82

Paper 7

ROTOR STABILITY

By B. Sternlicht* and N. F. Riegert

The theoretical and experimental work of several investigators in rotor-bearing stability is summarized.
Incompressible fluid-film bearings under laminar and turbulent flow conditions and compressible fluid-film
bearings of the self-acting and externallypressurizedtype under laminar flow conditions are described. Design
charts are given for calculation of the threshold of instability under laminar and turbulent, compressible and
incompressible flow conditions. The effect of rotor flexibility and non-linear effects are discussed. In addition,
the author makes several recommendationsfor further studies.

INTRODUCTION where 2 = dx/dt (x-velocity) and y = dy/dt (y-velocity).

THISPAPER IS CONCERNED with a phenomenon usually re-
ferred to as oil whip, but also known as resonant whip, oil
whirl, fractional-frequency whirl or half-frequency whirl.
It is a self-excited oscillation of a rotor supported in journal
bearings where a fluid film of lubricant separates the rotor
from the bearing surface. The oscillation is induced by
the hydrodynamic action in the bearing film and takes the
required energy from the mechanism which drives the
rotor (e.g. a turbine or a motor).
Under steady-state conditions the total pressure force
equals the static load on the bearing. However, if the
centre of the rotating journal is in motion, as for instance,
during synchronous whirl, additional pressures are set up
in the lubricant film which act as dynamic forces on the
journal in addition to the static force. The dynamic force
depends on both the amplitude and the velocity of the
journal centre motion but in contrast to conventional
mechanical forces the dynamic force does not have the
same direction as the imposed amplitude. Resolving the
dynamic force into two components, F, and F,, along
fixed co-ordinate axes in the bearing, say an x-axis and a
y-axis, and likewise resolving the journal centre motion
into x and y displacements, the dynamic force components
may be expressed by
F, = -K,,x -C x x - i K,,y -Cxy$
F, = - K y x ~ - C y x i - K y y ~ - C u , j (7.1)
The MS. of rhis paper was received at the Institutionon 4thJanzrary
1967.
* Technical Director, Mechanical Technology Incorporated, 968
Albany-Shaker Road, Latham, New York.
1- Senior Vibrations Engineer, Mechanical Technology Incorporated,
968 Albany-Shaker Road, Latham, New York.
Proc Instn Mech Engrs 1967-68
T o illustrate :
Strictly speaking equations (7.1) are only exact for
infinitesimal amplitudes, but in practice they prove to
be valid even for amplitudes as large as a third of the
.
bearing clearance. The eight coefficients:K,,, C,, . .,
C,,are called spring and damping coefficientssuch that,
for instance, K,, is the spring coefficient yielding a
restraining force in the x-direction due to a displacement
in the y-direction. These coefficients are calculated from
lubrication theory and are properties of the particular
bearing. They depend on the bearing configuration, the
lubricant properties and, more important, they belong
to a given steady-state journal centre position. Conse-
quently, they change with the speed of the rotor.
If, for simplicity, the forces are considered to consist of
two components, one which sustains the whirl motion like
a spring force, and one which opposes the motion like a
damping force, then there exists a value of the whirl fre-
quency ratio y = u/w for which the damping force com-
ponent vanishes. If, at the same time, there exists balance
between the inertia fqrce of the whirling journal mass and
the spring force component of the fluid film, then a whirl
motion is possible and the equilibrium position is unstable.
The value of the frequency ratio, y, for which the fluid-
film damping vanishes, is an inherent property of the
fluid-film forces and in the case of laminar incompressible
fluid-film bearings is only a function of the eccentricity
ratio E . (Hence, also of the Sommerfeld number S.) The
same is also true of the corresponding value of the spring
force. Therefore, it is possible at any &ven eccentricity
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 ROTOR STABILITY
ECCENTRICITY RATIO, 6
Fig. 7.1. Threshold of instdility as a function of E and
LID (ref. (64))
ratio to calculate the journal mass inertia required for the
whirl motion to exist. I n dimensionless form the journal
mass inertia for a rigid rotor may be expressed as CMw2/W.
For a rotor operating in incompressible plain cylindrical
bearings, a curve giving the relationship between
CMw’IW and E as shown in Fig. 7.1 defines the threshold
of instability. This curve can then be used to determine
the threshold speed once it has been found how the eccen-
tricity ratio E depends on the speed of the rotor. For
lightly loaded bearings, where the whirl is a circle about
the bearing centre, the instability whirl frequency has an
inherent tendency to equal one-half of the rotor speed.
In general the bearing is under static load which results
in an elliptical whirl orbit. This has the effect of reducing
the whirl frequency ratio, although the reduction is only
noticeable when the static load and eccentricity are high
(for a sufficiently high eccentricity, the instability may
actually be eliminated in the oil-lubricated bearing).
Furthermore, the simple concept of instability as being
caused by a complete loss of load-carrying capacity is no
longer valid for a loaded bearing. Rather, the onset of
instability can be viewed as being caused by the bearing
losing its damping ability. A brief explanation of this
phenomenon is given.
It can be shown that, for the purpose of describing the
onset of instability, a journal bearing can be represented
by a single effective spring coefficient and a single effective
damping coefficient. These coefficients can be calculated
from the eight dynamic bearing coefficients. However, the
two coefficients derived in this manner depend on the
whirl frequency, such that the effective damping coefficient
is negative for small frequencies and becomes positive for
higher frequencies. The frequency at which the damping
becomes zero shall be called the instability frequency. The
instability frequency can be found as a function of speed
as shown by the corresponding curve in Fig. 7.2. For
frequencies less than the instability frequency (i.e. in the
region below the curve), the effective damping is negative,
Proc Insin M e & Engrs 1967-68
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83
IST CRITICAL ILITY
RoToR SPEED
SPEED THRESHOLD
SPEED
Fig. 7.2. Schemalic of vibrationalfrequency versus rotor
speed
and for frequencies greater than the instability frequency
the damping is positive. The effective spring coefficient
of the bearing together with the flexibility of the rotor
determines the resonant frequencies of the rotor-bearing
system. Since the bearing stiffness is a function of speed
the resonant frequencies become speed dependent. The
lowest of these resonant frequencies is shown by the curve
labelled ‘System resonant frequency’. This curve inter-
sects the curve for the instability frequency at a speed
denoted as ‘Instability threshold speed’.
Assume that the rotor is subjected to a small disturbance.
It will then tend to vibrate at its lowest resonant frequency.
However, if the rotor is running below the instability
threshold speed the bearings provide positive damping and
the vibration dies out. As the speed is increased the damp-
ing available for the vibration diminishes until it becomes
equal to zero at the instability threshold speed. Attempt-
ing to increase the speed beyond the threshold speed
causesthe damping to become negative, so that any imposed
disturbance is amplified and the system is unstable.
From Fig. 7.2 it is seen that if the rotor mass is increased
or the shaft is made more flexible the system’s natural
frequency is lowered, whereby the intersection between
the two frequency curves moves to the left and the thres-
hold speed is reduced. Conversely, if external damping is
present in the system (for instance, in the supports) the
curve of the film instability frequency is lowered, thereby
raising the threshold speed. The latter characteristic
suggests means by which an otherwise unstable system
may be stabilized and also explains why some machinery,
notably rotary liquid pumps and high-pressure gas com-
pressors with liquid seals, may operate stable well above
the theoretical threshold speed. The damping capacity of
the liquid passing through the impeller or seals acts as
external damping to the system and stabilizes the rotor.
A brief background review of the open literature on this
subject is now presented. (The chosen references do not
in any way constitute a complete bibliography.) Since the
instability is induced by the hydrodynamic action in the
fluid film, each bearing type, geometry, operating condi-
tion and flow regime (laminar, turbulent, compressible
and incompressible) will affect the threshold of rotor in-
stability in a somewhat different way. Because of space
limitation only a few examples of the threshold of
instability are presented.
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84 B. STERNLICHT AND N. F. RIEGER

