iwatsubo, T., Yang, B.C., and Ibaraki,
Ibaraki, R.,
R., "Theoretical
"Theoretical Approach
Approach to
to
Obtaining
Obtaining Dynamic
Dynamic Characteristics
Characteristics of Noncontacting Spiral-Grooved
of Noncontacting Spiral-Grooved Seals,"
Seals," NASA
CP-2443,
CP-2443, 1986,
1986, pp. 155-187.
(2) Kanki,
Kanki, H., and Kwakami,
Kwakami, T., "Experimental
"Experimental Study
Study on
on the
the Static
Static and
Dynamic
Characteristics of
of Screw
Screw Grooved
Grooved Seals,"
Seals," ASME
ASME Design
Design Tech.
Tech. Conf.
Conf. Pub.
Pub.
DE-Vol.
DE-Vol. 2, 2, 1987,
1987, pp. 263-272.
263-272.
( 3 ) Childs,
(3) Childs, D.W., Kilgore, J.J., "Test
Nolan, S.A., and Kilgore,
D.W., Nolan, "Test Results
Results for
for Turbu-
lent
lent Annular
Annular Seals,
Seals, Using
Using Smooth
Smooth Rotors
Rotors and Helically
Helically Grooved Stators,"
Stators," ASME
Journal
Journal of of Tribology
Tribology (89-Trib-ll)
(89-Trib-11) 1989.
1989.
(4)
( 4 ) Iwatsubo,
Iwatsubo, T., Sheng,
Sheng, B.C., and Matsumoto,
Matsumoto, T.,
T., "An
"An Experimental
Experimental Study
Study
on
on the
the Static
Static and Dynamic
Characteristics of
of Pump
Pump Annular Seals,"
CP-3026,
1988, pp. 229-252.
1988, pp. 229-252.
228
1Seal dimensions
Table 1
Seal N aCe)
a ( " ) D(mm)
D(m) L I D C(mm)
L/D C ( m ) Ll(mm) B(mm)
Lg(mm) B(mm)
L/(mm) L,(mm)
(GSISR)
11(GS/SR) -- 0 70.35 0.5 0.175 1.6 1.6 1.2
(SGSISR)
2 (SGS/SR) 11 0.83 70.35 0.5 0.175 1.6 1.6 1.2
(SGSISR)
3 (SGS/SR) 4 3.32 70.35 0.5 0.175 1.6 1.6 1.2
(SGSISR)
4 (SGS/SR) 8 6.65 70.35 0.5 0.175 1.6 1.6 1.2
(SGSISR)
5 (SGS/SR) 12
12 10.0 70.35 0.5 0.175 1.6 1.6 1.2
(SGSISR)
6 (SGS/SR) 18
18 15.1
15.1 70.35 0.5 0.175 1.6 1.6 1.2
(SSISGR)
7 (SS/SGR) 4 3.32 70.35 0.5 0.175 1.6 1.6 1.2
GSISR means grooved-stator /j smooth-rotor.
where GSjSR
j S R means spiral-grooved-stator /j smooth-rotor.
SGSISR
SGS smooth-rotor .
SSISGR means smooth-stator /j spiral-grooved-rotor.
SSjSGR
Table 2 Experimental conditions
difference
Pressure difference ~P(kPa) 1 294,
AP(kPa)
\ /
294. 588,
588. 784,882
784. 882
Rotating speed w (rpm) 500 4500
W (rpm) f'.J
Whirling speed n ( r ~ m ) ±600 ±2400

f2 (rpm) f'.J
Whirling amplitude ( ~ m >20 60

e (/-lm) f'.J
Preswirl velocity Yt/wR

&/wR -2.59 2.75 f'.J
Temperature of water T(OC)

T ( " C ) 19
229
A IInlet
nlet B
Pulley Accumulator Pressure Flexible

gauges coupl1 ings
coup
L LL
AA BB CC
Eccentric Swirl Load Pressure
ssleeves
1eeves passages ccells
ells pickups
1 II I
Tank apparatus
Test lap par a t u s Hotors
Ho
AA -- AA BB -- BB CC -- CC
Fig. 1
1 Test apparatus assembly Fig. 2 Test facility layout
L L
c
R
(a)
(a) Smooth-stator /spiral-
Smoot h-stator/spiral- (b) Spiral grooved-stator
(b) grooved-stator/smooth-
/smooth-
grooved-rotor seal
seal (SS/SGR
(SSISGR seal) seal (SGS/SR
rotor seal (SGSISR seal)
Fig.
Fig. 3 Spiral
Spiral grooved
grooved seals
seals
230
1.2
1.3
1.3 ,--..
,--..
n QI.= Orpm
w.= Orpm Seal 11
ao Seal (/)
(/)
V) ...........
2-
;;- 1. 2
1.2-
xx Seal
Seal 22 ELl
E
E X, e a l 33
++ SSeal
i * Seal 44
C')
m
C')
II
a0
.d
.-i
X
1. 1I -
1.
-
/'
/'
X
+ Seal
0o Seal
Seal 55
X Seal
Seal 66
a
I
.-i
X
..........
1 Vts= Om/s
,0,P=588kPa
-X1 1
..........
i//'
/ • Seal 77
I Seal a,
C1)
*+ Seal
Seal 11 xx Seal
Seal Seal 77
44 •1 Seal
a,
C1)
bO -
bO
2.9
ro. 9 - Seal 2il 0o
oo Seal Seal
Seal 55
roK .9g
-:.::
Y
m
ro
/i -:.::
Y
rom Seal 33 XX
++ Seal Seal
Seal 66
-Id' Q)
C1)
a,
C1)
.....J
-J
•.8
8
- 1
.....J
.8 -
.8
£l
.7 -
.7
·. 6
6
- I~
//
'
/
.-"
/
,,'" * .7
//' --::~"
•.5
5
- i' ,.,/'
'
/",.
/ ...
•• 0
oa • • • • • .. • • ..
X •6
¥....
- X:~ ....... ..'
•. 44 •5
t t
.3
.3
0 0 200
200 400
400 600
600 800
800 1000
1000
· 4
AP (kPa)
f::.P (kPa) 0 500 1500 2500 3500 4500
w (rpm)
Fig. 44 Leakage
Fig. Leakage versus AP
versus f::.P Fig. S5 Leakage
Fig. Leakage versus
versus rotating
rotating speed
speed
.08r------------------------. .......... 0
** Seal
Seal 11 Fr/e:-
Fr/e: - --- E
o Seal 3
oSea13 Fsle: - - -
Fe/e:- E
Seal 55
++- Seal ~x
...........
xx Sea x - - - ~ -___
1 77 ~~_~~~
Seal - - x~~~
- *-X ~ -O.l~------___*--_r----__------__
.-.-
//
~~~
'-' 0.2 seal 1
Q.) a __
>(---X'
~ ~x
I
Q.)
........... * Vtl QJR= 2.75
o Vt/QJR= O. DB
...........
~..Ir---* ~
~ + Vtl QJR=-2. 59
~
~ 0.1
Q.)
........... ~
~ -.08 o '.
.............. *
•••••• 0-- .....
aP=588kPa
~ P=588kPa =O. 05mm
ee =0. 05mm '. 0 ~
Vts=
Vts= Om/ss
Om/ Q = 600rpm
= 600rpm ';·'.i:" o ..... Q..
Q -0.1 +'" a 0
-. 1 6
o
L---'-__- ' - _ " - - - - ' - _ - ' - - - ' ' - - - - ' - - - - - J
1000 2000 3000 4000
~P=882 kPa
e=D.OSnun
"""""":1"
......
QJ=5DDr-pm
w (rpm) -0. 2L---'-~-l--L--l.-1.-~-'---L--'
-5 -4 -3 -2 -1 0 1 2 3 4 5
nlw
Fig. 66 Effect
Fig. Effect of rotating
rotating speed
speed Fig. 77 Effect
Fig. Effect of preswirl
preswirl velocity on F,/e
on Frle
on F,/e and
on Frle Fe/e
and Fole Fe/e for parallel
and Fole
and parallel grooved
grooved seal
seal
231
O
3.0r--o~S~e-o~1~1~------------------~
o Seal 1
3 x Seol
Seal 2
2
C 2. 55 - **+ Seo1
Seal 3
3
+ Seal 44
0-
2.0
o0 Seal 55
5-
1.5
..... .x
0-
1.0
x ... ··············~·~~~~-~
0.55 -
~. ~....-
.~. ..,--
~ .....,..... ........4 - -
•
."*.:.:..~-
-.!-""
o ~
"***"*--l!------
~-x---x---- ~----------------"'*
-0.5~--~----~----~--~----~--~
o O. 5 1. 0 1. 5 2. 0 2. 5 3. 0
Vt/wR
Fig. 88 Upper
Fig. Upper limit
limit of unstable
unstable area
area for
for positive
positive preswirl
preswirl velocity
E .2 Seal
Seal 22
E ao Q =
Q 900rpm w =1000r~m
= 900rpm =1000rpm
__ +
-I- Q = 900rpm
9. "" 900rpm w
w -3000r
=3000r m
m
~ **x QQQ =2100rpm
-2lOOrpm w -1000r m
=1000rFm
w =3000rpm
=2100rpm w
'-"" . 1 x Q "'2100rpm
rlT::::::::: ........... s ~
~Itl'tlttt .... 9 ......... :i!) ....................+
· ••. h h ....... )(; :::::::::::::~
-. 1 Fr/e:---
Ft/e:-
Vts= Om/s
e=0.05mm
-.2
o 200 800 1000
400 600
6.P (kPa)
Fig. 9 Effect of pressure difference on FT/e Fo/e
and Fole
Fig. 9 Effect of pressure difference on Fr/e and
o Seal 44
Seal F,:
~: -
*a Q = 600r~m
= 3 5 0 0 r rn
F o -: - -- --
Fe:
r.
:z
Q = 1200r m OJW -=3500rgm
'-' -1 + Q = OP=588 kPa
1800r m 6P=588 kBo
V t s = Om/s
Vts= Om/s
~ -2
-3
--4
-5
O. 1 0. 2
0.2 0. 3
0.3 0. -44
O.
Eccentric ratio
Eccentric (e/C)
ratio (ej G)
Fig. 10
Fig. FTand
10Fr Fgversus
and Fo versuseccentric
eccentric ratio
ratio
232
E o. 101..---------.-t;:.-:.--:::P-=:=-5S:::':S:::--7k-::P::-o-, E O. 2 r--*--=S"'""e-a-=1--=3:--""-6,-:-::"P-==5=S=S-k:-P=-a--'
___
E Vts= Om/s
OJ =2500rpm
~ a Seal 7 Vts- Om/s
~ e =O.05mm ~ w = 500rpm
'-' '-'
\l)
e =O.05mm
---~ 0.1
o
o
-0.05
..."+...
-0.1
* Seal 1
o Seal 2
+ Seal 3
-0.10 Xo Seal 4
Seal 5
-0._2'
-1 -.5 o .5 1 =5 -4 -3 -2 -1 0 2 3 4 5
Fr/e:-- n/w Fr/e:-- n/w
Fe/e: - Fo/e: - - -
-
-
11 Effect of helix angle on
Fig. 11
Fig. F,/e and
on Fr/e Fo/e
and F(}/e Fig.
Fig. 12
1 2 Comparison
Comparison of force
force coefficients
for seal
seal 3 and seal 77
and seal
6 6
0 Seal 1 6P=588kPa ao Seal
S e a l 33 6P=58SkPa
~P=588kPa
----
~
bD
..::s!. x Seal 2 e=O.05mm bD
..::s!. - x Seal
S e a l 77 e=O.05mm
e-O.05mm
'-'
* Seal 3 Vts= Om/s '-'
Vts=
Vts- Om/s
Om/s
" 3 + Seal 4 " 3
"","
.;;:s 0 Seal 5 ~
~
0
0.6
00 @ t= a1 M ~ 0
0.6
~ ~ ~ ~-~ ~ ~ -
~
E E
---
Z
'!l
..::s!.
0.3 ---
Z
'!l
0.3 - ~ ~ ~-~ ~~
..::s!.
'-'
;:,. ;:,.
cJ 6:"::~ cJ
0
_ r"O . • • •
0 ..... -.... ..... .....
oX· •••• ,x.•••• x
x..... x ",..... .)C..• • • • • :(5' •• I • ~
cJ " cJ "
X."'
o.... .....
G). •••• (;)..... Q
(;) .-. .
.;....B:::*Gl
-.-..Qo
-Q . .'... .Qo . . . . ....
-0.3 -0.3
100 100
~
......... X x : : ..!>C.
V ~ ... ;.x- .....
E E
jo.
---
Z 50
..::s!.
---z
..::s!.
'-'
50 G
x"
0 Q
.x·····
'0 0 Ii)
~,
;:,. x..-.
x······
~ ':J
::q" 0 ,." ••••• .G)- ••••
~ 0
0~ " ':J "
......
- G). . . . . Q. ....
@....a
I I
•.•• 0
t
.... Qo ....
Q. .... Qo ....
.... Q.
Q.
I
(;).--..
•••• Q
I
..... 0
I
(;)
I
-50 -50
-50
0 1000 2000 3000 4000 0 1000 2000 3000 4000
M xx ) C XX ) I{xx : - - M:z::z:)
M C:z::z:) Kz,
z z , czz, K:z::z: :
:- - -
w (rpm) C:z:~)K:z:y
CXY ) Kxy :- - - - - C ' KZY ::--- -- -- -- -
XY,
w (rpm)
w ('~4
Fig. 14 Comparison of dynamic coefficients
133 Dynamic coefficients for rotating speed
Fig. 1 of seal 3 and seal 7
7
233
N92-14362
ANNULAR SEALS OF HIGH ENERGY CENTRIFUGAL PUMPS:
MEASUREMENT*
PRESENTATION OF FULL SCALE MEASUREMENT*
S. Florjancic
S. Florjancic and R. Sturchler
Sturchler
Brothers, Limited
Sulzer Brothers,
Winterthur, Switzerland
Winterthur,
T. McCloskey
Power Research Institute
Electric Power Institute
Alto, Cal iifornia,
Palo Alto, U.S.A.
fornia, U.S.A.
Prediction of
Prediction of rotordynamic
rotordynamic behaviour
behaviour for
for high energy concentration
concentration centrifugal
centrifugal
pumps is
is a challenging
challenging task which stilll5till imposes
imposes considerable
considerable difficulties.
difficulties. While
.the mechanical modelling of the
,the mechanical rotor is
the rotor is solved
solved most satisfactorily
satisfactori ly by FEFE
techniques, accurate
techniques, accurate boundary conditions
conditions forfor arbitrary operating conditions
operating conditions areare
known for
known for journal
journal bearings
bearings only.
only. Little
Li ttle information
information isis available
avai lable on the
the reactive
reactive
forces
forces of annular seals, such
annular seals, such asas neck ring
ring and interstage seals
interstage seals and balance pistons,
pistons,
the impeller
and on the impeller interaction
interaction forces.
forces.
The
The present work is is focused
focused to
to establish
establish reliable
reliable boundary condi tions at
conditions
annular
annular seals.
seals. For
For this
this purpose aa full
full scale
scale test
test machine
machine was
was set
set up
up and smooth
smooth and
serrated
serrated seal
seal configurations
configurations measured.
measured. ·Dimensionless
,Dimensionless coefficients
coefficients are
are presented and
compared with aa state
state of
of the
the art
art theory.
theory.
1. IINTRODUCTION
1. NTRODUCT I ON
Machine
Machine speed,
speed, head per stage,stage, and power concentration
concentration of of multi-stage
centrifugal pumps have
centrifugal pumps have increased
increased steadily
steadily during the the last
last few
few decades.
decades. The The
increasing
increasing power
power concentrat ion has
concentration has often
often contributed
contributed to to reIiabi Ii ty problems,
reliability problems, and
and
often
often rotordynamic
rotordynamic phenomena
phenomena appear
appear to
to be
be the
the main cause
cause (ref.
(ref. 1).1). Dynamic
Dynamic
interaction
interaction forces
forces between
between rotor
rotor and
and casing
casing wi 11 always
will always bebe present,
present, and
and may even
even
lead
lead to
to destruction
destruction ofof the
the machine.
machine. Thus
Thus rotordynamic
rotordynamic considerations
considerations become
become very
important
important for
for high energy pumps;
high energy pumps; reliability
reliability of
of rotating
rotating equipment
equipment depends
depends strongly
strongly
on
on optimized
optimized rotordynamic
rotordynamic behaviour.
behaviour.
With readily
readily available
available computer
computer codes
codes (ref.
(ref. 2),
Z), the
the rotor
rotor system
system can
can be
be
modelled very well
well and
and optimization
optimization isis possible
possible inin the
the design
design stage,
stage, provided the
the
boundary conditions
conditions are
are known
known accurately
accurately enough.
enough. Costly
Costly changes
changes after
after field
field tests,
tests,
or
or more
more likely
likely after
after break downs,
downs, will
will be
be less
less than
than optimum
optimum and
and can
can be
be avoided.
avoided.
*This
*This work at
at Sulzer
Sulzer Brothers
Brothers was
was supported
supported partially
partially by
by EPRI
EPRI under
under contract
contract
RP
RP 1884-10.
1884-10.
235
235
PRECEDlNG PAGE
PRECEDING BLANK NOT
PAOE BLANK FLL&lED
NOT FILMED
Besides
Besides well
well known
known rotor
rotor casing
casing interaction
interaction wi thin journal
within journal bearings
bearings (refs.
(refs. 3,
3,
4, 5)
4, 5) and reaction
reaction forces
forces at
at the
the impeller
impeller itself
itself (refs.
(refs. 6, 7 ) , boundary conditions
6, 7), conditions
for
for annular
annular seals
seals are
are of
of main interest.
interest. Due
Due to
to the pressure differential
the pressure differential and the
the
rotation
rotation at
at the
the neck ring
ring and interstage
interstage seals
seals and balance
balance pistons,
pistons, considerable
considerable
reaction
reaction forces
forces arise
arise during
during rotor
rotor vibration.
vibration. The
The boundary condi tions at
conditions at these
these
elements
elements are
are generally described
described by a mathematical model,
model, consisting
consisting of
of a stiffness,
stiffness,
a damping
damping and aa mass
mass matrix,
matrix, i.e.,
i.e., the
the rotordynamic
coefficients of
of the
the seal.
seal.
A
A review
review of
of li terature reveals
literature reveals that
that some
some information
information about
about total
total reaction
reaction
forces
forces of
of annular
annular seals
seals is
is available,
available, but nono published full
full scale
scale measured data
data on
on
individual
individual coefficients
coefficients exist.
exist. Contemporary
Contemporary theories
theories (refs.
(refs. 8,
8, 9)
9) were found
found to
to be
able
able to
to predict available
available measured results
results for
for plain surface
surface seals
seals to
to some
some extent,
extent,
but detailed investigations
investigations onon serrated
serrated or
or grooved
grooved surface patterns are
surface patterns are missing.
missing.
To
To validate
validate the
the theory according
according to
to Childs
Childs and Nordmann,
Nordmann, a full
full scale
scale test
test rig
rig
for
for neck ring
ring seals
seals was
was established
established and operated
operated at
at typical
typical Reynolds
Reynolds numbers
numbers of
of
boiler feed pumps.
feed pumps. Skew
Skew symmetric
symmetric stiffness,
stiffness, damping
damping and mass
mass matrices
matrices were
measured.
measured. Rotordynamic
Rotordynamic coefficients
coefficients and hydraulic
hydraulic friction
friction factors
factors of
of a plain and a
serrated
serrated seal
seal are presented. New ("as
are presented. built") and worn conditions
("as built") conditions for
for the
the example
example
of
of a serrated
serrated seal
seal are
are demonstrated.
demonstrated.
Comparison of
Comparison of theoretical
theoretical results
results (ref.
(ref. 9)
9) with measured data
data is
is shown
shown and
indicates
indicates a not
not very satisfying
satisfying accuracy.
accuracy. Predictions
Predictions for
for rotordynamic
coefficients
are
are demonstrated
demonstrated toto be generally
generally high for
for stiffnesses,
stiffnesses, much too
too low
low for
for cross
cross
coupled
coupled stiffnesses
stiffnesses and about
about twice
twice as
as large
large as
as the
the measurement
measurement errors
errors for
for direct
direct
damping.
damping. The
The other
other coefficients
coefficients are
are negligible,
negligible, as
as found
found from
from measurement as
as well
well
as
as from
from theory.
theory.
2 . TEST
2. TEST EQUIPMENT
EQUIPMENT
2.1 Test
2.1 Test Machine
Machine
The
The test
test apparatus
apparatus uses
uses the
the housing,
housing, support
support and excitation
excitation device
device from
from the
the
test
test rig
rig used previously for for impeller
impeller interaction
interaction measurements
measurements as as described
described in in
(ref.
(ref. 6).
6). Figure
Figure 1 indicates
indicates the
the general
general arrangement
arrangement ofof the
the test
test machine.
machine. TheThe test
test
rig
rig is
is dynamically
dynamically de-coupled
de-coupled from
from the
the ground by thethe heavy base
base plate.
plate. In In the
the drive
drive
end view the hydraulic shaker
the hydraulic shaker attached
attached to the swinging
to the swinging frame
frame is
is on
on the right side
the right side of
of
the test
the test machine.
machine. ThisThis frame
frame contains the rotor
contains the rotor bearings
bearings and is is supported
supported in in a
pivot on the left
on the left side
side of the test
of the rig. This
test rig. This arrangement provides that
arrangement provides that any movement
of the hydraulic
of the hydraulic shaker makes the
shaker makes the rotor
rotor support
support move around the pivot.
around the pivot. As the the
radius is
radius is very large
large and the
the vibration
vibration amplitudes
amplitudes induced by the the shaker
shaker are
are several
several
magni tudes smaller,
magnitudes smaller, a linear
linear vertical
vertical movement
movement of of the
the rotor
rotor relative
relative toto the
the main
housing isis attained.
attained. Tie rods take
Tie rods take up thethe axial
axial thrust
thrust of
of the
the otherwise
otherwise axially
axially
free
free rotor
rotor support,
support, and hence
hence radial
radial alignment
alignment is is maintained
maintained for
for any axial
axial forces.
forces.
Figure
Figure 2 is
is a general
general cross
cross section
section of
of the
the test
test rig.
rig. The
The inlet
inlet is
is marked with
an
an arrow.
arrow. From the the large
large annulus
annulus around
around the
the bearing section,
section, the
the fluid passes the
fluid passes the
guide
guide vanes
vanes and is is led radially
radially inwards
inwards toto the
the entrance
entrance of
of the
the seal.
seal. It I t is
is now
now
forced
forced through
through the
the narrow
narrow annular
annular gap
gap formed
formed by thethe seal
seal insert
insert and thethe rotor.
rotor.
Behind the
the seal,
seal, the
the fluid
fluid is
is gathered
gathered in
in a large
large space
space and leaves
leaves the
the test
test machine
machine
through
through the
the exit.
exit.
236
Figure
Figure 3 indicates
indicates that
that the
the design
design allows
allows easy exchange
exchange of of stator
stator inserts
inserts in
in
order
order toto measure di fferen t surface
different surface geomet r ies, whi
geometries, whileIe the
the rotor
rotor surface
surface remains
remains
unchanged.
unchanged. FourFour temperature proximi ty probes
temperature compensated proximity probes of of the
the eddy current
current type
type
are
are provided to to measure effective
effective rotor
rotor movement
movement in in the
the radial
radial direction,
direction, and four
four
axial probes were
axial probes were installed
installed to to monitor rotor
rotor tilting.
tilting. The The rotor
rotor is is attached
attached
directly
directly toto aa calibrated
calibrated piece of of shaft,
shaft, which is is instrumented
instrumented with strainstrain gauges
gauges to
to
measure
measure the
the reaction
reaction forces
forces atat the
the rotor.
rotor. The rotating disk,
The rotating disk, the
the counter
counter part of of
the
the seal
seal insert,
insert, isis hollow.
hollow. Hence
Hence mechanical
mechanical massmass isis reduced
reduced and measurement
measurement errors
errors
of
of inertial
inertial forces
forces areare minimized.
minimized. TheThe back side
side ofof the
the rotor
rotor is
is sealed
sealed by aa radial
radial
flow
flow hydrostatic
hydrostatic seal,
seal, which does not influence
does not influence lateral
lateral forces
forces measurement.
measurement. 48 48
guide blades can
guide blades can be turned in in any position,
position, -75-75"0 toto +75
+7S0 0
from
from the
the radial
radial direction,
direction,
by means
means of
of aa connecting
connecting chain,
chain, controlled
controlled from
from the
the outside
outside by fourfour axes.
axes. The
The seal
seal
insert
insert against
against thethe rotor
rotor was
was modelled in in aa FE
FE analysis
analysis to prove that
to prove that no
no misalignment
misalignment
of the seal
of the seal under
under pressure and temperature
temperature occurs.
occurs.
A
A detailed cross
cross section
section of
of the
the seal
seal alone
alone can
can be seen
seen in
in figure
figure 4.4. Two
Two sets
sets
of static
of static and total pressures are
total pressures are measured immediately
immediately in front of the seal entrance
in front of the seal entrance
at
at opposite
opposite circumferential
circumferential locations.
locations. The The tangential
tangential velocity of of the water
the water
entering the seal
entering the seal can can be calculated, using
calculated, using measured flow
flow and the continuity
the continuity
equation.
equation. The
The tangential veloci ty of
tangential velocity the water jet
of the jet leaving the seal
leaving the seal can not be
can not
measured. Thus,
measured. Thus, only static
static pressure is
is measured here to calculate the total
here to calculate the total
pressure differential.
pressure differential.
Static
Static and dynamic properties of
dynamic properties of the
the test
test machine were calculated
calculated and
optimized. The
optimized. The FE
FE analysis
analysis and measurement
measurement of
of the
the machine showed
showed aa cri tical first
critical first
mode
mode above 150 Hz
above 150 Hz inin air
air and,
and, because of
of the
the stiffening
stiffening effect
effect of
of the
the annular
annular seal,
seal,
above 170 Hz
above 170 Hz in
in water.
water.
A
A tilting
tilting of
of the
the rotor
rotor leads
leads to
to measurement
measurement errors.
errors. According
According to
to theories
theories of
of
Childs
Childs (ref. 10) and Fenwick
(ref. 10) Fenwick (ref. 11), the
(ref. 11), the displacement
displacement tilt
t i l t divided
divided by the
the maximum
mean displacement
displacement may notnot be larger
larger than
than some
some 3% inin order
order to to avoid
avoid errors
errors larger
larger
than
than 10% for
for the
the stiffness
stiffness measurement:
measurement:
- - - - - -
Fx
---
yY
with RK =
=
= Kxx-
l
f(LsTax/ho] being the
= f(Lsea~/ho)
Xin
Xim -
- Xout
11 ++ RK-----
Xout ]
yY-----
RK-----------
the theoretical
theoretical correction
FY
y
correction factor.
factor. For
For the
I
the present test

test
Yia - Yout I
(1)
rig
rig it is estimated-that RK =
is estImated-that ~ 3 + 3.5.
3.5.
To
To estimate
estimate tilting
tilting errors,
errors, an an FE
FE calculation
calculation has has been done,
done, which indicated
indicated aa
strong
strong general
general dependency
dependency of of the
the displacement
displacement tilt t i l t on
on the
the frequency.
frequency. Maximum
calculated
calculated displacement
displacement tit i lI t in
in the
the vertical
vertical (Y-)(Y-) direction
direction is is about 9% for
about 9% for smooth
smooth
and 4.5% for
for serrated
serrated seals.
seals. Calculated
Calculated tit i lltt in
in the
the horizontal
horizontal direction
direction isis less
less
than 1%, as
than 1%, as the
the displacement
displacement X X isis very small.
small. Rotor Rotor tilting
tilting hence
hence had to to be
monitored by means
means ofof axially
axially placed proximity probes. probes. Measurement
Measurement indicated
indicated
generally
generally much smaller
smaller tilts,
tilts, and therefore
therefore errors
errors in in thethe stiffness were acceptable.
stiffness were acceptable.
237
2 .2 Test
2.2 Test Loop
Loop
A key
A key plan of
of the
the closed circuit
circuit test
test loop
loop is
is shown
shown in
in figure
figure 5.
5. The
The loop
loop is
is
designed
des for aa maximum temperature
igned for temperature ofof 160°C and use
160 O C and of demineral
use of demineralized water.
ized water.
Pressure
Pressure is is generated externally,
externally, inin aa Sulzer
Sulzer standard pump, with operating
standard pump, operating
condi tions at
conditions at aa best efficiency
efficiency point of of 740
740 mm head atat 56
56 l/s
l/s flow.
flow. Entrance
Entrance
pressure and flow
flow of
of the
the test
test machine
machine are
are controlled by valves
valves inin the
the main and the
the
bypass branch.
bypass branch. Maximum allowable pressure ,downstream
allowable pressure downstream ofof the
the test
test machine
machine is
is
restricted
restricted by thethe turbine
turbine flow
flow meter to
to 20 bar, enough
20 bar, enough to
to prevent vaporization at at
160 O C . Combined main and bypass
160°C. quantities pass
bypass quantities pass partially through
through the
the main heat
heat
exchanger, depending
exchanger, depending on
on the
the duty point,
point, and areare led
led back to
to the
the main pump. System
pump. System
pressure
pressure is is maintained by aa plunger
plunger pump, supplies cooling
pump, which supplies cooling water for for the
the
mechanical seal
mechanical seal and the
the bearings out of
bearings out of aa reservoir.
reservoir.
2.3 Instrumentation
2.3 Instrumentation and Data
Data Acquisition
Acquisition
Dynamic Measurement
Dynamic Measurement (ref.
(ref. 6)
6)
The linear
The linear relationship
relationship between forces and
between forces and displacement,
displacement, of
of equation
equation (2),
(2), is
is
assumed. For
assumed. For rotational
rotational symmetry,
symmetry, matrices
matrices become skew
skew symmetric
symmetric and the
the relation
relation
can
can be written
written as
as
M+Mm me X Fxo
1["]~ [ 1
(2 )
[ -me M+Mm - Fyo
where Mm
where stands for
M m stands for the
the mechanical
mechanical mass
mass of
of the
the rotor
rotor acting
acting on
on the
the calibrated
calibrated piece
of shaft,
of shaft, and and Fxo and
and Fyo indicate any
Fy0 indicate any forces
forces not
not coherent
coherent wi
with the vibration
th the vibration
motion. Fxo
motion. F,O and Fyo
and are only
F,~ are only caused by noise
noise of
of the
the machine
machine and
and are
are small.
small.
Synchronous time
Synchronous time averaging
averaging eliminates
eliminates the
the noncoherent
noncoherent forces.
forces. As
As harmonic
harmonic mot
motion
ion
applied,
applied, complex
complex notation
notation can
can be
be used:
used:
x = Re- p-,.-=1 Fx =
[-
Re- Fx-e
3-=1
(3 )
Y = Re- [
Y-e
.:I nt]
Introducing equations
Introducing equations (3) into (2)
(3) into (2) yields
yields the
the impedance
impedance functions D and
functions D and E:
E:
(4)
238
which corresponds
which corresponds to
to
jj K + j - Q C Q2 - (M + Mm)
(5)
E ke + j Q - Ce Q2 - me
Because
Because ofof the
the rotational
rotational symmetry
symmetry and
and the
the harmonic
harmonic motion,
motion, alternatively
alternatively the
the
0
imaginary parts
imaginary parts can
can also
also be
be introduced
introduced into
into equation
equation (2),
(2), resul
resulting
ting inin aa 90
90"
rotation of
rotation of the
the system.
system. As As linear
linear equations
equations are
are used,
used, both
both cases
cases can
can be
be
superimposed.
superimposed. Of Of importance
importance isis the
the fact
fact that
that no
no assumptions
assumptions about
about the
the orbi
orbitt path
path
are
are needed
needed toto get
get these
these equations.
equations. Thus
Thus any
any linear
linear movement
movement isis appropriate.
appropriate.
However, as
However, as only
only displacement
displacement inin the
the vertical
vertical direction
direction occurs,
occurs, rotational
rotational symmetry
symmetry
must
must be
be assumed,
assumed, and
and only
only six
six individual
coefficients can
can be
be extracted.
extracted.
In
In the
the frequency
frequency domain,
domain, the
the impedance
impedance functions
functions D and EE consist
D and consist of
of aa constant
constant
term
term and
and aa term
term depending
depending on
on the
the square
square of
of the
the exci tation frequency
excitation frequency inin the
the real
real
part.
part. The The imaginary
imaginary part
part is
is represented
represented by by aa linear
linear term
term inin frequency,
frequency, only.
only.
Obviously there
Obviously there is
is no
no aa priori
priori knowledge
knowledge that
that those
those functions
functions represent
represent the
the actual
actual
physical
physical behaviour
behaviour ofof the
the annular
annular seal,
seal, as
as any
any polynomial
polynomial inin the
the exciting
exciting frequency
frequency
of
of anan arbi trary degree
arbitrary degree could
could fifitt the
the results.
results. Anyhow,
Anyhow, for
for pract ical reasons
practical reasons the
the
number of
number of coefficients
coefficients should
should be
be as
as small
small as
as possible.
possible.
Equations
Equations (5)
(5) demonstrate
demonstrate the
the physical
physical meaning
meaning of
of DD and E. In
and E. In figure
figure 6,
6 , the
the
reaction
reaction forces
forces created
created by
by individual
individual stiffness,
stiffness, damping,
damping, and
and mass
mass terms
terms and
and their
their
direction relative
direction relative to
to the
the displacement
displacement and
and velocity
velocity vector
vector are
are shown.
shown.
At any
At any given
given operating
operating point,
point, measurement
measurement of
of complex
complex forces Fx and
forces Fx and FFy
y and
and
displacements
displacements X X and Y wi
and Y th several
with several rapid
rapid sweeps
sweeps of
of exci tat ion frequency
excitation frequency determine
determine
the
the impedance
impedance functions
functions DD and E. Curve
and E. Curve fi tting the
fitting the resul ts to
results to the
the equations
equations (5),
(5),
yields the
yields the stiffness,
stiffness, damping
damping and
and mass
mass coefficients
coefficients that
that are
are being
being sought.
sought.
Displacement and
Displacement and force
force signal processinp:
signal processing:
Figure 77 shows
Figure shows the
the signal
signal flow
flow at
at the
the test
test machine.
machine. TheThe rotating
rotating piece
piece ofof
shaft is
shaft is equipped
equipped with
with six
six strain
strain gauges
gauges for
for measurement
measurement of
of six
six degrees
degrees of
of freedom.
freedom.
The careful
The careful static
static and
and dynamic
dynamic loading
loading ofof this
this device
device resul
resulted
ted inin aa full
full 6x6
6x6
calibration matrix.
calibration matrix. Signal
Signal wires
wires are
are led
led through
through the
the shaft,
shaft, the
the coupling
coupling and
and the
the
gear box
gear box into
into the
the rotating
rotating amplifier.
amplifier. Hence
Hence stable
stable bridge
bridge supply
supply is
is provided
provided for,
for,
and signals
and signals can
can be
be amplified
amplified toto pass
pass the
the slip
slip ring
ring assembly
assembly wiwithout loss of
thout loss of
information.
information.
Radial displacement
Radial displacement is
is measured
measured in
in both
both the
the horizontal
horizontal and
and vertical
vertical direction
direction
by two
by two temperature
temperature compensating
compensating eddy
eddy current
current probes.
probes. ToTo check
check thethe displacement
displacement
t i l t , four
tilt, four axially
axially placed
placed probes
probes measure
measure the
the tilting
tilting angles and 13P of
angles a.a and of the
the rotor
rotor
around the
around the x-
x- and
and y-axis.
y-axis.
The data
The data acquisition
acquisition system
system is
is triggered
triggered to
to the
the rotational
rotational frequency.
frequency. Sampling
Sampling
starts at
starts at aa zero
zero degree
degree rotor
rotor posi
position, and one
tion, and one data
data block
block is
is fi
filled with
lIed wi 1024
th 1024
points after
points after 32
32 revolutions
revolutions taking
taking 32
32 samples
samples per
per revolution.
revolution. The
The excitation
excitation signal
signal
is generated
is generated digitally from aa data
digitally from data block
block of
of 1024
1024 points
points and
and is
is made
made synchronous to
synchronous to
the data
the data sampling
sampling by
by triggering.
triggering.
239
Data
Data processing ofof force
force and displacement
displacement signals
signals isis shown
shown in
in figure
figure 8.8. After
the
the analog-digi tal conversion,
analog-digital conversion, allall signals
signals are
are averaged.
averaged. AsAs the
the exci tation signal
excitation signal
is phase locked
is phase locked to
to the
the rotor posi tion, averaging
rotor position, averaging of 1000 data
of 1000 blocks removes
data blocks removes all
all
forces
forces and displacements
displacements not
not coherent
coherent toto the
the excitation
excitation signal.
signal. Forces
Forces and moments
moments
are
are then
then calculated,
calculated, applying
applying thethe calibration
calibration matrix,
matrix, and are
are converted
converted to to the
the
stationary
stationary reference.
reference. No run run out
out compensation
compensation is is needed for for displacement
displacement
measurements because of
measurements because of the
the averaging procedure.
averaging procedure. From aa and 13,~, the
the radial
radial
displacement
displacement taper
taper can
can be calculated with the the help
help of
of some
some geometrical
geometrical data.
data.
Signals
Signals subsequently
subsequently undergo
undergo aa Fourier
Fourier transform toto yield
yield the
the complex
complex radial
radial
displacement
displacement and forces
forces in
in the
the stationary
stationary horizontal
horizontal and vertical
vertical direction.
direction. The
The
relative
relative displacement
displacement tilt
t i l t is
is used to to estimate
estimate the possible error
the possible error caused by
tilting.
ti 1 ting. Equation (4)(4) finally
finally indicates
indicates that
that the
the relation between forces
relation between forces and
displacements, and impedance
displacements, impedance functions
functions D
D and E can
can be calculated.
calculated.
To
To minimize
minimize the
the time
time of
of measurement
measurement at at one
one operating point, the
operating point, the excitation
excitation
frequency
frequency Q Q is
is varied in in aa rapid sweep
sweep from
from zero
zero upup to
to about
about 140% ofof the
the running
running
frequency. Some
frequency. Some measurements
measurements at at constant
constant QQ proved that
that coefficients
coefficients do do not
not depend
depend
on
on the
the rapid
rapid sweep.
sweep. Curve
Curve fi t ting of
fitting of E and DD uses
uses only the
the exci tat ion range
excitation range from
from
10% to
10% to 120% of
of the
the running
running frequency
frequency for for accuracy
accuracy reasons.
reasons. TheThe running
running frequency
frequency is
is
excluded,
excluded, to to avoid the the measurement
measurement of of geometric
geometric tolerance
tolerance effects.
effects. Reliable
Reliable
measurement
measurement ofof one
one set
set of
of sti ffness, damping
stiffness, damping and mass
mass coefficients
coefficients isis thus
thus ensured
and needs
needs less
less than 10 minutes.
than 10 minutes.
Instrumentation for operating

Instrumentation for operating conditions:
conditions:
To
To compare
compare individual
individual results,
results, operat ing and boundary condi
operating t ions must be
conditions
known.
known. Figure
Figure 99 indicates
indicates the
the signal
signal flow
flow for
for operating
conditions. Fluid
Fluid
temperatures
temperatures inin front
front and behind the the seal
seal are
are measured by two two thermoelectric
thermoelectric
couples.
couples. Electric
Electric signals
signals are
are led
led to
to aa line
line recorder
recorder for
for aa visual
visual check
check and through
through
the signal conditioning
the signal conditioning to
to the
the data
data acquisition
acquisition system.
system.
The
The pressure of
of individual
individual locations
locations is
is led hydraulically to
to strain
strain gauge
gauge type
type
transducers located
transducers located outside
outside of
of the
the machine.
machine. This
This implies
implies that
that only quasi-static
quasi-static
pressure can
pressure can be measured.
measured. Transducers
Transducers signals
signals are
are led through
through signal
signal conditioning
condi t ioning
to
to the
the data
data acquisition
acquisition system.
system.
The
The turbine
turbine flow
flow meter yields
yields aa flow proportional frequency.
flow proportional frequency. This
This frequency,
frequency,
as
as well
well as the measured rotating
as the rotating frequency
frequency of
of the
the shaft,
shaft, is
is not
not transmitted
transmitted directly
directly
to
to the
the data
data acquisition
acquisition system.
system. Impulse
Impulse sampling
sampling and averaging
averaging takes
takes too
too much space
space
and time
time on on the
the computer.
computer. Hence,
Hence, those
those two
two results
results are
are the
the only
only ones
ones to
to be entered
manua 1 ly .
manually.
Signal for operating

Signal processing for operating conditions:
conditions:
Figure 10 shows
Figure 10 shows the processing of
the processing of the
the measured operating
operating condi tions. Direct
conditions. Direct
readings
readings are
are treated
treate"d in
in the
the same
same way asas the
the displacement
displacement and force
force data.
data. The
The two
two
manually entered
entered frequencies
frequencies are
are not
not subject
subject toto sampling
sampling and averaging
averaging and are
are
multiplied by their
their calibration
calibration factors.
factors. Including
Including information
information about
about the
the geometry,
geometry,
all
a1 1 essential
essential operating
operating conditions,
conditions, including
including fluid properties,, can
fluid properties can be derived:
derived:
240
- Rotor
Rotor speed
speed
-- Mean
Mean temperature
temperature (fluid
(fluid properties)
properties)
-- Mean
Mean static
static pressure
pressure immediately
immediately inin front
front and
and behind the
the seal
seal
-- Mean
Mean pressure
pressure drop
drop
Kinetic pressure
- Kinetic pressure (pi
(pitot
tot tube
tube used
used allows
allows for
for relative
relative flow
flow angles
angles up
up to
to at
at
least +/- 25°)
least +/- 25')
-- Mean
Mean total
total velocity
velocity in
in front
front of
of seal
seal (kinetic
(kinetic pressure)
pressure)
-- Mean
Mean meridional
meridional velocity
velocity in
in front
front of
of and
and within
within seal
seal (continuity)
(continuity)
-- Mean
Mean circumferential
circumferential velocity
velocity in
in front
front of
of seal
seal
- Friction
Friction coefficient
coefficient (static
(static pressure
distribution within
within seal)
seal)
Wi th this
With this information,
information, measured rotordynamic
coefficients can
can bebe presented in
in
nondimensional
nondimensional diagrams,
diagrams, using
using the
the circumferential
circumferential Re-number
Re-number as
as the
the abscissa
abscissa and
and the
the
axial
axial to
to circumfe-rential
circumferential Re-number
Re-number ratio
ratio as
as the
the parameter.
parameter. Hydraul ic behaviour
Hydraulic behaviour can
can
be
be presented
presented correspondingly.
correspondingly.
Calibration:
Calibration:
All
All measurement
measurement devices,
devices, static
static as
as well
well as
as dynamic,
dynamic, were
were calibrated
calibrated carefully,
carefully,
to
to ensure
ensure reliable
reliable results.
results.
The
The Eigenfrequencies
Eigenfrequencies ofof the
the system
system were
were checked
checked inin water.
water. Accordingly,
Accordingly,
impedance
impedance functions
functions match measured data
match measured data most
most precisely
precisely up
up to
to about
about 100
100 Hz,
Hz, and
and aa
first
first resonance
resonance appears
appears at
at some
some 150
150 Hz.
Hz. Maximum excitation
excitation frequency
frequency required
required
during
during tests
tests is
is only
only about
about 80
80 Hz,
Hz, and
and no
no resonance
resonance effects
effects take
take place.
place.
For
For appropriate
appropriate measurement,
measurement, it
i t must
must be
be ensured
ensured that
that the
the rotor
rotor vibrates
vibrates with
with an
an
approximately
approximately constant
constant amplitude
amplitude over
over the
the whole
whole excitation
frequency range.
range.
Therefore, the chirp
Therefore, the chirp signal
signal has
has to to be
be surveyed
surveyed and
and adapted,
adapted, ifif necessary.
necessary.
Confirmation
Confirmation took
took place
place visually
visually in
in the
the time
time or
or frequency
frequency domain
domain during
during measurement.
measurement.
A typical
A typical example
example atat 2000
2000 rpm
rpm is
is shown
shown in
in figure
figure 11.
11. The
The rapid
rapid sweep
sweep signal
signal is
is
nicely
nicely reproduced
reproduced in in the
the vertical
vertical direction,
direction, ampli tudes being
amplitudes being inin the
the range
range of
of aa
strongly
strongly vibrating
vibrating pump;
pump; and
and the
the response
response isis quite
quite small
small inin the
the horizontal
horizontal
direction.
direction. TheThe frequency
frequency spectrum
spectrum shows
shows the
the excitation
excitation toto span
span the
the range
range from
from 33 to
to
about
about 4040 Hz
Hz wi th fairly
with fairly constant
constant resul ting displacement.
resulting displacement. Note
Note that
that the
the running
running
frequency is
frequency is removed
removed and
and that
that the
the signal-to-noise
signal-to-noise ratio
ratio is
is very
very good.
good. Figure
Figure 12
12
shows
shows the
the vertical
vertical andand horizontal
horizontal forces.
forces. TheThe frequency
frequency spectrum
spectrum ofof the
the vertical
vertical
displacement
displacement andand force
force shows
shows aa moderately
moderately even
even distribution.
distribution. If If the
the decrease
decrease ofof
displacement
displacement wi th increasing
with increasing frequency
frequency were
were larger,
larger, aa linearly
linearly or
or quadratically
quadratically
increasing
increasing chirp
chirp input
input would
would have
have to
to be
be used.
used.
3. MEASURING
3. MEASURING RANGE
RANGE AND NONDIMENSIONAL
NONDIMENSIONAL PRESENTATION
PRESENTATION
3.1 Boundary
3.1 Boundary conditions
conditions of
of test
test loop
loop and
and test
test rig:
rig:
There
There is
is aa physical
physical limitation
limitation of
of the
the measuring
measuring range
range by
by the
the test
test machine.
machine. The
The
following
following operational
operational limits
limits are
are encountered:
encountered:
241
Maximum at
at 20 160
160 [OC]
[OC] Restriction by
Restrictionby
speed
speed 4000 4000 [rpm]
[rpm] Electric
Electric drive
drive
inlet
inlet pressure
pressure 75
75 70
70 [bar]
[bar] Inlet
Inlet flange
flange
outlet
outlet pressure
pressure 2 88 [bar]
[bar] Avoid vaporization
Avoidvaporization
pressure
pressure differ.
differ. 55 55 [bar]
[bar] Hydrostatic
Hydrostatic seal
seal
Below
Below 500 rpm
rpm data
data sampling
sampling becomes
becomes erratic,
erratic, and
and aa pressure
pressure differential
differential below
below
approximately bar yields
approximately 2 bar yields forces
forces which
which are
are too
too small
small to
to be
be measured reI iabiy. The
reliably. The
minimum temperature
temperature is
is close
close to
to the
the temperature
temperature of
of the
the environment.
environment.
3.2
3.2 Measuring
Measuring range:
range:
Boundary
Boundary conditions
conditions for
for aa centrifugal
centrifugal pump
pump in
in terms
terms of
of rotor
rotor speed
speed and
and pressure
pressure
are
are approximated
approximated by the
the following
following equations:
equations:
p:L n:L - (D:L)]2
[ --------- (6 )
n2 - (D2)
The
The axial
axial veloci ty vv through
velocity through the
the annular
annular seal
seal is
is about
about proport ional to
proportional to the
the
square root of
square root of the
the pressure
differential as
as can
can be
be derived
derived from
from equation
equation (7):
(7):
dp = rho
dp
2
2
rho -- - --
v [
Lambda -- LSea:L
[Lambda Ls__J-
------------- ++ Ze~
-------------
2 -- ho
ho
Zei ++ Zeo
Zeo
1 ( 71
(7)
Hence
Hence vv is
is directly
directly proportional
proportional to
to the
the running
running speed.
speed. Writing
Writing the
the ratio
ratio of
of
axial
axial to
to circumferential
Reynolds number
number in
in aa seal
seal yields
yields
Rea
Re, vv
--- == ----- (8)
Rec
Re, w - R
w-R
As
As the
the geometrical
geometrical dimensions
dimensions of of the
the seal
seal are
are directly
directly correlated
correlated toto the
the outer
outer
diameter DZ of
diameter D2 of the
the impeller,
impeller, which
which determines
determines mainly
mainly the
the generated
generated pressure
pressure at at aa
certain
certain speed,
speed, the
the scale
scale of
of the
the pump
pump can
can not
not change
change the
the ratio
ratio of
of equation
equation (8).
(8). Thus
Thus
the
the ratio
ratio of
of the
the axial
axial to
to the
the circumferential
Reynolds number
number must
must lie
lie in
in aa narrow
narrow
range:
range :
Rea
Re,
--- = 0.45
0.45 ++ 0.95
0.95 (9)
Rec
Re,
The
The range
range given
given here
here is
is applicable
applicable for
for specific
specific speeds
speeds according
according to
to boiler
boiler feed
feed
pumps.
pumps. For
For very
very high
high specific
specific speed
speed impellers
impellers the
the ratio
ratio may
may become
become lower.
lower.
242
Wi th this
With this insight,
insight, the
the measuring
measuring range
range can
can be
be defined
defined as
as shown
shown typically
typically in
in
figure
figure 13.
13. Axial
Axial and
and circumferential
Reynolds numbers
numbers were
were selected
selected asas three
three fixed
fixed
ratios,
ratios, 0.3,
0.3, 0.6
0.6 and
and 0.9.
0.9. Six
Six speeds
speeds resulting
resulting inin Ree's
Rec's from
from 20'000
20'000 to
to 280'000
280'000are
are
chosen.
chosen. Rea
Re, reaches
reaches from
from 6'000
6'000 toto about
about 220'000,
220'000,depending
depending on
on each
each Ree.
Re,. The
The large
large
Reynolds
Reynolds number
number range
range was
was at tained by
attained by varying
varying temperatures
temperatures from
from 20
20 to
to 160°C.
160 OC. A
summary
summary of
of operating
operating conditions
conditions isis shown
shown inin figure
figure 14.
14.
Inlet
Inlet swirl:
swirl:
With
With the
the adjustable
adjustable guide
guide vanes
vanes used,
used, any
any attainable
attainable inlet
inlet swirl
swirl remains
remaihs lower
lower
than in
than in aa pump.
pump. Water
Water exi ting an
exiting an impeller
impeller has
has aa high
high circumferential
circumferential veloci ty
velocity
component.
component. This
This velocity
velocity increases
increases as
as the
the medium
medium flows
flows radially
radially inwards,
inwards, reaching
reaching aa
Utho of
UthO of about 0.7 ++ 0.8
about 0.7 0.8 at
at the
the entrance
entrance of
of the
the seal.
seal. Using
Using guide
guide vanes,
vanes, aa maximum
maximum
of
of about Utho == 0.15
about UthO 0.15 can
can be
be reached, if the
reached, if the whole
whole Rea
Re, range
range is
is to
to be
be measured
measured atat
constant Uth0 .
constant UthO.
For
For direct
direct comparison
comparison of
of coefficients
coefficients atat individual
individual Re-ratios,
Re-ratios, the
the inlet
inlet swirl
swirl
has
has to
to be
be approximately
approximately equal
equal for
for all
all ratios
ratios measured.
measured. ToTo get
get detailed
detailed information
information
about
about the
the influence
influence of
of inlet
inlet swirl
swirl on
on rotordynamic
rotordynamic coefficients,
coefficients, aa variation
variation from
from
negative
negative toto maximum
maximum positive
positive pre-rotations
pre-rotations was
was measured
measured at
at four
four selected
selected operating
operating
points,
points, where
where the
the highest
highest inlet
inlet swirls
swirls can
can be
be attained.
attained. Results
Results confirm
confirm that
that this
this
'procedure
'procedure provides
provides sufficient
sufficient information
information for
for the
the extrapolation
extrapolation of
of coefficients
coefficients to
to
more
more realistic
realistic inlet
inlet swirls.
swirls.
3.3
3.3 Test
Test program
program and
and specifications:
specifications:
The
The three
three seal
seal configurations
configurations toto bebe discussed
discussed are
are shown
shown in
in figure
figure 15.
15. The
The
nominal
nominal mean
mean diametr
diametricic seal
seal clearance
clearance var ies generally
varies generally from
from about
about 0.15
0.15 to
to 0.3%
0.3% of
of
the seal
the seal diameter,
diameter, depending
depending onon the
the absolute
absolute size
size and
and the
the application
application of
of the
the pump,
pump,
and
and is
is doubled
doubled for
for the
the "worn
"worn condi tion. n The
condition." The seal
seal diameter
diameter of
of 350
350 mm
mm corresponds
corresponds
approximately to
approximately to an
an impeller
impeller diameter
diameter 02D2 z= 500
500 mm.
Resul ts of
Results of aa smooth
smooth seal
seal and
and aa serrated
serrated seal
seal wi th nominal
with nominal and
and twice
twice nominal
nominal
clearance
clearance are
are presented.
presented. Yet,
Yet, there
there is
is still
still aa huge
huge variety
variety ofof other
other interesting
interesting
configurations.
configurations. All All geometries,
geometries, including
including some
some further
further variants,
variants, have
have been
been measured
measured
under EPRI
under EPRI (Electric
(Electric Power
Power Research
Research Institute
Institute Inc.,
Inc., Palo
Palo Alto
Alto CA,
CA, USA)
USA) contract RP
contract RP
1884-10.
1884-10.
3.4
3.4 Nondimensional
Nondimensional presentation:
presentation:
The
The general
general definition
definition must
must include
include the
the pressure
pressure differential,
differential, the
the radius,
radius, the
the
seal
seal clearance,
clearance, the
the length
length and,
and, part ially, the
partially, the angular
angular rotor
rotor speed
speed to
to produce
produce
literally
literally nondimensional
nondimensional coefficients.
coefficients. Whether
Whether the
the coefficients
coefficients depend
depend inear ly or
1linearly or
by
by any
any exponent
exponent on
on those
those parameters
parameters can
can not
not be
be concluded
concluded explici tly.
explicitly. Hence,
Hence, the
the
following
following definitions
definitions are
are used:
used:
243
Fr/e - ho Ft/eho -
Fr* -------------- Ft * = --------------
Lsea~ - R - dp LSea~ - R - dp
K - ho ke. - ho
K* -------------- ke.* --------------
Lsea~ - R - dp LSea.~ - R - dp
(10)
C - ho - w Ce. - ho - w
C* -------------- Ce.* = --------------
Lsea.~ - R - dp Lsea.~ - R - dp
M - ho - w2 me. - ho - w2
M* = -------------- me. * --------------
Lsea.~ - R - dp LSea.~ - R - dp
Experience
Experience with measured data data exhibited
exhibited that
that normalized
normalized rotordynamic
rotordynamic
coefficients become almost
coefficients become almost constant
constant against
against both Rea
Re, and Ree.
Rec at
at constant
constant Rea
Re, to
to Ree.
Rec
ratios.
ratios. This'
This' allows
allows aa huge
huge amount
amount of
of information
information to
to be condensed by plotting the
the
mean values
values as
as bar charts
charts at
at individual
individual Re-ratios.
Re-ratios.
Radial
Radial and tangential
tangential forces
forces can
can be deduced
deduced from
from equations
equations (2).
(2). For
For aa circular
circular
vibration orbi
orbitt wi th radius
with radius e,
e, the
the displacement,
displacement, veloci ty and acceleration
velocity acceleration vectors
vectors
become
become
Q~ t >]
[
~] [-e - sin( t)]
e - cos ( Q- t >] = Q- Q- = [-e - Q2 - cos (
(11 )
[:] [ e-sin(Q-t) Y e-Q-cos(Q-t) [t] -e - Q2 - sin( Q- t)
Because
Beca~~seof
of the
the circular
circular symmetry,
symmetry, no
no phase angle
angle is
is needed.
needed. The
The simplest
simplest case
case
to
to calculate
calculate radial
radial and tangential
tangential forces
forces is
is at
at t = 0,
0, where
where sin(Q· t) =
sin(Q*t) = 0 and the
the
eccentricity
eccentricity is
is on
on the
the x-axis.
x-axis. Hence, becomes Fr
Hence, Fx becomes F, and FFry becomes
becomes Ft,
Ft, and the
the
matrix equation
equation (12) can be rewritten
(12) can rewritten as
as
Fr = K - e + Ce.- e - Q - M - e - Q2
(12 )
F = - ke.- e + C - e - Q + me. - e - Q2
Introducing
Introducing the
the normalization
normalization of
of equations
equations (10)
(10) into
into equations
equations (12),
(12), the
the
following
following dimensionless presentation is
dimensionless presentation is found:
found:
_ Fr * K* + Ce.* _[ ~] _ M* _[ ~ ]2
(13)
_ Ft * = _ ke. * + C* _ [~] + me. * _[ ~ ]2

Radial
Radial and tangential
tangential forces
forces are
are only plotted atat one
one selected
selected ratio
ratio of
of
exci tation to
excitation to running
running frequency,
frequency, 0.8,
0.8, as
as typical
typical ratios
ratios for
for instabili ties at
instabilities at high
high
244
energy pumps
energy range from
pumps range from about
about 0.7
0.7 to 0.9
to 0.9 (ref. 1).
(ref. 1 ) The same
The same scheme
scheme as
as for
for
coefficients is
coefficients is used.
used.
4 . MEASURED DATA
4.
Error Estimation:
4 . 1 Error
4.1 Estimation:
High
High radial
radial stiffness
stiffness of
of the
the measuring shaft,
shaft, which isis attained
attained wi th aa short
with short
compact shape,
and compact shape, is
is required
required in
in order
order to
to avoid
avoid critical
critical speeds.
speeds. This
This implies
implies that
that
the measuring
the measuring system
system was
was very susceptible
susceptible to
to nonsymmetrical
nonsymmetrical stress
stress distributions.
distributions.
Based onon experience,
experience, the
the maximum uncertainty
uncertainty of
of the
the dynamic
dynamic forces
forces is
is estimated to to
25%. The
be ±5%. uncertainties of
The uncertainties of the
the displacement
displacement measurement
measurement are
are measured toto be within
within
22%. The
±2%. The signal
signal condi tioning and processing are
conditioning are further
further sources
sources of
of deviations.
deviations.
Therefore
Therefore the
the accuracy
accuracy of
of the
the measured impedance
impedance functions
functions is
is estimated
estimated toto be within
within
(worst case).
210% (worst
±10% case).
The
The accuracy
accuracy of
of the
the extracted
extracted coefficients
coefficients depends
depends further
further on
on the
the scatter
scatter of
of
the
the measured values
values and on
on the
the deviation
deviation of
of the
the actual
actual impedance
impedance function
function from
from the
the
underlying mathematical
underlying mathematical model.
model. Some
Some of
of the uncertainties mentioned are
the uncertainties are absolute
absolute
values, and thus,
values, t~e relative
thus, the relative measurement
measurement errors
errors are
are quite
quite small
small for
for large
large absolute
absolute
loads and become large
loads large for
for values
values close
close to
to zero!
zero!
Standard
Standard deviations
deviations of
of measured data
data indicate
indicate clearly
clearly that
that the
the direct
direct stiffness
stiffness
and damping
damping coefficients,
coefficients, being the the largest
largest values,
values, are
are matched very well.well. The
The
cross coupled
cross coupled stiffness
stiffness is
is sti
still fairly accurate,
11 fairly accurate, results
results are
are better wi with larger
th larger
inlet swirls
inlet swirls and hence,
hence, larger
larger absolute
absolute coupled stiffnesses.
stiffnesses. TheThe direct
direct mass
mass at
at low
low
Reynolds
Reynolds number
number ratios
ratios exhibi ts satisfactory
exhibits satisfactory relative
relative standard
standard deviations.
deviations. Cross
Cross
coupled
coupled damping
damping and
and mass
mass terms
terms as
as well
well as
as direct
direct mass
mass terms
terms atat higher
higher Re-ratio
Re-ratio
values
values can
can not
not be considered
considered reliable
reliable at
at all.
all.
For the
For the nondimensional
nondimensional presentation,
presentation, thethe errors
errors ofof the
the operating
operating condi
conditions
tions
need toto be known.
known. TheThe mean static
static pressure measurement was
pressure measurement was found
found toto vary within
within
25%. The
±5%. The accuracy
accuracy of of the
the pressure transducers lies
pressure transducers lies wi
within
thin 2% (including static
2% (including static
drifts), and the
drifts), the flow
flow meter gives
gives results
results with less
less than
than 1% error. The
1% error. The rotor
rotor speed
speed
is
is assumed
assumed to to be erratic
erratic by some 2%. The
some 2%. The fluid properties are
fluid properties are estimated
estimated to to be
within
within 2% of of their
their true
true values
values and geometrical
geometrical data
data is
is judged toto be within
within 5%5% of
of the
the
actual
actual dimensions
dimensions under
under load
load and temperature.
temperature. Those
Those errors
errors add up up statistically
statistically to to
possible deviations from
possible deviations from operating
conditions ofof approximately
approximately 8%. Additionally,
8%. Additionally,
for the
for the cross-coup
cross-coupled stiffness, the
led stiffness, the error
error of
of the
the ci
circumferential inlet ve
rcumferent ial inlet velocity,
loci ty,
which is
which is about
about 5%,
5%, must be included,
included, asas ke* varies about
kc* varies about linearly
linearly with UthO. This
Uth0. This
results in
results in slightly
slightly larger
larger deviations
deviations ofof 9% for the
9% for the coupled stiffness.
stiffness.
Together with the
Together the estimated
estimated maximum load
load measurement
measurement error
error of
of ±10%
210% and
individual deviations
individual deviations from
from impedance
impedance fUIictions,
fwictions, this
this leads
leads to
to the
the following
following worst
worst
case uncertainties
case uncertainties of
of nondimensional
nondimensional rotordynamic
rotordynamic coefficients:
coefficients:
K*: = ±
::= + 13 %
13 % kkc*:
e*.. ::=
c + 16 %
± %
C*: = ±
::= + 13 %
% cc*:
Cc *: :=
s + 41
± %
41 %
M*: = ±
::= + 14 % (min.)
14 % me *:
me*: ::=
=: + 115 %
± %
M*:
M*: = ±
::= + 21 %
% (mean Re-ratio)
M*:
M*: = ±
::= + 56 % (max.)
56 % (max.)
245
Hence,
Hence, only stiffness
coefficients, the
the direct
direct damping
damping and the
the direct
direct mass
mass term
at
at smallest
smallest Re-ratios
Re-ratios are
are reliable
reliable resul ts, but coefficients
results, coefficients wi th large
with possible
large possible
errors
errors are
are of
of no
no interest,
interest, as
as their
their actions
actions on
on the
the rotor
rotor are
are negligible.
negligible.
4.2 Discussion
4.2 Discussion of
of Test
Test Results:
Results:
In
In order
order to
to discuss
discuss the
the test
test results,
results, bar diagrams
diagrams have
have been established.
established. The
The
total
total average
average of
of all points at
all points at all
all Re-ratios
Re-ratios reflects
reflects whether
whether the
the test
test resul
resultt
depends
depends on
on the
the individual
individual Re-ratios
Re-ratios or
or not.
not.
Rotordynamic
Rotordynamic coefficients:
coefficients: (Figures 16 through
(Figures 16 through 19)
19)
oos:
00s:
The
The smooth, NB surface
smooth, N8 surface roughness
roughness seal
seal isis shown
shown in
in figure 16. The
figure 16. The direct
direct
stiffness
stiffness exhibits
exhibits scatter
scatter well
well within the
the limits
limits of
of measurement errors,
errors, and the
the
nondimensional
nondimensional stiffness
stiffness of
of this
this test
test series
series is
is constant
constant for
for all
all Reynolds numbers
Reynolds numbers
and for
for any Re-ratio.
Re-ratio.
The
The cross
cross coupled
coupled stiffness
stiffness indicates
indicates aa dependency
dependency on the Re-ratio,
on the Re-ratio, but notnot on
on
the Re-Ievel.
the Re-level. Extracted cross
cross coupled stiffnesses
stiffnesses were
were all
all within thethe band width of
of
estimated measurement
measurement error,
error, even inin spi te of
spite of some
some inlet
inlet swirl variations. For
swirl variations. For aa
constant
constant inlet
inlet swirl, the cross
swirl, the cross coupled stiffness
stiffness decreases wi th increasing
decreases with increasing Re-
Re-
ratios. At higher Re-ratios,
ratios. Re-ratios, thethe time
time needed toto pass
pass through
through the
the seal
seal clearance
clearance
becomes relatively
becomes relatively shorter
shorter and,
and, as
as aa consequence,
consequence, the
the fluid
fluid can not be accelerated
can not
in the cirCUmferential
in the circumferential direction
direction toto the
the same
same extent
extent as wi th lower
as with lower Re-ratios.
Re-ratios.
However,
However, for this test
for this test series the inlet
series the inlet swirl
swirl used for for individual
individual Re-ratios
Re-ratios
increased the Re-ratio,
increased with the Re-ratio, and both effects
effects compensate
compensate toto some
some degree.
degree.
The
The direct
direct damping depends
depends on the Re-ratio,
on the too. Yet,
Re-ratio, too. Yet, at
at individual
Re-ratios,
coefficients remain constant
coefficients remain constant over the total
over the total Re-range measured, and scatter
Re-range measured, scatter lies well
lies well
wi thin the
within the estimated relative error.
estimated relative error. Cross
Cross coupled
coupled damping
damping seems to exist
seems to exist at the
at the
lowest R e J R e , only.
lowest Rea/Rec only. AsAs it
i t is
is very small,
small, scatter
scatter is
is considerable,
considerable, and atat higher
higher
Re-ratios,
Re-ratios, Cxy*
cx,* is
is essentially
essentially zero.
zero.
The
The direct
direct mass
mass term exists
exists at
at lowest
lowest Re-ratios,
Re-ratios, but the
the relative
relative scatter
scatter is
is
considerable
considerable and larger
larger than
than estimated
estimated errors.
errors. AA distinct
distinct decrease
decrease can
can be found
found for
for
increasing
increasing Re-ratios.
Re-ratios. Averaged cross
cross coupled
coupled mass
mass coefficients
coefficients are
are not
not reliable
reliable at
at
all,
all, as
as they
they are practically nonexistent
are practically nonexistent for
for short
short seals.
seals.
At the
the chosen
chosen whirl
whirl frequency
frequency ratio
ratio of
of O.B
0.8 (vibration
(vibration to to running
running frequency),
frequency),
the
the re-composed
re-composed radial
radia1 and tangential
tangential forces
forces exhibi
exhibitt constant
constant averaged values
values at
at
individual
Re-ratios, including
including little
little relative
relative scatter.
scatter. The The centering
centering radial
radial
forces
forces dodo not
not depend
depend onon the
the Re-ratios
Re-ratios and thethe tangential
tangential forces
forces are braking, though
are braking, though
to
to aa lesser
lesser extent
extent for
for higher
higher Re-ratios.
Re-ratios. TheThe gradient
gradient of of tangential
tangential forces
forces would be
smaller
smaller or or inverted
inverted if thethe attainable
attainable inlet
inlet swirl,
swirl, and hencehence the
the cross
cross coupled
coupled
stiffness,
stiffness, were
were at
at realistic
realistic values
values of
of aa pump neck ring
ring seal.
seal. The
The cross
cross coupled
coupled
stiffness
stiffness cancan be linearly
linearly extrapolated
extrapolated wi th the
with the inlet
inlet swirl,
swirl, including
including aa parallel
parallel
offset
offset towards positive inlet
towards positive inlet swirls,
swirls, see
see figure 19. The
figure 19. The definition
definition ofof this
this
straight
straight line
line asas well
well as
as numeric
numeric values
values ofof slopes
slopes and offsets
offsets for
for individual
individual
configurations
configurations and Re-ratios can can be found
found in
in table
table 3 ofof the
the appendix.
appendix. Extrapolation
Extrapolation
to
to an
an UthO 0.75 results
Utho == 0.75 results in
in all
all tangent ial forces
tangential forces becoming driving
driving and dimini shing
diminishing
in
in absolute
absolute magni tude wi
magnitude th increasing
with increasing Re-rat ios, see
Re-rat io~, see overview
overview ofof extrapolated Ft*Ft*
246
in
in table
table 2.
2. The
The fact
fact that
that all extrapolated Ft*
Ft* include
include much larger
larger errors,
errors, i.e.,
i.e.,
approximately
approximately ±30%,
=30%, than
than estimated
estimated for
for measured-values
measured-valuesmust be
be. stressed.
stressed.
04s:
04S:
Figure
Figure 17 presents average
17 presents average values
values for
for the N8 surface
the N8 surface roughness,
roughness, serrated
serrated seal.
seal.
Comparison
Comparison with the the smooth
smooth seal
seal indicates
indicates nono drop
drop ofof the
the total
total averaged
averaged
dimensionless stiffness
dimensionless stiffness for
for the
the serrated
serrated seal.
seal. However,
However, for
for the
the serrated
serrated seal,
seal, Kxx*
Kxx*
is
is not
not entirely constant
constant wi th Re-ratios
with Re-ratios and individual
individual differences
differences of
of the
the average
average
stiffnesses
stiffnesses up toto some
some 10%.
10%.
The
The cross
cross coupled stiffness
stiffness is
is reduced
reduced considerably
considerably in in comparison
comparison to
to the
the values
values
for
for the
the smooth
smooth seal,
seal, but direct
direct damping
damping terms
terms are
are a Ii ttle higher
little higher than
than the
the values
values of
of
the
the smooth
smooth seal.
seal. At the
the present moderate
moderate inlet
inlet swirl,
swirl, the
the combination
combination of
of the
the more
advantageous
advantageous damping and coupled
coupled stiffness
coefficients from
from the
the serrated
serrated seal
seal leads
leads
to moderate gain
to a moderate gain in
in braking forces
forces around 20%.
20%. The
The extrapolation
extrapolation shown
shown in
in figures
figures
2 and 3 indicates
indicates clearly
clearly the
the driving
driving tendencies
tendencies at
at realistic
realistic inlet
inlet swirls
swirls for
for both
smooth
smooth and serrated
serrated seals.
seals. However,
However, the
the serrated
serrated sealseal isis extensively
extensively less
less
destabilizing
destabilizing atat low
low Re-ratios;
Re-ratios; though
though this
this advantage
advantage diminishes
diminishes towards
towards high
Re-ratios.
Re-ratios.
04D-M:
04D-M :
Average
- values
values of
of the
the double
double clearance,
clearance, "worn"
"worn" serrated
serrated seal
seal are
are presented in
in
.figure
'figure 18.
18. In
In this
this configuration
configuration the
the serration
serration depth
depth is
is reduced
reduced from
from the
the "new"
''new"
condition
condition in
in order
order to
to simulate
simulate wear,
wear, which occurs
occurs on
on both rotor
rotor and stator.
stator.
The
The direct
direct stiffness
stiffness isis not
not quite
quite inversely proportional to
inversely proportional to the
the seal
seal clearance,
clearance,
as
as the
the definition
definition ofof nondimensional
nondimensional coefficients
coefficients would suggest,
suggest, resulting
resulting in
in higher
dimensionless values
dimensionless values forfor the
the worn
worn condi tion.
condition. A
A similar
similar slight
slight decrease
decrease ofof
nondimensional direct
nondimensional direct stiffness
stiffness with increasing
increasing Re-ratios
Re-ratios as
as with the the single
single
clearance
clearance seal
seal is
is found.
found.
The
The cross
cross coupled
coupled stiffness
stiffness is
is approximately
approximately inversely
inversely proportional
proportional toto the
the seal
seal
clearance.
clearance. The
The averages
averages of
of the
the single
single and double
double clearance
clearance seals
seals are
are not
not exactly
equal,
equal, but scatter
scatter of
of the
the double
double clearance
clearance seal
seal is
is notably
notably large
large at
at the
the lowest
lowest force
force
levels,
levels, and the
the average
average of
of the
the single
single clearance
clearance seal
seal fits
fits well
well enough
enough into
into this
this band
of standard deviations.
of standard deviations. However,
However, the
the drop
drop of
of cross
cross coupled
coupled stiffness
stiffness /, with
increasing
increasing Re-ratios
Re-ratios isis slightly
slightly larger
larger for
for the
the double
double clearance
clearance seal.
seal.
Nondimensional direct
Nondimensional direct damping
damping at
at low
low Re-ratios
Re-ratios does
does not
not confirm
confirm the
the definition
definition
equat ion (10)
equation (10) wi th respect
with respect to
to seal
seal clearance.
clearance. As damping of of the
the double
double clearance
clearance
seal
seal drops
drops more extensively
extensively wi th Re-ratios,
with Re-ratios, the
the nondimensional
nondimensional damping
damping values
values from
from
test
test series
series 04D
04D and 04S
04s match better atat higher Re-ratios.
Re-ratios.
The
The nondimensional
nondimensional mass
mass isis approximately
approximately twice
twice as
as large
large as
as for
for the
the single
single
clearance
clearance seal,
seal, i.e.,
i.e., the
the mass becomes more significant
mass becomes significant forfor the
the resulting
resulting radial
radial
force.
force. Where the the nondimensional,
nondimensional, direct
direct stiffness
stiffness is
is almost
almost 50% higher
higher for
for the
the
double clearance
double clearance seal,
seal, the
the associated radial
radial force
force is
is only little
little more than
than 35%
higher.
higher. However,
However, the
the acting
acting dimensional
dimensional radial
radial force
force is
is only about half as
about half as large
large
for
for the
the 040
04D series
series seal,
seal, as F=* is
as Fr* is divided
divided by the
the double
double clearance
clearance and multiplied by
a smaller pressure differential
smaller pressure differential than
than for
for the
the single
single clearance
clearance seal.
seal.
The
The nondimensional
nondimensional tangential
tangent ial force
force becomes
becomes distinctively
distinctively higher
higher for
for the
the double
double
clearance at
clearance at the
the lowest
lowest Re-ratios
Re-ratios because
because of
of the
the high direct
direct damping.
damping. At medium and
high Re-ratios,
Re-ratios, there
there is
is no
no gain
gain in
in the
the nondimensional
nondimensional tangential
tangential force.
force. Values
Values
247
extrapolated
extrapolated to
to higher
higher inlet
inlet swirls
swirls are
are shown
shown inin table
table 2.
2. Driving
Driving dimensionless
dimensionless
tangential
tangential forces
forces are
are smaller
smaller for
for the
the "worn"
"worn" seal
seal than
than for
for the
the "new"
''new"seal.
seal. However,
However,
the
the advantage
advantage of
of the
the "worn"
"worn" seal
seal being less
less destabi lizing than
destabilizing than the
the "new"
"new" seal
seal
diminishes
diminishes with increasing
increasing inlet
inlet swirl
swirl and increasing
increasing Re-ratio.
Re-ratio.
Note that
Note Ft* of
that Ft* of the
the "worn"
"worn" seal
seal isis approximately
approximately one
one order
order ofof magni tude
magnitude
smaller
smaller than
than its
its two
two components
components and that
that the
the cross
cross coupled
coupled stiffness
stiffness isis very
lIDcertain
uncertain because of of large
large extrapolation.
extrapolation. This
This implies
implies the possibili ty of
the possibility of aa large
large
relative
relative error
error of Ft*.
of Ft*.
Well
Well designed swirl breaks cut
swirl breaks cut the
the inlet
inlet swirl
swirl to
to approximately = 0.4,
Utho =
approximately UthO 0.4, and
hence,
hence, both seal
seal conditions become stabilizing.
conditions become stabilizing. However,
However, the
the stabilizing
stabilizing effect
effect of
of
the
the worn seal
seal will
wi 11 be smaller
smaller than
than the
the one
one of
of the
the new seal,
seal, as
as the
the lower pressure
lower pressure
drop
drop and thethe double
double clearance
clearance will
will result
result inin an
an approximately
approximately 60% smaller
smaller
dimensional
dimensional force
force (see
(see equations
equations (10)).
Flow
Flow Resistance:
Resistance: (Figure
(Figure 20)
20)
Some
Some average
average values,
values, mainly at
at low
low Re-ratio,
Re-ratio, may not
not be representative
representative for
for the
the
friction behaviour, indicated
friction behaviour, indicated by thethe large
large standard
standard deviations.
deviations. This
This is
is not
not
measurement
measurement scatter,
scatter, but the
the change
change of
of the
the friction
friction factor
factor wi th Reynolds
with Reynolds numbers'
numbers'
which is
is larger
larger for
for Lambda
Lambda values
values than
than for
for rotordynamic
rotordynamic coefficients.
coefficients. However,
However, to
to
get
get aa general
general overview,
overview, and inin order
order to
to compare
compare individual
individual configurations,
configurations, these
these
charts
charts are
are very useful.
useful.
The
The bar charts
charts provided are are only only comparable
comparable to to each
each other
other if measured Re- Re-
ranges
ranges are
are approximately
approximately equal
equal or or if thethe standard
standard variation indicates
indicates constant
constant
Lambda
Lambda values.
values. Re-ranges
Re-ranges are
are the
the same same for
for the
the nominal
nominal clearance
clearance seals,
seals, and slightly
slightly
higher for
for the
the double
double clearance
clearance seal.seal. However,
However, the the double
double clearance
clearance seal
seal provides
provides
quite
quite constant
constant Lambda
Lambda values
values at
at aa moderately
moderately higher
higher Reynolds
Reynolds number
number (a
(a factor
factor of
of 2)
2)
in
in contrast
contrast toto the
the Re-range
Re-range of
of RRema~/Rem~n
e,,,/Re,i, = 13.
~ 13.
A
A high surface
surface roughness
roughness of N8 yields
of N8 yields quite
quite large
large friction
friction factors,
factors, the
the
equivalent
equivalent relative
relative roughness
roughness is is found
found to
to be around 0.02
0.02 from
from the
the comparison
comparison of
of the
the
smooth
smooth seal
seal with the
the Moody diagram.
diagram. Indeed,
Indeed, comparison
comparison with another
another measurement
measurement at
at
Sulzer
Sulzer Brothers,
Brothers, as publi shed in
as published in (ref.
(ref. 12)
12) and (ref.
(ref. 13), proves the
13), proves the growth
growth of
of
friction
friction factors
factors from
from N6 to N88 surfaces
to M surfaces to
to be considerable.
considerable.
The
The decrease
decrease of
of Lambda
Lambda values
values is
is largest
largest wi th increasing
with Re,'s s at
increasing Rea.' at lowest
lowest Re-
Re-
ratios
ratios and becomes
becomes qui te small
quite small at
at higher
higher Re-ratios.
Re-ratios. Furthermore,
Furthermore, inlet
inlet swirl
swirl does
does
not affect
not affect the
the frict ion factor.
friction factor. Increased
Increased leakage
leakage flow
flow wi th swi
with rl breaks
swirl breaks hence
hence
resul ts exclusively
results exclusively from
from the
the lower pressure drop
lower pressure drop wi thin the
within the impeller
impeller side
side room,
room,
caused by thethe lowering
lowering ofof the
the rotational
rotational velocity,
velocity, which results
results in in aa higher
differential across
across the
the seal.
seal.
Comparison
Comparison of
of the
the serrated
serrated seal
seal with the
the smooth
smooth seal
seal shows
shows that
that there
there is
is some
some
gain
gain in
in friction
friction factors
factors at
at low
low Reynolds
Reynolds number,
number, and aa definitive
definitive increase
increase of
of Lambda
Lambda
values
values is
is attained
attained at
at higher
higher Re-numbers.
Re-numbers. ForFor high
high Re-numbers,
Re-numbers, the
the increase
increase is
is
considerable
considerable around 30%.
30%. From aa hydraulic
hydraulic point
point of
of view,
view, aa high
high surface
surface roughness
roughness
is
is desirable,
desirable, even
even with serrated
serrated seals.
seals. Additionally,
Additionally, the
the serration
serration geometry
geometry might
might
be further
further optimized,
optimized, in
in order
order toto result
result in
in higher
higher friction.
friction. However,
However, further
further gain
gain
in
in friction
friction must be compared toto the
the changes
changes in
in rototdynamic
rotordynamic behaviour.
behaviour.
248
Wear of
of the
the serrated
serrated seal,
seal, as
as it
i t is
is simulated
simulated with test
test series
series 040
04D indicates,
indicates,
that
that friction
friction factors
factors rise
rise marginally when the the clearance
clearance is
is opened
opened to
to twice
twice its
its
original
original value
value and thethe serration
serration depth
depth is reduced.
is reduced. Realize
Realize that,
that, even
even for
for aa
slightly
slight ly increased
increased Lambda
Lambda value,
value, the
the leakage
leakage flow
flow does
does increase
increase qui te drastically
quite drastically
with larger
larger seal
seal clearances
clearances and hence,
hence, Reynolds
Reynolds numbers become larger.
numbers become larger.
5.
5. CONCLUS IONS
CONCLUSIONS
Rotordynamic
Rotordynamic and hydraulic
hydraulic annular
annular pump seal
seal coefficients
coefficients ofof three
three typical
typical neck
ring
ring configurations
configurations have
have been measured at at anan accuracy
accuracy forfor relevant
relevant coefficients
coefficients
within
within less
less than
than ±20%.
220%. A A smooth
smooth seal
seal and aa serrated
serrated seal
seal inin new
new and worn
worn
conditions,
conditions, have
have been successfully
successfully investigated.
investigated. TheThe effect
effect of
of surface
surface roughnesses
roughnesses
on
on friction
friction factors
factors for
for aa smooth
smooth seal
seal have
have been discussed.
discussed. Operating
Operating conditions
conditions of
of
full
full size boi ler feed
size boiler pumps were
feed pumps were attained.
attained. Restrictions
Restrictions were
were encountered
encountered only in
in
the
the inlet
inlet swirl. Normalization and type
swirl. Normalization type ofof presentation for for rotordynamic
rotordynamic
coefficients
coefficients have
have proven to to be adequate,
adequate, resul ting in
resulting in constant
constant values
values over
over the
the
Reynolds range measured.
Reynolds range measured.
The
The investigation revealed that,
investigation revealed that, from the skew
from the skew symmetric
symmetric 2x2
2x2 stiffness,
stiffness,
damping,
damping, and mass
mass matrices
matrices used in the present model for
in the for interaction
interaction forces,
forces, the
the
cross
cross coupled
coupled damping
damping and thethe cross
cross coupled mass terms
coupled mass terms are
are totally
totally irrelevant
irrelevant..
Considerable direct
.'Considerable mass terms
direct mass terms occur
occur only
only atat very lowlow ratios
ratios of
of axial
axial to
to
circumferential
Reynolds numbers.
numbers. Even
Even the
the largest
largest mass
mass coefficients
coefficients change
change the
the
radial
radial interaction
interaction force
force of
of an
an annular
annular seal
seal only
only by some
some 10%. Hence,
Hence, the
the size
size of
of
direct
direct mass
mass terms
terms is
is merely of
of secondary
secondary importance.
importance.
In
In tables
tables 1 through
through 4,
4, aa rough
rough overview
overview of
of nondimensional
nondimensional interaction
interaction forces,
forces,
including
including extrapolation
extrapolation of
of tangential
tangential forces,
forces, and averaged
averaged friction
friction factors
factors of
of the
the
three
three configurations
configurations is
is given.
given. However, normalization for
However, normalization rotordynamic and
for rotordynamic
hydraulic coefficients
hydraulic coefficients overestimates
overestimates the
the influence
influence of the seal
of the seal clearance.
clearance. Double
Double
clearance values generally tend to
clearance values to be higher
higher than
than the
the related
related single
single clearance
clearance
values.
values.
Damping Action:
Damping Action:
The
The driving tangential force
driving tangential force isis influenced
influenced strongest
strongest by individual
individual seal
seal
configurations
configurations at at lowest
lowest Reynolds number ratios
Reynolds number ratios (table
(table 2). All neck ring ring seals
seals
resulted in
measured resulted in definitively
definitively destabilizing tangential forces
destabilizing tangential forces at realistic inlet
at realistic inlet
swirls
swirls (0.7
(0.7 + 0.8).
0.8). TheThe serrated
serrated seal
seal (04S)
(04s) exhibits
exhibits clearly
clearly less
less destabilizing
destabilizing
tendencies
tendencies thanthan thethe smooth
smooth seal (O~S).
seal (00s). The
The advantage becomes smaller
advantage becomes smaller with
increasing
increasing Re-rat ios, as
Re-ratios, as the
the influence
influence ofof the
the seal.
seal,surfaces
surfaces on
on the
the ci rcumferent ial
circumferential
fluid
fluid veloci
velocityty becomes
becomes smaller
smaller wi th the
with the shorter
shorter passage time.
time. Double
Double clearance
clearance
seals
seals can reduce the
can reduce the nondimensional
nondimensional driving tangential force,
driving tangential force, if proper ly designed
if properly
(040).
(04D). However,
However, with the the use
use of
of swirl
swirl breaks at at neck rings
rings or or at
at interstage
interstage
bushings,
bushings, where
where the
the inlet
inlet swirl
swirl is
is zero,
zero, only single
single clearance
clearance seals
seals can provide
can provide
damping act
damping act ion.
ion.
Tangential
Tangential forces
forces can
can not
not be compared
compared directly
directly with the
the earlier
earlier measurements
measurements as
as
cited in
in (ref.
(ref. 12)
12) and (ref.
(ref. 13).
1 3 ) , as
as only
only aa synchronous
synchronous excitation
excitation was
was available
available
there.
there. The
The Re-range in
in those
those papers is is much smaller
smaller and no
no individual
coefficients
could
could be measured.
measured. Additionally,
Additionally, the the inlet
inlet swirl
swirl available
available there
there was
was quite
quite
different
different Jrom
from the
the present ones.
ones. However,
However, taking
taking these uncertainties into
these uncertainties into account,
account,
249
damping
damping action
action as
as presented in
in (ref.
(ref. 13),
13), figure
figure 19,
19, compares
compares fairly
fairly well
well to present
to present
results
results measured at
at medium Re-ratio
Re-ratio and lowest
lowest Reynolds numbers.
Reynolds numbers.
Stiffening Action:
Stiffening Action:
For
For individual
individual seal
seal designs,
designs, the
the relative
relative changes
changes of
of radial
radial forces,
forces, i.e.,
i.e.,
primarily of
of direct
direct stiffness
coefficients, are
are generally
generally lower
lower than
than for
for tangential
tangential
forces,
forces, see
see table 1. It is
table 1. is remarkable
remarkable that
that the
the stiffening
stiffening effect
effect isis not
not much
lowered
lowered for
for the
the serrated
serrated seal.
seal. The
The increase
increase of
of dimensionless
dimensionless radial
radial forces
forces of
of the
the
double clearance
double clearance seal
seal proves that the
proves that the clearance
clearance in
in the
the normalization
normalization equations
equations is
is
overestimated. Yet,
overestimated. Yet, dimensional
dimensional stiffening
stiffening effects
effects ofof worn
worn seals
seals under normal
under normal
operating
conditions inin aa pump will
will definitively
definitively be lowered,
lowered, though
though to
to more than
than
only half
only half the
the magnitude
magnitude of
of single
single clearance
clearance seals.
seals.
Resul ts of
Results of radial
radial forces
forces for
for the
the serrated
serrated seal
seal compare
compare even
even better than
than for
for
tangential forces
tangential forces with measurements as presented in
measurements as in (refs.
(refs. 12,
12, 13).
13). AsAs the direct
the direct
stiffness is
stiffness is predominant in the
predominant in the radial force and as
radial force as it does not
i t does not depend
depend on
on inlet
inlet
swirl,
swirl, individual
individual excitation
excitation frequencies
frequencies and inlet
inlet swirls
swirls do
do not
not affect
affect the
the
comparison.
comparison.
Flow Resistance:
Flow Resistance:
Averaged Lambda
Lambda values
values as
as are
are presented inin table
table 4,
4, need to
to be interpreted
interpreted very
carefully.
carefully. Generally,
Generally, friction
friction factors
factors of
of smooth
smooth surfaces
surfaces do
do vary considerably
considerably in
in
the
the Re-range
Re-range measured for for these
these tests
tests (20'000
(20'000 + 260'000).
260'000). However,
However, for
for the
the present
large
large relative
relative roughnesses
roughnesses (appr.
(appr. 0.02,
0.02, according
according toto Moody's
Moody's diagram),
diagram), Lambda
Lambda
coefficients become
coefficients almost constant
become almost constant atat moderate
moderate Reynolds
Reynolds numbers.
numbers. Hence,
Hence, average
average
values are
values are comparable.
comparable.
The
The increase
increase ofof surface
surface roughness
roughness from N6 to
from N6 to the
the actual N8, resul
actual N8, ts in
results in aa
distinct
distinct rise
rise in
in flow resistance, as
flow resistance, has been found
as has found by comparison results from
comparison with results from
earlier measurement.
earlier measurement. TheThe measured serrated
serrated seal
seal (04S) exhibits
(04s) exhibi favourable flow
ts very favourable flow
resistance when compared to
resistance to the
the smooth
smooth seal.
seal. It It shows
shows considerable
considerable gain
gain inin friction
friction
at low
at low Re-numbers,
Re-numbers, and the the greatest
greatest improvement
improvement is is encountered
encountered at at the
the largest
largest Re-
Re-
numbers.
numbers. Simulated reveals slightly
Simulated wear reveals higher friction
slightly higher friction factors,
factors, inin spite
spite ofof
higher Re-numbers . However,
higher Re-numbers. However, better hydraulic performance could
hydraulic performance could certainly
certainly be
attained,
attained, for
for example,
example, by aa very deep
deep serration
serration and aa high ratio ratio of
of serration
serration toto
land
land width.
width. This
This advantage
advantage might be quickly
quickly reduced,
reduced, asas the
the remaining
remaining land portions
land portions
tend
tend toto be worn off off sooner
sooner than wider land
than wider portions.
land portions. Additionally,
Additionally, such
such aa
hydraulically optimized serration
serration pattern deteriorates
deteriorates rotordynamic
rotordynamic behaviour
because of
because of the
the large
large serration
serration depth
depth (n Anti lomakin" seal).
("Antilomakin" seal).
Final
Final Discussion:
Discussion:
The comparison
The comparison of of rotordynamic
rotordynamic and hydraulic
hydraulic coefficients
coefficients ofof smooth
smooth versus
versus
serrated seals
serrated seals clarified
clarified that
that configurations
configurations with advantages
advantages in
in one
one respect
respect may have
have
disadvantages in
disadvantages in other
other respects.
respects. However,
However, the
the presented serrated
serrated seal
seal with aa
surface roughness
surface roughness of of N8
N8 isis qui
quite favourable in
te favourable in respect
respect to
to damping
damping capabili
capabilities
ties
(tangential
(tangential forces)
forces) and exhibits
exhibits an
an appealing
appealing stiffening
stiffening effect.
effect. Moreover,
Moreover, it
it
displays
displays aa fairly
fairly high
high flow
flow resistance.
resistance.
Obvious ly, the
Obviously, the choice
choice ofof an
an appropr iate seal
appropriate seal configuration
configuration depends
depends on
on the
the
application of
application of the
the pump, i.e., on
pump, i.e., on whether
whether hydraulic
hydraulic or
or rotordynamic
rotordynamic behaviour is
behaviour is
more essential
more essential (ref.
(ref. 14).
14). InIn any case,
case, rotordynamic
rotordynamic behaviour in aa boiler feed
behaviour in feed pump
250
must be
must be thoroughly
thoroughly considered,
considered, when
when using
using stepped
stepped or
or deeply
deeply serrated
serrated anti-stiffness
anti-stiffness
seals in
seals in order
order to
to gain
gain increased
increased efficiencies.
efficiencies.
Unquestionably, not
Unquestionably, not all
all possible,
possible, not
not even
even all
all prOmISIng
promising seal
seal configurations
configurations
have been
have been measured
measured and
and presented
presented here.
here. One
One serrated
serrated seal
seal has
has been
been chosen
chosen toto be
be
measured inin detail, i.e., in
detail, i.e., in new
new and
and worn
worn conditions,
conditions, and
and has
has been
been compared
compared toto aa
plain smooth
plain smooth seal.
seal. However,
However, resul
results of the
ts of the serrated
serrated seal
seal measurements
measurements are
are qui
quite
te
attractive, and
attractive, and the
the serration
serration configuration
configuration might
might bebe optimized
optimized by further
further
investigations.
investigations.
6. TABLES: SUMMARY
6. TABLES: S W Y OFOF ROTORDYNAMIC
ROTORDYNAMIC AND HYDRAULIC BEHAVIOUR
AND HYDRAULIC BEHAVIOUR
Table 1.
1. -- SUMMARY
SUMMARY OF Fr*
[frequency
[frequency ratio
ratio 0.8]
0.81
Test
Test Fr*:
Fr* : Re-ratio:
Re-rat io :
series:
series :
aa b cc aa b c
OOS-V
00s-V -0.45
-0.45 -0.46
-0.46 -0.44
-0.44 0.32 0.63 0.94
04S-V
04s-V -0.45
-0.45 -0.43
-0.43 -0.40
-0.40 0.32 0.63 0.92
,:-.'
04D-V
04D-V -0.63
-0.63 -0.57
-0.57 -0.59
-0.59 0.31 0.62 0.93
Table
Table 2. 2. -- SUMMARY
SUMMARY OF
OF EXTRAPOLATED
EXTRAPOLATED Ft*
Ft*
[ U t h ~=
[UthO = 0.75 frequency
frequency ratio
ratio 0.8]
0.81
(Ft* < 0: braking,
(Ft* braking, Ft* > 0: driving)
driving)
Test
Test Ft*: Re-ratio:
Re-rat io :
series:
series:
aa b cc aa b cc
OOS-V
00s-V +0.31
+0.31 +0.15 +0.10 0.32 0.63 0.94
04S-V
04s-V +0.12 +0.12 +0.10 0.32 0.63 0.92
04D-V
04D-V +0.04 +0.05 +0.09 0.31 0.62 0.93
251
Table
Table 3.
3. -- EXTRAPOLATION
EXTRAPOLATION FOR kc*,
kc*, Ft* AND CRITICAL
CRITICAL FREQUENCY
FREQUENCY RATIO
RATIO
Note: all
Note: all values
values concerning
concerning kc* are
are extrapolated!
extrapolated!
kc* = (UthO - xo) . m
Ft* = kc* - SE/w - C*
Critical
Critical frequency
frequency ratio
ratio for
for Ft*
Ft* = 00 (change
(change from
from braking to
to driving):
driving):
(Q/w)c = (UthO - xo) . m / C* = a . UthO - b
Test
Test Re-ratio:
Re-rat io: Xo
xo m
m C* aa b (Q/w)c
Series:
Series: [Rea./Rec]
[ReJRe,] [Utho] [kC*/UthO]
[UthO] [kc*/Utho] [-]
[-I [-I
[-] [-] Utho=.75
0.32*)
0.32*> 0.0
0.0 1.04 0.59 1. 76
1.76 0.00
0.00 1.32
1.32
OOS-V
00s-V 0.63 0.025 0.59 0.35 1.69 0.04
0.04 1.23
0.94 0.05 0.38 0.21 1.81 0.09 1.26
0.32*)
0.32"' 0.06 0.87 0.60 1.45 0.085 1.00
04S-V
04s-V 0.63 0.075 0.61
0.61 0.36 1.69 0.125 1.14
0.92 0.09 0.44 0.24 1.83 0.165 1.21
1.21
0.32*)
0.32*> 0.07
0.07 1.04 0.84
0.84 1.24 0.085 0.85
Q.85
04D-V
04D-V 0.61
0.61 0.095 0.57 0.40
0.40 1.42 0.135 0.93
0.92
0.92 0.12 0.48
0.48 0.27
0.27 1. 78
1.78 0.215 1.12
I-
*>
*) roughly estimated (from individual
roughly individual measurement
measurement points)
points)
Table 4. -- SUMMARY
Table 4. SUMMARY OF LAMBDA (GENERAL
(GENERAL OVERVIEW)
Test
Test LAMB-EFF
LAMB-EFF Re-ratio:
Re-ratio:
series:
series:
aa b cc aa b c
OOS-V
00s-V 0.066 0.055 0.057
0.057 0.32 0.63 0.94
04S-V
04s-V 0.071 0.069 0.074
0.074 0.32 0.63 0.92
0.92
04D-V
04D-V 1)
J-> 0.076 0.071 0.073 0.31 0.62 0.93
The
The following
following restrictions
restrictions have
have to
to be observed,
observed, when comparing
comparing
above
above averaged
averaged friction
friction factors:
factors:
1) Higher
Higher Re-range
Re-range at
at double
double clearance
clearance seals:
seals:
no
no large
large effect,
effect, as
as Lambda
Lambda values
values of
of serrated
serrated double
double
clearance
clearance seals
seals do
do not
not vary extensively
extensively when doubling
doubling
Re-numbers
Re-numbers
252
7.
7. LIST
LIST OF SYMBOLS
SYMBOLS
Roman:
Roman :
b [m] seal
seal groove
groove width
C [Ns/m] symmetric
symmetric direct
direct damping
damping coefficient
coefficient
c [m/s] total
total velocity
Ce [Ns/m] skew-symmetric
skew-symmetric cross-coupled
cross-coupled damping
damping coefficient
coefficient
Ds [m] seal
seal diameter
diameter (general)
(general)
D2 [m] outer
outer diameter
diameter of
of impeller
impeller
Dh [m] hydraulic
hydraulic diameter
diameter
dp [N/m2] total
total pressure differential
differential across
across seal
seal
D [N/m] impedance
impedance function,
function, definition
definition in
in equation (4) and (5)
equation (4) (5)
E [N/m] impedance
impedance function,
function, definition
definition in
in equation
equation (4)
(4) and (5)
(5)
e [m] eccentrici ty
eccentricity
Fr [N] force
force in
in radial
radial direction
direction
Ft [N] force
force in
in tangential
tangential direction
direction
Fx [N] force
force in
in x-direction
Fx [N] complex
complex force
force in
in x-direction
Fy [N] force
force in
in y-direction
y-direction
Fy [N] complex
complex force
force in
in y-direction
y-direction
ho [m] mean seal
seal gap
gap width
K [N/m] symmetric
symmetric direct
direct stiffness
coefficient
ke [N/m] skew-symmetric
skew-symmetric cross-coupled
coefficient
ks [m] equivalent
equivalent surface
surface roughness
roughness
Lambda
Lambda [-] Friction
Friction coefficient, see equation
coefficient, see equation (7)
(7)
LSeaJ..
L~eal [m] seal
seal length
length
M [kg] symmetric
symmetric direct
direct mass
mass coefficient
coefficient
me [kg] skew-symmetric
skew-symmetric cross
cross coupled
coupled mass
mass coefficient
coefficient
n [rpm] rotor
rotor speed
speed
nue
nue [m2/s] kinematic
kinematic viscosity
p [N/m2] pressure
p:l. [N/m2] pressure
pressure at
at inlet
inlet of
of seal
seal
po [N/m2] pressure
pressure at
at outlet
outlet of
of seal
seal
p(O) [N/m2] pressure
pressure at
at z = 0,
0, within
within seal
seal
p(L) [N/m2] pressure
pressure at
at z =
= LSeaJ..,
Lseal, within
within seal
seal
R [m] radius R =
seal radius
seal = Ds/2
D,/2
253
Re
Re [-I
[-] total
total Reynolds
Reynolds number, Re =
number, Re = c-Z-ho/nue
c-2-ho/nue
Rea
Rea [-I
[-] axial
axial Reynolds
Reynolds number, Re, =
number, Rea = v-Z-ho/nue
v-2-ho/nue
Rec
Re, [-1
[-] circumferential
circumferentia.1Reynolds
Reynolds number, Re, =
number, Rec = R-w-Z-ho/nue
R-w-2-ho/nue
rho
rho [ kg/m3 1
[kg/m3] density
t [s] time
time
U [m/s] tangential
tangential velocity
UthO [-] dimensionless
dimensionless tangential
tangential velocity, Utho =
velocity, UthO = u/(R-u)
u/(R-W)
v [m/s] axial
axial velocity
X em] measured horizontal
horizontal displacement
displacement
X [m] complex
complex measured horizontal
horizontal displacement
displacement
Y em] measured vertical
vertical displacement
displacement
Y em] complex
complex measured vertical
vertical displacement
displacement
z lm] general
general axial
axial co-ordinate
co-ordinate
Zei
Zei [-]
[-] pressure loss
loss coefficient
coefficient at
at inlet
inlet of
of seal
seal
Zeo
Zeo [-I
[-] pressure loss
pressure loss coefficient
coefficient at
at outlet
outlet of
of seal
seal
Greek:
Greek:
E [-I
[-] relative
relative eccentricity e/ho
Q
51 [rad/s]
[rad/s] angular
angular frequency
frequency of
of excitation
excitation
a [rad/s]
[rad/s] angular
angular frequency
frequency of
of rotor
rotor
Superscripts:
Superscripts:
** dimensionless value
dimensionless value
Subscripts:
Subscripts:
i inlet
inlet
o outlet
outlet
R Rotor
Rotor
S Stator
Stator
254
8.
8. REFERENCES
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Angularly and Laterally.
Laterally. Proceedings
Proceedings of
of 2nd
2nd Vorkshop
Workshop of
of Rotor
Rotor Instability
Instability
at
at Texas
University, NASA Contract NAS8-27980.
Contract NAS8-27980.
12.
12. Florjancic,
Florjancic, S.
S. and Frei,
Frei, A.:
A,: Bedeutung der
der Spaltstromung
Spaltstromung fur
fur die
die Rotordynamik.
Rotordynamik.
Proceedings
Proceedings of
of the
the 16.
16. Konstruktions-Symposium
Konstruktions-Symposium der
der DECHEMA,
DECHEMA, Frankfurt,
Frankfurt, June
June 87.
87.
13.
13. Florjancic,
Florjancic, S.
S. and Frei,
Frei, A.: Dichtspaltstromung
Dichtspaltstromung in
in Pumpen:
Pumpen: Bedeutung
Bedeutung fur
fur die
die
Rotordynamik
Rotordynamik und theoretische
theoretische Betrachtungen.
Betrachtungen. Proceedings
Proceedings of
of the
the Pumpentagung
Pumpentagung
Karlsruhe,
Karlsruhe, Oct.
Oct. 88.
88.
14.
14. Florjancic,
Florjancic, D.
D. and Florjancic,
Florjancic, S.: Hydraulic
Hydraulic and Rotordynamic
Rotordynamic Influence
Influence on
on the
the
Choice
Choice of
of Different
Different Pump
Pump Types.
Types. Proceedings
Proceedings of
of the
the Conference
Conference on
on Hydraulic
Hydraulic
Machinery
Machinery 88,
88, Ljubljana,
Ljubljana, Sept.
Sept. 88.
88.
255
SWINGING FRAME
SWINGING FRAME
. .
i.I 650
8lS0 "2620920 4 L 1500
1500 .1
VlEW ON
VIEW O N DRIVE'END
DRIVE-END S I D E VIEW
SlOE VlEW V l E W ON
VIEW ON NON-DRIVE-END
NON-DRIVE-END
Figure 1. -- ~rrangement
Figure 1. Arrangement of
of test
test machine.
machine.
Static Pressure
C1l1d Inlet Swirl
2. -- Cross
Figure 2.
Figure Cross section
section of
of test
test machine.
machine.
256
seal:
Straight seal:
4. -- Detailed cross-section
Figure 4.
at seal.
Figure 3. -- Rotor,
Figure Rotor, seal
seal and guide
guide
vanes,
vanes, hydrostatic balancing seal.
seal.
General case:
General· case: y+
'P Re(EI.e Im(Ehe
Max. pressure : 75/25 bar

Max. temperature : 160 ·c
Medium : demin. water
X
rr==-r=;r=T7==9§=l:-®1==~ow===9~t=~~===jJ
I ~ meter
al
a) forward
forward elliptical orbit bl backward elliptical orbit
b)
at arbitary position
position at arbitary postion
y case:
Special case: y
y4
pressure
generation
t
cl
c) forward
forward circular orbit at d)
d) backward
backward circular orbit at
special posi tion nR *t
position +t= 00 R*t = 00
special position n*t
Figure 5. -- Test loop.

5. 6. -- Physical
Figure 6. Physical explanation
of impedance functions.
functions.
257
Rotor position (trigger)
Gearbox
Si nal wires
-y
(£.11 rotating coordinate system)
Figure 7. -- Signal
Figure 7. Signal flow
flow diagram.
diagram.
258
I I
AID AID
I
N N
Geometrical
~I
n=l
Information ~I
n=l
I _ I
-- Cali-
Cali- \I
r.2,
Cali-
bration
bration r.a,r.~
r.B
equation I
App.13.4.2
App. 13.4.2
x,
X,Y
y Page A.21
Page A.21 E~
DEL-XY
DEL XY - X,Y
DEL-YY
DEL YY - I
I I
- -
- FFT
X,Y
X,B
.
F»
' 2 Fy
Y
FFT -
Mz,
M
H~x' ~Y'
M , My,
%z
z, F
I I ""/
equation
equation
I
/8.4/
DEL - XY
DEL-XY
DEL-YY
DEL YY - ~Q
D,E
Figure
Figure 8.8. -- Signal
Signal processing
processing
(impedance
(impedance functions).
functions).
259
Temperature recorder
[[] }»
H
<
'<t
~
<
t?
I
E-<
LO
H
I
< < < < < < Z

'<t
H
I
t?
H
I
C\l
H
I
< ..
H
C)I C\l
I
E-<
<
<
Z
....
I ....
I
E-<
<
I'iI E-< E-< I'iI I'iI I'iI I'iI I'iI >- E-< >- E-<
III III III III III III III III 0 III 0 III
I I
aI Po. Po.
I
Po.
I
Po.
I
Po.
I
Po.
I
Po.
I
Po.
I
Po.
I
Po.
I
Po.
Frequency meter
«{ 1*1 614 100

Testmachine
Test machine
Figure 9. -- Measurement
Figure 9. Measurement of
of operating
conditions.
260
Seal Within seal Seal
4
<I( exit (no
exil (no excitation)
excitation) entrance
~
6 A A
,-A-,. ~,---A---,
/ - - - h - - 7
p:: ~ t')LD C\l ';' C\l C\l .... ....
~ t')
I I
H H ..: E-< ..: E-<
I I I I
~
I I I
p::
:;1 2 E-< E-< E-< H
..: ..:
H
..: ..:
H
..: ..: z ..: z ..:
~~
I:l 0 I:l I:l I:l I:l >- E-< >- E-<
VI p:: tiiI E-<VII I:l
t{l VII t{l VII VII ~I VII ~I t{l
o-z P-o P-o P-o P-o P-o P-o P-o P-o P-o P-o P-o
'-y-J \...
Y
)
I I
Cali-
bration AID
I
N
~L
N
n=l
Geometry &
.1 Geometry
... definition
&
·1 acc. app.13.4.1
app. 13-41
r-
+
Cali-
bration
bration
I
I
Iaccording
Equations
Equations to I
appendix 13.4.2
~
Re",.Re
R%, Re,c
P-ENTR, .D.P-ENTR
AP-ENTR
P-EXIT, ll.P-EXIT
P-EXIT. AP-EXIT
U-ENTR, ll.U-ENTR
AU-ENTR
LAMBDA. ( 6 ~6 L)
LAMBDA, ZETA (c5P/c5L) /
10. -- Signal
Figure 10. Signal processing
(operating
(operating conditions).
conditions).
261
E P R I I T I S K 16
EPRl/TASK 16 PROCESSED MEASURinG
PROCESSED MEASURING DATA
DRTA
EPR I'TASK 16
EPRIITRSK 16 PROCESSED
PROCESSED MEASURinG
IEASURlNG DATA
DRTb 2888.
2ee9. ROT.FREP. ELIRINRTEDI
ROT .FREQ. ELIMIHATEDI
199. ROT .fREQ. ELIMlHATEDI
ROT.FREP. ELIIINRTEDI
NEWTON
KICRON (DYNAMIC)
(DYNAHIC)
-188.
-188. I MEAN
H E A UALUE
~U ~ U •E
= 1.858
1.858 I
-2888. I HEAn
-2888.
8.
9.
uRLuE •= 38.
nERn VALUE 38.42
42
SEC. (32
SEC. ( 3 2 REU)
REU) .96
.9G
I
9.
8. SEC.
SEC. (32
( 3 2 REU)
REU) .96
.96 FORCE
FORCE F-YF-Y (CO-0RD.TRRNSFORNED) (X-TALKING CORRECTED)
(CO-ORO. TRAnSFORMED) (X-TALKING CORRECTED)
DISPL.
SPEED. - D-V
DISPL. D-Y
SPEED 2888.
MEASUREMENT
(RUN-OUT
(RUN-OUT COMPENSATED)
2888. RPM
COMPENSATED)
TERPERRTURE •= 168
RPlf I ITEKPERATURE
IERSUREIENT DESIGNATION
DESIGNATION (FILESPEC),
AUERAGES = 188
168 CC I I AUERAGES·
(F1LESPEC)n "DVI, C88ZDM. D9M"
'DYlsC88ZDI.DSI.
188
SPEED
SPEED·
- = 2BB8.
2888. RPM
IEASUREHENT DESIGNATION
KEASUREKENT
TEMPERATURE •= IG8
RPH I ITENPERATURE
DESIGNRTION (FILESPEC),
168 CC I I AUERAGES.
(FILESPEC)@ "DYI,
RUERAGES 3 188
~ D Y C882DN.
I I C B ~ D9M"
~DI.D~I~
188
EPRI'TASK 16
EPRIITASK IG PROCESSED MEASURinG
PROCESSED MERSURING DATA
DATA
EPRl/TASK
EPRI/TASK IG
16 PROCESSED
PROCESSED MEASURinG
MEASURlNG DATA
DbTh 580.
588. ROT.FREP. E L I I I N R T E D I
ROT .FREQ. ELIMIHATEDI
28.
28. ROT.FREP.
ROT ELlHlllATEDl
.FREQ. ELIMlNATEDI
NICRON
NEYTON
nENTON
1
N
0'1
N
8.
8.
8. 1' , a , , FREQ." (HZ) "199.
8. FREQ." (HZ) IB9.
'100. FORCE F-Y (CO-0RD.TRANSFORMED)
(CO-ORO. (X-TRLKING CORRECTED)
TRAnSFORMED) (X-TALKING CORRECTED)
SPEED. -
DISPL. D-V
D-Y (RUN-OUT
SPEED 2888.
(RUM-OUT COMPENSATED)
2888. RPM
MEASUREMENT
flERSUREIENT DES
COMPENSATED)
TEMPERRTURE = 1GB
R P I I ITEMPERATURE·
I GHATIOH (F
DESIGNATION
AUERAGES 188
160 CC I i AUERAGES·
ILESPEC), "DYI'
(FILESPEC), C882DM. D9M"
'DYloCB82DM.D9H'
I88
SPEED 2888. R P I
RERSUREIEMT DESIGNATION
MEASUREMENT
I TENPERRTURE
DESIGMRTION(FILESPEC),
168 C I RUERRGES
SPEED' 2898. RPM I TEMPERATURE. 168 C j AVERAGES.r 188
(F1LESPEC)z "DYI,C882DM.09M"
'DYliCB82DR.09M'
I88
E P R I l T I S K 16
EPRI/TASK 16 PROCESSED MEASURinG
PROCESSED REASURlNG DATA
DATA
EPRI/TASK 16 PROCESSED MEASURING DATA 2888.
2888. ROT.FRE0. ELININATEDI
ELIIINRTEDI
198.
108. ROT.FREQ.
ROT .FREQ. ELIMINATED I
MICRON
NEYTON
NENTON -
nIcRon
(DYNAMIC)
:DYMRlfIC)
(DYNAMIC) .
(DYNRIIC )
-188.
-188. I MEAN
8.8.
NEANUALUE
U L U E • 3.94
3.84
SEC.
SEC.(32
( 3 2 REU)
REU .9G
.96
-2BBB -
-2688,• I 8.
HEAN
FORCE
VALUE• Ie.
nERN VALUE
8.
F-X
FORCEF-X
18.57
57 SEC. (32 REV)
SEC. (32 REV)
(CO-0RD.TRRNSFOREED)
(CO-ORO. (X-TALKING CORRECTED)
TRANSFORMED) (X-TALKING CORRECTED)
.96
.96
DISPL.
DISPL. D-XD-X (RUN-OUT
(RUN-OUT COMPENSATED)
COHPENSATED) SPEED = 2888.
SPEED' 2888. RPM TEMPERATURE = 168
R P I I ITEMPERATURE' RVERRGES = 188
168 CCI I AUERAGES, 188
SPEED =2888.
SPEED. 2088. RPM TEMPERATURE = IG8
R P I I ITEMPERATURE. 168 C, RUERRGES = 188
C I AUERAGES' 188 UERSUREHENTDESIGHATIOH
MEASUREMENT DESIGNRTION(FILESPEC),
(FILESPEC)* "DYI'
'DYl:CB82DI.D9n'
C882DM. D9M"
MEASUREMENT
NEPSUREnENTDESIGNATION
DESIGNATION(FILESPEC),
(FILESPEC), "DYl, CBB2DM. 09H"
'DYItCB82DR.D9n'
Figure 11. -- Resulting

Figure 11. Resulting displacement,
displacement, 12. -- Resulting
Figure 12.
Figure Resulting forces,
forces,
serrated seal.
serrated seal. serrated seal.
serrated seal.
Seal diameter: 350 mm 13.78 in
Measuring points and temperatures stepped: 350/325 mm 13.8/12.8 in
Radial clearance: 0.37 mm 0.015 in

Rea
double: 0.74 mm 0.03 in
3
*10
Seal length: 40 mm 1.57 in
300
Water temperature: 20170/80/160 ·C 68/1581176/320 ·F
Max. pump speed: 4000 rpm

250
max. poss. Rea for T = 160·e (smooth) appr.60 bar 870 p.s.i.
Max. pressure difference:
200 Max. circumf. Re-number: 275'000 [-]

N
0'\
W .o
u
Max. axial Re-number:
175'000 (rough)
150 co
...... 225'000 (smooth)
II
E--<
,...
100 .....o
()
Q)
TYPICAL VALUES FOR BFP'S:
p:j
El
:1
50 El
...... Re a IRe c = 0.4 .to 0.9 (measured 0,3; 0,6 & 0,9)
~
ttl
+ S
+
Re c = 200'000 to 260'000
o
o 50 100 150 200 250 300 Re a =100'000 to 150'000
3 Ree
*10
Figure 13. - Measuring range Rec - Rea. Figure 14. - Test parameters.
Smooth Seal
EPRI TASK 16, C200SM
6eo- Seal type !irface Gnp friet T~e- S<etch Measured Nondimenlli onot Coftfllc1ente
metry width swirl mitre U.9
D.S
JtaJn 2.11"" 0.25 4OnO/16O
OOS sIrII/dIt
i~4
H8/N8 +VarlGllan
0.,1
1114PGInIs
Z 0.6
.l!c
.!
u ~
e• 0.5
-.
~
r-
S8TQtad 0:5 4OnO/16O ~
9{ f:
04S sfnIIItlt 2.11 "" 8
1\ ~
+Varlclilan
"
N6IN8 0.4
~
;;
ClI41'ot1fs c
.!!
c•
0.3 ""- " ~ ~
~
•
0.2 ~r- ~- - ~-
t'-.,."
~- "~I~-
~ t'-. ~ \ ~
04D sIral!#It serrated 0:5 4Onol16O z0 \,ifi ~ ~
!~
4.23 "" 0.1
1'\tf1 '\:I._~ ~ ~ rx-~ ~ ~ ~~
N8IN8 +VarlClllan
1114PGInIs 0.0
l\.~~~~
-0.1
0.64 0.96 Average
0.32
Roo/Rec [-)
Definition of surface roughness acc. ISO 1302-1926

Rei. Standard Pev. of Moooaoured Caelf
N . 1 0.7
Ol Maximum allowable
VSM10Z31 Surface roufhness
""" [1E-6 m .
0.6
..... 0.5
N9 6,3 .!.
0.4
N8 3,2 ~
6
N7 1;6
ic 0.3
0,8 ~
..
1! 0.2
N6 B
III
0.1
+1 I Definition of near surface roughness value Ra

iii
0:
0.0
- - - - - - - - - - --- .. _- - - ... -
-0.1
c:.
a ~~~e;;Ax.ft~tm2s<Si%\t*;~ I -0.2
-0.3
Awrage
0.32 0.64 DoV&
Roo/Roc [-]
L
-1 MeBstrecke K"[-] kO'( -] C" [-] M* (-] Fr" [-] Ft" [-]
area ~-area~ } SUl1-L RI1
~
SUl1-L RI1 ~ ~ ~ ~ ~ I
Figur e 16. - Test OOS-M, avera ged
Figur e 15. - Seal confi gurat ions. coeff icien ts, f(Re- ratio) .
New Serrated Seal Worn Serrated
Serrated Seal
EPRI
EPRl TASK 16,
16, C204SM
C204SM EPR'-TASK 16, C004DM
"'oo.ured Nondim.n.ionol Co.llle.nl.
Usu~uradNundimensional Coefll~enl¶ R.I. Siandard Ow. or ",.oau,.d Coerr.
0.9 I 0.8
D.D 0.7
~
~
0.7 0.6
Z
, :!: 0.11
~
0.6 &
c:
.!
u ~
;0
0 ~~X
IE D.1i 10 0.4
~~><
8• ~ ~
""i
,- !0 0.3
0.4
;;
~ ~ r; ~ ~ 'l! If ~ !P ~~><
•
c:
.2
•c:
.~
0.3
"~
'\
'\ ~
t'\.
~ ~
f'
~ "\
"~ ~ ~
.,B
!
0.2
0.1
i7 ~ ~ ~
15<
~'\:><
7~ 7~ ~ ~ 7~
0.2
7~
0
1 1'\ ~ ~ ~
~ ~ ~ ~~. ~ ~
'i
z 0.1
0.0
9~ ~
1'\
f.-. ~ ~
1'\
h ~ ~~
l'\.
","'- ~ ~
0:
0.0
-0.1
" "
-0.2
-0.1 I _avo
-0.1 J I I 1
~
I 0.32 0.64 D.ve

0.32
0.32 U.65
U.65 0.g6
U.06 AveroQe
Average Roo/Ro. [-]
Roo/Ro. [-I
uw/n.c (-]
N
0' CHI''''.n«.
0'\
tTl 0.7
Rol.
Ral. Standard
Standard D Mwmund Coo".
.... of ''',a"ured
Ow, Cwff- D.g - Meaeur.d Hond'm.",'ono'
~O.94 t> 1. 31 ~L7 D.H
~
0.'
1P 0.7
D.' ~
'i'
.... 0.4
X ~ X ,
:!:
0.6
'\ [\
t 0.3
>< 7~><
c
.!
i
u
0.5
~ r;
.!
~ 0.2
~ ~ ~~ >< 0
0
0.4
f\ ~
"~ " "~
1., >< ~ tx ("{;3 ISGI ~I>< ;;
.
c
.2 "~. ~ '\ '\ '\ ~
0
0.1
~ hi ~ ,.,... m k.~ ~ 1 [f~ ~
•
c
.~
0.3
~ ~ ~ ~ ~ ~
1 0.0
-0.1
I
~K Y I "0c
Z
0.2
0.1
1'\ ~ ;X ~ [\ ~ [\ ~ §11_
Sl5I
[\ ~p.;
>< 1'1..7 ~ .~ ~~ ~ ;r~
-
-0.2 0.0 I-r
-Z.19
-0.3 ---
-0.1 -- .- ---_._----- .- --.-~-~
o.ge
0.32 0.815
11.../11.. [-l
0 ...
"... 0.32 0.64
Roo/noc [-]
-avo
KO[_] kC o[ -] Co [_] M" [-] Fr· [ - ] Ft· [ - ] K· [-] kOo[ -] C· [-] M· [-] Fr o [_] Ft· [-]
~ ~ ~ ~ ~ II ~ ~ ~ ~ ~ II
Figure 17. -- Test
Figure 17. Test 04S-M,
04s-M, averaged
averaged Figure 18.
Figure Test 04D-M,
18. - Test -
04D-M, averaged
averaged
coefficients,
coefficients, f(Re-ratio).
£(Re-ratio). coefficients, f(Re-ratio).
coefficients, f(Re-ratio).
I
!Rea/Re c : Re c /1E3: Re c /1E3: I
!Rea/Re c : Re C /1E3: Re C/1E3: IRea/Rec:1 Re c /1E3: Re c /1E3:
[J][J
0.96
(!)
6
47.4
47.6
+ 130.7
x 130.5 [ill
0.95
(!)
6
48.3
48_.0
+ 132.8
X 133.5
lliO
0.93
(!)
6
95.6
95.6
+ 271.4
x 272.4
~ EPRI TASK 16 ~ EPR! TASK 16 ~

nuJn;.mn EPR!
EPRI TASK
TRSK 16
16
PB-PU C200S TOTAL PB-PU C204S TOTAL PB-PU
PB-PU C004DM TOTAL
C004DM TOTAL
1."~~~"·_"'~
~ ,,-;---'-- __
"Fro" = ~O:.L~~~~U~~fi~~~~~M'~~21_~~_~~~~MW
rCUlh ~ ...; - "Fr*" = f UthG-) IB:"" "Fr*" = f(Uth0)
-0.1 4.. m.1 I.* ._I ..
4.8 4.. ..I ._t a,> ...

I " F t * " = f(Uth0)
4% 4.. ..I m.2 ..I ...
4.1 4.. ..I ..I ._I ..

Figure 19. -- All
Figure 19. All tests,
tests, coefficients
coefficients == f(Utho).
f(Utho).
266
ORSGDWAL PAGE !is
OR~GiNAl PAGE IS
OF POOR
OF POOR QUAblm
QUALITY
(PRI TASK'16, C294SH [PRI TASK 16, C208S11
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01
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8.2
8.19
8.18
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9.13
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9
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Figure 20. - Lambda bar charts for all tests.

HYDRAULIC
HYDRAULIC ACTUATOR
ACTUATOR SYSTEM
SYSTEM FOR
FOR ROTOR
ROTOR CONTROL
CONTROL
Heinz
Heinz Ulbrich*
U l b r i c h * and
and Josef AlthausAlthaus
Institute
I n s t i t u t e B of
o f Mechanics
Mechanics
Technical
Technical University
o f Munich
Munich
P.O. Box Box 202420
202420
0-8000
D-8000 Munich
Munich 2, FederalFederal Republic
Republic of o f Germany
Germany
In
In the
the last
last ten
ten years
years several
several different
different types
types of
of actuators
actuators have
have been
been developed
developed and
and fabricated
fabricated
for
for active
active control
control of
of rotors. This paper
rotors. This paper deals
deals with
with aa special
special hydraulic
hydraulic actuator
actuator system
systenl capable
ca.pablc ofof
generating high forces to rotating shafts via conventional bearings. The actively controlled
generating high forces to rotating shafts via conventional bearings. The actively controlled hydraulic hydraulic
force
force actuator
actuator features
features an
an electrohydraulic
electrohydraulic servo
servo valve
valve which
which can
can produce
produce amplitudes
amplitudes and
a.nd forces
forces at
at
high
high frequencies
frequencies necessary
necessary for
for influencing
influencing rotor
rotor vibrations.
vibrations. The
The mathematical
mathematical description
description will
will be
be
given
given in detail. The
in detail. The experimental
results attained
attained verify
verify the
the theoretical
theoretical model.
model. Simulations
Simulations already
already
indicate the
indicate the usefulness
usefulness of
of this
this compact
compact device
device for
for application
application toto aa real
real rotor
rotor system.
system.
11 Introduction
Introduction
Rotating
Rotating machinery
machinery can can bebe found
found inin many
many fields
fields of
of the
the industrial
industrial world;
world; many
many could
could bebe im-
im-
proved
proved with
with regard
regard to to speed
speed of of rotors/shafts,
rotors/shafts, weight,
weight, noise,
noise, longevity
longevity and
and last, but not
last .but not least safety,
least.safety,
by
by applying
applying active
active vibration
vibration control.
control. TheThe key
key to
to success
success for
for active
active measures
measures in in the
the improvemellt
improveme~~t of
of
the dynamics of rotating machinery lies in the availability of suitable actuators which
the dynamics of rotating machinery lies in the availability of suitable actuators which have to satisfy have to satisfy
the
the following
following requirements:
requirements: the the actuator
actuator must
must bebe capable
capable ofof amplitudes
amplitudes in in the
the range
range ofof the vibr a t'Ion
the vibration
amplitudes
amplitudes to to be
be influenced
influenced on on the
the one
one hand,
hand, and
and possess
possess anan appropriate
appropriate frequency
frequency characteristic
cha,racteristicon on
the
the other
other hand.
hand. InIn the
the literature
literature many
many papers
papers deal
deal with
with magnetic
magnetic actuators,
actuators, e.g. [3,$,5]. Magnetic
e.g. [3,L1,5]. Magi~et~ic
actuators
actuators require
require aa relatively large amount
relatively large amount of of space
space compared
compared to to the
the attainable
attainableforces.
forces. This
This deficiency
deficiency
may
may bebe avoided
avoided byby the
the use
use of
of hydraulically
hydraulically controlled
controlled chambers.
chambers.
The
The main
main topic
topic of
of this
this paper
paper isis the
the introduction
introduction ofof aa newly
newly developed
developed hydraulic
hydraulic actuator
actuator which
~i~l~icli
isis able
able to
to apply
apply forces
forces to
to rotating
rotating shafts
shafts viavia the
the bearings.
bearings. For
For producing
producing forces
forces (pressure
(pressure variations)
va.riations)
servo
servo valves
valves are used. The
are used. The regulating
regulating distance
distance isis caused
caused byby elastic
elastic deformations
deformations ofof membranes
nlembranes (no(no
cylinder
cylinder piston
piston arrangements).
arrangements).
All
All influences
influences which could be
which could be of of practical
practical relevance
relevance (oil
(oil compressibility,
compressibility, dynamic
dynamic effects
effects of
of
the
the servo
servo valvevalve and
and the
the fluid
fluid itself)
itself) areare taken
taken into
into account
account in
in the
the mathematical
mathematical description
description ofof thc
thc
system.
system. Applying
Applying the the theory
theory ofof plates,
plates, the the strain
strain in
in the
the membranes
membranes can can be
be calculated.
calculated. AA limitation
limitation
of the
of the actuator
actuator system
system isis given
given byby thethe permitted
permitted strain
strain which
which may
may not
not be
be exceeded
exceeded inin any
any circa.
area.
Because
Because of of the
the actuator
actuator dynamics
dynamics an an appropriate
appropriate enlargement
enlargement of of the
the equations
equations ofof motion
motion for
for the
the
entire
entire system
system isis necessary.
necessary. The
The equations
equations of of the
the actuator
actuator dynamics
dynamics show
show that
that the
the chamber
chamber system
system
already
already applies
applies damping
damping effects
effects toto the
the rotor
rotor system
system without
without aI,ly
any control
control input.
input. With
With the
thc aid
aid of
of'
aa well
well adapted
adapted controller
controller the
the damping
damping of of the
the entire
entire system
system can
can bebe essentially
essentially improved.
improved. This
This isis
*Presently
* P r e s e n t l y at
a t Technical
Technical University
o f Braunschweig,
Braunschwei g, Braunschweig,
Braunschweig, Federal
Federal
Republic
Republic of o f Germany.
Germany.
269
269
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PRECEDING PAGE
PRECEDING NOT FU.,MED
BLANK NOT FILMED
demonstrated by simulations. The input parameters, especially with regard to the actuator system,
have been determined by experiment.
For verifying the results achieved by computer simulations two different experimental test
facilities have been constructed (see 5). One test rig contains the active chamber
(see Fig. 4 and Fig. 5).
system. It allows the evaluation of its characteristic frequency.
system. frequency. The experimental results which are
attained verify the theoretical model. The second test facility consists of anelastic rotorlstructure
rotor]s t r u c t i ~ r e
and two different types of magnetic actuators. In further investigations the two test facilities will be
combined in order to test the dynamic behavior of the elastic rotor controlled by the active chamber
system.
Nornenclat ure
Nomenclature
A system matrix
A* membrane area
b coefficient of the actuator input
B control matrix
c,d bearing coefficients
Cf( lag coefficient of the control force
CL membrane stiffness
dL passive damping coefficient of the actuator
E identity matrix
h force
force vector
J(pq leakage coefficient
Ie loop gain of the servo valve
J(* constant of the oil compressibility and the membrane buckling
M,P,Q system matrices of the second order system
F* control force to the bearing housing
FL transfer function describing the fluid dynamics and the stiffness
Fp transfer function of the chamber pressure
Fv transfer function considering the servo valve dynamics,
dynamics, the
oil compressibility, and the membrane buckling
Fval ve transfer function describing the servo valve dynamics
Fx transfer function of the regulating distance
JL Jacobian matrix of translation of the bearing
!:::.P pressure drop in the valve
!:::.Ps supply pressure difference
!:::.Pv chamber pressure difference
q vector of generalized coordinates
Q oil flow
flow through the loaded servo valve
Qv oil flow
flow through the unloaded servo valve
s Laplace-operator
t time
u control vector
270
Uv control voltage
control voltage to
to the
the servo
servo valve
valve
UN nominal voltage
nominal voltage of
of the
the servo
servo valve
valve
Z state vector
state vector
X,Y acting directions
acting directions
XL,YL regulating distance
regulating distance (bearing
(bearing deflection)
deflection)
Wv natural frequency
natural frequency ofof the
the servo
servo valve
valve
n rotor frequency
rotor frequency
~v servo valve
servo valve damping
damping coefficient
coefficient
22 Description of the
Description the Actuator
Actuator Device
The device
The device of this
this compact
compact system
system isis shown
shown in Fig. 11 by aa schematic.
in Fig. schematic. It
It consists
consists of two
t\\~o
components: aa commercially-available
components: commercially-available servo
servo valve,
valve, which is is able
able to
to transform
transform electrical
electrical signals
signals into
into
flow- and
flow- and pressure variations
variations of the
the hydraulic fluid,
fluid, and
and an
an elastic
elastic chamber
chamber system,
system, which
which transduces
tra.nsduces
, the pressure
the pressure variations into
into displacements
displacements andand into
into forces
forces acting
acting on
on the
the outer
outer bearing housing (in
Fig. 11 only
Fig. only one
one control direction
direction is
is displayed).
displayed).
The servo
The servo valve
valve is
is supplied
supplied by the system pressure P, which
the system which is
is to
to be kept constant,ancl the
kept constant,and the retul'll
retur~l
pressure R
pressure R~ 0. If
z O. If the
the spool
spool ofthe
of the valveisin.thelneutrallposition'(Fig.l)thelpressurein
valveis in theineutralipositionl(Fig.ljthe~pressureinthe tlie chambers
chambers isis
the system
half of the system pressure.
pressure. After aa shift of thethe spool
spool by an
an input voltage
voltage Uv # O.a
Uv =I- 0.a pressure difference
difference
appears between the
appears the two
two output
output orifices.
orifices. Because of the
the elasticity
elasticity of the
the membranes
membranes thisthis enables
enahlcs (\a
shifting of the
shifting the rotor in in the
the radial direction.
direction. The
The chamber
chamber system
system itself consists
consists of four
four cylindrical
cylintlricill
chambers which are
chambers are equally
equally spaced
spaced inin aa circle
circle around
around the
the bearing housing.
housing. Each
Each chamber
chamber is is sealed
sealccl Oll
on
the top
the top and
and bottom by an an elastic
elastic membrane.
membrane. In In order to
to decouple
decouple forces
forces into
into both acting
acting directions,
directions,
the bearing housing is
the is supported
supported against the the membrane system
system by linear roller
roller guides.
guides. The
The influence
influence
friction is
of friction is thereby reduced as as well.
well. Alternative support
support solutions
solutions are
are given
given by design variations.
variations. ToTo
eliminate the
eliminate the linear
linear roller guides
guides the
the bearing cancan be
be mounted via elastic
elastic rods
rods to
to the
the outer housing.
housing.
The two
The two opposing
opposing chambers
chambers are are both controlled by one one servo
servo valve (one
(one valve
valve per force
force direction).
direction).
This compact actuator system is
This is capable of generating
generating very large
large forces in flu-
forces and can thereby influ-
ence
ence even large turbines weighing several tons.
several tons. Actuator pistons as an alternative to tlie dcfor~i~al~lc
as an alternative to the deformable
drawback that they possess
chambers have the drawback possess relatively large
large moving masses. In addition,
adclition, sealing
problems and friction
problems friction forces
forces on the contact surfaces
surfaces would
would occur.
occur. All these
these influences have negative
impacts on the frequency
impacts frequency characteristic.
characteristic. An appropriate
appropriate design of the membranes enables desirecl
enables the desired
amplitudes of motion without exceeding the stress
amplitudes stress limits
limits of the material.
33 Theory
Theory
\lit11 the aid of the theory of plates the calculation of the stress
\iVith stress in the membranes
membranes caused
causccl by
aa given load can be performed, e.g. [8]. Experiments have shown
e.g. [8]. shown that the real stresses
stresses are
are always
always
lower than the calculated
lower calculated stresses.
stresses. This
This isis caused by thelClastic
thelelastic fixing of the
fixing tlf the membrane
membrallie in the
the real
real
271
system
system compared
compared to to the
the theoretically
theoretically stiff
stiff fixing.
fixing. For
For calculating
calculating the
the stresses
stresses the
the load
load must
must be
be known.
l<no\\in.
Therefore itit isis necessary
Therefore necessary to to describe
describe the
the dynamics
dynamics of of this
this active
active machine
machine element.
element.
3.1
3.1 Chamber System
Chamber System Dynamics
Dynamics
3.1.1 Servo
3.1.1 Servo Valve
Valve
The dynamics
The dynamics ofof the
the servo
servo valves
valves are
are given
given by
by the
the manufacturer (MOOG,see
manufacturer (MoOG, see [2])
[2]) as
as aa PT
PT2-
2-
element.
element. The The valve flow Qv
valve flow Qv for
for the
the unloaded
unloaded valve
valve can
can be
be given
given as
as aa function
function of
of the
the input
input voltage
voltage
Uv inin the
Uv Lnplnce-domain (with
the Laplace-domain (with ss as
as aa complex
complex variable)
variable)
11
= 2~ (1)
:Fval ve
1 + _vS
WV
+ 1
-S2
w~
where II'~ isis the

where I<v the loop
loop gain
gain of
of the
the valve,
valve, which
which depends
depends on on the
the supply
supply pressure APs == PP -- R
pressure flPs R (see(sec
1)and
Fig. 1)
Fig. and the
the geometry
geometry of of the
the valve
valve itself, w, isis the
itself, Wv the natural
natural frequency
frequency of of the
the valve,
valve, and 5, isis the
and ~v the
damping
damping ratioratio ofof the
the valve.
valve. In
In the
the case
case where
where thethe valve
valve isis loaded,
loaded, the
the fluid
fluid flow
flow depends
depends on on the
the output
output
pressure flP
pressure APv v (load
(load differential
differential pressure).
pressure). For For this
this reason
reason the
the equation
equation for for the
the fluid
fluid flow
flow passing
passing aa
pressure-regulating
pressure-regulating valve valve (here between the
(here between the spool
spool of of the
the valve,
valve, inlet-
inlet- and
and outlet
outlet orifice,
orifice, see
see Fig.
Fig. 1)1)isis
applied.
applied. In In general
general thethe fluid flow Q
fluid flow Q isis proportional
proportional to to the
the square
square root
root of
of the
the differential pressure D.
differential pressure APP
[1 ],
(2)
Applying
Applying thethe relation
relation that
that the
the sum
sum of
ofthe
the pressure
pressure drops
drops in
in the valve flP
the valve A Pand
and the
the load
load pressure
pressurc
D.Pv
APv isis equal
equal to
t o the
the drop
drop of
of the
the supply pressure flP
supply pressure APs,
s ,
A P+
flP flP
+A flP
P vv == A Ps , (3)
and
and considering
considering eq.
eq. 22 and
and the
the fluid
fluid flow
flow properties
properties in
in the
the valve
valve we
we obtain
obtain
Q = Qv . VI~
- Ms . (4)
After
After aa linearization
linearization in
in the
the neighborhood of flP
neighborhood of APv 0,eq. 44 becomes
v ==O,eq. becomes
QQ ==Qv I(,, .flP

Qv -- I<pq' APv v , lip,
I<pq leakage coefficient
leakage coefficient . (5)
(.5)
The
The linearization
linearization applied
applied in eq. 55 isis valid
in eq. valid forfor flP
APv v :S5 ~D.Ps
$APs where
where I<pq I&, isis theoretically
theoretically a.a.
function
function of of Qv.
Qv. ForFor low
low input voltage UUv
input voltage v :S5 &UN
110UN (UN
(UN == nominal
nominal voltage)
voltage) this
this dependance
dependance can
can be be
neglected.
neglected. Fig.
Fig. 22 shows
showsthethe course
courseofof the
the fluid flow Q
fluid flow Q as
as aa function
functionof of Qv
Qv and
and thethe differential
differential pressurc
pressure
of the
of valve flPv
the valve APv as as given
given by by the
the manufacturer.
manufacturer. The The slope
slope of of these
these curves
curves at at the
the opera.ting
operating pointpoint.
(D.P
(APv v == 0)
0) is
is given
given by
by I(,,
I<pq appearing
appearing in
in eq.
eq. 5.
5. In
In contrast
contrast to
to the
the nonlinear
nonlinear eq.
eq. 4
4 in
in practice
practice one
one ca.1l
ca,i~
establish that
establish that even at UUv
even at v ==00 (which
(whichresults
results inin Qv Qv ==0, 0, eq.
eq. 1)
1)the
the fluid
fluid flow
flow isis non-zero
non-zero for A Pvv -=J.# O.0.
for D.P
This is caused by leakage where the spool is in the neutral position. The linear eq. 5 takes this
This is caused by leakage where the spool is in the neutral position. The linear eq. 5 takes this into
inlo
account.
account. Fig.
Fig. 22 shows
shows this
this behavior
behavior of of the
the valve
valve by by the
the line
line through
through the the origin
origin with
with aa slope
slope which
which isis
non-zero.
non-zero. ForFor derivation
derivation of of the
the equation
equation of of motion
motion and and the
the transfer
transfer characteristic
characteristicof of the
the entire
entire systcm
SYS~CIII
(see later), the linear relation by eq. 5 is used. The nonlinearity of the relation between the fluid flow
(see later), the linear relation by eq. 5 is used. The nonlinearity of the relation between the fluid flow
QQ and
and thethe pressure drop flPv
pressure drop APv cancan bebe taken
taken into
into account
account by I(,, as
by I<pq as aa function
function of of Qv.
Qv.
272
3.1.2
3.1.2 Influence
Influence of
of Fluid
Fluid Flow,
Flow, Membrane
Membrane Stiffness
Stiffness and
and Oil
Oil Compressibility
Compressibility
The application
The application of
of the
the continuity
continuity equation
equation results
results in
in an
an additional
additional relation
relation for
for the
the fluid
fluid flow
flow
Q,
Q = A* . SL + Ii*. A& . (6)
A* isis the
A* the characteristic
characteristic membrane
membrane area,
area,and K*represents
and J{* represents the
the oil
oil compressibility
compressibility and
and the
the deforma-
deforms.-
tion of the
tion of the membrane
membrane into into aa direction
direction that
that doesn't
doesn't lead
lead to
to aa movement
movement of
of the
the bearing
bearing (membralle
(rnei~lbra.lie
buckling),
buckling), see
seeFig. K*isis dependent
Fig. 3.3. J{* dependent onon the
the oil volume VVL,
oil volume L , the
the bulk
bulk modulus
modulus of
of the
the fluid
fluid {3[{,
PI,-, and
and
the membrane
the membranegeometry
geometry characterized
characterized byby J{M,
I&,
J{* = 4~: + J{M (7)
Simulations
Simulations have
have shown
shown that
that the
the fluid
fluid losses
losses caused
caused by
by oil
oil inertia,
inertia, friction
friction and
and losses
losses at
at the
the inlet
inlct
and outlet orifices are negligible. So the pressure difference at the outlet orifices of the valve isis
and outlet orifices are negligible. So the pressure difference at the outlet orifices of the valve
approximately
approximatelyequal
equal to
to the
the chamber
chamber pressure
pressure difference,
difference, constant A Pv
constant 6.P v ..
. ,3.1.3
3.1.3 Recapitulation
Recapitulation of
of Equations
Equations
The
The equilibrium
equilibriumof of forces
forces applied
applied with
with respect
respect to
to the
the membranes
membranes (entire
(entire arrangement
asrangelllent of
of two
two
membranes
membranes acting
acting in
in one
one direction)
direction) leads
leads to
to
F*==A*
F* A *. .6.Pv CL. - XL'
APv --CL XL. ,, (8)
(8)
where CLis
whereCL isthe
theentire,membrane,stiffness'inthe{orce Idirection land, F*the
entirelmembrane~stiffness~inthelforce'direction~and, F' thecontrol
controlforce
force toto the
the bearing
bearing
housing, see
housing, Fig. 3.3.Including
seeFig. Including this
thisequation
equationwe
weobtain F*as
obtain F* as aafunction
functionof of the
the control voltage UUv
control voltage ant1
v a.nd
the membrane
the membrane deflection,respectively;the
deflection, respectively; the bearing
bearing displacement
displacement XL in the:direction
XL in the,direc tioil of
of the
the force
force
F* = Fv' Uv - FL' XL (9)
Fvisis the
Fv the transfer
transferfunction
function describing
describingthe
the dependence
dependenceon
on the
the control
control voltage
voltage
A*J(y
~ J(pq
:FV = .rvalve· 1 + CJ( . 8 (10)
and FLisis the

and FL the transfer
transfer function
function considering
considering the
the influences
influences of
of the
the fluid
fluid dynamics
dynamicsand
and the
the stiffness
stiffness of
of
the
the arrangement
arrangement
A8
A*2 * ~
- -s
FL =
FL= 1 +ICpq[{pq
CJ(' s
+ CLCL .+ (11 )
(11)
1+Ch"S
The
The constant CKisis represented
constant CJ( represented by
by the
the leakage
leakage coefficient I(,, and
coefficientJ{pg and by
by the
the oil
oil compressibility
compressibility and
a.11tl
membrane
membrane buckling Ii'* eq.
buckling J{* eq. 7,7,
I<*
J{*
CIC==J{
CJ( - . ((1
12)2)
Iip*
pq
273
3.1.4 Representation in Time Domain
For including the actuator system into the complete system,

system. the representation of eq. 9 in
the time-domain is more convenient. With the equations above we get a set of differential equations
which describe the control force F* Uv
F*as a function of the input voltage U v and bearing displacement
displacenlent
XL,
F* - A* !:l.Pv - CLXL
f{* !:l.Fv + f{pq!:l.Pv + A*:h Qv ( 1:3)

1·· 2~v .
zQv + -Qv + Qv - [{vUv
Wv Wv
The coefficient C£
CL describes the additional stiffness effects with regard to the entire system (see
(see later).
later).
3.1.5 Simplification and Interpretation of Equations
For designing control concepts and to explain the fundamental

fundamental operation,
operation. the equations
equa,tions will
be simplified. In order to obtain a simple relationship between the control voltage Uv, the regulating
force Fq
distance XL, and the control force F~ the PT 2 -behavior of the servo valve will be approximated by a
PT2-behavior a.
(FVaI,,
linear relationship (:Fvalve = 1).
1). This is valid at frequencies under the cut-off
cut-off frequency of the valve.
This simplification leads to the following form
CK F* + F* = b· Uv - CL' XL - dL · XL (14 )
where b = ~
- $2
A* K
pq
and d
dLL =
=KA*2
A*2
pq
+ CKCL.
CKcL.
TEQconstant C
Th'" CIiK representing the oil compressibility and the membrane buckling in the equa- eclua-
influence. If
tion above has an important influence. CIc
If CK is negligible the actuator works as a passive spring and
damper unit characterized by the coefficients CL and d L . Additionally a control force Fc
dL. Fe acts that
is proportional to the input voltage Uv Uv (see Fig. 9).
9). In the other case, or; == c~J(
case, if the frequency WI( 1
li
is below the frequency range of application,
application, the actuator possesses an integral behavior. As a result
result,
the feedback of velocities and accelerations leads to stiffness and damping effects. In this case caae or
w ~ cis inside the range of application (PT
if WK (PTI1 behavior),a
behavior), a proportional behavior (see 9) can be
(see Fig. 9)
achieved by an internal phase shifting controller (e.g. feedback of pressure !:l.P APv)v ) or an addi tiona.l
additional
passive throttle between the two output orifices.
By an appropriate design of the membrane (constants CL, c ~ A*,
, f{M), of the oil volume V
A*, IfL,
L , of
oS
the supply pressure !::::.Ps, IiT, and Ii;,,),
choice of the suitable valve size (constant f{v
APs, and by the choice J(pq), the
actuator can be tuned in an optimal way. In the case of a sudden pressure drop (!:l.Ps
(APs -7t 0) the rotor
c ~ .
bearing is always sufficiently supported by an adequate membrane stiffness CL.
3.1.6
3.1.6 Characteristic of Actuator
Transfer Characteristic
In the following the transfer characteristic of the complete actuator system is investigated
investiga tecl
applying a sinusoidal input voltage Uv to the valve. The!
The1 purpose ofl this:ls
oil this i s to get a comparison to
t,o
274
the experiments which are described in chapter 3.1.6 and 5. The resulting outputs are the regulating
APvv between the opposing chambers.
distance XXLL and the pressure difference I::l.P chambers. Introducing a mass
ma.ss
which simulates the mass of the rotor, including the support system,system,the
the control force appearing in
eq. 9 has to be equal to
eq. to
F * -_,..".
F* L - 8s22 .
= r i ~XXL'
lIb (15)
(15)
The transfer functions Fz
functions for the regulating distance :F Fp
x and the chamber pressure :Fp can be expressed
XL b· :Fvalve
(lG)
Uv
I::l.Pv m . 8 2 + CL . :F .
(17)
Uv A* x
The coefficients bband

and dLL are given in eq. 14.
14.
4 Test Facilities
experimentally.
Fig. 4 shows the test rig which was designed to investigate the chamber system experimentally.
The investigation is conducted only in the vertical direction. The facility mainly consists of the
housing 11 where the four oil chambers 2 are integrated. The distance rod 3 performs the function of
the bearing housing and assures that the opposing chambers both move the same absolute distance.
For investigating the influence of masses additional masses can be mounted on the distance rod :3. 3.
The influence of friction caused by the linear roller guides (see Fig. 1)1) can be studied by loading
the chambers for the horizontal direction with an appropriate pressure in order to press the linear
roller guides via distance sleeves 4 on the distance rod. The entire arrangement is mounted niountecl on
foundation including the servo valve 5.
the foundation 5 . Servo valve and chambers are connected via. 6.
via pipes G.
Between actuator and hydraulic control unit (not shown in Fig. 4) are the connections to the first
stage pressure unit, main control pressure unit (pressure P shown in Fig. 1),
(pressure P I ) , return pressure unit
R in Fig. 1),
(indicated by pressure R l),and an additional pressure supply for the linear guiding bearings.
APs,
To enable a broad range of experimental investigations, variations of the supply pressure 6P s,
membrane thickness h,h, contact pressure for the guiding bearings, additional masses m (see
(see eq.
eq. 15)
15)
Uv
and of course the control voltage Uv (function generator) can be conducted.
allows one to gather the following
The measurement equipment installed allows regu1a.-
following information: regula.-
ting distance with the aid of an inductive displacement sensor 7, and oil pressure in the chambers
cha.rnbess
8. Additional information is given by acceleration pick ups (not
by piezo electric pressure sensors 8.
shown) mounted on the distance rod and by strain gauges to t o determine the strain of the membranes.
A special hydraulic unit was designed to assure that the supply pressure is constant. This is
required because the fluid flow changes with frequencies up to 200 Hz and higher. These requirements
requirenlents
can be met with the aid of a controllable radial piston pump and an:
an. appropria.te
appropriate reservoir.
The test rig shown in Fig. 5 is used to investigate different control concepts. It consists of an
elastic rotor structure 9, a magnetic bearing 10 forces, the bearing
10 for simulating different excitation forces,
unit 11,
11, and actuator system which is presently realized by electromagnetic actua.tors
a c t ~ a ~ t o12.
r s A further
12. furthcl.
description of the test rig a.nd
and the test results attained by this facility (l,re: given e.g. in [:3].
facilitya.~.e:given [:3].
275
c-+
The active chamber system will be integrated in the test facility Fig. 5 after conclusion of the
experiments with the test rig Fig. 4. For this purpose the chambers for the horizontal direction have
liave
to be activated by a second servo valve,
valve,and
and the distance rod has to be replaced by the bearing unit
unit...
12 are substituted by the active chamber system.
Finally the electromagnetic actuators 12 system.
5 Transfer Characteristic
Fx and Fp.
In the following the transfer functions 3;, eq. 16
Fp.eq. 16 and 17,for
17,for the regulating distance XXLL
and the chamber pressure !J.PAPvv will be investigated. The goal is to compare theoretical and experi-
experi-
mental behavior of the actuator and to determine the system parameters. These are the membrane l~lernbra.ne
stiffness CL,
CL, the leakage coefficient I(,,,
J<pq, the loop gain of the servo valve I{v
J<v and the coefficient It'*
coefficient ](*
which describes the oil compressibility and the membrane buckling. The simulation is based on the
data shown in Fig. 6 which are equivalent to the data of the test facility. The results can be seen in
Fig. 7.
Fig.7.
5.1
5.1 Theoretical Results
In the plot,
plot, of the amplitude of the regulating distance in Fig. 7, 7,one PT1
one can recognize a PT.l
behavior up to a frequency of about 170 170 Hz.
Hz. Its cut-off Hz) and is
cut-off frequency is very low (about 2.2 fIz)
300 Hz.
z,
given by J;, see eq. 14.14. Beyond this frequency an extremum occurs in the amplitude at approximately
Hz. It corresponds to a pole in the transfer function of XL and !J.P APv.v . This extremum results fronl
fsoni
a function a(a ( s)
s ) which can be obtained by the denominator of eq. 16. 16. This function has the value
a(s)
a(s) == 0 at the frequency of We>w, == 21l" - 287 H
27r ·287 z (s
Hz = iw),
(s = iw),
m d
a( s) = m . S2 +- .
Cf{
s +-L
Cf{
o ( 18)
(19)
Eq. 1919 shows that this frequency is mainly dependent on the membrane area A*,
A * , on the mass m172
(simulating the rotor mass including the bearing unit) and on the oil compressibility and membra.ne
membrane
buckling I{*. J<*. The servo valve has no influence. The expression f: can be interpreted as a spring
coefficient of the oil support andthe!membranebuckling.
coefficient and the!membranebuckling. This natural frequency causes a phase shift
180'.0 • The res't
of 180 the curve is characterized by a drop in the amplitude due to the PT
rest of the,curve PT2-behavior
2-beha\·ior
;the servo valve, see chapter 3.1.5.
of :the In the plot of the chamber pressure a further zero point
can he 110 Hz.
,be seen at 110 Hz. It corresponds to the natural frequency of the one-DOF-oscillator, function
function
j3 (s)
P from eq. 17
s ) .from 17
f3(s)=m·s 2 + CL o (20)
{!; (21)
This characteristic frequency has no effect on the regulating distance and on the controllability of
the rotor system.
276
5.2 Comparison of Theory
Comparison Theory and Experiment
and Experiment
Fig. 88 shows
Fig. shows the
the measurements
measurements ofof the
the regulating
regulating distance
distance XL and chamber
XL and chamber pressure APv.
pressure t1P The
v . The
results are
results are obtained
obtained by
by noise
noise excitation
excitation for
for the
the input
input voltage Uv.
voltage Uv.
A comparison
A comparison with
with the
the results
results attained
attained by
by theory
theory shows
shows good
good agre:ement.
agreement. The
The characteristic
characteristic
frequencies at
frequencies at 110
110 Hz
Hz and
and 293
293 Hz
Hz areare due
due to
to the
the effects
effects described
described above
above (functions
(functions a(
a ( s) and j3(
s ) and P (s),
s),
eq. 19
eq. 19 and
and 21).
21). This
This shows
shows that
that all
all important
important influences
influences onon the
the transfer
characteristic are
are included
incluclecl
in the
in the transfer
transfer functions
functions eq.
eq. 16
16 and
and 17.17. The
The step
step shaped
shaped curve
curve at
at lower
lower frequencies
frequencies is
is only
only caused
caused
by the
by the discrete
discrete evaluation
evaluation of
of the
the output
output signals
signals by
by the
the measurement
measurement electronics.
electronics.
Measuremellts of
Measurements of the
the transfer
characteristic of
of the
the servo
servo valve
valve (described
(described by
by aa PT
PTz-system)
2-SystCI11)
showed aa better
showed better amplitude
amplitude behavior
behavior at
at frequencies
frequencies beyond
beyond the
the cut-off
cut-off frequency
frequency than
than predicted
predicted byby
the PT
the PT2-behavior.
2-behavior.
The experiments have shown
The shown that the
the simplified equations
equations for
for describing
describing the
the performance
performa.nce ofof'
the active
the active chamber system,
system, eq.
eq. 14,
14, are
are valid up
up to
to the
the cut-off
cut-off frequency
frequency of the
the servo
servo valve
valve (here
(here
about 200
about 200 Hz),
Hz), see
see chapter
chapter 3.1.5.
3.1.5. For aa higher frequency
frequency range
range it
it is
is necessary to
to use
use aa servo
servo valve
va.lve
with aa higher cut-off
cut-off frequency
frequency and
and to
to minimize
minimize the
the oil
oil compressibility and
and the
the membrane buckling
bucltling
by minimizing thethe oil
oil volume and
and by an
an appropriate design
design of the
the membrane.
membrane.
66 Example of Application of the

Example the Actuator
6.1
6.1 Formulation of the
Formulation the Complete
Complete System
System
designing aa controller,
In designing controller, aa complete
complete mathematical
mathematical formulation
formulation of the the system isis
assumed. efficient ~ethod
A very efficient
assumeld. A method of describing thethe rotor system:
system;to
to be controlled
controlled is
is modeling it
it as
as a.a,
system (see
hybrid multibody system [6]). This
(see [6]). This leads
leads to
to the'
the second
second order
order differential equation
Mij(t) + Pq(t) + Qq(t) = L hi(q, q, q, D, t) (22)
wi th the vector qq Et mJ
with IRf of the generalized minimal coordinates (J (f is
is the number of degrees
degrees of freedom),
freecloln),
M Et mJ.f is
M is the mass matrix, P
mass matrix, P Et mJ.f
EXftf isis the matrix of velocity-proportional
velocity-proportional forces, Q Et JRj.f
forces, Q is the
lTCfljis the
into account the displacement-proportional
matrix taking into displacement-proportional forces, hiEt mJ
forces, hi EXf is
is the vector of the i-thi-t,h
external force
external force (e.g. R isis the rotor frequency
force), D
(e.g. control force), frequency and tt indicates
indicates the time.
time.
The control forces
The forces acting indirectly
indirectly (via expressc-:d
(via the rigid bearing unit) on the rotor can be expressed
by
hB = Ji· [ ~~ 1 (2:3 )
where J LL Et JR
where 2
IR2'f is the Jacobian matrix of translation belonging to
,j is to the subsystem
subsystem bearing unit andalld
F;
I?,
* and F;
F,* the control forces
control forces given by differential eq. 13,acting
eq. 13 ,acting in the x- and y-directions. The radial
x- andy-directiol1!s. The radia.l
described by XL
movement of the bearing described y~ (perpendicular
XL and YL (perpendicular to to XL)
xL) can be formulated
formulatecl with the
the
277
aid of the Jacobian-matrix
Jacobian-matrix as
as
(24)
Introducing
Introducing an
an enlarged state
state space
space vector
(25)
Qvx,Qvy,asthevalve~flow.serving,the
with Qvx,Qvy,asthevalverflow.serving:the x- andly-directionls
x- and:y-directionis,respectively
,.respectively (eq. l),and ~Pvx,
(eq. 1),and APvx7~PvyAPvy asa.s
the
the valve
valve output
output pressure supplying
supplying the x- and
the x- and y-directions,
y-directions, respectively, welObtain
welohtain the
the state
sta.t,eequation
equa.tion
z= Az+Bu (26)
where A
where A represents
represents the
the system matrix, B
system matrix, B the
the control
control matrix
matrix and
and
(27)
the
the control
control vector
vector consisting
consisting of
of the
the control
control voltages Uvx proper
voltages UVx proper for and UUv,
x- and
for x- Vy proper
proper for
for the
the '!)-
y-
direction.
direction.
The
The matrices
matrices used
used in
in eq. 26 can
eq. 26 can be
be expressed
expressed as
as follows
follows
0 0 E j 0 0
0 0 0 E2 0
_M-1Q _M-lp M-1JT
A= 0 0 L A* (28)
0 -W~E2 0 -2~vwvE2 0
A*
0 i· E 2 -- J
K* L
0 - !i:e!rE
K. 2
0
0
B= 0 (29)
J{vw~E2
0
where the
where the submatrix Q isis
submatrix Q
-- T
Q Q + JJ LJ
Q == Q CL .
; JL~ .-CL (30)
CL
CLisis the
the membrane
membrane stiffness
stiffness appearing
appearing in
in eq.
eq. 13
13 and
and M, P ,Q
M , P, Q are
are the
the system
system matrices
matrices from
from eq.
eq. 22.
22.
The
The matrix E j EE rn/,j
matrix Ej m?.?j represents
represents the
the identity
identity matrix.
matrix.
6.2
6.2 Amplitude Characteristic
Amplitude Characteristic of
of the
the Rotor
Rotor
A
A simple
simple rotor
rotor running
running in in journal
journal bearings
bearings isis used.
used. The
The rotor
rotor isis supported
supported byby the
the active
active
chamber
chamber system
system on
on its
its left
left side
side (Fig. 9). In
(Fig. 9). In the
the modeling
modeling of
of the
the rotor
rotor system: mass-, stiffness-,
system.mass-, stiffness-, and
ancl
gyroscopic effects and
gyroscopic effects and additional
additional damping
damping by by the
the journal
journal bearings
bearings are
are considered.
considered. As
As admissible
admissible
shape
shape functions
functions only
only two
two mode
mode shapes
shapes are
are taken
taken into
into account.
account. InIn most
most cases
cases higher
higher modes
modes ofof real
real
rotor
rotor systems
systems are
are damped
damped veryvery well
well because
because of of bearings
bearings or
or material
material damping.
damping.
278
In Fig. 10
10 are plotted frequency response functions versus rotor frequency.
frequency. The exciting force
force
is caused by an unbalance of the rotor. In Fig. lOa &
10a the scaled amplitudes j" at the runner position are
displayed without active forces
forces (solid line) and with active forces forces (dotted line).
line). Fig. lOb
lob
shows 5
shows the scaled nutation angles.!£....
angles 'Po (slope
(slope of the elastic line) at the same location. The displacement
displaceuncnt,
amplitude shows a significant peak at the first natural frequency (bending vibration) vibration) and at the
second natural frequency (nutation, indicated by the nutation angle). The feedback feedbacli is realized by
displacement, velocity, and pressure signals taken only at the actuator location. The controller was
designed as a "constant controller" for the rotor frequency 100 100 Hz. Using this very simple controller,
demonstrate that aa considerable reduction of the resonance amplitudes
the results already Idemonstrate amplitudes can be
achieved.
7 Conclusion Remarks
The key to attaining the desired influence on the dynamics of rotor systems lies in the availa-
bility of suitable actuators. The development of the active chamber systems introduced in this papel. paper
will be an essential step towards industrial applications. This actuator works as a spring (membra.ne
(n~ernbsane
~tiffness) and damper (hydraulic
stiffness) (hydraulic effects in the servo valve), and in addition to thesei
valve),and passi ve.forces a
these, passive.forcesa
force is acting proportional to the input voltage at the servo valve. One of the main goals of
control force oC
the paper is to confirm the theoretical model of this new actuator concept by experiment. The theOl'e-
theose-
tical and experimental results achieved by these investigations show a very good conformity.
conformity. Further
experimental investigations of the actuator system included in the rotor system will demonstrate
demonstsate the
usefulness of applying this active machine element for active vibration control of rotors.
rotors. The uscuse of
of
a more sophisticated controller (additional measurement information,
information, adaptive controller realized by
special electronic equipment, hybrid controller) will show a wide range of possible applications for
such an actuator device.
References
References
[1]
[I] ANDERSON, W.R.: Controlling Electrohydraulic Systems. Marcel Dekker, Inc. New York
Yosl.; and
ancl
Basel, 1988.
1988.
[2] THAYER,
[2] THAYER, W.J.: Transfer Functions for Moog Servo Valves.
Valves. Technical bulletin 103,
103, Moog Inc.
Inc.
Controls Devision, East Aurora, N.Y. 14052,
14052, 1965.
1965.
[3] FURST, S.;
[3] FURST, S.; ULBRICH, H.: An Active Support System for Rotors with Oil- Film Bearing.
Bearing. 4th
International Conference on Vibration in Rotation Machinery of the Institution of Mechanical
Scotland. Paper C 261/88,
Engineers, Edinburgh, Scotland. 261188, 1988,
1988, pp. 61-68.
61-68.
[4]
[4] INNERHOFER,
INNERHOFER, G; G; HAMMER, J.: Low-Cost Magnetic Bearing Reaction Wheel.
\iVheel. Proc. of the
IFAC Symp., Oxford, England, 1980.
1980.
[5]
[5] LIARD,G.: Aktive Magnetlager -- ein Schliissel
Schliissel zu h6heren
hoheren Spindeldrehzahlen. Kugellagcr-
I<ugella.gcr-
Zeitschrift 56, 213, 1982,
1982, pp. 8 - 13.
13.
[6)
[GI ULBRICH, H.: Dynamik und Regelung von Rotorsystemen. Fortschr.-Ber. VDI-Z,
VDI-Z, Reihe 11,
11,
NR. 86, 1986.
1986.
279
[7] ULBRICH,
[7) ULBRICH,Hj H;ALTHAUS,
ALTHAUS, J.:J.:Actuator
Actuator Design
Design for
for Rotor
Rotor ControL
Control. Twelfth
Twelfth biennial
biennial AS
ASME Con-
ME Con-
ferenceon
ference on Mechanical
MechanicalVibration
Vibration and Noise ,Montreal,
and Noise, Montreal, Canada,
Canada, Sept.
Sept. 17-20,
17-20, 1989.
1989.
TIMOSHENKO, S.;
[8]TIMOSHENKO,
[8] S.; WOINOWSKY-KRIEGER,
WOINOWSKY-KRIEGER, S.: S.: Theorie
Theorie of
of Plates
Plates and
and Shells.
Shells. New
New York,
Yorlc,
Toronto, London, McGraw-Hill Book Company, 1959.
Toronto, London, McGraw-Hill Book Company, 1959.
servo valve
linear roller guides
Figure 1:1:Active
Figure Activechamber
chambersystem
system with
with servo
servovalve
valve
,"'Py
I
I
Figure 2:2: Fluid

Figure Fluid flow
flow through
through the
the valve
valve under
under load
load
280
. 280
F.1 1 XL
Figure 3: Model
Figure 3: Model of
of the
the chamber
chamber and
and elastic
elastic membrane
membrane
Figure Test rig

Figure 4:4: Test rig for
for active
active chamber
chamber system
system
28 1
281
OWEGOFSAL PAGE
ORIGINAL PAGE
BLACK AND WH1TE PHOTOGRAPH
ORIGiNAl.:
6RIGBNAE PAGE
BLACK PWOlOGRAPh
5: Test rig for rotor control

Figure 5:
ev 0.55 damping ratio of the servo

servo valve
Wv 1950.00 rad/ s natural frequency of the servo valve
f{pq 4.23.10- 12 m5 JNs leakage coefficient
f{v 1.96.10- 5 m3 JVs loop gain of the servo valve
A* 6.54.10- 4 m 2 characteristic membrane area
f{* 4.25.10- 14 m5 /N compressibility and membrane buckling
CL 1.63.106 N/m membrane stiffness
stiffness
m 3.41 kg mass
Uvo 1 V amplitude of the input voltage
Figure 6: Data for the transfer characteristic of the actuator
282
amplitude XL [mmJ pltasc
phase rXI,
,, [degree]
[degreeJ
1.00
-100
-100·
0.32
o. \() 287 liz -200

-200
0.03· -300-
-300
3.IG 10.0 3U 3.16

3.16 10.0 31.6 100.0 316.2
frequency [HzJ frequency
frequency [Iiz]
[lIzJ
amplitude b.Pv [105Pa] phase APII
b.Pv [degree]
[degreeJ
10.00 110 Hz
0
1.00·
0.10
loo--
-100
0.01
r t : , ~ ~ ~ : e c . ' : ' G ' " ' ~ " :
3.16 10.0 31.6 100.0 316.2 3.16

3.16 10.0 31.6 100.0
100.0 316.2
frequency [lIzJ frcquency [HzJ
frequency [Hz]
Figure
Figure 7:
7: Simulated
Simulated transfer charateristic
charateristic
dB
1010 - Hz
293 Hz
293
regulating
regulating distance
distance XL
XL
-10~--------------------------------------------~~~--~~
-10
-30
-30 - 1
[Hz]
frequency [Hz]
frequency I
20 ~1_ _ _ _~~_ _ +-______~10~______~__~__~~5~0~____~1~0~0______?~_0~0~~-4
I I I
o0 -
chamber pressure b.P
chamberpressure 4PLL
-20 ~------------------------------------------~~-+~~--------~
-40
-40 - 1
Figure
Figure 8:8:Measurement
Measurement of
of the
the amplitude
amplitudecharacteristic
characteristic
283
283
300 100 300
~I gl
--,-------
-I
d c
Bearing
FC rv Uv
I
L- - -A- -'-l
- J Active
Active Chamber
Chamber System
System
Figure 9:9: Geometry

Figure Geometryand
and mechanical
mechanicalmodel
model of
of the
the investigated
investigated active
activerotor
rotor system
system
~I";
~
'"::::
"0 6
::: a)
'a 5
a
<'<I
"0 4
~'"
u
rn 3
0
J 200 400
:
600 800 1000 1200
~s.
~
'"
be
b)
§ 6
::::
0
°z<'<I 5
~
:::: 4
"0
~ 'u" 3 \
rn .......
2 / '- / \
........
1
/
/ '-
00 200
200 400
400 600
600 800
800 1000
1000 1200
1200
- without control
- - without control rotor speed[Tad/
rotorspeed s]
[radls]
---
withcontrol
- - - with control
Figure 10: Response

Figure 10: Response of
of the
the unbalanced
unbalanced rotor
rotor running
running through
through the
the critical
critical speeds
speeds
a) runner
a) runner displacement
displacement
b) nutation
b) nutation angle
angle
284
A
A SIMPLIFIED METHOD Fon
FOR PREDICTING THE STABILITY
STABlLlN OF
AERODYNAMICALLY EXCITED TURBOMACHINERY
Albert F.
F . Storace
Storace
General
General Electric
Electric Aircraft Engines
Engines
Cincinnati,
Cincinnati, Ohio,
Ohio, U.S.A.
U.S.A.
A
A method is
is presented for
for the
the quick and accurate
accurate prediction of
of the
the stability
stability of
aerodynamically
aerodynamically excited turbomachinery
turbomachinery using
using real
real eigenvalue/eigenvector data
data
obtained from
from a rotordynamics
rotordynamics model.
model. An expression
expression is
is presented which uses
uses the
the
modal data and thethe transmitted torque
torque toto provide a numerical
numerical value of thethe
relative
relative stability
stability of the
the system.
system. This
This approach provides a powerful
approach provides powerful design
design tool
tool
to
to quickly ascertain
ascertain the
the effects of squeeze-film
squeeze-film damper bearings,
bearings, bearing
location,
location, and support
support changes
changes on system stability.
stabil ity.
INTRODUCTION
INTRODUCTION
The purpose of this
The purpose this paper is
is to
to present a method thatthat is
is easily and economically
applied
appl ied to
to turbomachines to to predict the the effects
effects of shaft
shaft flexibility,
flexi bil ity,
squeeze-film
squeeze-film bearing supports,
supports, and static
static structure configuration on the the
rotor-bearing/static
rotor-bearing/static structure
structure system
system stability
stability relating
relating toto rotor
rotor aerodynamic
aerodynamic
cross
cross coupled
coupled stiffness
stiffness (Alford)
(Alford) forces.
forces. The
The method isis general
general in
in that
that systems
systems
with general
general rotor
rotor support
support arrangements
arrangements and multiple
multiple spools
spools can
can be handled.
handled. A A
major advantage
advantage of the
the method isis that
that it
it allows
allows machine designers
designers toto quickly
determine
determine the
the effects
effects on stability
stabil i ty of bearing changes,
changes, shaft
shaft modifications,
modifications, and
bearing support
support designs
designs to
to determine
determine appropriate
appropriate system
system designs.
designs. This
This paper
presents an
presents an expression
expression and analysis
analysis methodology
method01 ogy for
for predicting system
system stability
stabil i ty
that includes
includes the
the effects
effects of destabilizing
destabilizing forces,
forces, rotor/stator dynamic
displacements,
displacements, internal
internal and external
external damping,
damping, and gyroscopic moments. The The
expression
expression and methodology presented provides an an analysis
analysis approach thatthat isis
simplified
simplified but atat the
the same
same time
time includes
includes all
all of the
the modeling detail
detail needed to to
perform a valid assessment
assessment of system
system stability.
stability.
The
The method provides
provides a timely
timely and cost
cost effective
effective means
means to
to initially
initially screen
screen designs
designs
without
without incurring
incurring the
the high computer
computer costs
costs and large
large amounts
amounts of data reduction
reduction
time
time required
required using complex
complex eigenvalue
eigenvalue rotor dynamic analysis
analysis programs in in a
repetitive
repetitive mode.
mode. Specifically,
Specifically, thethe method uses
uses the
the results
results of anan undamped
lateral
1 ateral critical
critical speed
speed analysis
analysis and generalized
general ized forces
forces derived from
from the physical
the physical
destabilizing forces
forces to
to develop
develop modal equations
equations of motion forfor a self-excited
self-excited
system.
system. The The solution
solution of these
these equations
equations isis then used to to develop a modal
dimensionless stability criterion.
criterion. ThisThis criterion requires
requires that
that the
the energy
absorbed
absorbed by thethe system exceed thethe energy imparted
imparted to
to the
the rotor
rotor by unbalanced
torque
torque forces
forces if
if instability
instability is
is to prevented.
to be prevented.
The
The method is
is intended
intended to
to supplement
supplement the
the more general
general analysis
analysis techniques
techniques which
are
are used for
for final
final confirmation
confirmation of the
the stability predictions.
stability predictions.
285
SYMBOLS
SYMBOLS
Aerodynamic forces
forces acting
acting on
on the
the rotor
rotor N
N
(LBf)
( LBf
Aerodynamic forces
forces acting
acting on
on the
the stator
stator N
N
(LBf)
(LBf
x, Y, XR' YR Rotor
Rotor displacements
displacements cm
cm (IN.)
XS' YS Stator
Stator displacements
displacements cm
cm (IN.)
KXY ' KyX Cross-coupling
Cross-coupling spring
spring rates
rates N/cm (LBf/IN.)
(LBf/lN.)
T Compressor
Compressor or
or turbine
turbine stage
stage torque
torque N-cm
N-cm
(LBf-LB)
( LBf- LB)
"Alford"
"Alford" coefficient
coefficient (dim.)
Dp Stage diameter cm
Stage pitch diameter cm (IN.)
H Blade
Blade height
height cm
cm (IN.)
PX' Py Generalized
General i zed coordinate
coordinate pair
pair cm
cm (IN.)
(IN. )
~XR' ~YR' ~XS' ~YS Modal

Modal displacements
di spl acements (dim.)
(dim. )
GX' Gy Generalized
Generalized forces
forces N
N (LBf)
(LBf)
m Generalized
Generalized mass
mass Kg (LBf-SEC2/IN.)
Kg (LBf-SEC
C Generalized damping coefficient
coefficient N-SEC/cm
(LBf-SEC/IN.)
k Generalized
General ized stiffness
coefficient N/cm
N/cm
(LBf/IN.)
(LBf/IN. )
{~} Mode
Mode shape
shape vector
vector (dim.)
[K] Physical stiffness
Physical stiffness matrix
matrix N/cm
N/cm (LBf/IN.)
CO Undamped
Undamped natural
natural frequency
frequency (RAD/SEC)
Q Modal
Modal Q-factor
Q-factor (dim.)
(dim.)
N Number
Number of
of rotor
rotor stages
stages (dim.)
(dim.)
RPM Design
Design point
point speed
speed (REV/MIN)
nb Number
Number offield
o f f i el d damping
dampi ng components
components
(casing, frames, rotors)
(casing, frames, rotors)
286
SYMBOLS
SYMBOLS (Cont.)
(Cont.)
na Number of lumped damping components
components
(mounts, bearings, dampers)
Qa Component Q-factor
Q-factor for
for lumped damping
components
components (dim.)
(dim. )
Qb Component Q-factor
Q-factor for
for field
field damping
components
components (dim.)
Sp'in
Spin speeds
speeds for
for field
field damping components
components
(,8
(~h is is zero
zero for
for static
static components)
components)
(R~/SEC)
(RffiJ/SEC)
1
Low pressure rotor
rotor speed
speed (REV/MIN)
N2 High pressure rotor

rotor speed (REV/MIN)
MSC Modal
Modal Stability
Stability Criterion
Criterion (dim.)
(dim.)
BACKGROUND
A
A major destabilizing
destabilizing mechanism acting on turbomachinery
turbomachinery stages
stages is
is the
the Alford
aerodynamic cross-coup1ing stiffness
aerodynamic cross-coupling stiffness force
force (ref.
(ref. 1).
1). InIn a fixed
fixed frame
frame global
global
coordinate system, this
coordinate system, this force
force can
can be modeled by the
the following
following equation.
equation.
]FX} ~ 10 -Kxvl. {x} {l)

~Y ~YX 0j Y.
where KXY
K = KyX = (T ~/DpH) N/cm, T
(TP/DpH) T is
is the
the stage
stage torque,
torque, Dp
D isis the
the pitch diameter
diameter
of the stage, H
thex.?tage, H is
is the
rhe blade height,
height, and ,~O is is the
the change
chtnge in in thermodynamic
thermodynamic
efficiency per unit unit change
change in blade tip
in blade tip clearance,
clearance, expressed
expressed as as a fraction
fraction of
blade height.
height. The physical rationale
The physical rationale forfor these
these forces
forces isis based on anan increase
increase of
blade efficiency with decreasing tip tip clearance.
clearance. Referring
Referring to to Figure
Figure 1,
1, the
the
displacement
displacement of the the disc
disc centerline
center1 ine resulting
resulting from
from whirl
whirl decreases
decreases the
the blade tip
tip
clearance
clearance in in the
the direction
direction of of the
the displacement.
displacement. The The efficiency
efficiency of those
those blades
blades
with reduced clearance is
reduced clearance is improved
improved resulting
resulting in in a greater thanthan average
average torque
torque
delivered by those
those blades
blades with reduced
reduced clearances.
clearances. Conversely,
Conversely, on on the
the side
side of
of
the disc
the disc with increased clearances, a less than average torque is
increased clearances, less than average torque is imparted to the imparted to the
rotor
rotor by those
those blades.
blades. The The integrated
integrated effect
effect of the the circumferential
circumferential variation of
blade torque
blade torque results in net torque in the direction of whirl
results in a net torque in the direction whirl associated with
the
the vector force described in
force described in equation equation 1. As discussed
discussed in references
in references 1 and 2,2,
the cross coupled stiffness
the cross coupled stiffness can can be responsible
responsible for self-excited rotor
for self-excited rotor instability
instability
at
at high power levels
levels that
that isis characterized by subsynchronous
subsynchronous rotor
rotor whirl
whirl in
in the
the
direction
direction of rotation.
rotation. ThisThis subsynchronous
subsynchronouswhirlwhirl is is generally
generally associated with the the
first
first rotor
rotor dominated mode and the the stability
stabil ity analysis
analysis method to to be presented inin
this
this paper addresses
addresses a mode by mode evaluation evaluation approach to to ascertain
ascertain the
the
potential for
potential for system instability.
instabil i ty.
287
STABILITY CRITERION
CRITERION
Equation 11 expresses the t h e pphysical

h y s i c a l forces
f o r c e s acting
a c t i n g on the
t h e rotor.
rotor. It
It can be extended
to
t o include
i n c l u d e the
t h e forces
f o r c e s acting
a c t i n g on the t h e case (stator)
( s t a t o r ) as follows.
follows.
~~~ _IKV~
FyS l-KyX
-t -K~X
0 KyX
~~:V] · ~~
0 ys
(2)
These forces f o r i e s will