BACKGROUND REVIEW
Orifice radius, in. Theoretical investigations
Radial clearance, in. Oil whip was first identified in 1924 by Newkirk (I)* (2)
Frequency dependent damping co- who devoted an extensive experimental effort to a study
efficients, lb sjin. of the problem (2)-(7). At about the same time, Stodola
Bearing diameter, in. (8) undertook a theoretical investigation of the influence of
Diameter of feeding hole, in. the journal bearings on the critical speeds of a rotor. In
Eccentricity, in. the course of his investigation, he and Hummel(9) arrived
Force, lb. at the conclusion that the fluid-film forces in a bearing
Gravitational constant, 386 in/s2. induce rotor instability when E < 0.65.
Film thickness, in. Stodola’s analysis is based on a linearization of the fluid-
Frequency dependent stiffness co- film forces whereby the stability of the equilibrium posi-
efficients, lb/in. tion can be tested directly. T o illustrate, assume the
k, K Stiffness, lb/in. journal to have a mass M and let the journal centre position
L Bearing length, in. be defined by Cartesian coordinates (5,jj). The fluid-film
M Rotor mass per bearing, lb ?/in. force components, F, and F,, depend on the instantaneous
m Eilipticity ratio. position and velocity of the journal centre such that the
N Rotor speed, revis. linearized equations of motion become
n Number of feeding holes.
P
R
RT
Pressure, lb/in2 absolute.
Bearing radius, in.
(Gas constant) x (total tempera-
ture), ina/s2.
1
Reynolds number.