w i l l be used used in i n conjunction
c o n j u n c t i o n with
w i t h the gyroscopically
the-gyroscopical lystiffened
s t i f f e n e d modes
obtained
o b t a i n e d fromf r o m a real r e a l eigenvalue/eigenvector
e i g e n v a l u e / e i g e n v e c t o r analysis
a n a l y s i s to t o develop
d e v e l o p a stability
s t a b i l it y
criterion.
c r i t e r i o n . For a given g i v e n mode obtained from the t h e real
r e a l mode
mode set,s e t , define
define P Px and Pyas Py as
the
t h e modal
modal coordinate
c o o r d i n a t e ppaira i r describing
d e s c r i b i n g the
t h e generalized
g e n e r a l i z e d response in i n the g r t i c a l and
t h e vv~rtical
horizontal
h o r i z o n t a l planes of o f the
t h e system. More will w i l l be saids a i d later
l a t e r in
i n this
t h i s paper about the the
incorporation
i n c o r p o r a t i o n ofo f gyroscopic effects e f f e c t s ini n the
t h e modal data.
The rotor
r o t o r and stator
s t a t o r modal
modal displacements at a t a given
g i v e n stage can then used to
t h e n be used to
define
d e f i n e thet h e pphysical
h y s i c a l destabilizing
d e s t a b i l i z i n g forces
f o r c e s acting
a c t i n g on the
t h e rrotor
o t o r and stator
s t a t o r as
foll
f o l 1ows:
ows :
(~YR - ~YS)
('PXR - 'fXS)
(3 )
The total
t o t a l generalized
g e n e r a l i z e d forces
f o r c e s acting
a c t i n g in
i n the
the X
X and Y
Y directions
d i r e c t i o n s can be written
written
Gx = -KXYPy (¢YR-~YS) ~XR + KXYPy (~YR - ~YS) ¢XS =

= -KXYPy (~YR - ~YS) (~XR - ~XS)
(4)
-
G = KyXP
G~y = X ((~XR
KyxPx ~XR -- .¢XS) BYR -- KyXP
P X S ) ¢YR K X (~XR ~XS)
~ -- P~
~ (BXR X ~S ~~YS
) Y =
-
S
= KyXP (~XR - ~XS) (~YR - ~YS)
= X (oxR - gXS) (flyR - PYS)
KyXPX
If
I f circular
c i r c u l a r whirl
w h i r l is
i s assumed,
~R : ~XR : 0YR (5)

'l'S - 'PXS -~YS
Then the
t h e generalized
g e n e r a l i z e d forces
f o r c e s are
GX = -KXYP y {~R - ~s~2 (6)

Gy = KXYP X (~R - ~sJ
The equations of
o f motion
motion for
f o r the
t h e modal
modal coordinate
c o o r d i n a t e ppair
a i r are
(7)
288
Combining these equations and eeliminating Py ,'
l i m i n a t i n g Py
4 3 2
d Px+ 2C d px+(2k +c \ d2px + 2Ck dP X
dt 4 m dt 3 m;;r) dt 2 m2 dt (8)
k2 K2XY(~R - ~S)4j
FFor
~ 2" +
m m
o l u t i o n , assume PP == pP est
o r a ssolution,
2 Px = 0
est and upon ssubstitution,

u b s t i t u t i o n , tthe
h e ffollowing
ollowing
ccharacteristic
h a r a c t e r i s t i c equation iiss dbtain8d.
dbtain€d.
S4 32
+ A3S + A2S + A1S + Ao = 0 (9)
The complex eigenvalues ooff tthis h i s equation ddefine e f i n e tthe

h e sstability
t a b i l i t y boundaries ooff tthe he
system. Specifically,
S p e c i f i c a l l y , a rroot
oot w with
i t h a ppositive
o s i t i v e rreal
e a l ppart a r t iindicates
n d i c a t e s an uunstable
nstable
system. Per tthe Routh sstability
h e Routh analysis, an iinspection
t a b i l i t y analysis, n s p e c t i o n ooff tthe h e ccoefficients
o e f f i c i e n t s ooff
tthe
h e ccharacteristic
h a r a c t e r i s t i c equation determines whether tthe motion iiss stab1
h e motion stablee oo~r unstable
For a s t a b l e system,
A1 A2 A3 > A: + A$ A. (10)
Eva1u a t i n g t h e terms ,
Then
2
C K2XY (~R - ~S)4
> -..;.;...;..-.:..:--::...-
m k
Equation 10
10 can be written
w r i t t e n as
or
or k > KXy (PR - fSIZ
Q (11)
where
w h e r eWw = i'f-
k/m = undamped
= kim undamped natural
n a t u r a l frequency,
289
and Q
Q = k/C~ =
= k/CW = modal
modal Q-factor.
Q-factor.
Expressing the relative
Expressing the relative modal
modal displacement
displacement on a per stage basis
stage basis
and the
the cross-coupling
cross-coupling stiffness
stiffness in
in terms
terms of the
the rotor
rotor speed
speed and
the
the HP per stage
stage at
at the
the design
design point leads
leads to
to the
the following
following equation.
equation.
For
For stability,
stabi 1 i ty,
2PE
2PE
> 1.0 (12)
713,361
713,361 N (3.HP.
@iHPi 2
- - - Q L. 1 1 (~Ri -- ¢Si)
(IRi gSi)
RPM i=l
I= l Dp.H.
D ~1 Hii1
where PE
PE = {~}T[K]{~}
= 1/2 {g)
T [K]{$) == 1/2 k = = modal potential energy and NN =
modal potential = the
the number
number of
rotor
rotor stages. Equation 12
stages. Equation 12 represents
represents an an energy balance expressed ;n in terms
terms of the
the
pertinent modal parameters for
pertinent for a system mode of vibration and the physical
the physical
destabilizing forces..
forces. If If English units units are
are used,
used, then
then the
the constant
constant 713,361
713,361
RPM-cm-N/HP becomes 63,025
RPM-cm-N/HP becomes 63,025 RPM-IN-LB/HP.
RPM-IN-LB/HP. The The accurate
accurate calculation
cal cul at i on of the
the modal
modal
or generalized
generalized Q-factor
Q-factor is is key to to the use of equation
the use equation 12 for
for evaluating
evaluating system
stability.
stability. ItIt must reflect
reflect the
the effects
effects of both external
external and internal
internal damping
damping and
the
the modal participation of the the various
various engine
engine components.
components,
The
The modal Q-factor
Q-factor isis given by equation
equation A10 in
in the
the Appendix.
Appendix. Substituting
Substituting this
this
equation
equation into
into equation
equation 12
12 yields
yields the
the following
following modal stability
stability criterion
criterion (MSC).
(MSC).
For
For stabil
stabi 1 i ty,
ty,
2 2:. - + 2- 1 - -~b) --"'-"

na PEa Jill- ( p. Eb
a=l Qa b=l U) Qb
> 1.0 (13)
713,361 Il.HP.
RPM
1:
i=l
i=l
6iHPi
\;-11
DpiHi
Dp.H.
1
1 1
(PRi- plSi l2
Note that
that squeeze-film
squeeze-film damper
damper elements
elements contribute
contribute lumped
lumped damping and are
are included
included
in
in the
the summation
summation a=l,
a=l, 2,
2, 3, .....,, na.
3, ..... na. As anan approximation,
approximation, they are
are modeled as
as
soft
soft springs
springs in
in the
the system vibration analysis
analysis and a conservative component
Q-factor of 3.0 can
Q-factor used, although
can be used, although a more exact
exact value
value can
can be calculated.
calculated.
GYROSCOPIC
GYROSCOPIC EFFECTS
EFFECTS AND ROTOR INTERNAL
INTERNAL DAMPING
Figure
Figure 2 shows
shows an
an example
example of a typical
typical engine
engine system
system vibration model used to t-o
generate modal
modal data forfor the
the MSC.
MSC. This
This model
model represents
represents a single
single plane of a
demonstrator
demonstrator engine
engine and is is an
an assemblage
assemblage of substructure
substructure (span)
(span) and spring-type
spring-type
elements.
elements. It It can
can be built very rapidly
rapidly and is
is easily altered and interactively
run
run to
to generate
generate modal data for for MSC evaluation
evaluation of a wide range
range of alternative
alternative
system
system designs.
designs. The
The span
span element type, represented by solid lines
type, represented lines in
in Figure
Figure 2,
2,
includes
includes both flexibility
flexi bil i ty and mass properties
properties and models casings,
casings, rotors,
rotors, and
290
frames.
frames. The The spring-type
spring-type elements
elements model bearings, bearings, mounts,
mounts, and dampers.
dampers.
Gyroscopic moments are
Gyroscopic are incorporated
incorporated through
through spin spin and whirl
whirl frequency
frequency dependent
dependent
terms in
terms in the
the mass matrices
matrices of the the substructures.
substructures. Note that that while thethe modal
modal data
data
is
is obtained from from anan analysis
analysis which models
models a singlesingle plane of the the engine,
engine, itit does
does
reflect whirling motion of the
reflect rotors. Consider
the rotors. Consider the the consequence
consequence of cross-axis
cross-axis
gyroscopic
gyroscopic coupling:
coupling: (1) (1) lateral
lateral motions
motions of the rotor are
the rotor are not planar-the rotor
not planar-the rotor
center motion describes
center describes a circular
circular orbit,
orbit, if if rotational
rotational symmetry prevails;
symmetry prevail s; (2)
(2)
each free
free vibration mode of the the equivalent non-rotating
non-rotating shaft
shaft of the
the planar model
model
is
is split
split into
into twotwo modes
modes which are are distinguishable
distinguishable by the the sense
sense of whirl motion
(relative
(relative to to the
the shaft
shaft spin).
spin). These
These are
are forward
forward and backward whirlingwhirling modes,
modes, and
since
since the
the Alford
A1 ford instability
instabi1 i ty mechanism drives
drives forward
forward whirling
whirl ing modes,
modes, the
the planar
model
model isis constrained
constrained to provide forward
to provide forward whirling modes modes for
for the
the reference
reference rotor.
rotor.
Figure
Figure 3 shows
shows thethe Campbell
Campbell diagram (map (map of natural
natural frequencies
frequencies vs vs spin
spin speeds),
for
for the
the model
model of FigureFigure 2,2, referenced
referenced to to high pressure
pressure rotor
rotor spin
spin speeds.
speeds. The
The
frequency
frequency lines1 ines represent
represent system modes involving forward whirl whirl of thethe high
pressure rotor
rotor and backward whirl whirl of thethe lowlow pressure rotor.
rotor. The The latter
latter are
are a
consequence
consequence of counterrotating
counterrotating rotors,
rotors, and decreasing natural frequency
decreasing natural frequency (due to
(due to
gyro
gyro softening)
softening) with increasing
increasing high pressure rotor rotor speed reflects dominant
speed reflects dominant low
low
rotor participation.
pressure rotor participation. Figure Figure 4 shows
shows examples
examples of mode shapes
shapes for
for two
two
high pressure rotor rotor subsynchronous
subsynchronous modes modes at at the
the 13,226
13,226 RPM N2/-11,340
N2/-11,340 RPM NNl
. design
design point for for the
the Campbell
Campbell diagram of Figure Figure 3. 3. The
The 3131
3131 cycle/min
cyclelmin (CPMJ
(CPM~
mode isis a fan
fan shaft
shaft bending mode and the the 8303
8303 CPM mode is is a core
core rotor
rotor bending
mode,
mode, with the the core
core rotor
rotor out-of-phase
out-of-phase with.the
with-the core core case.
case. ForFor these
these two
two modes,
modes,
the
the 'spin
'spin speed to to whirl
whirl frequency ratios (d~b/W
frequency ratios /W forfor the
the high and low pressure
pressure
rotors
rotors are
are equal
equal to to (4.22,
(4.22, -3.62)
-3.62) and (1.59,
(1.5$, -1.36),
-1.36), respectively.
respectively. The The MSC
evaluations
evaluations are are based on a mode by mode evaluation evaluation at at the
the design
design point (design
(design
speeds and reference
speeds reference rotor
rotor torque).
torque). The The MSC values are are calculated for for each
forward whirl high pressure rotor
forward whirl rotor mode and the the minimum value is is the
the basis for
for the
the
rotor
rotor system stability prediction. Since Since the the destabilizing effects of the the
aerodynamic
aerodynamic cross-coupling
cross-coupling forces
forces areare generally
generally much more significant
significant for
for the
the
high pressure
pressure rotorrotor than
than for
for the
the low
low pressure rotor, rotor, the
the former
former isis considered
considered as
as
the reference rotor.
the reference rotor. Hence,
Hence, the the index
index i in in equation
equation 1313 ranges
ranges over
over the
the stages
stages
for
for the
the high pressure
pressure rotor;
rotor; both power absorption
absorption (compressor
(compressor stages), and power
generation
generation (turbine
(turbine stages)
stages) areare included in in the
the summation.
summation. It It will be noted that
that
single
single mode evaluation
evaluation is is acceptable
acceptable because the the cross-axis
cross-axis stiffness
stiffness associated
associated
with the
the Alford forces forces is is relatively small small and,and, therefore,
therefore, little loss loss in
in
accuracy results
results fromfrom the
the use
use of thethe original
original mode shapes shapes in in the
the stability
cal cul ati ons .
calculations.
The
The incorporation
incorporation of thethe modal Q-factor
Q-factor in
in the
the MSC results
results in
in the
the implicit
implicit
inclusion
inclusion of rotor
rotor hysteresis
hysteresis or rotary damping
damping which can
can be destabilizing
destabilizing if
if the
the
rotor
rotor is
is undergoing subsynchronous
subsynchronous vibration.
vibration. The
The spin
spin speed to
to whirl
whirl frequency
frequency
ratios
ratios obtained
obtained from
from the
the system vibration
vibration analysis
analysis provide the
the data needed toto
correctly
correctly incorporate
incorporate the
the effects
effects of rotor
rotor internal
internal damping
damping in
in the
the generalized
generalized or
modal damping
damping for
for the
the mode.
mode. Hence,
Hence, the
the modal Q-factor
Q-factor provides
provides the
the effective
effective
system damping
damping needed to
to correctly
correctly define
define the
the energy absorbed by the
the turbomachine
turbomachine
at
at resonance.
resonance.
EXAMPLE
EXAMPLE STABILITY
STABILITY CALCULATION
CALCULATION AND ROTOR WHIRL EXPERIENCE
EXPERIENCE
To
To demonstrate
demonstrate the
the calculation
calculation method,
method, the
the MSC values
values are
are calculated for
for each
291
natural
natural frequency
frequency involving
involving high pressure rotor
rotor forward
forward whirl
whirl at
at the
the design
design point
for
for the engine model
the engine model of Figure
Figure 2.2. These
These natural
natural frequencies
frequencies are
are calculated
calculated up to
to
the
the HP rotor synchronous
synchronous frequency
frequency and correspond to to the
the intersection
intersection of the
the
Campbell
Campbell diagram frequency
frequency lines
1 ines and a vertical line
1 ine passing through
through the
the
reference
reference rotor
rotor design
design speed (Figure
(Figure 3).
3). They occur
occur at
at 1118,
1118, 1554,
1554, 1665,
1665, 3131,
3131,
4034,
4034, 5966,
5966, 6654,
6654, 8303,
8303, 10632,
10632, and 12580
12580 CPM.
CPM.
For
For example,
example, for
for the
the 8303
8303 CPM high pressure
pressure rotor
rotor bending mode,
mode, the
the numerator
numerator of
equation
equation 13
13 is
is equal
equal to
to 122,708.
122,708. In
In general,
general, 1<(3<2.
1<9<2. Setting Q equal
Setting (3 equal to
to 2.0
for each
for each stage,
stage, the
the term
N ~.HP. 2
L 1 1 (1Ri - PSi)
i=l DP.H.
1 1
of equation
equation 13
13 is
is equal
equal to
to 1569 HP/cm 2..
1569 HP/cm
As previously mentioned,
mentioned, the
the summation i=l,
i=l, 2, . . . . ,, NN encompasses both the
2, .... the
compressor and turbine stages
stages of the
the high pressure rotor. rotor. Then
Then at the N2 =
at the =
13,226 RPM design
13,226 design speed
speed of the
the high pressure rotor:
rotor:
The
The MSC is
is equal
equal to
to 123,067 N/cm
123,067 N/cm
1.45
713,361
---(1569) N/cm
13226
Table
Table 1 provides the MSC and modal Q-factor
provides the Q-factor for
for the
the design point modes.
modes. This
This
table
table shows
shows that
that the
the minimum value
value for
for the
the MSC occurs
occurs for
for the
the 8303
8303 CPM mode and
that
that the
the system
system is
is predicted to
to be stable.
stable.
The
The modal
modal stability
stability criteria
criteria hashas shown good correlation with experience for
for
various
various General El ectri c Aircraft
General Electric Ai rcraft engines.
engines.
CONCLUSIONS
CONCLUSIONS
The
The MSC provides a convenient and quick means to to perform a rotor
rotor stability
stability
analysis
analysis using modal
modal data
data readily
readily available
avail able from
from planar system vibration models.
models.
It
It includes
includes all
a1 1 of the
the significant
significant parameters (gyroscopic
(gyroscopic moments,
moments, damping,
damping,
rotor/stator relative di spl acements) , and modeling
re1 ati ve displacements), model ing detail
detai 1 needed to
to perform a
valid assessment
assessment of rotor
rotor stability
stabil ity related toto Alford forces.
forces. The
The assumption
assumption of
circular
circular whirl means
means that
that the
the stabilizing effects of non-axisymmetric
non-axisymmetric rotor
and/or engine
engine support
support stiffness
stiffness are
are not
not included,
included, and this
this may result
result in built-in
in built-in
conservatism,
conservatism, depending
depending on thethe characteristics
characteristics of the
the engine
engine system
system modes.
modes.
292
REFERENCES
REFERENCES
1.
1. J.
J. S.
S. Alford,
A1 ford, "Protecting
"Protecting Turbomachinery from
from Self-Excited
Sel f-Excited Rotor Whirl,"
Whirl,"
ASME Trans.
Trans. Journal
Journal of Engineering for
for Power,
Power, Series
Series A, pp. 333-344,
A, pp. 333-344, Oct.
Oct.
1965.
1965.
2.
2. Childs,
Childs, D.
D. W.,"The
W . , "The Space
Space Shuttle
Shuttle Main Engine
Engine High-Pressure
High-Pressure Fuel
Fuel Turbopump
Turbopump
Rotordynamic Instability Problem",
Instability Problem", ASME Trans.
Trans. Engineering
Engineering for
for Power,
Power, Vol.
Vol.
100, No.1, January 1978.
100, No. 1, January 1978.
3.
3. Gunter,
Gunter, E.
E. J.,
J., "Dynamic
"Dynamic Stability of Rotor-Bearing
Rotor-Bearing Systems,"
Systems," NASA SP-113,
SP-113,
U.S. Government Printing Office, Washington,
Government Printing Office, Washington, D. C.,
C., 1966.
1966.
4.
4. Ehrich,
Ehrich, F.
F. F., "Shaft
"Shaft Whirl Induced
Induced by Rotor
Rotor Internal
Internal Damping,"
Damping," Journal
Journal of
Applied Mechanics, June
Appl ied Mechanics, June 1964, pp. 279-282.
1964, pp. 279-282.
-
TABLE II - MODAL STABILITY
S T A B I L I T Y AND Q-FACTOR
Q-FACTOR VALUES CALCULATED AT THE
DESIGN
DESIGN POINT*
POINT* FOR THE THE ENGINE
ENGINE MODEL OF FIGURE
FIGURE 2
NATURAL FREQUENCY MODAL-Q

MODAL-Q MSC
(CPM)
(CPM)
1118
1118 12.5 1657
1657
1544
1544 12.4 2643
1;-.·.·.
1665
1665 15.1 1112
1112
3131 20.7 12
4034 16.1 58.9
5966 21.4 246
6654 15.3 7.5
8303
10632
19.3
16.5
B53.7
12580 18.5 6.0
** N1
N1 = 11340 RPM/N2 = 13226 RPM
11340 RPM/N
2
293
BLADE FORCE
HIGH BLADE FORCE
ROTOR
LOW
IILADE
FORCE
ROTORDISK
ROTOR DISKECCENTRIC
ECCENTRICTOTOSTATOR
STATORININXXDIRECTION
DIRECTION
PRODUCESN~r
PRODUCES FORCEIN1NYY DIRECTION
NET FORCE DIRECTION
FIGURE 11 -- ALFORD
FIGURE ALFORD INSTABILITY
INSTABILITYMECHANISM
MECHANISM
.t.
FIGURE22 - - SYSTEM
FIGURE SYSTEMVIBRATION
VIBRATION MODEL
MODEL OF
OFAA DEMONSTRATOR
DEMONSTRATORENGINE
ENGINE
294
294
14
10 •0 HP
HP ROTOR
ROTOR SYNCHRONOUS
SYNCHRONOUS
l/REV KODES AT
:l'iODES AT INTERSECTIOllS
IWTERSECTIOIJS
HP ROTOR OF REV LINE
OF l/REV LINE AND
AND MODES
MODES
52
p., ' LINES
LINES
u
~ 'r-~~--~~----------------~~--------------~
•0 SOFTENING
SOFTENING DUE
DUE TO
TO BACKWARD
BACKWARD
WHIRL
WHIRL OF
OF COUNTERROTATING
COTJNTERROTATING
LP
L P ROTOR
ROTOR
1 2 3 t
-
-
s i
..
T
-
a i 1
-b i 1 i i 1 ! i
-
-
~~--~--~--~--~~---r--~8~--9--~I~O--·II---1~2--~I)~+--1·4--
" N2=
DES.
DES. POINT
POINT
N = +13,226 RPM
2 +13,226 RPM
N2 (KRPM)
N2 (KRPM) N
N1== -11,340
-11,340 RPM
RPM
1
FIGURE 3 -
- CAMPBELL DIAGRAM
DIAGRAM
FORWARD WHIRL MODES FOR HP ROTOR
BACKWARD WHIRL MODES FOR LP ROTOR
295
HP
H P ROTOR
ROTOR FORWARD
FORWARD WHIRLING
WHIRLING HODE
MODE AT
AT
THE
THE DESIGN
D E S I G N POINT
POINT
N1=-11340,
N 1 = - 1 1 3 4 0 , N2=13226
N2=13226 RPM=3l31.3
RPM=3131.3
TOTAL
TOTAL ENERGY
ENERGY 128744
1287
------- -------- ---------.~--
-------, I
FAN
FAN SHAFT
SHAFT BENDING
BENDING MODE
MODE '~
EL =-11340=-3.62
=-11340=-3.62
-~LP 3131
~p=1.3226=+4.22
3131
HP
EZP ROTOR
ROTOR FORWARD
FORWARD WHIRLING
WHII&ING MODE
MODE
AT
AT THE
THE DESIGN
D E S I G N POINT
POIITi?
Nl=-11340,
N 1 = - 1 1 3 4 0 , N2=13226
N2=13226 RPM=8302.6
RPM=8302.6
TOTAL
TOTAL ENERGY
ENERGY 679347
679347
I
---------
CORE
CORE BENDING
B E N D ~ N GMODE
MODE
~ =-11340=-1.36
P 8303
~p= 13226=+1.59
8303
FIGURE 44 -- EXAMPLES
FIGURE EXAMPLES OF
OF HIGH
HIGH PRESSURE
PRESSURE ROTOR
ROTOR .SUBSYNCHRONOUS
SUBSYNCHRONOUS MODES
MODES
296
APPENDIX
DEVELOPMENT
DEVELOPMENT OF MODAL Q-FACTOR
Q-FACTOR EQUATION
The
The equation
equation for
for the
the modal Q-factor
Q-factor is
is developed by summing
summing the
the damping
damping
contributions
contributions of the
the engine
engine components
components (field
(field damping
damping for
for casings,
casings, frames,
frames, and
rotor component
rotor component structures,
structures, and lumped
1 umped damping for
for mounts, bearings, and
mounts, bearings,
squeeze-film
squeeze-fi lm dampers).
The
The Q-factor
Q-factor for
for the
the i-th
i-th component
component is
is defined as
as
2 7T PE~
Q.1 = (AI)
PE! is
where PE! is the physical strain
the physical strain energy in
in the
the component
component and EDi
EDi is
is the
the energy
dissipat~d.
dissipat8d.
Consider
Consider the
the work done
done on the
the system at
at resonance
resonance by an
an excitation
excitation force
force P at
at
j expressed
point j expressed in
in terms
terms of modal data
data for
for the
the system.
system.
WIN = B ~ j f j(SF) (A2)
where p.
$. is
is the
the modal
modal displacement
displacement at
at point jj and SF isis a scale
scale factor
factor relating
re1 ating
the mod~l displacement
the moddl di spl acement to
to the di spl acement .
the physical displacement.
From equation
equation AI,
Al, the
the energy dissipated by the
the engine
engine components
components
is
PE.
--L (A3)
Q.1
where n is
is the
the number
number of components
components and PE
PEii is
is the
the modal
modal strain
strain energy in
in the
the
i-th
i-th component.
component.
Equating
Equating the
the work done
done on the
the system to
to the
the energy dissipated
dissipated leads
leads to
to a solution
solution
for the modal
for the modal scale
scale factor
factor SF.
SF.
TfP.~ . P.¢ .
SF = J J J J
n PE.
2TtE:. - L 2t. PE.
.:.......l-
(A4)
i=2 Q.1 i=I Q.1
where
where fl.
~j
J
is
is the
the modal
modal displacement
displacement at pOint j
at point j..
In
In reality,
reality, the
the modal
modal scale
scale factor
factor is
is the
the modal participation at
at resonance,
resonance, or
o-!
SF = lQ (A5)
k
297
d
--'
where f =
where.:f = Pj¢j
P.! =
= the force and k is
the generalized force is the
the generalized
generalized stiffness.
stiffness.
J j
Hence,
Hence, k P.~.
P.B. 2PE
2PE PE
Q (SF), 0::;- =
Q = (SF) = J J -
t;J -
-
.f PE. J-
f
i=1
2L
2&
1=1 Q.
n
Q1i
5
-L % 2-
n
2:--
i=1
= l Q 1i
i
PE.
PEi1
Q.
(A6)
(A61
Equation A6 provides
provides the
the modal
modal Q-factor
Q-factor for
for the
the system
system reflecting
reflecting the
the damping
damping
contributions
contributions of
of the
the static
static structures
structures and thethe rotor
rotor component
component structures.
structures.
However,
However, in
in the
the latter
latter case,
case, thethe rotors
rotors are
are treated asas stationary
stationary component
component
structures
structures since
since the
the effects
effects of spinspin and whirl
whirl have
have not
not been included.
included. Hence,
Hence,
the
the internal
internal or hysteretic damping associated
associated with a spinning
spinning and whirling
whirling rotor
rotor
has
has been neglected.
neglected. This
This ,damping
damping mechanism is is characterized
characterized by an
an internal
internal
friction
friction force
force caused by the
the rate
rate of change
change of strain
strain within the
the rotor.
rotor. This
This
internal friction
internal friction force
force can
can be represented with the the viscous
viscous damping
damping model
model derived
in references 3 and 4 as
in references as
(A7)
•
where
where CCtt is
is the
the viscous
viscous damping
damping coefficient
coefficient for
for a stationary
stationary rotor, # isis the
rotor, 1 the spin
spin
speed,
speed, Q)is
ct)is the
the whirl frequency, and cr
whirl frequency, is the
Jis the whirl
whirl displacement.
displacement.
Equation A7
A7 represenbs
represenhs the
the follower
follower force
force (tangential
(tangential force
force which leads
leads the
the whirl
whirl
displacement & by 90
displacementcf 90 ) Ft in
in a rotating
rotating coordinate
coordinate system fixed
fixed to
to the
the rotor.
rotor. An
equivalent
equivalent damping
damping coefficient
coefftcient is
is derived
derived as
as follows.
follows.
Ft = -CEQWd = -Ctc! (W -~) = -CtU)d (I-%Ia» (A8)
Hence, CEQ
Hence, C = Ctt ((l-~/GO)
= C 1-$1~)
EQ
If
If Q
QR is
is the
the component
component Q-factor
Q-factor for
for a stationary
stationary rotor
rotor corresponding
corresponding to Ct ', then
to C then
an
an equivalent
etuivalent field
field Q-factor
Q-factor QQEQ for
for a whirling
whirling and spinning
spinning rotor
rotor of stiffness
stiffness
kR
kR can
can be defined
defined as follows. EQ
as follows.
1kR
-=-
1 kR .
(I-PI CV)
CEQ
QEQ W QR W
(A9)
or QR
QEQ = •
(l-~/W )
Notice.that the
Noticeathat the equivalent
equivalent Q-factor
Q-factor Q
Q for
for the
the rotor
rotor is
is negative
negative when the
the rotor
rotor
speed ~$ is
is greater than the whirling FO
than the speed~. Physically this
kleed0. this means
means that
that the
the
damping force Ft acts
force F acts in,
in the
the direction
direction of whirling for
for subsynchronous
vibration
and is
is thus
thus destabilizing.
deskabilizing. ,
Incorporating
Incorporating the the expression
expression for the rotor
for the rotor Q-factor
Q-factor into
into equation
equation A6 yields
yields the
the
following
following equation
equation for the modal Q-factor
for the Q-factor which includes
includes the
the effects
effects of spinning
spinning
and whirling
whi rl i ng rotors.
rotors.
298
PE
Q=
na (AID)
La=l
PE
PE = total
total system modal
modal potential energy
na
na - lumped damping
number of lumped damping components
components (mounts,
bearings, dampers)
PEa -
-
= modal
modal strain
strain energy for
for lumped damping components
components
- component Q-factors
Q-factors for
for lumped damping
damping components
components
Qa
nb = number of field
field damping
damping components
components (casings,
(casings, frames,
frames, rotors)
rotors)
gb =
spin
spin speeds
speeds for
for field
field damping
damping components (jbis
components (jb is zero
zero for
for static
static
components)
components)
PEb = modal strain
strain energy for
for field
components
-
= component Q-factors
Q-factors for
for field
components
Qb -
299
N92-14365
ELECTROMECHANICAL
ELECTROMECHANICAL SIMULATION
SIMULATION OF
OF ACTIVELY
ACTIVELY CONTROLLED
CONTROLLED ROTORDYNAMIC
ROTORDYNAMIC
SYSTEMS WITH PIEZOELECTRIC ACTUATORS*
SYSTEMS WITH PlEZOELECTRlC ACTUATORS*
Reng
Reng Rong
Rong Lin L i n and
and A.B.
A.B. Palazzolo
Palazzolo
Department
Department o f Mechanical Engineering
of Mechanical Engineering
Texas
University
College
College Station,
S t a t i o n , Texas
Texas 77843-3123,
77843-3123, U.S.A.
U.S.A.
A.F.
A.F. KascakKascak G.
G. Montague
Montague
Propulsion
Propulsion Directorate
Directorate Sverdrup Inc .
Techno logy , Inc.
Sve r d rup Technology,
U.S.
U.S. Army
Army Aviation
A v i a t i o n Systems
Systems Command
Command Lewis
Lewis Research
Research Center
Center Group
Group
Lewis
Lewis Research
Research Center Center Brook
Brook Park,
Park, Ohio
Ohio 44142,
44142, U.S.A.
U.S.A.
Cleveland,
Cleveland, Ohio
Ohio 44135,
44135, U.S.A.
U.S.A.
This research
This research developed
developed theories
theories and
and conducted
conducted tests
tests for
for incorporating
incorporating piezoelectric
piezoelectric pushers
pushers
as
as actuator
actuator devices
devices for
for active
active vibration control. ItIt started
vibration control. started from simple model
from aa simple model with
with the
the
assumption
assumption of of ideal
ideal pusher
pusher characteristics
characteristics andand progressed
progressed to to electro-mechanical
electro-mechanical models
models with
with
non-ideal
non-ideal pushers.
pushers. Effects
Effectson
on system
system stability
stability due
due to
to the
the non-ideal
non-ideal characteristics
characteristics 6f
of piezoelectric
piezoelectric
pushers
pushers and
and other
other elements
elements inin the
the control
control loop
loop were
were investigated.
investigated.
NOMENCLATURE
NOMENCLATURE
ADFT
ADFT Active
Active damping
damping feedback
feedback theory
theory
ADSFT
ADSFT Active damping
Active damping and and stiffness
stiffness feedback
feedback theory
theory
ASFT
ASFT Active
Active stiffness
stiffness feedback
feedback theory
theory
AVC
AVC :: Active
Active vibration
vibration control
control
[CJ
[Cl :: Damping
Damping matrix
matrix
C~
C:
l
Feedback positive
:: Feedback positive active
active damping
damping
[Cd
[CD] :: Proportional
Proportional damping
damping matrix
matrix
CD
CD,i
Capacitors used
::Capacitors used inin differentiator
differentiator
nd
CCii Capacitors used
::Capacitors used inin 22nd order non-inverting
order non-inverting LPFLPF
CCSs Damping coef.
:: Damping coef. of
of the
the piezoelectric
piezoelectric stack
stack
e1
el ::Eccentricity
Eccentricity
{FD(t)}
{FD(t)) ::External
External forces
forces (disturbance)
(disturbance)
Fi,
Fix Imbalance forces
::Imbalance forces inin xx due
due to
to mass
mass imbalance
imbalance
Fi
Fiy Imbalance forces
::Imbalance forces inin yy due
due to
to mass
mass imbalance
imbalance
Fp
FP,i
:: Force
Force produced
produced by by the ith pusher
the ith pusher
Fj(S)
Fj(s) :: ph
J~~ input
input ofof the
the transfer
transfer function
function
Gij(S)
Gij(S) Transfer function
::Transfer function between
between the ithoutput
the ith output
the /h
::the jth input
input
K Feedback gain
:: Feedback gain in
in amplifier
amplifier
[KI ::Stiffness matrix
Stiffness matrix
mD1 Stiffness matrix
::Stiffness matrix including
including the the pusher
pusher stiffness
stiffness
wDD1 ::Pusher
Pusher stiffness
stiffness matrix
matrix
*The
*The authors
authors gratefully
g r a t e f u l l y acknowledge
acknowledge the t h e funding
f u n d i n g for
f o r this
t h i s research
r e s e a r c h provided
p r o v i d e d by
by
NASA
NASA Lewis
Lewis and
and the t h e Texas
Texas A&M A&M Turbomachinery
Turbomachinery Consortium. Consortium. Sincere S i n c e r e appreciation
appreciation
is
i s also
a l s o extended
extended to t o the
t h e following
f o l l o w i n g people
people for f o r their
t h e i r technical
t e c h n i c a l assistance:
a s s i s t a n c e : John
John
Ropchock.
Ropchock, Gerald
G e r a l d Brown.
Brown, and and Tom Tom Lakatos.
Lakatos.
301
30 1
PRECEDING PAGE BLANK
PRECEDING PAGE FILMED
NOT FILMED
BLANK NOT
[K
[ K F 1] ~ :: Feedback stiffness matrix
K',p
h :: Preload spring inside the pusher
K~
KpA A :: Stiffness of pusher A
K
KpB PB :: Stiffness of pusher B
K
KRA RA :: Absorber stiffness at pusher A
A-R
KRB B :: Absorber stiffness at pusher B
Ks
h's :: Stiffness of the stack of piezoelectric discs
LPF :: Low pass filter
M :: Number of actuators
[M]
[hll :: Mass matrix
[Mp]
IMP1 :: Lumped mass matrix of piezoelectric pushers
N :: Number of degrees of freedom
RD,
Rot :: Resistors used in differentiator
nd
Rii
R 2nd
:: Resistors used in 2 order non-inverting LPF
RF
RF :: Feedback resistor used in amplifier
RJ
RI :: resistor used in amplifier
T.F. :: Transfer function
Vp
VP :: Probe voltage
z;
2; :: Pusher tip displacement
{a}
{a) :: Prescribed displacement of the pushers
Pi
di factors used in transfer function match
:: scalar factors
(i
<i : ith modal
:ith modal damping
damping
[nd
[ail ith natural
:: ith natural frequency
frequency
INTRODUCTION
There are two major strategies in rotordynamic vibration control: passive control and
active control. Passive control is achieved by changing system parameters via passive damping
dampers, impact dampers,
components or devices. Some of these devices are Lanchester dampers, dampers, and
squeeze-film dampers. Active control uses a servo-controller-actuator system to produce control
forces which act directly upon the rotor in response to measured vibrations. Active vibration
control has become an area of intense research in rotorbearing system dynamics. Research has
been focused on developing effective active vibration control algorithms for machine tools, large
space structures, and in robots. Significant efforts are being made to apply active vibration
(AVC) devices to rotating machinery in the petrochemical, aerospace and power utility
control (AVC)
industries. The advantages of active control over passive, i.e., absorbers and dampers,
industries. dampers, is
the versatility of active control in adjusting to a myriad of load conditions and machinery
configurations. This is clearly illustrated when one considers the very narrow bandwidth that
a tuned spring mass absorber is effective in. Other advantages of AVe AVC include compact size,
light weight, and no lubrication systems needed in the control components, and the satisfactory
operation in high or low temperature.
LITERATURE REVIEW
Electromagnetic shakers and magnetic bearings have been used for actuators in the majority
of the active vibration control research mentioned in the literature. Magnetic bearings act
forces onto the
directly onto the rotor without contact while electromagnetic actuators apply forces
(1985) examined the stability and observability
rotor indirectly through the bearings. Schweitzer (1985)
302
of rotorbearing systems with active vibration control, and presented an analysis which related
force and stiffness to electrical and geometrical properties of electromagnetic bearings.
force
Nikolajsen (1979)
(1979) examined the application of magnetic dampers to a 3.2 meter simulated
marine propulsion system. Gondhalekar and Holmes (1984) (1984) suggested that electromagnetic
bearings be employed to shift critical speeds by altering the suspension stiffness. Weise (1985)
(1985)
discussed proportional, integral, (PID) control of rotor vibrations and illustrated how
integral, derivative (PID)
magnetic bearings could be used to balance a rotor by forcing
forcing it to spin about its inertial axis.
a1 (1986)
Humphris et al (1986) compared predicted and measured stiffness and damping coefficients for
aa magnetic journal bearing.
Several papers describe active vibration control utilizing other types of actuators such as
pneumatic, hydraulic, electrohydraulic, and eddy current force generators. Ulbrich and Althaus
(1989) discussed the advantages and disadvantages
(1989) disadvantages of different types of actutors, and examined
force actuators.
controlled hydraulical chambers as force actuators. This compact system could develop very large
forces and thereby influence even large turbines weighing several tons, however, the difficulty of
forces
100 Hz) response. This was essentially limited by
hydraulic control lies in high frequency (over 100
(1986) developed an active vibration control
the servo valve implemented and fluid losses. Feng (1986)
scheme with actuator forces resulting from varying bearing oil pressure. Heinzmann (1980) (1980)
'
employed loud speaker coils linked to the shaft via ball bearings to control vibrations.
Crawley and de L .IS (1983, 1985)
~ 1 s(1983, 1985) used piezoceramics, bonded on the surface of cantilever
beams, as actuators either to excite vibrations or to suppress the vibrations by introducing
system. Furthermore, they developed a theoretical background for predicting the
damping to the system.
amplitude of the vibration induced by piezoceramics. Stjernstrom (1987)
(1987) bonded piezoceramics
nd
st and 2
on cantilever beams as actuators and sensors to induce the 1lSt 2nd vibration modes.
a1 (1989)
Matsubara et al (1989) employed piezoelectric dampers to suppress
suppresschatter vibrationduring
chatter vi bration during
a boring process. These piezoelectric dampers were driven so as to generate damping forces
corresponding to the vibration velocity of the boring bar. Tzou (1987)
(1987) demonstrated the control
of bending vibration in non-rotating beams by using layered piezoelectric materials.
This paper considers the effects on the system stability due to the non-ideal characteristics
of piezoelectric pushers and other control devices used in the control loop. The piezoelectric
actuators are represented by equivalent, linear electric circuit with elements selected so as to
match the frequency response function of the circuit to t o that of the actuator.
actuator. The differential
equations for the circuits are assembled into the structural matrices to form an electro-mechanical
system. This model may than be employed to predict instability onset feedback
model of the system.
gains, total system stability and total system forced response.
gains,
ANALYSIS
AN ALYSIS - GENERAL
The matrix differential equations of motion for a rotor bearing system can be derived by
nd
using Newton's
Newton's 22nd law or by Lagrange's method. Eq.(l) shows the matrix differential equation;
[MI, [C],
where [M], [C], and [K]
[K] matrices are the rotor bearing system mass, damping, and stiffness,
stiffness,
{F} represents the external forces
freedom, and {F}
respectively, N is the number of degrees of freedom,
system.
exerted on the system.
303
(Palazzolo, 1981)
Figure 11 (Palazzolo, 1981) shows
shows aa general rotor model with translatory and rotational
dofs in the XZ and YZ planes. The
dofs The model isis discretized into lumped inertia stations
stations which are
are
massless beam segments.
connected by massless segments. The
The equilibrium equation of aa disk
disk is
is derived through the
forces present due to adjacent beam segments
consideration of external forces segments and the bearing stiffness
forces.
forces.
The free
The free vibration equilibrium
equilibrium equations
equations for
for the
the entire
entire rotor system
system are
are assembled
assembled by
displacement compatibility.
requiring internal equilibrium and displacement compatibility. Palazzolo (1981)
(1981) shows
shows how the
the
[MI, [K],
[MJ, [K],and [C]
[C] matrices are
are formed
formed for
for aa generic
generic rotorbearing
rotorbearing system
system from
from basic geometric and
material properties.
ANALYSIS - EQUIVALENT
ANALYSIS EQUIVALENT CIRCUITS
CIRCUITS
(Palazzolo, 1989)
In previous references (Palazzolo, 1989) the free
free tip response of aa piezoelectric pusher is is
assumed to be approximately equal to the internal prescribed displacement which which is
is assumed
to vary linearly with input voltage.
to voltage. These
These assumptions
assumptions areare valid
valid only at frequencies
frequencies well
well below
the resonant frequency
the frequency of the
the pusher. The
The phase lag of thethe piezoelectric pusher increases
increases with
frequency and may causecause negative
negative active damping to to occur if the
the phase lag is 90'.
is greater than 90°.
Phase lag
Phase lag is
is also
also introduced by the
the pusher drivers
drivers and other electronic components in the the control
control
loop.
loop.
time-invariant system with input f(t)
A linear time-invariant
A f ( t ) and with output r(t)
r ( t ) can be characterized by
its impulse response g(t),
its g(t), which is
is the
the response
response when subjected
subjected to
to an impulse input 8(t).
an unit impulse S(t).
Once the
Once the impulse
impulse response of the
the linear system
system is
is known,
known, thethe output of the system r(t),
the system r ( t ) , with any
input f(t),
f ( t ) , may be
be found
found from
from the
the transfer function
function of thethe system.
system.
The transfer
The transfer function
function of aa linear time-invariant
time-invariant system
system is
is defined
defined as
as the Laplace transform
the Laplace
the impulse
of the impulse response with zero
zero initial
initial conditions
conditions (Kuo,
(Kuo, 1987).
1987). InIn general,
general, if aa linear
linear system
system
has pp inputs
has inputs and outputs, the
and q outputs, the transfer function
function between
between the
the ith and the
ith output and j t h input
the jth input is
is
defined as
defined as
Ri(S)
Gij(S) = Fj(S) (2)
where F k ( S ) == 0,
where Fk(S) 0, k == 1, ... ,, p,
2, ...
1, 2, p, k -I-# j.
electrical circuits
Equivalent electrical circuits are
are constructed to
to reproduce the
the measured transfer (frequency
(frequency
response) functions
response) functions of the
the piezoelectric
piezoelectric actuators
actuators and
and their amplifier drivers.
drivers. These
These linear circuits
circuits
may then be
may be assembled
assembled with thethe structural
structural system
system equations.
equations.
An electro-mechanical representation of an
An an AVC
AVC system,
system, consisting of aa soft-mounted
soft-mounted pusher,
pusher,
pad, probe,
isolation pad, probe, and
and control
control devices,
devices, is
is shown
shown inin Figure
Figure 2.2. In
In this
this figure
figure the
the buckout circuit
circuit
removes DC
removes DC bias from
from the
the eddy
eddy current
current displacement sensor,
sensor, the
the low
low pass
pass filter
filter (L.P.F.)
(L.P.F.) is
is utilized
to reduce
to reduce high
high frequency
frequency noise
noise and
and improve
improve stability.
stability. The
The figure
figure also
also shows
shows howhow the
the piezoelectric
nd
actuator and
actuator and its
its amplifier
amplifier driver
driver are
are both
both represented
represented by equivalent 22nd
by equivalent. order non-inverting
order non-inverting low
low
pass filters.
pass filters. With
With this
this model,
model, the
the non-ideal
non-ideal characteristics
characteristics ofof the
the overall
overall system
system duedue to
to phase
phase lag
lag
and frequency
and frequency dependency
dependency can can be
be included.
included.
The differential
The differential equation
equation for
for the
the differentiator
differentiator in Figure 22 is
in Figure is
. .. ( RDI 0 D2) . 1
-Yin = R D1 0D2 Vout + -R
D2
+ - Dl
0 Vout + R D2 0'Dl Vout (3)
304
The
The corresponding
correspanding transfer function
function is
is then
If the variable 'S' in Eq.(

the variable'S' Eq.(4) is replaced by the
4) is variable 'jw',
the variable Eq.(4)
'jzo', then Eq.( the frequency
4) represents the
function of the
response function the differentiator in the
the frequency
frequency domain.
nd
The differential
The for the 22nd
differential equation for is
order non-inverting low pass filter is
(5)
The
The corresponding
corresponding transfer function
function is
is then
K
v2(s) -
T.F. = - (RIRzCICZ)
(6)
Vl(S) -
s2+ [ ( +) + -
I 1
+ RlR,ClC,
Again, if the
Again, the variable 'S7is
variable '5' is replaced by the variable 'jw'
the variable in the
'jw'in the above
above equation,
equation, Eq.(6)
Eq.(6) represents
represents
the
the frequency
frequency response function
function inin the
the frequency
frequency domain
domain and
and is
is shown
shown below.
below.
V2 (j 211) - A-
K
T.F. = - (7)
( ) (1 - R1R2C'1C2d2) + jw[C2(Rl + R2) + (1 - k)RlCl] (7)
The
The electrically undamped natural frequency, n , of this
frequency, Won, this circuit is
is defined by
(8)
and the
and the phase lag
lag angle
angle is
is
4 = tan
-1 w[C2(R1 + R2) + (1 - k)RICl] (9)
/ \
The following
The following steps
steps summarize
summarize aa simple
simple procedure
procedure to to identify
identify the
the resistances
resistances and
and capaci-
capaci-
nd
tances of
tances of an equivalent 22nd order
an equivalent order non-inverting
non-inverting low low pass
pass filter.
filter.
a) Make a frequency response plot of the physical system.
a) Make a frequency response plot of the physical system.
b)
b) Locate
Locate the
the cut-off frequency,
frequency, Ww,,n , from
from this
this plot.
plot.
c) Assume Rl
c) Assume R1 =
= R2
R2 and
and C 1 =
C1 =C 2.
C2.
305
d)
d) Select G\ R1 by
C1 arbitrarily and then calculate Rl
e)
e) Use K
K == 3 for an undamped electrical system and K K < 3 for damped electrical system.
f)
f) R and C values.
Construct the electrical circuit using the calculated Rand
g)
g) Adjust the damping factor in the equivalent electrical circuit by varying the K value to
match the peak magnitude at the cut-off frequency location.
h)
h) Multiply this realized frequency response function by a proper scale factor which represents
the magnitude ratio between the known and the realized frequency response functions at
w== o.
0.
Figure 3 shows the schematic diagram for measuring the frequency response function of a
pusher. The pusher is screwed inside a vertical steel cylinder and excited by a signal generator
through the pusher driver. The displacement of the free
free tip of pusher, output for the transfer
function, is measured by an eddy current probe. The exciting signal is the input for the transfer
function,
function. Both input and output are connected to a spectrum analyzer and the results of the
transfer function are·
are sent to
t o a printer.
Figure 4 shows the transfer function of a typical pusher while Figure 5 shows the corre-
nd
2nd
sponding transfer function of the equivalent 2 order non-inverting low pass filter circuit with
R and C values. This simulation shows a very good correlation between the two trans-
identified Rand
functions when the frequency is below 4000 Hz. Note that a jet
fer functions jet aircraft engine, depending
(83.3 Hz) up to 25000 rpm (416.6 Hz).
on the size, normally operates at speeds from 5000 rpm (83.3 Hz).
frequencies have always occurred less than 4000 Hz,
Furthermore, electro-mechanical instability frequencies
in our testing.
ANALYSIS - ELECTRO-MECHANICAL SYSTEM MODELING

UTILIZING OPPOSING SOFT-MOUNTED ACTUATORS
The stability of the active vibration control system is affected by both the characteristics of
(e.g. actuators) used in the
the mechanical system (e.g. rotor) and those of the electrical devices (e.g.
control feedback loop. The characteristics, i.e. phase lag, of the electrical devices are incorporated
in the mechanical system model by including their transfer function behavior represented by
electro-mechanical model and comparisons between
equivalent electrical circuits. Theory for the electro-mechanical
predicted and measured unbalance response and stability are presented.
Electro-Mechanical Model Theory
Let two opposing, soft-mounted pushers be installed at the jth jth bearing of the rotor system
(see Figure 6)6) where mb, cj, and kkjj are the mass, damping, and stiffness of the jth
mb, Cj, jth bearing, and
kkpA k p B are the stiffnesses of pushers A and B and the dashed blocks represent
pA and kpB the following
components:
Block A: Inverting differentiator
4th order non-inverting low pass filter to simulate the Ithaco filter
Block B: 4th
nd
Block C:C: 22nd order non-inverting low pass filter to simulate pusher driver B
nd
Block D: 2 2nd order non-inverting low pass filter to simulate pusher B
nd
Block E: 22nd order non-inverting low pass filter to simulate pusher driver A
306
znd
F: 2 nd order non-inverting low pass filter to simulate pusher A
Block F:
Combining the mechanical and electrical differential equations for the model in Figure 6
yields
mb 0 0 0 0 0 0 0 0 0 x
0 mpA 0 0 0 0 0 0 0 0 XA
0 0 mpB 0 0 0 0 0 0 0 X,.B
0 0 0 RDI C D2 0 0 0 0 0 0 VI
0 0 0 0 1 0 0 0 0 0 V2
0 0 0 0 0 1 0 0 0 0 V3
+
0 0 0 0 0 0 1 0 0 0 V4
0 0 0 0 0 0 0 1 0 0 V5
0 0 0 0 0 0 0 0 1 0 V6
0 0 0 0 0 0 0 0 0 1 V7
c·J 0 0 0 0 0 0 0 0 0
X
0 CRA 0 0 0 0 0 0 0 0
XA
0 0 CRB 0 0 0 0 0 0 0
X.B
(1 0 0 ( RDl
RD2
+ CD2)
CDl
0 0 0 0 0 0 VI
V2
0 0 0 0 Al 0 0 0 0 0
V3
+
0 0 0 0 0 A2 0 0 0 0
0 0 0 0 0 0 0 0 0 1:'4
A3
V5
0 0 0 0 0 0 0 A4 0 0
V6
0 0 0 0 0 0 0 0 ,A5 0
0 0 0 0 0 0 0 0 0
11'7
A6
(k ll k12 k13 0 0 0 0 k18 0 k llO x F(t)
k21 k22 0 0 0 0 0 0 0 k 210 XA 0
k31 0 k33 0 0 0 0 k38 0 0 XB 0
0 0 0 k44 0 0 0 0 0 0 VI 0
0 0 0 k 45 k55 0 0 0 0 0 V2 0
0 0 0 0 k65 k66 0 0 0 0 V3 0
k71 0 0 0 0 k76 k77 0 0 0 V4 0
0 0 0 0 0 0 k87 k88 0 0 V5 0
k91 0 0 0 0 k96 0 0 k99 0 V6 0
0 0 0 0 0 0 0 0 k109 k1010 V7 0
(10)
where
kll =
kll +
= kk jj + kPA
pA + kpB
~ P B kI2
k12 = PA
= -kPA k13 = -kpB
kk lI88 =
= kpB(37
kPBP7 kk llO
ilo = - ~ PpAA(38P B
= -k
k21 = = -kPA pA k22 =
k22 = kRA
~ R A k pA + PA k 210 = k pA (38
k31 = = -k
- ~ pBP B k33 =
= kRB
~ R B k~ pB
P B+
+ .k38 = -k pB (37
k - 11
4 -=
k 444 CD
C o 1l RD2
RDz
k54
k54 =
= --w~
w ? hK- i1P(32
2 k55 =
k55 =ww~21
k65 =
k65 -W~K2
= -w;K2 k66 = w~2
= W2
307
k71 = w; K3f31 (1 k76 = W;K3f33f34
k87 = -W~K4f35 k88 = W~
k91 = -W~K5f31(1 k96 = -W~K5f33f34 k99 = W~
k 109 = -W~K6f36 k 1010 = W~
(11 )
and where K
Kiiis the internal zero frequency gain of the individual filter and is defined as
i = 1,2 (12)
and
2 1
w ! = -R-2-i---I-R-2-i(-:-2-i_-1-(-'-2i ' i = 1,2 (13)
i = 1,2 (14)
lXA = 138 V7 (15)

lXB = 137 Vs (16)
Vp = (IX (17)
p5 and 137
Finally 135 factors used to match the amplitudes of the transfer functions
j 7 are the scale factors
of the pusher driver B and pusher B, respectively.
Eq.(lO) are next assembled into the structural
The "electromechanical" element matrices in Eq.(10)
finite element model of the rotor bearing system described by Eq.(l).
Eq.(l). The total system model
can then be employed for free
free or forced vibration response simulation.
simulation.
TEST RESULT CORRELATION

Figure 7 shows a diagram of the actively controlled rotor bearing system at NASA Lewis.Lewis.
Each bearing has a control circuit as shown in this figure.
figure. Unbalance response was obtained by
coefficients for an imbalance attached on the outboard disk.
measuring the influence coefficients disk. Figure
shows the measured influence coefficient
8 shows coefficient at the outboard bearing for the controlled and
uncontrolled cases. Figure 9 shows that the predicted influence coefficient
coefficient as obtained from the
electromechanical simulation model is in good agreement with the test results. The simulation
model employed a proportional damping assumption for the uncontrolled (tare)(tare) system.
system.
The YoYo velocity feedback gain was increased in Figure 7 until the system became unstable
at zero rpm. The unstable mode shape was measured and appears in in Figure 10. i shows
10. Figure 111
that the corresponding unstable mode predicted by the electromechanical simulation model is
very similar in form and frequency. The instability onset-feedback gain was very sensitive to the
amount of passive (uncontrolled)
(uncontrolled) damping of the unstable mode. The measured passive damping
ratios for this mode ranged between 0.0011
0.0011 and 0.011.
0.011. The measured instability onset feedback
(P4) was 5.
gain (134) 5. The predicted value was 7 with a unstable mode passive damping of O.OOll.0.0011.
The utility of the simulation program as a design or trouble shooting tool for actively controlled
308
systems is
systems is demonstrated in Figure
Figure 12
12 which shows
shows how stability can be controlled by changing
low pass filter.
resistance in the low filter.
Figure 13
Figure 13 shows
shows the
the effectiveness of the control system
system in controlling
controlling two modes utilizing
active damping
both active damping and stiffness.
stiffness.
SUMMARY
SUMMARY
The authors have developed aa new means for for simulating
simulating the electromechanical response
response
active vibration control. The
of rotorbearing system utilizing aa piezoelectric actuator type active
simulation results show good agreement with those measured on aa two bearing turbine-driven
Lewis.
test rig at NASA Lewis.
REFERENCES
REFERENCES
[1]
[I] Crawley, E.F.
Crawley, E.F. and de
de Luis, J., 1983,
1983, "Experimental
LLExperimentalVerification of Piezoelectric Actuators
83-0878.
for Use in Precision Space Structures," AIAA Paper 83-0878.
[2]
[2] Crawley, E.F.
Crawley, E.F. and de Luis, J., 1985,
1985, "Use of Piezoceramics as Distributed Actuators in Large
th
26th
Space Structures," Proceedings of the 26 Structures, Structural Dynamics,
Structures, Dynamics, and Materials
Conference, Part 2, AIAA-ASME-ASCE,
Conference, AIAA-ASME-ASCE, Orlando, Florida,Florida, April, pp. 126-133.
126-133.
[3]
[3] Feng, G.
Feng, G. Xin,
Xin, N., 1986,
1986, "Automatic
LLAutomaticControl of the Vibration of the Flexible Rotor with
Int. Conf.
Microcomputer," Int. Conf. on Rotordynamics, IFTOMM and JSME,
JSME, Tokyo, Sept.
Sept. pp.14-
17.
17.
[4]
[4] Gondholekar, V., and Holmes, R., 1984,
Gondholekar, 1984, "Design of Electromagnetic Bearing for Vibration
Control of Flexible Transmission Shaft," Rotor Dynamic Instability Problem in High
Performance Turbomachinery, Texas A&M Univ., May.
[5]
[5] 1980, "The
Heinzmann, J.D., Flack, R., Lewis, D., 1980, LLTheImplementation of Automatic
l~ niv. of Virginia Report
Vibration Control in High Speed Rotating Test Facility," Univ.
UVA/464761/MAE80/160.
UVA/464761/MAE80/160.
[6]
[6] 1988, Personal communications,
Hermann, E., 1988, communications, Hartford Insurance, Houston, Texas
[7]
[7] Humphris, R., et al., 1986,.
1986, -"Effect
"Effect of Control Algorithms on Magnetic Journal Bearing
Properties," JJ.. Eng. Gas Turbines and Power, ASME, Oct., Vol. 108,
108, pp. 624-632.
[8]
[8] Matsubara, T., Yamamoto, H., Mizumoto, H., 1989, "Chatter
"Chatter Suppression by Using
Piezoelectric Active Dampers," Rotatory Machinery Dynamics, DE-Vol. 18-1,
18-1, 12th Biennial
Conference on Mechanical Vibration and Noise, Montreal, Quebec, Canada, September, pp.
79-83.
[9]
[9] Nikolajsen, J., Holmes, R. and Gondholekar, V., 1979,
1979, "Investigation
"Investigation of an Electromagnetic
Damper for Vibration Control of a Transmission Shaft," Proc. Instn. Mech. Engr., Vol,
193, pp. 331-336.
[10]
[lo] Palazzolo, A.B., 1981,
1981, "Vibrations of
of Locally Modified Mechanical and Structural Systems,"
University
Uni versi ty of
of Virginia Dissertation, Mechanical Engineering, January.
[11]
[Ill Palazzolo, A.B., Lin, R.R., Kascak, A.F., Montague, J., Alexander, R.M., 1989,
1989, "Test
and Theory for Piezoelectric Actuator - Active Vibration Control of
of Rotating Machinery,"
309
ASME Conf.,
ASME Conf., Montreal,
Montreal, Canada,
Canada, September,
September, Submitted
Submitted toto the
the AS
ASME Journal.of
ME Journal. of Vibration,
Vibration,
Acoustics, Stress,
Acoustics, Stress,and
and Reliability
Reliability in
in Design
Design for
for publication.
publication.
[12]
[12] Palazzolo, A.B.,
Palazzolo, A.B., Lin,
Lin, R.R.,
R.R., Kascak,
Kascak, A.F.,
A.F., Montague, J., Alexander,R.M.,
Montague, J., Alexander,R.M., 1989,
1989, "Piezo-
"Piezo-
electric Pushers
electric Pushers for
for Active
Active Vibration
Vibration Control
Control of of Rotating
Rotating Machinery,"
Machinery," ASME
ASME Journal
Journal of
of
Vibration, Acoustics,
Vibration, Acoustics, Stress,
Stress, and
and Reliability
Reliability in
in Design,
Design, Vol.
Vol. 111, July, pp.298-305.
111,July, pp.298-305.
[13]
[13] Schweitzer, G., 1985,
Schweitzer, G., 1985,"Magnetic
"Magnetic Bearings
Bearings for
for Vibration
Vibration Control,"
Control," Bently
Bently Nevada
Nevada Instability
Instability
Seminar, Minden Nevada.
Seminar, Minden Nevada.
[14] Stjernstrom, Scott
[14] Stjernstrom, Scott C.,
C., 1987,
1987, "Active
"Active Vibration
Vibration Control
Control Using
Using Piezoceramic
Piezoceramic Transducers,"
Transducers,"
Texas A&M University Thesis,
Thesis, Mechanical
Engineering Department,
Department, December.
December.
[15] Tzou, H.S.,
[15] Tzou, H.S., 1987,
1987, "Active
"Active Vibration
Vibration Control
Control of
of Flexible
Flexible Structures
Structures Via
Via Converse
Converse Piezoelec-
Piezoelec-
th
tricity," Presented
tricity," Presented atat the 2othMidwestern
the 20 Midwestern Mechanics
Mechanics Conference,
Conference, 8/31-9/2,
8131-912, 1987,
1987, Develop-
Develop-
ments in
ments in Mechanics,
Mechanics, pp.1201-1206,
pp.1201-1206, Vol.
Vol. 14-c.
14-c.
[16]
[16] Weise, D.,
Weise, D., 1985,
1985, "Active
"Active Magnetic
Magnetic Bearings
Bearings Provide
Provide Closed
Closed Loop.
Loop. Servo
Servo Control
Control for
for
Enhanced Dynamic
Enhanced Dynamic Response,"
Response,'' Proc.
Proc. 27th
27th IEEE
IEEE Machine
Machine Tool
Tool Conf.,
Conf., October.
October.
x' r -----
t-L- I
I
I
I
I
I
I . I
L_________________
I
IDC moor suftR llllE!TlIIG
'. I
1
~
i,
,
I
,: v, IN
,
I
I
!
,
Figure 11 General
: 121m
am CIllIJt·
OLW DIIIVEITIII&
MIMRTIAL.P.F MIIPUSIEI:
L.P.F.• .FGt
~------------------------~
b------------------------A
AISIOL:
I
Figure General n-disc
n-disc rotor
rotor bearing
bearing system.
rystem. ~----------------------------~.~~~r---~
Figure 22 Soft-mounted
Figure Soft-mounted single
single pusher
pusher with
with absorber.
absorber.
310
Probe
I I
Signal I :L Ri Ave;
I
; -;1
1
t '
::
B '
1
generator 2
I b Il
I l
I 1I I EU/IU
L_
L--...
J
,.._
.-JJ
I ,
I 1 .-L., __ -,J..,
+----A7
LLF-+-4
'-..l,..-1""'-'" fI
I
'
v-/10o] v
I I... T '" f
I L ___ ~
Pusher LIN I--- --- ---

Cylinder
Cylinder
V
\
driver
/' ;I ~
\ ~~
V
o "-
o0 NORM LNX
NOAH LNXi BASE
1 BASE 25.00 HZ
AF 25.00 HZ
Plotter
Plotter
Speetrum
Spectrum 2825.0 HZ
2B25.0 HZ +:
: -79.8' ITFI:
-79.8' ITFI:
AF
1.1.44 EU/EU
44 EU/EU ~PR~~~!BP~
10000.0
XPAO EXP
analyner
analy.er
Figure
Figure 44 Transfer
Transfer function
knction plot
plot of
of a·a typical
typical pusher.
pusher.
'Figure 33 Schematic
'Figure Schematic diagram
diagram for
for measuring
measuring the
the pusher
pusher
eequency response
frequency response function,
function.
~~I I fbbl
ITFI B/A AVG
IIIII
R,
RI ==5DKI1
5OZR
RF ==8.3KI1
Rp 8 3KR
EU/EU /Ill R,
HI == R,
Ra == 571.11
57IiR
LIN
'I 1\ CI ==0.982
C,
Ca ==0.937
C,
nF
0.982 nF
nF
0 937 nF
..-- V \
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Figure Transfer function
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plot ofrealilled
of nalised electrical
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50ft-mounted pushers.
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Figure 7 Schematic diaqram of sensors. actuators.