Sommerfeld number.
t Time, s.
V Velocity of shaft centre, in/s.
vi Feeder hole volume, in3.
W Bearing load, lb.
Y (= vlw) Frequency ratio.
8 (= a2/Cd) Inherent compensation factor.
E (= e/C) Eccentricity ratio.
8 Circumferential, angular
ordinate.
Compressibility or bearing number.
Feeding parameter.
P Viscoshy, lb slin”.
V Frequency, radls.
t LID ratio.
P Mass density, lb s2/in4.
w Angular velocity, rad/s.
Subscripts
a Ambient pressure.
B Effective bearing stiffness.
r Rotor stiffness, radial.
S Support stiffness, supply pressure.
x Axis.
Y Axis.
z Axis.
e Tangential.
Proc Instn Mech Engrs 196L7-68
. . . (7.2)
where the partial derivatives are evaluated at the equi-
librium position (5= 0, j j = 0, d51dt = 0, djjldt = 0).
co- These are two simultaneous, second-order, ordinary differ-
ential equations with constant coefficients which are
readily tested for stability once the eight Taylor expansion
coefficients are known.
Although Stodola’s method is correct and simple, it
presents the problem of obtaining accurate values for the
Taylor coefficients. Before the 1940’s the only available
solution of the lubrication equation, Reynolds’ equation,
was Sommerfeld’s (10)solution, or modifications thereof,
for the infinitely long, 360-degree journal bearing. Thus,
Stodola was forced to neglect the four damping coeffi-
cients (Le. -i3FX/a(d2/dt), -aF,/a(djj/dt), etc.) and to
arrive at the values for the four spring coefficients
[ -aFx/a2, -hF,/dy, etc.) from an estimate of the func-
tional relationship between the statically imposed bearing
load and the journal centre position.
The results indicated that for any operating eccentricity
ratio E > 0.65, two frequencies existed for which the
motion would be unstable. For eccentricities below 0.65,
Hummel found the motion inherently unstable, and there-
fore did not consider this region further. This region has
since been investigated by Cameron (11) who found a
* References are given in Appendix 7.1.
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 ROTOR STABILITY
single threshold frequency for instability rather than the
inherently unstable domain inferred by Hummel. Cameron
and Solomon (12)experimentally confirmed the existence
of the predicted low-eccentricity instability threshold for
€-values down to 0.18. Further extension of this approach
to cover flexible rotors has been made in reference (13).
This method is simple and direct and the results have
been formulated as a stability threshold chart. Experi-
mental correlation is quite good as far as it goes. At both
high and low eccentricities, the agreement between theory
and practice is poor owing to the omission of damping from
the analysis. At low eccentricities the results predict a high
(or infinite) stability threshold frequency whereas it is
well known that in this condition cylindrical bearings have
serious instability ‘problems. This condition is important
in predicting the performance of vertical machines. At
high eccentricities, the complex interaction between
bearing stiffness and damping cannot be neglected, and the
damping term alone may become very large.
The first attempt to investigate the motion of a rigid
journal within a bearing using hydrodynamic theory was
made by Harrison (14)~ who derived expressions for the
radial and tangential components of the fluid-film force
due to the journal displacement. These expressions are
based on the Reynolds assumptions, and apply to an
infinitely long, full (no cavitation) bearing using an
incompressible lubricant, as follows:
12Tp~3
1
E
F, = - (w-2v)
c2 (2+2)(1-€2)1’2
(7.3)
12rpR3 1 de
F, = -- C 3 (1,~’)~’~d t
- ence (21).
For a stationary journal centre F, reduces to zero while
12np~3 E
F, = ~
c
2 (2+2)(1-€yW
. . (7.4)
This constitutes a force on the journal which is perpen-
dicular to the displacement of the centre, urging it to
whirl in the direction of rotation. I n practice, both radial
and tangential force components have been shown to exist
simultaneously. The discrepancy arises from the Sommer-
feld assumptions which neglect the influence of cavitation.
In the case of a vertical rotor in plain cylindrical bearings,
the radial component of force goes to zero at E z 0 and
whirl instability from zero speed upwards is realized in
this case; see Boeker and Sternlicht (15). Robertson (16)
reconsidered Harrison’s case and indicated the omission
of radial motion effects on the tangential component of
surface velocity. In his analysis he considered the damping
coefficients neglected by Stodola but ignored the sub-
ambient pressures in the fluid film and found the journals
to be inherently unstable and whirl with a frequency equal
to one-half the speed of rotation. This conclusion is
correct but of limited interest. Poritsky (17) showed that
when a radial force component was included in the
equations of motion for a rigid journal, stability was pre-
dicted at speeds below the rotor critical speed, while at
speeds above twice the critical speed the rotor becomes
Proc Insrri Mech Engrs 1967-68
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85
unstable and whirls at the rotor critical frequency in
accordance with observed performance. This led to the
stability criterion
Mwa
kr
-+- kl < 4 . .
where K,. and Ks are the rotor stiffness and bearing support
. (7.5)
stiffness respectively. Poritsky’s analysis neglected the
influence of fluid-film damping, and no attempt was made
to determine the value of the fluid-film stiffnesses, except
to postulate that these would be linear with displacement
for small amplitude motions. Later investigations into the
elastic and damping properties of the cavitated fluid-film
(15) (18) verified the existence of the radial force com-
ponent, and also provided values for all four spring and
damping coefficients. When damping is included, the pre-
dicted whirl frequency is always less than 0 . 5 in ~ ~agree-
ment with practical observations.
I n testing the linearized equations for stability, most
authors use Routh’s criterion. They frequently include
the flexibility of the rotor in the equations and end up
with a characteristic equation of sixth order. The problem,
however, is easily reduced to one of fourth order and the
solution can be obtained directly in closed form in terms
of the eight Taylor coefficients as shown in references (19)
and (20). This method makes it easy to recognize, as many
investigators fail to do, that the contribution of rotor
flexibility to the phenomenon of oil whip is only to lower
the threshold speed and not to influence the basic character
of the onset of instability. This was first shown in refer-
The interest in the problem of oil whip increased
markedly after the Second World War, beginning with
Hagg (22) in 1946, and has been growing since that time,
primarily because of the trend towards high-speed mach-
inery and the use of low kinematic viscosity lubricants.
Concurrent with this effort, a considerable amount of
work, both experimental and analytical, has been devoted
to determining the eight Taylor coefficients (the spring and
damping coefficients) for a wide variety of bearing types
(IS)(23)-(29), not so much with the intent of studying oil
whip but rather, in agreement with Stodola’s original
purpose, to determine the bearing’s influenceon the critical
speeds of the rotor. This work, however, has made it
feasible to broaden the scope of the oil-whip investigation
to cover other and more practical bearing types than the
plain cylindrical bearing.
Hagg gave a simple evaluation of the damping capacity
of a tilting-pad bearing, and later gave curves for spring
and damping constants for 120-degree partial-arc bearings,
together with a simpIe stability chart (30). Later work by
Hagg and Sankey (31) (24)gave more complete data on
spring and damping constants for partial-arc and tilting-
pad bearings for small-amplitude whirl, determined
experimentally. At both low and high Sommerfeld
numbers these curves are in error, as in these zones they
have been obtained by extrapolation. Accurate values for
the cylindrical bearing have been obtained (18) for the
Vol182 Pt 3A
86 B. STERNLICHT AND N. F. RIEGER
4 L
OO1second
SEVERE OIL W H I P
R U N N I N G SPEED SIGNAL
TIME
0 01 second
OIL WHIP U N B A L A N C E VIERATION
RUNNING SPEED SIGNAL
Fig. 7.3. WhirI oscillogram showing (a) well-developed
whirl and (b) transition from whirl to stable running
with decreasing speed (rd.(21))
150-degree partial bearing (19) and for the tilting-pad
bearing (26). Each of these analyses applies to incom-
pressible lubricants, and may be applied to compressible
lubricants at low ( A < 1.0) compressibility numbers.
Hagg and Warner (21) extended the earlier work on the
stability threshold speed, using an electric analogue to