Figure T Schematic diagram of sensors. actuators.
and concroi circuit of NASA test rig.
a.nd control circuit of NASA test rig.
313
TRIAL WEIGHT: 0.184 GRAM AT 130 DEGREE. R=2 IN
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unbalance responses
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at YO~RG with and
and
without ADFT,
without ADFT, with
with 3-mode
3-mode proportional
proportional damping
damping method.
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unstable mode
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Figure Predicted mode
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unstable
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2400 Hz.
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Figure
Figure 13 Midspan vibration
13 Midspan vibration with
with and
and without
without active
active damping
damping and
and stiffness.
stiffness.
316
N92-14366··
DYNAMIC
DYNAMIC CHARACTERISTICS AND STABILITY ANALYSIS OF
OF SPACE SHUTTLE
MAIN
MAIN ENGINE
ENGINE OXYGEN
OXYGEN PUMP
PUMP
Edgar
Edgar J. J. Gunter and and Lyle
L y l e Branagan
Branagan
Department
Mechanical and and Aerospace
Aerospace Engineering
Engineering
University
o f Virginia
Virginia
Charlottesvi
C h a r l o t t e s v iIl lIe,
e , Virginia
V i r g i n i a 22903,
22903, U.S.A.
This
This paper deals with the dynamic characteristics of the Space Space Shuttle
high pressure oxygen pump. Experimental data is is presented to show the
vibration spectrum
spectrum and response
response under actual
actual engine
engine operation and also
also in
spin pit testing for
for balancing. The
The oxygen pump appears
appears to
to be operating
near aa second critical
critical speed and isis sensitive
sensitive to
to self excited aerodynamic
cross
cross coupling forces
forces in the
the turbine and pump. An analysis is is presented
to
to show
show thethe improvement in pump stability by the the application of
turbulent flow
flow seals,
seals, preburner seals,
seals, and pump shaft cross cross sectional
sectional
modifications.
INTRODUCTION
This
This paper dealsdeals with thethe dynamic
dynamic characteristics and
and stability
stability analysis
analysis of thethe oxygen
oxygen pump
employed in in the
the NASA
NASA Space
Space Shuttle
Shuttle Main
Main Engine System.
System. Both
Both the
the hydrogen and and oxygen
oxygen pumps
pumps for
for
the SSME are
the SSME are supported
supported onon rolling element bearings. These
These bearings
bearings have
have little
little inherent damping.
damping. As As
a result of lowlow bearing damping, self excited whirl motion was was observed on the the hydrogen pump in
tests. Investigations
early tests. Investigations conducted on stability at the
the University of Virginia and also also by D. Childs atat
Texas A&M,
Texas A&M, indicated that turbulent flow flow seals
seals could substantially increase
increase the
the stability
stability characteristics
of the
the hydrogen pumps. The The theory of turbulent flow
flow seals as originally developed
seals as developed by Black, and
expanded upon by Allaire and was applied to
and Childs, was to the
the oxygen pump
pump preburner end. end. A A substantial
improvement in in rotor stability
stability of the oxygen
the oxygen pump could be achieved
could be achieved by stiffening
stiffening the cross section
the cross section of
the
the preburner shaftshaft section.
section.
PUMP DESCRIPTION
PUMP DESCRIPTION
The
The oxygen
oxygen pump
pump consists
consists of aa double
double suction
suction main impeller driven
driven by two
two stages
stages of overhung
turbine.
turbine. The
The oxygen
oxygen pump weighs weighs 7777 lbs.
lbs. and
and is
is designed
designed toto operate
operate at
at 29,000 RPM (FPL). The
RPM (FPL). The
design power of the
design the oxygen pump is is approximately
approximately 31,000
31,000 horsepower.
Figure represents aa schematic
Figure 11 represents schematic cross-section
cross-section ofof the
the SSME
SSME rocket
rocket engine.
engine. The The oxygen
oxygen pump,
pump,
labeled
labeled HPOTP,
HPOTP, for for high
high pressure
pressure oxygen
oxygen turbopump,
turbopump, appears
appears onon one
one side
side of
of the
the figure.
figure. On On the
the
opposite side of
opposite side of the
the figure
figure is
is the
the high
high pressure
pressure fuel
fuel turbopump,
turbopump, which
which supplies
supplies liquid
liquid hydrogen
hydrogen to to the
the
rocket
rocket nozzle.
nozzle. The
The liquid
liquid oxygen
oxygen and
and hydrogen,
hydrogen, supplied
supplied to
to the
the nozzles,
nozzles, are
are fed
fed in
in to
to the
the combustion
combustion
chamber
chamber of thethe rocket
rocket engine. There are
engine. There are three
three rocket
rocket engines
engines on
on each
each shuttle
shuttle craft. The
The high
high pressure
oxygen turbopump is
oxygen is designed to to supply LOX (liquid oxygen)
supply LOX oxygen) atat 1,153
1,153 lbs.
lbs. per second
second to to the
the engine.
317
The supply pressure to the main pump is 4,974 psi and the supply pressure to the small preburner
pump is
is 8,070 psi.
~--~-""*--l*---::)..
SSME MODEL
SSMEMODEl
FIGURE11 SPACE
FIGURE SPACE SHUTTLE
SHUTTLEMAIN
MAIN ENGINE
ENGINE (SSME) MODEL
MODEL
Figure
Figure 2 represents the the cross-section of the the HPOTP
HPOTP rotor. The The rotor is
is supported
supported at at the
the pump-
end (left)
(left) by two
two 4545 mm ball bearings
bearings and
and atat the
the turbine-end
turbine-end (right)
(right) by two
two 5555 mm ball bearings. At
the
the right, is shown
is shown the the two-stage, hot-gas turbine, which drives the oxygen
drives the oxygen pump. The
The main pump
pump is is
represented by the the central
central impeller and
and is
is of a dual
dual flow
flow configuration.
configuration. The
The impeller
impeller wheels
wheels act
act as
as a
balance
balance piston
piston for
for this
this design.
design. InIn aa conventional
conventional turbopump,
turbopump, aa mechanical
mechanical axial
axial thrust
thrust bearing,
bearing, absent
absent
in
in both
both the
the oxygen
oxygen andand hydrogen
hydrogen pumps,
pumps, takes
takes upup the
the axial
axial load.
load. Overhung
Overhung fromfrom thethe pump
pump bearing
bearing
and attached to the main shaft is the pre burner impeller. The. preburner impeller
and attached to the main shaft is the preburner impeller. The preburner impeller is used to provide is used to provide
oxygen
oxygen forfor the
the combustion
combustion which
which powers
powers the
the turbine
turbine stages.
stages. The
The oxygen
oxygen rotor
rotor isis designed
designed such
such that
that itit
must be be assembled.
assembled. The The main impeller
impeller slides
slides onto
onto the
the turbine
turbine section and is
section and is held in in place with
with a lock
nut.
nut. The
The preburner impeller
impeller is
is assembled
assembled after
after the
the preburner bearings havehave been positioned.
318
2ND
2ND 1ST
1ST
TURBINE
TURBINE TURBINE
TURBINE
Y BALANCE
PISTON
-X x
-
7
TURBINE
,EARING
MAIN IMPELLER
HPOTP ROTOR
HPOTP ROTOR MODEL
MODEL
FIGURE22 HIGH
FIGURE HIGH PRESSURE
PRESSUREOXYGEN
OXYGENTURBOPUMP
TURBOPUMP(HPOTP)
(HPOTP) ROTOR
ROTOR MODEL
MODEL
Figure 33 represents
Figure represents the
the HPOTP
HPOTP case
case model.
model. The The HPOTP
HPOTP case
case model
model shows
shows the
the location
location of
of the
the
impellers, turbine,
impellers, turbine, bearings.
bearings, and
and various
various seals
seals in
in the
the pump_
pump.
-z
f TURalNE CA.SE
1t4TERSTAGE
~~~_ _ _--II\lHG
IULlT SEALS SEALS

---------~------------~--------~~~--------------~----~----~~~----x
FAIRING
fAIRING
C I S ES
N M PCASES
ruMP
TURBINECASE
TURBINE CASE INTERSTAGERING
INTERSTAGE RING
tIPOTPCASE
HPOTP CASEMODEL
MODEL
"A" (Original
HODEL"A"
KODEL NASAHodel)
(OriginalNASA Hodel)
FIGURE33 HIGH
FIGURE HIGHPRESSURE
PRESSUREOXYGEN
OXYGENTURBO
TURBOPUMP (HPOTP)CASE
PUMP (HPOTP) CASEMODEL
MODEL
31 9
319
The oxygen pump was designed to operate from 22,000 RPM (MPL -- minimum power level) to
29,000 RPM (FPL -- full power level) and is to be free
free of critical speeds in this vicinity. The design
time of operation of the oxygen pump during FPL is approximately 730 seconds.
REVIEW OF EXPERIMENTAL DATA

Figure 4 represents the experimental data obtained during NASA test run 902-065. This figurefigure
shows the synchronous motion of a radial accelerometer as a function of oxygen pump shaft speed for
both runup and rundown. On runup, two major resonant peaks are clearly seen: approximately, 22,000
RPM and 27,000 RPM. Upon rundown a very predominant peak at 26,000 RPM is observed.
According to the original design specifications, there should not be any critical speeds in the operating
speed range.
z
o ( N A S A TEST 902-065-7134
NASA 902-065-7134
1
~ 3
0:::
lJ.J
--I
lJ.J RUN- UP
U
u
<t
-1
<t
o 1
~
ll-
o Or--T--~--r--+--~--r--+--~
I-
Z
W 1
5
0...
3-
:E
RUN- DOWN
RUN-DOWN
o
u
en 2-
:::::>
o
z
o
0:::
1-
:r:
U
Z
>-
C/) O~~__~__~~__~__~~__0
0 ~
o0 55 10
10 15
15 20 25 30 30 35 40
3
HPOTP SHAFT (RPM Xx 10-
S H A F T SPEED (RPM 10- )
FIGURE 4 HPOT RADIAL

FIGURE RADIAL 45· ACCELEROMETER
45' ACCELEROMETER
320
the same NASA test
same NASA test run (902 - - 065),
run (902 065), but
but inin this
this case,
case, the
the synchronous
synchronous
motion of the oxygen pump casing accelerometer was tracked as a function
motion of the oxygen pump casing accelerometer was tracked as a function of hydrogen shaft of hydrogen shaft speed.
speed.
Sincethe
Since the hydrogen
hydrogen pump
pump operates
operates atat aa slightly
slightly higher
higher speed,
speed, the
the hydrogen
hydrogen pump pump acts
acts asasaa vibration
vibration
exciter, and
exciter, and the
the synchronous
synchronous tracking
tracking filter
filter (synchronous
(synchronouswith with the
the hydrogen
hydrogen pump pump speed)
speed)produces
produces anan
indication of
indication of which
which resonant
resonantfrequencies
frequenciesare arewithin
withinthis
thisoperating
operatingspeed
speedrange
range. .
........
Q.
a.
~ NASA TEST 902-065-7134
z
o 1.5
-
~ RUN-UP
a:
w
-1·1..0
w
()
()
<t
<1 0 .5
o
<t
a:
~ Or--r--+--+--+-~--~--~~
o
I-
Z 1.5 -
w 1.5
z
o RUN- DOWN
RUN-DOWN
0..
::lE
'1.o -
0'1.0
()
(J)
::>
0.5 -
~O.5
o
a:
:::r:
<..:>
z o~~~~~~~~~~~~
~ o 5 10 15 20 25 30 35 40
HPFTP SHAFT SPEED (RPM X 10- 3 )
FIGURE HPOTRADIAL
FIGURE55BPOT RADIAL45· ACCELEROMETER
45' ACCELEROMETER
32 1
321
From the curve on runup, it is is seen that there is
is a resonant frequency
frequency at approximately 25,000
RPM. This information corresponds
corresponds with the vibration data obtained on runup and rundown as as a
function of hydrogen or oxygen pump speed. Also Also observed isis a resonant frequency at approximately
28,000 RPM. Upon rundown, this this is
is the predominantJrequency
predominant frequency observed.
observed. From this
this data, it therefore
appears that there are
appears are three distinct resonant frequencies
frequencies in the operating
operating speed range. These
These resonant
frequencies are
frequencies are approximately 22,000 RPM, 26,000 RPM, and 28,000 RPM. The The 540
540 degree
degree phase
phase shift
indicates
indicates the
the passage
passage through
through these three
three resonant frequencies
frequencies (Figure 6).
6).
NASA
NASA TEST
T E S T NO. 902-119-8195
901-119-8195
540 Tape 6
CH. 9. 5
SEQ. No. 632, 638 o
360
PHASE
PHASE
(deg)
(deg)
180
o 100 200 300 400 500 600
HZ
FIGURE
FIGURE66 PHASE
PHASEANGLE BETWEEN HPOT
ANGLEBETWEEN HPOTRADIAL
RADIAL135·
135' AND
AND PBP RADIAL
PBP RADIAL
135·
135' ACCELEROMETERS
ACCELEROMETERS
the frequency
frequency spectrum
spectrum obtained
obtained onon NASA run 902-119
902-1 19 for
for the
the preburner
axial 90
axial 0
900 accelerometer
accelerometer for for speeds
speeds ranging fromfrom 60%
60% RPL
RPL toto 100%
100% RPL.
RPL. In In this
this figure,
figure, one
one is
is able
able to
to
discern a low level
discern a low level oxygen pump motion which may be associated
be associated with the whirl
the whirl of the oxygen
the oxygen pump
at the
at the first
first critical
critical speed.
speed. ThisThis dotted
dotted line
line is
is designated
designated "02**02whirl."
whirl." The
The frequency
frequency spectrum
spectrum also
also
shows
shows the amplitude due
the amplitude due to
to oxygen
oxygen pump
pump speed
speed and
and to
to hydrogen
hydrogen pump
pump speed.
speed. TheThe frequency
frequency spectrum
spectrum
shows that
shows that there
there isis an
an oxygen
oxygen pump
pump resonant
resonant frequency
frequency at
at approximately
approximately 378378 HzHz and
and atat 466 Hz (which
466 Hz (which
corresponds to
corresponds to 100%
100% RPL).
RPL). The The amplitude
amplitude increase
increase indicates
indicates aa possible
possible resonant
resonant speed.
speed. TheThe hydrogen
hydrogen
pump speed
pump speed isis also
also clearly
clearly seen
seen onon this
this figure
figure with
with peaks
peaks at
at 468 Hz, and
468 Hz, and at
at 587
587 HzHz (the
(the operating
operating speed
speed
of the
of the hydrogen
hydrogen pump).
pump). It It appears
appears that
that the
the hydrogen
hydrogen pump
pump maymay also
also be
be operating
operating on on aa resonant
resonant
frequency. The
frequency. The factfact that
that the
the hydrogen
hydrogen pump
pump speed
speed peaks
peaks atat 468 Hz also
468 Hz also indicates
indicates aa possible
possible oxygen
oxygen
pump resonant
pump resonant frequency
frequency at at the
the hydrogen
hydrogen pump
pump operating
operating speed.
speed.
322
WASA nsr WOo
'01-11'-l1tS
o '00 lIZ
90' ACCELEROMETER CASCADE DIAGRAM

FIGURE 7 PBP AXIAL 90'
Figure 8 represents the synchronous radial acceleration of the oxygen rotor as a function of
oxygen pump shaft speed (NASA test 910-136). During runup, two resonances were observed at 22,000
and 25,500 RPM. The resonance at 25,500 RPM appears to dominate. This speed corresponds to
operation at 90%
90% rated power level. Upon reaching rated power level, the speed was reduced and the
rotor was operated at 90%90% RPL. Due to continued operation at this speed, the rotor amplitude
figure represents the
increased until failure occurred. The upper figure the phase angle change while passing
through the 25,000 RPM speed range. The 180 180 degree phase shift shown corresponds to passage
through a resonant frequency.
Run 902-193 was a later run of the S.S.M.E.
S.S.M.E. in which the system was operated to 109%
109% of the
rated power level. Several spectrums of this run are shown to illustrate the response frequencies
encountered with the oxygen and hydrogen pumps.
HPOP 45
Figure 9 represents the peak hold spectrum from 0 to 500 Hz encountered with the HPOP.
degree radial accelerometer. This figure shows
shows that a frequency of 232 Hz at a level of 4 Grms was
100% RPL. The value of 232 Hz could correspond to the
encountered during acceleration from 0 to 100%
oxygen pump first critical speed. This frequency, in general, was not very pronounced during
deceleration.
Figure 10
10 represents the peak channel hold accelerometer spectrum of the HPOP 45 0
450 radial
109% to 90 RPL. Not that there is a pronounced resonant
accelerometer during deceleration from 109%
frequency at 463 Hz. The magnitude of the peak amplitude is 10 10 Grms.
323
(')'- :3 60
<">w
<l: (/) 270
-I<l:
:z: .
~ a. 180
<l: ........ NASA TEST 910-136- 7251
0:0.
lL.. 6. 55 FAILURE
0(9
I-~
~~ 50 -"'--RUN-UP
6~
0..-
15 --RUN-DOWN
~o:
8~ 10
(/)w
=»
0-
z~
0-1
O::w
50:: o~~----~--~--~--~--~~
Z
>- o 5 10 15 20 25 30 35
(fj
HPOTP SHAFT SPEED (RPM x 10- 3 )
FIGURE
FIGURE88SYNCHRONOUS
SYNCHRONOUSACCELERAnON FOR
ACCELERATION FORHPOP
HPOPRADIAL
RADIAL
ACCELEROMETERDURING
ACCELEROMETER DURINGFAILURE
FAILURERUN
RUN
PEAK CHRNNEL HOLD

5.0000,-______________________~--------------------------~
902-193
HPOP 45 RAD
TAPE 8,CHNL 4
CAL 539.4
GRMS
IWl
O.Q-r--------.--------r------L,--------r------~--------~
TREQUENCY (HZ)
FIGURE99 IIPOP·
FIGURE -
IIPOP ENGINE
ENGINE ACCELERATION
ACCELERATION(0·100% RPL)
(0-100%RPL)
324
ee
10.00aJ
10.
902-193
902-1 93
HWP <45
HPOP RRD
45 RAD
- TRPE 8.
TAPE C M L '"4
B ,CHNL
cfu 539.'"
CAL 539.4
-
Grma
Grlft#
HAG
HAG
-
0.0
0.0
S6 .0
O.B
0.0 HZ
HZ
FREQl.lENCY
FREOJJENCY
FIGURE 10
FIGURE -
HPOP ENGINE
10 HPOP· ENGINE DECELERATION
DECELERATION (109·90% RPL)
(109-90% RPL)
Examination of the
Examination the various
various other
other accelerometers
accelerometers on
on the
the oxygen
oxygen pump
pump showed
showed aa similar
similar
characteristic. For example,
characteristic. example, Figure 11 11 represents the
the peak channel
channel hold spectrum
spectrum for
for the HPOT 90
the HPOT 0
900
accelerometer during
accelerometer during the
the entire
entire coast
coast down
down from
from 109%
109% to
to 0% RPL. Note
0% RPL. Note that this
this accelerometer shows
shows
aa peak resonant frequency
frequency at
at 453 Hz.
453 Hz.
7.e"0,"-T----------------r-..,...----------_~
4 5:J""""R'r" I 902-193
HPOT 99 RAD
I TREE B,CHNL 8
CAL <437.<4
L
tE
t~
E
I
Grms I
KAG
I
all
all HZ 500.00
FREQUENCY
FREQUENCY
FIGURE 11
FIGURE -
ENGINE COASTDOWN
HPOT ENGINE
11 HPOT· COASTDOWN (109'{)% RRP)
(1090% RPL)
325
The data of Run 902-193 indicates that the oxygen pump has a major resonant frequency
between 450 and 470 Hz. This response frequency could represent the second critical speed of the
oxygen pump. This mode may be particularly sensitive to excitation, because a nozzle bending mode is
also predicted in this range.
SCOPE OF INVESTIGATION
One of the major considerations for the stability analysis of the high pressure oxygen pump is
the influence of cross-coupling
cross-coupling generated by the turbine stages, the main impeller, and the seals. The
major seal locations are at the preburner
pre burner impeller, at the turbine bearing and between turbine stages.
The main areas where aerodynamic cross-coupling
cross-coupling may be generated are the main impeller and turbine
stations.
The critical speeds and stability characteristics for the oxygen pump are highly dependent upon
the values of bearing stiffness and damping assumed for the various bearing and seal location. The
values for ball bearing stiffness used are modified from experimental data. The values for seal
stiffness and damping used were taken from Childs' report. Additional seal and shaft modification
were also considered in order to evaluate their influence on stability.
In the experimental analysis of the Space Shuttle Main Engine System, it has been observed that
the hydrogen shaft speed is recorded on the oxygen pump accelerometers. The transfer of motion,
from one system to another, is due in part to the flexibility and dynamic characteristics of the engine
nozzle and hot gas manifold. In this analysis, however, the flexibility of the hydrogen
hydrogen. pump, nozzle,
and oxygen pump casings are not included.
It is therefore the objective of this investigation to identify the critical speeds and stability
characteristics of the oxygen pump only as a function of bearing and seal characteristics. The
investigation concentrates on the effects of the bearing characteristics on the critical speeds to
determine if an oxygen pump second critical speed could exist in the 460 Hz vicinity and if the pump
should exhibit indications of instability.
CRITICAL SPEED ANALYSIS OF THE OXYGEN PUMP

Background
In the original design of the oxygen pump, it was assumed that there would be no critical speed
in the operating speed range between MPL (minimum power level) and FPL (full power level). The
16,000
only critical speed that the pump would incur, would be the first critical speed at approximately 16,000
RPM. Figure 12 12 represents the original oxygen pump critical speed map, assuming no seals and a rigid
casing. Three critical speeds are shown in this field map. Superimposed on the critical speed map are
the effective bearing stiffnesses, originally assumed to be present in the oxygen pump for two different
1.37 mils and 2.63 mils. The first critical speed was estimated to be 14,000
ranges of bearing clearance: 1.37 14,000
RPM and the second critical speed was estimated to be 38,000 RPM. A value of 38,000 RPM would
place the oxygen pump second critical speed well above the maximum operating speed of the oxygen
pump.
One of the earliest indications that the actual stiffnesses may not be as high as previously
predicted was obtained from experimental information generated while attempting to balance the thk pump.
13 represents the oxygen pump rotor unbalance response (4.76 gm-in unbalance located at the
Figure 13
preburner
pre burner location) while being balanced in the spin pit facility. To more clearly indicate the resonant
frequency present in the system, the data was conditioned by subtracting the low speed runout for Run
326
13
13 of the No. 2 Bently Probe. As can be seen from the amplitude-versus-speed
amplitude-versus-speed curves experimentally
obtained, there is a first critical speed at 10,000 RPM and a second critical speed at 25,600 RPM. The
second critical speed obtained in the experimental spin test facility corresponds closely with the
incident run of NASA test 910-136.
100
-""
- - - -N -- I-- ~ f-' IV ~
S
;....,.1---'V '< ,,~ )hlld 1 s
Cubic
/" \ ~.a.
10 ,-:," ~ .,... ... ,..A
-\
,.........
/
1
....,..... ~~- ~
clearance
.00137
-
....
...
ft
C
./" "'~ N
1 i~
/ ....
L .........
-""
clearance 1- ~
- .00263
:-.
5"
2x pump /"
bearing
stiffness
0.1
1 2 4 6 8 10 L lU 000
Kp ( l b l f n l x 10-
KT = 1.25 K
P
FIGURE 12
FIGURE ORIGINAL OXYGEN
12 ORIGINAL PUMP CRITICAL
OXYGEN PUMP SPEED MAP.
CRITICAL SPEED
WING
RIGID CASING
AND
SEALSAND
MIAP NO SEALS -
In the balance test run on the oxygen pump, it was observed that unbalance at the preburner
location had very little effect on the turbine end location and also little response at the first critical
speed. An unbalance at the turbine end had a large response at 10,000
10,000 RPM, but a little response at
the second critical speed of 25,600 RPM. Thus, the experimental spin, pit data indicates that the second
mode is predominantly a preburner and main impeller mode with 'little little motion at the turbine end.
Therefore, if this second mode were excited in the oxygen pump at rated speeds, one would expect to
see large amplitudes of motion at the main impeller and preburner locations. Close examination of the
failed oxygen pump from run 910-136 indicated possible contacting at either the preburner or main
impeller; the turbine end was relatively undamaged. Figure 1313 also indicates that after passage through
the second critical speed the amplitude, a minimum of 28,000 RPM, begins to increase rapidly again,
indicating the onset of a third critical speed.
327
.... n ••••1' 110. a
I»aow.c .u~C1'.c.ull;
z•• o. SS aU • .LUl·
o~~======~~-J
o
. . . . . . . .__
~ L-__~__.....~.....~
IOTOI SPUII, IPII • 10·'
FIGURE 13
FIGURE 13 OXYGEN PUMP ROTOR UNBALANCE
AT PREBURNER LOCATION RUNOUT SUBTRACTED
ATPREBURNERLOCATION·RUNOUTSUBTRACTED -
UNBALANCE RESPONSE WITH 4.76 GM·IN
GM-IN
In order to obtain critical speeds of 10,000

10,000 and 25,600 RPM, the original critical speed map indicates
that the combined stiffness of the preburner bearings is only 400,000 lb/in, and the combined stiffness
of the turbine bearings is only 500,000 lb/in, rather than 1,200,000 lb/in, as originally predicted for the
turbine bearings.
Data obtained from the balance spin pit facility on low speed phase and amplitude runout was
not repeatable with small unbalance at the preburner
pre burner end. Such data may indicate that the shaft joints
of the preburner and main impeller shift around with unbalance
unbalance when driven to the second critical
speed. This may account for the difficulty encountered in attempting multiplane balancing of the
oxygen pump over the two critical speeds.
Computer Models
Critical speeds and mode shapes have been calculated by Rocketdyne, NASA, and the
University of Virginia. A lumped mass-elastic section model of the rotor derived from computer
analysis was provided to the University by NASA. This model consists of 15 15 shaft sections with areas,
lengths, and inertia properties; shaft diameters were derived from the inertia terms. A second model
(UVA) was created using a scale drawing of the pump cross-section.
(UVA) cross-section. Diameters, taken from the
drawing, were combined with the weights, lengths, and inertia terms of the NASA model. Figure 14 14
shows
shows the three cross sections superimposed on one another. Although the actual rotor has hollow cross
sections, both computer models
models use a solid shaft approximation.
328
SSME
S S M E LIQUID
LIQUID OXYGEN
OXYGEN PUMP
PUMP
ROTOR
ROTOR CROSS-SECTIONS
CROSS-SECTIONS
CROSS-SECTIONS
CROSS-SECTIONS
ACTUAL
ACTUAL
COMPUTER
COMPUTER MODELS:
MODELS:
NASA .....
UVA
FIGURE 14
FIGURE 14
There
There isis considerable
considerable difference
difference between NASA
NASA model
model and
and the
the UVA model
model at
at the
the pre burner
preburnes
bearing atat the
the turbine
turbine locations.
locations. For example, thethe NASA
NASA model
model assumes
assumes aa thinner section·
section atat the
the
pre burner bearing than is
preburner is assumed
assumed by the
the UV
UVA A model.
model. This
This would accentuate thethe bending problems of
the
the oxygen
oxygen pump at at the
the second
second critical speed.
speed. Also,
Also, the
the NASA model
model assumes
assumes aa thicker
thicker section
section at
at the
the
turbine
turbine shaft
shaft location
location (station
(station 10)
10) than actually exists
exists (See
(See Table
Table 1).
1). Although one one may
may use
use
experimental data on which to to base model, it is
base a computer model, is not justified
justified to assume aa cross
to assume cross section
section
which isis thicker than thethe actual
actual model.
model. Therefore, additional modifications of the the NASA model
model could
done to
be done to improve
improve itsits accuracy.
accuracy.
TABLE 11
TABLE OF COMPUTER
COMPARISON OF COMPUTER MODELS
MODELS FOR OXYGEN
OXYGEN PUMP
PUMP
ROTOR
ROTOR
ROTOR HODEL: NASA ROTOR

ROTOR HODEL: UVA
WA
SECTION
SECTION DATA
DATA SECTION DATA
DATA
STATION
STATION LENGTH
LENGTH OUTSIDE
OUTSIDE WEIGHT STATION
STATION LENGTH
JXNGTH OUTSIDE
OUTSIDE WEIGHT
NUHBER
NUMBER DIAMETER
DIAMETER NUHBER
NUnBER DIAMETER
DIAMETER
(IN)
(IN) (IN)
(IN) (LB) (IN)
(IN) (IN)
(IN) (LB)
(LB)
11 0.772 2.800 0.669
0.669 11 0.712
0.772 2.3 0.669
2 1.070 1.340 2.377 2 1.070 3.2 2.378
3 1.558 1.347 3.042 3" 1.558 1.7 3.043
4 2.583 1.518 1.290 4 2.583 1.5 1~290
5 2.640 2.270 7.757 5 2.640 2.6 7.757
6 2.640 2.975 13.392 6 2.640 2.6 13.392
7 3.170 3.105 8.607 7 3.170 2.2 8.606
8 1.560 2.931 3.404 8 1.560 2.2 3.403
9 0.800 3.102 4.197 9 0.800 2.7 4.197
10 1.120 3.102 0.101 10 1.120 2.6 0.101
11 1.200 3.050 2.473 11 1.200 2.5 2.473
l2 1.170 3.102 1.877 12 1.170 2.4 1.877 .
13 1.115 3.742 12.S14 13 1.11S s.o 12,514
14 I.l17 3.090 3.41S 14 1.117 3.1 3.416
15 0.0 3.090 13.825 15 0.0 5.0 13.825
329
Critical Speed
Critical Analysis
Speed Analysis
Although there
Although there are
are considerable
considerable differences
differences between
between thethe UV
UVA and the
A and the NASA
NASA models,
models, their
their
predictions for
predictions for the
the occurrence
occurrence of of the
the second
second critical
critical speed
speed are
are almost
almost identical.
identical. Figure
Figure 15 15 represents
represents
the oxygen
the oxygen pump
pump first
first and
and second
second forward
forward critical
critical speeds
speeds assuming
assuming an an operating
operating speed
speed ofof 27,000
27,000 RPM.
RPM.
Using the
Using the revised
revised combined
combined preburner
preburner bearing
bearing stiffness
stiffness of
of 476,000 lb/in from
476,000 lb/in from turbine
turbine bearing
bearing (Ref.
(Ref.
Childs), the
Childs), the first
first critical
critical speed
speed predicted
predicted byby the
the UV
UVA model isis 11,000
A model 11,000 RPM
RPM andand the
the first
first critical
critical speed
speed
predicted by
predicted by thethe NASA
NASA model
model isis 13,000
13,000 RPM.
RPM. Both Both models
models predict
predict the
the second
second critical
critical speed
speed atat
approximately 27,000
approximately 27,000 RPM.
RPM.
OXYGEN PUMP
OXYGEN PUMP
UNDAMPED FORWARD
UNDAMPED FORWARD CRITICAL
CRITICAL
SPEED MAP
SPEED MAP
NM == 27,000
27,000 RPM
RPM
5.0
5.0
4.0
4.0
UVA-2
I
::E NASA-SPAR
NASA-SPAR
a.
$ 3.0
3.0
'<t
c::: -RATING
- -SPEED-
-
I
02
2.5
2.5
..... C1.(/)
~(/)
--
5
x 2.0
c0
2.0 ol~
wu.
!!!I~
w 1.5 >1-
w 1.5 ~I(/)
a
a.
en
V) UVA-2
d
~
I
«a 1.0
1.0 I
u0,
k
l-
c:::
E
I
u0 I
I
.5 '---_ _ _-'----1.._-'-_--'-_-'----.1.--.J--.J1..-J
.2
.2 ..44 . 6 .6. 8 1.0 1.2
.8 1.0 1.2 1.61.6
PREBURNER BEARING
PREBURNER BEARING STIFFNESS
STIFFNESS
Kp 6 Ib/in
Kp xx 10-
10-= Ib/in
FIGURE IS
FIGURE I5
As an
As an additional
additional check
check onon the
the critical
critical speed
speed calculations,
calculations, aa computer
computer program
program to to calculate
calculate the
the
forward and
forward and backward
backward critical
critical speeds
speeds (CRITSPD)
(CRITSPD) waS was developed
developed by
by Dr.
Dr. Gunter.
Gunter. In In this
this particular
particular case,
case,
undamped seals
undamped seals as
as well
well as
as bearings
bearings were
were considered.
considered. Assuming
Assuming that
that the
the oxygen
oxygen pump
pump isis operating
operating atat
27,000 RPM,
27,000 RPM, the the forward
forward critical
critical speeds
speeds were
were predicted
predicted toto be
be 13,000
13,000 RPM,
RPM, 26,858
26,858 RPMRPM and and 37,569
37,569
RPM.
RPM.
Another reason
Another reason for
for developing
developing thethe new
new critical
critical speed
speed program
program was
was to
to calculate
calculate thethe strain
strain energy
energy
distribution between
distribution between thethe shaft
shaft and
and bearings.
bearings. ·Table
-Table 22 represents
represents the
the oxygen
oxygen pump
pump critical
critical speed
speed and
and
percent of
percent of total
total strain
strain energy
energy inin the
the shaft
shaft and
and the
the bearings.
bearings. For
For example,
example, the
the table
table shows
shows that
that in
in the
the
first mode 25%
first mode 25% ofof the
the total
total strain
strain energy
energy isis in
in rotor
rotor bending
bending and
and 75%
75% isis in
in the
the bearings.
bearings. ItIt isis of
of
330
interest to note that the preburner bearing only carries 3% of the strain energy for the first mode; the
majority of the energy from shaft bending occurs near the turbine bearing location. One could assume
therefore that the preburner bearing stiffness has little influence on the location of the first critical
speed. The preburner
pre burner and the turbine ends of the shaft have little strain energy. Therefore, the first
critical speed is predominantly affected by the main turbine bearing and interstage turbine seal.
seal.
TABLE 2 CRITICAL
TABLE CRITICAL SPEED SUMMARY
SPEED SUMMARY
Critical
C r i t i c a l Speed Analysis of
o f SSHE
SSKE Oxygen
Oxygen Pump
at
a t 27,000
27,000 RPM
RPN with Derated Bearings
Forward Whirl Analysis
Anal~sis
NO. CRITICAL
CRITICAL SPEED
SPEED SHAFT
SUET BEARING
-
MODE
MODE
-1-
1
(RPM)
(RPH)
13,000
13,000
( X of
~~ o f total
t o t a l strain
2S
25
s t r a i n enerSl)
75
75
energy)
2 26,858 19 81
3 37,569 52 48
FIRST CRITICAL SPEED SECOND
SECOND CRITICAL
CRITICAL SPEED SPEED THIRD CRITICAL SPEED
STATION
STATION SHAFT BEARING SHAFT BEARING SHAFT BEARING
~
NO. {%
(% of s t r a i n ener~~
o f strain energy) ~% of
_(% o f strain
s t r a i n enerSI)
energy) (% of
o f strain
s t r a i n enerSl)
energy)
11 0 0 0
2 0 00 0 2 0 13
13
3 0 a0 00
4 00 3 a0 50
50 5 28
55 11 7 31
31
6
6 1 5 55
7 3 55 5
8 13 34 3 29 5 7
9 6· 0 11
10
10 1 00 a0
11
11 0 00 00
12
12 0 9 0 a0 0 00
13
13 0 0
0 00
14
14 0 29 00 00 00 00
15
15 0 00 00
[Note:
[Note: seal
s e a l strain
s t r a i n energy is
i s included under BEARING)
BEARING]
At the second critical speed, predicted to be 26,858 RPM,RPM, 81%81% of the strain energy is in the
bearings and 19%
19% is in the shaft. Half of the system strain energy is in the preburner bearing and only
29% is in the main turbine bearing. It is important to note that there is little strain energy connected
preburner
with either the pre burner or the turbine shaft locations. The major·major strain energy of the shaft is
associated with sections 4 through 7, whkh
which are the preburner bearing and main impeller locations.
From the strain energy distribution of the second mode, it is apparent why the NASA model and the
UV
UVA A model match in predicting of the second critical speed; this is because the second critical speed is
being controlled predominantly by the preburner bearing stiffness. The thickness of the turbine end
location has negligible effect on the second critical speed.
A third critical speed of 37,569 RPM is predicted. In this mode, the strain energy is divided
equally between the shaft and the bearings. However, at this third mode, the major part of the bearing
strain energy is carried at the preburner seal and at the preburner 30% of
pre burner· bearing. The fact that over 30%
the total strain energy occurs in only one shaft section, station 5, indicates a considerable amount of
local bending.
331
The experimental data in Figure 7 indicates that the hydrogen pump amplitude appears to
increase with speed. If the hydrogen pump has a high level of amplitude at 37,000 RPM, it may excite
the oxygen pump third critical speed. It is apparent that this frequency can be increased only by
stiffening up the shaft section at this location. The occurrence of the critical speed of the oxygen
pump at 37,000 RPM may explain why the experimental data in the experimental test rig (Figure 13) 13)
shows amplitude beginning to increase rapidly above 28,000 RPM; the oxygen pump may have been
approaching its third critical speed, essentially an overhung preburner
pre burner mode.
16 represents the oxygen pump forward and backward critical speeds for various
Figure 16
operating rotor speeds, assuming the derated bearing stiffness characteristics. Due to the gyroscopics of
the overhung disk, main impeller and preburner ends; forward and backward critical speeds appear.
For example, at 27,000 RPM, the difference between first forward and backward critical speeds is
4,000 RPM. The second backward critical speed is approximately 24,325 RPM and the second forward
is 26,879 RPM, a difference of 2,500 RPM. The difference between forward and backward critical
speeds increase with operating speed. These values of forward and backward critical speeds were
calculated using the program ROTSTB, and they correspond closely with the predicted forward and
backward values obtained from the CRTSPD program.
PUMP
OXYGEN PUMP
PLOT
GYROSCOPIC SPEED PLOT
40,000
-
- UNDAMPED SYSTEM
I I I
lII-F
35,000 35,300 RPM--
ill-8
30,000 -
Ir-F
25,000 I-
25,700/ RPM-
Ir-8
/
Z 20,000 ~t§o/ -
+1
,:'/
0
lJJ 15,000 r-
~
lJJ
a.
en 1- ...
I-F
...J r-==:::: 11,300 RPM
a:: I-8 ,
:::c 10,000 -
3 /
Kp .. 478,000 Ib/in
K t • 574,000 Ib/in
5,000
5,000 1
L..-_-,-_~I
I I_ _.....L-_--,-I
1 1 _ _-'--_
I _J--I---,
I I
o0 9,000 18,000
18,000 27,000
27,000
OPERATING SPEED (RPM)
FIGURE 16
332
Normally, the
Normally, the occurrence
occurrence of of backward
backward critical
critical speeds
speeds inin aa turbo
turborotor
rotor isis of
of little
little concern,
concern, sincesince
unbalance in
unbalance in aa turborotor
turborotor will
will excite
excite only
only thethe critical
critical speeds
speeds ofof forward
forward synchronous
synchronous precession.
precession. In In the
the
case of
case of the SSME configuration,
the SSME configuration, however,
however, in in which
which the the oxygen
oxygen pumppump isis cantilevered
cantilevered off off the
the main
main
nozzle, excitation
nozzle, excitation fromfrom the
the hydrogen
hydrogen pump pump and and nozzle
nozzle maymay bebe transmitted
transmitted to to the
the oxygen
oxygen casing
casing byby the
the
hot gas
hot gas manifold.
manifold. Under Under these
these circumstances,
circumstances, aa planarplanar excitation
excitation could
could conceivably
conceivably excite
excite aa backward
backward
as well
as well as
as aa forward
forward mode.
mode. Observation
Observation of of the
the experimental
experimental data,
data, Figures
Figures 44 and
and 5,5, shows
shows weak
weak modes
modes
at approximately
at approximately 22,000 22,000 and
and 33,000
33,000 RPM. RPM. It It may
may be be possible
possible that
that these
these modes
modes are are backward
backward
excitations of the oxygen
excitations of the oxygen pump. pump.
Figure 17
represents first
first forward
forward undamped
undamped critical
critical speed
speed for
for the
the oxygen
oxygen pumppump operating
operating at at
27,000 RPM.
27,000 RPM. Reduced
Reduced bearing
bearing stiffnesses
stiffnesses of of 400,000 lb/in for
400,000 lb/in for the
the preburner
preburner bearing
bearing and and 600,000
600,000 lb/in
lb/in
for the
for the turbine
turbine bearing
bearing were
were assumed.
assumed. Using Using thethe ROTSTB
ROTSTB stability
stability program,
program, the the first
first forward
forward critical
critical
speed was
speed was predicted
predicted to to be
be 10,661
10,661 RPM.
RPM. This This value
value correlates
correlates well
well with
with the
the critical
critical speeds
speeds predicted
predicted by by
Rocketdyne, but
Rocketdyne, but is
is somewhat
somewhat lower
lower than
than thethe value
value calculated
calculated using
using CRTSPD
CRTSPD which which includes
includes thethe effect
effect
seals. It
of seals. also corresponds
It also corresponds wellwell with
with thethe critical speeds
speeds observed in in the
the spin
spin pit, inin which sealsseals were
were
present. As
not present. As can
can bebe seen
seen from
from thethe first
first mode
mode shape,
shape, thethe maximum amplitude
amplitude occurs
occurs atat the
the overhung
overhung
turbine and
turbine and rapidly diminishes
diminishes as as one
one approaches
approaches the the pre
preburner end. At aa distance
burner end. distance of 12 inches
of 12 inches from
from
the preburner end,
the end, the
the amplitude
amplitude is is aa node
node point. The The small
small preburner motion is is out
out of phase with with thethe
,, motion of the the turbine end.
end.
UNDAMPED
UNDAMPED 1st1 s t FORWARD
FORWARD CRITICAL
C R I T I C A L SPEED
SPEED OF
OF
OXYGEN
O X Y G E N PUMP
PUMP AT
AT 27, 000 RPM
27,000 RPM
Nlf • 10,661 RPM UII
Kp • 400 , 000 LBI IN

Kt • 600,000 LBI IN
-
, " 'L_...:>.t"--'
17
FIGURE 17
333
333
The mode shape, as depicted in Figure 18 18 for the second forward critical speed without seals,
shows that the second critical speed occurs at 25,350 RPM. Examination of the 3-dimensional mode
shape, reveals that the turbine motion is a node point and that the maximum amplitude occurs at the
main and preburner
pre burner impellers. It is readily apparent that any attempts to improve the rotor response at
27,000 RPM by trim balancing the turbine stages will have little beneficial effect; balancing must be
done at the preburner or main impeller location.
In the undamped critical speed.
speed plots, depicted by Figures 1717 and 18,
18, the mode shapes were
made nondimensional. In an actual rotor, the response of the rotor at a particular speed will be a
function of the unbalance distribution and the damping in the system. These figures imply that the
rotor cannot be successfully balanced through both critical speeds by single plane balancing of the
turbine stage. If the second critical speed cannot be successfully balanced at the preburner
pre burner impeller
due to spline slippage, then the oxygen pump should be redesigned.
UNDAMPED 2 n d FORWARD
U N D A M P E D 2nd FORWARD CRITICAL
C R I T I C A L SPEED
S P E E D OF
OF
O X Y G E N PUMP
OXYGEN P U M P AT 27,000
A T 27 , 000 RPM RPM
N Z f •= 25,350
Nif 2 5 , 3 5 0 RPM
RPM
Kp = 400,000 LB/IN
Kt • 600,000 LS/ IN
;O~,
'r~~,,
<J&~,,
'r4'","-
....-? "
""
FIGURE 18
STABILITY ANALYSIS: DAMPED .MODES MODES

In considering the stability of the oxygen pump rotor, the effects of seal aerodynamic cross-
coupling, as well as bearing and seal damping, were investigated. Stiffness and damping characteristics
for each of the six seals were taken from a report by D. Childs and were lumped together at three seal
locations: preburner
locations: pre burner seals, turbine seals, and turbine interstage seals. The bearings were modeled using
334
the derated stiffnesses and minimal damping. The overall stiffness and damping matrix used in the
initial stability analysis is presented in Table 3. Aerodynamic effects were later added by means of
cross-coupling
cross-coupling terms acting at the midpoint of the main impeller. The UVA rotor model was used for
the stability analysis because of its better agreement with the experimental critical speed data. The
NASA model, with its stiffer turbine section would tend to exaggerate the stability of the first bending
mode, an overhung turbine mode.
TABLE
TABLE 3 STIFFNESS
STIFFNESS AND DAMPING
DMPIING MATRIX CHILD'S
CHILD'S VALUES
(DAMPING AND CROSS-COUPLING)

CROSS-COUPLING)
STATION
STATION STIFFNESS
STIFFNESS
NUl1BER
MMBER
Kxx Kyx Kxy Kyy
Kxx K~ Kw Kw
~LB/IN)
(LB/IN) ~LB/IN2
ILB/IN) ~LB/IN2
B I N ~LBlIN2
ILB/IN)
2 30,000 -17,000
-17,000 17,000
17,000 30,000 PREBURNER
PREBURNER SEAL
SEAL
4 476,000 00 00 476,000 PREBURNER
P R E BI T BEARING
8 574,000 0 0 574,000 TURBINE
TURBIHE BEARING
12
12 21,210 -
- 4,560 4,560 2~,210
21,210 TURBINE
TURBINE SEAL
SEAL
14
14 38,630
38,630 -26,000
-26,000 26,000
26,000 38,360
38,360 INTERSTAGE
INTERSTAGE (TURBINE)
(TURBINE) SEAL
SEAL
DAMPING
Cxx Cyx Cxy Cyy
~LB-SEClIN) ~LB-SEClINl ~LB-SEClINl ~LB-SEClINl
2 10.5 O. O. 10.5
4 2.0 O. O. 2.0
8 2.0 O. O. 2.0
12 2.8 O. O. 2.8
14 14.0 O. O. 14.0
Undamped
Undamped conditions
conditions used
used aa nominal
nominal 5.0
5.0 Ib-sec/in a t ea~h
l b - s e c / i n at each station.
station.
Stability
Stability calculations,
calculations, using
using thethe rotor
rotor stability
stability program
program ROTSTB,
ROTSTB, indicate
indicate that
that both
both bending
bending
modes
modes encountered
encountered in in the operation of
the operation of the
the oxygen
oxygen pump
pump areare unstable.
unstable. Figure
Figure 1919 displays
displays the
the sources
sources
of
of this
this instability.
instability. Cross-coupling
Cross-coupling forces
forces generated
generated byby the
the interstage
interstage and
and turbine
turbine tip
tip seals
seals (26,000
(26,000 lb/in)
lb/in)
are forty percent in excess of the theoretical cross-coupling required to destabilize
are forty percent in excess of the theoretical cross-coupling required to destabilize the first mode. the first mode.
While
While aa cross-coupling
cross-coupling of of 10,450
10,450 lb/in
lb/in acting
acting onon the
the main
main impeller
impeller isis sufficient
sufficient for
for instability
instability of
of the
the
second
second mode,initial
mode,initial calculations
calculations indicate
indicate that
that aerodynamic
aerodynamic forces
forces could
could generate
generate aerodynamic
aerodynamic crosscross
coupling of
coupling of the
the order
order of of 30,000
30,000 to
to 40,000
40,000 lb/in.
lb/in. The
The analysis
analysis further
further indicates
indicates that
that the
the two
two modes
modes areare
independent
independent and and that
that modification
modification must
must consider
consider both
both modes.
modes.
335
STABILITY THRESHOLD PLOTS
PLOTS
-o(1) 80r-------~--------~----_.J~--~
80 I
(f)
..... - .:..... I <!Ig
w '= c:
!::w
o - 60
60 :!Iw enlof!
1-0
8:: - 01
.."~
.
8
00:::::
~
§Glw
-IC\I
1-11
0::- 40 -
40 (f) ~I en ~Io(f)
.- -.- w
- I~I
20 -
- °1
(UNSTABLE)
(UNSTABLE) I
0 1
-0 10 000
l0,OOO
1 201000
20,000 301 000
30,000
INTERSTAGE SEAL
INTERSTAGE SEAL
CROSS COUPLING
CROSS (Ib/in)
COUPLING (Ib/in)
0~S~T~AT8~IL~I=T~Y~T~H~R~E~S~HO~L,D~__~__~~
- o
(1)
(STABLE)
~I
(f)
..... -10
::'W .c
1-
00
0
ol~
0::E 10 0
~ 1::E
0::"'C _ "'C
_.J
<!C\I
c: °1'C\Ic:
II
w
0::
~I
-40~--~~~--~--~----~--~~
-40b I 1 I t I I
°1I
o 4000
4000 8000
8000 1200
12000
MAIN IMPELLER
MAIN IMPELLER
CROSS COUPLING
CROSS ( Ib /in)
COUPLING (Iblin)
FIGURE 19
FIGURE 19
The
The stability
stability analysis
analysis inin this
this report assumes
assumes aa smooth
smooth seal
seal acting
acting at at the
the turbine interstage
interstage
location. D.
location. D. Childs
Childs also
also presented the the stiffness
stiffness and
and damping
damping characteristics
characteristics for for the
the labyrinth sealseal
originally included in
originally in the
the oxygen pump design.design. Stability
Stability calculations with the the UVUVA derated
A model, derated
and full
bearings, and full seals,
seals, substituting
substituting the
the labyrinth interstage seal seal for
for the
the smooth
smooth seal,seal, indicate
indicate that thethe
is unstable.
rotor is unstable. The The configuration
configuration withwith the
the labyrinth
labyrinth seal,
seal, however,
however, is is closer
closer toto the
the threshold of of
stability than with
stability with the
the smooth
smooth seal.
seal. Further, thethe first
first critical
critical frequency
frequency is is lowered
lowered slightly,
slightly, although
although
there isis little
there little effect
effect on on the
the second
second 'or critical frequencies.
or third critical frequencies. This This indicates
indicates that the the original
original
labyrinth seal design should be more stable than the smooth
labyrinth seal design should be more stable than the smooth configuration. configuration.
The most
The most promising
promising modification
modification to to improve
improve stability
stability appears
appears toto be
be combining
combining aa stiffer
stiffer turbine
turbine
bearing with
bearing with aa softer
softer pump
pump bearing
bearing andand with
with additional
additional damping
damping at at the
the preburner
preburner seals.
seals. Varied
Varied
independently, none
independently, none of of these
these factors
factors have
have anan appreciable
appreciable influence,
influence , onon thethe stability
stability of
of this
this system.
system.
Varying the
Varying the damping
coefficients and
and the
the turbine
turbine bearing
bearing stiffness
stiffness atat the
the same
same time
time seems
seems to to produce
produce
the
the most
most marked
marked improvement.
improvement. These These results
results are
are shown
shown in in Figure 20. With
Figure 20. With thethe pump
pump bearing
bearing stiffness
stiffness
damping exponent
damping exponent of of the
the first
first mode;
mode; however,
however, thethe effect
effect isis asymptotic.
asymptotic. A modification of
A modification of the
the shaft
shaft
geometry
geometry seems
seems required.
required.
336
11st
s t MODE
MODE OXYGEN
OXYGEN PUMP
PUMP
STABILITY FOR
STABILITY FOR VARIOUS
VARIOUS VALUES
VALUES
PREBURNER SEAL
OF PREBURNER
OF SEAL DAMPING
DAMPING CCp
p
TURBINE BEARING
VS. TURBINE
VS. STIFFNESS KKt
BEARING STIFFNESS t
32
28
w
0
0
:E 24
....en
.....
_ 20
()
Q)
U)
-
:::: 16
a..
12
I-
o
o
a:: 8
-
-- ORIGINAL ROTOR
ORIGINAL
STIFFENED
ROTOR
ROTOR
- - STIFFENED ROTOR
Kp = 476,000 lb/in
4
(UNSTABLE)
(UNSTABLE) I
o~--~--~------~--~----~--~----
.5
.5 .6
.6 .7
.7 .8
.8 .9
.9 1.0
1.0 1.2
1.2
TURBINE BEARI
TURBINE NG STIFFNESS
BEARING STIFFNESS
~6
KK,t Xx 10
log6 (tb/in)
(Ib/in)
FIGURE 20
FIGUREZO
A third rotor
A third rotor model
model was
was created
created with
with aa minimum
minimum shaftshaft diameter
diameter ofof 2.6 inches at
2.6 inches at the
the bearings.
bearings.
The properties of
The properties of this
this model,
model, called
called "stiffened
"stiffened rotor,"
rotor," are
are presented
presented inin Table
Table 4.
4. Figure
Figure 21 21 presents
presents the
the
three rotor cross-sections used in this paper (with a compressed horizontal scale). The NASA model
three rotor cross-sections used in this paper (with a compressed horizontal scale). The NASA model
has
has thick
thick turbine
turbine end
end sections
sections and
and thin
thin pre burner end
preburner end sections.
sections. The
The UVUVAA model,
model, which
which gave
gave better
better
agreement with
agreement with the
the experimental
experimental critical
critical speed
speed data,
data, has
has thin
thin sections
sections around
around the the bearing
bearing locations.
locations.
Finally, the
Finally, the stiffened
stiffened rotor
rotor shows
shows aa nearly
nearly uniform
uniform cross-section
cross-section from
from the
the preburner
preburner to to the
the turbine
turbine
stages. The
stages. The dashed
dashed line,
line, on
on Figure 21, portrays
Figure 21, portrays the
the stabilizing
stabilizing influence
influence of
of this
this thicker
thicker cross
cross section.
section.
While the stiffer rotor is an improvement, modification of the seals and bearings
While the stiffer rotor is an improvement, modification of the seals and bearings is also indicated.is also indicated.
337
TABLE
TABLE44 ROTOR
ROTORMODEL:
MODEL: STIFFENED
STIFFENEDROTOR
ROTOR
Section
Section Data
Data
STATION
STATION LENGTH
LENGTH OUTSIDE
OUTSIDE WEIGHT
WEIGHT
NlMBER
NUMBER DIAMETER
DIAMETER
(IN)
(IN) (IN)
(IN) (LB)
(LB)
1 0.772 2.3 0.669
2 1.070 3.2 2.378
3 1.558 2.6 3.043
4 2.583 2.6 1.291
5 2.640 2.6 7.757
6 2.640 2.6 13.392
7 3.170 2.6 8.607
8 1.560 2.6 3.403
9 0.800 2.7 4.197
10 1.120 2.6 0.101
11 1.200 2.6 2.473
12 1.170 2.6 1.877
13 1.115 5.0 12.514
14 1.117 3.1 3.416
15 0.0 5.0 13.825
ROTOR CROSS-
ROTOR CROSS-SECTION MODELS
SECTION MODELS
FOR OXYGEN
FOR OXYGEN PUMP
PUMP
NASA-SPAR
NASA -SPAR
8 10 12 14
6 8 10 12 14
S T I F F E N E D ROTOR
STIFFENED ROTOR
n
6 8 10 12 14
_ ADDED SHAFT
ADDED S H A F T DIAMETER
DIAMETER
NOTE: HORIZONTAL
NOTE' HORIZONTAL SCALE
SCALE ISI S ONE
ONE HALF
HALF
VERTICAL SCALE.
VERTICAL SCALE.
FIGURE2121
FIGURE
338
The
The increase
increase inin rotor
rotor cross-section
cross-section at at the
the bearing
bearing locations
locations implies
implies bearing
bearing redesign.
redesign. FigureFigure 2222
shows
shows that
that with
with aa significantly
significantly stiffer
stiffer turbine
turbine-bearing
bearing (1,200,000
(1,200,000 lb/in)
lb/in) the
the stability
stability ofof thethe first
first mode
mode
can
can be
be obtained
obtained with
with aa wide
wide choice
choice of
of pump
pump bearing
bearing stiffness
stiffness and
and preburner
preburner seal
seal damping
coefficients.
The
The second
second mode
mode presents
presents two
two difficulties
difficulties for
for the
the operation
operation ofof the
the oxygen
oxygen pump.
pump. Its Its critical
critical
frequency
frequency lieslies in
in the
the operating
operating range
range of of the
the pump,
pump, at at approximately
approximately 100% RPL and
100% RPL and itit isis unstable
unstable duedue
to
to the
the aerodynamic
aerodynamic forcesforces on
on the
the main
main impeller.
impeller. To To observe
observe the
the variation
variation inin the
the second
second forward
forward
critical
critical speed
speed asas aa function
function ofof the
the various
various parameters
parameters thus thus far
far considered,
considered, Figure
Figure 23 23 was was prepared.
prepared.
This
This figure
figure corresponds
corresponds withwith Figure
Figure 22 22 and
and shows
shows that
that aa preburner
preburner bearing
bearing stiffness
stiffness between
between 200,000
200,000
and
and 400,000
400,000 lb/in,
lb/in, along
along with
with the
the stiffened
stiffened rotor,
rotor, would
would be be unacceptable
unacceptable forfor use
use inin the
the oxygen
oxygen pump
pump ,
operating
operating speed
speed range.
range. Operation
Operation atat aa lower
lower stiffness
stiffness value
value would
would require
require aa softer
softer turbine
turbine bearing.
bearing.
OXYGEN PUMP
OXYGEN PUMP
STIFFENED ROTOR
STIFFENED ROTOR
STABILITY THRESHOLD
STABILITY THRESHOLD
FOR VARIOUS
FOR VARIOUS LEVELS
L E V E L S OF Kp AND
O F Kp AND CCp
p
20r-----~--_r--~------r---~----~~
15
w
a Kp =476,000 Ib/in
o
:E
--
1/1
~ UNSTABLE
-oQ,)
U) -10
STABLE
--c:
.....
-20
...:
o -30
o
0::
Kp·= 200,000 Ib/in
-l
-40
/
<!
w
0::
-50
Kt = 1.2 x 106
-60 Ib/in
20 40 60 80 100 120
PREBURNER SEAL
Cp, PREBURNER
Cpt SEAL
DAMPING (lb-sec/in)
DAMPING (Ib-sec/in)
FIGURE22
FIGURE 22
339
339
OXYGEN PUMP
OXYGEN PUMP
STIFFENED ROTOR
STIFFENED ROTOR
SECOND CRITICAL
SECOND CRITICAL SPEED
SPEED
FOR VARIOUS
FOR LEVELS OF
VARIOUS LEVELS Kp aa c
OF Kp C,p
a
w
w I I I I I
a.
en 40,000 f- -
..J
<!
I--
<.)
Kp =476,000 Ib/in _~
0::
30,000 - -
U Kp =400,000 Ib/in
a
z
0 20,000 - Kp =200,000 Ib/in --
<.)
w
CJ)
a -
a::: 10,000 r-
<! 6
;: Kt = 1.2 x 10 Ib/in
a:::
o~ 0~ _____ ~' ____ ~1_______~'____~'_______~1
20 40 60 80 100
PREBURNER SEAL
PREBURNER S E A L DAMPING
DAMPING
( Cpp - Ib
(C -
Ib - sec/in)
sec/in) -
FIGURE23
FIGURE 23
Analysis
Analysis of of the
the stiffened
stiffened rotor
rotor was
was also
also performed
performed in in aa manner
manner similar
similar to to that
that presented
presented in in
Figure
Figure 20.
20. In In Figure
Figure 24,24, the
the stability
stability of
of the
the second
second mode
mode isis plotted
plotted asas aa function
function of of the
the turbine
turbine
bearing
bearing stiffness
stiffness and
and ofof the
the preburner
preburner seal
seal damping.
damping. The The stability
stability ofof the
the first
first mode
mode isis also
also indicated
indicated
by
by the
the use
use ofof solid
solid and
and dashed
dashed lines.
lines. AA pump
pump bearing
bearing stiffness
stiffness ofof 200,000
200,000 lb/in
lb/in was
was selected
selected andand the
the
use of
use of aa stiffer
stiffer pump
pump bearing,
bearing, asas discussed
discussed previously,
previously, would
would require
require the
the inclusion
inclusion of of some
some additional
additional
damping,
damping, as as indicated
indicated byby Figure
Figure 22.
22. The
The damping
damping exponent
exponent indicates
indicates that
that the
the use
use of
of aa stiffened
stiffened rotor
rotor
alone
alone will
will stabilize
stabilize the
the second
second mode.
mode. Thus,
Thus, the selection of
the selection of bearings
bearings andand seals
seals for
for the
the new
new rotor
rotor cross-
cross-
section
section should
should be be based
based onon obtaining
obtaining aa stable
stable first
first mode
mode and
and an
an acceptable
acceptable second
second critical
critical speed.
speed.
340
DAMPED SECOND
DAMPED SECOND MODE
MODE
FOR VARIOUS LEVELS
FOR LEVELS OF
OF PREBURNER DAMPING
DAMPING
-
STIFFENED ROTOR-
- STIFFENED ROTOR -
I I I I
- -
I
2,000
-2,000
Cp
C =
p = 100
1 0 0 Ib- sec/in
sec/in
-
h
u0
~% -1,600
-1,600 - ./
/
/0
~
....
\
"-
C
Y //
/
./
Kp = 200,000
Kp 200,000 Ib/in
/
w I - - - UNSTABLE FIRST MODE
:33 -
-1,200 - STABLE FIRST MODE
MODE -
1
-1,200 I/ - STABLE
s
~
zZ I
II
I/
w
(3
(!) -800 r
w
...J
<!
w
a:
-
0
(STABLE)
I
, ,
C-
,
= 10.5
P,
1
Ib-sec/in
------
I II
---- I
.2 .4 .6, ,8
.8 1,'0
1.O
TURBINE BEARING STIFFNESS
(K
(Ktt
x 10- 6 Ib/in)
lb/in)
FIGURE 24
CONCLUSIONS
CONCL USIONS
The experimental data available from the test operations of the liquid oxygen pump for the
SSME repeatedly show the presence of resonant frequencies within the operating range of the pump.
Critical speed analysis indicates that the presence of the second critical frequency is due to the pump
and turbine bearings having stiffness values approximately 50% of the original specifications.
In modeling the pump rotor for computer analysis, discrepancies were found between the cross-
sections of
of the NASA model (as derived from the inertia values) and the actual rotor cross-sections.
cross-sections.
The NASA model has a stiffer turbine section than is warranted. An alternate model (UVA) (UV A) was
developed from the actual rotor cross-section
cross-section in order to provide a more suitable foundation for the
stability analysis. Correlation between experimental balance data and the two rotor models supports the
use of
of the UVA configuration. Little difference exist between the models when considering the second
mode; both models predict the second critical speed to be within the operating range of of the pump.
The oxygen pump rotor shows two bending modes of of interest. The first occurs at 13,000 RPM
and is primarily an overhung turbine mode. Due to interstage seal cross-coupling,
cross-coupling, this mode is linearly
unstable. The second mode occurs at 27,000 RPM and is a main impeller-preburner
impeller-pre burner mode. This mode
is predicted to be unstable as a result of
of aerodynamic forces acting on the main impeller, for values in
excess ofof 10,500 lb/in.
Ib/in. Thus, both the first and second modes exhibit instability in the linearized
system.
The instability of
of the first two modes, as well as the presence ofof the second critical frequency
within the operating range, indicates modifications of of the original oxygen pump rotor may be
necessary. Simple adjustment of of the bearings and seals will not provide sufficient support and damping
341
to insure stability: a stiffer shaft is required, primarily at the preburner pump bearing
location.
The stability analysis supports
supports the following conclusions:
conclusions:
1)
1) The application of damping at the preburner seal location (by means of a full
seal) will slightly improve the stability of the first mode, for damping values as
high as 200 Ib-sec/in,
lb-sec/in, with the original rotor design.
2) Stiffening the rotor through the pump bearing section increases the
effectiveness of the damping acting at the preburner seal location.
3) A large increase in the first mode damping is achieved with the stiffened
rotor by reducing pump bearing stiffness stiffness from
from 476,000 to 200,000
200,000 Ib/in.
lb/in.
4) Reduction of turbine bearing stiffness stiffness causes
causes a loss
loss in damping for the first
mode, indicating that turbine.
turbine bearing dead bands should be minimized.
minimized.
5) For a stiffened rotor and turbine bearing stiffness stiffness of 1.2E6 Ib/in,
lb/in, a reduced
pump bearing stiffness drop the second critical speed to 24,000 RPM. For
stiffness will drop
pre burner seal
preburner seal damping of 40 Ib-sec/in,
lb-sec/in, the second mode will be well damped
and much lessless sensitive
sensitive to rotor unbalance.
6)
6) The stability of the second mode of the stiffened rotor is is unaffected by
aerodynamic
aerodynamic cross-coupling at the the main impeller,
impeller, for values up to
for values to 40,000 Ib/in.
lb/in.
Figure 24,
Figure 24, however, shows
shows that the first mode
the first mode may be unstable if the
the turbine
bearing stiffness
stiffness falls
falls below 500,000
500,000 Ib/in.
lb/in.
The
The stiffened
stiffened shaft
shaft will
will stabilize
stabilize the
the second
second mode.
mode. TheThe addition of stiffer
stiffer
turbine
turbine bearings andand aa full
full preburner seal
seal should
should then stabilize
stabilize the first mode, as
the first as well
well as
as
attenuate
attenuate the
the second
second mode
mode so so that it
it will
will bebe insensitive toto unbalance.
The
The following
following recommendations are are made:
1)
1) The
The original
original oxygen
oxygen pump
pump isis unsatisfactory
unsatisfactory from
from aa dynamics
dynamics standpoint.
standpoint.
2)
2) Modification and suitable
and suitable redesign of
of a stiffened oxygen pump rotor and
a stiffened oxygen pump and
casing is
casing is desirable.
desirable.
3)
3) A full
full seal
seal should
should bebe incorporated
incorporated at at the
the preburner seal
seal location
location to
to increase
increase
damping
damping for for both the
the first
first and
and second
second modes.
modes.
4)
4) The
The turbine
turbine bearing
bearing stiffness
stiffness should
should be maintained as
be maintained as high
high as
as possible.
possible.
5)
5) The use of dead bands in the turbine bearing should be minimized or
The use of dead bands in the turbine bearing should be minimized or
avoided.
avoided.
REFERENCES
REFERENCES
1. Alford,
l. Alford, J.J. S.,
S., 1965,
1965, "Protecting
"Protecting Turbomachinery
Turbomachinery from
from Self-Excited
Self-Excited Whirl,"
Whirl,"
ASME
ASME Journal
Journal of
of Engineering
Engineering for
for Power,
Power, pp.
pp. 333-334.
333-334.
2.
2. Allaire,
Allaire, P.
P. E.,
E., Gunter,
Gunter, E.J.,
E.J., Lee,
Lee, C.
C. P.,
P., and
and Barrett, L. E.,
Barrett, L. E., "Final
"Final Report
Report ----
The Dynamic Analysis of the Space Shuttle Main Engine-High
The Dynamic Analysis of the Space Shuttle Main Engine-High Pressure FuelPressure Fuel
Turbopump,
Turbopump, Part Part II,
11, Load
Load Capacity
Capacity and
and Hybrid
Hybrid Coefficients
Coefficients for
for Turbulent
Turbulent
Interstage
Interstage Seals,
Seals, Report
Report No.
No. UVA/528140/ME76/103
UVA/528140/ME76/103 (September
(September 1976).
1976).
342
P., and Gunter, E. J.,
3. Allaire, P. E., Lee, C. P., J., "Dynamic Analysis of SSME
UVA/528140/MAE78/110,
Plain and Plain Stepped Turbulent Seals," Report No. UVA/528140/MAE78/110,
September 1978.
1978.
F., 1969, "Effects of Hydraulic Forces in Annular Pressure Seals

4. Black, H. F., Seals on
Rotors," Journal of Mechanical Engineering
the Vibrations of Centrifugal Pump Rotors,"
Science, 11(2), pp. 206-213.
206-213.
5. Childs, D. W., Rotor-dynamic Coefficients of

W., "Finite-Length Solutions for Rotor-dynamic
Seals," Journal of Lubrication Technology, Vol. 105,
Turbulent Annular Seals," 105, pp. 437-
444.
1989, "Influence of Impeller Shroud Forces

6. Childs, D. W. and Williams, J. P., 1989.
on Turbopump Rotor Dynamics," ASME DE-VOL, DE-VOL, 18-1,
18- 1, Rotating Machinery
Dynamics, pp. 41-49.
W., 1978,
7. Childs, D. W., 1978, "The Space Shuttle Main Engine Pressure Turbopump
Rotor Dynamic Instability Problem," ASME Journal of Engineering for Power,
Vol. 100, Jan., pp. 48-57.
48-57.
8. Ek, M. C., 1980,

1980, "Solving
"Solving Subsynchronous Whirl in High-Pressure
High-Pressure Hydrogen
Turbomachinery of the SSME." J. Spacecraft, Vol 17, No. 3, pp. 208-218.
No.3, 208-218.
9. Flack, R. D., Gunter, E. J., and Heinzman, J. D., "Experimental Data

-- High Pressure Fuel and Oxidizer
Analysis of the Space Shuttle Main Engine --
Turbopump," Report No. UVA/528140/MAE78/106,
UVA/528140/MAE78/106, June 1978.
10. Gunter, E.J., 1966,

10. 1966, "Dynamic Stability of Rotor-bearing Systems,"
Systems," NASA CP-
113, Washington.
113,
11. Gunter, E. J., and Flack, R. D., "Experimental Measurements of the Space
11.
Shuttle Main Engine Fuel and Oxygen Turbopump Vibration Characteristics,"
Proceedings of the 27th International Instrumentation Symposium, Indianapolis,
Indiana, Instrumentation in the Aerospace Industry -- Advances in Test
Measurement, Vol. 18,
18, Part 2, pp. 393-397 (April 1981).
1981).
J., Barrett, L. E.,

12. Gunter, E. J., E., Palazzolo, A. B.,
B., and Allaire, P. E., "Final
-- Dynamic Analysis of the Space Shuttle Main Engine -- High Pressure
Report --
111, Linearized Stability Analysis," Report No.
Fuel Turbopump, Part III,
UVA/528 140/ME76/104 (September 1976).
UVA/528140/ME76/104 1976).
343
13. Gunter, E. J., C., Allaire,
J., Choy, K. C., Allaire, P. E.,
E., and Barrett, E., "Final Report --
Barrett, L. E.,
- The Dynamic Analysis ofof the Space Shuttle Main Engine -- High Pressure Fuel
Turbopump, Part IV, Unbalance Response Analysis," Report No.
UVA/528 140ME76/105 (September 1976).
UVA/528140ME76/10S 1976).
14. Heinzman, J. D. and Gunter, E. J., "Experimental Data Analysis of

of
of the Space Shuttle Main Engine High Pressure
Subsynchronous Excitation of
Oxidizer Turbopump," Report No. UVA/528140/MAE78/112,
UVA/S28140/MAE78/112, September 1978.
IS. Li, D. F. and Gunter, E. J.,

15. J., "Linear Stability Analysis of
of Dual Rotor Systems
--
-- A Manual for Use with the Computer Program STAB2V2," Report No.
UVAj464761jMAE79/154, September 1978.
UVA/464761/MAE79/154,
16. E. J., "Space

16. Li, D. F. and Gunter, E. "Space Shuttle Main Engine High Pressure
Analysis;" Report
Oxidizer Turbopump Critical Speed and Unbalance Response Analysis,"
UVAj528140jMAE78jl16. October 1978.
No. UVA/528140/MAE7&/116,
344
ROTOR-TO-STATOR
ROTOR-TO-STATOR PARTIAL RUBBING AND ITS
I T S EFFECTS
EFFECTS ON
ROTOR DYNAMIC RESPONSE*
RESPONSE*
Agnes Muszynska,
Muszynska, Wesley D. Frankl
F r a n k l in,
in,
and Robert D. Hayashida
Bentley
Bent ley Rotor Dynamics
Dynamics Research Corporation
Minden, Nevada
Nevada 89423, U.S.A.
U.S.A.
This paper presents results from experimental and analytical studies on

rotor-to-stationary element partial rubbings at several locations and their effects
rotor-to-stationary effects on rotor
dynamic responses. The mathematical model ofa of a rubbing rotor is given.
given. The computer program
provides numerical results which agree with experimentally obtained rotor responses.·
responses.
INTRODUCTION
Rotor-to-stationary element rubbing is a serious
Rotor-to-stationary serious malfunction in rotating machines. It
may lead to a catastrophic failure
failure of the machine. The rub phenomena have been recognized for for a
long time; literature on this subject is, however,
however, relatively scarce and incoherent [1].
[I]. This is
probably due to the fact that rotor-to-stationary
rotor-to-stationary element rub-related
rub-related phenomena are very
complex,
complex, involving several physical mechanisms, thus they represent a wide spectrum of rotating·
rotating
machinery dynamic problems. These problems are illustrated in Figures 11 to 4 [2] .
[2]..
Partial rub phenomena occurring at several radial and axial locations of the rotor are
discussed in this paper. The results calculated using a mathematical model show good agreement
with the experimental data.
MATHEMATICAL MODEL
Using the modal concept, a laterally symmetric (isotropic) rotor bearing/seal bearinglseal system is
mathematically modeled for its first three lateral modes. In addition to the three modal mass
lateral displacements necessary for the model, the displacements of four other axial locations at
which rub can occur are included in the model. Since rub usually occurs occurs at seal locations, the
flow-related
flow-related forces
forces are introduced at these locations in addition to the system stiffness stiffness
modifications, normal and friction forces, forces, and impact losses generated by the rub. The schematic
model is presented in Figure 5. The system is composed of the rotor's modal masses (Mt,M (M1,M2,M3),
2,M 3),
...,,K7), ,
stiffnesses (Kt,
dampings (Db
(K1,...
(Dl,...
K7), and dampings (Dt,D
...,,D4)'
,D
(D 1,D2,D3
2 3
1
D4), and fluid average circumferential
parameters such as radial clearances (Cl,
), bearing/seal's
bearinglseal's stiffnesses
stiffnesses
circum erential velocity ratios (A1
,C4)' coefficients of friction jp,,
(C .....,C4),
(Km,
(KB1 ... ,KB4),
,...,ISB4),
...,,A4),
(A1 ... A4), and the rub
(~b ...
radial
...'~4)' restitution
coefficients (11:17
coefficients (K~ ...,K~),
...,,11:4), and stator stiffnesses t, ... ,K r 4). The modal parameters may be obtained
stiffnesses (K rrl,...,Kr4).
anal sis (using transfer matrix or finite
.from numerical analysis finite element methods followed
followed by reduction to
three modes), and/or andfor identified experimentally using perturbation techniques. The force force
equilibrium equations for the system are as follows: follows: .
*This
*This work was partly supported by NASA George C. Marshall
Marshal 1 Space Flight
F! i g h t Center
under Contract NAS8-36719.
NAS8-367l9.
345
M1·z···1 + D81·z··1 + K 21-
· l(Z·-'z·)
1-"'1 + K 21·(z·-'z·
1-"'1+1) -
- F U 1e"'
.- i(Ot+ci) + F PIe"'
.- i'y , (1)
(2)
N N .N
Zv = Xv + JY V ' i=1,2,3, v=1,2,3,4, Ko=O, Z4=O,
spe~d, FFUi$
where 0 is rotative speed, uie-i(Ot+ci)
'(ntfEi) is the mass unbalance force, FPiJYi
force, F Pie-i'Yi the st.atic
static radial
preload force, f, the contact factor, and 66,v the rub angular location (Fig.
force, fv (Fig. 6). When the contact
occurs, (I
occurs, ( I zvl >
;,I~ CCJv ) then fv=1
fv=l and 3 = defined restitution parameter value, otherwise fv=O
/'i,v = f,=O and
j6
j6, .
forces are modeled in Eq. (2) by the terms fv[
-1. The rub forces
/'i,v=1. f, Krv(I ,II Zv - Cv~)(1+jU
; l-C ( l + ~ uv)], )e] v and
?
ROTATING MACHINE
CONDITIONS
LEADING TO RU8
TIGHT
CLEARANCES
I I VIBRATIONS
ROTOR
r VIBRATIONS
HIGH POWER AND HIGH ROTATIVE

SPEED REQUIREMENTS
CHANGES
IN SHAFf
CENTERLINE
FLUID·
DUETO
UNBALANCE.
RELATED
INSTABILITIES.
-
f ETC.
STATIC AND DYNAMIC

FORCES CAUSING
BENT SHAFf OR CASING CASING/PEDESTAL/FOUNDATION
DISTORTION EISMIC EVENTS)
VIBRATIONS (SEISMIC
1. -- Rotating machine
Figure 1. macbine conditions
conditions leading to rotor-to-stationary
rotor-to--stationary element rubbing.
Rotor-to-Stator
Rub L o c a t i o n
I
"Conical"
Rub
One Full
Location Annular
Several
Several One Several
Locations
Locations Location Locations
Figure 2. -- Rotor-to-stationary
Rotor-to-stationary element rub location.
346
D $ , / ~"'v'.
Dvzv/ The
The coefficients
coefficients ff,v describe
describe the
the timing
timing of of "contact"
"contact" (f v =1 for
(f,=l Zv-v
for II;,l?CJ
I>C ) versus
versus "no
"no
contact" (f,=O for
contact1' (fv=O ;,I
for IIzvl v )' The
<CJ.
<C The functions
functions Krv(
Kr,( IIzvl ;,I-- CCJv ) describe
describe the
the radially
radially applied
applied
additional
additional stiffness
stiffness force
force due
due toto contact
contact with
with thethe stationary
stationary part. They also
part. They also describe
describe the
the
rotor/stator
rotorlstator normal
normal forces.
forces. TheThe functions
functions K rv(I 1Z
Krv( I,; v I -- CC,)jp,
)jj.L model the tangentially oriented
v v model the tangentially oriented
friction
friction forces.
forces. The coefficients "'v describe
The coefficients describe anan additional
additional energy energy loss
loss due
due toto local
local material
material
I DYNAMIC EFFECTS OF RUB I

I
ROTOR/BEARING/
!
ROTOR
l EFFECT ON FLUID
FRICTION IMPACTING DYNAMIC FORCES
STATOR COUPLING STIFFENING r-- EFFECT I--
EFFECT .--- ,-- AND
EFFECT EFFECT
THERMAL BALANCE
I ! 1
CHANGES IN
l WEAR I r
I
CLEARANCE
OPENING
I
NATURAL f--
FREQUENCY
SPECTRUM INCREASE OF TRANSIENT EFFECT:
DAMPING: APPEARANCE OF NATURAL
~ FREQUENCY COMPONENTS
I
DISSIPATION
OF ENERGY
I CHANGES
IN MODES
CHANGES IN
RESPONSE
AMPLITUDES
I NOISE
1
APPEARAl"lCE OF
SUB SYNCHRONOUS
AND PHASES '---- COMPONENTS
OF IN VIBRATIONAL
CHANGES OF COMPONENTS
KINEMATIC APPEARANCE OF RESPONSE
PROPERTIES HIGH FREQUENCY
COMPONENTS CHANGES IN
MACHINE
PERFORMANCE:
POWER AND
SPEED DECREASE
Figure
Figure 3.3. --Dynamic
Dynamic effects
effectsof
of rotor-to-stationary
rotor-to-stationary element
element rubbing.
rubbing.
MODIFICATIONS
MODIFICATIONS
OF
OFROTATING
ROTATINGMACHINE
MACHINEVIBRATIONAL
VIBRATIONAL
RESPONSE DUE
RESPONSE DUETO
TO RUB
RUB
1 v
ROTATIVE INCREASEOF
INCREASE O FVIBRATIONAL
VIBRATIONAL INCREASE OF MODIFICATIONS
MODIFICATIONS
SPEED
SPEED RESPONSE FREQUENCY
RESPONSE FREQUENCY OVERALL
OVERALL VIBRATION
VIBRATIONRESPONSE
RESPONSE IN
IN AMPLITUDES
AMPLITUDESAND
AND
DECREASE
DECREASE r-- CONTENT
CONTENT AMPLITUDES PHASE
PHASEOFO FCOMPONENTS
COMPONENTS
APPEARANCE
APPEARANCEOF
OF
1 l v
APPEARANCE
APPEARANCE OF
OF APPEARANCE OF
APPEARANCE OF MODIFICATIONS
MODIFICATIONS
FRACTIONAL
FRACTIONAL
HIGHER
HIGHER I- ACOUSTICRANGE
ACOUSTIC RANGE IN SHAFT
IN SHAFT
SUBHARMONIC
SUBHARMONIC
COMPONENTS
HARMONICS
HARMONICS OFHARMONICS
OF HARMONICS CENTERLINE
CENTERLINE
COMPONENTS
J
Figure 4.4. -- Modifications

Figure Modifications of
of rotating
rotating machine
machine vibrational
vibrational response
response due
due to
to rotor-to-stationary
rotor-twtationary
element rubbing.
element rubbing.
347
condition. The definition of K/'i,v'~ as
deformation during the impacting condition. lielow, differs,
, explained oe1ow, differs,
classical restitution coefficient definition.
however, from the classical
rotor-t~tator contact occurs,
Before the rotor-to-stator occurs, for example, at the first seal, i.e., for
for
Z1! -- C
!Idl[ C1< fl = 0 and /'i,1 = 1,
1< 0 there is f1 1, thus, from Eq. (2) for v=1:
-1:
(3)
where the velocity subscript (-)
( -, collision" situation. Following the classical
indicates the "before collision"
collision only velocities are instantaneously
impact theory, during collision inst ant aneously affected.
affected. Displacements remain
same. Just after collision,
the same. for 1 Z1!
collision, i.e., for! Bll -- C 20
Cl1 2:: 0 there is f1fl =
= 11 and tq<l,
/'i,1<1, thus
1 D., 1~2 1 D.,
B, A, B2 A2 B3 A3 B4
Figure 5. -- Rotor system model.
5.1 = arctan (Y·/i.)

1 1
I
1,2,3,4
ii -= 1,2,3,4
Figure 6. -- Rubbing rotor inside a seal.
348
(4)
where the velocity subscript (+) collisiont1situation. Taking into account Eqs.
( +) indicates the "after collision"
coefficient of restitution 61
(3) and (4) the coefficient follows:
fbI is defined as follows:
a1 =
21(
Z~1(~+~)
fbI= ____________ + )________________
(5)
(5)
Z1( -) - KrI~( IIzd- t5I
&(--I 211-
( C ( l + jpl)J61/~l
c lI))(l jJLI)ei /D I
Note the differences
differences in this definition, as compared to the classical
classical straight impact theory.
. .
In Eq. (5) both velocities z1( -)
- ) and z1( +) have the same sign. There is no justification to assume
assume
that in the rotor lateral planar motion the impact against a compliant stator causes velocities to
reverse immediately. The second difference
difference is the addition of the stator stiffness-related
stiffness-related normal
and tangential forces, collision" velocity. When the stator stiffness
forces, modifying the "after collision" stiffness is low the
after collision
collision motion continues in the same direction until, due to an increase of displacement Z 21,
h
occurs, and z1( +)+, =

a balance occurs, = o.
0. At this moment the motion is reversed.
reversed. The similar impact
v= 1,2,3,4.
situations take place at all possible rub locations v=1,2,3,4.
ROTOR-TO-STATOR RUB COMPUTER SIMULATION

ROTOR-TO-STATOR SIMULATION PROGRAM
The computer program was written to help explore the effects
effects of rotor-to-stator
rotor-to-stator rub on
rotor vibrational responses.
The computer program is composed of two major sub~rograms: rotor/
sub rograms: (1) the linear rotor/
bearing/seal system synchronous
bearinglseal synchronous response with no rub, and (2) &) the timebase response of the
nonlinear system with rub at a selected constant rotative speed. The first of the subprograms
allows
allows the user to calculate the static displacement and synchronous
synchronous (1)()
(1.) response of the system
Bod6 or polar plot
versus rotative speed, producing transient type data which may be displayed in Bode
format. This allows for easy identification of the system three-mode
three-mode modal characteristics and
resonances, indicating at which rotative ,speeds
resonances, ,speeds the largest vibration amplitudes occur.
occur. This
information is used to determine rotative speed ranges which should be investigated more closely
by taking into account the rub effects
effects in the timebase response.
response. The second portion of the
program allows a more detailed analysis of the shaft vibrational response caused by external and
rub-related excitin forces
rub-related exciting forces at the desired rotative speeds,
speeds, by calculating (using numerical
f
sha t centerline motion versus time. In addition to the linear parameters of the
integration) the shaft
shaft and support structure, the timebase response subprogram uses the nonlinear properties of the
rotating system imposed by outside support structures with limited clearances.
clearances.
sequence is shown using the flow
The overall program sequence flow chart in Figure 7. The program
computes data buffers for both the linear and nonlinear responses at each of the three mass
computes
stations, Ai, and each of the four bearinglseal
bearing/seal locations, Bv (Fig. 5), plus buffers indicating
rotor-to-stator contacts. The parameters necessary to allow
positions and time periods of rotor-to-stator
posiiions
computation of the synchronous
synchronous response include the following:
following: the system modal mass at each
stiffness for each shaft section, the external damping at each mass location, the
mass station, the stiffness
rotational unbalance force
force vector, the radial constant preload force
force and its associated angle, and
avera e circumferential velocity ratio, fluid radial stiffness,
the fluid radial damping, fluid avera&e stiffness, and
radial clearance at each of the bearing/seal
bearingTseal locations.
After the system parameters have been entered and verified,
verified, the program begins the
synchronous response calculations. If
execution of the synchronous If the synchronous
synchronous vibration response is not
349
required, the
required, the program
program skips
skips the
the calculation
calculation andand proceeds
proceeds toto the
the nonlinear
nonlinear calculations
calculations described
described
below. Otherwise,
below. Otherwise, the the program
program prompts
prompts forfor the
the rotative
rotative speed
speed range
range and
and increment
increment between
between
calculations over
calculations over which
which thethe synchronous
synchronous calculations
calculations areare to
to be
be performed.
performed. Once
Once this
this data
data has
has
been entered,
been entered, the
the program
program proceeds
proceeds toto calculate
calculate thethe synchronous
synchronous response
response of
of the
the rotor
rotor at
at axial
axial
locations A .....,As
locations Al, ,A (disk
(disk locations)
locations) and B .....,B4
and Bl, (bearinglseal locations).
,B4(bearing/seal locations). The
The program
program solves
solves the
the
linear portion
linear portion of
of the
the equation
equation set
set (for nv=l and
(for Kv=l and fv-D)
fv=O) by assuming solutions
by assuming solutions of
of the
the following
followingform:
form:
1.0
1.0 MAIN PROGRAM
MAIN PROGRAM ENTRY
ENTRY
POINT
POINT
C
1.1
1.1 RESERVE MEMORY
RESF,RVF: MEMORY FOR
Foil
DATA STORAGE
DATA S'I'ORAGE
Y
JI ROTOR MASS
ROTOR hiASS
1.2
1.2 INITIALIZE WORK
INITIALIZE WORK STATION
STATION SHAFT STIFFNESS
SHAFT STIFFNESS
SlIAF'r DAMPING
SHAFT llAhlPINC:
b UNUAI.AN<';I~
UN ljAl,t\NCl*: AMI'I.I'I'UI)Io:
UNUA1,ANCE PHASE
UNDAI.ANCE
Ahti'l,l'l'~Jl~l~~
PllASE
1.3 INPUT LINEAR RADIAL FORCE
RADIAL FORCE AMPLITUDE
AMPLITUDE
PARAMETERS
PARAMETERS RADIAL FORCE
RADIAL FORCE PHASE
PHASE
FLUID DAMPING
FLUID DAMPING
FLUID AVERAGE
FLUID AVERAGE VELOCITY
VELOCITY RATIO
RATIO
1.4 PROMPT FOR SYNCHRONOUS FLUID RADIAL STIFFNESS
RESPONSE
RESPONSE CALCULATION
CALCULI\TION I SEAL CLEARANCE
& YY -
1.5
1.5 CALCULATE SYNCHRONOUS
CALCULATE SYNCIIRONOUS
RESPONSE
RESPONSE
r
.1 Al
A2
BI
B2
BOI
B02
RUBI
RUB2
DISPLAY SYNCHRONOUS
1.6 DISPLAY
1.6 SYNCIIRONOUS A3 B3 D03 RUD3
RESPONSE RESULTS
RESPONSE RESULTS AOl B4 B04 RUB4
I A02
I
\L A03
1.7 PROMPT
1.1 PROMPT FOR
FOR NONLINEAR
NON1.INEAR
-
Y I INITIAL
INITIAL DISPLACEMENTS
DISPLACEMENTS
INITIAL VELOCITIES
- -
d 1.8
1.8 INPUT NONLINEAR
INPUT NONLINEAR
PARAMETERS
PARAMETERS
INITIAL VELOCITIES
STATOR STIFFNESSES
STATOR STIFFNESSES
FRICTION COEFFICIENTS
FRICTION COEFFICIENTS
RESTITUTION COEFFICIENTS
COEFFICIENTS
RESTITUTION
CONTROL PARAMETERS
CONTROL PARAMETERS
II 1.9
1.9 CALCULATE NONLINEAR
CALCULATE NONLINEAR
TIMEBASE RESPONSE
TIMEBASE RESPONSE I
I Y
H1.10 DISPLAY
1.10
I
DISPLAY NONLINEAR
RESULTS
RESULTS
1.11 PROMPT
1.11
NONLINEAR
TIMEBASE RESPONSE
TIMEBASE RESPONSE
PROMPT TO
T O EXTEND
NONLINEAR
EXTEND
NONLINEAR CALCULATIONS
CALCULATIONS
NAI
NA1 NBI
NB1 CONTACT
NA2 NB2
NA2
CONTACT I1
NB2 CONTACT
CONTACT 22
NA3 NB3 CONTACT 3
NB4 CONTACT 4
NA3 NB3
NB4 CONTACT 34
J, N
N
1.12 PROMPT
1.12 TO EXIT
PROMPT TO EXIT
PROGRAM
PROGRAM
Y
Y
1.13 RELEASE
1.13 WORK STATION
RELEASE WORK STATION
!
1.14 MAIN
1.14 MAIN PROGRAM
PROGRAM EXIT
EXIT
POINT
POINT
Figure 7.7. --Flow

Figure Flow chart
chart of
of main
main program
program sequence.
sequence.
350
and
force response,
for the unbalance force response, and
·a . N
N j{30V
zi
Z 1• --= 01e.1 01
A·
AoieJaoi and zv
Z =B
= Boue
ejPov
v ov
for the static radial Rreload

reload force
force response. These solutions are then substituted into the original
for
b),
(1) and l2), which are eventually solved to get the amplitudes and phases of
equations (1)
response at each location. The maximum amplitude and its angle is calculated for each
ori inal
d
o the
bearinglseal
bearing/seal location by combining
combining the unbalance and preload responses for that location. These
specified radial clearance at the location to determine whether
values are then compared with the specified
rubs would have occurred. This information is placed in the "RUB" data buffers, which may be
displayed in the same manner as the vibration responses. The linear system response data, and
potential rub information may be plotted using a BodeBod6 format or listed in tabular format either on
the computer screen or a graphics printer. .
If the nonlinear calculations are not required, they may be skipped, and the program
If
If they are to be performed,
proceeds to the exit. If performed, the additional parameters necessary to complete
velocities at each
. the calculations must be entered. These include the initial displacements and velocities
stiffness, the coefficient of friction at the rotor and stator
location (initial conditions), the stator stiffness,
surfaces, and the impact restitution coefficient at each of the potential rub locations, plus the
surfaces,
program control variables, namely operating speed,speed, number of revolutions to compute, and the
number of computational steps per revolution.
If the linear calculations by the first portion of the program were performed, the initial
If
displacements and velocities
displacements velocities are calculated from the synchronous
synchronous responses; therefore, any values
conditions in
entered during the data input process will not be used by the program. The initial conditions
the parameter table are also not used when the nonlinear calculations are being extended. The
later; for now it is sufficient to realize
process of extending the nonlinear calculations is discussed later;
that the initial conditions for the current calculation are obtained from the previous calculation,
and their input into the parameter table is not required.
assuming a solution form and substituting it into the original equations as was
Instead of assuming
done to get the linear solution, the numerical integration algorithm requires that each equation be
Runge-Kutta algorithm then uses the values
solved for its highest order derivative. The Runge-Kutta
dong with the current state of the system, (shaft
calculated for the highest order derivatives, along
velocities) to predict the state of the system at some point in the future. This
positions and velocities)
specified period has been calculated. The accuracy and
process continues until the motion for the specified
numerical stability of the algorithm is very sensitive to the step sizesize between computed points.
sizes provide increased computational speed at the cost of reduced accuracy and
Large step sizes
stability, since both accuracy and stability depend on the product of the step size and the value of
stability,
the highest order derivative. This program uses a variable step size, based on the percentage
change between the value for the new point and the current point, to optimize both the
computational speed and accuracy. Figure 8 illustrates this process by showing showing the .steps
steps for a
possible computation sequence between two data sample times. Since any change from the value
of zero will produce percentage changes greater than allowed,
allowed, the program also has an amplitude
threshold which overrides the change requirements between points if the new value is less than the
threshold. The threshold and percent change parameters should be picked carefully carefully as they
accuracy.
significantly affect both the computational speed and accuracy.
Once the computations are performed and data buffers have been completed, the nonlinear
orbitltimebase format or numerically listed.
motion may be displayed using an orbit/timebase
351
z --------TIME---------------------~
o
..... ~
.... u T(S) T(S+l) T(S+2)
<2:
.... C:J
:::l':::>
c..0' CV---------------------------------NV,U
::e::~ CV-------------NV,U
CV------NV,A
CV-----NV,A
r
CV------------------NV,U
CV-------NV,A
CV---------NV,A,DS
CV-------- ... -------NV,A,DS
L -______________________________________________________- J
CV-----
T(---) _ DATA SAMPLE/STORE TIMES

D A T A SAMPLE/STORE
I TIMES U -= UNACCEPTABLE AMPLITUDE CHANGE
U
CV
CV •a CURRENT VALUE A
A -= ACCEPTABLE AMPLITUDE CHANGE
NNVV '"a NEW VALUE DS -= DATA STORED
Figure 8. -- Computational sequence for variable step size Runge-Kutta
Runge-Kutta numerical algorithm.
The program allows

allows the nonlinear calculations to be extended.
extended. The extension can be used
steady-state solution is obtained by using the values
to continue the computational period until a steady-state
at the last computed point as the initial conditions for another computational period. This
process can be continued until the steady-state
steady-state solution has been obtained. The computational
results are discussed later in this paper.
ROTOR-TO-STATOR RUB EXPERIMENTAL RIG

ROTOR-TO-STATOR
A series involvin~ partial rotor-to-stator
series of tests involvin rotor-to-stator rub were performed on a two
lateral-mode rotor rig. The rotor/stator
lateral-mode rotorbtator contact was carefully documented and correlated with
rot or vibrational responses.
the rotor
The rotor rig (Figs. 9 and 10)
10) consists
consists of a horizontal isotropic
isotro ic two-disk rotor supported at
each end by a relatively rigid bronze sleeve-type (oilitef. A 0.5 horsepower ac motor
sleeve-type bearing (Oilite).
drives the rotor through a flexible
flexible coupling.
coupling. When observed from the motor end of the shaft
(inboard end), rotation is in the counterclockwise direction. Horizontal brass screws
screws are mounted
adjacent to each of the two rotor disks,
disks, both at angle 270".
270". The rub screws,
screws, when used in
conjunction with the rotor, allow engaging the rotor in the partial rotor-to-stator
rotor-to-stator rub conditions.
Of particular interest in this experiment is the influence of multiple axial locations of partial rub
on rotor dynamic response,
response, i.e., rub occurring simultaneously at more than one plane along the
machine train.
The XY displacement probes providing the shaft radial displacement data are mounted
next to each rotor mass. A Keyphasor®
KeyphasoF probe mounted vertically at the inboard end provides the
once-per-turn
once-per-turn reference signal from which all phase angles are measured in the direction against
rotation. The shaft observing vertical and horizontal probes are installed at 0 and 270,
270 degrees
degrees
respectively.
respectively.
Located at the rotor midspan is a shaft preloading fixture. The fixture consists of a small
ball bearing mounted on the shaft and radially supported by four orthogonal springs. Each spring
of stiffness 16 lb/in
16 lb fixture frame.
lin is attached to the stationary fixture
signals. Shaft vibration
An extremely "light" rub may not be apparent through vibration signals.
data is, therefore, correlated with a rub contact timing signal in a timebase format. This timing
signal accurately identifies a rotor-to-stator
rotor-to-stator contact condition. A 1-volt-dc
1-volt-dc potential is placed
352
AA -
- ELECTRIC MOTOR
ELECTRIC MOTOR H -
H - XX YY PRELOAD
PRELOAD FIXTURE
FIXTURE
BB -
- FLEXIBLE COUPLING
FLEXIBLE COUPLING II -
- OUTBOARD HORIZONTAL
OUTBOARD HORIZONTAL RUB
RUB SCREW
SCREW
CC -
- INBOARD BRONZE
INBOARD BRONZE BEARING
BEARING JJ -- OUTBOARD MASS
OUTBOARD MASS
DD -
- ELECTRICAL CONTACT
ELECTRICAL CONTACT DEVICE
DEVICE KK -- OUTBOARD XX YY DISPLACEMENT
OUTBOARD DISPLACEMENT PROBE
PROBE MOUNT
MOUNT
EE -
- INBOARD XX YY DISPLACEMENT
INBOARD DISPLACEMENT PROBE
PROBE MOUNT
MOUNT LL -- OUTBOARD BRONZE
OUTBOARD BRONZE BEARING
BEARING
FF -
- INBOARD MASS
INBOARD MASS MM -- ROTOR SHAFT
ROTOR SHAFT
GG -
- INBOARD HORIZONTAL
INBOARD HORIZONTAL RUB
RUB SCREW
SCREW NN- - ROTOR BASE
ROTOR BASE
E G HP I K L
A C
:= .E. .l
B
I=L,
r-
f-' ~
1=
r-
o~ 01= 0
r-
1=
=
~
,.....
i.-,
r-
M
L-
I I
L-
I
1.0"- I_~
1--5.75"
I - - 6.75"
7.75"
12.125"
16.5"
17.5"
18.5"
23.25"
25"
Figure 9. -- Experimental rig

rig..
2
...... t--- .1
3
4
I+ 16
+1
( 5 I--L--'
~
1
~
Y / '111"-
:JJ
r----.
I-- ~8
11
f;:lJ
-
...... '- :-
roo- J- .D.
roo-
:-(7"8
:- L14 r-
~
'-- --- 10 x
'-' F 0 F= 0 =0 F
- 13 13
......
l-
I"-
I I
"-
7 9 6 10
7
12
12 J---
l.
1. MOTOR
MOTOR SPEED
SPEED CONTROL INBOARD HORIZONTAL RUB
9. INBOARD
9. RUB SCREW
SCREW
2.
2. TRACKING
TRACKING FILTER 10. OUTBOARD HORIZONTAL
10. OUTBOARD HORIZONTAL RUB
RUB SCREW
SCREW
3.
3. SPECTRUM
SPECTRUM ANALYZER 11. FLEXIBLE COUPLING
11.
4.
4. COMPUTER
COMPUTER 12. ROTOR BASE
12. ROTOR BASE
5.
5. 108
iO8 DAI
DAI INCH DIAMETER
13. 33 INCH
13. DIAMETER DISCS
DISCS
6.
6. X
X YY PRELOAD
PRELOAD FIXTURE
FIXTURE 14. ROTOR SHAFT
14. ROTOR SHAFT
7.
7. BRONZE
BRONZE BEARINGS
BEARINGS 15.
15. KEYPHASOR
KEYPHASOR PROBE
PROBE
8.
8. X
X YY EDDY
EDDY CURRENT
CURRENT 16.
16. de DUAL POWER
dc DUAL POWER SUPPLY
SUPPLY
DISPLACEMENT
DISPLACEMENT PROBES
PROBES 17. ELECTRIC
17. ELECTRIC MOTOR
MOTOR
Figure 10. --Experimental

Figure 10. Experimental Data
Data acquisition
acquisition system.
system.
353
acrossthe
across therotor
rotor and
and an
anelectrically
electricallyisolated
isolated rub
rub screw.
screw. The
Themechanical/electrical
mechanical/electrical contact
contact between
between
the rotor
the rotor shaft
shaft and
and each
each rub
rub screw
screw provides
provides aa circuit
circuit yielding
yielding continuity
continuity position/timing
position/timing data
data
correlatedto
correlated toboth
boththe
the Keyphasor
Keyphasorandandvibration
vibration signals.
signals.
The vibration
The vibration information
information fromfrom thethe proximity
proximity probes
probes isis presented
presented in
in shaft
shaft orbit
orbit and
and
timebase formats,
timebase formats, and
and eventually
eventuallyprocessed
processedthrough
through filters
filters and
and an
an FFT
FFT analyzer
analyzer to
to determine
determine the
the
frequencycomponents
frequency components contributing
contributing to to the
theoverall
overallwaveform.
waveform. The Theinformation
informationononlateral
lateral vibration
vibration
fromdifferent
from axiallocations
different axial locations of
of the
the shaft
shaft can
canthen
thenbe
be correlated
correlated totoprovide
providerotor
rotor deflection
deflectionshape.
shape.
CH# 3
~----_---"--------~
(a~ . . . .
1.0 mi 1. /,ji..,. CCLd R o t at
Figure 11.--Rubbing
Figure 11. Rubbing rotor
rotor inboard
inboard (a)(a) and
and outboard
outboard (b) (b) responses responses at at aa constant
constant rotative
rotative speed speed 4300 4300
rpm. Rubbing
rpm. Rubbing timing
timing isis marked
marked using
using thickthick lines.lines. .
CI~j.~r (b)
,
1-1 I.:,
(4
r,, r-y...r-.
(a) (1,*" ' . . ' ~ 1 1(b)
I jj i:.~:t.v 1 !'1..'III
(3 ,,~;,t, -.,....,.r,-
7-.l-
-, "'-r'- r- I-l-r---r-. 7..-,.-r".,.-,..
n -,--I-i' [_r rl
r-.IT.,--,r,.1--1,...,..,
...l..-r,-.rr.-
T"'-
l1-
"
.':. (1. I
a,
._I.
I:::}, I .I:[: :: IHDI
:1 t.;j:1 .I, , . , ,
I '
..,,,<."- '...,"
.
.
,
4cl. --
'
?!I
('1"
TRANSDUCER
TRANSDUCER CHARACTERISTIC:
CHARACTERISTIC:
0,,::: -- 0.2 V ~ 1 MIL
~48 ~ Re~: - 7.349 Volts
~.'r 'jl ~ 1.1" 0. (1 -... _..~I••. hI,."lI.••"... .••... "' '" I .. ~............MM····_·-·..iI . 1 r .. ~ .
. . ...' I ,,/i.§: :'\~:>::C-;' .'-,'. r·---i';:,:"N"',:",:~-';:;:;'-- :,,~''''''

>"h.
7
.!, ,/
__ ,0, 2 ~ ! \~. ,-
2.121 mi.l. -·0" 4Jrr"rTr'T:T"lrT:rT:~TT1T-TrrT TT~rlTTTr-'
CU,j F:c';::;'.t ic,n
(c) Shaft Centerline - ROTATIVE SPEED h Ilf'","
d _ _ I I
I ! i
I..JP
',;' 2',}DO ( ) ~~1. :0: ~T'TrTT"·rr~r"TTT-'-~I-rr·T"p-T-'·"":'-'T·"TI..r-T"T"T.. ·r..,
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24.
I~I ••S ':'

II F:""j: _.. ~).:::: 11 I,}O 1 t :~.
RUBBING RANGE
0.4 -
I ~
'.1) ~3.::: _. [J ;----

I / r-~
I., . ~ 7
11. I~I --- ----" ._-- - :;".:.; -;.~=- ~ ." l-" '_" .' -.,'.,. '.. ":;~ ;: : : : =~-: : :-:=
-', _ .._. . .,
~TTT-rr TT-'--':~;~TTTTTrT-:':~~":Tl:r<::~<:;"TTrTTrl '/

#'
f ,,
-n , :::
.
1.0 rrl j, 1,
1 0 mi.l. F IJ. 1 1 So::;..1,=
Fu.ll !%I= 3.1C? o 1 ::: ~ 4 5
k1.: '-T'
''.p IT!
IT!
6
Figure 12.-- Shaft

Figure 12. Shaft centerline
centerline position
position at
at inboard
inboard (a),
(a), (b)
(b) and
and outboard
outboard (c),
(c), (d)
(d) locations
locations versus
versus
rotative speed
rotative speed inin the
the polar
polar and
and orthogonal
orthogonal formats.
formats. Note
Note significant
significant displacements
displacements inin the
the
horizontal direction at
at speeds
speeds when
when rub
rub occurs.
occurs.
354
INBOARD RESPONSE PHASE [DEG]
IX Filtered Uncomp
--.--..- ... - ...........: ..~\

VERTICAL
\.
'1'"
I,
.J .,. . ._.____. . __. .
'." "
),", _ ..•. ............ -
..._..
I ........ ...... ._\,
~
HORIZONTAL ........
lx
1 x INBOARD
i ! ! ! !
&l*
t.:30[i
;
t,m
!gY
G8 z
gz
28
*v 5c
68
-'
CD I-'
w
g&
z+I
C, I-'
go,
q
5. ?
09
P 0
8&
g-
OCD
gz
G
CD
eo
8 wP
Figure 13. - Bode plot of rubbing rotor 1x inboard vertical and horizontal responses. Note signifi-
+I
g-
e
X
-09
w"
"2
PI
2"
2.
e.
,
CD
cIn
CC
rC-
cant changes in the horizontal response, the direction where the main rubbing activity occurs.
-*
"
[MILPP]
INBOARD RESPONSE
Figure 14. - Rubbing rotor vibration spectrum at 4300 rpm.
355
TEST
TESTPROCEDURE
PROCEDURE AND
AND TRANSIENT
TRANSIENTTEST
TEST DATA
DATA
AA controlled
controlled unbalance
unbalance inserted
inserted atat the
the rotor
rotor inboard
inboard disk
disk isis used
used toto generate
generate thethe required
required
level of
level of synchronous
vibration for
for the
the rub
rub initiation.
initiation. Rotor
Rotor speeds
speeds range from 00 to
range from to 6500
6500 rpm
rpm
passing
passingthrough
throughthe
therotor
rotorfirst
first and
andsecond
secondbalance
balanceresonances
resonancesatat approximately
approximately1580 1580rpmrpm and
and4200
4200
rpm respectively.
rpm respectively. ItIt should
should bebe noted
noted that
that these
these speeds
speeds represent
represent the the rotor's
rotor's first
first and
and second
second
balanceresonances
balance resonancesunder
under normal
normal operating
operatingconditions
conditionswithout
without rub.
rub.
The unbalance
The unbalance mass
mass employed
employed forfor this
this series
series of
of experiments
experiments isis 0.5
0.5 grams
grams at
at aa radius
radius of
of
30.5mm
30.5mmatat 00degrees
degrees(relative
(relativeto
tothe
theKeyphasor
Keyphasornotch).
notch). Each
Eachrubbing
rubbing rotor
rotor data
data run
run was
wasinitiated
initiated
by
bylocating
locating the
the appropriate
appropriatebrass
brass rub
rub screw
screwclose
closetoto the
the rotor
rotor shaft.
shaft. AAlight
light horizontal
horizontal preload
preload (1(1
to
to22lb)
lb)was
was then
thenintroduced
introducedat at the
therotor
rotormidspan.
midspan.
EXPERIMENTALRESULTS:
EXPERIMENTAL RESULTS: RUB
RUBWITHWITH PREDOMINANT
PREDOMINANT
SECOND
SECONDMODE
MODE II<
l x VIBRATION
VIBRATION
Past
Past experimentation
experimentation [2-4,6] [2-4,6]has has focused
focused on on the rules for
the rules for single
single point
point rubsrubs occurring
occurring in in
rotating
rotating shafts
shafts operating
operating in in the
the range
range of of predominantly
predominantly first first lateral
lateral mode
mode lx 1 x vibrations
vibrations of of the
the
rotor.
rotor. Vibrations
Vibrationswere wereobserved
observedatat thetheshaft
shaft axial
axiallocation
location where
wherethe the rub
rub occurred.
occurred. The The rotor
rotor rig
rig
used inin the
used the present
present experiments
experimentsallows allowsexamination
examinationof of the
the shaft
shaft vibration
vibration pattern
pattern at at several
severalaxial
axial
locations. The
locations. The first
first two
two natural
natural frequencies
frequencies of of the
the system
system are are close
close enough
enough that that they
they fall
fallin
in the
the
range
range of of investigated
investigated rotative
rotative speeds.
speeds. The The corresponding
correspondingmodes modes are are bending
bending modesmodes of of the
the shaft.
shaft.
When
Whenmore morethanthan just
just one
onemode
mode can canbe beinvolved,
involved,the the interpretation
interpretation of of the
the rub-related
rub-related vibrations
vibrations
and
and identification
identification of of rub
rub radial
radial location
location must
must be be done
done more
more carefully.
carefully. An An example
example isis given
given inin
Figs.
Figs.11 11toto 15.
15. Figure
Figure11 11presents
presents inboard
inboard andandoutboard
outboard shaftshaft vibration
vibration timetimebasebase waveforms
waveformsand and
orbits during
orbits during rubbing
rubbing atat aa constant
constant rotative
rotative speed
speed 4300
4300 rpm, higher than
rpm, higher than twice
twice first
first balance
balance
resonance
resonancefrequency,
frequency, and and slightly
slightly lower
lower than
than the
the second
second balance
balance resonance
resonancefrequency
frequency of of the
the rotor.
rotor.
The operating
The operating speed
speed falls
fallsinto
into the
the range
range ofof the
the second
second mode,
mode, thus
thus thethe basic
basic II< vibrations atat the
l x vibrations the
inboard and
inboard and out
outboard locations are
board locations are out
out of
of phase.
phase. By By using
using information
information from from the rotor-to-stator
the rotor-to-stator
physicalcontact
physical contact device,
device,the the identification
identification of of the
the rubbing
rubbing location
location waswas notnot difficult:
difficult: rubs
rubsoccur
occuron on
the inboard
the inboard sideside atat 270" where the
270"where the screw
screw isis mounted.
mounted. If, If, however,
however, onlyonly outboard
outboard vibration
vibration data
data
were available,
were available, the
the rubrub location
location might
might be be erroneously
erroneously identified
identified on on the
the opposite
opposite side side (outboard,
(outboard,
andatat 90-).
and 90").
Figure 12
Figure 12presents
presents important
important datadata which
which isis often
often overlooked,
overlooked,namely,
namely, the the shaft
shaft centerline
centerline
position. When
position. When the the rub
rub occurs,
occurs, the
the shaft
shaft isis rebounding
rebounding away
away from
from the
the contact
contact point.
point. Figure
Figure 13
13
presents the
presents the Bode
Bod6 plot
plot ofof the
the rubbing
rubbing rotor
rotor synchronous
synchronous (11<)(lx) response
response indicating
indicating significant
significant
changesin
changes in the
the horizontal
horizontal component.
component. The The spectrum
spectrum contents
contents atat 4300
4300 rpm
rpm isis given
givenin
in Figure
Figure 14.
14.
Two Keyphasor
Two Keyphasor dotsdots atat the
the orbits
orbits (Fig.
(Fig. 11) confirm the
11)confirm the appearance
appearance of of the
the 0.51<
0 . 5 component
~component inin the
the
rdtor response.
r6tor response. Figure
Figure1515illustrates
illustratesthe
therubbing
rubbing shaftshaft centerline
cent erlinechanges.
changes.
~~
SHAFTCENTERLINE
SHAFT CENTERLINE II
I
~-r:
INBOARD OBSERVATION PLANE ..r~. ,}Y'
DURINGRUBBING
DURING RUBBING
~~
BBINGBRASS
RUBBING BRASSSCREW
SCREW . ~I- CiTnrmn® - r- OUTBOARD
.. I ~. '"'" I OBSERVATION PLANE
O· ~
ORIGINAL SHAFT CENTERLINE
4, "
( ,
~ OUT-OF-PHASE
-OF-PHASE SHAFT
VIBRATION
VIBRATION LINE
SHAFT
LINE(SECOND
(SECONDMODE)
MODE)
90
.::...::.---1----,2""7;:;-;0..-;;-·
/> 1\
RUBBING PLANE 180·
Figure 15.--Rubbing
Figure15. Rubbingrotor
rotor centerline
centerlineatat 4300
4300rpm.
rpm.
356
EXPERIMENTAL AND
EXPERIMENTAL AND ANALYTICAL
ANALYTICALRESULTS
RESULTS FOR
FOR RUBBING
RUBBING ROTOR
ROTOR
AT CONSTANT
AT CONSTANT ROTATIVE
ROTATIVE SPEEDS
SPEEDS
Thefigures
The figures16 16to
to 19
19illustrate
illustrate the
the corresponding
correspondingexperimental
experimentaland and analytical
analytical results.
results. TheThe
data in
data in Figures
Figures 16a16a through
through 19a 19a are
are the
the orbit/timebase
orbitltimebase waves waves at at various
various operating
operating speeds
speeds
produced by
produced by the
the experimental
experimental rotorrotor rig
rig during
during aa routine
routine start-up.
start-up. The The synchronous
synchronous forceforce waswas
generated by
generated by placing
placing aa mass
mass unbalance
unbalance in in the
the outboard
outboard disk.
disk. TheThe rubrub boundary
boundary was was established
established
by adjusting
by adjusting thethe brass
brass rub
rub screw
screwnext
next toto the
theinboard
inboard disk
disk until
until itit was
was close
closeto
to the
the shaft.
shaft. Using
Using the the
bias springs,
bias springs,thethe shaft
shaft was
was then
then preloaded
preloaded toward
toward the
the rub
rub boundary
boundary enough
enoughto to cause
causecontact
contact as as the
the
rotor synchronous
rotor synchronousvibrations
vibrations increased
increased in in resonant
resonant ranges
ranges ofof rotative
rotative speeds.
speeds. Figures
Figures 16a
16aand
and 17a 17a
are the
are the vibrational
vibrational responses
responses at at aa constant
constant speed
speed near
near the
the first
first balance
balance resonance
resonancefrequency,
frequency, while
while
Figures 18a
Figures 18a and
and 19a
19a are
are the
the responses
responses nearnear thethe second
second balance
balance resonance
resonance frequency.
frequency. Figures
Figures 16b 16b
through 19b
through 19b are
are the
the simulated
simulated vibrational
vibrational responses
responses generated
generated by by the
the computer
computer program
program for for the
the
same conditions,
same conditions, as as the
the associated
associated experimental responses. If
experimental responses. If one
one waveform
waveform isis taken
taken as as anan
example, illustrated
example, illustrated figures
figures aa andand bb respectively,
respectively, the the experimental
experimental and and computer-generated
computer-generated
responses, can
responses, can bebe compared.
compared. The timebase waveforms
The timebase waveforms in in the
the horizontal
direction where
where thethe rub
rub
occurs are
occurs are almost
almost identical.
identical. TheThe instances
instances of of contact,
contact, indicated
indicated by by the
the highlighted
highlighted portion
portion of of the
the
waveforms, occur
waveforms, occur at
at the
the same
same locations
locations forfor both
both responses,
responses, and and also
also have
have approximately
approximately the the same
same
duration, The
duration.
(.j
Thelargest
largest difference
differencein
UN
in these
these two
two response
response waveforms
waveformsisis
(b)-lI------, t{±Yv I
·O~
I . o-c o"-:=o=", , ,"~ , L~
, ,
L;."-;;;;;
Lb••rnl;o-,,,=,
rd " U
I /
"., _.-.d,., B
o atla 1 r.. '"
TABLE
TABLE 11
~·I
~.
o
M1=0.005 lb s2/in
CH# 4
o M2=M3=0.0025 Ib s2/in
Figure
1.0 It,ll /dlV
16.--Rubbing
Fi ure 16. Rubbing rotor
rotor inboard
inboard and
and outboard
/\ (\
\/ v' \/ \/
outboard orbits
i\
orbits and
1\
-
and wave-
wave-
. ".". . . ,_,.EEill
~
K1=K6=182 Ib/in
K2=K4=Ks=104 lb/in
Kri=10 4 IbCin
K3=460 Ib in
DS i=0.03 Is/in
forms at
at 1500
1500rpm:
rpm: (a)
(a) experimental,
experiment al, (b)
(b) computer-simulated.
computer-simulat ed. F u1=2.5·10- 50 2 lb
forms Fu2=Fu3=0
,. E F:...:·
. . .'.. £1=90·
~:;L>_ /\/\r.\.~.\.
(a) (b) !
_
CH# 1
F p1=Fp2=0
~.<::~.
~'".
~~\~---""
\;,:;>--:~)
,,:~~
u '
C\H#rO\F.r:J
V') ~'\ I
CHX 2
. . '.
~ vv·
Fp3=9 lb
'Y3=0·
D1=D4=0.1 lb s/in
0.50 mil /d,v ~: RO,.ti~r. i 19o~",m ,.H",,. CO" "' ' ~ ,"".,..".0·· •.
D2=D3=0.01 lb s/in
Ai=O
KB1=K B4 =900 lb/in
1 Filii K B2=K B3=0

&- CH# 4
~ C 1=C2=C4=10 in
C 3=0.05 in
Af
w.f'~J\"',.\.1 JLi=0.5
1.0 --
mll l d r i i C C l l Rot., Iq=l i - 1,2,3,4
Figure 17.--Rubbing
Fi ure 17. Rubbing rotor
rotor inboard
inboard and
and outboard
outboard orbits
orbits and
and wave-
wave-
forms at
forms at 1900
1900rpm:
rpm: (a)
(a) experimental,
experimental, (b)
(b) computer-simulated.
computer-simulated.
357
forced vibration magnitude
the ratio of the forced magnitude to the transient vibration caused by the rubbing
forces. The vertical experimental
forces. experimental and analytical response
response waveforms also
also show
show similar
similar patterns.
difference between the experimental
The major difference experimental and computed responses
responses is is related to the phases
horizonta1 and vertical responses.
between the horizontal responses. In the experimental
experimental responses
responses the maximum
negative vertical excursion
excursion occurs
occurs at about same time as
about the same as the maximum negative
negative excursion of
horizontal response.
the horizontal response. For the computed
computed responses
responses the maximum
maximum negative
negative vertical excursion
excursion
occurs
occurs when the horizontal
horizontal response
response reaches
reaches maximum positive.
positive. This
This timing difference is
timing difference is caused
caused
relationship between the forced
by the relationship forced vertical
vertical response
response and the transient vertical response.
response. Since
Since
format is
the orbit format is very sensitive
sensitive to the relative phases
phases between the orthogonal
orthogonal waveforms,
waveforms, it
reatest difference
shows the greatest
shows difference between experimental
experimental and computed
computed responses.
responses. Relatively large large
numbers of
numbers !+
o inter-telated
inter-felated variables
variables controlling
controlling the response
period required to reach a steady-state solution
response and the long
solution results
results in an approximation
long computational
computational time
approximation to the corresponding
corresponding
experimental data.
experimental data. The two-mode
two-mode rotor systemsystem modal parameters were were identified
identified prior to
occurrences [5].
rubbing occurrences [5]. The identification
identification of rub-related
rub-related parameters was more more difficult,
difficult, and
some estimation was applied (Table 1).
some 1). This
This certainly
certainly contributes
contributes to the differences
differences observed
observed in
experimental versus analytical results.
the experimental results. However,
However, the main contributor to the differences
differences is
how the rubrub boundary is is produced (see
(see Figure 20).
20). The
The experimental
experimental rub boundary
boundary is is a flat
vertical surface
vertical surface bounded in onlyonly one
one direction.
direction. The
The rub boundary used by the computercomputer program
is a full
is full 360-degree
360-degree circular clearance.
clearance. ToTo approximate
approximate the flat
flat surface
surface bounded only only on one
one side,
side,
program must use small
the computer program small unbalance forces
forces combined
combined with high preload forces forces and a
(.) ~ E2liD (b) ~ EN' I
~
2.0 mil /div CCI~
fvn I
Roi""'tlon 59130l"'PIfl 0 •
...••
:10" V
PAl
.. on rpD
A· ..., ·
UP leH. 3 . 1
..... '.' ....... . p=
. z
. .=. .. . . ·1
~VVJ". ~~
,' . pun..... \
. .
. . . ,.~::::
. : : . : : V7-
.•.
: : :
18. -- Rubbin~
Figure 18. Rubbin rotor inboard and outboard orbits
orbits and waveforms
waveforms at 3900
3900 rpm: (a) experi-
rpm: (a)
mental results, (by computer-simulated
results, (b) computer-simulatedresults.
results.
Jmm
CHI 1
(b) ,
.
I'
.
. ,e " O l l a . 8..r
.
19.-- Rubbin~
Figure 19.
Figure
mental 7inboard and
Rubbin rotor inboard
mental results,
results, (b)
and outboard orbits
(b computer-simulated
computer-simulatedresults.
results.
orbits and
and waveforms
waveforms at
at 4700
4700 rpm:
rpm: (a)
(a) experi-
358
358
~
/
r centerhne motion
shaft centerline
shaft
shaft centerline
shaft
m~ <~
centerlhe // ,
~
~ --------....
static ( Analytical
Experimental
Expedmental di~ ,~ "'-" t/ boundary
boundary
conditions ~-L \ \ ill ' conditions
lx VibratioJ
amplitude \
----"'~
/
~'friction
/ / force
lx
vlbratlOfi'
..,
amphtude
"/- 0/ / / \ .,.,/ normal

-;.'<-~/
~~,
_~ bra8s~'"
~
riction
screw
screw force
'//
20.-Experimental and computer--simulated
Figure 20.-Experimental computersimulated rubbing rotor boundaries.
relatively high clearance (Figure 6). The rotor centerline is moved away from the center of the
clearance. This
clearance enough to allow the rebounding motion to occur within the available clearance.
imposes limits on the ratio of unbalance to preload force.
process imposes force. Since the impact force force
depends on the combination of preload and unbalance forces,
producing the transient motion depends forces, the
unbalance response becomes a smaller part of the overall vibration. This explains the discrepancy
ip the ratio of forced-to-transient
i:p. forced-to-transient vibration amplitudes between the experimental and
computer-generated data observed previously. concerning the timing
The discrepancy concerning
relationship between the transient and unbalance responses in the vertical direction is also caused
by the rub boundary configuration. When the shaft contacts the rub screw vertical surface in the
force components,
experiment, there are two force components, the impact force
force and the tangential friction force
force in
counterclockwise rotation, the shaft in
the downward direction for counterclockwise rotation. For counterclockwise
the computer program touches the seal simulating boundary below the clearance centerline if the
responses are greater than the clearance. The difference
combined preload and unbalance responses difference between
Therefgre,
this case and the experimental one is that now the impact surface is no longer vertical. Therefore,
force has a horizontal component similar to the experimental component, but also
the impact force
carries a vertical component in the up direction. If If this component is higher than the
friction-generated vertical down component, the net vertical force force acts upward instead of
difference in the vertical direction
downward like the experimental case. This produces the timing difference
noted earlier.
LOCATIONS. ADDITIONAL OBSERVATIONS

RUBBING ROTOR AT TWO AXIAL LOCATIONS.
The previous experimental data have resulted in characterization of the rub phenomena by
frequency content.
means of shaft lateral vibration frequency content. There exists some general rules that have been
widely accepted. Of interest in this case is the generation of sub subsynchronous
components tied to the rotor's
components frequenc . The
rotor's running speed and the rotor first natural frequencr.
rub-related sub
generation of rub-related synchronous components in the order of (1/2)'X,
subsynchronous (1/2)x, (1/3)'X,
(1/3Tx, etc.,
necessitated the rotor speed to be at least twice, three times, and so on, the rotor's
rotor's first natural
frequency. Further studies relating to this concept indicate that both the generation, as well as
frequency.
subsynchronous components,
transitions between orders of subsynchronous components, is perhaps not as clear as once believed:
believed.
rotor-to-stator rub at a single point; however,
These general rules are true in the case of the rotor-to--stator
multiple axial points of rub occurring simultaneously involve more complex rotor responses.
During setup and adjustment of the same rotor rig for the experiment with multiple axial
rub points, the existence of sub
subsynchronous speeds below
synchronous components were observed at rotative speeds
frequency. The frequency
twice the rotor first natural frequency. frequency content of the spectrum and orbit stability
speeds below twice first natural frequency
at various running speeds frequency appeared to be highly sensitive to
the severity of rub, as well as the amount of radial preload applied to the rotor.
359
presented in Figures 21 and 22 to illustrate these phenomena. Response
Data is presented
orbit/timebase waves of
orbitltimebase of the rubbing rotor's
rotor's measured at inboard and outboard planes clearly show
of (112)~
the presence of (1/2)x vibrations, being most predominant in the horizontal direction.
The running speed of "unmodified" first

of 3143 rpm is 157 rpm lower than twice the system's 'lunmodifiedll
natural frequency of "modification" of
of 1650 rpm. (A 'lrn~dification~~ of system resonance occurs due to the stiffening
of rub, and typically raises the natural frequencies.)
effects of frequencies.) At this time, although not
multi-axial rubs support to a greater
quantitatively resolved, the experimental results from multi-axial
of rub-generated
extent the presence of rub-generated subsynchronous
sub synchronous (112)~
(1/2)x components occurring at rotative
frequency. These experiments do not cover the range of rotative
speeds below twice first natural frequency.
speeds much above twice first natural frequency, nor have more than two points of of rub been
investigated. These topics should be addressed during further research.
ROTOR-TO-STATOR
ADDITIONAL EXPERIMENTAL RESULTS OF THE MULTIPLE ROTOR-TO-STATOR
RADIAL RUB CONTACTS AT ONE AXIAL LOCATION
rotor-to-stator con-
The set of tests presented below illustrates results of multiple radial rotor-to-stator
tacts at one axial location. A modified rub fixture is equipped with an electric contact device and
a stationary rub block (Fig. 23). The half-cylinder area of possible rotor contact simulates a seal.
UP CHS 1 UP
INBOARD OUTBOARD
~
F CHit: 2
I CH.4
1.'
1.8 mil/diu
nil /diu cow
GCU Rdt.tian
Ratmtion
I
~~~~
,
5143 rp.
3143 rpl 29
20 rn./div
m-ldiu
I1
1.'
1.0 mil/diu
mil /diu COW
CCW Rat..ticn
Rot-tion 3143
I
3143 "pm
rpm
IW~~~~
I
28
20 m./d.l.v
m.,diu
I
Figure 21. - Inboard and outboard rubbing rotor responses at the inboard and outboard locations at
3143 rpm. Orbits and timebase waves indicate presence of Ix
3143 (112)~components.
1 x plus (1/2)x
ii:
jI.,'
ROTATIVE SPEED = 3143 rpm
i 3
18 20 3. 40 50 so '70 B0 90 100
FREQUENCY (Hz)
22. -- Rubbing rotor vibration spectrum at 3143