study the stability limit. This work gave good qualitative
correlation with both test results and with data obtained
from an industrial turbine set, but the absolute values
were often considerably different to the test results.
Typical oscillograms obtained are shown in Fig. 7.3, with
the rotor-whirl frequency v = 0 . 4 3 ~ The
. upper curve
shows a well developed whirl; the lower curve shows
transition from whirl to stable running, with decreasing
speed.
Experimental investigations
Translatory fluid-film whirl of a vertical rigid rotor was
investigated theoretically and experimentally by Boeker
and Sternlicht (15) to define the occurrence of the whirl
threshold speed, This theory agrees with that of reference
(17) and predicts for a rigid rotor the whirl threshold
speed as w = 2(k/M)112.Two bearing types were tested
(15): (a) plain cylindrical, and (b) grooved shaft in plain
cylindrical bearings. Both air and water were used as
lubricants. In air, the plain bearing whirled at all speeds;
i.e. the whirl threshold speed was zero for this case. These
experiments confirmed the Poritsky hypothesis that a
stabilizing radial force existed in the fluid film, and indi-
cated that where this was absent, or vanished, the rotor
became unstable and whirled at approximately half the
rotational speed.
Several experimental studies were carried out in an
attempt to obtain knowledge on oil whirl of rigid and
elastic rotors. The non-whirling bearing (4) suppressed
rotor vibrations by inducing pressure build-up within the
cavitated zone of the bearing, thus preloading the journal
and forcing it to run at a higher eccentricity within the
bearing. This work provided a cure for a specific applica-
tion, but revealed little new information about the nature
Pvoc Insrn Mech Engrs 1967-68
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of the problem. A more complete study of the parameters
involved in rotor whirling was undertaken by Newkirk
and Lewis (5). With three rotors and five bearings, tests
a
were run with oil at various viscosities to determine condi-
tions defining a range of stable operation with cylindrical
bearings at speeds above twice critical. It was concluded
that short bearings, rather large clearance ratios and
moderate unit bearing loads favour a wide range of stable
operation. I n certain instances, this may extend up to
more than five times critical speed. Slight misalignment
~
resulted in a remarkable increase in the stable range. I n a
subsequent paper (7), Newkirk reviewed results obtained
earlier with a flexible rotor whose lowest critical speed was
1210 rev/min. Within the speed range 2300-5000 rev/min
the rotor whirled with a frequency around 1250 rev/min.
The severity of the whirl increased with increasing speed.
This result was compared with those obtained using a
very stiff rotor for which there was no discernible (bend-
ing) critical speed up to 30 000 rev/min. This shaft whirled
at low speeds with a frequency slightly less than one-half
the running speed. It was also noted that the whirl died
out at higher speeds, varying from 7000 to 18 000 rev/min.
Low viscosity oil gave the higher limit. Newkirk concluded
correctly that rotor flexibility was the key factor in explain-
ing why the performance of these two machines was so
different.
Pinkus (32) (33) conducted an experimental study of
two rotors having relatively light bearing loads (23.4 and
8 lb/in2 respectively) and reasonably high critical speeds
(4000 and 6100 rev/min respectively). The objective was
to compare the relative stability of several bearing types ;
plain cylindrical, axial groove, elliptical, ‘pressure’ pad,
three-lobe, tilting-pad and hydraulically loaded bearings.
He observed that the cylindrical bearings were least stable
and the hydraulically loaded bearings were most stable,
and that with sufficiently high hydraulic pressure, all
whipping can be suppressed. Amplitude-speed results
obtained in this investigation are shown in Fig. 7.4. With
the more flexible shaft, the initial amplitude peak corre-
sponds to the rotor unbalance whirl. Resonant whipping
sets in at approximately 1.6 times the system bending
critical speed, persists with a whirl frequency equal to
the critical speed, and tends to disappear around 3.5 times
critical speed. The large amplitude build-up in that zone
is the second system bending critical speed. The stiffer
shaft shows an unbalance whirl peak followed by a steady
build-up to full whipping amplitude around three times
the system bending critical speed, with no tendency for
the whirl to diminish in this case, up to four times the
bending critical. The shaft resonant whipping frequency
was the system bending critical speed throughout.
The experimental investigations are not as numerous as
the analytical studies and frequently they are quite in-
conclusive owing to lack of adequate instrumentation or
failure to recognize the governing system parameters.
Furthermore, it is not always clear if extraneous factors
have been totally eliminated from the test apparatus (e.g.
external damping and external vibration sources). For
Vol182 Pt 3A
 ROTOR STABILITY
400
! I
'
0 2000 4000 6000 0000 10000 I2000 14000 16000
SHAFT SPEED ,rpm
Fig. 7.4. Typical resonant whip curves f o r (a) 187 lb rotor and (b) 64 lb rotor (ref. (33))
these reasons, the results are often contradictory. A good
discussion of the most important test findings is given by
Tondl (34) (35). At present, however, the experimental
investigations have uncovered many more details and
features of the nature of oil whip than can be explained,
even qualitatively by the current theories.
Self-acting gas bearings
The limiting factor in the use of gas bearings in high-speed
applications is half-frequency whirl of the journal within
the bearing. In most applications the whirl threshold speed
represents an upper limit for speed at which the rotor may
be operated, as half-frequency whirl, once established,
rapidly leads to failure of the bearing by seizure. In order
to predict the whirl threshold speed, data on the dynamic
bearing properties are required. The compressible
Reynolds equation for dynamic loading and isothermal
conditions is
a a
= 6U-(hp)+12-(hp)
ax at
. . . (7.6)
The last term on the right-hand side of this equation
comes from the continuity equation and represents the
non-steady flow term, The time-dependent term (apjc't)
requires that the rotor dynamic motion be considered in
any rigorous solution to this equation (36).
Sternlicht's quasi-static analysis (37) neglects this term;
this permits the uncoupling of the lubrication equation
from the rotor equations. The fluid-film forces and their
derivatives (four stiffness and damping coefficients) are
then calculated and used in the rotor response and
Proc Instn Mech Engrs 196768
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stability analysis (20). This simplification yields stability
results which are in good agreement with experiment.
Stability bounds were also investigated using the varia-
tional equations of motion (38). These equations are linear
and, using data from the known 'equilibrium' case, the
equations may be solved for the variational displacements.
The stability regions bounded by families of load-carrying
capacity and operating eccentricity curves were obtained
using the Routh criterion for the quasi-static equilibrium
case of a gas-lubricated cylindrical bearing. They show
that there exists a clearance ratio which corresponds to the
minimum threshold of stability. This conclusion is
supported by experimental evidence (39).
Castelli and Elrod (40) performed an analysis in which
the equation of motion for the rigid rotor and the com-
pressible Reynolds equation including time-dependent
effects were simultaneously integrated on a digital com-
puter to determine the rotor orbital path. The stability or
instability of particular cases were established from the
growth, stabilization or decay of the orbit. With assumed
initial conditions for both the rotor motion and the fluid-
film pressure, the influence of incremental displacements
on the rotor equations and then on the fluid-film proper-
ties were calculated to provide data for the next incremental
change. The bearing considered was an infinitely long
plain cylindrical bearing, and the data of Elrod and
Bergdorfer (41)were used for the equilibrium positicn
about which the perturbations were initiated. This
analysis for the rigid rotor in infinitely long bearings is the
most complete solution yet attempted. It provides a basis
against which the efficacy of other methods may be
evaluated. The computational labour involved makes it
unsuited for general use.
Vol182 Pt 3A
88 B. STERNLICHT AND N. F. RIEGER