Figure 22. 3143 rpm.
360
a
9
l. EDDYCURRENT
EDDY CURRENT 5.
5. RUBBING SHAFT
RUBBING SHAFT
DISPLACEMENT PROBE
DISPLACEMENT PROBE 6.
6. TEST RUB
TEST RUB BLOCK
BLOCK
2. FIXTURE
FIXTURE BODY
BODY 7.7. ALIGNMENT PIN
ALIGNMENT PIN
3. PLUNGER
PLUNGER SHAFT
SHAFT 8.
8. POSITION AND
POSITION AND PRELOAD
PRELOAD ADJUSTERS
ADJUSTERS
4. COMPRESSION SPRING
COMPRESSION SPRING 9.
9. LINEAR ANTI-FRICTION
LINEAR ANTI-FRICTION BEARING
BEARING
Figure
Figure 23.-Seini--circular
23.-Semi+ircular rubrub fixture.
fixture.
Rub
Rub maymay practically occur occur at
at several
several radial
radial positions.
positions. Most
Most often it occurred
often it occurred atat two
two locations.
locations.
The
The rotor-to-stator
rotor-to-stator contact
contact information
information during
during rubbing at at the
the first
first balance resonance
resonance speed
speed range
range
, has
has been
been reduced
reduced in in terms
terms of
of "dwelling"
"dwellingzttime
time ratio
ratio and
and contact
contact phase
phase ratio
ratio versus
versus rotative
rotative speed
speed
(Fig. 24).
(Fig. 24). The The "ratio"
"ratio" was
was obtained
obtained byby relating
relating the
the actual
actual contact
contact time
time to
to the
the period
period of
of 1x
1%
vibration
vibration at at corresponding
corresponding speeds.
speeds. TheThe 1x
l x vertical
vertical response
response amplitude
amplitude andand phase
phase are
are overlayed
overlayed on
on
the
the graphs.
graphs. Note Note that
that the
the rotor-to-stator
rotor-to-stator contact
contact time
time ratio
ratio versus
versus rotative
rotative speed
speed resembles
resembles inin
shape the 1x
shape the l x amplitude,
amplitude, which
which suggests
suggests proportionality.
proportionality. Interesting
Interesting isis the
the contact
contact phase,
phase, clearly
clearly
following
following the
the 1xl x response
response phase
phase lag.
lag.
FINAL REMARKS
FINAL REMARKS
This
This paper
paper presents
presents experimental
experimental andand computer
computer simulated
simulated results
results of
of rotor
rotor vibrational
vibrational
responses
responses during
during multiple
multiple partial
partial rubbing
rubbing against
against aa stationary
stationary elements.
elements. The considered cases
The considered cases are
are
characterized
characterized by by "light"
"light" rub conditions for
rub conditions for which
which predominant
predominant in in rotor
rotor responses
responses are
are
impacting/rebounding phenomena.
impacting/rebounding phenomena. The The rotor/stator
rotorlstator contact
contact takes
takes aa small
small portion
portion of
of the
the shaft
shaft
rotational period
rotational period soso that
that the
the system
system stiffness
stiffness increase
increase effect
effect isis not
not high.
high. The
The contact
contact normal
normal and
and
friction forces
friction forces are
are also
also relatively
relatively low.
low. In
In continuation
continuation of of previously
previously studied
studied rotor
rotor partial
partial rub
rub cases
cases
I
r2-6],
2-61, this
iocations
this paper
ocations of
centerline
paper illustrates
of the
illustrates the
the shaft.
shaft. It
position, as
centerline position, as well
the rotor
It also
well as
rotor dynamic
as modal
dynamic behavior
also emphasizes
emphasizes the
modal deflection
behavior when
the importance
when rubbing
importance of
deflection line
line at
rubbing occurs
of taking
at specific
occurs at
taking into
specific rotative
at multiple
multiple axial
into account
account the
rotative speeds
speeds for
axial
the shaft
shaft
for adequate
adequate
identification of
identification of rotor-to-stator
rotor-to-stator rub rub occurrences.
occurrences.
REFERENCES
REFERENCES
1. Muszynska,
1. A.: Rotor-to-Stationary
Muszynska, A.: Rotor-to-St ationary Element
Element Rub-Related
Rub-Related Vibration
Vibration Phenomena
Phenomena inin Rotating
Rotating
Machinery,
Machinery, Literature
Literature Survey, The Shock
Survey, The Shock and
and Vibration
Vibration Digest,
Digest, v.
v. 21,
21, No.3,
No. 3, March
March 1989
1989...
2.2. Muszynska,
Muszynska, A.,
A., Bently,
Bently, D.
D. E.,
E., Franklin,
Franklin, W.
W. D.,
D., Hayashida,
Hayashida, R.
R. D.,
D., Kingsley, E. M.,
Kingsley, L. M., and
and Curry,
Curry,
A.
A. E.:
E.: Influence
Influence of
of Rubbing
Rubbing onon Rotor
Rotor Dynamics,
Dynamics, NASA
NASA Contract
Contract No.
No. NAS8-36719,
NAS8-36719, Final
Final
Report,
Report, Bently
Bently Nevada
Nevada Corporation, March 1989.
Corporation, March 1989.
3.3. Muszynska,
Muszynska, A.:A.: Partial
Partial Lateral
Lateral Rotor-to-Stator
Rotor-to-Stator Rub,
Rub, Third
Third International
International Conference
Conference on
on
Vibrations
Vibrations in
in Rotating
Rotating Machinery,
Machinery, C281/84,
C281184, IMechE,
IMechE, York UK, 1984.
York UK, 1984.
361
..
u
~
(a)
"'"
'"
u
~'" ..
5
. '" ~
i "'''
Ii I
t:~
.,u
~
i 1:
" .!il8..
e
eO
•
• I
0-
-
.. ..
/
/
• ,/
"
ROTATIVESPEED
ROTATIVE SPEED RPM
RPM xx 100
100
(b)
(b)
0
0
H
. __ . --- ------;-. -_. -- .
r;;"" 500 u;
IIi II II
Z fiI
0 fiI
H
E-<
" ""
I
fiI
~ 400 e. It;! r
II
H
:> i ....
0
0
0
I 1
0
'" I tS
1
__
III J~1(; I /---l:-L,~::::'SE

'"
0
300
E-<
0 VERTICAL 1X RESPONSE
---.
fiI
Eo<
~ 200
I 0 PHASE LAG
PHASE LAG
l;:l
. I· . . -----
~ I
~ 100 I
H
fil KEYPHAS'OR NOTCH I

1il 0 I ,
1500 2000 2500 3000
ROTATIVE SPEED
ROTATIVE SPEED (VIBRATION
(VIBRATION FREQUENCY) [RPM]
FREQUENCY) [RPM]
Figure 24.--(a)
Figure 24. (a) Rotor-to-stator
Rotor-to-stator contact
contact inin terms
terms ofof the
the amount
amount of
of shaft revolutions {J,8=
shaft revolutions a t , (t(t,c =
= Otc =
contact time);
contact time); (b)
(b) rub
rub contact
contact arc
arcrelated
related toto generalized
generalizedvibration
vibration period
periodversus
versusrotative
rotativespeed.
speed.
4.4. Muszynska, A.:

Muszynska, A.: Synchronous
Synchronousand
and Self-Excited
Self-Excited Rotor
Rotor Vibrations
Vibrations Caused
Causedby
by aa Full
Full Annular
Annular
Rub, Eight
Rub, Eight Machinery
Machinery Dynamics
Dynamics Seminar,
Seminar, NRC,
NRC, Halifax
HalifaxN.S.
N.S. Canada,
Canada,1984.
1984.
5.5. Muszynska, A.,

Muszynska, A., Bently,
Bently, D.
D. E.,
E., Franklin,
Franklin, W.
W. D.,
D., and
and Hayashida,
Hayashida, R.
R. D.:
D.: Identification
Identification of
of
Modal Parameters
Modal Parameters of
of Rotating
Rotating Systems
SystemsUsing
Using Perturbation
Perturbation Techniques,
Techniques, Part and Part
Part 11and Part 2,2,
Twelfth Biennial
Twelfth Biennial ASME
ASME Conference
Conference on on Mechanical
Mechanical Vibration
Vibration and
and Noise,
Noise, Montreal,
Montreal,
Canada,September
Canada, September 17-20,
17-20, 1989.
1989.
6.6. Bently, D.
Bently, E.: Forces
D. E.: Forces Subrotative
Subrotative Speed
Speed Dynamic
Dynamic Action
Action of
of Rotating
Rotating Machinery,
Machinery, ASME
ASME
Publication 74-DET-16,
Publication 74-DET-16, 1974.
1974.
362
THE ROCKETDYNE MULTIFUNCTION TESTER --
ROCKETDYNE MULTIFUNCTION
PART I:
I : TEST METHOD*
B.T. qurphy,
B.T. K . Scharrer, and Robert F.
~urphy, Joseph K. F . Sutton
Rockwel
International
Canoga Park, Cal
C a l ifornia
i f o r n i a 91304, U.S.A.
U.S.A.
The Rocketdyne Multifunction Tester is a general purpose test apparatus which utilizes
axial and radial magnetic bearings as shaft excitation devices. The tester is modular in de-
sign so that different seal and bearing packages can be tested on the same test stand. The
rotordynamic
tester will be used for rotor fluidlmaterial
dynamic coefficient extraction, as well as life and fluid/material
compatibility evaluations. Use of a magnetic bearing as a shaft excitation devicedevice opens up
many possibilities
possibilities for shaft excitation and rotordynamic coefficient extraction. In addition
describing the basic apparatus, this paper will discuss some of the excitation and extrac-
to describing
tion methods considered,
considered, and detail the chosen method. Some Some of the excitation methods
to be discussed include random, aperiodic, harmonic, impulse and chirp.
INTRODUCTION
Recent trends in the design of high-performance turbomachinery for advanced pumpfed pump-fed
liquid rocket engines
engines have moved away from rolling element bearings in favor of fluid film
elements. The potential payoffs are longer life, higher admissible DN values, and more con-
elements.
trol over turbopump rotordynamics. Hydrostatic bearings and annular seals seals appear most
promising. In effort to support the new designs,
designs, Rocketdyne
Rocketdyne has designed,
designed, and is currently
fabricating, a multifunction bearing and seal tester. The goals are to measure accurate
fabricating,
coefficients, conduct durability tests, and evaluate different
rotordynamic coefficients, different materials, all in
an environment simulating real cryogenic turbopump operating conditions.
conditions. Measurement
of rotordynamic coefficients
coefficients is accomplished
accomplished via the use of a radial magnetic bearing as
a shaft motion exciter. Test bearing (or seal)
seal) reaction load is measured in the support
structure. The versatility of the magnetic bearing as an exciter is the key feature of this
tester.
The purpose of this article is to describe the basic methods which will be used to excite
the shaft, acquire the data, and reduce the data. All three of these tasks are to be
performed by a single
single computer. The tester is designed to run the test bearing (or seal)
seal) at
a constant operating point, and use the magnetic bearing to excite the shaft in a manner
suit able to permit identification
suitable identification of the bearing's (or seal's) complex impedance functions.
functions.
*This work was partially supported

*This supported by United States
States Air Force contract F04611-
F04611-
86-C-0103.
86-C-0103.
363
The impedance
impedance functions
functions then yield the desired rotor dynamic stiffness,
rotordynamic stiffness, damping and mass
coefficients.
coefficients.
The application of a magnetic bearing in this manner is novel, thus there is a degree
degree of
uncertainty as to how well it will function,
function, and what the optimum input signal will be
(Le.,
(i.e., random, aperiodic, harmonic,
harmonic, swept sine, impulse, step, chirp, etc.). The versatility
of having a completely arbitrary waveform generator is, therefore, most important. Also,
it is desirable that the input signal delivered to the magnetic bearing be adaptive so that
optimum signal to noise ratios can be achieved.
The key constraint in this test program is length of test time. Many of the tests are
limited to about 5 minutes each by virtue of the blow down facilityfacility being used. In all,
approximately 35 such tests are currently planned. These 35 tests are divided among
different
different seals, different bearings, and different
different working fluids.
fluids. Each 5 minute test must
encompass
encompass aa multitude of operating points (combinations
(combinations of shaft speed, pressure drop,
drop,
swirls, eccentricities,
inlet swirls, eccentricities, etc.). Presently, only about 20 seconds
seconds of test time are being
allotted to each operating point for measurement of rotordynamic coefficients.
coefficients. The chosen
input signal must make optimum use of this limited amount of time.
DESCRIPTION OF APPARATUS
The multifunction tester, configured with an annular seal,
seal, is shown in figure 1. The tester
figure 1.
consists of the basic tester and a module containing the test article. The basic tester rotor
consists
is supported on one end by a duplex ball bearing and on the other by the magnetic bearing.
The module contains the test article only.
only. When assembled,
assembled, the main rotor supports are
the duplex ball bearing and the test article, use of the magnetic bearing as a support is
optional as discussed by Hawkins, et al.
al. (ref.
(ref. 1).
1).
magnetic bearing is to generate asynchronous
The main function of the magnetic asynchronous motion of the rotor
at the test article. The reaction force
force at·
at the test article is measured using a calibrated
cylindrical
cylindrical spring called aa flexmount.
flexmount. The deflection
deflection of the flexmount
flexmount under load is mea-
sured using four Bently REBAM proximity probes. The acceleration
acceleration of the flexmount
flexmount is
measured in two orthogonal directions
directions using PCB accelerometers.
accelerometers. The motion of the rotor
at the test article is measured using Bently proximity probes.
The initial test plan calls for testing of a 152.4
152.4 mm (6.0(6.0 inch)
inch) diameter annular seal, a
88.9 mm (3.5
(3.5 inch)
inch) diameter hydrostatic bearing, and aa 57 mm (2.24 (2.24 inch)
inch) ball bearing in
cryogenic propellants. The annular seal will be tested at three different
LN2 and actual cryogenic different
values of inlet swirl. The tester will operate at speeds up to 24,000 24,000 cpm and supply
pressures to 172.4
172.4 Bar (2500
(2500 psi), for this test series.
series. The maximum tester design speed is
30,000 cpm. The geometries for the test articles will reflect those envisioned for production
requires radial clearances
rocket engine turbomachinery. This requires clearances in the range of 0.076-0.127
(0.003-0.005 inches),
mm (0.003-0.005 inches), whereas all test results to date are for radial clearances
clearances in the
inches) and at lower shaft speeds.
range 0.254-0.508 mm (0.010-0.020 inches)
364
FUNDAMENTALS OF ROTORDYNAMIC
FUNDAMENTALS RIBTORDYNAMK
COEFFICIENT MEASUREMENT
The standard relationship between bearing displacements
displacements and forces
forces in the time domain
follows:
is expressed as follows:
[Mlq + [Clti + [Klq = F (1)

execute motions which are strongly periodic (i.e,
Rotors operating at steady state execute (i.e, har-
monic). This lends itself to a frequency
monic). frequency domain
domain representation. Also, from a test point of
convenient to work in the frequency
view, it is more convenient frequency domain. Thus, transforming equation
(1) (equivalent to amplitude
(1) to the frequency domain and employing complex notation (equivalent
and phase)
phase) results in
(K"""
[ (Ky",
+ iCxxw -
+ iCy",w -
MxxW2)
M y",w 2)
(K",y+~C",yW-M"'Yw:)l
(Kyy+ 1,Cyy W - Myyw )
{=}
Y
= {~",}
Fy .
(2a)
or
(2b)
In the usual sense,

sense, the physical displacement in the x direction is the real part of the com:-
com-
xe and similarly,
iwt
plex expression ZeiWt similarly, for y, Fx
F", and F,.
Fy • The complex impedances,
impedances, Z, come
directly from measurements of Z, x, ii, F", and &,
8, F, Fy , all
a11 presumably as functions of frequency.
as functions frequency.
displacements x and yare
The displacements y are usually obtained easily with non-contacting
non-contacting displacement
displacement
F", and F
forces F,
probes. The forces Fy, are more difficult,
difficult, and may be measured directly with spe-
cells, or inferred indirectly from some
cial load cells, some other known quantities such as as pressure
distribution, a hammer impulse, intentional unbalance, or the snap of a suddenly released
distribution,
load. Once the displacements and forces
static load. forces are obtained as functions
functions of frequency,
frequency,
the exact procedure for obtaining the impedances Z, and in turn, the rotordynamic co-
efficients, depends
efficients, depends on how the displacements
displacements and forces (i.e., the overall
forces were generated (Le., overall
approach). The reduction procedures
test approach). several test approaches
procedures for several approaches considered for the
multifunction tester will now be described.
described.
Orbits -- A very natural approach is to use the magnetic bearing to
Circular Orbits
Single Circular
frequency over the frequency
impart a circular whirl orbit to the rotor, and vary its frequency frequency range
= xe-
of interest (rotor speed held constant). In this case fiQ = '
te- if (counterclockwise
(counterclockwise orbit) at
frequency giving the following:
each value of frequency following:
Zxx + Z",ye- if = ~x = K""" + C",yW - M"""w 2 - i(K",y - Cxxw - M",yw 2)

(3)
Z,
Zy", +
+ Z,,e-': ~ = K,,
Ji
Zyye- if =
=- + CyyW
K y", +
Z
X
M y",w 2 -- i(Kyy
C,,w -- M,,w' M yy w2)
C,,w -- M,,w2)
i(Kyy-- Cy",w
x, Fx
The 2, F", and FY
Fy data obtained for a single
single circular orbit are not sufficient
sufficient to com-
pletely determine all 4 complex Z's.
Z9s. However,
However, the special shape of the orbit does
does permit
365
their partial determination by grouping
grouping of their real and imaginary components as shown.
shown.
components (real and imaginary parts of
The 4 components Fal/x and Fy
of FS/z /z) can be plotted versus
Fy/x)
frequency,
frequency, and curve fits
fits yield the 12
12 desired rotor dynamic coefficients.
rotordynamic coefficients. Note that all 12
12
coefficients
coefficients must be real which precludes the detection of mechanisms like hysteretic damp-
damp
ing. Note also
also that there is no benefit to assuming skew symmetric stiffness, damping and
mass matrices. The only information obtained as as to the adequacy of the assumed KCM
model is via digression from a pure quadratic. This test approach is used by Adams, et al.
(ref. 2).
(ref.
Orbits -- The magnetic
Dual Circular Orbits magnetic bearing is capable of producing either forward
or backward circular whirl orbits at each frequency
frequency (not simultaneously).
simultaneously). This forms
forms 2
independent load cases which,
which, when used together, completely determines all 4 complex
Z's at each test frequency.
frequency.
Zf f 0
f = forward
(4)
(4)
= backward
b=
The 8 components are plotted versus frequency,frequency, and curve fits fits yield the desired rotordy-
namic coefficients
coefficients which can now all be complex. This test approach was used by Kanki, et
al. (ref.
(ref. 3).
3). Note that it is better to combine
combine the forward and backward data to completely
frequency range from fi,,
determine the Z's over the frequency h i g h , rather than keeping them
f,ow to ffhigh,
separate and using equation (3) (3) to partially determine the Z's from --fhigh +
fhigh to +ffhigh (see
h i g h (see
Ohashi, et al.
Ohashi, al. (ref.
(ref. 4)
4) and Jery,
Jery, et al.
al. (ref.
(ref. 5)).
5)). This same conclusion was also reached
by Bolleter, et al. (ref.
(ref. 6).
6). Note also
also that forward and backward circular orbits taking
place at the same time form an ellipse,ellipse, but a single
single ellipse
ellipse is a single
single load case and does
not completely determine the Z's (see (see below).
The technique of actually plotting and inspecting
inspecting the impedance
impedance functions
functions versus fre-
fre-
quency,
quency, followed fit, provides insight into the mechanisms
followed by a curve fit, mechanisms at work, and also
also
experimental scatter. The importance of this visualization apparently has been overlooked
overlooked
by some
some researchers.
researchers. As opposed to plotting and curve fitting the impedance
impedance functions,
functions,
the force
force and displacement data for some
some or all frequencies
frequencies can be assembled into a single
single
matrix equation as follows
follows {Le.,
(i.e., rearrangement of the terms of equation (2a)):
(2a)):
[displacement
[displacement data matrix]{KCM
matrix]{KCM vector} = {force data}
vector) = data) (5)
(5)
[4 * #
[4 # frequencies by
by 12]{12 by 1} (4 * #
= {4
1) = # frequencies by
by 1}
1)
12 real rotordynamic coefficients

The 12 coefficients are computed directly by either using a subset of
the data to write exactly 1212 equations (Adams,
(Adams, et al. (ref.
(ref. 2)),
2)), or using all the data and
performing
performing a least squares solution (Nordman,
(Nordman, et al.(ref. 7), Goodwin,
al. (ref. 7), Goodwin, et al. (ref.
(ref. 8),
8),
and Burrows,
Burrows, et al. (ref.
(ref. 9)).
9)). The latter approach will produce rotordynamic coefficients
coefficients
identical to those produced by plotting and curve fitting, but without the benefit of seeing
identical
this graphically.
366
Another approach to bypassing the impedance impedance functilOns
functions and proceeding directly to 12 12
unknown rotordynamic coefficients
coefficients is to use a recursive estimation scheme
scheme on time domain
data (Stanway
(Stanway (ref. lo), Sahinkaya,
(ref. 10), Sahinkaya, et al. (ref.
(ref. 11),
ll),and Ellis, et al. (ref.
(ref. 12)).
12)). This should
yield a result similar, if not identical,
identical, to the frequency
frequency domain approach of equation (5). (5).
Among its advantages are transformation to the frequency frequency domain with its associated
associated
coefficients can conceivably be computed
windowing functions is not needed, rotordynamic coefficients
on-line during test (Le.,
(i.e., like a filter),
filter), and it is an effective
effective way to deal with time varying
parameters (Goodwin
(Goodwin and Payne (ref. 13)).
(ref. 13)). Again, however,
however, there is will be no graphical
check on the validity of the K CM model.
KCM
Single Elliptic Orbit - The magnetic bearing can also be used to impart elliptic elliptic motion
to the rotor, and vary its frequency
frequency over the frequency
frequency range of interest (rotor speed held
constant). Data for a single elliptic
elliptic orbit contains the same amount of information as a
single circular orbit, but must be utilized differently
single differently because of its different form.
form. For
example, to use the technique
example, technique of equation (3), (3), Ylx
Q/Z must be constant. The displacement
orbit must have a constant ratio of major to minor axis length, and must have constant
orientation. It is probably not practical to satisfy these conditions. Instead, the approach
of equation (5)
(5) could be used to directly compute 12 12 real rotordynamic coefficients.
coefficients. In
desirable that the displacement ellipse
this case it is desirable ellipse be highly variable as a function of
frequency
frequency to get the best definition of the rotordynamic coefficients.
coefficients. In fact,
fact, the further
removed from a circle
circle the data becomes, the more important it is that the ellipses ellipses be
highly varied. It can be shown that the limiting case of a constant, purely translational
orbit would render the matrix of equation (5) (5) singular.
singular. When solving
solving the least squares
form of equation (5) (5) it is
is best to use a Singular Value Decomposition
Decomposition (SVD)
(SVD) algorithm
(Forsythe, et al. (ref.
(Forsythe, (ref. 14))
14)) to get a direct indication of the quality of the solution (Le., (i.e.,
the matrix condition number).
number). One can also also use the statistical parameters employed by
(ref. 9)
9) to help quantify
quantify the accuracy
accuracy of the least squares solution. It is
interesting to note that somesome simple
simple numerical
numerical experiments
experiments on equation (5)(5) have shown
elliptic data can easily yield a solution twice as good as circular data. In
that varied elliptic
exchange for the more precise solution, however, it is no longer possible to plot impedance h
functions versus frequency

functions frequency to provide a visual check of the validity of the KCM model.
Another approach to utilizing data for one ellipse
ellipse per frequency
frequency is to assume the im-
(i.e., Z"""
pedances to be skew symmetric (Le., Z,, = Z,, = -ZYIll).
Z,, and ZIllY
= Zyy -Z,,). In this case equation
(2b) becomes (see
(2b) (see Bolleter,
Bolleter, et al.
al. (ref.
(ref. 6)):
6)):
- -Y
a= (6)
x
As long as a ii is not ±i
fi (Le.,
(i.e., not a circle),
circle), the two complex impedances can be computed
using Cr~mer's
rimer's rule, and plotted versus frequency.
frequency. The plots provide a check on the KCM
model, and curve fits fits yield 6 complex rotordynamic coefficients
coefficients (K""", C,, ,M"""
(K,, , G""", M,, and K K,,llly ,,
C,, , M,, )
GillY' .
MillY). The coefficients
coefficients would be expected to be real, but need not be. For example
Bolleter,
Bolleter, et al. (ref.
(ref. 6)
6) detected hysteretic damping (complex K"",,)) in boiler feed pump
(complex K,,
impellers using this approach. elliptic. As a approaches
approach. Note that the orbit must be elliptic. approaches ±i fi
the solution for Z""" Z,, and ZIllY ill-defined, and is undefined when a
Z,, becomes ill-defined, = ±i.
ii = fi. The
following amplification factor for uncertainties in both z
following expression is an amplification x and g:y:
367
/= 1 (7)
2(lal - 1)
5% uncertainty in z
If there is 5%
If x then there is f*5%
f*5% uncertainty in Z, and Z
Z:z;:z; ZZY. .
,, The need
to avoid circles
circles in this case is apparent. One other potential drawback of assuming skew
symmetric impedances
impedances is what happens when this assumption is violated. For example, if
K,,
K zz equals
equals 90% of K,,
90% K zy ,
Kyy this could manifest itself as a bias in K,, , or produce seemingly
significant amounts of C
significant C,,
ZY when in fact there is none.
Orbits- The magnetic

Dual Elliptic Orbits- magnetic bearing could be used to produce two different
elliptic
elliptic orbits at each test frequency
frequency (not at the same time). This forms
forms two independent
load cases, and is analogous to the case of forward and backward circles described
described earlier.
fact, the forward
In fact, forward and backward circles is a special case of 2 ellipses. When using two
ellipses it is imperative that they be independent so that the 4 Z's can be computed
ellipses
employing equation (4)(4) for each frequency.
frequency. The condition number (Forsythe,
(Forsythe, et al.
al. (ref.
(ref.
14))
14)) of the matrix in equation (4)(4) quantifies
quantifies the degree
degree of independence. Thefollowing
The following
expression due to Zhang, et al. (ref.
(ref. 15)
15) can be used to calculate the condition number at
frequency:
each frequency:
COND = B + JB2 - 41 x2Yl - Y2 Xli (8)

B - JB2 - 41x2Yl - Y2Xli
where B B == IXll+ I + I + 1.
12,I + IX21
Izz + lill
ljjl1+ 1112
1g2I. The condition number is similar to /f of equation (7),
and in this case is an upper limit on amplification
amplification of error. The minimum,
minimum, or optimum,
optimum,
value is 11which occurs only with orthogonal translational orbits of equal amplitudes. The
infinite which occurs with identical
maximum value is infinite identical orbits (can have different
different sizes).
sizes). A
pair of forward
forward and backward circular orbits of equal radius yields a condition number of
5.83. Adequate solutions to equation (4) (4) can be plotted versus frequency
frequency for subsequent
inspection and curve fitting. Excessive
inspection Excessive condition numbers will make the impedance
impedance curves
signallnoise ratios. This latter fact is easily over-
appear "noisy" regardless of the actual signal/noise
looked. When the condition number is too high one must resort to the techniques for single
looked. single
elliptic data. Numerical experiments
experiments presented by Zhang, et al. (ref.
(ref. 15)
15) dictate that a
practical cutoff
cutoff on condition number may be about 20 to 30.
It has been suggested stiffness and 4 damping
suggested that the 4 stiffness damping values (no
(no inertia)
inertia) can be obtained
solely from unbalance response data at a single single speed (Lund (ref.
(ref. 16),
16), Zhang, et al.
(ref. 15),
(ref. 15), Lee,
Lee, et al. (ref.
(ref. 17)
17) and related paper by Verhoeven (ref. (ref. 18)).
18)). This fits
fits the
ellipse case for a single frequency.
two ellipse frequency. Either two identical
identical bearings on one shaft must
different elliptic
experience different elliptic orbits simultaneously
simultaneously under the action of a single
single unbalance
distribution, or one bearing must experience,
experience different ellipses at the same speed under
different unbalance distributions. Either iase
two different case can apparently be achieved in practice
with a carefully designed experiment. The degree degree of success
success will depend not only on the
accuracy of the bearing displacements and forces,
accuracy forces, but also on the value of the condition
number of equation (8). (8).
368
CURRENT TEST APPROACH
In light of the preceding discussion,
discussion, it has been decided that, if possible, a test approach
would be used which enables
enables plotting of impedance
impedance functions
functions versus frequency without
assuming
assuming skew symmetry.
symmetry. This implies either the single circular orbit approach, or dual
elliptic
elliptic orbit approach. The dual elliptic
elliptic approach is preferable as it completely deter-
mines the impedance functions,
impedance functions, but may require twice the test time as the single
single circular
approach. As mentioned earlier the length of test time is severely limited. So So arbitrarily
large numbers of samples
samples will not be available
available for averaging out system noise. As a first
step we will attempt to achieve purely translational rotor motion first in one axis and
then the other. This would provide the most accurate impedance impedance determination possible
according
according to equation (8).
(8). The system may, however, prove to be too noisy such that there
is not ample time to get enough averages when executingexecuting the two load cases sequentially.
sequentially.
(ref. 9)
9) and Yasuda,
Yasuda, et al. (ref.
(ref. 19)
19) applied their load cases simultaneously
simultaneously
via alternating harmonics independence, respectively. If
harmonics and statistical independence, If necessary, we will
try the method of Burrows, but at this time it is unclear whether these are viable ways
to overcome a problem of insufficient averaging
averaging time. If the impedance measurements still
suffer from excessive
excessive noise, we will resort to the single orbi~ approach. Should it
single circular orbit
happen that the magnetic bearing cannot satisfactorily enforce enforce a circular orbit, we shall
use the method of single elliptic
elliptic data. Depending on the overall success,
success, or lack thereof,
thereof,
of the current test program, future
future testing may employ recursive time domain domain methods
mentioned earlier.
EXCITATION SIGNAL
EXCITATION
The radial magnetic bearing serves as a non-contacting,
non-contacting, dual-axis
dual-axis electrodynamic
electrodynamic shaker.
Its power supply has an input jack for each axis such that it can perform as 2 independent
shakers.
shakers. In actuality the magnetic bearing system is unproven in this regard, and at this
remains to be seen how well it will perform this function.
time it still remains function. Our goal is to
measure the transfer functions
functions of bearing force
force to bearing displacement.
displacement. Since test time
is at a premium, the input signal should provide a good combination of accuracy and
rapidity. Another consideration is the frequency
frequency range of interest will span up to 4 system
resonances which will be functions
functions of pressure drop, shaft rpm, etc. The magnetic bearing
frequency response characteristics (Hawkins,
system itself also has highly nonlinear frequency (Hawkins, et
1)).It is desirable
al. (ref. 1)). desirable that the input signal can be spectrally shaped in an adaptive
fashion so a flat displacement spectrum can be achieved on output. This will enable higher
signal to noise ratios over the entire frequency
signal frequency range without overloading the system at
the resonances. A flat displacement
displacement spectrum also
also makes it easier to investigate amplitude
dependent nonlinearities
nonlinearities by driving
driving the system to progressively higher response levels.
levels.
Single frequency steady state sinusoidal
Single sinusoidal testing is unquestionably the best way to fit a
linear model to a real system (Herlufsen
(Herlufsen (ref.
(ref. 20)),
20)), but the long test time precludes its
use here. Fortunately, work by Bolleter,
Bolleter, et al. (ref.
(ref. 6),
6), Yasuda,
Yasuda, et al.
al. (ref.
(ref. 19)
19) and
Chang, et al. (ref. 21)
(ref. 21) indicate that a multifrequency input signal gives virtually identical
identical
results as single frequency testing. Yasuda's testing was steady state as they used random
single frequency
input signals.
signals. Bolleter's testing was transient as he used a rapid sine sweep, sweep, or chirp.
Chang's testing was also transient as he used impact. The article by Herlufsen (ref. (ref. 20)
20)
369
discusses some of the aspects, and different
discusses different types, of steady state and transient testing.
Since we intend to modify the input signal during test in an adaptive fashion
Since fashion to achieve a
flat displacement spectrum, a transient signal is the logical choice.
fiat
(ref. 22)), impulse
Step (Morton (ref. impulse (Nordman,
(Nordman, et al. (ref.
(ref. 7)) and chirp (Bolleter,
(Bolleter, et
(ref. 6))
al. (ref. excellent results
6)) are examples of transient input signals. Bolleter obtained excellent
using a chirp input. Also, the spectrum of aa chirp can be easily shaped to virtually any
form. Papers by White, et al. (ref. 23) and White (ref. 24)
desired form. 24) provide the technical
technical
signal. The chirp is thus our chosen input signal (see
aspects of using a chirp input signal. (see figure
figure
2). Our test approach will be to input a seriesseries of chirps along one axis including the
successive chirp to converge on aa fiat
modification of each successive flat displacement spectrum. This is
elongated elliptic
then repeated along the other axis. Very elongated elliptic orbits should result as long as
coupling is not too strong. This data will then be used with the
the rotordynamic cross- coupling
elliptic reduction method described earlier.
dual elliptic
DATA ACQUISITION AND PROCESSING
sample, and store on-line, all data channels
A digital computer will be used to sample, channels necessary to
coefficients. Prior to testing, a common broadband random signal
produce rotordynamic coefficients. signal
simultaneously to all channels
will be input simultaneously channels of the data acquisition
acquisition system. Interchan-
functions
nel transfer functions thus obtained will be used as correction factors
correction factors to match the gain
and phase of all channels,
channels, including filters.
filters. The same computer system will be used to
signals. The computer system is capable of performing an
compute and output the chirp signals.
analysis of the displacement response, and modifying each successive
on-line spectral analysis successive chirp
accordingly.
quantities Z,
The complex quantities x, fj, Fx and Fv
jj, Fx Fy are needed for equation (4) (4) so that the impedances
impedances
can be calculated. The effects of system noise can be more effectively reduced if one works
wit'-
wi tranff?~ funcF-lllc
..1- tran~fn- funct"9nc computec.
compute6 from spectral densities
densities (see
(see Bendat, et al. (ref.
(ref. 25) or
Halvorsen, et al. (ref.
Halvorsen, (ref. 26)). ThusThus in practice the computer will be used to compute cross
densities from each series
and auto spectral densities series of chirps. These are used to compute transfer
functions Fx/2, E/fj,
Fx / x, Fx / fj, Fy / x and Fv/g
Fy / fj as functions
functions of frequency.
frequency. For each frequency these
8 complex values (4 (4 from the x chirpschirps and 4 from the y chirps)
chirps) are used with equation (4)(4)
impedances, Z.
to compute the complex impedances, 2. All calculations
calculations are to be done post-test by the
acquisition. Hard copy plots of the impedance
same computer used for acquisition. impedance functions,
functions, along
fits for rotordynamic
with curve fits rotordynarnic coefficients,
coefficients, are the end product of each test.
SUMMARY
A multifunction test apparatus has been described which will be used to measure rotor-
coefficients of bearings and seals. A radial magnetic bearing will be used to load
dynamic motion of the rotor in a controlled
the shaft statically and excite dynamic controlled fashion
fashion which
will enable complete
complete definition of the test element's rotordynarnic functions
rotordynamic impedances as functions
frequency.
of frequency. Transient testing will be performed with chirp input signals
signals being applied
separately to the inertial xx and y axes of the rotor. The chirp input signals
signals will be modified
flat displacement spectrums at the test element. The test approach and
on-line to achieve fiat
environment closely
the data reduction methodology were described in detail. The testing environment
matches real rocket engine turbopump operating conditions
matches conditions in speed,
speed, pressure, clearance,
clearance,
370
temperature, working
temperature, working fluid,
fluid,etc.
etc. Overall,
Overall,this
this isis considered
considered aa very
very ambitious
ambitious test
test program,
program,
technically. Initial
technically. Initial testing
testing isis currently
currently expected
expected to to take
take place in the
place in the summer
summer of
of 1990.
1990.
NOMENCLATURE
NOMENCLATURE
aii Y/X
?7/~
BB l ~I +
IXll Iz2 I++IYl
+l IX21 1% I1++IY21
1il2 I
COND
CQND matrix condition
matrix condition number
number
FF {F~,Fy
{Fz, }TKIT
Fz',F,
F~,Fy real
real test
test element
elementforce
force
F~,Fy
Fz,F, complextest
complex test element
element force
force
f l o w ,fhigh
f,ow, fhigh limits of
limits of test
test frequency
frequencyrange
range
ff error amplification factor
error amplification factor
KK test element
test elementstiffness
stiffnessmatrix
matrix
CC test
test element
element damping
dampingmatrix
matrix
MM test
test element
element inertia
inertia matrix
matrix
KCM
KCM stiffness,damping
stiffness, damping and and inertia
inertia
q {x,Y lT
{X,y}T
x,y real displacements
real displacementsof
of test
test element
element
X,Y complex displacements
complex displacementsofof test
test element
element
Z compleximpedance
complex impedanceof
of test
test element
element
yC1
d=
frequencyof
frequency of harmonic
harmonicmotion
motion (rad/sec)
(rad/sec)
magnitude of
magnitude of complex number xZ
complexnumber
REFERENCES
REFERENCES
1.1. Hawkins,
Hawkins, L.,
L., Murphy, B. and
Murphy, B. and Lang,
Lang, K.,
K., "The
"The Rocketdyne
Rocketdyne Multifunction
Multifunction Tester
Tester
-- Part
Part II:
11:Operation
Operation of
of aa Radial
Radial Magnetic
Magnetic Bearing
Bearing as
as an
an Excitation
Excitation Source,"
Source," Workshop
Workshop
on
onRotordynamic
RotordynamicInstability
Instability Problems
Problemsin
inHigh
HighPerformance
PerformanceTurbomachinery,
Turbomachinery,Texas
TexasA&M
A&M
University,
University,May,
May, 1990.
1990.
2.2. Adams,
Adam, M.,
M., Makay,
Makay, E.E. and
and Diaz-Tous,
Diaz-Tous, 1.,
I., "Measurement
"Measurement of
of Interstage
Interstage Fluid-
Fluid-
Annulus Dynamical Properties," Workshop on Rotordynamic Instability Problems inHigh
Annulus Dynamical Properties," Workshop on Rotordynamic Instability Problems in High
Performance
Performance Turbomachinery,
Turbomachinery, Texas
Texas A&M
A&M University,
University, NASA
NASA CP2250,
CP2250, May,
May, 1982,
1982, pp.
pp.
147-156.
147-156.
3.3. Kanki, H. and
Kanki, H. and Kawakami,
Kawakami, T.,
T., "Experimental
"Experimental Study
Study on
on the
the Static
Static and
and Dynamic
Dynamic
Characteristics
Characteristicsof
of Screw
ScrewGrooved
GroovedSeals,"
Seals," ASME
ASMEPublication
Publicat ionDE-Vol.
DE-Vol. 2,2,Rotating
RotatingMachin-
Machin-
ery
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Dynamics,Volume
Volume1,1,Sept.,
Sept., 1987,
1987,pp.
pp. 273-278.
273-278.
4.4. Ohashi,
Ohashi,H.H. and
and Shoji,
Shoji,H.,
H., "Lateral
"LateralFluid
Fluid Forces
Forces Acting
Acting on
on aa Whirling
WhirlingCentrifugal
Centrifugal
Impeller in Vaneless and Vaned Diffuser," Workshop on Rotordynamic InstabilityProblems
Impeller in Vaneless and Vaned Diffuser ," Workshop on Rotordynamic Instability Problems
in
inHigh
HighPerformance
PerformanceTurbomachinery,
Turbomachinery,TexasTexasA&M
A&MUniversity,
University,NASA
NASA CP2338,
CP2338,May,
May,1984,
1984,
pp.
pp. 109-122.
109-122.
371
5. Jery, B., Acosta,
Acosta, A., Brennan, C. and Caughey,
Caughey, T., "Hydrodynamic Impeller
Stiffness, Damping and Inertia in the Rotordynamics
Stiffness, Rotordynamics of Centrifugal
Centrifugal Pumps," Workshop
Workshop
on Rotordynamic Instability Problems in High Performance Turbomachinery,
Turbomachinery, Texas A&M
University,
University, NASA Conference
Conference Publication 2338,
2338, May, 1984,
1984, pp. 137-
137- 160.
160.
6. Bolleter, U. and Wyss,
Wyss, A., "Measurement
%ieasurement of Hydrodynamic
Hydrodynamic Interaction Matrices
of Boiler Feed Pump Impellers," ASME Paper No. 85-DET-148, Sept., 1985.
1985.
7. Nordmann, R. and Massmann,
Massmann, H., "Identification of Dynamic Coefficients
H.,"Identification Coefficients of An-
nular Turbulent Seals," Workshop on Rotordynamic Instability Problems in High Perfor-
mance Turbomachinery,
Turbomachinery, Texas A&M University, NASA CP2338,
CP2338, May, 1984,
1984, pp. 295-31l.
295-311.
Goodwin, M. J., Penny,
8. Goodwin, J., "Hydrostatic Supports for
Penny, J. E. T. and Hooke, C. J., for
Rotating Machinery -- Some Aspects of Oil Film Non-Linearity," ASME Paper No. 85-
DET-123, Sept., 1985.
1985.
9. Burrows, Kucuk, N.,
Burrows, C., Kucuk, N., Sahinkaya,
Sahinkaya, M. and Stanway,
Stanway, R., "Estimation of Squeeze-
Squeeze-
Film Bearing Inertia, Damping and Stiffness
Stiffness Coefficients," ASME Publication DE-Vol.
2,Rotating Machinery Dynamics,
Dynamics, Volume 1, Sept ., 1987,
1, Sept., 1987, pp. 109-114.
109-114.
10. Stanway, R., "Journal Bearing Identification
10. Stanway, Identification Under Operating Conditions,"
ASME Journal of Dynamic Systems,
Systems, Measurement and Control,
Control, Vol. 106,
106, 1984,
1984, pp. 178-
178-
182.
182.
11.
11. Sahinkaya,
Sahinkaya, M. and Burrows, C., "Kalman Filters Applied to Time-Domain Esti-
mation of Linearized Oil-Film Coefficients," 1.
I. Mech. E. Conference
Conference Publication 1984-10,
1984-1.0,
Vibrations in Rotating Machinery, 1984, pp.109-118.
1984, pp. 109-118.
12. Ellis, J., Roberts, J. and Hosseini Sianaki,
12. Sianaki, A., "A Comparison of Identification
Identification
Methods
Methods for Estimating Squeeze-Film
Squeeze-Film Damping Coefficients," AS ME Journal of Tribology,
ASME Tribology,
110, Jan., 1988,
Vol. 110, 1988, pp. 119-127.
119-127.
13. Goodwin, G. and Payne, L., Dynamic System
13. System Identification,
Identification, Academic Press,
1977.
London, 1977.
14. Forsythe, G., Malcolm,
14. Malcolm, M. and Moler, C., Computer Methods
Methods for Mathematical
Mathematical
Computations, Prentice Hall, Englewood Cliff,
Computations, Cliff, New Jersey, 1977.
1977.
15. Zhang, Q., Lallement,
15. Lallement, G. and Fillod, R., "Identification of the Dynamic
Dynamic Character-
istics of Oil Film Bearings," ASME Publication DE-Vol. 2, Rotating Machinery Dynamics,
Dynamics,
Volume 1, 1987, pp. 57-6l.
1, Sept., 1987, 57-61.
Stiffness and Damping Coefficients
16. Lund, J., "Evaluation of Stiffness Coefficients for Fluid-Film Bear-
The Shock and Vibration
ings," The Vibration Digest, Vol. 11,
11, No. 1, Jan., 1979,
No.1, 1979, pp. 5-10.
17. Lee, C. and Hong, S., "Identification of Bearing Dynamic Coefficients
17. Coefficients by Unbal-
Uribal-
ance Response Measurements," 1.I. Mech. E., Part C, Vol. 203, 1989,
1989, pp. 93-10l.
93-101.
18. J., "Excitation Force Identification
18. Verhoeven, J., Identification of Rotating Machines Using Op-
Rotor/Stator
erational Rotor Analytical,Synthesized Transfer Functions,"
jStator Amplitude Data and Analytical' Functions,"
ASME Publication DE-Vol. 2, Rotating Machinery Dynamics, 1, Sept., 1987,
Dynamics, Volume 1, 1987, pp.
207-214.
372
'"Application of Random
19. Yasuda, C., Kanki, H., Ozawa, Y. and Kawakami, T., "Application
Bearing," Proceedings
Excitation Technique to Dynamic Characteristic Measurement of Bearing,"
1986, pp. 61-67.
of the JSME, 1986,
F F T Analysis (Part I),"
20. Herlufsen, H., "Dual Channel FFT I))')) Bruel-Kjaer
Bruel-Kjaer Technical
Review No. 1-1984,
1-1984, 1984.
1984.
21. Chang, K., Chong, F. and Rowe, W., "Journal Bearing Vibration -- a Compar-
ison of Sinusoidal Excitation with Impact Excitation," Proceedings of the 1st European
Sponsored Turbomachinery Conference,
Sponsored Conference, SAE No. 864965,
864965, 1986,
1986, pp. 83-89.
22. Morton, P., "The Derivation of Bearing Characteristics by Means of Transient
Excitation Applied Directly to a Rotating Shaft," Dynamics of Rotors, Springer-Verlag,
New York, 1975.
1975.
23. White, R. and Pinnington, R., "Practical Application of the Rapid Frequency
Sweep Technique for Structural Frequency Response Measurement," Aeronautical Journal,
Sweep
1982, pp. 179-198.
May, 1982, 179-198.
24. White, R., "Spectrally Shaped Transient Forcing Function for Frequency Response
Testing," Journal of Sound and Vibration,
Vibration, 23(3),
23(3), 1972,
1972, pp. 307-318.
J. and Piersol, A., Engineering Applieations
25. Bendat, J. Applications of Correlation and Spectral
Spectral
Analysis, John Wiley and Sons,
Sons, New York,
York, 1980.
1980.
26. Halvorsen, W. and Brown, D., "Impulse Technique for Structural Frequency
and Vibration Magazine,
Response Testing," Sound and 1977, pp. 8-2i.
Magazine, Nov., 1977, 8-21.
RADIAL
RADIAL SLAVE
SLAVE AXIAL
MAGNETIC
MAGNETIC BEARING
BEARING MAGNETIC
MAGNETIC
BEARING
BEARING BEARING
BEARING
\::
FLEX
MOUNT
TI /
D •• c::::J
ID
1 DRIVE
I DRIVE
\ '\\
8=0 I INPUT
•• 8.
TEST /
-0 D
0
ARTICLE .\
SEAL TOUCHDOWN
TOUCHDOWN
PACKAGE
PACKAGE BEARING
BEARING
FIGURE 1) Schematic of multifunction

FIGURE tester.
mu41fifurnctioatester.
373
0.8
a..
a:
_ 0.8
:l:
o 0.4
W
C 0.2
;:)
.... 0 f----4+++1+H-H-l+l+H1+fH
:::J
a..
~ -0.2
<C
t:: -0.4
~ -0.6
-0.8
·1
I I I I I I
o0 0.1
0.1 0.2
0.2 0.3
0.3 0.4
0.4 0.5
0.5
TIME (SEC)
TIME (SEC)
0.1
W
Q
:l 0.08
....
:::J
a..
::iE 0.08
<t
.,.J
~..... 0.04
oW
Q"
W 0.02
oL-~
- t __ ~
I __L-~
I I
I__-L~~==±===b=~==~==d-~
I I I
O b
o 200
200 400
400 800
600 800
BOO 1000
1000
FREQUENCY (HZ)
FREQUENCY (HZ)
FIGURE
FlQURE 2a) unit
unit amplitude
slrnplltude chirp,
chirp, 50-350
50-350 Hz In 0.512
Hz In 0.512 seconds,
seconds,
2880 Hz sample rate. FIGURE
2000 Hz sample rate. FIGURE 2b) amplitude spectrum of a).
ampl1tuel.e spectrum 01 a).
374
M U L f i F U M C i l O N TESTER --
THE ROCKETDYNE MULTIFUNCTION
PART II:
11: OPERATION OF A
A RADIAL MAGNETIC BEARINGBEAWlNG AS AN EXCITATION
EXCITATBON SOURCE*
L.A. Hawkins, B.T.

B.T. Murphy, and K.W. K.W. Lang
Rockwel
International
Canoga Park, California
C a l i f o r n i a 91304, U.S.A.
U.S.A.
The operation
o p e r a t i o n of o f the t h e magnetic bbearing used as an excitation
e a r i n g used e x c i t a t i o n source in i n the
the
Rocketdyne MultifunctionM u l t i f u n c t i o n TesterT e s t e r is i s described.
described. The tester t e s t e r is i s scheduled for for
operation
o p e r a t i o n during
d u r i n g the t h e summer of o f 1990. The magnetic bbearing e a r i n g can be used used in i n two
control
c o n t r o l modes: 1) 1 ) open loop l o o p mode, in i n which the t h e magnetic bbearing e a r i n g operates as a
force
f o r c e actuator,
a c t u a t o r , and 2) 2 ) closed
c l o s e d loopl o o p mode, in i n which
w h i c h the t h e magnetic bbearing e a r i n g pprovides
rovides
shaft
s h a f t support. Either
E i t h e r control
c o n t r o l mode mode can be used used to t o excite
e x c i t e the
t h e shaft;
s h a f t ; however.
however,
response of o f thet h e shaft
s h a f t ini n thet h e two control c o n t r o l modes is i s different
d i f f e r e n t due to t o the
t h e alteration
alteration
of
o f the t h e eigenvalues bbyy closed c l o s e d loop l o o p modemode operation.
operation. A
A rotordynamic model is is
developed to t o ppredict
r e d i c t the
t h e frequency response of o f the t h e tester
t e s t e r due to t o excitation
e x c i t a t i o n in
in
either
e i t h e r control
c o n t r o l mode. Closed loop l o o p mode excitation
e x c i t a t i o n is i s shown to t o be similars i m i l a r to t o the
the
excitation produced bbyy a rotating
e x c i t a t i o n produced r o t a t i n g eccentricity
e c c e n t r i c i t y in i n a conventional
c o n v e n t i o n a l bbearing.
earing.
Predicted
P r e d i c t e d frequency response of o f thet h e tester
t e s t e r ini n the
t h e two control c o n t r o l modes is i s compared,
and the t h e maximum
maximum response is i s shown to t o be the t h e same for f o r thet h e two controlc o n t r o l modes when
synchronous unbalance loading l o a d i n g is i s not n o t considered. The analysis
a n a l y s i s shows that t h a t the
the
response of o f this
t h i s tester
t e s t e r isi s adequate for f o r the
t h e extraction
e x t r a c t i o n of o f rotordynamic stiffness, stiffness,
damping, and inertia i n e r t i a coefficients
c o e f f i c i e n t s overo v e r a wide range of o f test
t e s t article
a r t i c l e stiffnesses.
stiffnesses.
INTRODUC1ION
INTRODUCI ION
Active
A c t i v e magnetic bbearings e a r i n g s have been developed developed bbyy numerous researchers r e s e a r c h e r s for f o r an
i nncreas
c r e a s i nngg number of o f tasks.
tasks. Schwei
S c h w e itzer
t z e r and Lange (ref. ( r e f . 1).I),Stanway and Burrows
(ref.
( r e f . 2), 2 ) , and Salm and Schweitzer (ref. ( r e f . 3) have described d e s c r i b e d strategies
s t r a t e g i e s for f o r uusing
sing
magnetic bbearings to actively control the motion
e a r i n g s t o a c t i v e l y c o n t r o l t h e mot i o n o f of a flexible rotor. Nikolajsen
f l e x i b l e r o t o r . Wikolajsen
(ref.
( r e f . 4), 4 ) , Allaire
A l l a i r e (ref.
( r e f . 5), 5 ) , and Kasarda (ref. ( r e f . 6) have described d e s c r i b e d the t h e use of of
magnetic bbearings earings as damping devices.
devices. The first commercially available
f i r s t commercially a v a i l a b l e magnetic
bbearing
e a r i n g was introduced
i n t r o d u c e d bbyy Societe
S o c i e t e Europeenne de Propulsion/SocietePropulsion/SocieLe de Mecanique
Magnetique (SEP/S2M) of of France in the
i n the early early 1980s. Industrial
I n d u s t r i a l applications
a p p l i c a t i o n s of of
these
these bearingsbearings as primary bearings
primary bearings i n r o t a t i n gin rotating machinery have been described
d e s c r i b e d bbyy
Foster
F o s t e r (ref.
( r e f . 7),
7 ) , Weise (ref. ( r e f . 8),8 ) , and Brunet B r u n e t (ref.
( r e f . 9).
9). Habermann
Habermann and Brunet B r u n e t (ref.(ref.
l o ) , Weise (ref.
10), ( r e f . 11),1 1 ) , Humphris
Humphris (ref. ( r e f . 12),
12), and Chen and Darlow (ref. ( r e f . 13) have
presented details d e t a i 1s of o f ppractical
r a c t i c a l magnetic bbearing e a r i n g control
c o n t r o l systems. Chen (ref. ( r e f . 14)
translated
t r a n s l a t e d thet h e parameters of o f a magnetic bbearing e a r i n g control
c o n t r o l system into i n t o stiffness
s t i f f n e s s and
c o e f f i c i e n t s for
f o r use in i n a rotordynamic analysis. analysis.
A
A radial
r a d i a l magnetic bbearing
e a r i n g is used in
i s used i n the
t h e Rocketdyne
M u l t i f u n c t i o n Tester
T e s t e r (RMT) as
* T h i s work was funded by AFAL Contract

*This C o n t r a c t F04611-86-C-0103
F04611-86-C-0103 <Program
(Program Monitor,
Monitor,
Al
A1 Kudlach>.
Kudlach).
375
e x c i t a t i o n source for
an excitation f o r thet h e identification
i d e n t i f i c a t i o n of o f rotordynamic coefficients c o e f f i c i e n t s (ref.
(ref.
15). The use of o f a magnetic bearing as an excitation e x c i t a t i o n source has been been described by
U l b r i c h (ref.
Ulbrich ( r e f . 16) and and Wagner and and Pietruszka
P i e t r u s z k a (ref.
( r e f . 17). Wagner Gdagner and and Pietruszka used used
t h e magnetic bearing as a known
the known force f o r c e input
i n p u t device for f o r the t h e identification
i d e n t i f i c a t i o n of
of
rotordynamic coefficients c o e f f i c i e n t s in i n a test t e s t stand. I n the
In t h e RMT, the t h e magnetic b e a r i n g is
bearing is
used as a motion
used motion input i n p u t device,
device, and and test t e s t article
a r t i c l e reaction
r e a c t i o n force
f o r c e is i s determined
independently through a calibrated c a l i b r a t e d backup spring. spring. The backupbackup spring, spring, or o r flex
flex
mount, has a stiffness s t i f f n e s s of 5.25E+8 N/m (3.0
o f 5.25E+B (3.0 E+6 lb/in) l b / i n ) and and is i s instrumented with with
I accelerometers and and high h i g h resolution
r e s o l u t i o n displacement probes. As an excitation e x c i t a t i o n source,
source,
t h e magnetic bearing must meet two requirements: 1)
the 1) p r o v i d e a shaft
provide s h a f t displacement
a t the
at t h e testt e s t article
a r t i c l e of 1.25E-5 m
o f 1.25E-5 m (0.5
(0.5 mils) m i l s ) minimum,
minimum, and and 2) 2) p r o v i d e a deflection
provide deflection
o f the
of t h e flex f l e x mount of 1.25E-6 m (50 p
o f 1.25E-6 i n ) minimum.
pin) These two requirements are are
necessary to to p r o v i d e adequate accuracy for
provide f o r thet h e calculation
c a l c u l a t i o n of o f the t h e rotordynamic
c o e f f i c i e n t s . These requirements must be met over a large
coefficients. large p o r t i o n of
portion o f the -
t h e 0 - 400
e x c i t a t i o n range.
Hz excitation The primary motivation m o t i v a t i o n forf o r the t h e study described here was to to
determine if i f the
t h e magnetic b e a r i n g would produce the
bearing t h e necessary response at a t the
t h e test
test
a r t iicc l1ee..
art
The magnetic bearing used used in i n the

t h e RMTRMT can be used used to t o excite
e x c i t e the
t h e shaft
s h a f t in i n either
e i t h e r of
of
c o n t r o l modes
two control -
modes - closed loop or o r open loop. The response of o f the
t h e tester w i l l be
t e s t e r will
d i f f e r e n t in
different i n thet h e two control
c o n t r o l modes; therefore,
t h e r e f o r e , response to t o thet h e two control c o n t r o l modes
modes
i s compared to
is t o determine which control c o n t r o l mode
mode produces the the b e t t e r response. Open
better Open
e x c i t a t i o n can be treated
loop excitation t r e a t e d simply by applying a p p l y i n g a forcing
f o r c i n g function
f u n c t i o n directly
d i r e c t l y ttoo
tthe
h e shaft
s h a f t (ref.
( r e f . 17). The authors are are n o t aware of
not o f a published analysis a n a l y s i s of o f tthe
he
magnetic bearing as an excitation e x c i t a t i o n source in i n closed loop mode. An analysts is
a n a l y s i s is
presented
presented here that t h a t shows closed loop excitation e x c i t a t i o n ofo f a rotor
r o t o r to t o be analogous to to a
r o t a t i n g eccentricity
rotating e c c e n t r i c i t y at
a t a conventional bearing. The analysis a n a l y s i s is i s then used used to to
p r e d i c t the maximum
predict maximum frequency response of o f the t h e RMT rotor r o t o r to t o magnetic b earing
bearing
excitation.
excitation.
RADIAL MAGNEI'IC BEARING

RADIAL MAGNETIC BEARING
A
A schematic for f o r a simple magnetic b e a r i n g is
bearing i s shown
shown in i n Figure
F i g u r e 1. The magnetic
f o r c e developed in
force i n the
t h e air
a i r gap of
o f the
t h e magnetic b e a r i n g is
bearing i s given by
F = pA pN2 i 2 /2h 2 • (1)
Since only
o n l y the
t h e current, i, and
c u r r e n t , i. and the
t h e gap clearance, h, can change, this
t h i s leads to
t o the
the
relation
relation
(2)
f o r two p
where for a i r s of
pairs o f magnetic poles, K i and
poles, Ki and Ky are
a r e given
g i v e n by Kasarda (ref.
( r e f . 6)
as
Ki = -(4poApN2is)/(hs 2) (3)
Ky = -(4poApN2is 2)/(h s 3) ( 4)
c u r r e n t stiffness,
The current s t i f f n e s s , Ki. K i P is i s negative, indicatingi n d i c a t i n g that
t h a t an increase in i n current
current
forces thet h e mass away from its i t s equilibrium
equilibrium p o s i t i o n (toward the
position t h e magnet),
magnet), (ref. (ref.
12). The p o s i t i o n stiffness,
position stiffness, K Ky,
y , i
iss a l
alsos o negative, i n d i c
indicatinga t i n g t h
thata t a p o s itive
positive
displacement toward the t h e magnet forces the t h e mass further f u r t h e r from its i t s equilibrium
equilibrium
p osition. A
position. A net
net p o s i t i v e stiffness
positive s t i f f n e s s is
i s provided
provided in i n closed loop l o o p mode
mode with w i t h proper
376
design of o f the
t h e control
c o n t r o l loop
loop p proportional
r o p o r t i o n a l gain.
g a i n . The radial r a d i a l magnetic b bearing
e a r i n g used used in
in
t h e RMT is
the i s an activea c t i v e magnetic b bearing
e a r i n g manufactured by SEP/S2M. SEP/S2M. The configuration
configuration
and development testing t e s t i n g of o f thist h i s magnetic b bearing
e a r i n g were described d e s c r i b e d by lang Lang (ref. (ref.
18)
18).. The ,-he magnetic b beari
e a r i nngg is i s a forcef o r c e actuator
a c t u a t o r and does not n o t support the t h e shaft
s h a f t when
operated in i n open loop l o o p mode. When operated inc 1osed loop
i n closed l o o p mode, the t h e magnet
magnetic ic
bearing
b e a r i n g functions
f u r ~ c t i o n s as a shaft s h a f t support element that t h a t has significant
s i g n i f i c a n t stiffness
s t i f f n e s s and
damping capability.
capability. Closed loop l o o p mode
mode operation
o p e r a t i o n is i s required
r e q u i r e d for f o r some of o f the t h e test
test
conditions
c o n d i t i o n s for f o r stability
s t a b i l i t y reasons. The closed c l o s e d loop l o o p stiffness
s t i f f n e s s and damping
coefficients
c o e f f i c i e n t s of o f the
t h e magnetic b bearing
e a r i n g vary with w i t h frequency as given g i v e n in i n Figures
F i g u r e s 2 and
3. These coefficientsc o e f f i c i e n t s were calculated c a l c u l a t e d forf o r thet h e frequency range of o f interest
i n t e r e s t fromfrom a
transfer
t r a n s f e r function
function p provided
r o v i d e d by SEP/S2M. SEP/S2M. The pposition s t i f f n e s s , Ky.
o s i t i o n stiffness. Ky, was
calculated
c a l c u l a t e d to t o be -8.76E+6
-8.76E+6 N/m (-50,000 (-50,000 lb/in) l b / i n ) using
u s i n g the t h e nominal air a i r gap and b bias
ias
current.
c u r r e n t . The maximum maximum force f o r c e thatt h a t can be produced produced by the t h e magnetic b bearing
e a r i n g withw i t h the
the
rotor
r o t o r centered (nominal (nominal air a i r gap) is i s given
g i v e n in i n Figure
F i g u r e 4. Force capacityc a p a c i t y of o f the
the
magnetic bbearing e a r i n g is based on the
i s based t h e maximum
maximum currentc u r r e n t that
t h a t can be p provided
r o v i d e d to t o the t h e coils
coils
of
o f the t h e bearing. The force f o r c e capacity
c a p a c i t y is i s frequency dependent because the t h e coil
coil
impedence is is frequency dependent. A
A second constraint
constraint on magnetic bearing
bearing
performance is i s relative
r e l a t i v e rotor/housing
r o t o r / h o u s i n g displacement at a t the t h e magnetic b bearing.
earing.
Maximum
Maximum displacement at a t the t h e magnetic b bearing
e a r i n g is i s 1.5E-4
1.5E-4 m (6.0 (6.0 mils) m i l s ) which is is
one-half
one-half of o f the
t h e air
a i r gap. The force f o r c e and displacement constraints c o n s t r a i n t s are a r e the
t h e same for for
o t h closed loop
~oth
b l o o p and open loop l o o p modes.
CONTROL SYS1EM
A
A b block
l o c k diagram for f o r the t h e magnetic b bearing
e a r i n g controller
c o n t r o l l e r is
i s shown in ir! Figure
F i g u r e 5. In
In
closed loop loop mode, the control
the control current i s current is determined by feedback control
control such that
that
the
t h e error between a reference
e r r o r between r e f e r e n c e and actual a c t u a l shaft
s h a f t position
p o s i t i o n signal
s i g n a l is
i s minimized. This This
control
c o n t r o l current
c u r r e n t is i s then fed f e d to t o a current c u r r e n t amplifier
a m p l i f i e r before
b e f o r e going
g o i n g tot o thethe
electromagnets of o f thet h e bearing.
bearing. The magnet-ic-
magnetic bearing b e a r i n g can be used to t o excite
e x c i t e the
the
shaft
s h a f t by using
u s i n g a time
t i m e varying
v a r y i n g reference
r e f e r e n c e signal.
signal.
Two equations that

t h a t can be written
w r i t t e n from the
t h e block
b l o c k diagram are
are
Yc ... Ya - Yo (5)
and
(6)
It
I t is i s necessary to t o characterize
c h a r a c t e r i z e the
t h e effect
e f f e c t of
o f the
t h e reference
r e f e r e n c e signal.
s i g n a l , Yo-
yo, on the
the
response of t h e rotor;
o f the r o t o r ; therefore,
t h e r e f o r e , let
l e t FdFd == O. 0, implying
i m p l y i n g no external
e x t e r n a l disturbing
disturbing
forces
f o r c e s such as unbalance.
substituting
S u b s t i t u t i n g Equation (6)
( 6 ) into
i n t o Equation (5)
( 5 ) gives
gives
(ms 2 + Ky + G(s)CpKi)Ya = G(s)CpKiYo (7)
From
From Figure
F i g u r e 5, the
t h e controlled
c o n t r o l l e d stiffness
s t i f f n e s s of
o f the bearing
the b e a r i n g is
is
Fi/Yc = G(s)CpKi' (8)
This is
i s a complex stiffness
s t i f f n e s s that
t h a t can be represented b
byy (ref.
( r e f . 13)
Fi/Yc = Kc + jwC (9)
377
where Kc and C a r e determined by the
C are t h e parameters of o f thet h e control
c o n t r o l system, the the
c u r r e n t stiffness,
current s t i f f n e s s , and the
t h e excitation
e x c i t a t i o n frequency. The p position K~. is
s t i f f n e s s , Ky,
o s i t i o n stiffness, is
u s u a l l y added
usually added to t o the
t h e controlled
controlled b e a r i n g stiffness
bearing s t i f f n e s s so that
t h a t the
t h e net
n e t stiffness
s t i f f n e s s of
o f the
the
magnetic b e a r i n g is
bearing is
K = Kc + Ky. (10)
s t i f f n e s s and damping coefficients

The stiffness c o e f f i c i e n t s given
g i v e n in i n Figures 2 and 3 areare K i n Equation
K in
10 and C
10 C in i n Equation
Equation 9. Equation
Equation 7 may be written w r i t t e n in
i n terms of
of K
K and C follows
C as follows
(ms 2 + Cs + K)Ya = (Cs + K - Ky)Yo' (11)
u s i n g equations 8, 9,
using 9, and 1010 and the
t h e substitution
s u b s t i t u t i o n jo
jw == s. I f the
If the p osition
position
s i g n a l can be represented by
reference signal
( 12)
t h e n the
then t h e sinusoidal
s i n u s o i d a l component of o f the t h e signal
s i g n a l causes a shaft s h a f t excitation
e x c i t a t i o n that
t h a t is
is
s i m i l a r to
similar t o thet h e shaft
s h a f t excitation
e x c i t a t i o n caused by a rotating r o t a t i n g eccentricity
e c c e n t r i c i t y (runout)
( r u n o u t ) at
at a
conventional bearing. The p o s i t i o n stiffness,
position stiffness, K Ky,
y , is is p a r t of
part o f the t h e response to to
I t h e excitation
the excitation b butu t not
not p parta r t ofo f thet h e excitation;
e x c i t a t i o n ; hence, it i t isi s subtracted
s u b t r a c t e d from
from thethe
t o t a l magnetic b
total e a r i n g stiffness,
bearing s t i f f n e s s , K, in i n the
t h e excitation
e x c i t a t i o n term.
The feedback loop l o o p is i s deactivated

d e a c t i v a t e d forf o r open loop l o o p mode
mode operation.
operation. e x c i t e the
To excite the
s h a f t in
shaft i n this
t h i s mode, a control c o n t r o l signal
s i g n a l isi s fed
f e d directly
d i r e c t l y tot o thet h e current
c u r r e n t amplifier,
amplifier,
Cpo
Cp. f o r c e produced
The force produced is i s applied
a p p l i e d directly
d i r e c t l y tot o thet h e shaft,and
s h a f t , arid no spring s p r i n g exists
exists
a t the
at t h e magnetic b e a r i n g location
bearing l o c a t i o n except for f o r Ky.
Ky.
ROTORDYNAMICS OF
ROTORDYNAMICS OF THE TESTER
l a y o u t of
The layout o f thet h e tester
t e s t e r is
i s shown
shown in F i g u r e o.
i n Figure 6. The shaft s h a f t isi s supported radially
r a d i a l l y by
the t e s t a r t i c l e , the radial
the test article, the radial magnetic bearing, and the slave
the slave bearings. I n the
In the
c o n f i g u r a t i o n shown, t h e t e s t a r t i c l e i s
configuration shown. the test article is a load sharing
load sharing seal with stiffness
with stiffness
variable 0-1.75E98 N/m (0-1,000,000
v a r i a b l e from 0-1.75E+8 (0-1,000,000 lb/in).
lb/in). The slaves l a v e bearings form a duplex
p a i r of
pair o f angular contact contact b a l l bearings w
ball i t h stiffnesses
with s t i f f n e s s e s of 1.31E+8 N/m
o f about 1.31E+8
(750,000
(750,000 lb/in) l b / i n ) each as computed by the t h e rolling
r o l l i n g element computer program program of of
reference 19.
The mode mode shapes of o f the

t h e first
f i r s t threet h r e e vibration
v i b r a t i o n modes
modes of o f thet h e tester
t e s t e r are
a r e shown in in
F i g u r e 7. A
Figure t e s t article
A test a r t i c l e stiffness
s t i f f n e s s of o f 8.75E+7
8.75E97 N/m (500,000 (500,000 lb/in) l b / i n ) was used
used here.
here,
b
butu t the
t h e general character c h a r a c t e r of o f the t h e mode
mode shapes is i s thet h e same throughout the t h e stiffness
stiffness
range to
range t o be tested.
tested. F i g u r e 8 shows the
Figure t h e first
f i r s t three
t h r e e forward natural n a t u r a l frequencies of of
t h e tester
the t e s t e r as a function f u n c t i o n of o f test t e s t article
a r t i c l e stiffness.
stiffness. Results are a r e shown for for b oth
both
closed loop and open loop l o o p modemode operation
o p e r a t i o n ofo f thet h e magnetic bearing. These results results
a r e for
are f o r a rotor r o t o r speed of o f 20,000
20,000 cpm; however, the t h e natural
n a t u r a l frequencies are a r e not
not
s t r o n g l y dependent on rotor
strongly r o t o r speed. The closed loop l o o p stiffness
s t i f f n e s s and damping
c o e f f i c i e n t s of
coefficients o f thet h e magnetic b e a r i n g vary with
bearing w i t h thet h e vibration
v i b r a t i o n modemode frequency in in
accordance with w i t h Figures 2 and 3.
Damping for
Damping f o r the t h e first
f i r s t two vibration
modes varies
v a r i e s considerably
c o n s i d e r a b l y depending
depending on the the
t e s t conditions,
test conditions, p a r t i c u l a r l y when testing
particularly t e s t i n g load
l o a d sharing
s h a r i n g seals. Under many of o f the
the
t e s t conditions,
test c o n d i t i o n s , the
t h e first
f i r s t two vibration
modes of o f the
t h e tester
t e s t e r are
a r e predicted
p r e d i c t e d to
t o be
unstable unless the t h e magnetic bearing b e a r i n g is i s used
used ini n closed loop l o o p mode. Therefore,
Therefore,
378
closed loop modemode operation
o p e r a t i o n of
o f the
t h e magnetic bearing
b e a r i n g is
i s required
r e q u i r e d for
f o r some of
o f the
the
test
t e s t conditions.
conditions.
TEST SIMULATION
SIMULATION
The purpose of o f this

t h i s analysis
a n a l y s i s is i s to
t o determine the t h e response at a t the test t e s t article
a r t i c l e with
with
t h e magnetic b
the e a r i n g used
bearing used as an excitation e x c i t a t i o n source. Although closed loop mode mode
o p e r a t i o n must be used
operation used for f o r some of o f the
t h e tests,
t e s t s , performance of o f both
b o t h operating
o p e r a t i n g modes
modes
was examined to t o determine if i f it i t would be advantageous to t o use open loop l o o p modemode in in
some instances. I n a typical
In t y p i c a l test
test u s i n g the
using t h e RMT.
RMT, the t h e rotor
r o t o r is i s driven
d r i v e n at at a
constant operatingo p e r a t i n g speed. The desired test t e s t condition
c o n d i t i o n is
i s then set s e t for
f o r the t h e test
test
article.
article. With closed loop mode mode operation, the t h e rotor
r o t o r isi s excited
e x c i t e d by a frequency
sweep of o f the
t h e reference signal. s i g n a l , Yo'
yo. With open loop mode mode operat
operation, ion. the t h e rotor
r o t o r is
is
excited
e x c i t e d by a frequency sweep of o f a similar
s i m i l a r signal
s i g n a l applied
a p p l i e d to
t o the
t h e current
c u r r e n t amplifier
amplifier
of
o f the
t h e bearing. Details D e t a i l s of
o f this
t h i s procedure are a r e described by Murphy (ref. ( r e f . 20).
20).
The response of
o f the
t h e rotor
r o t o r to
t o closed loop
l o o p mode
mode excitation
e x c i t a t i o n can be modelled
modelled using
using
The matrix,
m a t r i x , [Kn],
[K,], has only
o n l y one nonzero element -- -- the
t h e magnetic b bearing position
earing p osition
stiffness,
s t i f f n e s s , Ky. Ky, which must be subtracted from the t h e total
t o t a l magnetic bbearing
earing
stiffness
s t i f f n e s s since it i t is
i s not
not ppart
a r t of
o f the
t h e excitation.
excitation.
The excitation
e x c i t a t i o n is
i s represented
represented by
and the
and t h e response by
q ,.. Qej (wt + <1».
As described above, the t h e excitation

e x c i t a t i o n signal
s l g n a l (reference
( r e f e r e n c e signal)
s i g n a l ) forces
f o r c e s the
t h e rotor
r o t o r in
in
the
t h e same way as a rotating r o t a t i n g eccentricity
e c c e n t r i c i t y at a t a conventional bearing. To simulate simulate a
test.
t e s t , thet h e excitation
e x c i t a t i o n is i s applied
a p p l i e d at a t the t h e magnetic bearing b e a r i n g degree-of-freedom
degree-of-f reedom to to
represent the t h e dynamic reference signal, s i g n a l , Yo.
yo, fed f e d to t o the t h e control
c o n t r o l system.
system. The
rotor
r o t o r spin
s p i n speed,
speed, 'II, , ;s i s held
h e l d constant at a t the desired d e s i r e d testing
t e s t i n g speed and and all all
bearing elements other o t h e r than the t h e magnetic bearing b e a r i n g area r e given constant values based based
on the t h e constant rotor r o t o r speed. Equation
Equation 13 13 is i s solved for f o r various values of o f the
the
excitation
e x c i t a t i o n frequency,
frequency, w, o, to t o obtain
o b t a i n the t h e response of o f the
t h e rotor
r o t o r over the t h e frequency
range of o f interest.
interest.
Figures 9 -- 12
Figures 12 show p predicted
r e d i c t e d results
r e s u l t s for
f o r a constant rotor r o t o r speed of o f 20.000
20,000 cpm cpm and
and
a test
t e s t art a r t iicle
c l e stiffness
s t i f f n e s s of o f 1.75E+7 N/m (100,000 (700,000 lb/in). lb/in). Figure
F i g u r e 9 shows a
comparison
comparison of of p predicted
r e d i c t e d transfer
f u n c t i o n amplitudes
amp1 i t u d e s at a t the
t h e test
t e s t article
a r t i c l e for
fop
closed and and open loop l o o p operation. The transfer t r a n s f e r function
f u n c t i o n for
f o r the closed loop curve
is
i s calculated
c a l c u l a t e d basedbased on the t h e excitation
e x c i t a t i o n force produced by Yo'
f o r c e produced yo. The transfer
transfer
function
f u n c t i o n forf o r thet h e open loop curve is i s calculated based on the
c a l c u l a t e d based t h e forcing
function
applied
a p p l i e d ata t the magnetic bearing. The response of o f the
t h e fi.rst
f i r s t vibration
v i b r a t i o n mode
mode is i s much
much
lower with w i t h closed loop l o o p operation
o p e r a t i o n due to t o the
t h e higher
h i g h e r damping.
I n Figures 10-12,
In 10-12, three
t h r e e constraints
c o n s t r a i n t s are placed on the
a r e placed t h e system that
t h a t determine the
the
maximum
maximum response at
a t the
t h e test
t e s t article:
a r t i c l e : 1) the the magnetic bearing applied
bearing applied force, Fi.
Fig
379
cannot exceed the t h e values given g i v e n in i n Figure
F i g u r e 4. 4, 2) displacement at a t thet h e magnetic
bbearing
e a r i n g cannot exceed 1.5E-4 1.5E-4 m (6.0 (6.0 mils),
m i l s ) , and 3) based based on clearance,
clearance, the t h e maximum
allowable
a l l o w a b l e displacement at a t thet h e test
t e s t article
a r t i c l e is
i s 1.0E-4
1 .OE-4 m (4.0(4.0 mils).
m i l s ) . The net n e t force
force
pprovided
r o v i d e d bbyy the
t h e magnetic bbearing e a r i n g ini n closed
c l o s e d loop
l o o p mode
mode includes
i n c l u d e s bboth
o t h the
t h e excitation
excitation
f o r c e from
force yo and the
f r o m Yo t h e reacti
r e a c t i oonn force
f o r c e due to t o the
t h e measured
measured rotor r o t o r motimotion.on. The
f o r c e produced bbyy the
force t h e pposition
o s i t i o n stiffness.
stiffness, Ky,
Ky. i s not
is n o t included
i n c l u d e d in i n the
the
constraint.
constraint. The input
i n p u t signal
s i g n a l varies
v a r i e s with
w i t h frequency as necessary to t o produce the the
maximum
maximum response at a t each frequency.
These three t h r e e pphysical

h y s i c a l constraints
c o n s t r a i n t s serve
s e r v e tot o pplace
l a c e an upper limit l i m i t on testert e s t e r response
response
t o magnetic bbearing
to e a r i n g excitation.
excitation. I n addition.
In a d d i t i o n , there
t h e r e are a r e alsoa l s o two minimum
conditions
c o n d i t i o n s which must be satisfied. s a t i s f i e d . The two pprimary r i m a r y measured
measured quantities
q u a n t i t i e s ofo f test
test
article
a r t i c l e displacement and load l o a d must be large l a r g e enough to t o be accurately
a c c u r a t e l y measured
measured with with
the
t h e given
g i v e n instrumentation.
instrumentation. The lower l o w e r limits
l i m i t s are a r e 1.25E-5
1.25E-5 m (0.5 (0.5 mils)m i l s ) of o f test
test
article
a r t i c l e displacement and 1.5E-6 1.5E-6 m (50 ( 5 0 ppin) i n ) of o f flex
f l e x mount deflection. deflection. An
a p p r e c i a b l e range between
appreciable between the t h e upper and lower l o w e r operating
o p e r a t i n g limits
l i m i t s is i s desirable
d e s i r a b l e so
t h a t tests
that t e s t s on amplitude
a m p l i t u d e linearity
l i n e a r i t y could
c o u l d be performed.
F i g u r e 10
Figure 1 0 is i s a comparison of o f thet h e maximum
maximum response at a t the
t h e test
t e s t article
a r t i c l e forf o r closed
closed
and open loop loop modes. The response
response exceeds the requirement of 1.25E-5
t h e r e q u i r e m e n t o f 1.25E-5 m (0.5
(0.5 mils)
mils)
throughout
throughout t h e the frequency range for both control
f o r both control modes. There appears to
t o be only only
one curve
c u r v e in i n the
t h e figure
f i g u r e because the t h e responses are a r e thet h e same for f o r thet h e two control control
modes. The reasonreason the t h e curves are a r e the
t h e same is i s that
t h a t either
e i t h e r of o f the t h e fi f i rrst
s t two
constraints
constraints (force (force and displacement at the
a t the magnetic b e a r i n g ) a p p l i e d i n the
bearing) applied in the
analysis
analysis serves to prescribe the rotor motion
t o p r e s c r i b e t h e r o t o r motion a t t h e at the magnetic bbearing
e a r i n g regardless
regardless
o f the
of t h e magneti
magneticc bbeari e a r i nngg stiffness
s t i f f n e s s and dampi damping. ng. The thi t h i rrdd constrai
c o n s t r a i nt
n t pprescribes
rescribes
t h e motion
the m o t i o n at a t the
t h e test
t e s t article.
article. Since alla l l ofo f the
t h e constraints
c o n s t r a i n t s are
a r e thet h e same for for
bboth
o t h control
c o n t r o l modes, the t h e test
t e s t article
a r t i c l e responses are a r e identical.
identical.
Figure
F i g u r e 11 11 shows the t h e maximum
maximum displacement of o f the
t h e flex
f l e x mount load
l o a d sensing element.
The curve c u r v e isi s similar
s i m i l a r to
t o that
t h a t of o f Figure
F i g u r e 10.
10, and shows that t h a t the
t h e required
required
displacement of 1.25E~6 m (50
o f 1.25E-6 ( 5 0 ppin)
i n ) isi s achieved over o v e r most
most: of
o f the
t h e frequency range,
r e g a r d l e s s of
regardless o f control
c o n t r o l mode.
Figures -
F i g u r e s 12 - 14 show ppredicted r e d i c t e d results
r e s u l t s for
f o r a constant
c o n s t a n t rotor
r o t o r speed of o f 20,000
20,000 cpm
and a test t e s t article
a r t i c l e stiffness
s t i f f n e s s of 1.3E+8 N/m (750,000
o f 1.3E+8 (750,000 lb/in). Ib/in). F i g u r e 12 shows a
Figure
comparison of o f thet h e ppredicted
r e d i c t e d closed
c l o s e d and open loop l o o p transfer
f u n c t i o n amplitudes
amp1 i t u d e s at
at
the
t h e test
t e s t article.
a r t i c l e . Again,
Again, response is i s lower
l o w e r with
w i t h closed
c l o s e d loop
l o o p mode
mode operation
o p e r a t i o n due to
to
higher
h i g h e r damping. A A comparison of o f Figures
F i g u r e s 12 and 9 shows that t h a t test
t e s t article
a r t i c l e response
response
for
f o r a giveng i v e n force
f o r c e at
a t the
t h e magnetic bbearing e a r i n g is
i s lower
l o w e r with
w i t h thet h e higher
h i g h e r test
t e s t article
article
stiffness.
stiffness.
F i g u r e 13 shows a comparison of
Figure o f the t h e maximum response at a t the
t h e test
t e s t article
a r t i c l e for
for
closed
c l o s e d and open loop l o o p modes. Again, Again, the t h e response is i s nearly
n e a r l y the
t h e same for f o r the t h e two
two
control
c o n t r o l modes.
modes, and the t h e requireme"nt
requireme.nt of o f 1.25E-5
1.25E-5 m (0.5 (0.5 mils)
m i l s ) displacement is i s met
throughout
t h r o u g h o u t most of
o f the
t h e frequency range. A A comparison of o f Figures
F i g u r e s 13 and 10 1 0 shows
t h a t the
that t h e response at a t the
t h e test
t e s t article
a r t i c l e isi s lower
l o w e r when the
t h e test
t e s t article
a r t i c l e stiffness
s t i f f n e s s is
is
higher.
higher.
F i g u r e 14
Figure 1 4 shows the t h e maximum displacement of t h e fl~x
o f the f l e x mount load l o a d sensing
s e n s i n g element.
r e q u i r e d displacement of
The required 1.25E-6 m (50
o f 1.25E-6 ( 5 0 ppin)
i n ) is
i s again
a g a i n achieved over o v e r most of of
the
t h e frequency range, regardless r e g a r d l e s s of
o f control
c o n t r o l mode. By comparison of o f Figures
F i g u r e s 11
11 and
14.
14, flexf l e x mount deflection
d e f l e c t i o n is
i s much
much higher
h i g h e r with
w i t h the
t h e higher
h i g h e r test
t e s t article
a r t i c l e stiffness.
stiffness.
380
Figures 10
Figures 10 and and 13 13 show that t h a t thet h e maximum
maximum response response at a t the
t h e test
t e s t article
a r t i c l e is i s the
t h e same
for b
for o t h open loop and
both and closed loop modes. This result r e s u l t is
i s due to t o the
t h e nature
n a t u r e of o f the
the
c o n s t r a i n t s that
constraints t h a t area r e placed
placed on the t h e analysis
a n a l y s i s to t o determine the t h e maximum
maximum response.
This analysisa n a l y s i s does not n o t consider the t h e effect
e f f e c t of o f synchronous loading l o a d i n g due to to
unbalance. A A given unbalance loading l o a d i n g would cause a displacement response response at a t the
the
t e s t article
test a r t i c l e and and at a t thet h e magnetic bearing that t h a t would subtract s u b t r a c t directly
d i r e c t l y fromfrom the the
a l l o w a b l e displacement at
allowable a t either
e i t h e r location.
l o c a t i o n . The responses would be different d i f f e r e n t for
for
closed and and open loop modes modes because the t h e shaft
s h a f t eigenvalues are a r e different
d i f f e r e n t in i n the
t h e two
c o n t r o l modes. Also,
control Also, a given unbalance loading l o a d i n g would cause a reaction r e a c t i o n force
f o r c e ata t the
the
magnetic bearing when the t h e magnetic bearing is i s operated in i n closed loop mode. This
r e a c t i o n force
reaction f o r c e would reduce reduce the a1 lowable magnetic b
t h e allowable e a r i n g force
bearing f o r c e available
a v a i l a b l e to
to
e x c i t e the
excite t h e rotor.
r o t o r . The net n e t effect
e f f e c t of o f unbalance
unbalance is i s tot o lower the t h e maximum
maximum achievable
t e s t article
test a r t i c l e response in i n either
e i t h e r controlc o n t r o l mode. r e d u c t i o n in
This reduction i n maximum
maximum test test
a r t i c l e response is
article i s minimized by operating o p e r a t i n g the t h e tester
t e s t e r at a t spins p i n speeds that t h a t are
are
adequately distant d i s t a n t from the t h e rotor r o t o r natural
n a t u r a l frequencies. Based on the
Based t h e maximum
maximum
expected unbalance levels l e v e l s for f o r thet h e RMT. RMT, response due to t o unbalance
unbalance should not n o t exceed
1 .OE-5 m
1.0E-5 m (0.4
(0.4 mils) m i l s ) ata t either
e i t h e r the t h e test t e s t article
a r t i c l e or o r the
t h e magnetic b e a r i n g for
bearing f o r any of of
tthe
h e planned
planned test t e s t conditions
conditions w withi t h either
e i t h e r operating
o p e r a t i n g mode. The closed loop l o o p rreaction
eaction
f o r c e at
force a t the t h e magnetic bearing for f o r the t h e maximum
maximum expected unbalance unbalance force f o r c e is i s about
330N (75 lbs). l b s ) , or o r less
l e s s than 10% 10% of o f the t h e dynamic load capacity c a p a c i t y of o f the t h e magnetic
bearing. Therefore, the
Therefore, t h e desired
d e s i r e d test t e s t article
a r t i c l e response levels l e v e l s should still s t i 11 be
'achieved.
achieved.
CONCLUSIONS
CONCLUSIONS
a n a l y s i s was presented here that

An analysis t h a t shows closed loop mode mode excitation
e x c i t a t i o n ofo f a rotor
r o t o r by
a magnetic bearing to t o be analogous to t o the t h e excitation produced by a rotating
e x c i t a t i o n produced rotating
eccentricity
e c c e n t r i c i t y at a t a conventional bearing. Open Open loop mode mode excitation
e x c i t a t i o n can be treated treated
simply by applying a p p l y i n g a forcing
f u n c t i o n directly
d i r e c t l y to t o thet h e shaft.
shaft. These two methods methods
were used used to t o predict
p r e d i c t the maximummaximum response of o f the
t h e Rocketdyne MultifunctionM u l t i f u n c t i o n Tester
T e s t e r to
to
magnetic bearing excitation e x c i t a t i o n in i n either
e i t h e r control
c o n t r o i mode. r e s u l t s show that
The results t h a t the
r e q u i r e d response
required response levels l e v e l s at a t thet h e test
t e s t article
a r t i c l e location
l o c a t i o n area r e achievable over most of of
t h e frequency range. The analysis
the a n a l y s i s also
a l s o predicts
p r e d i c t s that
t h a t maximum
maximum response response will w i l l be the
same for f o r both
b o t h open and and closed loop modes. This result r e s u l t was due to t o the
t h e nature
n a t u r e of
o f the
the
constraints
c o n s t r a i n t s thatt h a t were used used to t o determine maximum maximum response. The analysis
a n a l y s i s does not not
consider the t h e effect
e f f e c t of o f residual
r e s i d u a l unbalance in i n thet h e tester
t e s t e r rotor.
rotor. A
A synchronous
unbalance loading l o a d i n g would reduce, by differing d i f f e r i n g amounts, the t h e maximum
maximum test t e s t article
article
response achievable in i n either
e i t h e r control
c o n t r o l mode. Based on expected unbalance levels.
Based levels,
t h e desired test
the t e s t article
a r t i c l e response levels l e v e l s should still s t i l l be achieved.
NOMENCLATURE
NOMENCLATURE
Ap '" s e c t i o n area of
cross section o f one p o l e of
pole o f a magnetic b earing
bearing
C = magnetic bearing damping
reb] b e a r i n g damping
bearing damping matrix matrix
Cp ..."" c u r r e n t amplifier
current a m p l i f i e r gain
gain
e '" base of o f the
t h e natural
n a t u r a l logarithm
logarithm
F == magnetic force f o r c e ini n an air a i r gap
Fd == any disturbance force, force, such as unbalance unbalance
Fi == n e t controlled
net c o n t r o l l e d force
f o r c e applied
a p p l i e d by magnetic b earing
bearing
[G] == rotor
r o t o r gyroscopic matrix matrix .
G(s)
h
hs
-
""
'"
c o n t r o l l e r closed loop transfer
controller
magnetic b
nominal
e a r i n g air
bearing
nominal magnetic bearing air
a i r gap thickness
function
a i r gap thickness
381
i c u r r e n t in
current i n magnetic
magnetic bearing b e a r i n g coil
coil
ic c o n t r o1l current
contro current
is steady or
steady o r bias
b i a s current
c u r r e n t ini n magnetic
magnetic bearing b e a r i n g coil
coil
j ... square root
square r o o t of o f -1
-1
K n e t magnetic
net magnetic bearing b e a r i n g stiffness
stiffness
[KbJ == b e a r i n g stiffness
bearing s t i f f n e s s matrix
matrix
Kc == magnetic bearing
magnetic b e a r i n g controlled
c o n t r o l l e d stiffness
stiffness
K; = magnetic bearing
magnetic b e a r i n g current
c u r r e n t stiffness
stiffness
[KnJ == magnetic bearing
magnetic b e a r i n g position
p o s i t i o n stiffness
s t i f f n e s s matrix
matrix
[KrJ ... f r e e / f r e e stiffness
r o t o r free/free
rotor s t i f f n e s s matrix
matrix
Ky magnetic bearing
magnetic b e a r i n g position
p o s i t i o n stiffness
stiffness
m ... e f f e c t i v e mass
effective mass of o f thet h e rotor
rotor
[M] r o t o r mass
rotor mass matrix
matrix
N ..
...
number of
number o f turns
t u r n s in
p h y s i c a l displacement
physical
i n magnetic
displacement vector
magnetic bearing
vector
b e a r i n g coil
coil
Q
s ... Laplace variable
Laplace variable
t == time
time
y ... v e r t i c a l position
vertical position
Ya a c t u a l (measured)
actual (measured) rotor r o t o r position
position
Yc e r r o r signal
error signal
Yo ... p o s i t i o n reference
position r e f e r e n c e s;gnal
signal
.p phase angle
phase angle
1/1 r o t o r spin
rotor s p i n speed
speed
P == magnetic permeability
magnetic permeability
Po ... magnetic permeability
magnetic p e r m e a b i l i t y ofo f free
f r e e space
space
IU e x c i t a t i o n frequency
REFERENCES
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1.
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" C h a r a c t e r i s t i c s of
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R o t o r Bearing
B e a r i n g for
for
A c t i v e Vibration
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C o n t r o l , "First
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I n t e r n a t i o n a l Conference
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V i b r a t i o n in
in
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I.Mech. Eng., Cambridge,
Cambridge, September September 1976.
1976, Paper
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2.
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Stanway. and Burrows,
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o f aa F l e x i b l e Rotor
Flexible R o t o r on
on
Flexibly-Mounted J o u r n a l Bearings,"
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Measurement. and and
C o n t r o l , Vol.
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103, 1981.
1981, pp. pp. 383-3B8.
383-388.
3. Salm.
3. Salm, J.
J. and
and Schweitzer.
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. , "Modelling and Control
C o n t r o l of
o f aa Flexible
F l e x i b l e Rotor
R o t o r with
with
Magnetic Bearings ," T h i r d I n t e r n a t i o n a l Conference
Magnetic Bearings." Third International Conference on Vibrations in Rotating on V i b r a t i o n s i n R o t a ting
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4.
4. N i k o l a j s e n , J.L.,
Nikolajsen, J.L., Holmes, R.,
Holmes, R., and Gondhalekar,
and Gondhalekar, V.,
V., "Investigation
IIInvestigation o f an
of an
Electromagnetic Damper f o r V
Electromagnetic Damper for Vibration Control i b r a t i o n C o n t r o l of
o f aa Transmission Shaft,"
Transmission Shaft," Proc.
Proc.
IInstn.
n s t n . Mech.
Mech. Engrs
Engrs., Vol. 193, 1979, pp.
.• Vol. 193, 1979, pp. 331-336. 331-336.
5. Allaire,
5. A l l a i r e , P.L,
P.E., lewis,
Lewis, D.W.,
D.W., and Knight,
and K n i g h t , J.D.,
J.D., "Active
" A c t i v e Vibration
V i b r a t i o n Control
C o n t r o l of
o f aa
S i n g l e Mass
Single Mass Rotor
R o t o r on
on Flexible
F l e x i b l e Supports,"
Supports," J. J. Franklin I n s t . , Vol
F r a n k l i n Inst., Vol 315, 315, 1983,
1983, pp. pp.
21 1-222.
211-222.
Kasarda, M.LF.,
6. Kasarda,
6. M.E.F., Allaire,
A l l a i r e , P.L,
P.E., Humphris,
Humphris, R.R R.R.,.• andand Barrett,
B a r r e t t , L.L,
L.E., "A " A Magnetic
Magnetic
Damper for
Damper f o r First
F i r s t Mode
Mode Vibration
V i b r a t i o n Reduction
Reduction in i n Multimass
Multimass Flexible
F l e x i b l e Rotors,"
Rotors," Gas
Gas
Turbine and
Turbine and Aeroengine
Aeroengine Congress Congress and and Exposition.
E x p o s i t i o n , Toronto.
Toronto, June June 1989, ASME Paper
1989, ASME Paper
89-GT-213.
89-GT-213.
382
7. Foster,
F o s t e r , E.G.,
E.G., Kulle,
K u l l e , V.V. and Peterson, R.A., R.A., "The Application
A p p l i c a t i o n of
o f Active
A c t i v e Magnetic
Bearings to to a N a t u r a l Gas Pipeline
Natural P i p e l i n e Compressor,"
Compressor," ASME Paper 86-GT-61.86-GT-61, 1986.
8. Weise,
Weise, D.A.,
D.A., "Present Industrial
I n d u s t r i a l Applications
A p p l i c a t i o n s ofo f Active
A c t i v e Magnetic Bearings,"
Bearings ,'I
22nd Intersociety
I n t e r s o c i e t y Energy Conversion
Conversion EngineeringE n g i n e e r i n g Conference, Philadelphia,
Philadelphia,
August 1987.
9. Brunet, M.,
Brunet, M., "Practical
" P r a c t i c a l Applications
A p p l i c a t i o n s of o f the
t h e Active
A c t i v e Magnetic Bearings to
t o the
the
Industrial
I n d u s t r i a l World."
World," Proc. of o f First
F i r s t International
I n t e r n a t i o n a l Symposium on Magnetic Bearings.
Bearings,
Zurich,
Z u r i c h , June 1988, pp. 225-244. 225-244.
10. Habermann, H, and Brunet, M., M., "The Act

A c t i vvee Magnetic Beari
B e a r i nngg Enables Optimum
Dampin[
Oampi ng, of
o f Flexible Rotor, " ASME Paper 84-GT-117,
F l e x i b l e Rotor," 84-61-1 17, 1984.
11. Weise,
Weise, D.A.,
D.A., "Active
" A c t i v e Magnetic Bearings Provide
P r o v i d e Closed loop
Loop Servo Control
C o n t r o l for
for
Enhanced Dynamic Response,"
Response," 27th
2 7 t h IEEE
IEEE Machine
Machine Tool Conference,
Conference, October 1985.
12. Humphris, R.R.,

R.R., Kelm, R.D.,
R.D., lewis,
Lewis, D.W.,D.W., and Allaire,
A l l a i r e , P.L,
P.E., "Effect
" E f f e c t of
o f Control
Control
Algorithms on Magnetic Journal
J o u r n a l Bearing P r o p e r t i e s , " Journal
B e a r i n g Properties," J o u r n a l of
o f Engineering
E n g i n e e r i n g for
for
Gas Turbines and Power, Vol.
V o l . 108, No.No.4, 4, 1986, pp. 624-632. 624-632.
13. Chen, H.M.