Cheng and Trumpler (42) employed Galerkin's method readily with the dynamical equations of rotor motion to
to solve the non-linear Reynolds equation with time- examine the stability of the system. This was carried out
dependent effects included. This method reduces the on an analogue computer for the infinitely long plain
pamal differential equation in [ph] to a set of first-order cylindrical bearing.
ordinary differential equations which may be used quite This technique was extended by Cheng and Pan (43)
to the case of finite plain cylindrical bearings and other
AUSMAN
k: { (P
x
A
CASTELLI - ELROD
CHENG
-
RENTZEPIS STERNLICHT
geometries for which a representative [ph]function can be
deduced but, as indicated in reference (44), the accuracy
LINEARIZED PH -QUASI STATIC
of approximation diminishes for certain combinations of
LINEARIZED PH- TWO TERM TRUNCATED EXPANSION A and LID.
LINEARIZED PH .ONE TERM TRUNCATED EXPANSION Ausman (45) used the linearized [ph] method to investi-
gate the stability of a rigid rotor in infinitely long plain
cylindrical bearings. This method has the advantage of
simplicity without overlooking the time-dependent effects
of the fluid-film pressure, and it can be used to study
other bearing types, and more complex bearing-rotor
L
0 DATA AFTER STERNLICHT-WINN 1.0
-
m 9 = 0.1873
Pn LO

Fig. 7.5. Theshold of instability-comparison among

theories (42)
-NON-LINEAR GALERKIN % 0.2
:
D
pa
'oz z o . 2
- LINEARIZED PH - QUASI STATIC THEORY -
0 DATA AFTER STERNLJCHT - WlNN 0 0.1873
I -
DATA AFTER WHITLEY BOWHILL Pa
McD€WAN 7 -
F
i0.2

POD

Fig. 7.7. Effect of rotor inclination; linearized [ph] quasi-

static theory versus data from reference (39), LID = 1;
MgIP, L D = 0.20

LENGTH EFFECTS -= 0.2

Po D2
Fig. 7.6. Threshold of instability-comparison between Fig. 7.8. Slenderness-ratio effects, linearized [ph] quasi-
theory and experiment (42) stalk theory Fir, LD = 0.20 (42)
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 ROTOR STABILITY
systems. The analysis leads to a six-degree stability poly-
nomial which may be solved for the complex eigenfre-
quency.
Pan and Sternlicht (46) used the linearized [ph] quasi-
static and truncated expansion theories for stability analysis
and compared their results with those of other investi-
gators, Fig. 7.5. Comparison was also made between
experiments and theory, Figs 7.6 and 7.7. Using the
linearized [ph] quasi-static theory (46), the paper also
shows the effect of LID ratio on stability, Fig. 7.8. The
theory for synchronous whirl was analysed in references
(47) and (48).
Several experimental programmes were conducted to
determine the effect of bearing geometry on the threshold
of instability (39) (4g)-(51). I n reference (51) stability
characteristics of a full bearing which operates with
Taylor vortex flow were studied. It is claimed that the
whirl threshold speed in the majority of cases was many
times the natural frequency of the shaft assembly. Neg-
lecting the contribution of the fluid-film stiffness and
damping at operating speed would readily account for this
difference. A considerable decrease in stability threshold
speed was found for operation with Taylor vortex flow.
Static and dynamic characteristics of plain cylindrical
bearings in the turbulent regime were investigated in
reference (52).
Hybrid gas bearings
Rotating shafts are frequently supported in externally
pressurized journal bearings. The contribution of the
hydrodynamic pressures thus generated must be evaluated
where bearing stability is important. Lund (53) has con-
sidered both static and dynamic performance of gas-
lubricated hybrid bearings.
Larson and Richardson (54) presented experimental
data for the threshold of whirl stability for a short un-
loaded rigid rotor in hybrid compensated gas bearings.
The effects of supply pressure and radial clearance on
stability were examined. An analysis of rotor motions is
given which leads to a simple stability criterion for the
type of bearing studied. Whirl instability was observed
where the frequency of rotation of the shaft lay between
two and six times the lowest natural frequency of the
rotor-bearing system. Gross (55) examined whirl in hybrid
gas bearings, and gave some experimental data for dynamic
characteristics, such as film stiffness and damping. Rotor
amplitude speed responses up to the stability threshold are
given. The form of these curves differs from that obtained
in reference (54), as here no critical speed peak is appar-
ent. This may be due to better balancing or to the onset
of whirl occurring below the rotor-bearing critical speed.
A simple analysis for stability threshold speed is pre-
sented, and correlated quite well with the experimentally
obtained threshold data. I t was found that the whirl path
was usually stable, but the whirl amplitude increased
rapidly with speed. The threshold for any given supply
pressure occurred at about twice the lowest critical speed
of the non-rotating system, for film stiffness at E = 0.
Proc Instn Mech Engrs 1967-68
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89
Factors which raised the threshold speed were increased
pressurization, reduced rotor mass and, to some extent,
rotor unbalance. This latter effect has been noted with
hydrodynamic bearings by Sternlicht (39). Other studies
of stability are given in references (49) and (56).
Whirling of a flexible rotor
I n general, flexible rotors become unstable by resonant
whipping above twice the system critical speed in bending,
whereas rigid rotors in flexible bearings become unstable
in half-frequency whirl. The whirl frequency in resonant
whipping is constant and occurs at the system bending
critical speed, whereas half-frequency whirl occurs at
somewhat less than half the rotational speed. This may be
observed in the experimental results given by Pinkus (33)
and by Newkirk (7).
Hagg (22) extended his simple criterion of rigid rotor
whirl motions to cover the influence of rotor flexibility.
The analogue results of Hagg and Warner (21) refer to the
stability of flexible rotors. Poritsky (17) considered the
rotor flexibility in deriving his criterion for whirl threshold
speed:
where K, is the rotor stiffness (constant) and K(w) the
bearing radial stiffness (speed dependent). Pinkus (33)
considered two rotors in which shaft flexibility significantly
influenced rotor motions, and Newkirk (7) concluded that
rotor flexibility was the key factor in determining whether
a rotor would become unstable by resonant whipping or
by half-frequency whirl. Sternlicht’s work emphasized the
need for data on stiffness and the damping properties of
bearings. With this data, and with the concurrent develop-
ments in computer applications to rotor and bearing
problems plus increased understanding of the overall
problem, it became possible to investigate the stability of
much more complex rotor-bearing systems. The stability
analysis of Sternlicht, Poritsky and Arwas (20) applies to
flexible-rotor, flexible-bearing systems, but for a simple
single-mass rotor. Recognizing this, Lund (57) reformu-
lated the basic stability equations for a two-mass rotor,
following the analysis of Warner and Thoman (29), in
terms of the bearing spring and damping coefficients.
Later, Lund (19)extended the two-mass rotor analysis
to include the effect of pedestal mass, stiffness and damp-
ing. An extensive range of results and stability charts are
included with this work for gas bearing applications,
although the analysis itself is perfectly general and applies
to both liquid and gas bearing systems.
Non-linear effects
I n recent years attention has begun to focus on the non-
linear part of the problem with the intent to explore what
happens beyond the threshold speed. The basis for this
interest is that several experiments have shown that, even
if the equilibrium position becomes unstable, the whirl
orbit may be bounded. There are even cases where the
Vol182 Pt 3A
90 B. STERNLLCHT AND N. F. RIEGER