H.M. and Darlow, M.S.,
M.S., "Design of o f Active
A c t i v e Magnetic Bearings with w i t h Velocity
Velocity
Observer,"
Observer," ASME 11th
1 1 t h Biennial
B i e n n i a l Conference on Mechanical
Mechanical Vibration
V i b r a t i o n and Noise,
NoiSe,
Boston, September 1987.
14. Chen, H.M.,
H.M., "Magnetic Bearings and Flexible
F l e x i b l e Rotor
R o t o r Dynamics,"
Dynamics," STlE
STLE Paper
88-AM-20-1 , 1988.
88-AM-2D-l,
15. Sutton, R.F.,
R.F., "lOX/Hydrocarbon
"LOX/Hydrocarbon Turbomachinery Technology,"
Technology," JANNAF Propulsion
Propulsion
Meeting, San Diego, 1987.
16. Ulbrich,
U l b r i c h , H.,
H., "New Test
T e s t Techniques Using
Using Magnetic Bearings,"
Bearings," Proc. of
o f First
First
International
International Symposium on Magnetic Bearings, Zurich,
Z u r i c h , June 1988, pp. 281-288.
281-288.
17. Wagner, N.G.,

N.G., and Pietruszka.
P i e t r u s z k a , W.O.,
W.D., "Identification
" I d e n t i f i c a t i o n of
o f Rotordynamic Parameters
on a Test Stand with
w i t h Active
A c t i v e Magnetic Bearings,"Bearings," Proc. of o f First
F i r s t International
International
Symposium on Magnetic Bearings, Zurich, Z u r i c h , June 1988, pp. 289-299. 289-299.
18. lang,
Lang, K.W., K.W., "Test of
o f an Active
A c t i v e Magnetic BearingB e a r i n g in
i n liquid Nitrogen," 12th
L i q u i d Nitrogen," 12th
B i e n n i a l Conference on Mechanical Vibration
Biennial V i b r a t i o n and Noise, Montreal.Montreal, ASME Pub.
DE-Vol . 18-1,
DE-Vol. 18-1 , 1989.
1989, pp. 321-326.
321 -326.
19. Jones, A.B.,A.B., IIA

"A General Theory for f o r Elastically
E l a s t i c a l l y Constrained Ball B a l l and Radial
Radial
Roller
R o l l e r Bearings Under Arbitrary
A r b i t r a r y load
Load and Speed Conditions,"C o n d i t i o n s ,'I ASME Journal
J o u r n a l of
of
Basic Engineering, Vol. 82, 82, 1969, p. 309.
20. Murphy, B. T., Scharrer, J.K.,

B.T., J.K., and Sutton,
Sutton, R.F., R.F., "The Rocketdyne
Multifunction
Tester, P a r t II -- Test Method,"
Tester, Part Method," Rotor
R o t o r Dynamics Instability
I n s t a b i l i t y Problems in
i n High
High
Performance Turbomachinery,
Turbomachinery, Texas A&M
A&M University,
U n i v e r s i t y , May 1990.
383
I -....
N TURN
N TURN COIL
COIL
MAGNETIC BEARING
MAGNETIC BEARING STIFFNESS
STIFFNESS
1.25-r-~~~~-~--~~~~------'
1.25
1 I
Ap AIR GAP. h
8
*10
1.00
{
U) 0.75
ffi
~ 0.50
~
0.25
ROTOR
' " ROTOR
O+-~~~~~~-T~~~~~~~
100 200 300 400 500 600 700
ELECTROMAGNET EXCITATIONFREQUENCY
EXCITATION FREQUENCY(HZ)
(HZ)
h=hs -Ay
Figure
Figure 2. Magnetic Bearing
2. Magnetic Bearing Stiffness
Stiffness Coefficient
Coefficient
1=ls+1::>1 vs.
vs. Excitation
Excitation Frequency
Frequency
Figure
Figure 1.
1. Magnetic
Magnetic Bearing
Bearing Schematic
Schematic
MAGNETIC BEARING
MAGNETIC BEARING DAMPING
DAMPING MAGNETIC BEARING
MAGNETIC LOAD CAPACITY
BEARING LOAD CAPACITY
16~~~~~~~~~~~~~~~ 4500.-~~~~-~~~~~-~~~
16 4500
*lo3 -
12- -
......
e3
3600-l-~~-~~---
3600
...... 0
~ 2700
!, 88- 9()S
2700-
e3 0
5
I
CJ 1800
1800-
zS 44 -
a::Zi 5
Z
::::i!
s
«Q 0
O:
900-
900
-4
-4 O+--r~r-'-~--~-r--r-~~~
0 -r 1
100 200
100 200 300
300 400
400 500
500 600
600 700
700 o0 lob ' 200
' 100 20'0 300
300 ' 400
400 500
500
EXCITATION
EXCITATIONFREQUENCY
FREQUENCY(HZ)
(HZ) EXCITATIONFREQUENCY
(HZ)
Figure 4.
Figure Magnetic Bearing
4. Magnetic Bearing Load
Load Capacity
Capacity
Figure
Figure 3.
3. Magnetic
Magnetic Bearing
Bearing Damping
Damping Coefficient
Coefficient
vs. Excitation
vs. Excitation Frequency
Frequency
vs.
vs. Excitation
Excitation Frequency
Frequency
384
Yo
Figure 55.
Figure . MMagnetic
agnetic 8Bearing Control Diagram
earing Control Diagram
AXIAL
AXIAL
MAGNETIC
MAGNETIC
RADIAL
RADIAL SLAVE
SLAVE BEARING
BEARING
MAGNETIC
MAGNETIC BEARING
BEARING
/J
\
FLEX BEARING
BEARING
FLEX
MOUNT
'13 I,-,I
'
la -
M O u w L ~
TEST
TEST
ARTICLE
ARTICLE
fB
9 \
D
Of
U
..
/-Dc:::J;;=;==_~---lL DRIVE
DRIVE
INPUT
INPUT
SEAL
SEAL -
PACKAGE
PACKAGE
Figure 6.6. Schematic

Figure Schematic
. of
of RRocketdyne
oCKetdyne
I Multif .
Multifunction
unction Tester
Tester
385
\
/ SECOND
~
FIRST
FIRSTMODE
MODE SECONDMODE
MODE
TEST !
ARTICLE T
...............---~'
+
TEST
TEST ARTICLE
ARTICLE
t MAG BRG
SLAVE BRG
MAG BRG
MAG ERG 1f SLAVE
T SLAVE BRG
BRG
THIRD
THIRDMODE
MODE
/ SLAVE BRG
TEST
TEST ARTICLE
ARTICLE
Figure
Figure 7.
7. Mode
Mode Shapes
Shapes for
f o r the
t h e First
First Three
Three Vibration
Vibration
Modes
Modes of
o f the
t h e Tester
Tester
ROTORNATURAL
ROTOR NATURALFREQUENCIES
FREQUENCIES
ROTOR
ROTORSPEED
SPEEDOF
OF20,000
20,000CPM
CPM
35,000
35.000 1
CL
CL
30,000
THIRD
THIRD MODE
MODE
~
c.. 25,000 OP
OP
8-
~
z
w 20,000
§
fE 15,000
----
.oJ
CL FIRST MODE
~
::J
~ 10,000
z OP
5voo0
5,000 - CL
CL ==CLOSED
CLOSEDLOOP
LOOPMODE
MODE
OP
OP ==OPEN
OPENLOOP
LOOPMODE
MODE
O;----.-----.-----.-----.-----.------r-----r----~
0 I I I I I I I I
o0 3.50 E+7
3.50 E+7 7.00 E+7
7.00 E+7 ' 1.05 E+8
1.05 E+8 1.4C E+8
1.40
TESTARTICLE
TEST ARTICLESTIFFNESS
STIFFNESS(N/M)
(NIM)
N a t u r a lFrequencies
Figure8.8. Natural
Figure Frequenciesvs.
vs. Test
TestArticle
Article
S t i f f n e s sfor
Stiffness f o rTester
Tester
386
TESTARTICLE
TEST ARTICLETRANSFER
TRANSFERFUNCTION
FUNCTION
TEST ARTICLE STIFFNESS = 1.7SE+ 7 N/M (100,000 LB/IN)
0.6,---------------------~--------~~~--~~----------~
-6
*10
0.5
z
~ 0.4
Z
o
§
z 0.3
it
a:
w
u...
en
z 0.2
~
I-
0.1 CLOSED LOOP
~
100 140 180 220 260 300 340 380
EXCITATIONFREQUENCY
EXCITATION (HZ)
FREQUENCY(HZ)
Figure 9. Transfer
Figure 9. Transfer Function
Function Amplitude,
Amplitude, Response
Response at Test Article
at Test Article due
due toto Force
Force
at "Magnetic
at .Magnetic Bearing,
Bearing, Test
Test Article
Article Stiffness =
Stiffness = 100,000
100,000 Ib/in.
Ib/in.
MAXIMUMTEST
MAXIMUM TESTARTICLE
ARTICLE RESPONSE
RESPONSE
" TEST ARTICLE STIFFNESS = 1.7SE + 7 N/M (100,000 LB/IN)
0.16
0.16
'10
-3
-3
*10
0.14
0.14
~
3 0.12
0.12
I-
I-
Z
w
w$
:E 0.1
0.1
S
()
:s
L
Il..
env, 0.08
0.08
0n
w!
!l
g
-I
()
0.06 I!l CLOSEDLOOP
CLOSED LOOP
0.06
~
< ++ OPEN LOOP
OPEN LOOP
l;; 0.04
0.04
w
I-
I-
0.02
0.02
00
100
100 140
140 180
180 220
220 260
260 300
300 340
340 380
380
EXCITATIONFREQUENCY
EXCITATION (HZ)
FREQUENCY (HZ)
Figure 10. Maximum
Figure 10. Maximum Response
Response at
at Test
Test Article,
Article.
Test Article
Test Article Stiffness =
Stiffness = 100,000
100,000 Ib/in.
Ib/in.
387
MMIIVIUM FLEX
MAXIMUM FLEX MOUNT
MOUNT RESPONSE
RESPONSE
TEST ARTICLE
TEST STIFFNESS = 1.
ARTICLE STIFFNESS 75E +7 N/M
1.75E+7 N/M (100,000
(1 00,000 LBtlN)
LB/IN)
55
-6
*10.
4
::!!
t-
Z
w
::!!
w 3
~
c..
C/)
£5 III CLOSED LOOP
t-
Z 2
::>
0 + OPEN LOOP
::!!
(.j
..J
u..
0 I I I I I I I I 1 I I I I 1 I
100
100 140
140 180
180 220 260 300 340 380
EXCITATION FREQUENCY
11.
Figure 11. Response at Flex Mount Load
Maximum Response Load Sensing Element.
Element,
=
Test Article Stiffness = 100.000
100,000 Ib/in.
Ib/in.
TEST ARTICLE TRANSFER FUNCTION

FUNCTION
TEST ARTICLE STIFFNESS =
ARTICLE STIFFNESS 1.31E
= 1.31 E+8 NIM (750,000 LB/IN)
+8 N/M
60.------------------------------------------------------,
60
-
* 10
'10
-99
50
z
~ 40
Z
0 /OPENLOOP
§
z 30
it
a:
w
u..
C/)
z 20
~
t-
10 CLOSED LOOP
100 140 180 220 260 300 340 380
FREQUENCY (HX)
EXCITATION
Figure 12. Amplitude, Response of Test Article due tto

Transfer Function Amplitude, o Force
at Magnetic Bearing, Test Article Stiffness = 750,000=
750,000 Ib/in
Ib/in
388
MAXIMUM TEST ARTICLE RESPONSE
MAXIMUM RESPONSE
TEST ARTICLE
TEST ARTICLE STIFFNESS
STIFFNESS == 1.31
1.31E+8
E+8 N/M
N/M (750,000 LB/IN)
(750,000 LB/lN)
0.07
0.07 -y---------------------------,
-3
-3
* 10
·10
-3
~
0.06
0.05
I- 0.05
zW
UJ
3
::iE
UJ
~3
n
0..
0.04
/ CLOSED LOOP
8
(/)
is
3
UJ
-'
0.03
0
()
~
2
c(
0.02
t;
V)
W
UJ
I-
I-
0.01
0.01
0
100
100 140
140 180
180 220
220 260
250 300 340 380
EXCITATION FREQUENCY (HZ)
(HZ)
Figure 13.
F i g u r e 13. M a x i m u m Response at
Maximum a t Test Article.
Test Article Stiffness = 750,000 Ib/in.
Stiffness = Ib/in.
M A X I M U M FLEX MOUNT RESPONSE

MAXIMUM RESPONSE
TEST ARTICLE STIFFNESS = 1.31 E+8 N/M (750,000 LB/lN)
24
-5
'10
20
~
I-
zUJ 15
::iE
UJ
()
:5
0..
!l2 12
0
I-
Z
:::l
0 8
::iE
~
-'
LI. III CLOSED LOOP
4
+ OPEN LOOP
100 140 180 220 250 300 340 380

EXCITATION FREQUENCY (HZ)
EXCITATION
F i g u r e 14.
Figure M a x i m u m Response aatt Flex Mount LLoad
Maximum o a d Sensing Element,
Test Article S Stiffness =
t i f f n e s s = 750,000
750,000 Ib/in.
Ib/in.
389
Page intentionally left blank
COMMENTS ON FREQUENCY
FREQUENCY SWEPT ROTATING
ROTATING INPUT
%NPUT PERTURBATION
PERBURBATlON TECHNIQUES
TECHNBQUES
AND IDENTIFICATION OF THE FLUID
FLUBD FORCE MODELS
MODELS IN
DN ROTOR/
ROTOR/
BEARING/SEAL
BEARIMG/SEAL SYSTEMS
SYSTEMS AND FLUID HANDLING MACHINES
Agnes Muszynska
Muszynska and Donald E.E . Bently
Bentley
Bent ley Rotor Dynamics
Dynamics Research
Research Corporation
Minden, Nevada
Nevada 89423, U.S.A.
U.S.A.
The paper describes

describes perturbation techniques used for identification of rotating system
dynamic characteristics. A comparison between two periodic frequency-swept perturbation
forces of rotating machines is presented. The description
methods applied in identification of fluid forces
force model identified by inputting circular periodic frequency-swept force
of the fluid force force is given.
This model is based on the existence and strength of the circumferential flow,
flow, most often generated
by the shaft rotation. The application of the fluid force force model in rotor dynamic analysis
analysis is
presented. It is shown that the rotor stability is an entire rotating system property. Some areas for
further research are discussed.
1. INTRODUCTION
1.
Perturbation methodology is well known and widely applied in Control Theory. The main
s stem characteristics by exciting the system with
objective of perturbation is identification of the system
observing (measuring)
a known input function and observing (measuringfits comparison between the input
its response. The comparison
and output of the system gives an insight into the system characteristics, i.e., its transfer function
1). The "system" can be a mechanical structure, or any other system, such as biological,
(Fig. 1). biological,
economic, etc. When little is known about the system characteristics, the system is often referred
economic,
to as a "black box." When the mathematical structure of the system characteristics is known (or
n-th order),
rather assumed approximately known, such as, for instance linearity of the n-th order), the system
is referred to as a "grey box." The identification procedure provides the parameters to the assumed
mathematical structure of the system model. The transition from a "black box" to "grey box" is
performed by iterative adjustments to the system model. It results from a series of perturbation
conditions.
tests conducted for various operating conditions.
ROTATIVE
ROT ENERG
ATIVE ENERGY!
ROTATING MACHINE
SYSTEM
TRANSFER FUNCTION INPUT OUTPUT
I
-IN-P-U-T---I·"
INPUT "BLACK BOX" OR i-O-U-T-P-U-T-
(e.g., FORCE) (e.g., VIBRATION)
(KNOWN) "GREY BOX" (OBSERVED!
MEASURED)
~-----------~ OPERATIONAL TEMPERATURE
PRESSURE, LOAD, ETC.
1. -- Identification of object charac-

Figure 1.
teristics by comparison of the input and Fi e 2. - Nonsynchronous perturbation technique
Figure
output. for rotating machinery.
391
39 1
1.1
1.1 Perturbation Techniques
Techniques in Rotating Machinery
Rotating machines
machines are particular subjects of perturbation testing. They represent a special
special
class structures. The main motion of a rotating machine is rotation, driven
class of "active" mechanical structures.
by an external energy source.
source. In order to fully
fully understand the rotating machine process,
process, and
identify its operational characteristics,
characteristics, the perturbation tests should be conducted on a machine
machine at
its
its operational
operational conditions, in particular when the rotor rotates at itsits operating
operating speed (Fig. 2).
speed (Fig. 2). The
The
rotative energy
energy provides,
provides, therefore,
therefore, an additional system. Most often this input is
additional input to the system. is
considered
considered uncoupled from from the perturbation input/output flow. flow. TheThe rotating energy,
energy, as as an
additional
additional input to the systemsystem has, however,
however, a very important influence
influence on the system:
system: its
characteristics become rotative
rotative speed
speed dependent. The The perturbation input should
should be entirely
independent fromfrom the rotative energyenergy input. This technique is
input. This is called "nonsynchronous"
ttnonsynchronous"
perturbation [1].
[I].
There are two particular cases
cases of the perturbation technique applied to rotating machinery.
machinery.
In these cases
cases only one
one input is used:
used: (i)
(i) perturbation of the rotating machine at rest (like
(like a
"passive"
"passive" structure), and (ii)
(ii) synchronous
synchronous perturbation. In the latter technique the rotative energy
energy
represents the only input to the system.
system. In the synchronous
synchronous perturbation method a controlled
controlled
[2,3 . Both these particular perturbation
transfers rotational energy
unbalance transfers
techniques
energy into
techniques often provide important,
characteristics.
into an input force
important, but also 1
force [2,31'
also very limited, in ormation about the rotating machine
1.2
1.2 Characteristics
Characteristics of Rotating Machines
Machines
Perturbation testing of rotating
rotatin machines
machines isis used for
for identification of their mechanical
mechanical
characteristics associated with modes
attention.
attention. In particular,
particular, the
the lowest
d
modes ofo vibration. Shaft
lowest lateral/ bending
Shaft lateral/ bending
bending modes
modes are
bending modes
are of the
modes attract the highest
the greatest
greatest concern
concern because,
because, due
due
to
to the
the specific role of internal damping
specific role damping in
in rotating systems,
systems, they areare usually
usually characterized by the
the
highest vibration amplitudes,
ampllitlades, thus conditions for
thus creating conditions for rotor failures.
failures.
rotating machines
In most rotating machines the
the shaft
shaft rotates in
in a fluid
fluid environment.
environment. Fluid involved
involved inin dy-
namic
namic motion becomes an important part of the system.
becomes an system. Fluid/solid interaction
interaction causes
causes the appear-
ance of additional modes
ance modes of vibration in. in the system.
system. These particular modes
modes have been identified
nonsynchronous perturbation testing [1].
by nonsynchronous [I]. Perturbation testing isis used for
for identification of the
rotating machine characteristics
characteristics at various
various conditions such as
conditions such as under steady-state or variable
variable load,
load,
unbalance,
unbalance, at different
different rotative speeds,
speeds, including
including operational speed
speed and above,
above, at various
various
temperatures, and other conditions.
conditions. The
The information provided
provided from
from the
the perturbation testing
testing is
is used
for
for model
model adjustments;
adjustments; it helps
helps toto predict stability of machine
machine operation,
operation, provides
provides tools
tools for
for
malfunction
malfunction diagnostics,
diagnostics, and
and assists
assists in
in optimization
optimization of the machine
machine performance.
performance.
1.3
1.3 Perturbation Input
Rotating
Rotating machines can be perturbed by all
machines can all classical
classical input functions
functions used in
in the
the identification
of mechanical
mechanical structures.
structures. Frequency
Frequency swept
swept periodic inputs [4-27],
periodic inputs inputs [28],
[4-271, random inputs [28], and
and impulse
impulse
inputs [29-35]
inputs [29-351 became
became the
the most popular ones.
ones. Provided that the the identified system
system is is linear, all
all
perturbation methods
methods should
should lead to
to the
the same
same results. Each method has, has, however, its own
however, its own strong
strong
and
and weak points which
which result in accuracy
accuracy differences
differences inin specific
specific applications.
applications. Two methods of
Two methods
nonsynchronous
nonsynchronous perturbation which
which have
have several
several advantages
advantages in in comparison
comparison with
with other
other techniques
techniques
are
are discussed
discussed below.
below.
1.4
1.4 Comparison
Comparison of
of Two
Two Frequency
Frequency Swept
Swept Rotating
Rotating Input
Input Perturbation
Perturbation Techniques
Techniques
Used for
for Identification
Identification of
of Fluid
Fluid Forces
Forces in
in Rotating
Rotating Machines
Machines
There
There are
are two
two main perturbation techniques
techniques of nonsynchronous
nonsynchronous one-mode testing used for
one-mode testing for
identification of fluid force models in rotor/bearing,
identification fluid force models in rotor/bearing, rotor/seal systems,
systems, as well as in fluid·
as well as in fluid handling
handling
392
(a) (b)
(b) DISPLACEMENT
KNOWN PROBES SELF ALIGNING
PRESSURE
PRESSURE UNBALANCE
MAS I ROLLING ELEMENT
TRANSDUCERS MASS BEARING
"
AeJ.wt/,~"""t
\
-,----"
n
ROTOR
/
PERTURBATI
PERTURBATIO
ROTOR
STATOR
Figure 3. - Nonsynchronous perturbation techniques: (a) perturbation by displacement (a
stationary shaft and casing displacements are also used), (b) perturbation by force.
machines (mainly
mainly pumps). The basic advantage of these methods :is the, rotational .character of
: is the
\
the input ~unction
unction in forward or reverse direction (the same or opposite to rotor rotation). This
independent identification of forward and backward modes of the rotating machine.
allows for .independent
input/output functions (Fig. 3). For rotor circular
These two perturbation techniques differ by the inputloutput
follows:
orbits* they are as follows:
DISPLACEMENT: A.,iwt
DISPLACEMENT: A&w~, I
El 1 FORCE:
1iO( w) = _1_1
H(w)
( Fr +
FORCE: (F , +jF~t).,iwt
F~)A ~ ~ 7,11,12,18-261
[Refs.
I [Refs. 7,11,12,18-26]
FORCE: Fel·wt I
IH(w)
~, 1 I
= ~ DISPLACEMENT: Ael·(wt+a:)I [Refs.
[Refs. 4-6,8-10,13-17]
4-6,8-10,13-171
r», w
where A is rotor displacement amplitude, a:
rotor perturbation (excitation) precessional frequency P
frequency (usually
a == arctan (-Ft/F
res onse phase (also a:
a is rotor response (-Ft/F,)),
usually varying from zero to some w w,,)max
w is
, ), t
is time, j = H, FF,rand
= .(/--Z, and F
Ftt are radial and tangential forces
forces respectively acting on the rotor. These
forces
forces are obtained by integrating the fluid pressure or measuring forces forces outside an elastically
supported seal or bearing; F is the input force
force amplitude.
In both cases the objective is identification of the "black box," i.e., the transfer function of
functions are ~
the system. More precisely the sought functions $w)w) = stiffness, or H(
= complex dynamic stiffness, w) =
H(w) =
1
-= transfer function = complex dynamic compliance
_1_ compliance of the system.
system. The most often obtained
k(w)
E( w)
result
resdt from
from either technique is the complex dynamic stiffness:
stiffness:
Fr + jFt
F jF
w) == r A
E(w)
k( t when the input is displacement. (1)
A
k(w)
~ ( w ==!, e-ja when the input is force.
) F e-ja: force. (2)
*A use of noncircular forces/displacements or occurrences

occurrences of noncircular response
response orbits/forces
represent generalizations of the perturbation mehod,
mehod, useful
useful for
for higher eccentricities of the rotor [13].
[13].
full identification of system parameters it requires
For full requires a double
double number of measurements.
393
stiffness components are as follows:
The complex dynamic stiffness follows:
F
stiffness = DDS =
Direct dynamic stiffness:: =-rr
- FF Cc~s
:. = O S ~u
a (3)
A - A
Quadrature dynamic stiffness:: F tt =

stiffness = QDS = -
F
A sAi n a
- -- FF sin (4)
A - A
By limiting the input to a circular periodic function,

function, both methodologies
methodologies must yield exactly
exactlv
the same results, provided that the system is linear, and the instrumentation yields comparable
signal-to-noise
signal-to-noise ratios.
force-to-motion amplitude ratios Fr/A
As is evident from Eqs. (3) and (4), the force-to-motion F,/A and Ft/A
correspond to the direct and quadrature dynamic stiffnesses,
correspond stiffnesses, respectively, often, in some published
papers, with opposite sign convention. stiffnesses, well
convention. The authors use the notion of dynamic stiffnesses,
established in Mechanics. For a system with one complex degree of freedom (one lateral mode of
the symmetric rotor with no gyroscopic effect) the Direct dynamic stiffness stiffness is composed of the
stiffness (K), minus the effect of inertia and cross damping. By definition, the static
static (direct) stiffness
stiffness K is positive; therefore, it appears in the direct dynamic stiffness with the plus sign. The
stiffness contains the product of the radial (direct) damping (D) and frequency
quadrature dynamic stiffness frequency
w, minus the constant (perturbation frequency
W, frequency independent) cross coupled stiffness.
stiffness. Since damping
is positive, it is reasonable to present the corresponding
corresponding straight line Dw versus perturbation
frequency with a positive slope. The data from Refs. [21-23]
frequency [21-231 illustrated in figures
figures below have been
presented in this unified format.
format. The elements of the discussed above above dynamic stiffnesses
stiffnesses
correspond to the standard linear bearing or seal models with isotropic properties (fluid inertia
matrix with no cross terms, damping, and stiffness matrices skew symmetric).
symmetric).
The results of perturbation testing of rotor/fluid systems are discussed in the next section.
section.
2. FLUID FORCE MODEL IDENTIFIED BY INPUTTING CIRCULAR

PERIODIC FREQUENCY SWEPT FORCE
As a result of over eight years of testing and identification research, the authors have
force model for lightly loaded bearings seals,
proposed a fluid force seals, and fluid-handling
fluid-handling machines, based
on the significance flow [361.
significance of the steady circumferential flow [361. The model was identified experimentally
main1 by using the frequency
mainll frequency swept circular periodic perturbation forceforce at the input of the
rotorfiearing/seal systems. A similar fluid force
rotor/bearing/seal force model was previously developed theoretically, and
[37],
has existed in a simplified version in the rotordynamic literature for at least 25 years (Bolotin [37],
[38,39]). It has not, however, been fully exploited. Following the results of the perturbation
Black [38,39]).
testing, the most important improvement in the model introduced by the authors was the
"1/2," widely used in the fluid models, by the factor "A"
replacement of the constant "1/2," "X" (fluid
circumferential average velocity ratio) as a function of fluid parameters and shaft eccentricity. This
ratio has been identified for several cases of seals and bearings as a decreasing
decreasing function of shaft
eccentricity.
The basic fluid circumferential average velocity ratio XA is generated by the shaft rotation.
Its value can, however,
however, be strongly modified by forced
forced fluid flow,
flow, such as preswirling and injections.
Depending on the direction of the tangential preswirls and/or injections, AA can be reduced when
these directions oppose shaft rotation, or increased when the preswirls/injections are in the
direction of shaft rotation.
394
For an originally concentric shaft rotating at a constant rotative speed nCl and perturbed by
an unbalanced auxiliary system providing the frequency
frequency swept rotating force
force with frequency
frequency w in a
ran e at least covering the interval o<w<n
range O<w<Cl for the "whirl" mode, the plot of direct dynamic
B
stiffness
stif ness of the fluid dynamic effects
perturbation frequency w
effects (shaft and other mechanical effects
effects excluded), versus
forms a parabola (Figs. 4 and 5), and thus can be described
w approximately forms
by three parameters. By using circular input forcesforces and maintaining isotropy of the system (rotor
gravity load balanced by centering springs),
springs so that the response orbits are circular, the authors
force
identified the fluid force direct dynamic stifkess
stiffness as [I]:
[1]:
DDS = -M~W-An)2
Ko-Mdw-AO)2
= Ko (5)
C
KOis the fluid film static radial (direct) stiffness,

where Ko Mff- is the fluid inertia effect,
stiffness, M X is the
effect, and A
fluid circumferential average velocity ratio. Note that the "cross damping" (skew-symmetric terms
in the damping matrix) appears in (5) as a function of the fluid inertia and Coriolis' acceleration.
The quadrature dynamic stiffness
stiffness versus perturbation frequency
frequency usually forms
forms a straight line
(Figs. 6 and 7); thus, it can be described
(Figs. described by two parameters. The authors have identified these
parameters as
QDS = D(w-An) (6)
ivhere D is the fluid film radial (direct) damping. The term Dw represents the passive effect of the
where
shaft pushing the fluid,
fluid, -DAn
-DAQ is an active term transferring rotative energy into the fluid force force
pulling the shaft (tangential force).
force). The quadrature dynamic stiffness
stiffness (6) is the most representative
and most important part of the fluid force
force model [40].
[40]. In spite of nonlinearities of both A
A and D as
functions of shaft eccentricity, QDS appears as a distinctly straight line for all tested cases except
for high shaft eccentricity [1,13].
[1,13]. This also means that there is practically no cross inertia effect irt
the fluid force.
force. Note that in the identified fluid force
force model the direct and quadrature dynamic
stiffnesses carry the common factor A. This means that the peak of DDS and zero of QDS occur at
stiffnesses
frequency (Figs. 5 and 7). The results obtained by
the same perturbation frequency b other researchers show,
show,
however,
however, some differences
differences in frequency
frequency for these values (Figs. 4 and 6). 6f. This problem will be
discussed in Section 7.
Figures 4 to 7 illustrate the basic results obtained by various researchers, by using
nonsynchronous
nonsynchronous perturbation techniques.
S.O
Ir5 PERTURBATION
REVERS~ 1 PERTURBATION
PERTURBATION SPEED [RAD/S]
[RAD/s]
0.0 ... -1008 s 100 200 300 400
~ ~
-o--+-~ sol--~~~~~~;";":~"""":'::"::--+---
-5.0
-7
... ;
,,/
;~
•
(y~ ~<-
- '"'~o/Z~-1
\'};ClS9-::= >- m
W
%0 Am_2
3-D impeller Cl ~~
·10.0
--6--
- '!i ~Cl/O~OZ ~ [:-3
PERTURBATION
2-D impeller e::
Am
8- 4 FORWARD
-15.0
-15.0
-I.S
-1.5 -1.0
-1.0 -o.S
-0.5 0.0
0.0 O.S
0.1 LD
1.0
PERTURBATION FREQUENCY TO ROTATIVE SPEED RATIO wlO
Stiffness versus
Figure 4. - Direct Dynamic Stiffness
frequency for the system with
perturbation frequency
circular displacement input, and force
force out- Figure 5. -- Direct Dynamic Stiffness
Stiffness versus per-
put. D 6 denotes a nondimensionalizing
nondimensionalizing co- turbation frequency
frequency for the system with circu-
efficient. Courtesy of H. Ohashi [22].
efficient. force input, and displacement output [10].
lar force [lo].
395
The original
The original response
response vectors
vectors versus
versus perturbation frequency
frequency areare presented in
in Figs.
Figs. 88 and
and 9,
9, in
in
the form
the form of
of Bode
Bode plots.
plots. Note
Mote that,
that, in
in the
the technique
technique which
which usesuses force
force input,
input, the
the displacement
displacement
response vector has
response has aa form
form characteristic
characteristic of
of responses
responses for
for aa one-mode
one-mode system
system toto aa periodic
periodic
excitation with sweep
excitation sweep frequency (Fig. 9).
frequency (Fig. 9). The
The occurrence
occurrence of
of aa resonance
resonance isis obvious.
obvious. InIn comparison
comparison
with the
with the response
response of
of aa classical mechanicd system,
classical mechanical system, the
the response
response phase
phase is,
is, however,
however, ahead
ahead ofof the
the
10.0
10.0
----
3-D impeller
Ft
8A
S.O
5.0
--l!.-- ...
0.0
0.0
2-D impeller
~-
,.... - --- ~
-S.O
-5.0 ~200 300 400 w
~TURBATION
-1.5
-1.5 -1.0
-1.0 -O.S
-0.5 0.0
0.0 O.S
0.5 1.0
1.0 1.5
1.5
PERTURBATION FREQUENCY
PERTURBATION FREQUENCY TO
TO ROTATIVE
ROTATIVE SPEED
SPEED RATIO
RATIO win
w/R
ATION SPEED
SPEED [RAD/s]
[RAD/s]
PERTURBATION
FORWARD
PERTURBATION
Figure 6. -- Quadrature
Figure 6. Quadrature Dynamic
Dynamic Stiffness
Stiffness FORWARD
versus frequency for
for the
the
system with circular displacement
system displacement input,
input, 7. -- Quadrature Dynamic
Figure 7.
Figure Dynamic Stiffness
Stiffness versus
versus
and force
and output. 86denotes
force output. denotes a nondimen- frequency for
perturbation frequency for the
the system
system with
siondizing coefficient.
sionalizing coefficient. Courtesy of H. R. circular
circular force
force input,
input, and
and displacement
displacement output
Ohashi [22].
Ohashi [22]. [10].
-
~
W
360 1
360r-------------------------~
a ~~
_ri1
100
75
(0) ORIGINAL SYSTEM
W
t:il riI~
ISM) WITH SPRINGS & MASS
& 270
~ 270 REVERSE ...:10 50
oes °ril
-
WITH MASS
(MI WITH
(M) MASS
FORWARD
W Z
-
~ Q WITH
6=2 180 < ~SPRINGS IS)
8.
W
t:il
180 -
- *\:
-- a *--*--+.
a x
1-----'----.2'------'----."-1- ~
<
a
·25
2
PERTURBATION SPEED
PERTURBATION
3
w
SPEEDw
M
00 ' d, P'::l
=490
-< Pressure:
Pressure: *** VERTICAL Po. (rad/s lOa]
= +++ - -
go ·50
~ Load cell: +++

Loadcell: ISM)
(S)
u/
a: == 588
Il: 588 kPa (0)
101
-
e.
o0
o0
~60r-------------------------~
Z "-
h-.l
.25
-25 .5
.5 .75
.75 1
W
~ I Fr+jFt I
~
8
:;:J 45
E-l
E-t
45 - i- + TJ = 64.4c poise lSI
. WHIRL
RESONANCE
0= 200 rad/s
S
1-1
p.=l
Pot 30
<
4
!2
::?J 30
..*----i 101
~W 15 -
15 * * (MI
oU IS)
~
pd (M), ISM)
0 0
~ 0 .25
.25 .5
.5 .75
.75 1 ·3 ·2 ·1 a 1 2 3
PERTURBATION SPEED Ww (rad/s
PERTURBATION SPEED 100)
[radls lOa]
RATIO, wIn
FREQUENCY RATIO, w/Q II
8. -- Force response
Figure 8. response phase and am-
litude versus
:plitude versus perturbation frequency
frequency 9. -- Displacement
Figure 9. Displacement response
response phase and ampli-
f
perturbation by displacement.
tperturbation displacement. Cour-
T. Iwatsubo [23].
tesy of T. [23].
tude versus
force) [9].
by force)
frequency (perturbation
(perturbation
396
input force,
force, and the phase sharply drops around 0·. 0". This indicates the "quadrature" nature of this
particular resonant phenomenon. The resonant frequency frequency occurs at about XQ, An, where n 0, is the
speed. This means that >'0
rotative speed. XQ represents
re~resentsone of the systemsvstem natural frequencies,
frequencies, which is
generated purely by the fluid/solid
fluid/ solid interaction. The system QDS becomes zero. ThisfLuid-related
This fluid-relat ed
quadrature resonance was documented by Stone & & Underwood in 1947 [4], and again by Hull
1947 [4], Bull in
1955 [5], but these excellent works were not immediately pursued. When the force
1955 [5], force is used as the
system input, as opposed to a displacement input, the physical interpretation of the results becomes
clear. The peak amplitude, which occurs
clear. occurs when the quadrature dynamic stiffness stiffness equals zero, is of
course
course limited by the total direct stiffness
stiffness term in exactly the same fashion
fashion as the resonance
resonance at the
(yielding
zero of the direct stiffness, (yielding the classical stiffness-over-mass-related
stiffness-over-mass-related natural frequency) is
frequency)
stiffness
limited by the total quadrature stiffness term (classical
(classical damping). The peak amplitudes may
become very high, if the shaft rotative speed approaches the 17>' 1/X value of the rotor system
"me~hanical'~
"mechanical" frequency, corresponding
natural frequency, corresponding to its first bending mode [16]. [16]. (Note that the
responses
responses include rotor mechanical effects.)
effects.) In fact,
fact, instability occurs
occurs when both direct and
frequency.
quadrature dynamic stiffnesses zero at the same frequency. This subject is discussed in Section 5.
By inputting a constant circular displacement and measuring the output in terms of forces, forces,
lower, but also there is no clear physical interpretation of the
not only the accuracy of the results is lower,
results. The plot of force
force response amplitude versus perturbation frequency frequency has an
"anti-resonancet1 shape, a concave curve, a mirror image of displacement response amplitude versus
"anti-resonance"
frequency 8). The phase is exactly the same in both techniques. It is obvious:
frequency (Fig. 8). obvious: by definition,
definition,
,the
.the phase represents the angle between the input vector and output vector, independent of the
nature of the input and output functions.
functions. Note that the dip point of the response force force amplitude
speed, i.e., the fluid circumferential average
occurs around one half of the rotative speed, ratio X is
average velocity ratio>'
112. The notion of the "force resonance," or rather "anti-resonance"
close to 1/2. "anti-resonance" is not well known in
Mechanics. That is why by using the input force
Mechanics. force methodology,
methodology, the authors have been more
forces as outputs,
fortunate than those who used forces outputs, to see direct physical interpretation of the results,
Xn is& a system natural frequency.
namely that the value close to >'0 .
Note the advantage of the circular perturbation, as opposed to unilateral perturbation as in

impulse testing. The results of forward perturbation (rotation and precession in the same direction)
and backward perturbation (opposed
(opposed direction) are significantly different (Fig. 9). The resonance
resonance
frequency >'0
occurs only for the forward perturbation, i.e., the "quadrature" natural frequency XQ of the system
(classical "direct"
has the plus sign only (classical t'direct'l natural frequencies stiffness and mass have +
frequencies governed by stiffness +
and -- signs).
signs).
3. FLUID FORCE MODEL IN DIFFERENTIAL FORM
force model can be presented as follows.

In more general terms, the identified fluid force follows. In the
An the fluid force
coordinate system which rotates at an angular velocity >'0 force is assumed radial, with
10):
three components (Fig. 10):
force in rotating coordinates =

Fluid force = MfZr + DZr
Mfi, + Di, ++ Kozr
Koz, (7)
(7)
z,(t)=x,(t)+jy,(t) are the shaft lateral displacements
where zr(t)=xr(t)+jyr(t) displacements in rotating coordinates;
coordinates; Mf,
Mf, D and Ko
KO
effect, damping and stiffness respectively.
are the fluid inertia effect,
transformation
The coordinate transformation
zr -jXnt ,, where z(t) =

z r == zz ee-j>.Ot +
= x(t) + jy(t) ,, jj=H
=G (8)
397
fromrotating
from rotating zr(
zr(t) to stationary
t) to stationary coordinates
coordinatesz(
z(t) yields the
t) yields thefluid
fluid force:
force:
Fluid
Fluid force
forcein
in stationary coordinates ==M~z
stationary coordinates Mt(z -2jAOZ-A 202z)
- 2jAQi-AlQ2z) ++D(z-jAOz)
D(i-jAQz) ++Koz
Koz (9)
(9)
The fluid
The fluid force
force model,
model, inin differential
differential form
form (9), be directly
can be
(9), can directly used
used in
in rotor
rotor dynamic
dynamic
analyses. In particular, for shaft periodic circular motion with a constant amplitude:
analyses. In particular, for shaft periodic circular motion with a constant amplitude:
·wt
z = Ael (10)
Fluid force
Fluid forcefor
for periodic
periodic motion = A{-M~w-AO)2
motion = jD(wAQ) + Ko}~wt
A{-MdwAQ)2++ jD(w-AO) ~ ~ ):: + =e j ~
:: A~wt {DDS + jQDS} :: A~wt {K( w)} (11)
where K(
where w) isis the
ii;(w) the previously
previously discussed
discussed complex
complex dynamic
dynamicstiffness.
stiffness.
4.4. IDENTIFICATION
IDENTIFICATION OF
OF THE
THE NONLINEAR
NONLINEAR MODEL
MODEL
While determining
While determining thethe appropriate
appropriate interpretation
interpretation andand use
use of
of the
the direct
direct stiffness
stiffness basic
basic
parabola, and
parabola, and the
the quadrature
quadrature stiffness
stiffness straight
straight line,
line, the
the authors
authors are dso investigatin~
are also investigatin situations
situations
where the
where the dynamic
dynamicstiffness
stiffnesscomponents
components diverge
divergefrom
from parabolic
parabolic and
and straight
straight line
line shapes fI?igs. 11
shapes tFigs. to
11to
13). These
13). These areare cases
cases of
of nonlinearities,
nonlinearities, and
and discontinuous
discontinuous shifts
shifts of
of various
various basic
basic parameters.
parameters. An An
exampleisis shown
example shown below.
below.
·2 .\
~.6
Fr
0 .• ~
FLUID
FLUID BEARING 0.2
AVERAGE
AVERAGE OR SEAL
ANGULAR
ANGULAR 0.0
VELOCITY
VELOCITY
AO-~
.Q,2
-o.• "'--~~=-,,___-~~--'"
FREQUENCY RATIO, win
AXIAL FLOW 0.2 Ft
0.\ n
FLUID VELOCITY
FLUID VELOCITY
0.0 -t-------l-7"i--7'i:.,£-;..---i
PROFILE
PROFILE
0.\
-0.2 I INLET SWIRL

I RATIO
'OJ + .5
I - .6
Figure 10.--Fluid
Figure 10. Fluid force
force model
model for
for lightly
lightly I. .7
loaded shaft.
loaded shaft. FREQUENCY RATIO, win
Figure 11. -- Direct

Figure 11. Direct and
and Quadrature
Quadrature Dynamic
Dynamic
Stiffnesses
Stiffnesseswith
with nonlinear
nonlinear effects
effects (perturbation
(perturbation
by displacement). 66 denotes
by displacement). denotes aa nondimension-
nondimension-
alizing
alizing coefficient.
coefficient. Courtesy
Courtesy ofof D.
D. Childs
Childs [21].
[21].
398
By inputting
By inputting aa force
force with
with sufficiently
sufficientlyhigh amplitude FF =
high amplitude = mrw2(m,r
mrw'(m,r are are mass
mass andand radius
radius of of aa
controlled unbalance),
controlled unbalance), the the response
response becomes
becomes modified
modified by by system
system nonlinearities.
nonlinearities. The The resulting
resulting
dynamic stiffnesses
dynamic stiffnesses diverge
diverge slightly
slightly from
from the paraboliclstraight line
the parabolic/straight line shapes
shapes (Figs.
(Figs. 12
12 and
and 13).
13). This
This
occurs most
occurs most noticeably
noticeably in in the
the range
range of
of perturbation
frequency where
where the the response
response amplitude
amplitude isis the the
largest (around
largest (around w w= X f l ) (Fig.
= AO) (Fig. 9). By inputting
9). By inputting forces
forces with
with sequentially
sequentially increasing
increasing amplitudes,
amplitudes, F, F,
for each
for each consecutive
consecutive test,
test, the the nonlinear
nonlinear functions
functions inin the
the fluid
fluid force
force model
model can can be
be identified.
identified. This This
identification technique
identification technique isis graphically
graphically presented
presented inin Fig.
Fig. 14.
14. As
As aa first
first step
step the
the DDS
DDS forfor aa linear
linear case
case
(when FF isis small)
(when small) isis subtracted
subtracted from from the
the DDS
DDS forfor aa nonlinear
nonlinear case.
ease. TheThe result
result gives
gives thethe stiffness
stiffness
nonlinear function '¢$ versus
nonlinear function versus perturbation
perturbation frequency.
frequency. Using
Using this
this relationship,
relationship, as as well
well asas the
the response
response
amplitude versus
amplitude versus perturbation
frequencyforfor high
high F,F ,the
the plot of '¢$versus
plot of versus shaft
shaft eccentricity
eccentricity can can bebe
m
~
m 10~--------------------------~
W
10
u- ~E n = 2500 RPM
gs "'Er:"
4-1000 ~5:
00
m = 1.759
-~.5~
.
R o......zr55
*%
nw ~oFio
~
~--
HZ < 4 .....
'+ 28
uk 0 z"
$5I-----....f+-If.\#.----+---w....,/,..",....O
R
>< .9 56
'""
Ww
FclH t=I:O- .4 .8
'-rn
n ' ,,
",',
... W ='0
~ -0
p:
_lOOO _ _ _ _ _..i.-_ _ _ _- ' -_ _ __
~ R
o0 0.5
0.5 "
11 do
w/n ~ 4
d
PERTURBATION
TOROTATIVE
TO
FREQUENCY
ROTATIVE SPEED
SPEEDRATIO
RATIO.. .
ROTATIVE SPEED
TO ROTATIVE
TO SPEED RATIO
RATIO ~
p
-5
./
./
0'
12. -- Direct
Figure 12.
Figure Direct Dynamic
Dynamic Stiffnesses
Stiffnesseswith
with Figure 13.-- Quadrature
Figure 13. Quadrature Dynamic
Dynamic Stiffness
Stiffness with
with
nonlinear effects (perturbation by force
nonlinear effects (perturbation by force for for nonlinear effects perturbation by force) [17].
nonlinear effects (perturbation by force) [17].
several cases of unbalance masses) [14].
several cases of unbalance masses) [14]. m denotes mass o perturbation unbalance.
m denotes mass of perturbation unbalance.
a:~.: ~
.~':.l
~~
t~
~1:l~- ___
80 0(3
w ~~~ ~~~+-_____---=:~_
PERTURBATION FREQUENCY ~~ ~~ PERTURBATIONFREQUENCY
PERTURBATION FREQUE W
E.;Z E.; .......
0
0 0
~~ ~
'¢ 6~ 6~ 1/1
e:: t
"'~ ~§
~::> 5;1 ....
a::: -- t~
e:~ E5;1
W-----~~~~~~"'--
E.;z - - --~~~-4----
~T
PERTURBATION FREQUENCY ~ 0 SHAFT ECCENTRICITY A
" '" ,,~
'" 0 Z I I
" " ~_-i--+---'-----

" " '" "'" t t
'" "",::>
" '" " 2'
~
"" "'~~
~
c4'
'"e l w
w ffi
Figure 14. -- Identification
Figure 14. Identification of
of fluid
fluid film
film stiffness
stiffness nonlinearity
nonlinearity (perturbation force).
(perturbation by force).
399
obtained. Note
obtained. Note that
that the
the response
response amplitude
amplitude AA represents
represents aa rotating
rotating radial
radial eccentricity
eccentricity of
of the
the
shaft. Assuming
shaft. Assuminglateral
lateral symmetry,
symmetry, the
the rotating
rotating eccentricity
eccentricity corresponds
correspondsto to the
the unidirectional
unidirectional static
static
eccentricity of
eccentricity of the
the rotor.
rotor.
By aa very
By very similar
similar method,
method, the
the fluid
fluid film
film radiaI
radial damping
damping nonlinearity
nonlinearity can can be
be identified
identified from
from
the quadrature
the quadrature dynamic
dynamicstiffness,
stiffness,provided
providedthatthat the
the nonlinearity
nonlinearity of A isis relatively
of A relatively small
small [17].
[17].
Note that
Note that the
the nonlinear
nonlinear effects
effects in
in the
the fluid
fluid film
film may
may be
be caused
caused and/or
and/or influenced
influenced by
by fluid
fluid
injections and
injections and preswirls
preswirls [21],
[21],as
as well
well as
as cavitations
cavitations [26].
[26].
5.5. ROTOR
ROTOR STABILITY:
STABILITY: CRITERION
CRITERION AND
AND MARGINS
MARGINS OF
OF STABILITY
STABILITY
The rotorlfluid system

The rotor/fluid system dynamic
dynamic stiffness
stiffness components
components as as functions
functions of
of perturbation
frequency
canbe
can be used
used to
to predict
predict the
the rotor
rotor stability
stability and
and the
the stability
stability margin~
margin.
In very
In very general
general terms,
terms, the
the threshold
threshold ofof stability
stability occurs
occurs when
when the
the "zeros"
"zeros" of
of the
the direct
direct and
and
quadrature dynamic
quadrature dynamic stiffnesses
stiffnesses occur
occur at
at the
the same
same perturbation/precession
perturbation/precession frequency.
frequency. InIn terms
terms of
of
frequency, the
frequency, the stability
stability margin
margin isis the
the lowest
lowest difference
difference between
between the
the zeros
zeros of
of the
the direct
direct and
and
quadrature dynamic
quadrature dynamicstiffnesses
stiffnesses (Fig.
(Fig. 15).
15).
In actual
In actual applications,
applications, both
both components
components of of the
the fluid
fluid force
force dynamic
dynamic stiffness
stiffnessbecome.
become modified
modified
by the
by the rotor
rotor system
system parameters.
parameters. AnAn example
exampleisis discussed
discussed below.
below.
Consider an
Consider an isotropic
isotropic rotor
rotor supported
supportedinin one
one rigid
rigid and
and one
one fluid-lubricated
fluid-lubricated bearing
bearing (Fig.
(Fig. 16).
16).
The rotor
The rotor rotates
rotates at
at aa constant speed nfl and
constant speed and isis perturbed
perturbed byby aa non
nonsynchronous periodic circular
synchronous periodic circular
forward (in
forward (in the
the direction
direction ofof rotation)
rotation) sweep
sweep frequency
frequency force FJ~~.
force F~wt. TheThe model
model of
of the
the system
system isis as
as
follows:
follows:
1 z(t) = x(t) + jy(t)

ERTURBATION FREQUENCY W
Figure 15.
Figure 15.--Rotor
Rotor stability
stability prediction
prediction using
using Figure 16. -- Rotor/bearing
Figure 16. Rotorlbearing system
system model.
model.
dynamic stiffness
dynamic stiffnessgraphs.
graphs.
400
Mz + M:r<z - 2jAOZ - A202Z) + Dsz + D(z - jAOZ) + Kz + Koz = Fe-i wt (12)
where M, DD,s , KK are

where M, are rotor
rotor generalized
generalized (modal)
(modal) mass,
mass, damping,
damping, and
and stiffness,
stiffness, for
for the
the first
first lateral
lateral
mode
mode respectively.
respect~vely.The Therotor
rotor system
system response
responseisis circular:
circular:
Z = A&Wt+ a) (I3)
(13)
where
wherethe
the amplitude
amplitude AA and phase acrcan
and phase canbe
be calculated
calculated when Eq. (13)
when Eq. (13)isis substituted
substituted in Eq. (12):
in Eq. (12):
(14)
From Eq. (14)

From Eq. the amplitude
(14) the amplitude AA and phase aa of
and phase of the
the forced response (13)
forced response (13) are
are obtained
obtained as
as
follows:
follows:
A= F (15)
j [K+Ko-MW2-M~w-IXU)~2 + [Dsw+D(W-XU)F
D W+D(W-AO)
s
a = arctan MW2+ M ( w-IXO) 2-K- Ko (16)
f
The whirl
The whirl resonance
resonance(Fig.
(Fig. 9) occurswhen
9) occurs whenthe
the quadrature
quadrature part
part of
of the
the denominator
denominator of
of Eq.
Eq. (15)
(15)
isisequal
equalto
tozero,
zero,i.e.,
i.e., when
when
AO _
W = 1+D /D =Wres (17)
s
Theresonant
The resonant amplitude
amplitudeand
andphase
phase are
are
The actual
The actual peak
peak amplitude
amplitudedepends,
depends,however,
however, on
on whether
whether the
theforce
force amplitude
amplitudeFF isis constant
constant
or
ordependent
dependenton frequencyw.w.
onfrequency
Eq. (16)
Eq. (16)indicates
indicatesthe
theleading-phase
leading-phase phenomenon
phenomenonfor
forlow
lowfrequency. At Ww==00the
frequency. At thephase
phaseisis
arctan~~~o
acr==arctan - >0
K+Ko > 0
AS2 >>00the
For AO
For theresponse
responseis,
is,therefore,
therefore, ahead
aheadof
ofthe
theexciting
excitingforce.
force.
Eqs. (15)
Eqs. (15 and
and(16)
(16)also
alsoshow
showclearly
clearlythat
that the
thewhirl
whirlresonance
resonanceoccurs
occursonly andWwhave
onlyifif 0Qand havethe
the
same
same rotationaf
rotationd directions
directions (perturbation forward). IfIf Ww << 00 (perturbation
(perturbation forward). (perturbation backward),
backward), then
then the
the
quadratureresonance
quadrature resonancedoes
doesnot
not take
takeplace
place(compare
(comparewith
withexperimental
experimentalresults,
results,Fig.
Fig. 9).
9).
Thesystem
The systemcomplex
complexdynamic
dynamic stiffness
stiffnessisisobtained
obtainedfrom Eq. (14)
fromEq. (14)asasthe
the ratio / ( A ~a ).? . The
ratioFF/(Ae-i The
dynamic
dynamicstiffness
stiffnesscomponents
componentsare
are
401
DDS == -Mu2 MI
_MW2 -- Mt(wAfl)2
w-AO)2 + K + ++ Ko
KO (18)
Dsw + D
QDS == D,W
QDS + (exn)
D(w-AO) (19)
The system dynamic stiffness

stiffness is, therefore, a combination of the rotor and fluid-related
fluid-related terms.
The eigenvalue
eigenvalue problem for Eq. (12) provides the following
following eigenvalues:
S1l2,3,4 = 2(M!M ) (-D-Ds+2jAOMf ) ± ~
f
[j -P+/P2+R2 ± jj P+/P2+R2 ]
where
The stability criterion, i.e., the requirement that all eigenvalues

eigenvalues have non-positive
non-positive real parts
follows:
is as follows: .
(20)
which yields the rotative speed threshold of stability:
D
1[1+~]D
o <- X
frequency at the threshold of stability is

The natural frequency
part of the eigenvalue).
J ,
M+M Kri~/D2 (this is the imaginary
M+M f s:p
"+"O
Inequality (20)
(20) can also be solved in another form:
form:
(21)
The direct dynamic stiffness

stiffness (18)
(18) is equal to zero when
MM
K+Ko A202 f (22)
M+M - (M+M)2
f f·
The values W wD1,,

D1,
2 are called roots (zeros)
(zeros) of the direct dynamic stiffness. The quadrature dynamic
stiffness (19) is equal to zero when .
_ AO
W = WQ =1+D
. s
ID (23)
402
where wwoQ is the root (zero)
(zero) of the quadrature dynamic stiffness.
stiffness. The stability criterion (21)
(21) can,
can,
therefork be written as
therefore, as
W ~
D1
wQ ~ W
D2
means, for
which means, for rotor stability,
stability, the root of the system
system quadrature dynamic
dynamic stiffness
stiffness should
should occur
occur
direct dynamic
between the two roots of the direct dynamic stiffness.
stiffness.
The margin
The m a r ~ i nof stability,
stabilitv, in terms
terms of frequency,
frequency, is
is defined
defined as
as a minimum distance
distance between
roots:
roots:
(24)
frequency (Fig.
This margin of stability is "horizontal," thus expressed in terms of frequency (Fig. 15).
15). An
additional
additional "vertical" margin of stability can also be defined.
also defined. It expresses
expresses the direct
direct and quadrature
dynamic stiffness
dynamic stiffness closeness
closeness to the threshold of stability (Fig.
(Fig. 15):
15):
min [DDS(at wQ), QDS(at wDJ, QDS(at w,,)] (25)
The
The stability margin (25)
(25) indicates
indicates which parameter of the system is
is most likely
likely responsible
responsible
for
for the instability.
inst ability.
The
The threshold of stability occurs
occurs when both direct and quadrature dynamic dynamic stiffness
stiffness have the
same root,
same root, i.e., either WwDl =
= w or w -
= w 2". It means
means that at the precession frequency
frequency when these
D1 Q
Q Q - WD ~ 2
Q
equalities
equalities occur,
occur, the
the total
total complex
complex dynamic
dynamic stiffness
stiffness of the
the system
system equals
equals zero
zero (see
(see Eq.
Eq. (15)
(15) in
in
which the
which the denominator
denominator is is zero
zero at
at this
this case).
case). .
When the
When the threshold of stability
stability is
is exceeded,
exceeded, the
the vibration amplitude
amplitude increases,
increases, most often
often
ending
ending up in
in a limit cycle
cycle self-excited vibrations,
vibrations, known as
as "whirl" and "whip," which
and "whip," which are
are governed
governed
[40, 411.
by the system nonlinearities [40,41].
The fluid
The fluid force
force model
model presented in the dynamic stiffness
stiffness form
form provides clear suggestions
suggestions for
for
st ability
stability improvements of rotor/bearing/seal systems. Higher st ability margins
rotor/bearing/seal systems. Higher stability margins result when
•r decreases (provided that DM>DsMf,
X decreases
A DM>D,Mf, which
which is
is almost
almost always
always satisfied)
satisfied)
•r KO
K increases
0 increases
•r decreases (most
D decreases (most often is,
is, however,
however, insensitive
insensitive to
to stability)
stability)
•o decreases
Mf decreases
• and Ds
K and D, increase
increase
• decreases
M decreases
A higher stability margin results alsoalso when
when the speed n
the rotative speed decreases. Since
fl decreases. Since variations
of n can involve
fl can involve other rotor dynamic
dynamic effects,
effects, such
such asas balance resonance
resonance which may interact with
fluid effects
fluid [40], n
effects [40], is not included
fl is included in the
the above
above list.
list.
The most
The most effective
effective parameters for for rotor stability
stability control
control areare aa decrease
decrease ofof the
the fluid
fluid
circumferential velocity
circumferential velocity ratio
ratio AX and
and an
an increase
increase of of the
the fluid
fluid film
film radial
radial stiffness
stiffness Ko.
KO. The
The first
first is
is
widely known
widely known in "anti-swirl" applications
in "anti-swirl" applications [41-51].
[41-511. TheThe second,
second, i.e.,
i.e., the
the increase
increase of
of Ko
KOresults
results
from an
directly from an increase
increase ofof shaft
shaft eccentricit,Y.:
eccentricit and/or increase
increase ofof the
the fluid
fluid pressure.
pressure. The
The latter
latter
conclusion applies
conclusion applies to
to externally
externally pressurized i('hydrostatie") bearing and
pressurized l"hydrostatic") and seal
seal designs,
designs, which areare
widely
widely known forfor their stability
stability features.
features. The
The most surprising
surprising result concerns
concerns fluid
fluid radial damping
damping
D . In most cases,
D. cases, an
an increase
increase of D has has no
no influence
influence on
on stability,
stability, oror has
has even
even a minor negative
negative
403
effect. (This effect can be compared to destabilizing action of rotor structural/ internal friction at
high rotative speeds.)
An interesting result is obtained if the classical Half Power Bandwidth method is applied to·
to
resonance. The classical
the whirl resonance. classical amplification factor Q$ may be calculated as
Q= Wres
W2 - Wi
wres is given by Eq. (17) and W4,

where Wres w2 are frequencies
w*, W2 frequencies corresponding
corresponding to the phases equal to
245' or amplitudes at Aresl.fl
±45° Ares/Jt (3
(3 dB level). For the whirl resonance the amplification becomes
(Fig. 9):
Q ~ Y(K+Ko)M. 1 (26)
D v'(K+Ko)/M / An - 1
dam ing
The first fraction of Eq. (26) is the classical relationship of half the inverse of the damping
factor. The second fraction indicates the closeness of the direct resonance (zero of DDS) P
DDS to
quadrature resonance. (Shaft damping and fluid inertia effect were omitted in Eq. (26)
The whirl resonant amplitude becomes significantly magnified if the rotative speed 6
spee is close to 1/
frequency. This effect has often been observed experimentally
times the rotor lateral mode natural frequency.
1/A1
26) for clarity.)
clarity.
[16].
[161.
Finally, the dynamic stiffness format can be used to successfully
successfully predict rotor instability in
case of nonlinear distortions of the basic parabola/straight lines. The general idea alwaysalwillys holds
occurs when both DDS and QDS have zeros at the same perturbation/pracession
true: Instability occurs perturbation/precession
frequency. Nonlinear effects
frequency. effects may cause dramatic changes in the shape of DDS and/or QDS,
[52] proved, for instance, that the low frequency
including multiple zero points. Theoretical studies [52] frequency
rotating stall instability can be predicted using the method discussed above.
Note that the relationships discussed in this chapter hold true for the considered
considered example of
rotor/sed system.
one mode isotropic rotor/bearing or rotor/seal system. When more modes are taken into account,
the relationships become more complex.
complex.
6. APPLICATIONS OF THE FLUID FORCE MODEL
By implementing the model identified by the authors into rotating machine dynamic
equations, several significant and valuable results were obtained. The results of analysis conducted
encouraging [36,40,41,42,53,54].
for one, two, and three mode models of rotors are very encouraging [36,40,41,42,53,54]. The model
allowed for explanation of new phenomena, such as the recently observed second mode whirl [53] [53]
[54]. The generalization from two and three modes to "n" modes is obvious
and second mode whip [54].
[53].
[53]. All swirl preventive measures (such as anti-swirl, preswirl, swirl brakes, fluid injections) can
also be easily included in the models [41,42],
[41,42], and thus would give designers
designers very good insight into
the expected efficiency
efficiency of such devices
devices for stability of rotating machines.
machines. .
7. FLUID FORCE MODEL ADJUSTMENTS AND GENERALIZATIONS
force (9) identified by the authors, using force

The model of fluid force force input perturbation testing,
developments. One adjustment, namely the a.ddition
is certainly open to further developments. addition of nonlinear terms,
404
was discussed in Section 4. There exist also some other possible modifications
modifications to the model. These
include:
include:
(i) Tangential components.
components. In the original form (7), the fluid force
force was assumed to have
radial components only. There is a high probability, especially
especially when the shaft eccentricity
increases,
increases, that the force
force components
components are not exactly radial, but also have a tangential part. For
FOP
stiffness force
instance the stiffness force in (7) may require an addition: the term Kozr
Koz, should be replaced by
(Ko-jKt)zr
(KO-jKt)z, where K Ktt is tangential stiffness.
(ii) Two fluid circumferential velocity ratios. In the model (7), it was assumed that all all
components force rotate at the same angular velocity An.
components of the fluid force Afl. It might be necessary to
XI, A2, one for the fluid inertia force,
introduce two different ratios A1, force, the other for the damping force.
force.
(9) will contain the terms:
Thus, the adjusted model (g)
where AlnAlfl and A2n

X2fl are angular velocities at which inertia and damping forces forces rotate
correspondingly. Two different X
correspondingly. A ratios seem to be required in order to adequately identify the
force model in pumps (see Figs. 4 and 6 [22]).
fluid force [22]).
. (iii) Higher order terms. Some results of perturbation testing [26] [26] suggest that the fluid
fluid
force contains terms of order higher than two. In particular a third order term (jerk) should be
force
included. With an assumed additional value of the corresponding
corresponding fluid circumferential velocity
Xj, the model (g).
ratio, As, (9).might,
might, therefore, be completed by the following
following term:
where J can be considered as a complex parameter, containing radial and tangential components.
components.
(iv) Nonsymmetric fluid force.
force. Most results of the perturbation testing have been obtained
for symmetric cases: perturbation around the shaft centered position. When the shaft is statically
displaced to higher eccentricity, the flow conditions are certainly modified. The fluid force
displaced force then
[13,14]. In particular, the nonlinear terms identified for
contains terms of nonsymmetric nature [13,14]. for
symmetric cases as simple functions of radial eccentricity, may require adjustments. More research
is required in this area.
8. CONCLUDING REMARKS
This paper discusses

discusses the use of nonsynchronous swept frequency
frequency harmonic rotating input
perturbation techniques for identification of the fluid force force model in lightly loaded
rotor/bearing/seal systems. Two basic methods differ by a choice of input functions:
rotor/bearing/seal functions: either as a
force,
force, as used by the authors and a few other researchers [1,2,4-6,8-10,13-17],
[1,2,4-6,8-10,13-171, or as a displacement
responses are displacements or forces
7,11,12,18-261. The measured output responses forces respectively. Whjle
While
b
r7,1l,12,18-26].
both
0th methods provide the system dynamic stiffness
stiffness characteristics, the main difference between
these two methods consists in data generation, acquisition, and processing;
processing; thus they provide
different
different levels of signal-to-noise
signal-to-noise ratios. A significant contributor to noise is input/output phase
readings.
readings. The first method provides a higher accuracy (around ±0.3%) &0.3%) than the second method,
especially in phase measurements.
measurements. An estimated error of the first method final results is lower than
*3%. An application of both methods to the same system (if possible) might ultimately provide the
±3%.
best identification data.
405
The results, in terms of the system dynamic stiffnessstiffness components
components obtained from both
methods, are very similar, as should be expected. Based on results of hundreds of tests obtained
over the past eight years, the authors have provided a consistent mechanical interpretation of the
36 .
results, and proposed an improved model of fluid forces
forces in lightly loaded bearings and seals
The model includes the fluid circumferential average velocity ratio as a function of shatt
eccentricity, instead of a constant value 1/2
112 as in the classical
classical models. (In some recent analyses
61
seals r361.
s at
analyses the
assumption about the constant 1/2 112 ratio starts gradually fading away.) The bearinglseal
bearing/seal
coefficients
coefficients can easily be obtained from the proposed model as particular cases. The application of
force model in rotor/bearing/seal
the improved fluid force rotor/bearing/seal systems yields results which stand in a very
good agreement with observed and documented dynamic phenomena, such as whirl, whip, and
measures. Some
I
whirl whip vibrations [36,40,41,53,54].
higher mode whirl/whip
of the rotor stabiiity
[36,40,41,53,54]. The model allows for an improved prediction
mar 'ns, as well as quantifying stability control
stabi ity thresholds and stability margins,
I?
Some possible further adjustments of the fluid
uid force
force model are also discussed. The latter
research.
would require more, well coordinated, experimental research.
different types of perturbation methodologies applied to
The database resulting from different
rotor/bearing/seal/pumg systems is now quite rich, including data from CalTech, Mitsubishi,
rotor/bearing/seal/pump
Kobe, Tokyo, Osaka, Kaiserslautern,
Sulzer Brothers Ltd., Universities of Kobe, Kaiserslautern, Texas A&M, and Case
Western. It will be very useful to reduce the acquired experimental, as well as
analytical/numerical, data in the form proposed in [55].[55]. It will then become clearer what
adjustments the model would require. It will also indicate directions for further research.
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NOTATION
A Amplitude of rotor vibration