whirl amplitude, after having reached a peak shortly after
the threshold speed, actually diminishes appreciably with
further increase in rotor speed (33) (34)(51). Such rotors
have been operated up to several times their threshold
speed. It is evident that it would be of considerable
practical value to know how the system parameters should
be selected to affect such an important improvement in
the dynamical performance.
The various analytical investigations of the non-linear
aspects of oil whip (17) (20) (40) (58)-(65) all employ a
direct integration of the differential equations of motion.
Selecting an arbitrary set of initial conditions the subse-
quent path of the journal centre can be determined, either
by a numerical, step-by-step integration of the equations,
carried out on a digital computer (Runge-Kutta’s method)
(61)(62)or by a graphical procedure (20) or by means of
an electronic analogue computer (60) (63). Allowing
sufficient time, it can be found if the motion converges to
a finite orbit (limit cycle) or if it ‘spirals’ towards the
bearing wall (according to Capriz (48)the path approaches
the bearing wall asymptotically with time). Of these two
approaches, the analogue computer method suffers from
the difficulty of accurately simulating the very complex
fluid-film forces. It will, therefore, usually be found that
in those types of investigations it is difficult to assess the
validity of the results owing to the adopted approximations
in expressing the fluid-film forces. Similar simplifying
assumptions are normally also made in applying Runge-
Kutta’s method to make the problem manageable. An
exception is the special method developed in reference (40)
which solves the compressible Reynolds equation in its
complete form to obtain the fluid-film forces and rotor
response. The method, however, still uses a step-by-step
numerical integration. An alternative method has recently
been developed (64) which enables one to find the whirl
orbit in the regime of oil whip directly without having to
trace the transient motion of the journal.
Summary
The various investigations of fluid whirl instabilities cited
above can be conveniently classified in four categories:
(1) qualitative studies (11) (15)(17) (48)(56);
(2) evaluation of the threshold of instability (using
linearized equations of motion) (11) (15) (17) (19)-(21)
(29)(36)(38)(44)-(48) (61)(62)(65)-(70);
(3) study of non-linear effects (17)(20)(48) (58)-(64);
(4) experimental investigations (2) (4) (5) (12) (15)
(33)-(35) (39)(49)-(51) (54)(55) (71)-(73)-
DESIGN CHARTS
The resonant frequency of the rotor-bearing system de-
pends on the flexibility of the rotor, the stiffness of the
bearings and the mass of the rotor. Thus, to define the
threshold of instability by means of general design charts
requires that both the rotor and bearing parameters are
included. In the attached design charts, the rotor is
assumed to be rigid so that the rotor mass is the only rotor
parameter. The additional effect of rotor flexibility and
support flexibility can be estimated by calculations as

Table 7.1. Governing dimensionless parameters

a. LIQUID LUBRICANT (INCOMPRESSIBLE1
INPUT PARAMETERS OUTPUT PARAMETERS

3
I-

REYNOLDS NUMBER: Re = INSTABILITY PARAMETER:

lk%

b. GAS LUBRICANT (COMPRESSIBLE 1

INPUT PARAMETERS OUTPUT PARAMETERS

G
-5
S
LENGTH-TO-DIAMETER RATIO : 6

BEARING NUMBER:
12r N
L

R12
SPRING COEFFICIENTS:

DAMPING COEFFICIENTS: -,P,LD,

OLD,
CWC,#
6.
-$-, -$

CWC,), CdY, cwcyy

P,LD,P,LD
2 ‘ Po Po LO
E 3
E W LOAD:- PaWLD ECCENTRICITY RATIO: e
5 -
a
FEEDING PARAMETER : A, = -
6pn02m
INSTABILITY PARAMETER: -
M Po
R s
W
Pr c3 p2L (T1
SUPPLY PRESSURE RATIO: pt
pa

Proc Instn Mech Engrs 1967-68 Yo1182 Pt 3A

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 ROTOR STABILITY 91

demonstrated later. The design data for the instability Thus, if the rotor is horizontal and gravity is the only
threshold are given in Figs 7.9-7.17. The governing radial load, then
dimensionless parameters are given in Table 7.1. W
M = - (horizontal rotor, gravity load)
A. Incompressible lubricant, laminar film g
The procedure for determining the threshold speed is
Figs 7.9-7.11 apply to bearings operating with an incom- then: calculate the dimensionless rotor mass according to
pressible lubricant in a laminar regime. As a function of the equation given above. Enter the appropriate design
the Sommerfeld number S, the curves give the dimension- chart and read off the corresponding value of the Sommer-
less critical rotor mass: feld number. The speed corresponding to this Sommerfeld
(CM W ) 1 / 2 number is the threshold speed; i.e. the rotor speed at
Dimensionless critical rotor mass =
PDL(R/c)2 onset of instability. If the operating speed is higher than
The rotor mass per bearing may be computed as: the threshold speed the design must be revised.
The charts assume the rotor and the pedestals to be
M= rigid. However, the threshold speed with a flexible rotor