D,Ko,Mf
D,K, ,Mf Fluid radial damping, stiffness,
stiffness, and inertia effect respectively
Ds,K,M
D,,K,M Rotor generalized
generalized (modal) damping, stiffness,
stiffness, and mass respectively
DDS,
DDS, QDS Direct and quadrature dynamic stiffness
stiffness components
components respectively
F Force amplitude
F r, F
Fr, Ftt Radial and tangential force
force components
s Eigenvalue
t Time
z== x+jy
x+jy Rotor displacement in stationary coordinates
zr = xr+jYr
Zr xr+jyr Rotor displacement in rotating coordinates
aa! Force/displacement phase
Force/displacement
-
K
K Complex dynamic stiffness
XA Fluid circumferential average velocity ratio
w
w Perturbation/precession frequency
Perturbation/precession frequency
na Rotative speed
410
THE APPLICATION OF AA CYLINDRICAL-SPHERICAL FLOATING RING BEARING
AS AA DEVICE TO CONTROL STABlLlTY
STABILITY OF TURBOGENERATORS
P.S. Leung and II.A.
P.S. . A . Craighead
Newcastle Polytechnic
Newcastle upon Tyne, England
T.S. Wi I k i nson
T . S. Wilkinson
NEI Parsons Lltd.
NEI td.
Newcastle upon Tyne, England
The development ooff a new ddevice e v i c e ttoo ccontrol

o n t r o l sstability
t a b i l i t y ooff tturbogenerators
u r b o g e n e r a t o r s iis s ddescribed
escribed
iinn ttheh e ppresent
r e s e n t sstudy.
t u d y . The ddevice e v i c e ccomprises
o m p r i s e s a ffloating
l o a t i n g rring
i n g iinstalled
n s t a l l e d between tthe he
''jj oournal
u r n a l aand
n d bearing
b e a r i n g hhousing
o u s i n g ofof a ffluidl u i d ffilm e a r i n g . The jjournal
i l m bbearin~. o u r n a l and tthe h e iinner
nner
ssurface
u r f a c e ooff tthe h e rring
i n g are ccylindrical
ylindrical w whilst
h i l s t tthe
h e oouter
u t e r ssurface
u r f a c e ooff ttheh e rring i n g and bbearing
earing
ssurface
u r f a c e are sspherical
p h e r i c a l pproviding
r o v i d i n g aaxial
x i a l llocation
o c a t i o n ofof tthe h e rring
i n g aand n d sself-alignment
e l f - a l i g n m e n t ooff tthe
he
bbearing. The employment ooff tthis
e a r i n g . Tile h i s ddevice
e v i c e would llead e a d ttoo a cconsistant
o n s i s t a n t machine pperfor- erfor-
mance. S
11iance. Systerd
y s t e a sstability
t a b i l i t y may be ccontrolled
o n t r o l l e d by cchanging
h a n g i n g a number of of bbearing
e a r i n g and
floating
f l o a t i n g ring
r i n g pparameters.
a r a m e t e r s . This device d e v i c e also
a l s o offers
o f f e r s ana n additional
a d d i t i o n a l advantage
a d v a n t a g e of having
having
aa veryv e r y low frictional
f r i c t i o n a l characteristics.
characteristics.
A
A feasibility
f e a s i b i l i t y 0tudy s t u d y was carFied
c a r ~ i e douto u t tot o investigate
i n v e s t i g a t e the
t h e suitability
s u i t a b i l i t y of the t h e new device
device
to
t o turbogenerator
t u r b o g e n e r a t o r applications.
a p p l i c a t i o n s . Both tneoretical
t n e o r e t i c a l analysis
a n a l y s i s and experimental
e x p e r i m e n t a l obser-
obser-
vations
v a t i o n s were carried c a r r i e d out.
o u t . Initial
I n i t i a l results
r e s u l t s suggest
s u g g e s t that
t h a t the
t h e new floating
f l o a t i n g rin6
r i n g device
device
is
i s a cOlllpetitive
c o i i ; p e t i t i v e alternative
a l t e r n a t i v e tot o other
o t h e r conventional
c o n v e n t i o n a l arrangements.
arrangements.
NOTATION
C film
f i l m clearance
clearance
D diameter
diameter
c6, GB turbulent
t u r b u l e n t coefficients
coefficients
h film
f i l m thickness
thickiiess
-
Nl non-dimensional
non-dimensional inner i n n e r film
f i l m viscous
v i s c o u s mOl11ent
molllent
C1
------~-------Ml
fl R1 3L (W 1 +W2)
non-dimensional
non-dimensional outer
o u t e r film
f i l m viscous_moment
v i s c o u s -moment
C2
= - - - - - M2
~ R2 '+ w2
N rotational
r o t a t i o n a l speed
s p e e d in
i n rev/s
rev/s
P pressure
pressure
411
radius
radius
Reynolds'
Reynolds' number number
inner
i n n e r film
f i l r n Sommerfeld
S o m e r f e l d number
number
outer
o u t e r film
f i l m Sommerfeld
Somrllerf e l d number
number
2
= iJ N2 L D2 (~\
(W 1 + W2) C2 /
Sb bearing
b e a r i n g Sommerfeld
S o ~ m ~ eerlfd number
number
W loading
loading
Z co-ordinate
c o - o r d i n a t e ini n longitudinal
l o n g i t u d i n a l direction
direction
a (ring
( r i n g speed)/(rotor
s p e e d ) / ( r o t o r speed)
speed)
B polar
p o l a r co-ordinate
c o - o r d i n a t e ini n longitudinal
l o n g i t u d i n a l direction
direction
y (weight
( w e i g h t of floating
f l o a t i n g ring)/(bearing
r i n g ) / ( b e a r i n g load)
load)
EO: eccentricity
e c c e n t r i c i t y ratio
ratio
e polar
p o l a r co-ordinate
c o - o r d i n a t e ini n circumferential
c i r c u m f e r e n t i a l direction
direction
L viscous
v i s c o u s shear
s h e a r stress
stress
iJ fluid
f l u i d viscosity
viscosity
w rotational
r o t a t i o ~ i a lspeed
s p e e d ini n rad/s
rad/s
SUBSCRIPTS
SUBSCRIPTS
1 inner
i n n e r fluid
f l u i d film
f i l m or
o r the
t h e journal
journal
2 outer
o u t e r fluid
f l u i d film
f i l m or
o r the
t h e ring
ring
1. INTRODUCTI01~
Modern designs d e s i g n s of turbo-machinery

turbo-machinery usually u s u a l l y aiill
a i ~ nata t larger
l a r g e r power output, o u t p u t , improved
irnproved
efficiency
e f f i c i e n c y and higher h i g h e r running
r u n n i n g speed.
s p e e d . These T h e s e design
d e s i g n criteria
c r i t e r i a demand an a n improved
b e a r i n g performance.
bearing p e r f o r m a n c e . In I n fact,
f a c t , thet i l e industry
i n d u s t r y is i s always
a l w a y s seeking
s e e k i n g forf o r aa better
b e t t e r bearing
bearing
d e s i g n in
design i n order
o r d e r tot o achieve
a c h i e v e better
b e t t e r control ~ n a c h i ~ iperformance.
c o n t r o l on machine pee r f o l m a n c e . The development
o f a new type
of t y @ e of floating
r i n g bearing
b e a r i n g anda n d its p o t e n t i a l application
i t s potential a p p l i c a t i o n on turbo-
turbo-
g e n e r a t o r s is
generators d e s c r i b e d in
is described i n this
t h i s paper.
p a p e r . The journal j o u r n a l and
a n d inner
i n n e r surface
s u r f a c e ofo f the
t h e ring
ring
are cylindrical
are c y l i n d r i c a l whilst
w h i l s t thet h e outer
o u t e r surface
s u r f a c e ofo f thet h e ring
r i n g and
a n d thet h e bearing
b e a r i n g areare spherical
spherical
providing
p r o v i d i r i g axial
a x i a l location
l o c a t i o n ofo f the
t h e ringr i n g and allowing
a l l o w i n g self
s e l f alignment
a l i g n m e n t of o f the
t h e bearing.
bearing.
The idea
The i d e a of h a v i n g aa floating
o f having f l o a t i n g ring
r i n g ini n aa fluid
f l u i d film
f i l m bearing
b e a r i n g hash a s existed
e x i s t e d forf o r some
some
time. The The conventional
c o n v e n t i o n a l floating
r i n g bearing
b e a r i n g comprises
c o m p r i s e s an a n annular
a n n u l a r ring
r i n g with
w i t h cylin-
cylin-
d r i c a l surfaces
drical s u r f a c e s on both b o t h sides
s i d e s of the t h e ring.
r i n g . The ring r i n g was
was allowed
a l l o w e d to t o move and a n d rotate
rotate
f r e e l y within
freely w i t h i n the
t h e space
s p a c e available.
a v a i l a b l e . ThisT h i s bearing
b e a r i n g design
d e s i g n isi s known as a s thet h e plain
plain
floating r i n g bearing.
b e a r i n g . The The earliest
e a r l i e s t recorded
r e c o r d e d use
u s e of this t h i s bearing
b e a r i n g canc a n be traced
t r a c e d back
back
to
t o 1912
1912 where such s u c h aa bearing
b e a r i n g was
was usedu s e d ini n Leyland's
L e y l a n d ' s vehicles
v e h i c l e s [Campbell (1)]. ( I ) ] . ThisThis
type
t y p e of bearing
b e a r i n g was
was alsoa l s o used
u s e d ini n aa Parsons'
P a r s o n s ' steam
steam turbine,
t u r b i n e , and in i n thet h e connecting
c o n n e c t i n g rod
rod
B r i s t o l aircraft
of Bristol a i r c r a f t engines
e n g i n e s ini n the
t h e 1920's
1 9 2 0 ' s [Shaw
[Shaw and Nussdorfer N u s s d o r f e r (2)].
( 2 ) ] . Modifications
Modifications
o f the
of b a s i c design
t h e basic d e s i g n also
a l s o exist.
exist. A l i t e r a t u r e survey
k literature s u r v e y of o f floating
r i n g bearings
b e a r i n g s can
can
412
be found in
i n [Leung (3)].
(3)].
The new bbearing e a r i n g design

d e s i g n is an a n attempt
a t t e m p t to t o combine different d i f f e r e n t good featuresf e a t u r e s found in in
conventional
conventional b bearings
e a r i n g s into
i n t o aa single
single p physical
hysical u unit.
n i t . The sphericals p h e r i c a l outer
o u t e r surface
s u r f a c e of
the
t h e ring
r i n g would allow a l l o w the
the b bearing
e a r i n g to t o tolerate
t o l e r a t e large
l a r g e misaligrunents.
m i s a l i g n m e n t s . The p presence
r e s e n c e of
two fluid
f l u i d films
f i l m s would p possibly
o s s i b l y increase
i n c r e a s e the
t h e damping
dainpi~lg of b bearing.
e a r i n g . It is i s known that that
floating
ring b bearings
earings u usually
sually p possess
o s s e s s low frictional
f r i c t i o n a l characteristics.
c h a r a c t e r i s t i c s . The stability stability
of bbearing
e a r i n g mayinay also
a l s o be controlled
c o n t r o l l e d by aa variety v a r i e t y of bearing
b e a r i n g and floating
f l o a t i n g ring para-
r i n g para-
1lleters.
~ ~ i e t e r s .The p purpose
u r p o s e of the the p present
r e s e n t investigation
i n v e s t i g a t i o n is to t o verify
v e r i f y these
t h e s e assumptions,
assumptions.
The bbehaviour
e h a v i o u r of the t h e cylindrical-spherical
c y l i n d r i c a l - s p h e r i c a l floating
ring b bearing
e a r i n g isi s first
f i r s t analysed.
analysed.
The bbearing
e a r i n g performance under different d i f f e r e n t working conditions c o n d i t i o n s is i s then
t h e n examined and
compared
coinpared with w i t h those
t h o s e of equivalent
e q u i v a l e n t conventional
conventional b bearings.
e a r i n g s . The p possibility
o s s i b i l i t y of applying
the
tne new bearing to turbo-machinery is explored
b e a r i n g t o turbo-machinery i s e x p l o r e d t h r o u g h through a case study,
case study.
2.
2. ANALYSIS
ANALYSIS
The configuration
c o n f i g u r a t i o n of the t h e cylindrical-spherical
c y l i n d r i c a l - s p h e r i c a l floating
ring b bearing
e a r i n g is illustrated
illustrated
in F i g 1.
i n Fig 1. The inner i n n e r fluid
f l u i d film
f i l m supports
s u p p o r t s the
t h e external
e x t e r n a l load
l o a d acting
a c t i n g on the t h e jjournal
ournal
whilst
w h i l s t the
t h e outer
o u t e r fluid
f l u i d film
f i l m isi s required
r e q u i r e d tot o support
support b both
o t h the
t h e external
e x t e r n a l load
l o a d and the
the
weight
w e i g h t of thet h e floating
f l o a t i n g ring.
r i n g . Lubricant
L u b r i c a n t is supplied
s u p p l i e d from the t h e central
c e n t r a l circumferential
circumferential
grooves
g r o o v e s to
t o the
the b bearing
e a r i n g surfaces.
s u r f a c e s . Hence, each e a c h fluid
f l u i d film
f i l m may
iiiay be analysed
a n a l y s e d as having
having
, two shorter
s h o r t e r fluid
f l u i d films
f i l m s with
w i t h the LID ratio
t h e L/D r a t i o half
h a l f the
t h e original
o r i g i n a l value.
v a l u e . The effective
effective
behaviour
b e h a v i o u r of each
e a c h film
f i l m isi s the
t h e sum of the t h e shorter
s h o r t e r films.
films.
The steady
s t e a d y state
s t a t e solution
s o l u t i o n of the
t h e floating
f l o a t i n g ring bearing
ring b e a r i n g is
i s mainly based on two
equilibrium
e q u i l i b r i u m conditions,
conditions,
a)
a) balance
b a l a n c e of forces:
f o r c e s : The sum of the t h e hydrodynamic force f o r c e of the
t h e inner
i n n e r film
film p plus
lus
tne
t n e weight of o f the
t h e floating
f l o a t i n g riniS
r i n g should
s h o u l d be equal
e q u a l to
t o the
t h e hydrodynamic
hydrodynainic forcef o r c e of
the
t h e outer
o u t e r film.
film.
b) balance
b a l a n c e of frictional
f r i c t i o n a l moments on the t h e ring:
r i n g : Under steady s t e a d y state
s t a t e operation,
o p e r a t i o n , the
the
viscous
v i s c o u s moment actinga c t i n g on the
t h e inside
i n s i d e surface
s u r f a c e of
o f the
t h e ring
r i n g should
s h o u l d be equal
e q u a l tot o the
tile
viscous
v i s c o u s moment
rllonient acting
a c t i n g on the
t h e outside
o u t s i d e surface
s u r f a c e of the
t h e ring.
ring.
In
I n order
o r d e r to
t o establish
e s t a b l i s h the
t h e steady
s t e a d y state
s t a t e solution
s o l u t i o n of the the bbearing,
e a r i n g , it
i t is
i s necessary
n e c e s s a r y to
to
calculate
c a l c u l a t e the
the b bearing
e a r i n g forces
f o r c e s of each each b bearing
e a r i n g film
f i l m and thet h e viscous
v i s c o u s moments acting
a c t i n g at
at
both
b o t h sides
s i d e s of the
t h e ring.
r i n g . The p procedure
r o c e d u r e is
i s described
d e s c r i b e d as follows,
follows,
2.1
2.1 The Reynolds' equation
e q u a t i o n and b
bearing
e a r i n g forces
forces
The Reynolds' equation

e q u a t i o n for
f o r the
t h e cylindrical
c y l i n d r i c a l inner
i n n e r film
f i l m can
c a n be written
w r i t t e n as follows,
follows,
11 af> \ 1 +
__
1
a 3
R
R 1 ,2 ~ as, dill / 1-1 az,
(1)
=(Wl + UJ 2 ) ah l + ah l
2 ae l at
413
and
and for
f o r the
t h e spherical
s p h e r i c a l outer
o u t e r film,
f i l m , the
t h e Reynolds' equation
e q u a t i o n is,
is,
ap,) 0 h 23
oP,)
~a,
1 1 0 / h,3 1
R22 2 ~G 6 2 - -
ae
+
R22 Oi32
COS S2 06 2 ].l 2 0152 ].l
1 0 h 23 oP,- ) + 1 a 2 h 3
01'2 ')
+ - - 8 2 tan132 (Ge 2 - (G82 -- e2 tan~2 - -
R22 oe 2 ~ Oe,2 R22 a~2 ~ ae 2 .
a ar,)
(G~2 --
11 h23 01'2') 2 ah,
w, oh2
Ul2 ah
ah2 (2)
- 802 tanB
+--
-L
tanB2 tanb2 7 -
- 0U 2P tanp2 -
-- --- ++ ---
R2,2 R2 aS 2 ~ 06
a u22 22 3atJ
6 ,2 at
at
where Ge
where G o and Gg are
a l ~ dGe a r e coefficients
c o e f f i c i e n t s dependent
deperide~iton on the
t h e local
l o c a l Reynolds'
Reycolds' number
llumber
[[Constantinescu ( 4 ) ] , and
C o ~ i s t a n t i n e s c u(4)], and tne t n e filal
f i l l 1 1 tnickness
t h i c k n e s s can
c a n be as follows,
e x p r e s s e d as
b e expressed follows,
h1 = C1 ( 1 + COS 6 1 ) (3)
h 2 = C2 ( 1 + E 2 COS O 2 COS B2) (4)
Equations
E q u a t i o n s (1)( 1 ) andand (2) ( 2 ) can
c a n be be normalised
n o r ~ n a l i s e dbyby using
u s i n g selected
s e l e c t e d non-dimensional
non-dimensional groups groups
[Craighead ( 5 ) and
[ C r a i g h e a d (5) and Leung
Leu~ig(3)]. ( 3 ) ] . For For aa given g i v e n inner o u t e r eccel~tricity
z11d outer
i n n e r 3ud e c c e l i t r i c i t y ratio, tne
r a t i o , tne
equations
e q u a t i o n s can
c a n tnent n e n bebe solved
s o l v e d by by thet h e finite
f i n i t e difference
d i f f e r e n c e method.
method. Essentially,
E s s e n t i a l l y , the the
pressure
p r e s s u r e distribution
d i s t r i b u t i o n ofof each
e a c h fluid
f l u i d film
f i l m is i s described
d e s c r i b e d byby aa rectangular
r e c t a n g u l a r meshmesh and and the
the
J:lressure
p r e s s u r e at a t each
e a c h nodal
n o d a l point
p o i n t isis determined
d e t e r m i n e d iteratively.
i t e r a t i v e l y . Details
D e t a i l s ofof the t h e computational
computational
scheme
scheme can c a n bebe found
found in i n Craighead (5). The
C r a i g h e a d (5). The bearing
b e a r i n g forces
f o r c e s lllay
lliay then
t n e n be be obtained
o b t a i n e d by
by
integrating
i n t e g r a t i n g thet h e pressure
p r e s s u r e field
f i e l d by by aa numerical
~ i u m e r i c a lintegration
i n t e g r a t i o n method.
method.
2.2
2.2 Frictional
F r i c t i o n a l moments
moments on
on the
t h e ring
ring
The
The frictional
f r i c t i o n a l forces
f o r c e s acting
a c t i n g onon tnet n e iIlside
i n s i d e andarid outside
o u t s i d e surfaces
s u r f a c e s ofof thet h e ring
r i n g are
are
dejJendent
dependent OIl 011 the
t h e viscous
v i s c o u s shear
s h e a r force
f o r c e of o f tnet n e lubricant
l u b r i c a n t ini n each
e a c h fluid
f l u i d film
fill11 wnich
wnich isi s in
in
turn
t u r r l depelldent
depeiident on on thet h e relative
r e l a t i v e velocities
v e l o c i t ' i e s ofof the
t h e corresponding
c o r r e s p o n d i n g solid
s o l i d surfaces
surfaces
enclosing
e n c l o s i n g tnet n e film.
f i l m . Froln
Froln the t h e Navier-StoKes
l v a v i e r - S t o ~ e s equation,
e q u a t i o n , the
t h e viscous
v i s c o u s shear
s h e a r stresses
stresses
acting
a c t i n g on on thet n e ring
r i n g can
c a n bebe written
w r i t t e n as,
as,
for
f o r the
t h e inside
i n s i d e surface,
surface,
-rl = 9 ---
ae, hl
!J
(w1 - ~ ) 2 )R 1
1 (5)
and
a n d for
f o r the
t h e outside
o u t s i d e surface,
surface,
0£>2 ].l
-- + - W2 (6)
ae2 h2
Where Q
Where is tne
(2 is t n e ratio
r a t i o of
of turbulent
t u r b u l e n t friction
f r i c t i o n to
t o laminar
l a m i n a r friction,
f r i c t i o n , and
and is d e @ e n d e n ton
is dependent on
tne
t n e lHean
*liean Reynolds'
Reynolds' number number of of each
e a c h film.
f i l i n . InI n the
t h e present
p r e s e n t study,
study,
Q
Q = 0.039
0.039 Re O• S7 f o r turbulent
for t u r b u l e n t flow
flow
Q
Q == 11 f o r laminar
for l a m i n a r flow
flow
414
Th,e
The frictional
f r i c t i o n a l moments can
c a n then
t h e n be obtained
o b t a i n e d by integrating
i n t e g r a t i a g the
t h e corresponding
c o r r e s p o n d i n g shear
shear
stress
s t r e s s sos o that,
that,
for
f o r the
t h e inside
i n s i d e surface,
surface,
MI = 2 oL'2 R dB1 d I l (7)
and
and for
f o r the
t h e outside
o u t s i d e surface,
surface,
(8)
The
The frictional
f r i c t i o n a l moments
lnomerits Illayruay be obtained
o b t a i n e d ini n non-dimensional
non-dimensional form, form, from
from results
r e s u l t s of the
the
normalised
n o r m a l i s e d Reynolds' equation. e q u a t i o n . TheThe viscous
v i s c o u s friction
f r i c t i o n in
i n the
t h e cavitation
c a v i t a t i o n region
r e g i o n of
o f the
the
films
f i l i n s is
i s also
a l s o included
i n c l u d e d in
i n thet h e present
p r e s e n t study
s t u d y [Ruddy
[Ruddy (6) ( 6 ) and
and Leung (3)]. (3)].
2.3 Calculation
C a l c u l a t i o n procedure
p r o c e d u r e for
f o r the
t h e steady
s t e a d y state
s t a t e solution
solution
The
The cOIll.tJutational
c o ~ i i p u t a t i o n a lstrate15Y
s t r a t e g y to
t o determine
d e t e r m i n e the
t h e steady
s t e a d y state
s t a t e solution
s o l u t i o n of
o f the
t h e bearing
b e a r i n g is
is
described
d e s c r i b e d in
i n tnis
t n i s section.
s e c t i o n . From the t h e balance
b a l a n c e of forces,
f o r c e s , the
t h e ratio
r a t i o of Sommerfeld
Somnerfeld
number for f o r the
t h e inner
i n n e r and
and outer
o u t e r fluid
f l u i d films
f i l m s can
c a n be written
w r i t t e n as,
as,
(:) (~:)' (1 + y) o (9)
From
Froin tne t n e balance
b a l a n c e of frictional
f r i c t i o n a l moments,
moments, the t h e ratio
r a t i o of the
t h e non-dimensional
non-dimensional moments
acting
a c t i n g ata t inside
i n s i d e and
and outside
o u t s i d e surfaces
s u r f a c e s of the
t h e ring
r i n g can
c a n be written
w r i t t e n as,
as,
o = G2 (10)
(1 + 0:)
E q u a t i o n s (9)
Equations ( 9 ) and
and (10) ( 1 0 ) determine
d e t e r m i n e tne
t h e relationshi.tJ
r e l a t i o n s i l i p between the t h e inner
i n n e r film
f i l m eccentricity
eccentricity
ratio,
r a t i o , the
t h e outer
o u t e r film
e c c e n t r i c i t y ratio,
r a t i o , and and t n e ( r i n g s p e e d / r o t o r s p e e d ) ratio.
the (ring speed/rotor s.tJeed) ratio.
For aa giveng i v e n value
v a l u e of inneri n n e r eccentricity
e c c e n t r i c i t y ratio,
r a t i o , thet h e equations
e q u a t i o n s may then t h e n be used to to
search
s e a r c h for
f o r the
t h e outer
o u t e r film
e c c e n t r i c i t y ratio
r a t i o and
and the t h e speed
s p e e d ratio.
ratio. A A modified
m o d i f i e d form
form
of thet h e Newton's iteration i t e r a t i o n method
method [Gerald
[ G e r a l d (7)]( 7 ) ] was
was usedu s e d ini n this
t h i s study,
s t u d y , asa s follows,
follows,
£:2 £:2 aG l oG l -1 G1
Ot:2 oa
- Rf (11)
oG2 oGz
ct
k+1
0:
k o£:z Ott k G2 k
where
where kk indicates
i n d i c a t e s the
t h e state o f successive
s t a t e of s u c c e s s i v e interations
i n t e r a t i o n s and Rf is
and Rf is the
t h e relaxation
relaxation
factor.
factor.
415
The
The matrix
matrix containing
containing the
the partial
partial derivatives
derivatives (the
(the Jacobian
Jacobian matrix)
matrix) isis obtained
obtained by
numerical
numerical perturbation
perturbation ofof G1 and
GI and GG2.
2 • The
The steady
steady state
state solution
solution is
is then
then obtained
obtained if
if
aa specified
specified tolerance
tolerance isis satisfied.
satisfied. When
When Rf
Rf is
is equal
equal to
to unity,
unity, the
the usual
usual Newton's
~ewton's
iteration
iteration method
method is
is used.
used. ItIt provides
provides stable
stable iteration
iteration for
for cases
cases with
with laminar
laminar
lubricant
lubricant flow.
flow. However,
However, the
the iteration
iteration may sometimes
sometimes fail
fail to
to converge
converge if if the
the
lubricant
lubricant flow
flow is
is assumed
assumed turbulent.
turbulent. An An under-relaxation
under-relaxation factor
factor of
of value
value from
from 0.5
0.5
to
to 0.75 was
was found
found satisfactory
satisfactory for
for all
all cases
cases with
with either
either assumption.
assumption. TheThe application
application
of
of the
the under-relaxation
under-relaxation factor
factor for
for laminar
laminar flow
flow condition
condition could
could reduce
reduce the
the computa-
computa-
tional
tional time
time by
by up
up to
to 20%
20% when
when compared
compared with
with the
the case
case where
where Rf
Rf is
is equal
equal toto unity.
unity.
2.4
2.4 The
The dynamic
characteristics of
of the
the bearing
bearing
The
The dynamic
characteristics of
of the
the bearing
bearing are
are represented
represented by
by aa set
set of
of eight
eight
linearised
linearised force
force coefficients
coefficients so
so that
that the
the bearing
bearing forces
forces acting
acting on
on the
the journal
journal can
can
be
be expressed
expressed by
by the
the following
following equations,
equations,
Fx = Axx •
X + Axy Y + Bxx X + Bxy Y
•
(12)
Fy = Ayx X + Ayy Y + Byx •
X
0,
+ Byy Y
The
The displacement
displacement coefficients,
coefficients, A's,
A's, are
are obtained
obtained by
by perturbing
perturbing the
the displacement
displacement of
of
the
the journal
journal centre
centre from
from its
its steady
steady state
state position.
position. The
The velocity
velocity coefficients, B's ,
coefficients, Bls,
are
are obtained
obtained by
by perturbing
perturbing the
the velocity
velocity of
of the
the journal
journal centre.
centre. These
These coefficients
coefficients
may
may then
then be
be used
used to
to study
study the
the stability
stability and
and response
response characteristics
characteristics of
of the
the bearing
bearing
applied
applied to
to different
different rotor
rotor systems.
systems.
3.
3. PARAMETRIC
PARAMETRIC INVESTIGATION
INVESTIGATION OF
OF BEARING
BEARING PERFORMANCE
PERFORMANCE
To
To ensure
ensure good
good design
design and
and reliable
reliable service
service it
it is
is necessary
necessary to
to determine
determine the
the behaviour
behaviour
of
of the
the new
new bearing
bearing under
under different
different working
working conditions.
conditions. In this study, six bearing
In this study, six bearing
parameters
parameters were
were investigated.
investigated. A A bearing
bearing with
with typical
typical parameter
parameter values
values was
was first
first
selected
selected as
as the
the reference
reference case.
case. Each
Each parameter was then varied about the reference
parameter was then varied about the reference
conditions
conditions and
and any
any changes
changes in
in bearing
bearing characteristics
characteristics have
have been
been noted.
noted. The
The results
results
are
are desctibed
desctibed as
as follows.
follows.
3.1 The clearance ratio (C2/C1)
The
The ratio
ratio of
of the
the outer
outer film
film clearance
clearance to
to the
the inner
inner film
film clearance
clearance was
was found
found to
to be
be
significant
significant inin determining
determining many
many bearing
bearing characteristics.
characteristics. Design
Design charts
charts are
are given
given
in
in this
this case
case as
as examples.
examples. In In the
the present
present study,
study, it
it is
is assumed
assumed that
that the
the total
total clear-
clear-
ance
ance of
of the
the inner
inner and
and outer
outer films
films is
is constant.
constant. Variation
Variation ofof C2/C1
C2/C1 is
is achieved
achieved by
by
changing
changing the
the inner
inner film
film and
and outer
outer film
film clearances
clearances at
at the
the same
same time.
time.
For
For aa given
given operating
operating condition,
condition, itit was
was found
found that
that increasing
increasing C2/C1 would ca~se
C2/C1 would cause aa
reduction
reduction in in inner
inner film
film eccentricity
eccentricity ratio,
ratio, but
but an
an increase
increase inin outer
outer film
film eccentricity
eccentricity
ratio.
ratio. As As aa result,
result, the
~ h overall
overall bearing
e bearing eccentricity
eccentricity ratio,
ratio, which
which isis defined
defined as as
the
the ratio
ratio ofof the
the journal
journal displacement
displacement toto the
the total
total clearance,
clearance, isis reduced
reduced (Fig 2).
(Fig 2).
This
This implies
implies that
that the
the load
load carrying
carrying capacity
capacity of
of the
the bearing
bearing is
is increased
increased by by an
an
increase
increase of of clearance
clearance ratio.
ratio. TheThe bearing
bearing attitude
attitude angle,
angle, however,
however, isis reduced
reduced
(Fig
(Fig 3).
3). Increasing
Increasing the
the value
value of
of C2/C1
C2/C1 will
will also
also increase
increase the
the (ring
(ring speed)/
speed)/
(rotor
(rotor speed)
speed) ratio
ratio (Fig 4). Consider
(Fig 4). Consider that
that the
the inner film ~clearance
inner film !clearanceis is reduced
reduced
as
as C2/C1
C2/C1 isis increased,
increased, the
the shear
shear force
force acting
acting atat the
the inside
inside surface
surface of
of the
the ring
ring
will
will then
then bebe incre?sed.
increased. TheThe speed
speed ratio
ratio is
is therefore
therefore increased.
increased. ''
416
The
The journal
journal frictional
frictional loss
loss (usually
(usually indicated
indicated by
by the
the friction
friction factor)
factor) is
is also
also
increased
increased for
for aa similar
similar reason
reason (Fig
(Fig 5).
5).
The
The dynamic
coefficients ofof the
the bearing
bearing are
are shown
shown in Figs 66 and
in Figs and 7.
7. These
These coefficients
coefficients
are
are used
used to
to calculate
calculate the
the limit
limit of
of stability
stability [Craighead
l~rai~head (5B of
(511 of the
the bearing
bearing (Fig
(Fig 8).
8).
The
The effect
effect of
of the
the clearance
clearance ratio
ratio onon the
the dynamic
dynamic stability
stability can
can be
be divided
divided into
into two
two
regions :: for
regions for low
low Sommerfeld
Sommerfeld numbers,
numbers, the
the stability
stability is
is reduced
reduced byby increasing
increasing value
value
of
of the
the clearance
clearance ratio;
ratio; for
for high
high Sommerfeld
Sommerfeld numbers,
numbers, increasing
increasing the
the value
value of
of the
the
clearance
clearance ratio
ratio will
will increase
increase the
the limit
limit of
of stability.
stability. Large
Large values
values of
of clearance
clearance
ratio
ratio is
is therefore
therefore beneficial
beneficial in
in high
high speed
speed or
or light
light load
load operations.
operations. TheThe ratio
ratio of
of
the
the (whirl
(whirl speed)/(rotor speed ++ ring
speed)/(rotor speed ring speed)
speed) was
was found
found to
to be
be about
about 0.5
0.5 as
as expected
expected
(Fig 9) (Orcutt
(Fig 9) C~rcuttand Ng (8)).
and Ng (8)l. However,
However, itit is
is common
common to
to calculate
calculate the
the (whirl
(whirl speed/
speed/
rotor
rotor speed)
speed) for
for bearings
bearings with
with aa single
single film.
film. For
For the
the floating
floating ring
ring bearing,
bearing, the
the
value
value of
of this
this ratio
ratio will
will be
be higher
higher than
than 0.5
0.5 and
and within
within the
the range
range of
of 0.6
0.6 to
to 0.7
0.7
(Fig
(Fig 10).
10).
3.2
3.2 The
The ratio
ratio of
of the
the ring
ring radii
radii (R2/Rl)
(R2/Rl)
The
The ratio
ratio of
of the
the ring
ring outside
outside radius
radius to
to inside
inside radius
radius also
also affects
affects the
the performance
performance
of
of the
the floating
floating ring
ring bearing.
bearing. For
For an
an increasing
increasing value
value of
of R2/Rl,
R2/R1, the
the frictional
frictional
moment
moment acting
acting at
at the
the outside
outside surface
surface of
of the
the ring
ring will
will be
be increased.
increased. This
This reduces
reduces
the
the (ring/rotor)
(ring/rotor) speed
speed ratio
ratio and
and hence
hence reduces
reduces the
the load
load carrying
carrying capacity
capacity ofof the
the
outer
outer film.
film. AsAs aa result,
result, the
the overall
overall load
load carrying
carrying capacity
capacity and
and attitude
attitude angle
angle of
of
the
the bearing
bearing is
is reduced.
reduced. TheThe frictional
frictional power
power loss,
loss, however,
however, isis increased
increased because
because
the
the reduction
reduction of
of ring
ring speed
speed will
will increase
increase the
the frictional
frictional force
force acting
acting at
at the
the journal
journal
surface.
surface. InIn terms
terms of
of dynamic
dynamic characteristics,
characteristics, increasing
increasing the
the value of R2/Rlincr~s
value of R2/Rl increases
the
the limit
limit of
of stability
stability of
of the
the bearing
bearing for
for the
the range
range of
of Sommerfeld
Sommerfeld Number
Number examined.
examined.
3.3
3.3 The (L/Dl) ratio
The (L/Dl) ratio
The
The effects
effects ofof varying
varying the
the L/Dl
LID1 ratio
ratio on
on the
the floating
floating ring
ring bearing
bearing are
are similar
similar to
to
those
those found
found in
in conventional
conventional bearings. Increasing the
bearings. Increasing the value
value of LID1 ratio
of L/Dl ratio will
will
cause
cause an
an increase
increase in
in load
load carrying
carrying capacity
capacity and
and attitude
attitude angle
angle of
of the
the bearing.
bearing.
However,
However, for
for aa given
given Sommerfeld
Sommerfeld Number,
Number, both
both the
the speed
speed ratio
ratio and
and friction
friction factor
factor are
are
not
not seriously
seriously affected
affected by
by the
the change
change inin L/Dl
L / D ~ratio.
ratio. ItIt should
should be
be noted
noted that,
that, if
if
the
the variation
variation of of L/Dl
LID1 ratio
ratio isis achieved
achieved byby simply
simply varying
varying the
the length
length of
of the
the bearing,
bearing,
aa smaller
smaller L/Dl
LID1 ratio
ratio will
will result
result in
in aa smaller
smaller Sommerfeld
Sommerfeld number.
number. In In this
this case,
case,
reduction of
reduction of L/Dl
LID1 ratio
ratio will
will cause
cause aa slight
slight reduction
reduction ofof the
the speed
speed ratio
ratio and
and aa
significant reduction
significant reduction inin frictional
frictional loss.
loss. InIn terms
terms of
of dynamic
dynamic behaViour,
behaviour, areduction
areduction
of L/Dl
of L / D ~ratio
ratio will
will increase
increase thethe limit
limit of
of stability
stability ofof the
the bearing.
bearing. Hence,
Hence, aa bearing
bearing
with
with aa small
small value
value of
of L/Dl
L / D ~ratio
ratio is
is often
often preferred.
preferred.
3.4
3.4 The mean
The mean bearing
bearing Reynolds'
Reynolds' number
number
There
There are
are two
two fluid
fluid films
films in
in aa floating
floating ring
ring bearing.
bearing. The
The Reynolds'
Reynolds' numbers
numbers are
are
usually
usually different
different for
for each
each film.
film. In In order
order to
to ensure
ensure comparable
comparable results,
results, the
the mean
mean
oearing
bearing Reynolds'
Reynolds' number
number of
of the
the floating
floating ring
ring bearing
bearing is
is defined
defined herein
herein to
to indicate
indicate
the
the Reynolds'
Reynolds' number
number of
of an
an equivalent
equivalent single
single film
film bearing.
bearing. In In the
the present
present study,
study,
the
the bearing
bearing clearance
clearance of
of the
the single
single film
film bearing
bearing is
is equal
equal to
to the
the total
total clearance
clearance ofof
the
the floating
floating ring
ring bearing.
bearing. The
The actual
actual Reynolds'
Reynolds' number.
number for
for the
the inner
inner and
and outer
outer
films
films is
is therefore
therefore less
less than
than the
the mean
mean bearing
bearing Reynolds'
Reynolds' number
number due
due to
to the
the existence
existence
of
of aa rotating
rotating ring
ring and
and aa smaller
smaller clearance
clearance for
for each
each film.
fflm.
417
The
The effects
effects of
of increasing
increasing the
the bearing
bearing Reynolds'
Reynolds' number
number on
on the
the floating
floating ring
ring bearing
bearing
are
are quite
quite similar
similar toto those
those found
found in
in single
single film
film bearings.
bearings. However,
However, the
the floating
floating
ring
ring bearing
bearing isis less
less sensitive
sensitive to
to the
the change
change of
of bearing
bearing Reynolds'
Reynolds' number,
number, asas would
would
be expected.
be increasing the
expected. Increasing the value
value ofof bearing
bearing Reynolds'
Reynolds' number
number will
will increase
increase the
the
load
load carrying
carrying capacity
capacity and
and the
the attitude
attitude angle
angle of
of the
the bearing.
bearing. TheThe frictional
frictional loss
loss
is
is also
also increased
increased asas expected.
expected. It It should
should be
be pointed
pointed out
out that
that the
the bearing
bearing Reynolds'
Reynolds'
number
number has
has aa significant
significant effect
effect onon the
the ring
ring speed
speed ratio.
ratio. The
The ring
ring speed
speed isis dependent
dependent
on
on the
the viscous
viscous friction
friction ofof the
the fluid
fluid films
films and
and the
the bearing
bearing Reynolds'
Reynolds' number
number affects
affects
the
the viscous
viscous friction
friction considerably.
considerably. An An increase
increase in
in Reynolds'
Reynolds' number
number will
will cause
cause an
an
increase
increase inin speed
speed ratio.
ratio. Also,
Also, increasing
increasing the
the value
value of
of the
the bearing
bearing Reynolds'
Reynolds' number
number
reduces
reduces the
the limit
limit of
of stability
stability of
of the
the bearing.
bearing.
3.5
3.5 The
The supply
supply pressure
pressure
The
The lubricant
lubricant supply
supply may
may sometimes
sometimes bebe pressurised,
pressurised, forfor example,
example, to
to increase
increase the
the
lubricant
lubricant flow
flow rate.
rate. ItIt was
was found
found in
in this
this study
study that
that pressurising
pressurising the
the lubricant
lubricant
increased
increased the
the load
load carrying
carrying capacity
capacity and
and attitude
attitude angle
angle of
of the
the floating
floating ring
ring bearing.
bearing.
This
This was
was achieved
achieved at
at the
the cost
cost of
of reducing
reducing bearing
bearing stability.
stability. It It is
is generally
generally known
known
that
that the
the existence
existence of
of aa cavitation
cavitation region
region in
in aa bearing
bearing may
may have
have aa stabilising
stabilising effect
effect
on
on the
the bearing
bearing performance.
performance. Pressurising
Pressurising the
the lubricant,
lubricant, however,
however, will
will reduce
reduce the
the
cavitation
cavitation region
region of
of the
the bearing.
bearing.
3.6
3.6 The
The weight
weight of
of the
the floating
floating ring
ring
The
The weight
weight of
of the
the floating
floating ring
ring is
is usually
usually small
small compared
compared with
with the
the loading
loading onon the
the
bearing
bearing (ie.
(ie. less
less than
than 5%),
5%), and
and is
is neglected
neglected in
in most
most analyses.
analyses. The The effect
effect ofof the
the
loading
loading due
due to
to the
the ring
ring was
was examined
examined inin this
this study.
study. It It was
was found
found that
that the
the weight
weight
of
of the
the floating
floating ring
ring had
had very
very little
little effect
effect on
on both
both the
the steady
steady state
state andand the
the limit
limit
of
of stability
stability ofof the
the floating
floating ring
ring bearing.
bearing. The
The bearing
bearing performance
performance waswas practically
practically
unchanged
unchanged even
even when
when the
the weight
weight ofof the
the ring
ring was
was increased
increased upup to
to 10%
107, of
of the
the bearing
bearing
loading.
loading. This
This result
result indicates
indicates that
that the
the weight
weight of
of the
the ring
ring may
may be
be neglected
neglected without
without
signific~"LL
~ignific,,~~ loss of ~ccuracy.
loss of ,ccuracy. It It also
also allows
allows more
more flexibility
flexibility in in selecting
selecting the
the ring
ring
material
material without
without affecting
affecting the
the bearing
bearing performance.
performance.
4.
4. COMPARISON
COMPARISON WITH
WITH OTHER
OTHER BEARINGS
BEARINGS
The
The steady
steady state
state and
and dynamic
dynamic performance
performance ofof the
the cylindrical-spherical
cylindrical-spherical floating
floating ring
ring
bearing
bearing have
have been
been compared
compared with
with anan equivalent
equivalent plain
plain floating
floating ring
ring bearing,
bearing, aa
conventional
conventional cylindrical
cylindrical bearing
bearing and
and an
an elliptical
elliptical bearing.
bearing. In In order
order to
to ensure
ensure
comparable
comparable results,
results, all
all bearing
bearing parameters
parameters such
such as
as the LID1 ratio,
the L/D1 ratio, Reynolds'
Reynolds' number,
number,
C2/C1 ratio
C2/C1 ratio and
and R2/R1
R2/R1 ratio,
ratio, where
where applicable,
applicable, are
are kept
kept identical
identical toto those
those of
of the
the
cylindrical-spherical
floating ring
ring bearing.
bearing. For
For the
the single
single film
film bearings,
bearings, the
the
bearing
bearing clearance
clearance was
was equal
equal to
to the
the total
total clearance
clearance ofof the
the inner
inner and
and outer
outer fluid
fluid
films
films of
of the
the floating
floating ring
ring bearing.
bearing. All All bearings
bearings studied
studied were
were analysed
analysed byby the
the
finite
finite difference
difference technique
technique for
for finite
finite bearings.
bearings.
It
It was
was found
found that
that the
the behaviour
behaviour ofof the
cylindrical-spherical floating floating ring
ring bearing
bearing
is
is very
very similar
similar toto that
that found
found in
in aa plain
plain floating
floating ring
ring bearing.
bearing. The The load
load carrying
carrying
capacity
capacity ofof the
the spherical
spherical outer
outer film
film ofof the
the new
new bearing
bearing isis slightly
slightly lower
lower than
than that
that
of
of the
the cylindrical
cylindrical outer
outer film
film of
of the
the plain
plain bearing
bearing [Leung ( 9 ) 3 . Despite
[ ~ e u n(9»).
~ Despite some
some minor
minor
differences,
differences, thethe characteristics
characteristics of of the
the two
two floating
floating ring
ring bearings
bearings are are so
so close
close that,
that,
for
for practical
practical purposes,
purposes, thethe differences
differences may may be
be ignored.
ignored. TheThe new new floating
floating ring
ring
bearing,
bearing, hence,
hence, has
has the
the advantage
advantage over
over the
the plain
plain floating
floating ring
ring bearing
bearing of
of being
being
self
self aligning.
aligning.
418
The
The load
load carrying
carrying capacity
capacity ofof the
the floating
floating ring
ring bearing
bearing was
was found
found to
to be
be higher
higher than
than
the
the cylindrical
cylindrical bearing
bearing but
but lower
lower than
than the
the elliptical
elliptical bearing.
bearing. TheThe separation
separation ofof
aa single
single fluid
fluid film
film into
into two
two thinner
thinner films
films is
is thought
thought to
to be
be reasonable
reasonable for
for the
the
increase
increase of
of the
the load
load carrying
carrying capacity
capacity ofof the
the floating
floating ring
ring bearing
bearing over
over the
the
cylindrical
cylindrical bearing.
bearing. However,
However, the
the frictional
frictional power
power loss
loss of
of the
the floating
floating ring
ring
bearing,
bearing, with
with laminar
laminar lubricant
lubricant flow,
flow, is
is slightly
slightly higher
higher than
than the
the loss
loss of
of the
the
cylindrical
cylindrical bearing
bearing but
but very
very close
close to
to that
that of
of the
the elliptical
elliptical bearing.
bearing. For
For similar
similar
reasons
reasons as
as above,
above, the
the reduction
reduction ofof film
film thickness
thickness will
will increase
increase the
the viscous
viscous friction
friction
in
in the
the bearing
bearing films
films and
and hence
hence increase
increase the
the frictional
frictional loss
loss when
when compared
compared with
with the
the
cylindrical
bearing. The
The geometry
geometry of
of the
the elliptical
elliptical bearing
bearing isis responsible
responsible for
for the
the
high
high load
load carrying
carrying capacity
capacity and
and high
high frictional
frictional loss
loss of
of the
the bearing.
bearing.
The
The real
real advantage
advantage of
of the
the floating
floating ring
ring bearing
bearing in
in terms
terms of
of energy
energy reduction
reduction isis its
its
ability
ability to
to reduce
reduce film
film turbulence
turbulence when
when compared
compared to
to aa single
single film
film bearing.
bearing. ForFor aa
given
given operating
operating condition
condition (ie.
(ie. aa given
given Sommerfeld
Sommerfeld Number), thethe degree
degree ofof turbulence
turbulence
in
in the
the inner
inner and
and outer
outer films
films of
of the
the floating
floating ring
ring bearing
bearing is
is less
less than
than that
that of
of an
an
equivalent
equivalent cylindrical
cylindrical oror elliptical
elliptical bearing,
bearing, especially
especially with
with high
high Reynolds'
Reynolds' numbers.
numbers.
As
As an
an example,
example, when
when the
the bearing
bearing Reynolds'
Reynolds' number
number is
is increased
increased from
from laminar
laminar toto about
about
3000,
3000, the
the power
power loss
loss of
of the
the single
single film
film bearings
bearings is
is increased
increased by to 44 times
by 33 to times the
the
original
original value.
value. The
The power
power loss
loss of
of the
the floating
floating ring
ring bearing,
bearing, however,
however, isis only
only
increased
increased by
by about
about 50%
50% of
of the
the original
original value.
value. AsAs aa result,
result, the
the frictional
frictional loss
loss of
of
the
the floating
floating ring
ring bearing
bearing is
is only
only about
about 30
30 to
to 40%
40% of
of that
that of
of the
the single
single film
film bearings.
bearings.
Potentially,
Potentially, aa considerable
considerable amount
amount ofof energy
energy can
can be
be saved.
saved.
Stability
Stability analyses
analyses of
of the
the bearings
bearings with
with aa rigid
rigid rotor
rotor show
show that
that the
the limit
limit of
of stability
stability
of
of the
the floating
floating ring
ring bearing
bearing examined
examined is
is higher
higher than
than that
that of
of the
the cylindrical
cylindrical beari~g
bearing
but
but lower
lower than
than that
that of
of the
the particular
particular elliptical
elliptical bearing.
bearing. ItIt should
should bebe pointed
pointed out
out
that
that the
the ellipticity
ellipticity of
of the
the elliptical
elliptical bearing
bearing studied
studied is
is relatively
relatively high
high
(ellipticity
(ellipticity == 0.4),
0.41, which
which makes
makes the
the bearing
bearing more
more stable.
stable. Although
Although the
the behaviour
behaviour
of
of the
the reference
reference floating
floating ring
ring bearing
bearing does
does reflect
reflect the
the general
general behaviour
behaviour of
of this
this
type
type of
of bearing,
bearing, it
it is
is not
not optimised
optimised for
for high
high stability.
stability. More
More favourable
favourable results
results
could
could be
be obtained
obtained with
with suitable
suitable selection
selection of
of bearing
bearing parameters.
parameters.
4.1
4.1 An
An alternative
alternative means
means of
of comparison
comparison
The results
The results reported
reported so
so far
far were
were concerned
concerned with
with aa floating
floating ring
ring bearing
bearing having
having aa
total
total inner
inner and
and outer
outer film
film clearance
clearance equal
equal to
to the
the clearance
clearance of
of the
the equivalent
equivalent
single
single film bearing :: the
film bearing the total
total clearance
clearance was
was kept
kept constant
constant even
even when
when the
the C2/C1
C2/C1
ratio
ratio was
was varied.
varied. However,
However, itit is
is also
also possible
possible toto construct
construct aa floating
floating ring
ring bearing
bearing
with
with the
the inner
inner film
film clearance
clearance equal
equal to
to that
that of
of the
the single
single film
film bearing.
bearing. The
The inner
inner
film clearance
film clearance can
can be
be kept
kept unchanged
unchanged and
and variation
variation ofof C2/C1
C2/C1 achieved
achieved by
by varying
varying the
the
size
size of
of the
the outer
outer film
film clearance.
clearance. TheThe total
total film
film clearance
clearance of
of the
the floating
floating ring
ring
bearing is
bearing is hence
hence larger
larger than
than that
that of
of the
the equivalent
equivalent conventional
conventional bearing.
bearing. Most
Most
early studies
early studies of
of the
the floating
floating ring
ring bearing
bearing are,
are, in
in fact,
fact, concerned
concerned with
with this
this second
second
arrangement.
arrangement. TheThe performance
performance ofof these
these two
two arrangements
arrangements ofof the
floating ring
floating ring bearing
bearing has
has also
also been
been examined
examined in
in this
this study.
study.
The first
The first bearing,
bearing, inin which
which the
the total
total clearance
clearance of
of the
the bearing
bearing was
was kept
kept constant,
constant,
was
was found
found to
to have
have aa higher
higher load
load carrying
carrying capacity
capacity and
and higher
higher limit
limit of
of stability
stability when
when
compared with
compared with the
the second
second arrangement.
arrangement. However,
However, the
the frictional
frictional loss
loss of
of the
the second
second
bearing was
bearing was lower
lower than
than that
that of
of the
the first
first arrangement.
arrangement. Because
Because of
of the
the larger
larger total
total
clearance,
clearance, the
the lubricant
lubricant flowrate
flowrate ofof the
the second
second bearing
bearing should
should be
be larger
larger than
than the
the
first
first bearing.
bearing. Compared
Compared to
to conventional
conventional bearings,
bearings, the
the load
load carrying
carrying capacity,
capacity,
frictional
frictional loss
loss and
and limit
limit of
of stability
stability of
of the
the second
second bearing
bearing are
are all
all lower
lower than
than those
those
of the
of the particular
particular cylindrical
bearing.
419
The
The first
first arrangement
arrangement is
is more
more favourable
favourable when
when load
load carrying
carrying capacity
capacity and
and dynamic
dynamic
stability
stability are
are important,
important, which
which is
is the
the case
case for
for most
most turbo-machines.
turbo-machines. The
The second
second
arrangement
arrangement isis favourable
favourable when
when frictional
frictional losses
losses and
and lubricant
lubricant overheating
overheating are
are
serious
serious problems.
problems.
5.
5. A CASE
A CASE STUDY
STUDY WITH
WITH A
A SCALED
SCALED LP
LP TURBINE
TURBINE ROTOR
ROTOR
The
The application
application ofof the
floating ring
ring bearing
bearing to
to turbo-
turbo-
machinery
machinery has
has been
been examined
examined by
by aa case
case study.
study. The
The floating
floating ring
ring bearing
bearing was
was used
used to
to
support
support aa scaled
scaled LP
LP turbine
turbine rotor.
rotor. The
The dynamic
dynamic behaviour
behaviour of
of the
the system
system was
was examined
examined
and the
and the performance
performance of
of the
the floating
floating ring
ring bearing
bearing has
has been
been compared
compared with
with other
other
bearings.
bearings.
The
The scaled
scaled flexible
flexible rotor
rotor system
system constitutes
constitutes toto part
part of
of aa long
long term
term research
research pro-
pro-
gramme
gramme andand is
is dynamically
dynamically similar
similar to
to aa steam
steam turbine
turbine for
for aa 660 MW power
660 MW power plant
plant
(Leung
[ ~ e u n (3)).
(313.
~ The
The bearing
bearing loading
loading of
of aa steam
steam turbine
turbine is
is considered
considered relatively
relatively high
high
when
when compared
compared to
to aa fast
fast speed
speed gas
gas turbine.
turbine. TheThe rotor
rotor was
was originally
originally supported
supported by
by
aa pair
pair ofof elliptical
elliptical bearings
bearings and
and the
the bearing
bearing Reynolds'
Reynolds' number
number at
at operating
operating speed
speed
was
was estimated
estimated toto be
be about 3500.
about 3500.
The
The frictional
frictional loss
loss of
of the
floating ring
ring bearing
bearing at
at operating
operating
speed
speed was
was found
found to
to be
be only
only 27%
27% of
of the
the loss
loss for
for elliptical
elliptical bearings,
bearings, and
and 40%
40% of
of the
the
loss
loss for
for cylindrical
cylindrical bearings.
bearings. Hence,
Hence, considerable
considerable amount
amount of
of energy
energy could
could be
be saved
saved
by
by using
using the
the floating
floating ring
ring bearing.
bearing.
The
The stability
stability of of the
the rotor
rotor system
system was
was examined
examined by
by eigen
eigen value analysis Lie.
value analysis lie. Craighead
Craighead
(5)).
(5)3. Rigid
Rigid foundation
foundation was
was first
first assumed.
assumed. The
The real
real and
and imaginary
imaginary parts
parts of
of the
the
eigen
eigen values
values indicate
indicate the
the stability
stability and
and the
the system
system (damped)
(damped) natural
natural frequencies.
frequencies.
Results
Results of of the
the study
study showed
showed that
that the
the highest
highest threshold
threshold speed
speed was
was achieved
achieved when
when the
the
rotor
rotor was
was supported
supported by
by the
the elliptical
elliptical bearing.
bearing. The
The threshold
threshold speed
speed was
was about
about 1.75
1.75
times
times the
the operating
operating speed.
speed. The
The floating
floating ring
ring bearing
bearing came
came second.
second. The
The threshold
threshold
speed Wd~ lound to oe 1.5 times the operating speed. The threshold speed of
speed i ~ d s~ound to oe 1.3 times the operating speed. The threshold speed of the
the
rotor
rotor with
with cylindrical
cylindrical bearing
bearing was
was below
below the
the operating
operating speed.
speed. TheThe cylindrical
cylindrical
bearing
bearing would
would hence
hence be
be unsuitable
unsuitable for
for this
this application.
application. At At the
the operating
operating speed,
speed, the
the
equivalent
equivalent damping
damping ratio
ratio for
for the
the lowest
lowest system
system frequency
frequency was 0.26 for
was 0.26 for the
the elliptical
elliptical
bearing,
bearing, and and 0.22 for
for the
the floating
floating ring
ring bearing.
bearing. Despite
Despite aa lower
lower value
value of
of damping
damping
ratio,
ratio, the
the damping
damping in
in the
the floating
floating ring
ring bearing
bearing is
is sufficient
sufficient toto ensure
ensure safe
safe and
and
stable
stable operation.
operation.
System response
System response to
to mass
mass unbalance
unbalance was
was also
also investigated.
investigated. It It was
was found
found that
that least
least
force was transmitted through the cylindrical bearing to
force was transmitted through the cylindrical bearing to ground.
ground. The
The elliptical
elliptical
bearing came
bearing came second
second whilst
whilst the
the force
force transmitted
transmitted through
through the
the floating
floating ring
ring bearing
bearing
was the highest among the bearings examined.
was the highest among the bearings examined. This This result
result indicates
indicates that
that more
more
attention is
attention is required
required for
for the
the supporting
supporting foundation
foundation if
if the
the floating
floating ring
ring bearing
bearing is
is
to be,employed. Damped
to be,employed. Damped flexible
flexible foundations
foundations are
are usually
usually used
used in
in modern
modern power
power plants.
plants.
Results indicate
Results indicate that
that the
the forces
forces transmitted
transmitted to
to the
the ground
ground were
were reduced
reduced by the
by the
introduction of
introduction of aa flexible
flexible foundation.
foundation. TheThe differences
differences among
among the
the bearings
bearings inin
response
response analysis
analysis were
were also
also reduced
reduced to
to be
be very
very small.
small.
A limited
A limited amount
amount ofof experiments
experiments were
were performed
performed on
on aa rig
rig (Fig
(Fig 11)
11) to
to verify
verify the
the
corresponding
corresponding analysis.
analysis. Generally
Generally the
the experimental
results confirmed
confirmed the
the theoretical
theoretical
results
results (Leung (3)3.
c ~ e u n(3)j.
~ It
It may
may be
be interesting
interesting to
to point
point out
out that
that many
many earlier
earlier
investigators
investigators reported
reported the
the difficulty
difficulty to
to make
make the
the floating
floating ring
ring start
start to
to rotate.
rotate.
420
'.t.he
the case
case of
of turbo generators , the
turbogenerators, the machi.nes
machines are
are usually
usually started
started by
by using
using the
the Ol;
oi:
king
klng technique.
technique. TheThe floating
floating ring
ring would
would therefore
therefore be
be lifted
lifted up
up initially
initially by
by
hydrostatic
hydrostatic pressure.
pressure. With
With careful
careful operations,
operations, the
the ring
ring starting
starting problem
problem could
could be
be
eliminated
eliminated inin turbogenerator
turbogenerator applications.
applications.
I t is
It is worthwhile
worthwhile toto point
point out
out that
that instability
instability problems
problems may
may not
not necessary
necessary bebe
recognised
recognised during
during the
the design
design stage
stage of
of aa machine.
machine. Sometimes,
Sometimes, dynamic
dynamic problems
problems only
only
surface after the machine is commissioned and expensive remedy action is necessary.
surface after the machine is commissioned and expensive remedy action is necessary.
Since
Since thethe dynamic
dynamic properties
properties of
of the
the floating
floating ring
ring bearing
bearing can
can be
be controlled
controlled by
by aa
variety
variety ofof parameters,
parameters, the
the bearing
bearing offers
offers more
more choices
choices (and
(and hence
hence aa better
better chance)
chance)
to
to correct
correct the
the performance
performance of
of machine.
machine.
The
The results
results of
of this
this case
case study
study suggest
suggest that
that each
each of
of the
the bearings
bearings examined
examined offers
offers
some
some advantages
advantages over
over the
the others.
others. The
The elliptical
elliptical bearing
bearing is
is slightly
slightly favourable
favourable in
in
terms
terms of
of dynamic
dynamic characteristics.
characteristics. However,
However, the
floating ring
ring
bearing
bearing offers
offers considerable
considerable energy
energy saving
saving and
and it
it is
is self
self aligning.
aligning. The
The dynamic
dynamic
characteristics
the bearing
bearing is
is satisfactory,
satisfactory, especially
especially with
with damped
damped flexible
flexible
foundations.
foundations. TheThe overall
overall performance
performance of
of the
floating ring
ring
bearing
bearing makes
makes it
it competitive
competitive with
with the
the elliptical
elliptical bearing.
bearing. Despite
Despite good
good response
response
characteristics
characteristics and
and simple
simple geometry,
geometry, the
the cylindrical
cylindrical bearing
bearing is
is not
not favourable
favourable in
in
·this
*thisapplication.
application.
6.
6. CONCLUSIONS
CONCLUSIONS
The
The development
development of
of the
floating ring
ring bearing
bearing is
is described.
described.
With
With considerations
considerations ofof the
the ability
ability to
to handle
handle misalignment,
misalignment, low
low frictional
frictional charac--
charac--
teristics,
teristics, steady
steady state
state and
and dynamic
dynamic properties,
properties, the
the new
new bearing
bearing has
has shown
shown favourable
favourable
performance
performance inin turbo generator applications.
turbogenerator applications. The
The development
development ofof this
this bearing
bearing is
is
still
still in
in its
its early
early stage.
stage. The
The present
present study,
study, however,
however, demonstrates
demonstrates that
that the
the new
new
bearing
bearing is
is an
an alternative
alternative and
and competitive
competitive design
design which
which is
is worthy
worthy of
of consideration.
consideration.
-
REFERENCES
REFERENCES
1)
1) Campbell
Campbell CC
Floating
Floating bush
bush bearings
bearings
Chartered
Chartered Mechanical
Mechanical Engineers,
Engineers, March
March 1987,
1987, pp 14.
pp 14.
2)
2) Shaw M CC and
Shaw M Nussdorfer TT JJ
and Nussdorfer
An
An analysis
analysis ofof the
the full-floating
full-floating journal
journal bearing
bearing
NACA
NACA Report
Report NoNo 866,
866, 1947.
1947.
3)
3) Leung PP SS
Leung
An
An investigation
investigation of
of the
the dynamic
dynamic behaviour
behaviour of
of floating
floating ring
ring bearing
bearing systems
systems and
and
their
their application
application to
to turbogenerators
turbogenerators
PhD
PhD Thesis,
Thesis, Dept
Dept of
of Mechanical
Engineering, Newcastle
Newcastle Polytechnic,
Polytechnic, 1988.
1988.
4)
4) Constantinescu
Constantinescu VVNN
Basic
Basic relationships
relationships in
in turbulent
turbulent lubrication
lubrication and
and their
their extensions
extensions to
to include
include
thermal
thermal effects
effects
Transaction
Transaction of
of A.S.M.E.,
A.S,M.E., Paper
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No 72-Lub-16.
72-Lub-16.
421
- A Craighead
Craighead II A ..
A study
study of
of the
the dynamics
dynamics of
of rotor-bearing
rotor-bearing systems
systems and
and related
related fluid-film
fluid-film
bearing
bearing characteristics.
characteristics.
PhD
PhD Thesis,
Thesis, Dept
Dept of
of Mechanical
Engineering, University
University of
of Leeds,
Leeds, 1976.
1976.
6)
6) Ruddy
Ruddy AA V
The dynamics of
The dynamics of rotor
rotor bearing
bearing systems
systems with
with particular
particular reference
reference to
to the
the
influence
influence of fluid film journal bearings and the modelling of flexible rotors.
of fluid film journal bearings and the modelling of flexible rotors.
PhD
PhD Thesis,
Thesis, Dept
Dept of
of Mechanical
Mechanical Eng,
Eng, University
University of
of Leeds,
Leeds, 1973.
1973.
7)
7) Gerald C FF
Gerald
Applied numerical
numerical analysis.
analysis.
Addison-Wesley,
Addison-Wesley, 1980.
1980.
8)
8) Orcutt FF K and
Orcutt and Ng
Ng C WW
Steady-state
Steady-state and
and dynamic
dynamic properties
properties of
of journal
journal bearing
bearing in
in laminar
laminar and
and super-
super-
laminar
laminar flow
flow regimes.
regimes.
NASA
NASA Report
Report CR-733,
CR-733, June
June 1967.
1967.
9)
9) Leung PP S,
Leung Craighead II A and
S, Craighead and Wilkinson
Wilkinson T SS
An
An analysis
analysis of
of the
the steady
steady state
state and
and dynamic
characteristics of
of aa spherical
spherical
hydrodynamic
hydrodynamic journal
journal bearing.
bearing.
Journal
Journal of
of Tribology,
Tribology, A.S.M.E., July lQ89,
A.S.M.E., July 1989, pp
pp 459-467.
459-467.
10) Leung PP S,
10) Leung Craighead II A and
S, Craighead and Wilkinson
Wilkinson T SS
An
An analysis
analysis ofof the
the steady
steady state
state and
and dynamic
characteristics of
of aa cylindrical-
cylindrical-
spherical
spherical floating
floating ring
ring bearing.
bearing.
IMechE
iMechE Conference
Conference C242,
C242, 1988,
1988, pp
pp 349-357.
349-357.
11)
11) Kettleborough
Kettleborough C F
Frictional
Frictional experiments
experiments on
on lightly-loaded
lightly-loaded fully
fully floating
floating journal
journal bearings.
bearings.
Australian
Australian Journal
Journal of
of Applied Science,
Science, 1955,
1955, pp
pp 211-220.
211-220.
12)
12) Hill
Hill H C
Slipper
Slipper bearings
bearings and
and vibration
vibration control
control in
in small
small gas
gas turbines.
turbines.
Transaction
Transaction of
of A.S.M.E.,
A.S.M.E,, 1958,
1958, Vol
Vol 80,
80, pp
pp 1756-1764.
1756-1764.
13)
13) Dworski
Dworski JJ
High speed
High speed rotor
rotor suspension
suspension formed
formed by
by fully
fully floating
floating hydrodynamic
hydrodynamic radical
radical and
and
thrust
thrust bearings.
bearings.
Transaction
Transaction of
of A.S.M.E.,
A.S.M.E., Journal
Journal of
of Engineering
Engineering for
for Power,
Power, 1964,
1964, Vol
Vol 86.
86.
14)
14) Kahle
Kahle G W
W
Analytical
Analytical and
and experimental
experimental investigation
investigation of
of aa full
full floating
floating journal
journal bearing.
bearing.
PhD
PhD Thesis,
Thesis, University
University of
of Illinois,
Illinois, January
January 1971.
1971.
15)
15) Tanaka
Tanaka M
M and
and Hori Y
Hori Y
Stability
Stability characteristics
characteristics of
of floating
floating bush
bush bearings.
bearings.
ASLE-ASME
ASLE-ASME Joint
Joint Lubrication
Lubrication Conference,
Conference, October
October 1971.
1971.
422
,A,
rl Nakagawa
Nakagawa EE and
and Hiroshi
Hiroshi AA
Unbalance
Unbalance vibration
vibration of
of aa rotor-bearing
system supported
supported by
by floating
floating ring
ring
bearing.
bearing.
Bulletin
Bulletin of
of J.S.M.E., March 1973,
J.S.M.E., March Vol 16,
1973, Vol pp 503-512.
16, pp 503-512.
17)
1.7) Niko1ajsen
Nikolajsen JJ LL
The
The effect
effect of
of variable
variable viscosity
viscosity on
on the
the stability
stability of
of plain
plain journal
journal bearings
bearings
and
and floating
floating ring
ring journal
journal bearings.
bearings.
Journal
Journal of
of Lubrication
Lubrication Technology, October 1973,
Technology, October pp 447-1973.
1973, pp 447-1973.
18)
18) Li
Li CHand
C H and Rohde
Rohde SS M
M
On
On the
the steady
steady state
state and
and dynamic
dynamic performance
performance characteristics
characteristics of
of floating
floating rirrg
ring
bearings.
bearings.
Journal
Journal ofof Lubrication
Lubrication Technology, July 1981,
Technology, July pp 389-397.
1981, pp 389-397.
19) Tond1
19) Tondl A
A
Some
Some problems
problems of
of rotor
rotor dynamics.
dynamics.
Chapman
Chapman and Hall, 1965.
and Hall, 1965.
20)
20) Lund
Lund JJ W
W
Rotor-bearing
Rotor-bearing dynamics
dynamics design
design technology
technology part
part VII
VII : the
the three
three lobe
lobe bearing
bearing
and
and floating
floating ring
ring bearing.
bearing.
Mechanical
Mechanical Technology
Technology Inc., February 1968.
Inc., Febru8ry 1968.
21)
21) Howarth
Howarth RR BB
AA theoretical
theoretical analysis
analysis of
of the
the floating
floating pad
pad journal
journal bearing.
bearing.
Tribo1ogy Convention, 1970.
Tribology Convention, 1970.
22)
22) Chow
Chow CC YY
Dynamic characteristics
Dynamic characteristics and
and stability
stability of
of aa helical-grooves
helical-grooves floating
floating ring
ring
bearing.
bearing.
Transaction
Transaction ofof A.S.L.E., April 1983,
A.S.L.E., April Vol 27,
1983, Vol pp 154-163
27, pp •
154-163.
• BEARING
BEARING
Fig 11 Configuration
Fig Configuration of
of the
floating ring
floating ring bearing
bearing
423
UltI.o.S,I.O,I.5 RZlRI.I.! LlDI _1.0 CZltI.o.5,.I.O,1.5 R2IIU_l.5 LIDI _1.0
""",",,0 """,",,0
<b
IOO;II[)
120
1.0
C.U Cl 1N(. REAS I NG
40
o
-2 -1
10 10
vs
Fig 2 Bearing eccentricity ratio vs Fig 3 Attitude angle vs Sommerfeld
Sommerfeld number number
C2lCl-o.5,I.O,I.5
!iIf .0. 0
ft2JR1 .. 1.5
RRIV..o.O
t,JD1.1.0
II>JIU.O••
C2It:1-o.5,I.O,I.5
1£ .0.0
R'21R1.1.5
F\.RIV..o.O
_0
LID' _1.0
SPEED
SPEED
RATIO
R....TIO
f~
0.6
s
-2 -1 -2 1
10 10 10 10
i g 44 Speed
FFig ratio vvs
Speed ratio s Sommerfeld
Sommerfeld Fig 55 Friction
Fig Friction factor
factor vvs Sommerfeld
s Sommerfeld
number
number number
number
424
lIE ....
cvtJ!OO.5,t.O,I.S R:vsU.t.5
1UIV.e..
_.
LlDI .170
B~
.. ....
Qlth,Q" 5, i.O~ I. S
..
12I1U ..l.S
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1.11)1 .. 1.0
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30 30
e2:tCl INCREASING
15 15
yY
yy
xx
xx
0 0
S
:'- t l~~l;·t·
10~2:
10 -2
'" u~, -1
10
0
10
1 I
10°
.... 10
1
)(Y.",
I
11""
~~
Yx
C2JCl INCREASING
-15 -15
Fig 66 Displacement
Displacement coefficients
coefficients vs
vs Fig 77 Velocity
Fig coefficients vs
Velocity coefficients vs
Fig
Sommerfeld
Sommerfeld number
number Sommerfeld number
Sommerfeld number
'.0
Iwl f w2)
C2ICl lNCREASlNG
-~
10
10 O,01 0.l
8 Critical
Fig 8
Fig Critical mass
mass vs
vs Sommerfeld
Sommerfeld w/(wJ+~) vs S~mmerfeld
Fig 9 w/(wJ+%) Sommerfeld
number number
number
425
C2A:1.rD.5'I,..6".5 ~I.I.S LIOI .1.0
lIE ...0.' I).~IVOWO.O
0'
0,>
0,'
0.01 eo' 10
Fig 10
Fig w/wJ vs
10 W/WJ vs Sommerfeld
Sommerfeld number
number
Fig 11 Layout
Fig 11 Layout of
of test
test rig
rig
426
FLUID COMPRESSIBILITY EFFECTS
EFFECTS ON THE DYNAMIC
DYNAMIC RESPONSE
RESPONSE OF
HYDROSTATIC
HYDROSTATIC JOURNAL BEARINGS
Luis A.
A . San Andres
Mechanical
Engineering Department
. Texas A&M A&M University
University
Col
Co l lege
l ege Station,
s t a t ion, Texas 77843-3123,
77843-3123, U.S.A.
U .S .A.
A
A theoretical
analysis for
for the
the dynamic
dynamic performance characteristics
characteristics ofof
laminar
laminar flow,
flow, capillar/orifice
capillar/orifice compensated
compensated hydrostatic journal bearings
hydrostatic journal bearings is
is
presented. The
presented. The analysis
analysis considers
considers in
in detail
detail the
the effect
effect of
of fluid
fluid compressibility
compressibility
in
in the bearing recesses.
the bearing recesses. At high frequency
frequency excitations
excitations beyond aa break frequency,
frequency,
, the bearing hydrostatic
the bearing hydrostatic stiffness
stiffness increases
increases sharply
sharply and it
it is
is accompanied
accompanied by aa
rapid
rapid decrease
decrease in
in direct
direct damping.
damping. Also,
Also, the potential of
the potential pneumatic hammer
of pneumatic hammer
instability
instability (negative
(negative damping) at
at low
low frequencies
frequencies is
is likely
likely to
to occur
occur in
in
hydrostatic bearing applications
hydrostatic bearing applications handling highly compressible
compressible fluids.
fluids. Useful
Useful
design
design criteria
criteria to
to avoid
avoid undesirable
undesirable dynamic
dynamic operating conditi~ns at
operating conditi~ns at low
low and
high frequencies
frequencies are
are determined.
determined. The
The effect
effect of
of fluid
fluid recess
recess compressibility
compressibility is is
brought into
brought perspective, and found
into perspective, found to
to be of
of utmost
utmost importance
importance on
on the
the entire
entire
frequency
frequency spectrum
spectrum response
response and stability
characteristics ofof hydrostatic/hybrid
hydrostatidhybrid
journal bearings.
journal bearings.
INTRODUCTION
INTRODUCTION
The
The dynamic
dynamic performance of
of hydrostatic
hydrostatic and hybrid journal
journal bearings
bearings (HJBs)
(HJBs)
has
has been aa subject
subject of
of growing
growing theoretical
theoretical interest.
interest. InIn the past, conventional
the past, conventional
applications
applications of
of HJBs
HJBs were
were restricted
restricted to
to support
support heavy loads
loads at
at zero
zero or
or low
low
speeds
speeds and also to low
also to low operating
operating eccentricities required for
eccentricities required machine
for precise machine
tools.
tools. However,
However, industry's expanding
expanding demands
demands for
for higher
higher speed
speed applications
applications and
the
the ability
ability of bearings to
of bearings to support
support dynamic
dynamic loads
loads have brought the
have brought the need to
to
consider
consider and study
study in
in detail
detail the
the dynamic performance of
dynamic performance of these
these type
type of bearings.
of bearings.
Davies
Davies and Leonard (1969)
(1969) first
first studied
studied the
the dynamic
dynamic behavior ofof HJBs,
HJBs, and
derived under restricted
derived under restricted conditions
conditions closed
closed form
form solutions
solutions for s~all motions
for spa11 motions
about
about the
the concentric position. The
concentric position. The limited
limited stability
characteristics ofof hybrid
hybrid
bearings have
bearings have been confirmed experimentally by Davies
Davies and Leonard
Leonard (1970,
(1970, 1971),
and Leonard and Rowe(1973).
Rowe(1973). M.K. Ghosh
Ghosh (1979)
(1979) and V.N. Singh(1979)
Singh(1979) have
have also
also
presented numerical
numerical analyses
analyses for
for the
the static
static and dynamic performance
dynamic performance
characteristics
characteristics of
of HJBs.
HJBs. For best dynamic
For best performance, the
dynamic performance, the analyses
analyses show
show that
that
optimum
optimum direct
direct damping
damping isis attained at low
attained at low recess
recess pressure ratios
ratios and reduced
reduced
recess
recess to
to bearing area
area ratios.
ratios. Based on
on the
the concentric
concentric thin
thin land
land theory,
theory, Rowe
Rowe
(1980)
(1980) presented coefficients
coefficients forfor hydrostatic
hydrostatic and hydrodynamic
hydrodynamic stiffness
stiffness and
squeeze
squeeze damping
damping for
for capillary,
capillary, orifice
orifice and constant
constant flow
flow control
control HJBs.
HJBs. The
The
mechanism of
of whirl
whirl instability
instability for
for hybrid operation
operation is
is explained,
explained, and
427
NOMENCLATURE
NOMENCLATURE
A
A n dd22/4.
IT /4. Orifice
Orifice area [m22]]
area [m
bb Recess circumferential
Recess circumferential length
length [m].
[m].
cc radial
radial clearance
clearance [m]
[m]
CXX,CXy,CyX,Cyy damping
CXX,CXy,CYX,Cyy damping coefficients
coefficients [Ns/m]
[Ns/m]
Cd
Cd Orifice
Orifice discharge
discharge coefficient
coefficient
D
D .
22 RR . Bearing
Bearing diameter
diameter [m].
[m].
,d
ddo'dc Orifice
Orifice and
and capillary
capillary diameter
diameter [m]
[m]
o c
ff ~~. dynamic
dynamic frequency
frequency ratio.
ratio.
hh H/c ==
H/c 1+6£
l + Ax~cose
~cos++ e6£
Asy sine
sine Dimensionless
Dimensionless film
film thickness.
thickness.
Y
hx ' hy cose,
cose, sine
sine
r Recess
Recess depth
depth [m].
[m].
KXX,K K~ ~9 x ' K ~Stiffness

Stiffness
~ coefficients [N/mJ
coefficients [N/m]
K~x9 XYK 'xKYX,Kyy
L,l
L, 1 Bearing
Bearing axial
axial width,
width, recess
recess axial
axial length
length [m].
[m].
N
N Number
Number of
of recesses
recesses on
on bearing.
bearing.
PP Fluid
Fluid pressure [N/m22 ].
pressure [N/m 1.
22
Pa ,P s Ambient
Ambient and
and external
external supply pressures [N/m
supply pressures [N/m ]]
(Pr-P
(P -P }/(P
)/(Ps-P
-P ). recess pressure
) . recess pressure ratio.
ratio.
Pr r aa s aa
32'
Or
Qr ]lIe (Ps-P
u/c'(Ps-Pa) a ) Dimensionless
Dimensionless recess
recess flow
flow rate
rate into
into film
film
lands
lands
vv0 i2(P -P~r -}/p,

4 2 (s ~ ~ ~ )Fluid
/ ~ . speed
Fluid speed through orifice [m/s].
through orifice [m/s].
o
v i1/(~p}. Orifice
Orifice Fluid
Fluid speed
speed at
at sonic conditions [m/sl
sonic conditions [m/sl
so
v ~ A I(~
iA ~ / (8~1
8B ~ 1 }.
~ )Capillar
.
Capillar fluid
fluid speed
speed at
at sonic
sonic conditions
conditions
sc c c
+H)lb+V
(Hr+H)lb+Vs
(H Total
Total recess
rej ess volume,
volume, volume
volume of
of orifice
orifice supply
supply
m5].
r s
line [I m
line I.
{X,Y} Inertial
Inertial coordinate
coordinate system.
system.
zz restrictor
restrictor control
control parameter.
parameter.
ex reduced
reduced damping
damping factor
factor due
due to
to compressibility,
compressibility, eqn. (14)
eqn. (14)
c
2
Fluid
Fluid compressibility
compressibility factor [m2 IN].
factor [m /N].
428
oo Ao ~i2/c31Ip(Ps-Pa)
Ao pJ2/c3 /Jp(ps-pa) Design
Design Orifice
Orifice parameter.
parameter.
oc Ac
A
22
/(8n lc
/(8Jtl cc3 ).
) . Design
Design capillary
capillary parameter.
parameter.
c c
2 Recess
~cd\
pdr/cIc
r
(Ps-Pa)
(Ps-Pa) Recess frequency
frequency parameter
parameter
Vr
~(Ps-Pa)/clb.
Vrfi(Ps-Pa)/clb. Compressibility
Compressibility parameter
parameter
A ~QR2/c2(Ps_Pa)
uS1R2/c2(Ps-Pa) Rotational
Rotational speed
speed parameter.
parameter.
C1 ~00R2/c2(Ps_Pa)
p& 2 / C 2 (Ps-Pa) Frequency
Frequency parameter
parameter at
at film
film lands.
lands.
(A) Excitation
Excitation or
or whirling
whirling frequency
frequency [l/sec]
[l/sec]
Break frequency [lis],
Break frequency eqn. (15).
[Us], eqn. (15).
Rotational
Rotational speed
speed of journal [lis]
of journal [l/s]
.
Kxy IQC xx . Yhirl frequency ratio.
Kxy/Exx Whirl frequency ratio.
6£ , 6£ Dimensionless
Dimensionless perturbed
perturbed eccentricities
eccentricities
x y
09,04> WN; b/R
22rtlN; b/R
663-64; (L-l)/D
0S-04>; (L-1) /D
wt
wt Dimensionless
Dimensionless time
time coordinate
coordinate
9, ~ (x,y)/R.
(x,y)/R. Dimesionless
Dimesionless circumferential
circumferential and
and axial
axial coordinate
coordinate
2AEL
y Circumferential
Circumferential flow
flow factor
factor
09
68 69 D
A8 D
Subscripts:
Subscripts:
o0 refers
refers to
to zeroth
zeroth order
order solution
solution
or
or no
no compressibility
compressibility solution.
solution.
rr refers
refers to
to bearing
bearing recesses
recesses
a
Ot refers
refers to
to first
first order
order solution
solution
Superscripts:
Superscripts:
nn refers
refers to
to n-th
n-th recess
recess
429
it
it is
is shown
shown that
that the
the whirl
whirl frequency
frequency ratio
ratio is
is equal
equal to
to 0.5. Nonetheless, the
0.5. Nonetheless, the
introduction
introduction of
of hydrostatic
hydrostatic stiffness
stiffness into
into the
the rotor-bearing
system raises
raises the
the
frequency
frequency of
of whirl
whirl onset.
onset.
Rohde
Rohde and Ezzat (1976) presented an
Ezzat (1976) an analysis
analysis which accounts
accounts for
for the
the
lubricant
lubricant compressibility
compressibility inin the bearing recesses
the bearing recesses and
and supply
supply line.
line. The
The results,
results,
also
also supported
supported by the
the analysis
analysis of
of Ghosh
Ghosh and
and Viswanath (1987) and
Viswanath (1987) and Ghosh
Ghosh et
et al.
al.
(1989), show
show that
that when the journal is
the journal is subjected
subjected to
to high frequency
excitations
the
the bearing stiffness
stiffness and
and damping
damping characteristics
characteristics can
can change
change drastically.
drastically. The
The
behavior is
behavior is determined
determined by aa "break"
"break" frequency
frequency beyond which the bearing direct
the bearing direct
stiffness
stiffness increases
increases sharply
sharply and
and it
it is
is accompanied
accompanied by aa rapid
rapid decrease
decrease in
in direct
direct
damping.
damping. The
The analyses
analyses cited
cited are
are based onon full
full numerical
numerical solutions
solutions to
to the
the
Reynolds
Reynolds equations,
equations, and
and thus,
thus, their results can
their results can not
not be easily
easily used in practice.
in practice.
The present work introduces
The present introduces aa theoretical
analysis for
for the
the dynamic
dynamic
performance characteristics ofof capillar/orifice
capillar/orifice compensated
compensated centered
centered hydrostatic
hydrostatic
journal bearings.
journal bearings. The
The analysis
analysis considers
considers in
in detail
detail the
the effect
effect of
of fluid
fluid recess
recess
compressibility.
compressibility. Useful
Useful design
design criteria
criteria to
to avoid undesirable
undesirable dynamic
dynamic operating
operating
conditions
conditions at
at low
low and
and high frequencies
frequencies are
are determined.
determined. Conditions
Conditions to
to avoid
complete
complete loss
loss of
of damping
damping at
at small
small frequencies
frequencies are
are also presented.
also presented.
The
The relevance
relevance of
of the
the analysis
analysis is
is immediately recognized since
immediately recognized since the
the performance
characteristics
characteristics ofof HJBs
HJBs are
are relatively
relatively independent
independent of
of the
the static journal center
static journal center
, displacement
+ displacement for
for small
small to
to moderate
moderate values
values of
of the
the eccentricity
eccentricity vector.
vector.
ANALYSIS
The
The geometry
geometry of
of aa hydrostatic
hydrostatic bearing and
and reference
reference coordinate
coordinate systems
systems
are
are shown
shown in
in Figure
Figure 1.
1. AA lubricant
lubricant at
at external pressure P is
external pressure is supplied
supplied through
through
either
either aa capillary
capillary or
or orifice
orifice to
to each
each recess,
recess, flows
flows into
into 'he
fhe film
film lands,
lands, and
and
then
then exits
exits the bearing. The
the bearing. performance characteristics
The performance characteristics of
of HJBs
HJBs are
are governed by
momentum and
and continuity
continuity considerations
considerations at
at the
the film
film lands
lands as well as
as well as flow
flow
continuity
continuity through the recesses.
through the recesses. The
The former
former define
define the pressure and
the pressure and flow
flow fields
fields
over
over the thin film
the thin region, whereas
film region, whereas the
the latter provides values
latter provides values for
for the pressure
the pressure
in
in the recesses.
the recesses.
The
The continuity
continuity equation
equation at
at each recess
recess determines
determines the
the global
global flow
flow
balance between
balance between the
the flow through the
flow through the orifice
orifice (Q(Q ) oror capillary
capillary (Q
(Qc)) restrictors,
restrictors,
the
the recess
recess outflow
outflow into
into the
the film
film lands (Q,),), ang
lands (Q a n 2 the
the time
time change
change 6f
of fluid
fluid mass
mass
within the
the recess
recess volume.
volume. The
The recess
recess contInuity
continuity equation
equation is
is then
then given
given as
as
av r ap r
Q. = Q + - + V f3- (1)
1 r at r at
where f3 represents
where represents the
the fluid
compressibility factor.
factor. The
The inlet
inlet flow
flow (Qi)
(Qi) through
through
the
the external
external restrictor
restrictor depends
depends on
on the
the nature
nature of
of the
the control
control device,
device, i.e.
for
for orifice:
orifice:
(2a)
430
for capillar:
for capillar:
4
00
c
Q. =Q = (P - P ) (2b)
1 c 128 1 s r
J.I c
For small
For small amplitude
amplitude motions
motions of
of frequency w about
frequency 00 about the
the concentric
concentric position,
position, the
the
land film
land film thickness
thickness is
is described
described by the
the real
real part
part of
of the
the expression:
expression:
i
h = Hlc = 1 + e '[' ( 6£x hx + 6£ h) (3)
y Y
hhx cos e8 ,, hhy = sin
x = cos sin e
8
Y
'['=oot, 6£x , 6£y «1
The
The film
film land
land and
and recess
recess pressures
pressures are
are expressed
expressed as
as the
the sum
sum of
of aa zeroth
zeroth and
and
first order
first order complex
complex fields
fields describing
describing the
the equilibrium
equilibrium centered
centered position
position and
and the
the
perturbed dynamic
perturbed dynamic motion,
motion, respectively.
respectively. Hence,
Hence, in
in dimensionless
dimensionless form
form
(4)
The
The linear
linear perturbation
perturbation method used
used determines
determines the
the recess
recess continuity
continuity equation
equation to
to
be accordingly
be accordingly divided
divided into
into zeroth
zeroth and
and first
first order
order expressions
expressions as
as
zeroth order recess
z~roth order recess continuity
continuity equation:
equation:
a)capillary: (5a)
b) orifice:
b) orifice: (5b)
the dimensionless
and the dimensionless film
film flow
flow into
into the
the lands
lands is
is given
given by (Davies,
(Davies, 1969,
1969, Rowe,
Rowe,
1980) as
1980) as
6e
-- - (6)
9ro 12A5 Pro
6 and 6
Sand S are
are the
the capillary and orifice
orifice design
design parameters that
that help to
to
d~terming the
dgterming the res
restrictor for the
trictor geometry for the desired operating pressure ratio.
ratio.
first order
first order recess
recess continuity
continuity equation
equation at
at nth recess:
recess:
n n
a)capillary: -Prex [ Sc + i ~ Xz ] = qrex (7a)
S2
n 0 n
b)orifice: -Prex --+ i
~ Xz == qrex (7b)
2qro
ex= x,y; n=1,2, •••• ,N
431
and qqrunn is
and is the
the perturbed
perturbed land
land flow
flow on
on the
the closure
closure surrounding
surrounding the
the nth
nth recess.
recess.
For laffi~nar
For laminar flow,
flow, the
the film
film flow
flow is
is equal
equal to
to (Rowe,
(Rowe, 1980,
1980, SanAndres,
SanAndres, 1989a)
1989a)
en+1
qrex
n Pro
26~
J h", de +
20e
- -p
126~ rex
n .....
..... hydrostatic
hydrostatic axial
axial flow
flow
en
LID
L/D
++ -- - [[ 2 Prex
nn
Pra -- Prex
Pru
n+1
n+1
-- Prex
pra
n-1
n-1 .....
.•••. hydrostatic
hydrostatic eire.
circ. flow
flow
66 6e
A8
(8)
(8)
LL A
++ 2 -
A
h Ieen+
n+11 .....
..... hydrodynamic
hydrodynamic flow
flow
haex I
DD 22 ne'n
L
++ ii u(1 --
D
D rr
J
ne'n
en 1
+
hh de
de
ex
en noe
.....
..... squeeze
squeeze film
film flow
flow
Collecting
Collecting similar
similar terms,
terms, equations (7) are
equations (7) are reduced
reduced to
to
_y ( n+1 n-1) - ( z+ 1 +y +
Prex -P rex
2
(9)
en 1
L6~
A
- h
[ 2 ex
En+1
I
+ i (1
J +
h de
ex
1
Doe e
n e
n
n=1,2, .... N
where
where zz is
is aa control
control parameter,
parameter, first
first introduced
introduced by
by Rowe
Rowe (1980),
(1980), and
and given
given as
as
zz =
= z =-- Pro ; zz == zz == Pro
o0 cC
2(1-p
2 ( l-pr0)
ro ) 1-p
'-pro
ro
for
for orifice
orifice and
and capillary
capillary restrictors,
restrictors, respectively.
respectively. Analytical
Analytical solution
solution toto the
the
system
system of
of equations
equations (9)
(9) is
is easily
easily accomplished(see
accomplished(see Davies
Davies and
and Leonard,
Leonard, 1969).
1969).
The
The resulting
resulting dynamic
dynamic recess
recess pressures
pressures are
are equal
equal to
to
432
3Pro
--
Je
h
n+1
de + 12 -
L6l; [ A
- h
Eh+1
I + i
oe a Doe 2 a e
e n
n = - On
n
(10)
Pra [ z+l+
z + l + 2y sin2 (nlN)]
2 y sin (VN)](1(1 + ii f)
f) (10)
a = x,y; n=1,2, •. N
where = d % is
f=w~
where f is aa frequency ratio. %
frequency ratio. ~ isis named aa "break"
"break" frequency, and its
frequency,and its
relevance
relevance onon the
the bearing dynamic
dynamic force
force response
response will
will be discussed latter.
latter. The
The
break frequency
frequency is is given
given by the
the expression:
expression:
3
JtDc
- - - - - (z+1+2YSin 2 (nlN» (11)
3N(L-l )llt3V r
Dynamic
Dynamic force
force coefficients
coefficients are
are calculated by integration
integration of
of the
the first
first order
order
pressure field
field over
over the journal surface,
the journal surface,
LID 2Jt
~Jo oJp~ d~
Kcxt3 + ioo C
cxt3 (12)
= h" de
LD(P s -P a )/c
a, 13 = x, y
and
and it
it is
is recalled
recalled that =cos e
that h =cos 8 and =sin e,
and h =sin 8, respectively.
respectively. After some
some
algebraic
algebraic manipulations,
manipulations, !t
f t is
is found
found tKat
tKat the
the stiffness
stiffness and
and damping
damping
coefficients
coefficients are
are given
given by
n
(l+f 2la )
c
K
xx K
yy K
xxo (13a)
1+f2
(l-a )
c
C = Cyy C (l3b)
xx xxo 1+£2
K
K -K xlo (13c)
xy yx = 1+f2
K
-cyx xX: 0 (13d)
C
xy = =
~(l+f2)
433
where
where K. ,C
Kxxo, ,K are
are the
the dynamic
dynamic force
force coefficients
coefficients in
in the
the absence
absence of
of the
the
fluid Cxx Kx 0effect These
c~~gres§!gilif~oeffect.
fluid compresslgilitf These coefficients .
coefficients are
are identical
identical to
to those
those
presented by Rowe
Rowe (1980)
(1980) and
and presented in
in Table
Table 1.
1.
The
The parameter aacC is
is denoted as
as aa reduced
reduced damping
damping factor
factor due
due to
to
compressibility
compressibility at
at zero
zero frequency
frequency and
and given
given by
a = (14)
c rtLDc [z+1+2rsin2( nlN)]
The
The dynamic
dynamic force
force coefficients
coefficients given
given in
in equations
equations (13)
(13) depend strongly
strongly
on
on the
the frequency
frequency ratio f=wV~. Dynamic
ratio f=&c~~. Dynamic operation
operation at
at f=l
f=l results
results in
in aa reduction
reduction
of
of 50% in
in direct
direct damping
damping and
and aa considerable
considerable increase
increase in
in hydrostatic
hydrostatic stiffness.
stiffness.
The
The "break"
"break" frequency %, equation
frequency ~, equation (12), is
is rewritten
rewritten in
in terms
terms of
of the
the restrictor
restrictor
characteristics
characteristics asas
a)
a) orifice
orifice HJB:
HJB:
n
A0 vso 2
(z +1+2rsin2(nlN» (15a)
~ 0
V v z
r 0 0
b) capillary
capillary HJB:
HJB:
A v
c sc
<AB= (z +1+2rsin2( nlN» (lSb)
z c
V
r c
where
where vvs is
is the
the fluid
fluid velocity at
at sonic
sonic conditions
conditions across
across the
the orifice
orifice or
or
capilla~,
capillar, and
and v isis the
the fluid
fluid speed
speed through
through the
the orifice
orifice restrictor.
restrictor. Appropriate
Appropriate
design.of HJBs ~equires
design of HJBs ?equires the
the bearing to
to operate
operate under
under dynamic
dynamic conditions
conditions well
well
below the
the break frequency
frequency ~. AsAs aa rule
rule of .
of thumb,
thumb, it
it is
is suggested
suggested that
that operation
operation
above
above f=O.Ol
f-0.01 should
should be avoioed.
avoi ed. High "$
High break frequencies
frequencies can
can only be achieved
achieved on
on
HJBs
HJBs with shallow
shallow recesses
recesses (small
(small overall
overall recess plus supply
recess plus supply line
line volumes)
volumes) and
and
large
large diameters
diameters for
for the
the orifice
orifice and
and capillars.
capillars. ForFor orifice
orifice compensated
compensated HJBs,
HJBs, aa
large
large ratio
ratio of
of sonic
sonic speed
speed to
to fluid
fluid orifice
orifice speed
speed is
is desired;
desired; while
while for
for capillar
capillar
HJBs,
HJBs, the
the restrictor
restrictor length
length should
should be kept
kept toto aa minimum.
minimum. Of course
course aa negligible
negligible
value
value of
of the
the fluid
fluid compressibility factor a
compressibility factor f3 is
is sufficient
sufficient to
to insure
insure adequate
adequate
dynamic
dynamic operation
operation without
without stiffness
stiffness hardening
hardening and reduced
reduced damping.
damping. It
It is
is
mentioned
mentioned that
that fluids
fluids of
of large
large viscosity and
and HJBs
HJBs with small
small axial
axial recess
recess
lengths
lengths are
are more likely
likely to
to present low
low values
values ofof the
the break frequency ~JB.
frequency <AB'
Dynamic
Dynamic operation
operation at
at very high frequencies
frequencies determines
determines aa complete
complete loss
loss of
of
damping while
while the
the hydrostatic
hydrostatic stiffness
stiffness attains
attains its
its limiting
limiting value.
value. As w~
As w + m,
w,
from
from equation
equation (13a) we obtain
obtain
K
xxo 2 L R2 ~
(~+i)LR
(L+l)
KXX, -=c.u..C
Kxxo
= N sin (WN)
sin2 (nlN)
Kxx -)
~Kxxm = xxo =N
'
= = (16)
(16)
Kxx
a
9
3J:S Cxxo a
c rV
'r
Note that
Note that the
the asymptotic
asymptotic value
value of
of direct
direct stiffness
stiffness depends
depends solely
solely on
on the
the
434
compressibility
compressibility factor
factor S
f3 and the
the recess
recess volume,
volume, and it
it is
is independent
independent of
of the
the
fluid properties or
fluid properties or external
external supply
supply conditions.
conditions.
Although
Although dynamic
dynamic operation
operation atat frequencies well below %
frequencies well ws is
is highly
desired,
desired, the
the possibility of of "pneumatic
"pneumatic hammer
hammer instability"
instability1'inin aa HJB should
should be
carefully
carefully analyzed.
analyzed. This phenomenon characteristic
This phenomenon characteristic ofof highly compressible
compressible fluids
fluids
such
such as
as in
in gas-lubricated hydrostatic bearings (Lund,
hydrostatic bearings (Lund, 1965)
1965) occurs
occurs at
at low
low
frequencies
frequencies and determines
determines negative
negative values
values of
of the
the direct
direct damping
coefficients.
At zero
zero frequency,
frequency, from
from equation
equation (12b),
(12b), the
the value
value of
of direct
direct damping
damping is
is given
given as
as
C =C (l-a
(1-u ). Thus,
Thus, null
null or
or negative
negative damping
damping is
is avoided if
if the
the reduced
reduced
Cxx = Cx
d~~pingX¥gctor
damping factor sIs
! small, «1, or
small, auc<<l,
c
or from
from equation (14), if
equation (14), if
NN Vr (Pr-P
(Pr-Pa) B
a) S 1 2
----...;.;....-«<< -- [z+1+2y
[z+1+2y sin
sin (rtlN)]
(KIN)] (17)
(17)
n LDc
Jt LDc 33
which requires
requires aa low
low ratio
ratio of
of recess
recess volume
volume to
to film
film land
land volume,
volume, and small
small
products of
products of recess pressure and compressibility
recess pressure factor S.
compressibility factor f3. This
This condition possesses
condition possesses
aa severe
severe restriction
restriction onon the
the recess
recess volume
volume and the
the maximum allowed
allowed recess
recess
pressure for
pressure for highly compressible
compressible fluids
fluids such
such as
as liquid
liquid hydrogen.
hydrogen. Redecliff
Redecliff and
Vohr (1969)
(1969) have
have recommended
recommended that
that the
the total
total volume
volume in
in the
the feeding
feeding recesses
recesses be
less
less than
than 5% the
the total
total volume
volume in
in the
the bearing film
film in
in order
order to
to avoid
avoid pneumatic
hammer effects.
effects. The
The relation
relation derived inin the
the present analysis
analysis gives
gives aa better
though
though more
more stringent
stringent criteria.
criteria. Equation
Equation (17)
(17) requires
requires the
the recess
recess volume
volume to
to be
lo~, and thus,
low, thus, the
the recess
recess depth
depth must be kept
kept to
to aa minimum consistent
consistent with
uniformity of
providing uniformity pressure over
of pressure over the
the recess.
recess.
For
For hybrid operation,
operation, the
the whirl
whirl frequency
frequency ratio
ratio is
is aa fundamental
fundamental
property of
of the bearing(independent of
the bearing(independent of the
the rotor
rotor system)
system) which
which determines
determines the
the
maximum shaft
shaft operating
operating speed before whirl
speed before whirl instability
instability occurs.
occurs. The
The whirl
whirl ratio,
ratio $
is
is defined
defined as
as
K 1
xy
(18)
Q C 2 (1-a )
xx c
Thus,
Thus, in centered HJB the
in aa centered the whirl
whirl ratio,
ratio $ is
is at
at most equal
equal to
to 0.50,
0.50, and it
it
is
is substantially
substantially increased
increased if
if the
the reduced
reduced damping factor
factor auc is
is large.
large. From aa
rotordynamics point of
rotordynamics point view, hybrid bearings
of view, bearings offer no adva5tage
offer no advantage in relation to
in relation to
journal bearings.
plain journal bearings. Additionally,
Additionally, if
if fluid recess compressibility
fluid recess compressibility isis large,
large,
it
it causes
causes the
the limited
limited applicability
applicability of
of hybrid bearings
bearings to
to be further restricted.
further restricted.
The
The conditions
conditions stated
stated are
are of
of considerable
consjderab1.e importance
importance in
in RJBs
H J B s used for
for
cryogenic
cryogenic applications such as those handling liquid hydrogen. For
applications such as those handling liquid hydrogen. For LH2, the the
compressibility factor S
compressibility factor f3 is
is rather
rather large
large while
while its
its viscosity
viscosity is
is very small.
small.
Typical
Typical bearing supply pressures exceed 6.9MPa(1000
supply pressures 6.9MPa(1000 psig) inin order
order to to attain
attain the
the
required
required levels
levels of
of load
load capacity.
capacity. In
In this
this case,
case, even
even if
if recesses
recesses of of low
low depth
depth
are
are designed,
designed, it
it is
is very likely
likely that
that the
the reduction
reduction in
in damping Cue to
damping aue to the
the fluid
fluid
compressibility
compressibility is
is large.
large.
EXAMPLES
The
The following
following sample
sample case
case serves
serves to
to show
show the
the effect
effect of
of recess
recess
compressibility
compressibility on
on the
the dynamic
dynamic force
force coefficients
coefficients of
of aa typical capillary HJB.
typical capillary HJB.
435
The
The example
example has
has been
been taken
taken from
from an
an application
application presented
presented by
by Rhode(1976).
Rhode(1976). The
The
geometric
geometric and
and operating
operating parameters
parameters for
for the
the bearing
bearing are
are as
as follows:
follows:
N=8, L=35.56 mm(1.4in), D=71.12 mm(2.8in),
1=30.48 mm(1.2in), b=22.84 mm(0.9in),
c=0.0254mm(0.001in), Hr/c=10,30,50,
d c =0.325mm, 1 c =19.1mm,
~=0.0345 Ns/m 2 , ~5.8 10 -10 miN,
2
pP -p
-P == 689.5
689.5 KPa(1000
KPa(1000 psig),
psig), ppro=0.3
=0.3
ss aa ro
QS2 =
= 1000
1000 rpm
rpm (16.66
(16.66 Hz),
Hz),
For the
For the sample
sample bearing,
bearing, the
the static
static direct
direct stiffness
stiffness and
and damping
damping
coefficients
coefficients atat zerg
zerg frequency
frequency and
and no
no compressibility
compressibility are
are equal
equal toto K 101f
=5.20 10
K x0=5.20
N/m
N/m and
and CCxxo=2.5
=2.5 1010 Ns/m,
Nslm, respectively.
respectively. For
For 33 different
different values of t~IOrecess
values of tffe recess
depth, Fi~~~es
depth, Figures 22 and
and 33 show
show the
the variation
variation of
of Kxx
Kxx and
and CCx
x
for
for increasing
increasing values
values
of
of the
the frequency
frequency ratio
ratio f.f. The
The calculated
calculated values
values of
of the
the Break
greak frequency
frequency and
and
reduced
reduced damping
damping factor
factor are
are given
given by
by
Hr/c=10;
Hr/c=lO; ~=0.0044, %=2281 Hz,
3=0.0044, WS=2281 Hz, ~c=0.001448,
ac=0.001448,
Hr/c=30; ~=0.0124,
Hr/c=30i %= 809
$=0.0124, WS= 809 Hz,
Hz, ~c=0.004081,
ac=0.004081,
Hr/c=50;
Hr/c=50; A2=0.0204, %= 492
3=0.0204, WS= 492 Hz,
Hz, ~c=0.006710,
ac=0.006710,
Figure
Figure 22 shows
shows that
that the
the direct
direct stiffness
stiffness increases
increases dramatically
dramatically as as the
the
excitation
frequency grows.
grows. Note
Note that
that the
the greater
greater the
the break
break frequency(smaller
frequency(smal1er
recess
recess depth),
depth), the
the greater
greater isis the
the asymptotic
asymptotic value
value of
of the
the stiffness
stiffness coefficient.
coefficient.
Figure
Figure 33 shows
shows the
the damping
damping coefficient
coefficient to to decrease
decrease as
as the
the excitation
frequency
increases.
increases. Note
Note that
that the
the damping
damping curves
curves are
are almost
almost identical
identical due
due to
to the
the
smallness
smallness ofof the
the reduced
reduced damping
damping factor .
factor ~aC. The
The whirl
whirl frequency
frequency ratio
ratio for
for
synchronous
synchronous excitation
excitation atat 1000
1000 rpm
rpm is
is ver§
very close
close to
to 0.5
0.5 due
due to
to the
the smallness
smallness of of
the
the factor .
factor ~a . No
No significant
significant reduction
reduction inin damping
damping is
is found
found at
at low
low frequencies
frequencies
due
due to
to the
the law
lgw product
product ofof recess
recess pressure
pressure and
and compressibility parameter a.f3.
compressibility parameter
The
The effect
effect of
of aa large
large compressibility factor a
compressibility factor f3 on
on aa shallow
shallow recess,
recess,
orifice
orifice compensated
compensated HJB
HJB has
has been
been considered.
considered. The
The sample
sample bearing
bearing is
is typical
typical of
of aa
current
current cryogenic
cryogenic application
application with
with liquid
liquid hydrogen
hydrogen as
as the
the working
working fluid.
fluid. The
The
geometric
geometric and
and operational
operational parameters
parameters for
for the
the bearing
bearing are
are given
given as
as follows:
follows:
N=8, L=62.58mm(2.463in), D=84.43 mm(3.32in),
1=b=22.776mm(0.896mm)
c=0.0254mm(0.001in), Hr/c=5,10,15
d =0. 779mm,
o
~=6.279 10- 6 Ns/m 2 , p=51.11 kg/m3, ~8.86 10- 9 m2 /N,
Ps-P 20.684 MPa
s a == 20.684
a
'
- MPa (3000 psig) , Pro=0.5
(3000 psig), pro=O.5
Q$2 == 25000
25000 rpm
rpm (416.6
(416.6 Hz)
Hz)
The
The operating
operating parameters
parameters determine
determine the
the flow
flow regime
regime in
in the
the bearing
bearing to
to be
be
turbulent,
turbulent, and
and thus,
thus, the
the results
results of
of the
the present
present analysis
analysis are
are not
not valid.
valid. However,
However,
the
the author
author (SanAndres,1989a)
(SanAndres,l989a) hashas presented
presented aa similar
similar analysis
analysis for
for turbulent
turbulent HJBs
HJBs
436
with inertia
inertia effects.
effects. This
This analysis
analysis is
is more
more complex
complex and does
does not provide cloged
not provide closed
form
form formulae
formulae for
for direct
direct evidence
evidence of
of the
the compressibility
compressibility effect
effect on
on the
the dynamic
dynamic
force
force coefficients.
coefficients.
Figures
Figures 4 and 5 show
show the
the synchronous (&P) stiffness
synchronous (w=Q) stiffness and damping
coefficients
coefficients for
for increasing
increasing recess
recess depths
depths and asas aa function
function of
of the
the
compressibility parameter a.
compressibility parameter 6. For
For the
the value of a
value of 6 correspondin§
corresponding toto liquid
liquid
hydrogen,
hydrogen, the frequency cr$
the calculated break frequency ~ isis well
well above
above 10 Hz
Hz and thus,
thus, fluid
fluid
compressibility
compressibility does
does not
not affect
affect greatly
greatly the
the direct
direct stiffness
stiffness coefficients.
coefficients.
Figure
Figure 22 shows
shows the
the stiffness
coefficients toto be constant
constant since
since essentially
essentially the
the
frequency
frequency ratio
ratio ff is
is almost
almost zero
zero for
for the
the application
application considered.
considered. Figure
Figure 5 shows
shows
the
the direct
direct damping coefficient
coefficient to
to be greatly affected by thethe compressibility
compressibility
pararPeter a
parameter f3 and the
the recess
recess depth.
depth. The
The loss
loss inin damping
damping at
at the
the operation
operation point for
for
LH2 is
is larger
larger for
for the
the largest
largest recess
recess depth
depth considered.
considered.
Figure
Figure 66 shows
shows the
the whirl
whirl frequency
frequency ratio
ratio ~$ to
to approach
approach aa value
value equal
equal to to
0.5
0.5 as
as the
the compressibility parameter tends
compressibility parameter tends to
to zero(incompressible,
zero(incompressible,f3 a +~ 0). As a
0 ) . As 6
increases,
increases, the
the whirl
whirl ratio
ratio ~ also
$Jalso increases denoti~g2
increases denotiHg 9 substantial
substantial reduction
reduction in in
available
available direct
direct damping.
damping. At aa value
value of
of S=8.88
68.88 10- m m IN
/N typical
typical for
for LH2, thethe
whirl
whirl ratio +
ratio ~ raises
raises from
from 0.554
0.554 to
to 0.651 as
as the
the recess
recess depth
depth increases
increases fromfrom 5
to
to 15
15 times
times the bearing clearance.
the bearing clearance.
The
The results
results presented clearly
clearly show
show the
the inconvenience
inconvenience of of the
the proposed HJB
HJB
since
since the
the stability
characteristics of
of the
the bearing are
are worse
worse than
than those
those of
of aa
journal bearing.
plain journal bearing. Further
Further reduction
reduction of
of the
the recess
recess depth will certainly
depth will certainly
reduce the
reduce whirl frequency
the whirl ratio but will
frequency ratio will convert
convert the
the HJB
H J B into
into aa plain journal
journal
bearing and cause
hearing cause aa drastic
drastic reduction
reduction in
in direct
direct hydrostatic
hydrostatic stiffness.
stiffness. Suggested
Suggested
fixes
fixes that
that can
can substantially
substantially improve
improve the
the stability
characteristics of of the
the
bearing are
bearing are
a)
a) to
to reduce
reduce the
the axial
axial extent
extent of
of the
the recess
recess so
so as
as to
to reduce
reduce the
the recess
recess volume
volume
and provide
provide more
more space
space for
for development
development of
of the
the squeeze
squeeze film
film damping
damping effect.
effect.
However,
However, shorter recess axial
shorter recess axial lengths will determine
lengths will reduced hydrostatic
determine reduced hydrostatic
stiffness.
stiffness. To reduce the
To reduce recess circumferential
the recess circumferential extent
extent is not recommended
is not recommended since
since
then the
then the mean flow
flow circumferential will grow
circumferential velocity will rapidly and it
grow rapidly it may
determine
determine and effective
effective increase
increase in the whirl
in the whirl ratio.
ratio.
A roughened
b) A roughened bearing surface will reduce
surface will reduce substantially the cross
substantially the cross coupled
coupled
stiffness
coefficient and reduce
reduce the
the whirl
whirl ratio ~ well
ratio $ well below 0.5
0.5 (SanAndres,
(SanAndres,
1989b).
1989b). Fluid
Fluid injection
injection opposite
opposite to
to shaft
shaft rotation
rotation may also
also reduce
reduce the
the
cross-coupled effects,
effects, although
although aa quantitative
quantitative analysis
analysis is
is not
not yet
yet available.
available.
CONCLUSIONS
CONCLUSIONS
The
The dynamic
dynamic behavior ofof externally pressurized bearings
bearings has
has been shown
shown
to
to be highly dependent
dependent on
on the
the fluid
compressibility at
at the
the bearing recesses.
recesses. At
high frequency
excitations beyond aa break frequency,
frequency, the
the bearing hydrostatic
hydrostatic
stiffness
stiffness increases
increases sharply
sharply and it
it is
is accompanied
accompanied by aa rapid
rapid decrease
decrease in
in direct
direct
damping.
damping. Also,
Also, the potential of
the potential pneumatic hammer
of pneumatic ins~ability (negative
hammer instability (negative damping)
damping)
at
at low
low frequencies
frequencies seems
seems to
to be certain
certain in
in hydrostatic bearing applications
hydrostatic bearing applications
handling highly compressible
compressible fluids.
fluids.
The
The analysis has shown
analysis presented has shown that
that the bearing dynamic
the bearing dynamic force response
force response
437
for
for the
the entire
entire frequency
frequency spectrum
spectrum is
is determined
determined by just
just 2 parameters,
parameters, the hrPAk
ljrealc
frequency %
frequency ~ and the
the reduced
reduced damping
damping factor .
factor aa . Criteria
Criteria to
to avoid
avoid stiffness
stiffness
hardening and damping
damping reduction
reduction by removing
removing tHe
tffe break frequency
frequency well
well above
above the
the
desired
desired operating
operating frequency
frequency are
are derived
derived and discussed.
discussed. At low
low frequencies,
frequencies, the
the
dynamic
dynamic performance ofof the
the bearing isis substantially
substantially degraded
degraded if
if the
the reduced
reduced
damping
damping factor
factor is
is large.
large. Furthermore,
Furthermore, the
the limited
limited stability
characteristics ofof
hybrid bearings
bearings are
are severely
severely restricted.
restricted. To
To avoid
avoid this
this effect
effect it
it is
is required for
requiredfor
the
the recess
recess volumes(recess
volumes(recess depth)
depth) to
to be small.
small. However,
However, for
for highly
highly compressible
compressible
fluids,
fluids, improved
improved bearing stability
characteristics may demand
demand aa reduced
reduced limit
limit onon
the
the maximum external
external supply pressure to
supply pressure to the
the bearing.
bearing. Consequently, reduced load
Consequently, reduced load
capacity
capacity and stiffness
stiffness are
are to
to be traded off for
tradedoff for stability.
stability. HJBs
HJBs with aa roughened
roughened
bearing surface
surface could be an
an appropriate
appropriate alternative
alternative for bearing stability
for better bearing stability
and dynamic performance.
dynamic performance.
REFERENCES
REFERENCES
Davies,
Davies, P.B., and Leonard,
Leonard, R.,
R., 1969,
1969, "The
"The Dynamic
Dynamic Behavior
Behavior of
of Multi-Recess
Multi-Recess
Hydrostatic
Hydrostatic Journal
Journal Bearings,"
Bearings," Proc.
Proc. Instn.
Instn. Mech.
Mech. Engnrs.,
Engnrs., Vol.
Vol. 184,
184, Part
Part 3L,
3L,
pp. 139-144.
pp. 139-144.
Davies,
Davies, P.B., and Leonard R.,
R., 1970,
1970, "Stability
"Stability of
of Multirecess
Multirecess Hydrostatic
Hydrostatic
Journal
Journal Bearings,"
Bearings," Journal
Journal of
of Mechanical
Mechanical Engineering Science,
Science, Vol.
Vol. 12,
12, 2,
2, pp.
150-152.
150-152.
Ghosh, M.K. ,, Majumdar B.C.,
Ghosh, B.C., and J.S. Rao,
Rao, 1979,
1979, "Steady
"Steady State
State and Dynamic
Dynamic
Behavior
Behavior of
of Multirecess
Multirecess Hybrid Journal
Journal Bearings,"
Bearings," Journal
Journal of
of Mechanical
Mechanical
Engineering Science, Vol. 21,
Science, Vol. 21, 5, pp. 345-351.
5, pp. 345-351.
Ghosh,
Ghosh, M.K, and N.S. Viswanath,
Viswanath, 1987,
1987, "Recess
"Recess Volume Fluid
Fluid Compressibility
Compressibility
Effect
Effect on
on the
the Dynamic
Characteristics of
of Multirecess
Multirecess Hydrostatic
Hydrostatic Journal
Journal
Bearings,"
Bearings," ASME
ASME Journal
Journal of
of Tribology,
Tribology, Vol.
Vol. 109, pp. 417-426.
109, pp. 417-426.
Ghosh,
Ghosh, M.K., S.K. Guha,
Guha, and B.C.
B.C. Majumdar,
Majumdar, 1989, "Rotordynamic Coefficients
1989, "Rotordynamic Coefficients of
of
Multirecess
Multirecess Hybrid Journal
Journal Bearings,"
Bearings," WEAR,
WEAR, Vol.
Vol. 129, pp. 245-259.
129, pp. 245-259.
Leonard,
Leonard, R.,
R., and W.B. Rowe,
Rowe, 1973,
1973, "Dynamic
"Dynamic Force
Force Coefficients
Coefficients and the
the Mechanism
of
of Instability
Instability in
in Hydrostatic
Hydrostatic Journal
Journal Bearings,"
Bearings," WEAR,
WEAR, Vol.
Vol. 23, pp. 277-282.
23, pp. 277-282.
Lund,
Lund, J.W., 1965,
1965, "A
"A Theoretical
Theoretical Analysis
Analysis of
of Whirl
Whirl Instability
Instability and Pneumatic
Pneumatic
Hammer
Hammer for
for aa Rigid Rotor
Rotor in
in Pressurized
Pressurized Gas
Gas Journal
Journal Bearings,"
Bearings," ASME Paper
Paper
65-Lub-12.
65-Lub-12.
Redecliff,
Redecliff, J.M., and J.H. Vohr,
Vohr, 1969,
1969, "Hydrostatic
"Hydrostatic Bearings
Bearings for
for Cryogenic
Cryogenic Rocket
Rocket
Engine
Engine Pumps,"
Pumps," ASME
ASME Journal
Journal of
of Lubrication
Lubrication Technology, pp. 557-575.
Technology, pp. 557-575.
Rhode, S.M., and H.A. Ezzat,
Rhode, Ezzat, 1976,
1976, "On
"On the
the Dynamic
Dynamic Behavior
Behavior of
of Hybrid Journal
Journal
Bearings,"
Bearings," ASME Journal
Journal of
of Lubrication
Rowe, W.B., 1980,

Rowe, W.B., 1980, "Dynamic
"Dynamic and Static
Static Properties
Properties of
of Recessed Hydrostatic
Hydrostatic Journal
Journal
Bearings
Bearings by Small
Small Displacement
Displacement Analysis,"
Analysis," ASME.
ASME Journal
Journal of
of Lubrication
Lubrication
Technology,
Technology, Vol.
Vol. 102, pp. 71-79.
102, pp. 71-79.
San Andres,
San Andres, L.A., 1989a,
1989a, "Approximate
"Approximate Analysis
Analysis of
of Turbulent
Turbulent Hybrid Bearings.
Bearings.
Static
Static and Dynamic performance for
Dynamic performance for Centered Operation,"
Operation," submitted
submitted for
for review
review to
to
438
ASME Journal
Journal of
of Tribology.
Tribology.
San
San Andres
Andres L.A.,
L.A., 1989b,
1989b, "Turbulent
"Turbulent Hybrid Bearings
Bearings with Fluid Inertia
Inertia Effects,
Effects,
I-Analysis
I-Analysis and Numerical
Numerical Model,
Model, II-Results
11-Results and Discussion,"
Di~cussion,~~submitted
submitted for
for review
review
to
to ASME Journal
Journal of
of Tribology.
Tribology.
Singh,
Singh, D.V.,
D.V., R.
R. Sinhasan,
Sinhasan, and R.C.
R.C. Ghai,
Ghai, 1979,
1979, "Static
"Static and Dynamic
Dynamic
Characteristics
Characteristics of
of an
an Orifice
Orifice Compensated
Compensated Hydrostatic
Hydrostatic Journal
Journal Bearing,"
Bearing," ASLE
Transactions,
Transactions, Vol.
Vol. 22,
22, 2, pp. 162-170.
2, pp. 162-170.
TABLE 1
TABLE
Dynamic Force Coefficients for

for Laminar Flow
Hydrostatic Journal Bearings
no fluid compressibility effects
3N2Z
3N
Z
(1
(1 ++ l/L) (Ps-Pa)LD
Kxxo - -- ( W N
sin2 (rtlN) )
Kxxo= Kyyo
Kyyo- 4n
4n
sin - - - - - ; : : -
(z+l+2ysin2 (WN))
(z+l+ZYSinZ(
- -
rtlN»
- Pro
pro
cC
3NZ (1 + l/L) (1 - l/L) UL 3D

Z
Cxxo t - sin (rtlN) Z --
yyo 4n (z+1+Zysin (rtlN» c3
3NZ (1 + l/L) (1 - l/L) UQL3D

Z
Kyxo -K - sin (rtlN) Z -3--
xyo Bn (z+1+Zysin (rtlN» c
- == CCxyo = 0o
cyxo
c-
Pro
pro Pro
pro
where zz0 == ; z c==-
O Z(1-P ro )
2(1-pro) Pro
l-pro
1-
Z A E LL
2 llEo
yy =-
=
&9
be ll9
A8 DD
439
~
e I
Recess
Fi 1m
Land
\orifice
and
Supply
1 ine
x
e.o •• try of Hydroatatlc B.arlng
Figure
Figure 1.
1. Geometry
Geometry of a hydrostatic journal
journal bearing and description
description of
of
coordinate
coordinate systems.
KXl(o-S.2E+7 N/m
3
10 .-------------------------------------------------------,
Hr/c=10
o Wb=2281H
x
x
~
"xx
"
...c 10
2
u
u
......
u
o
u
""
..."c
... I
10
...
III
...u
U
L
Nrecess-8
Nrecess-8 F r e q u e n c y ratio.
Frequency ratio, f-W/Wb
f-W/Wb
Capillar L/D=.5,
C a p i l l a r HJB: L/D=.5, I 0 0 0 r p m , Ps=68951!1I!1Pa.
101!11!1rpm, Ps=689500Pa, c=2.54€-Sm
c=2.54E-5m
Figure
Figure 2.
2. Effect of excitation
frequency on direct
direct stiffness
stiffness for
for a
capillary
capillary hydrostatic journal bearing with incre.sing
hydrostatic journal increasing recess
recess
depths.
depths.
440
Cxxo-2.SE+S Ns/m
Hr/c 10, 30, 50

I
0
X
<
,x
U
x
.
U
c
v .75
...v
0
u
en .5
c
0.
E
0
.'"
""
L .25
Cl
-,
10
-1
Iii!
Nrecess=B
Nreeess=8 F r e q u e n c y ratIo.
Frequency r a t l o , f-H/Wb
f'W/Wb
Figure 3.3. Effect

Figure Effect ofof excitation
frequencyon
on direct
direct ddamping for aa capillary
..ping for capillary
hydrostaticjournal
hydrostatic journalbearing
bearing with
with increasing
increasingrecess
recessdepths.
depths.
C a p ~lar
Capil rHJB: l/D=.5,
l l a HJ8: L / D = . 5 , 1000rpm,
1 0 0 0 r p m , Ps=S89500Pa,
P s = 6 8 3 5 0 0 P a , c c =2.54E-5m
2.54€-5m
3
a-reo H2B 2S000rpm 3000 psi, Inerp-I,Inerl-1

1.6(+9
,Z
~
~
E
,.,x
1.4(+9 Kxx
K"" - Kyy
.. Kyy
~.--
~
I
U 1.2(+9
'"x
..
~
1. (+9
~
'"'"
n
x
x
>: B.E+8
..."C
Il
-u 6.E+9
......
II
0
u 4.E+8
~
m 1 Kxy a
K"y .. -Ky"
"
..."c:
... 2.E+8
..
Ul
J
0 -0
-'8
10I 0
-9
I El' -8
Iii!I 0
P a r a m e t e r BB (m2/N)
C o m p r e s s i b i l i t y Parameter
Compressibility (m2/N)
w-Rpm-2S000; c=2.S4E-Sm, Hr/c-S,10,15, 1-22.7mm

Figure 4.4.Effect
Figure Effect ofof fluid
fluidcompressibility factor ~ 0and
compressibilityfactor and recess
recess depth
depthonon
synchronousstiffness
synchronous stiffnesscoefficients
coefficientsfor
fora aliquid
liquidhydrogen,
hydrogen,orifice
orifice
co~penaated,
ca-pen.ated, hybridbaaring.
hybrid bearing.
441
8-rec H2B 25000rpm 3~00 ps"
IGBBBB
"--?-
E\E
--4k
"- vr 148080 cxx-Cyy
14BBBB
"z
~
~ IUIB00
u
•
"•'" 100000
U
06
>-
>- BIlllll1!0
u
"x< LH2 operating
u
60000 pOInt
"
+'
C
"u 40000
...
'+
V
a 2B000
u
m Cxy·-Cyx
c
E
Q. 0 -
.~~
. ---..,.
a'" '---'
-20001'1
-'0
11'1 10
-9 -e
10
C o m p r e s s ~Ibi ltlyi t y
Compress.bl P a r a m e t e r B0 (m2/Nl
Parameter Crn2/Nl
w-rpm=25000; c=2.54E-Sm. Hr/c~S.10.IS; 1=22.7mm
Figure S.
Figure 5. Effect
Effect of
of fluid
fluid coapressibility
factor BB aand
n d recess
recess depth
depth on
on the
the
synchronous daaping
synchronous damping coefficients
coefficients for
for aa liquid
liquid hydrogen.
hydrogen, orifice
orifice
compensated, hybrid
co.pensated. hybrid bearing.
bearing,
I
1.4 #I'
1.3 1
1.2
H r / o - l S j
1.1
,I'
-s.. i
.," i t
'" .9
>-
u .8
c
"
::l
IT
tl
c
"- .6
.5
.!:
3:
.~
LH2 o p e r a t i n g
LH2
.3 Po i n t
.2
.1
0 4
10
10
-1.
-10
10
10
-.
-9
Ie
10
-8
-8
C o m p r e s s i b i l i t y Parameter
Compressibility B (m2/Nl
Parameter B (m2/N)
w-Rpm-2S000; c=2.54E-5m, Hr/c-S,le,IS, 1=22.7mm
Figure 6 . Yhirl
Figure 6. Vh*rl Frequency
Fraquency ratio • for
of fluid
fluid c~pr
compressibility
for aa LB2
and rece
recess depth.
+
LB2 hybrid be.rinc.
bearing. eo.binad
combined effect
effect
of ••• ibtlity and •• depth.
442
EFFECT OF ECCENTRICITY ON THE STATIC
STATIC AND DYNAMIC
DYNAMlC PERFORMANCE
PERFORMANCE
OF A
A TURBULENT
TURBULENT HYBRID BEARING*
Luis
Luis A.
A. San Andres
Mechanical Engineering Department
Texas
Texas A&M
A&M University
Col lege Station,
College Station, Texas
Texas 77843-3123,
77843-3123, U.S.A.
U.S.A.
The
The effect
effect of journal eccentricity
of journal eccentricity on
on the
the static
static and
and dynamic performance
dynamic performance
of
of aa water lubricated,
lubricated, 5-recess
5-recess hybrid bearing isis presented inin detail.
detail. The
The
hydrostatic bearing has
hydrostatic has been designed
designed to
to operate
operate at
at aa high
high speed
speed and
and with aa
large
large level
level of
of external pressurization. The
external pressurization. The operating
conditions determine
determine the
the
flow
flow in
in the bearing to
the bearing to be highly turbulent
turbulent and
and strongly
strongly dominated
dominated by fluid
fluid
inertia
inertia effects.
effects. The
The analysis
analysis covers
covers the
the spectrum
spectrum of journal center
of journal center
displacements
displacements directed towards
towards the
the middle
middle of
of aa recess
recess and
and towards
towards the
the mid-land
portion between 2 consecutive
consecutive recesses.
recesses. Predicted dynamic
dynamic force
force coefficients
coefficients areare
uniform for
for small
small to
to moderate
moderate eccentricities.
eccentricities. For
For large journal center
large journal center
displacements,
displacements, fluid
fluid cavitation
cavitation and
and recess
recess position determine
determine large
large changes
changes inin
the
the bearing dynamic performance. The
dynamic performance. The effect
effect of
of fluid
fluid inertia
inertia force
force coefficients
coefficients
on
on the
the threshold
threshold speed
speed of
of instability
instability and
and whirl
whirl ratio
ratio of
of aa single
single mass
mass flexible
flexible
rotor
rotor is
is discussed.
discussed.
INTRODUCTION
INTRODUCTION
Hydrostatic
Hydrostatic and
and hybrid(combined
hybrid(combined hydrostatic
hydrostatic and
and hydrodynamic) journal
hydrodynamic) journal
bearings (HJBs)
bearings (HJBs) have
have recently
recently been the
the subject
subject of
of increased
increased attention
attention because
because of
of
their potential applications
their potential applications asas support
support elements
elements in
in cryogenic
cryogenic high
high speed
speed
turbomachinery.
turbomachinery. These
These bearings
bearings have
have been proposed because ofof their
their high radial
radial
stiffness,
stiffness, accuracy
accuracy of
of positioning and
and good vibration
vibration damping
damping characteristics.
characteristics.
Despite
Despite these
these attractive
attractive features,
features, the
the hydrodynamic
hydrodynamic action
action at
at high speeds
speeds may
bring the
the potential
potential of
of half
half speed
speed whirl
whirl instability.
instability. Thus,
Thus, it
it is
is of
of importance
importance
to
to determine
determine the
the limits
limits of
of safe
safe operation
operation for
for such
such bearing applications
applications
To
To provide the
the levels
levels of
of load
load support
support needed in
in high
high speed
speed machinery
operating
operating with cryogenic
cryogenic fluids
fluids requires
requires large
large external
external pressure
pressure supplies.
supplies.
These
These unique
unique operating
conditions give
give rise
rise to
to large
large film
film Reynolds
Reynolds numbers,
numbers, and
and
cause
cause the
the flow
flow within
within the
the bearing
bearing film
film to
to be highly turbulent
turbulent and
and strongly
strongly
dominated
dominated by fluid
fluid inertia
inertia effects
effects both at
at the
the recess
recess edges
edges and
and in
in the
the thin
thin film
film
land
land regions.
regions. Conventional
Conventional analytical
analytical treatments
treatments are
are confined
confined to
to the
the numerical
numerical
solution
solution of
of the
the Reynolds
Reynolds equation
equation for
for turbulent
turbulent flow,
flow, and
and thus,
thus, can
can not
not
interpret
interpret correctly
correctly the
the actual
actual complex
complex phenomena
phenomena occuring
occuring in
in HJBs.
HJBs.
*The present research

research effort
e f f o r t has been sponsored by Rocketdyne, by the NASA
NASA
Center for
for Space Technology, and by the State of
of Texas Advanced Technology
Program.
443
NOMENCLATURE
NOMENCLATURE
b Recess circumferential
Recess circumferential length
length [m].
[m].
cc radial clearance
radial clearance lm]
[m]
Cxx'C x '~C~x'C~~ damping coefficients [Ns/m]
Cd Orifice discharge
Orifice discharge coefficient
coefficient
D . Bearing diameter
22 RR • Bearing diameter [m].
[m].
0
Orifice diameter
Orifice diameter [m]
[rn]
Fx' Fy Fluid film forces in X and Y directions [N].

5x105 1/2.65
f J ==0.001375[,+[J-]
J
0.001375 ]
Turbulent
surface friction
Turbulent
surface
friction factor
factor at
at journal
journal
fB=0.00137!5
fB I [,, [
::: 0.001375 +
5x105 1/2.65
]
Turbulent friction
Turbulent
surface
surface
friction factor
factor at
at bearing
bearing
hh Hlc l+cxcose++ €ysine

H/c :::= 1+€xcos9 E sine Dimensionless film
Dimensionless film thickness.
thickness.
Y
Hrr Recess depth
Recess depth [m].
[m].
1Il Inertia coefficients

Inertia coefficients for
for stability
stability analysis.
analysis.
1 ,1 2 ,1 4
,I2,I4
Kxx'K x '~K ~ '%Y

KXX,KXy,KyX,Kyy x Stiffness coefficients
Stiffness coefficients [N/m]
[N/m]
KK Equivalent bearing
Equivalent bearing stiffness
coefficient [N/m).
[N/m].
eq
e¶
Kr Half of
Half of rotor
rotor stiffness
stiffness [N/m).
[N/m].
kx? (1/2)(k +kg) dimensionless

(1/2)(k.1+ka) dimensionless shear
shear parameters
parameters in
in
circumgerential and axial directions
circumferential and axial directions
fJRJr fBRB. Turbulent shear parameters at journal and
k~' fJR J ! fBRsurfaces.
bearlng B• Turbulent shear parameters at journal and
bearlng surfaces.
LL Bearing axial
Bearing axial width
width [m].
[m].
11 Recess axial
Recess axial length
length [m).
[m].
NNrec Number of
Number of recesses
recesses on
on bearing.
bearing.
rec
MXX,MXy,Myx,Myy
MXX9MXy~MyX~Myy Inertia or
Inertia or added
added mass
mass coefficients
coefficients [Kg].
[Kg].
Mr Half of
Half of rotor
rotor mass
mass [Kg1.
[Kg].
2
P Fluid pressure
Fluid [N/m2 ].1.
pressure [N/m
444
P
s
External
External supply [N/m2 ].
supply pressure [N/m 1.
Or fJ H
H (V.n) dr
drr.
r
. Recess
Recess flow
flow into
into film lands [m3/s]
film lands [m3/s]
Re p2cR/~
pPcR/u Nominal circumferential flow
Nominal circumferential flow Reynolds
Reynolds number.
number.
Re p pcc3 (P
p (Ps-Pa)/p
2
s -P a )/~ R Pressure
Pressure flow
flow Reynolds
Reynolds number.
number.
Re *p (Re p ) (c/R) Modified pressure flow
flow Reynolds
Reynolds number.
number.
P
RJ,RB (p/~)H[(U_QR)2+V2]1/2,
(p/u)~[ (u-p~)~+v~]~'~, (p/~)H[U2+V2]1/2.
(p/u)H[U 2+V2 1 1/2 .
Rey~olds numbers
Reynolds numbers at journal and
at journal bearing surfaces.
and bearing surfaces.
To Fluid film
film resistance
resistance torque
torque [Nm]
[Nm]
U,V mean flow
flow velocities
velocities in
in circumferential
circumferential and
and axial
axial dirs.
dirs.
Vr (H +H)A r +V s
(Hr+H)A,+Vs
r
Total
Total recess volume [m 3 ]]
recess volume .
Vs Volume
Volume of
of orifice
orifice supply
supply line [m3 ].
line [m I.
(X,Y} Inertial
Inertial coordinate
coordinate system.
system.
relative
relative effective
effective fluid
fluid inertia
inertia mass
mass at
at support.
support.
~
~ Fluid compressibility
compressibility factor [m2 /N].
factor [m
~, € (e ,e )/c.
(ex,e Dimensionless journal eccentricities
Dimensionless journal eccentricities
Y x yY in X & Y directions
in X 6 Y directions
22 22
A ~QR Ic
pQR /C (Ps-Pa).
(Ps-Pa). Rotational
Rotational speed parameter.
speed parameter.
, 00
s
12 • Whirl
s
Whirl frequency
frequency ratio.
ratio.
Whirl
Whirl frequency
frequency ratio
ratio without fluid
fluid inertia
inertia effects.
effects.
'0
00 Excitation
Excitation or
or whirling
whirling frequency
frequency [l/secJ
[l/secJ
00 Whirl
Whirl frequency
frequency at
at instability threshold [l/sec].
instability threshold [l/sec].
s
2 Rotational
Rotational speed
speed of journal [l/sJ
of journal [l/s]
2s Threshold
Threshold speed
speed of instability [lis].
of instability [l/s].
Redecliff
Redecliff and
and Vohr (1969), Heller
Heller (1974), and
and Deguerce
Deguerce et
et ale
al. (1975)
(1975) have
have
presented finite
finite difference
difference solutions
solutions to
to the
the turbulent
turbulent flow
flow Reynolds
Reynolds equation.
equation.
Reported numerical
numerical flow
flow rates
rates and hydrodynamic
hydrodynamic forces
forces are
are lower
lower than
than
experimental
experimental measurements
measurements but considered
considered satisfactory.
satisfactory. Artiles,
Artiles, Valowit,
Walowit, and
and
Shapiro
Shapiro (1982)
(1982) presented aa well
well documented
documented numerical
numerical method for
for prediction ofof
the
the static
static and dynamic performance characteristics
dynamic performance characteristics of
of turbulent
turbulent HJBs.
HJBs. The
The
analysis
analysis includes
includes the
the local
local effect
effect of
of fluid
fluid inertia
inertia at
at the
the recess
recess edges,
edges, but the
the
fluid
compressibility effect
effect at
at the
the recess
recess volumes
volumes is neglected. The
is neglected. The turbulence
turbulence
model
model employed
employed by Artiles
Artiles seems
seems to
to give
give inconsistant results in
inconsistant results the transition
in the transition
445
from
from pressure dominated flow
flow to pure shear
to pure shear flow
flow at
at high speed
speed operation.
operation.
The
The influence
influence of
of fluid
fluid inertia
inertia at
at the
the recess
recess edges
edges and
and hydrodynamic
hydrodynamic
pressure generation
pressure generation within
within the
the recess
recess for
for high
high rotational
rotational speeds
speeds have
have been shown
shown
and discussed
and discussed in
in detail
detail in
in the
the experimental
experimental work ofof Chaomleffel
Chaomleffel and Nicholas
and Nicholas
(1986).
(1986). The
The magnitude
magnitude of
of the
the measured
measured edge pressure drop
edge pr'essure drop appears
appears to
to be dependent
dependent
on
on the journal rotational
the journal rotational speed
speed and
and the
the recess
recess depth.
depth. Comparisons
Comparisons ofof the
the
experiments
experiments with predictions
predictions based onon aa finite
finite difference
difference solution
solution to
to the
the
turbulent
turbulent Reynolds
Reynolds equation
equation with fluid
fluid inertia
inertia effects
effects areare also
also included
included in
in the
the
same
same reference.
reference. The
The numerical
numerical calculations
calculations for
for load
load and
and flow
flow rate
rate were
were found
found to
to
be always
always greater
greater than
than the
the measurements,
measurements, and
and predicted edge pressure drops
edge pressure drops were
were
determined
determined toto be smaller
smaller than
than those
those observed.
observed.
SanAndres(1989a)
SanAndres(l989a) has
has developed
developed aa full
full inertial
inertial numerical
numerical analysis
analysis for
for
accurate prediction of
accurate prediction of the performance characteristics
the performance characteristics ofof orifice
orifice compensated
compensated
turbulent
turbulent HJBs.
HJBs. The
The analysis
analysis departs
departs from
from the
the mean flow Navier-Stokes equations
flow Navier-Stokes equations
and
and includes
includes the
the effect
effect of
of recess
recess volume
volume fluid
fluid compressibility.
compressibility. TheThe numerical
numerical
results
results presented by SanAndres
SanAndres (1989b)
(1989b) indicate
indicate that
that fluid
fluid inertia
inertia at
at the
the film
film
lands
lands acts
acts as
as an
an additional
additional flow
flow resistance,
resistance, and
and thus,
thus, causes
causes reduced
reduced flow
flow rates
rates
and
and greater
greater hydrodynamic
hydrodynamic effects
effects when
when compared
compared to
to an
an inertialess
inertialess solution.
solution.
Inertia
Inertia force
force coefficients
coefficients of
of large
large magnitude
magnitude in bearings handling
in bearings handling large
large density
fluids
fluids and
and with low
low values
values of
of the
the clearance
clearance ratio (c/R) are
ratio (c/R) are reported.
reported. The
The full
full
inertial
inertial analysis
analysis developed
developed by the
the author
author shows
shows aa considerable
considerable improvement
improvement over
over
conventional
conventional analyses
analyses based on
on the
the classical
classical Reynolds
Reynolds equation.
equation.
The present paper introduces
The present introduces further
further numerical predictions for
numerical predictions for a~ high
high speed
speed
HJB
HJB currently under testing.
currently under testing. The
The effect
effect of journal eccentricity
of journal eccentricity on
on the
the static
static
and
and dynamic performance of
dynamic performance of the
the sample
sample bearing are
are throughly
throughly detailed.
detailed. AA simple
simple
analysis
analysis to
to determine
determine the
the influence
influence of
of fluid
fluid inertia
inertia on the threshold
on the threshold speed
speed of
of
instability
instability for
for aa simple
simple flexible rotor supported
flexible rotor supported on bearings is
on hybrid bearings is
presented.
presented.
ANALYSIS
ANALYSIS
Figure
Figure 11 presents
presents the
the geometry ofof aa hydrostatic journal bearing.
hydrostatic journal bearing. Fluid
Fluid
passes across
passes across aa restrictor
restrictor orifice
orifice and
and aa recess
recess area
area of
of relatively
relatively large
large
clearance,
clearance, and then
then flows
flows through
through the
the film
film lands
lands to
to the
the bearing discharge.
discharge. The
The
performance
the bearing are
are governed
governed by momentum and
and
continuity
continuity considerations
considerations inin the
the fluid
fluid film
film lands
lands as
as well
well as
as flow
flow continuity
continuity
through
through the
the bearing recesses.
recesses. The
The former
former defines
defines the
the pressure
pressure and
and velocity
fields
fields over
over the
the bearing lands,
lands, whereas
whereas the
the latter
latter provides
provides values
values for
for the
the
pressure in
pressure in the
the recesses.
recesses.
San
San Andres
Andres (1989a)
(1989a) presented aa derivation
derivation of
of the
the appropriate
appropriate equations
equations for
for
fully
fully turbulent
turbulent flow
flow in
in hybrid bearings.
bearings. The
The analysis
analysis considers
considers the
the effect
effect of
of
fluid
fluid inertia
inertia (advection
(advection and
and temporal
temporal terms)
terms) at
at the
the film
film lands
lands and
and aa local
local
Bernoulli
Bernoulli type
type inertia
inertia effect
effect at
at the
the recess
recess edges.
edges. For
For an
an isoviscous
isoviscous
incompressible
incompressible fluid,
fluid, the
the continuity
continuity and momentum equations
equations for
for the
the turbulent
turbulent
bulk flow
flow on
on the
the film
film lands
lands are
are given
given as
as
446
aa aa aH
aH
(UH) ++ -- (VH)
-- (UH) (VH) ++ - == 00 (1)
ax
ax ay
aY at
at
-H
ap
ax
-
II
H x
RQ
- (k U-k - ) +
J 2
p C -
at
(HU) + -a (HU 2 ) + -(HUV)
ax
a
ay
} (2)
-H
-H
ap
--= ~-- kk
ap
w
ay
IJ
H
a YY
V ++
V pp r -
at
(HV)
aa
(HV) ++ -- (HUV)
ax
ax
a
(HW) ++ - (HV2)
ay
a~
} (3)
The
The turbulent
turbulent shear
shear parameters
parameters kkx and
and kk are
are taken
taken as
as local
local functions
functions of
of
the
the friction
friction factors
factors relative to the jo~rnal
relative toXthe joernal and
and bearing
bearing surfaces
surfaces (Hirs,
(Hirs, 1973,
1973,
Nelson, 1987).
Nelson, 1987).
The
The continuity
continuity equation
equation at
at the
the recess
recess isis defined
defined by
by the
the global
global balance
balance
between
between the
the flow
flow through
through the
the orifice
orifice restrictor,
restrictor, thethe recess
recess outflow
outflow into
into the
the
film
film lands,
lands, and
and the
the temporal
temporal change
change of
of fluid
fluid mass
mass in
in the
the recess
recess volume.
volume. The
The
recess
recess continuity
continuity equation
equation is
is then
then given
given by
by
]
112 = 0 + aV r + Vr ~ ap
r
(4)
r at at
where ~@ represents
where represents the
the fluid
factor at
at the
the recess
recess volume.
volume. The
The
recess outflow into the film lands, Or' is
recess outflow into the film lands, Qr, is determined
determined by
by
integration
integration of
of the
the mean
mean flow
flow velocity
velocity vector
vector along
along aa closed path rI' encompassing
closed path encompassing
r
the
the recess
recess boundary.
boundary.
For
For hybrid
hybrid operation
operation aa pressure
pressure riserise occurs
occurs within
within the
the downstream
downstream portion
portion
of
of the
the recess
recess (Chaomleffel
(Chaomleffel et
et al.,1985).
a1.,1985). This
This region
region is
is considered
considered as
as aa
one-dimensional
one-dimensional step
step bearing.
bearing. The
The local
local acceleration
acceleration of
of fluid
fluid from
from relatively
relatively
stagnant
stagnant conditions
conditions at
at the
the recess
recess to to aa high
high velocity
velocity at
at the
the film
film lands
lands causes
causes aa
sudden pressure
sudden pressure drop
drop at
at the
the recess
recess boundary.
boundary. The
The pressure
pressure at
at the
the entrance
entrance toto
the
the film
film lands
lands is
is modeled
modeled by
by simple
simple Bernoulli
Bernoulli type
type relations
relations based
based on
on the
the theory
theory
developed
developed byby Constantinescu
Constantinescu (1975).
(1975).
San Andres (1989a)
San Andres (1989a) presented
presented aa numerical
numerical procedure
procedure for
for effective
effective solution
solution
of
of the
the nonlinear
nonlinear governing
governing equations
equations (1)
(1) through
through (5).
(5). The
The numerical
numerical method
method is
is
based
based on
on the
the SIMPLEC
SIMPLEC algorithm
algorithm ofof Van Doormal &
Van Doormal & Raithby
Raithby (1984)
(1984) for
for iterative
iterative
solution
solution of the film
of the film land
land equations,
equations, and
and itit is
is combined
combined with
with aa Newton-RaphsQn
Newton-Raphson
algorithm
algorithm for
for estimation
estimation of of recess
recess pressures
pressures and
and satisfaction
satisfaction ofof the
the recess
recess flow
flow
constraints.
constraints. The
The flow
flow field
field isis divided
divided into
into aa zero-th
zero-th and
and first
first order
order fields
fields
describing
describing the
the equilibrium
equilibrium condition
condition and
and perturbed
perturbed dynamic
dynamic motion,
motion, respectively.
respectively.
Solution
Solution of
of the
the zero-th
zero-th order
order field
field gives
gives the
the steady
steady state
state bearing
bearing
characteristics
characteristics such as flow, load and friction torque. The first
such as flow, load and friction torque. The first order
order field
field
determines
determines the
the dynamic
dynamic force
force coefficients
coefficients forfor the
the excitation
frequency of
of
interest.
interest.
447
RESULTS
RESULTS
A
A Hydrostatic-Hybrid Bearing Test
Test program is under development
is under development at
at Texas
Texas
A&M University.
University. The purpose of
The purpose of the
the program is
is to
to develop
develop an
an experimental
experimental data
data
base and
base and analytical
analytical capabilities
capabilities for
for turbulent
turbulent flow
flow hydrostatic bearings. The
hydrostatic bearings. The
objectives
objectives of
of the
the program are
are to
to design
design and
and build aa test
test apparatus,
apparatus,
systematically
systematically test
test the bearings, and develop
the bearings, develop an
an analysis
analysis to
to predict the
the bearing
characteristics
characteristics and
and anchor
anchor it
it to
to the
the test
test data.
data.
The
The hydrostatic
hydrostatic bearing test
test apparatus
apparatus has
has been designed
designed and
and is
is currently
currently
under preliminary testing.
under testing. Table
Table 1 presents
presents aa description
description of
of the
the S recess test
5 recess test
hydrostatic bearing
hydrostatic bearing considered asas aa test
test case.
case. The
The working fluid
fluid is hot water at
is hot at
aa temperature
temperature ofof 71.1C(160F),
71.1C(160F), and the
the maximum rated
rated inlet
inlet supply
supply fluid pressure
fluid pressure
is
is 7.23 MPa(10S0 psi). The
MPa(1050 psi). The rotor
rotor speed
speed ranges
ranges from
from 00 to
to 500Hz(30000
500Hz(30000 rpm), and
the
the bearing and journal surfaces
and journal surfaces are
are considered
considered perfectly smooth.
smooth. For
For the
the
conditions
conditions shown
shown in
in Table
Table 1,1, the flow
flow within the
the bearing is turbulent
is highly turbulent
with dominance
dominance of hydrodynamic effects
of hydrodynamic effects at the hig~est
at the higkest rotational
rotational speed.
speed. The
The
large
large value
value of
of the
the modified Reynolds
Reynolds number,
number, Re , shows that
Re ,shows that fluid
fluid inertia
inertia at
at
film
film lands
lands will
will have
have aa considerable
considerable influence
influence onPthe
onPthe test
test bearing static
static and
and
dynamic performance characteristics.
dynamic performance characteristics.
The
The orifices
orifices of
of the
the test
test bearing
bearing have
have been sized
sized for
for aa concentric
concentric pressure
ratio
ratio equal
equal to
to O.S
0.5 at
at the
the maximum operating
operating speed
speed of
of 30000
30000 rpm.
rpm. This
This condition
condition
implies
implies that
that the pressure drop
the predicted pressure between the
drop between the supply
supply and recess pressures
recess pressures
is
is equal
equal to
to the pressure drop
the pressure drop between the
the recess
recess and
and the
the outside
outside of
of the bearing.
the bearing.
The
The selected
selected concentric pressure ratio
concentric pressure ratio is not necessarily
is not necessarily an
an optimum for the
for the
~resent bearing configuration
p-resent configuration but was
was chosen
chosen on
on the
the grounds
grounds ofof common
common practice
for establishing bearing
fores'tablishing bearing stiffnesses
stiffnesses which are not
whichare not too
too far
far from
from optimum.
optimum. For
For an
an
orifice
orifice discharge
discharge coefficient
coefficient equal
equal to
to one,
one, the present full
the present full inertial
inertial analysis
analysis
predicted anan orifice
orifice diameter
diameter equal
equal to
to 1.496mm.
1.496mm.
A complete analysis
A complete analysis has
has been carried
carried out
out to
to determine
determine the
the effects
effects of
of
journal center
journal center eccentricity on on the
the static
static and
and dynamic
dynamic performance
performance
characteristics
the test
test bearing
bearing atat 30000
30000 rpm
rpm and
and an
an external
external supply
supply pressure
pressure
equal
equal to
to 6.S4
6.54 Mpa(9S0psi).
Mpa(950psi). The journal center
The journal center displacements
displacements ranged
ranged from
from the
the
concentric position to
concentric position to eccentricity
eccentricity radii
radii equal
equal to
to 90%
90% of
of the
the film
film clearance
clearance inin
the
the directions
directions toward
toward the
the middle
middle of
of aa recess
recess and
and toward the
the mid-point
mid-point in
in the
the
lands between two
lands between two consecutive
recesses. Figure
Figure 2 shows
shows the
the predicted bearing
flow
flow rate
rate and
and the
the film
film friction
friction torque
torque for
for the
the range
range of journal displacements
of journal displacements
considered.
considered. The
The flow
flow rate
rate is
is aa maximum at
at the
the concentric
concentric position andand decreases
decreases
as
as the
the eccentricity
eccentricity increases.
increases. The
The friction
friction torque
torque is
is aa minimum at
at the
the centered
centered
position and
position and increases
increases rapidly
rapidly as
as the journal center
the journal center displacement
displacement approaches
approaches the
the
bearing clearance.
clearance. The
The increment
increment in
in torque
torque and
and reduction
reduction inin flow
flow rate
rate are
are due
due to
to
increased
increased flow
flow resistance
resistance for
for growing
growing eccentricities.
eccentricities. The
The results
results show
show the
the flow
flow
and the
and the torque
torque to
to appear
appear closely
closely as
as even
even functions
functions ofof the
the eccentricity.
eccentricity. Tne
The
maximum reduction
reduction inin flow
flow rate
rate at
at the
the largest
largest eccentricity
eccentricity considered,
considered,
(e/c)=0.9, is approximately
(e/c)=0.9, is approximately equal
equal toto 22% of
of the
the flow
flow at
at the
the centered position,
centered position,
while
while the
the increment
increment inin torque
torque is
is about
about 30%.
Figure
Figure 3 shows
shows the
the calculated recess pressures for
recess pressures for different
different values
values ofof the
the
static journal eccentricity.
static journal Negative eccentricities,
eccentricity. Negative eccentricities, € , denote
den0te journal
journal
&x'
displacements
displacements toto the
the midland between
between recesses
recesses 11 and 55 l3cated
located at 36' 0 and
at 36 and 324 0
324O,,
respectively.
respectively. Positive eccentricities E€ ,, denote
Positive eccentricities journal displacements
denote journal displacements toward
toward
the
the middle ofof recess
recess 3 located
located at 180'. 6 . Pigure
at 180 figure 44 shows
shows the
the entire pressure field
entire pressure field
448
over
over the journal surface
the journal surface for
for selected
selected values
values of
of the journal center
the journal displ~cement.
center displacement.
At the
the concentric
concentric position the
the recess pressures are
recess pressures are identical
identical and the
the bearing
has
has null
null load capacity.
capacity. The pressure field
The pressure field for
for null
null eccentricity
eccentricity is
is depicted
depicted in
in
Figure
Figure 4(c).
4(c).
For
For displacements
displacements toward
toward the
the middle
middle of
of aa recess,
recess, Figure
Figure 3 shows
shows that
that
maximum recess pressures are
recess pressures are attained
attained atat recesses
recesses 2 and 3 located
located
in
in the
the converging
converging portion of of the
the film
film thickness.
thickness. The
The large pressures attained at
large pressures at
the
the second
second recess
recess are
are caused
caused by the
the effect
effect of journal rotation
of journal rotation and will
will generate
generate
aa substantial
substantial film
film force
force normal
normal to
to the journal displacement.
the journal displacement. For
For eccentricity
eccentricity
radii
radii larger
larger than
than 0.5,
0.5, cavitation
cavitation was
was found
found to
to appear
appear in
in the
the land
land region
region around
around
recess
recess 44 where
where the
the film
film thicknesses
thicknesses is is diverging.
diverging. Figures
Figures 4(d)
4(d) and 4(f)
4(f) show
show the
the
prsssure field
pressure field for
for eccentricities
eccentricities ex€ equal
equal to
to 0.4
0.4 and 0.7,
0.7, respectively;
respectively; note
note
that
that for
for large
large journal displacement~ there
journal displacements there is
is aa significant
significant hydrodynamic
hydrodynamic effect
effect
between recesses
between recesses 2 and 3.
3.
For
For displacements
toward the
the midland between recesses
recesses 1 and 5,5, Figure
Figure 33
shows that
shows that maximum recess pressures are
recess pressures are located
located at
at recess
recess 5 in
in the
the convergent
convergent
portion of
portion of the
the film
film thickness
thickness while
while low
low recess pressures are
recess pressures are attained
attained at
at
recesses
recesses 2 and 3 in in the
the divergent
divergent film
film thickness
thickness region.
region. Fluid
Fluid cavitation
cavitation isis
predicted toto occur
occur for
for eccentricities
eccentricities larger
larger than
than 0.6.
0.6. Figures
Figures 4(a)
4(a) and 4(b)
4(b)
show
show the pressure field
the pressure field for
for eccentricities
eccentricities ex€ equal
equal to
to -0.7 and -0.4,
-0.4,
respectively. Note from
respectively. Note from Figure
Figure 3 that for la~ge
that for journal displacements
large journal displacements toward
toward the
the
land between the
land between the recesses,
recesses, the pressure at
the pressure at recess
recess 55 exceeds
exceeds the
the supply pressure
supply pressure
indicating
indicating that
that there
there is
is backflow through
through the
the orifice.
orifice. These
These results
results are
are to
to be
taken
taken with caution,
caution, since
since the
the analysis presumes the
analysis presumes the flow-orifice
flow-orifice relation
relation to
to be
~alid for
valid for any
any flow
flow direction.
direction. However,
However, experimental
experimental evidence
evidence presented by
Redecliff
Redecliff and Vohr (1969)
(1969) shows
shows that, for high eccentricity
that,for eccentricity operation,
operation, recess
recess
pressures larger
pressures larger than
than the
the external
external supply pressure are
supply pressure are indeed possible.
possible.
Figure
Figure 5 shows
shows the
the predicted film
film forces, -Fx and F ,, parallel
forces, -F parallel and normal
normal
to
to the
the static journal displacement,
static journal displacement, respectively.xFor
respectively. For thgth~ journal
journal speed
speed
considered,
considered, 500
500 Hz(30000
Hz(30000 rpm), the
the hydrodynamic
effects are
are dominant
dominant and
determine
determine aa normal
normal force
force F larger
larger than
than the
the hydrostatic
hydrostatic force
force F
Fx.• The
The angle
angle
between the
between the resultant loadY and the
resultant 10adYand the eccentricity
eccentricity vector is is equalXto 56' 0 and
equal to 56
remains
remains relatively
relatively constant
constant for
for the
the entire
entire range
range of
of eccentricity
eccentricity radii
radii
considered.
considered. For
For small
small to
to moderate
moderate eccentricities,
eccentricities, the
the film
film forces
forces are
are linear
linear
with the
the static
static displacement
displacement and will
will determine
determine constant
constant stiffness
stiffness coefficients.
coefficients.
For
For large
large static
static displacements
toward the
the middle
middle ofof aa recess,
recess, the
the curvature
curvature ofof
the
the film
film forces
forces is
is upward due
due to
to fluid
fluid cavitation.
cavitation. However,
However, for
for displacements
displacements
toward
toward the
the mid-land,
mid-land, the
the film
film forces
forces curvature
curvature is
is first
first inward
inward reducing
reducing thethe film
film
forces
forces and then,
then, outwards
outwards increasing
increasing the
the forces.
forces. This
This seemingly
seemingly strange
strange effect
effect
is
is explained
explained in
in terms
terms of
of the
the pressure
pressure field
field not
not being able
able to
to develop
develop
substantially
substantially inin the
the convergent portion of
convergent portion of the
the film
film thickness
thickness due
due to
to the
the
presence of
presence of recess
recess 5,
5, and thus
thus pushing water
water back-flow through
through the
the orifice.
orifice.
Figures
Figures 66 through
through 88 show
show the
the calculated
calculated synchronous
synchronous stiffness,
stiffness, damping,
damping, and
and
inertia
inertia coefficients for the hydrostatic bearing operating at 30000 rpm.
coefficients for the hydrostatic bearing operating at 30000 rpm. The
The
rotordynamic
coefficients are
are uniform for
for small
small to
to moderate journal eccentricity
moderate journal eccentricity
radii. The
radii. The cross-coupled stiffness
stiffness coefficients shown in Figure 66 are
coefficients shown in Figure are
substantially
substantially larger
larger than
than the
the direct
direct coefficients
coefficients and demonstrate
demonstrate the
the dominance
dominance
of
of hydrodynamic
effects on
on the
the bearing dynamic performance. For
dynamic performance. For large
large static
static
journal displacements,
journal displacements, the
the bearing direct
direct stiffness
stiffness (K(Kxx)) increases
increases dramatically
dramatically
due
due mainly toto the
the effect
effect of
of fluid
fluid film
film cavitation. Figfi~es 77 and 88 show
cavitation. Figures show the
the
449
direct
direct damping
damping and
and inertia coefficients to
inertia coeffici~nts to be
be one
one order
order ofof magnitl1n~ larger than
magnitude larg~r than
the
the cross
cross coupled
coupled damping
damping and
and inertia
inertia coefficients.
coefficients. TheThe magnitude
magnitude of of the
the direct
direct
inertia coefficients isis large
large due
due to
to the
the large
large density
density of
of the
the fluid
fluid and
and the
the low
low
clearance
clearance to
to bearing
bearing radius
radius ratio.
ratio. At
At the
the concentric
concentric position,
position, the
the direct
direct
inertia coefficient
inertia coefficient isis equal
equal to
to 17.9 Kg
Kg and
and determines
determines for
for synchronous
synchronous
excitation at
excitation at 502
50 Hz(30000 rpm)
9 ( This result
Hz 30000 rpm) a
a reduction
reduction of
of almost
almost 88.3% in
in the
the dynamic
dynamic
stiffness
stiffness (K -00 M ). This
(Kxx-uM X
result proves
proves that
that fluid
fluid inertia
inertia is
is of
of utmost
utmost
importance iRXthe
importance in the a9namic
Bynamic performance of
performance of hydrostatic
hydrostatic bearings
bearings handling
handling fluids
fluids of
of
large density.
large density.
The
The calculated
calculated rotordynamic
coefficients for
for an
an excitation
frequency equal
equal
to
to the
the rotating
rotating speed
speed are
are not
not affected
affected by the
the compressibility
compressibility of
of the
the fluid
fluid at
at
the
the recess
recess volume
volume due
due to
to the
the low
low recess
recess depth
depth to
to clearance
clearance ratio
ratio of
of the
the designed
designed
test
test bearing.
bearing. However,
However, for
for supersynchronous
supersynchronous excitations
excitations well
well above
above the
the rated
rated
journal rotational
journal rotational speed,
speed, compressibility
compressibility effects
effects become
become important
important and
and may cause
cause
significant
significant losses
losses in
in damping
damping and
and increased
increased values
values of
of direct
direct stiffness.
stiffness.
The
The results
results obtained
obtained for
for the
the test
test bearing
bearing dynamic
coefficients prompted the
the
question of
question of the
the test
test rotor-bearing
rotor-bearing stability
stability characteristics.
characteristics. Appendix
Appendix AA
presents
presents the
the criteria
criteria derived
derived for
for the
the threshold
threshold speed
speed of
of instability
instability and
and whirl
whirl
frequency
frequency ratio
ratio of
of aa simple
simple flexible
flexible rotor
rotor supported
supported on
on identical
identical bearings
bearings and
and
includes the
includes the effect
effect ofof the
the inertia
inertia force
force coefficients.
coefficients. This
This effect
effect is
is
significant
significant in
in the
the present
present application.
application.
Figure
Figure 9 presents
presents the
the calculated
calculated whirl
whirl frequency
frequency ratio ( + ) versus
ratio (~) versus the
the
journal eccentricity for
journal for the
the rotor-bearing
system studied.
studied. The
The calculated
calculated
r~sults show
results show that
that the
the whirl
whirl ratio
ratio is
is independent
independent ofof the
the rotor
rotor flexibility
flexibility and
equal
equal to
to 0.492 for
for small
small to
to moderate
moderate static journal center
static journal center displacements.
displacements. For For
the
the largest positive eccentricities
largest positive eccentricities (journal
(journal displacement
displacement towards
towards thethe middle
middle ofof
aa recess), the
the whirl
whirl ratio
ratio drops
drops sharply
sharply toto aa value equal
equal to
to 0.36.
0.36. However,
However, for
for
large
large displacements
toward the
the middle
middle of
of aa land
land (negative eccentricity EX)
(negative eccentricity € ) the
the
whirl
whirl ratio
ratio increases
increases well
well above
above 0.5.
0.5. This
This abnormal
abnormal effect
effect is
is due
due to
to theXloss
the loss inin
direct
direct stiffness
stiffness and the
the inability
inability ofof the
the bearing toto attain
attain high pressures at
high pressures at
the
the film
film lands
lands due
due to
to orifice backflow. The
orifice backflow. The results
results presented clearly
clearly show
show that
that
the
the dynamic
the test
test hybrid bearing areare no better than
no better than for
for aa
journal bearing.
plain journal bearing.
Figure 10 presents the

Figure the threshold
threshold speed of instability
instability for
for the
the test
test
rotor-bearing system.
rotor-bearing system. The
The rotor
rotor mass
mass is
is equal
equal to
to 30.84 Kg and the
the shaft
shaft isis
considered as
considered as rigid.
rigid. The
The figure
figure includes
includes the
the predicted onset
onset speed 51Q if
if fluid
fluid
inertia effects
inertia effects are
are neglected.
neglected. A A net
net reduction
reduction in
in critical
critical speed ~lmostt 25%
speed of glmos
is observed
is observed to
to occur due
due to
to the
the large
large influence
influence of the
the inertia
inertia force
force
coefficients on the
coefficients the stability
stability response
response of the
the test
test system.
system.
CONCLUSIONS
journal eccentricity on the

The effect of journal the static
static and dynamic performance
performance
lubricated, 5-recess
of a water lubricated, 5-recess hybrid bearing is
is presented in detail.
detail. The
has been designed
hydrostatic bearing has designed to operate
operate at a speed of 30Krpm and a
large level
large level of external
external pressurization(6.64MPa).
pressurization(6.64MPa). These
These operating conditions
conditions
determine the
determine the flow
flow in the
the bearing to be highly turbulent
turbulent and strongly dominated
dominated
fluid inertia
by fluid inertia effects.
effects.
450
The
The numerical predictions are
numerical predictions are based on
on the
the full
full turbulence-inertial
turbulence-inertial
analysis
analysis of
of SanAndres(1989a).
SanAndres(l989a). The
The analysis
analysis covers
covers the
the spectrum
spectrum of journal
of journal
center
center displacements
displacements directed
directed towards
towards the middle of
the middle of aa recess
recess and towards
towards the
the
mid-land portion between 22 consecutive
recesses. Bearing
Bearing flow
flow rate
rate decreases
decreases
and friction
friction torque
torque increases
increases as
as the
the eccentricity
eccentricity increases.
increases. Film forces
forces are
are
linear
linear with the
the eccentricity
eccentricity for
for small
small to
to moderate
moderate static journal center
static journal center
displacements.
displacements. For
For large
large eccentricities,
eccentricities, film
film forces
forces are
are affected
affected by fluid
fluid
cavitation
cavitation and present some unusual features.
some unusual features. For
For large
large static
static displacements
displacements
towards the
towards the mid-land it
it is
is observed that back flow
observed that through the
flow through the orifices
orifices occurs.
occurs.
This unexpected behavior
This unexpected behavior degrades
degrades considerably the static
considerably the static as well as
as well the dynamic
as the dynamic
performance of
performance the bearing.
of the bearing.
The
The dynamic
dynamic force
force coefficients
coefficients for the test
for the test bearing are to be
are predicted to
constant
constant for
for small
small to
to moderate values
values of the journal
of the journal eccentricity.
eccentricity. However,
However, for
for
large
large static
static displacements toward the
displacements toward the mid-land it
it is
is observed
observed that
that the
the ~irect
direct
force
force coefficients
coefficients are
are substantially reduced. Direct
substantially reduced. Direct inertia
inertia force
force coefficients
coefficients
of
of substantial magnitude are
substantial magnitude are predicted in the present application.
in the application. The
The levels
levels
obtained
obtained are
are aa direct
direct consequence
consequence of
of the
the large
large density of the fluid
of the fluid considered.
considered.
Hydrostatic bearings operating
Hydrostatic bearings operating in
in hybrid mode at high rotational
at high rotational speeds
speeds
present similar
similar stability
characteristics as journal bearings.
as plain journal bearings. For
For aa
single mass flexible
single mass rotor supported
flexible rotor supported on
on HJBs,
HJBs, the
the threshold
threshold speed
speed of
of instability
instability
is
is reduced
reduced by the
the rotor
rotor flexibility
flexibility and the
the fluid
fluid inertia
inertia effect.
effect. The
The
cross-coupled
cross-coupled inertia
coefficients are
are shown
shown to
to degrade
degrade the
the stability
stability response
response
of
of the bearing by reducing
the bearing reducing the
the whirl
whirl frequency
frequency ratio.
ratio.
APPENDIX
APPENDIX AA
Linear
Linear Stability
Stability Analysis
Analysis
Criteria
Criteria for
for the
the threshold
threshold speed
speed of
of instability
instability and whirl
whirl frequency
frequency
ratio
ratio of
of simple
simple rotor-bearing
systems are
are well
well known
known in
in the
the literature
literature (Lund,
(Lund,
1965,
1965, Chen
Chen et
et al.,
al., 1985).
1985). These
These analyses
analyses usually consider
consider aa rigid
rigid oror flexible,
flexible,
single
single mass
mass rotor
rotor supported
supported in bearings which possess
in bearings possess stiffness
stiffness and damping
damping
characteristics.
characteristics. The
The influence
influence of
of inertia
inertia force
force coefficients
coefficients in
in the
the stability
stability of
of
these
these rotor-bearing
systems has
has not
not been accounted
accounted due presumably to
due presumably to the
the
general
general assumption
assumption that
that these
these coefficients
coefficients are
are negligible
negligible in
in most circumstances.
circumstances.
However,
However, the
the calculated
calculated inertia
inertia force
force coefficients
coefficients for
for the
the present application
application
are
are rather
rather large
large compared
compared to
to the
the mass
mass of
of the
the test
test rotor,
rotor, and thus,
thus, their
their effect
effect
on
on the
the stability
stability of
of the
the system
system is
is regarded
regarded as
as important.
important.
Consider
Consider aa single
single rotor
rotor of
of mass
mass 2M supported
supported on
on aa pair ofof identical
identical
bearings by aa massless
bearings massless shaft
shaft of stiffness 2K . Instability
of stiffness SK,. Instability sets
sets in
in at
at aa
rotational
rotational speed
speed Q% when the journal
when the journal starts ~ forward
starts a precessional motion at
forward precessional a t the
the
whirl
whirl frequency
frequency 00 + %.. From the
ws s== , Q the solution
solution of
of the
the homogeneous
homogeneous system
system ofof
equations
equations for
for theSmotionsof
the motion of thethe rotor
rotor and bearing supports,
supports, it it is
is determined
determined
that the whirl
that the whirl speed
speed 00w and the
the whirl
whirl frequency
frequency ratio
ratio ,(p are
are easily obtained
obtained from
from
the
the following
following quartic ~quations:
quartic gquations:
4~
and
and
Mr
-
Kr
ex. ro
1 S
4
- [ 1+"1
<e 1r
q
ro
s
K
2 + ~= 0
M
r
(A.1)
414 14 + 412 ( 12 - 1) + 41 2 0 (A.2)

0
(M +M )-21 1
where
where ex. xx II
1
2M r
K C +C K -C K -C K
Keq xx l'i.. xx II lX xl Xl lX
Cxx+Cyy
C M +C M
lX xl X'i.. 'i..X (A.3)
11
Cxx + Cyy
K M +K M -I (K +K )+2K I
x'i.. lX lX x'i.. 1 xx 'i..'i.. eg 1
12
Cxx Cyy -Cxy Cyx
I 2_M M
I4 = QSls
2 r1l L -xl
2 ~ MlX
XY YX
14 = s
CCxxCC --CC CC
xx yy
YY xy XY yx YX
'1 (K -K )(K -K )-K K
and
and 41 ~= eg xx eg 'i..'i.. x'i.. 'i..x (A.4)
0
Qs2 (CxxCyy-CxyCyx)
If
If fluid
fluid inertia
inertia effects
effects are
are eliminated,
eliminated, then
then the
the coefficients a.,II ,
coefficients ex.,
II and I4 are
and 14 are equal
equal toto zero,
zero, and
and the
the stability
stability formulae
formulae derived
derived are
are identical
idenficai'toto
tae
t8e criteria
criteria presented
presented byby Lund
Lund (1965)
(1965) and
and Chen(1985).
Chen(1985). From
From equation
equation (A.1)
(A.l) it
it is
is
determined
determined that
that the
the fundamental
fundamental effect
effect of
of fluid
fluid inertia
inertia isis to
to reduce
reduce the
the
threshold
threshold speed
speed of
of instability
instability ifif the
the ratio
ratio of
of masses ai is
masses ex.
1
is large.
large.
For operation
For operation at
at the concentric position
t h e conc~ntric posjtjnn (E
( e =E O ) , the
= F , ==0), t h e rlirect
direct rlyn~mic
dynamic
coefficients
coefficients are
are identical
identical andand the cross-coupled co~fffcients
the cross-coupled cozfficients differ differ in
ill sign.
sign. At
At
this
this condition,
condition, the
the whirl
whirl frequency
frequency ratio
ratio is
is obtained
obtained fromfrom the the expression:
expression:
o n
412 Q 2 M + 41 Q C - K = 0 (A.5)
s xy s xx xy
where
where it
it is
is noted
noted that
that the
the whirl
whirl ratio
ratio is
is reduced
reduced if
if the
the cross-coupled
cross-coupled inertia
inertia
coefficient
coefficient Mxy
Mxy is
is negative.
negative.
452
REFERENCES
Artiles,
Artiles, A.,
A., Walowit J.,
J., and W.
W. Shapiro,
Shapiro, 1982,
1982, "Analysis
"Analysis of
of Hybrid Fluid
Fluid
Film Journal
Journal Bearings
Bearings with Turbulence
Turbulence and Inertial
Inertial Effects,"
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Advances in
in
Computer
Computer Aided Bearing Design,
Design, ASME Publication
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G00220, pp. 25-52.
Chaomleffel
Chaomleffel J.P. and D. Nicholas, 1986,
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of
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Journal Bearings,"
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19, No 5,
5,
pp.253-259.
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Y.S., H.Y. Wu,
Wu, and P.L.
P.L. Xie,
Xie, 1985,
1985, "Stability
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of M"ultirecess
Nultirecess Hybrid
Operating Oil
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Journal Bearings,"
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Tribology, Vol.
Vol. 107, pp.
107, pp.
116-121.
116-121.
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S. Galetuse,
Galetuse, 1975,
1975, "Pressure
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Drop Due
Due to
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Forces
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Bearings," ASME Paper
Paper 75-Lub-34.
75-Lub-34.
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Deguerce B., and D. Nicholas, 1975,
D. Nicholas, 1975, "Turbulent
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Externally Pressurized
Pressurized
Bearings -- Analytical
Bearings Analytical and Experimental
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Results," Conference
Conference on
on Hybrid
Bearings,
Bearings, Proc.
Proc. Instn.
Instn. Mech.
Mech. Engnrs.,
Engnrs., paper XII(ii), pp. 228-233.
XII(ii), pp. 228-233.
Heller,
Heller, S.,
S., 1974,"Static
1974,"Static and Dynamic
Dynamic Performance
Performance of
of Externally
Pressurized
Pressurized Fluid
Fluid Film Bearings
Bearings in
in the
the Turbulent
Turbulent Regime,"
Regime," ASME Journal
Journal of
of
Lubrication
Hirs
Hirs G.G.,
G.G., 1973,
1973, "A
"A Bulk Flow
Flow Theory
Theory for
for Turbulence
Turbulence in
in Lubricant
Lubricant Films,"
Films,"
ASME Journal
Journal of
of Lubrication
Lund, J.W.,
Lund, J.W., 1965,
1965, "The
"The Stability
Stability of
of an
an Elastic
Elastic Rotor
Rotor in
in Journal
Journal Bearings
Bearings
with Flexible,
Flexible, Damped
Damped Supports,"
Supports," ASME
ASME Journal
Journal of
of Applied Mechanics, pp.
Mechanics, pp.
9l1-920.
911-920.
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Nguyen, 1987,
1987, "Comparison
"Comparison of
of Hir's
Hir's equation
equation with
Moody's
Moody's equation
equation for
for Determining
Determining Rotordynamic
Coefficients of
of Annular
Pressure
Pressure Seals,"
Seals," ASME
ASME Journal
Journal of
of Lubrication
Lubrication Technology,
Technology, Vol.
Vol. 109, pp.
109, pp.
144-148.
144-148.
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Redecliff, J.M.
J.M. and J.H. Vohr,
Vohr, 1969,
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~ e c h n o l o ~pp.
~,
557-575.
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San Andres,
Andres, L.,
L., 1989a,
1989a, "Turb111ent Hyhrid Bearings
" T l i r h ~ i l e n t Hybrid B e a r i n g s wi th Fluid
with Fluid Inertia
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Effects,
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San Andres, L., 1989b,
Andres, L., 1989b, "Turbulent
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Part 2:
2: Results,"
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453
Recess
y
~--------~r--7
\orifice
and
Supply
line
x
Figure 1. Geometry of a Hydrostatic Journal Bearing and description of
coordinate systeas.
5 Rec ess Hydrosta tic Water Bearing

TAMU Experimental Program (1989)
Geom etry:
Diameter = 76.2mm(3.00 in)
llr:~
( ~,),
5
length = 76.2mm(3.00 in)
Recess Ixb = 27mm x 27mm
Cleorance
Cleoronce = 0.0762mm(0.003in)
0.0762mrn(0.003in)
Recess depth fir '" 0.457mm(0.0IBin) -'-t-a--/
Orifice diameter" 1.496mm
fluid: Water at 71.1 C(160n Pressure Supply:6.54MPo(950psi)

Viscosity, 3.9B[-4 Po sec
Density: 977 Kg/m3 Journol speed: 0 to 30000 rpm
Dimensionless Parumeters
Porurnelers
Reynolds Numbers: Rep=467000,Re--935.0 L/D= I, ,1i,L= .354, N· b/", D= .11 ~
Speed ParometerA: 0 10 0.04783 c/R=0.002, flr/c=6
Rolation Reynolds Number: 0 to 22360
Table 1.
1. Description of
of S·
5- recess
recess hydrostatic vater bearing under
developaent
development for
for TAMU Hybrid
Bybrid Bearing Research prograa
program (19B9)
(1989)
Beariac
Baariag aeoaetry
geometry and operatina
conditions.
454
68
.... oroue
55
::--.JeWT.on-mJ
8
S8
7
~s
c
E
" ~8
....u
~ 35
3
a
L..
38
-I -.8 -.6 -.2 .2 .~ .. .8
[ccentr,clty Radius
E c c e n t r i c i t y Radius (e/c)
Figure 2.
Figure Predicted flow
flow rate
rate and friction
friction torque
torque for
for test
test hydrostatic
vater bearinc
water bearing as
as aa function
function of
of static journal
journal eccentricity.
Pressure supply equal to
Pressure 6.54!lPa(950psi) and journal
to 6.54HPa(950psi) journal speed
to 5OO8z(30000
equal to SOOEz(30000 rpm). Orifice diameter equal to to 1.496 mm.
1.2
'"
U.
I
. j / d ~ e c2
"-'" YGl ,%-106.
.8 Rec 4
252' b
' /f;
"-'"I i
L
U.
r- \
& ~ o -e
.6
I
""
Rec
L
~
""
"
L
/;r,
q-\--- U- -
+
.4 Rec 3 /</
U.
&
.- /'-p. a
' ,\'\ Hcc 4
"'"
,CO.'
T
.I " Y.
"u 0- ' I'
a::"
.2
B
-I -.75 ".5 -.25 .25 .5 .75
C c c e n t r I C I t y RRadll~L
lccentrlclty ad IUL (e/c I
n
Figure
Figure 3.
3. Predicted dimensionless
Predicted dimensionless recess
recess pressure
pressure for
for test
test hydrostatic
hydrostatic
water ~Dearing
vater as aa function
e a r i n gas function of
of static
static journal
journal eccentricity.
eccentricity.
Pressure supply
Pressure supply equal
equal rto 6.54HPa(950psi) and
c 6.54MPa(950psP) and journal
journal speed
speed
equal to
equal to SOOEz(30000
5OO8z(30000 rpm).
rpm). Orifice
Orifice diameter
dia.eter equal
equal to
to 1.496
1.496 am.
••.
455
,®
~'
ex=-0.?0 ex=-0 .. 40
r"
,
I "
I;r~
I
-
1/
!Xi00 r ~ x e
. x-.7, ey-d
-
© ex=0.0
@
X
ey=0.0
?s=6.54MPa
Ps=6.54MPa
30060 rpm
30000 rpm
4
Figure 4.
Pressure fields
Pressure fields for
for selected
selected values
values of
of
journal static eccentricity. Circumferent
journal static eccentricity. Circumferential ial
coordinate and recess number designation
coordinate and recess number designation
increase from
increase from left
left to
to right.
right.
Orifice do=1.496mm
Orifice do=1.496~
456
=R8C ~.ter ~8, T-ISSr, ?~-P,-95Bast-~.S~MP.tna~tf-l.496m.
3aaaa
:ournai Sae.a 3BKram, c-e.B76mm-.aa3In, Mr-~.381
2aaaa
M
..
c:
a
~
laaaa
ii
Z
."
.
c:
"
t..
I
U
U
I-
o-Iaaaa
t..
e
-2aaaa
-3aaaa
-I -. a -. Ii -.i -.2 a .2 .i .; .a
Ecc."t~tctty (e /cl
Figure
Figure 5.
5. Film forces
forces parallel(-F ) and noraal(F
normal(F ) to journal static
to journal
displacements
displacements for
for test Hydrostatic wat~r bearing. Ps_6.54
fiydrostatic vatgr Ps-6.56 HPa,
HPa,
30000
30000 rpa,
rpm, orifice
orifice diaaeter-l.496
diameter-1.496 ma.
i.£+1
3.5£+1
~
e
3" 3.£+&
">-
:>i:
~ Z.51::+1
>-
"
:>i:
>- Z.I::+I
>-
:>i:
"" 1.51::+&
:>i:
""
c• 1.1:+1
...
~
.
Ul
5.1:+7
-.1 -.6 -.4 -.Z a .Z .1 .6 .S
Figure
Figure 6.
6. Predicted stiffness
coefficients for
for test hydrostatic
hydrostatic water
bearing versus journal static eccentricity.
versus journal eccentricity. Ps_6.54
Ps-6.54 HPa,
HPa, 30000
30000
rpa,
rpm, orifice diaaeter_l.496
diamter-1.496 aa.
mm.
457
388888
a7881111
~ 18888
x
u>- Cyy
" 188888
>-
)C
u
158888
>-
u
>-
.lll8088
"
u"
m !ilillillillil
c:
a.
~ 68888
Q
311888
iii
-I -.8 -.6 -.i -.a II .~ ... .G .S
Ex
Eccantrlclty Ex
Eccentricity
Figure 7.7. Predicted

Figure Predicted damping
coefficients forfor test
test hydrostatic
hydrostatic water
water
bearing versus
bearing versus journal
journal static
staticeccentricity.
eccentricity. Ps=6.S4
Psz6.54 MPa,
UPa, 30000
30000
rpm,orifice
rpM. orificediameter=1.496
diameterol.496 mm.
am.
211
Iii
'"
~
1:
">-
'">- 12
x
1:
;...
>-
1:
x B
1: "
. •
l-
-Mxy
•
....c:
iii
-I -.8 -.S -.~ -.2
" .l! .6 .8
Eccantrlclty Ex
Figure 8.8. Predicted

Figure Predicted inertia
inertia force
force coefficients
coefficients forfor test
test hydrostatic
hydrostatic
vater bearing
vater bearing versus
versus journal
journal static
static eccentricity.
eccentricity. PSa6.S4
Ps~6.54MPa,
npa,
36000 r~.
30000 rpm, orifice
orificediameter-l.496
diameter-1.496 mmm.
••
458
458
.7
.65
.6
~
0 .55
+'
'"
[l:
.5
.<:
3: .45
.4
.35
.3
.25
-I -.' -.6 -.4 -.2 .2 .4 .6 .s
Eccent.
E c c e n t...ricity
icity Ex
Ex
Figure 9.
Figure Whirl frequency
9. I1hir1 frequency ratio.
ratio forfor test
test rotor-hybrid
rotor-hybrid bearihg
bearing system
system +
versus journal
versus journal static
eccentricity.
11'11'1 *
Mr~2
Mr-2 xx 15.42
1 5 . 4 2 Kg
Kg I
I
I
sa II
UNSTABLE
UNSTRBLE I
6
no
n o flu1d
f l u i d inertia
lnertia I
H sa I
E
0..4- I
L 0
lJ ~ I
71'1 \
Ql \ I
Ql \
a.. I
\
(f) I
b with
w i t h fluid
f l u i d inertial
inertial
\\
.lJ sa o
\\
\
-
_ 8e-*
-0-
I LG.-&&?'
* -I L *
.e........o-. 0-0- 0
I
o \\ ,-0-0 I "o....()"
.s: \0 r
STABLE
'"
Ql
L sa
'-0' STABLE
.s:
I-
-1 -.8 -.6 -.1 -.2 iii .2 .1 .s .8
Eccentricity Ex
Figure
Figure 10.
10.Threshold
Threshold speedspeed ofof instability
instability 2Q for
for test
test rotor-hybrid
rotor-hybrid
bearine
b c e r i w syst .. VErsus
system versus journal
journal stitic
eccentricity.
459
459
NI\SJ\
N8hsl Aeronau\lca
National Aeronavticsand
and Report Documentation
Report DocumentationPage
Page
4- Admlnlstrah
1. Report
1. ReportNo.
No. 2. Govemment
2. GovernmentAccession
AccessionNo.
No. 3. Recipienfs
3. Redpient'sCatalog
CatalogNo.
No.
NASA CP-3122
NASA CP-3122
4. Title
4. Titleand
andSubtiUe
Subtitle 5. Report
5. ReportDate
Date
I RotordynamicInstability
Rotordynamic InstabilityProblems
Problemsin
inHigh-Performance
High-Performance 1 O c t o b e r 1991
October 1991
Turbomachinery- 1990
Turbomachinery-1990
PerformingOrganization
6. Performing
8. OrganizationCode
Code
553-13-00
553-13-00
7. Author(s)
7. Author($) 8. Performing
8. PerformingOrganization
OrganizationReport
ReportNo.
No.
E -5628
10. Work
10. WorkUnit
UnitNo.
No.
PerformingOrganization
9. Performing
9. Organization Name
Nameand
andAddress
Address
11. Contract
11. Contrador GrantNo.
orGrant NO.
National Aeronautics
National Aeronauticsand
and Space
SpaceAdministration
Administration
LewisResearch
Lewis Research Center
Center
Cleveland,Ohio
Cleveland, 44135 --3191
Ohio 44135 3191
13. Type
13. ofReport
Typeof Reportand
andPeriod
PeriodCovered
Covered
12. Sponsoring
12. SponsoringAgency
AgencyName
Nameand
andAddress
Address 1 ConferencePublication
Conference Publication I
15.
National Aeronautics
National Aeronauticsand
Washington,D.C.
Washington,
15. Supplementary
and Space
D.C. 20546
SupplementaryNotes
Notes
SpaceAdministration
20546--0001
0001
Administration
d14. Sponsoring
14.
I
SponsoringAgency
AgencyCode
Code
Theworkshop
The workshopwas
wassponsored
sponsoredby
by Texas
TexasA&M
A&MUniversity,
University,College
CollegeStation,
Station,Texas
Texas 77843-3123,
77843-3 123,and
and NASA
NASA Lewis
Lewis
ResearchCenter.
Research Center. The
Theworkshop
workshopwas
washeld
held atat Texas A&M University
TexasA&M Universityon
onMay
May 21-23,
21-23,1990.
1990.
Abstract
16. Abstract
18.
The ftrst
The firstrotordynamics
rotordynamicsworkshop
workshopproceedings
proceedings(NASA (NASA CP-2133,
CP-2133,1980) emphasizedaa feeling
1980) emphasized feeling of
of uncertainty
uncertaintyinin predict-
predict-
ingthe
ing thestability
stabilityofof characteristics
characteristicsof of high-performance
high-performanceturbomachinery.
turbomachinery.In Inthe
the second
secondworkshop
workshopproceedings
proceedings(NASA
(NASA
CP-2250, 1982)
CP-2250, 1982)these
theseuncertainties
uncertaintieswerewerereduced
reducedthrough
throughprograms
programsestablished
establishedtotosystematically
systematicallyresolve
resolve problems,
problems, with
with
emphasison
emphasis on experimental
experimentalvalidation
validationof of the
theforces
forcesthat
that influence
influencerotordynamics.
rotordynamics.In Inthe
the third
third proceedings
proceedings(NASA
(NASA
CP-2338,1984)
CP-2338, many programs
1984) many programsfor for predicting
predictingor ormeasuring
measuringforces
forcesand
andforce
forcecoefftcients
coefficientsin inhigh-performance turbo-
high-performanceturbo-
machinery produced
machinery producedresults.
results.Data
Data became
becameavailable
availableforfordesigning
designingnewnew machines
machineswithwith enhanced
enhancedstability
stabilitycharacteristics
characteristics
orfor
or forupgrading
upgradingexisting
existingmachines.
machines.In Inthe
thefourth
fourthproceedings
proceedings(NASA (NASACP-2443,
CP-2443,1986) there emerged
1986) there emergedtrend
trendtoward
toward aa
moreunifted
more unified view
view ofof rotordynamic
rotordynamicinstability
instabilityproblems
problems and and several
severalencouraging
encouragingnew new analytical
analyticaldevelopments.
developments.The Theftfth
fifth
workshop(NASA
workshop (NASACP-3026,
CP-3026,1989) supportedthe
1989) supported the continuing
continuingtrendtrend toward
toward aa unifted
unified view
viewwith
with several
several new
new developments
developments
in the
in the design
designand and manufacture
manufactureof of new
new turbomachineries
turbomachinerieswith with enhanced
enhancedstability
stabilitycharacteristics
characteristicsalong
alongwith
with new
new data
data and
and
associated numerical/theoreticalresults.
associatednumerical/theoretical results.The The present
presentworkshop
workshopcontinues
continuesto toreport
report fteld
fieldexperience
experienceandand experimental
experimental
results, and
results, and itit expands
expandsthe the use
use of
of computational
computationaland and control
control techniques
techniqueswithwith integration
integrationof of damper,
damper, bearing,
bearing, and
and
eccentricseal
eccentric sealoperation
operationresults.
results.The
The intent
intentofof the
theworkshop
workshop and and this
thisproceedings
proceedingsisis to
toprovide
provideaa continuing
continuingimpetus
impetusforfor
an understandingand
anunderstanding andresolution
resolutionof of these
theseproblems.
problems.
17. Key
17. KeyWords
Words(Suggested
(Suggestedby
byAuthor(s»
Author@)) 118. DistributionStatement
18. Distribution Statement I
I Instabilities;Rotordyamics;
Instabilities;
Seals;Bearings
Seals; Bearings
Rotordyamics;Turbomachinery;
Turbomachinery;
I Unclassified-- Unlimited
Unclassifted
SubjectCategory
Subject
Unlimited
Category 3737
19. Security
19. SecurityClassil.
Classif. (01
(ofthe
thereport)
report) 20. Security
20. SecurityClassil.
Classif.(of
(ofthis
thispage)
page) 21. No.
21. No.01
ofpages
pages 22.Price·
22. Price'
Unclassified
Unclassifted Unclassified
Unclassifted 460
460 A21
A2 1
NASAFORM
NASA FORM1828
1626 OCT
OCT86
86
'For sale
*For saleby
bythe
theNational
NationalTechnical
TechnicalInformation
InformationService,
Service,Springfield,
Springfield,Virginia 22161
Virginia 22161
NASA-Langley, 1991

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ppcr,l;::\i'l 1'\ HIG\..,l-P:::RFoq.r,·l ANC':: TURSONiAC!

FIELD TELEMETRY OF BLADE-ROTOR

STATIC AND DYNAMIC PRESSURE

SUPPRESSION OF SUBSYNCHRONOUS VIBRATION IN THE SSME HPFTP

Kx,Kz turbulence coefficients

L.1 = U.1- lL.1-1 + W.M.

I:' 'I' "1' '''I' "" ", " ". : I'

::Ii~i Iii' !1(~I!i il !!:1 ail I!! 1i!liW iii Hj1

il I;:: . '.:. :,1'~71

11 '1 :1' I" :, .. 'I II

'Iii ~ !!, :I(~I 'I':! 1,lr~~illlplll'ITM /1:li \:!

"I ,. I':,./ I'I' '''' :1';:

~::. I:: " ,~:

"II 'I'.,. 11~.

'I, I"I'I'Ii IIII''," f',I.

"II' ,I· ~lll' ·1, 111'1'/1 :,

( a) liP ro tor (b) IF. roto r (c) LP roto r

., I '- - -r - \ l l 1i l i r,,,y 'L ----.--

Calculation condition No. o~ bearings

Yasuhiko Otawara and

2 MODELING FOR ANALYSIS

3 COUPLED VIBRATION CALCULATION

3.1 Turbine Plant Description

3.2 Modal quantity calculation

Figure 3 Coupled Model of LP turbine

Uncoupled umbrella frequency

Table 3 Coupled umbrella frequency

3.4 Coupled frequency analysis of the rotor train

4 FIELD MEASUREMENT OF COUPLED

I.. ALP Rotor ·1 • Drive system --l

Figure 6 Mode configuration

4.2 Field test results

ROTOR SPEED (Hz)

[1] T., et al. :: Influence of High-speed

Okabe, A., et al. :: COUPLED VIBRATION ANALYSIS: TORSIONAL VIBRATION OF

The squeeze-film damper,

SFD response characteristics and non-linear jump phenomena have been

The operation of a SFD is is least beneficial when subharmonic resonances,

The explanation of such jump phenomena and subharmonic resonances

To create a realistic configuration a three-bearing rigid rotor assembly

The transient response of the rig,

The theoretical analysis assumed the following;

The rotor-bearing assembly was modelled as a dynamic system,

Software development provided waterfall diagrams and,and, with a frequency

2a 0.0,0.5 1.0 ROTOR

3a 1.0 1.0 ROTOR SFDl

The motion of the rotor in configuration la ia was 'well behaved9

At speeds higher than the minimum jump frequency,

The experimental results for

The effect of introducing a static eccentricity,

Experimental results revealed that the change in static misalignment

A statically centred SFD in configurations 1a

The present research has demonstrated the ability of a range of rotor-

Aero-engine rotor assemblies employ one or more SFD's

Most assemblies employ sealed SFD's

Dogan's work (Ref

Based on the present research,

Some assemblies incorporate two SFD's

The flexible supporting of both SFDs with similar support stiffnesses

The presence of half engine order subharmonic resonance dominating the

- (c, Icz) (b/f) (Pl •• sin(oc.) + P2,. cos(oc, » - Q.

Xz" = Qc z • cos (w. t) - (k z • E, • cos (oc, ) ) (c, I cz ) (bl f)

- (c. Icz ) (b/f) (Pl, • cos (OCI) - P2 •• sin(oc, »

X2 " = Qc 2 • COS (w. t) - ( P1z • co s (az ) - P2 2 • sin(az»

33:08;85.1- . fia.-0080'PO C H ~T1 E S0 T0 0 0 REF -1 *0000 REF