P- (Distance from bearing to centre of gravity of rotor)

(Rotor span between bearings)
x (Total rotor mass, lb s2/in)
I and flexible pedestals can be calculated on the basis of the
given design charts. Let the stiffness of the bearing sup-
port be K, lb/in and the stiffness of the rotor K, lb/in. The
la . latter stiffness can be taken as the lateral stiffness of the
rotor by itself when a force is applied at the centre of
gravity. Make the two stiffness values dimensionless :

I.
CK,
K, = -W
R,= CK,
-
W
and introduce the parameter

10"
B.
pDL@ - Note that if the rotor is rigid
k = K, (rigid rotor, flexible pedestal)
whereas for a flexible rotor but rigid pedestals
K = K, (flexible rotor, rigid pedestals)
Next, choose a value S of the Sommerfeld number and
to3
0 10-1
I ... I
..,
10
I .. find the corresponding value of the dimensionless rotor
S;yNDL&
mass from the design charts. Denote this value as Mo.
w c Define a dimensionless effective bearing stiffness by :
Fig. 7.9. The plain cylindrical bearing, laminar jilm, KB = (7rSMJ2
critical rotor mass at onset of instability
lo "

10-1,
m =
p~~~ff

103 lo-l . .. *
I
* . ..10
, . ..
I 02
s.+@ s:w,&f
Fig. 7.10. The elliptical bearing, laminar film, critical Fig. 7.11. Partial arc, centrally loaded bearing, LID = 1,
rotor mass at onset of instability larninarjilm, critical rotor mass at onset of instability
Proc Instn Mech Engrs 1967-68 Vo1182 Pt 3A

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92
Then the dimensionless critical rotor mass for the flexible
rotor and the flexible pedestal, corresponding to the
selected Sommerfeld number value, becomes :
Repeating the procedure for several values of the Sommer-
feld number defines a new curve for the dimensionless
critical rotor mass. Entering this curve with the originally
calculated value of the dimensionless rotor mass deter-
mines the Sommerfeld number and, hence, the rotor
speed at the threshold of instability.
B. Incompressible lubricant, turbulent film
For the dynamic spring and damping coefficients in tur-
bulent regime, see (74). Fig. 7.12 applies to the plain
cylindrical and the 100-degree partial bearing with an
incompressible lubricant and a turbulent film. The curves
give the dimensionless critical rotor mass as a function of
the Sommerfeld number S for Reynolds numbers of 0 to
10 000. The procedure for using the charts is completely
analogous to the procedure described above for the
laminar film bearings with the exception that the depen-
dency of the Reynolds number on the rotor speed must
be included.
Hence, in using Fig. 7.12, compute first the dimension-
less rotor mass, enter the chart and read off the corre-
sponding Sommerfeld number. Based on this value
calculate the rotor speed and the Reynolds number.
Repeat the procedure until both the Sommerfeld number
and the Reynolds number yield the same rotor speed. The
resulting value of the rotor speed is the speed at the
threshold of instability.
I 288
,uDLlff
10:I
, c z u I
I
'
* 1' . u
1 I
0 10-2 10-1
s: &.EL($
w c
Fig. 7.12. The plain cylindrical and the 100-degree partial
bearing, turbulent Jilm, critical rotor mass at onset of
instability
Proc Instn Mech Engrs 1967-68
B. STERNLICHT AND N. F. RIEGER
C. Compressible lubricant, self-acting bearing
For the gas-lubricated bearing the design parameters are
Compressibility number A
-
-- W
-
yg)=
Dimensionless bearing load
PaLD
MPll
Dimensionless critical rotor mass =
/L~L(R/C)~
where N is the rotor speed, rev/s, and Pa the ambient
pressure, lb/in2 absolute.
Reference (75) gives damping and stiffness coefficients
and stability curves for a number of different self-acting
and hybrid gas-bearing geometries. Space limits the
presentation here to only one example. Figs 7.13a and
7.13b apply to the stability of the plain cylindrical gas
bearing with LID = 1 (for other values of L / D see refer-
ence (44)). The rotor and the bearing pedestals are assumed
to be rigid. T o use Fig. 7.13 compute the dimensionless
bearing load and the dimensionless rotor mass, and read
off the value of the compressibility number A. From this
value calculate N which is then the rotor speed at the
threshold of instability. The rotor-bearing should nor be
designed to operate beyond the threshold speed. Fig. 7.13b
gives the whirl frequency for gas bearing of LID = 1.
If the rotor and the bearing pedestals are flexible, the
threshold speed is lowered. Let the bearing stiffness be
K,lb/in and the rotor stiffness Kr lb/in as discussed
before. Make the two values dimensionless
CK, CKS
R,= - K, = -PaLD
PaLD
and compute the dimensionless, combined rotor-support
stiffness
a=--- K K
K+ K
For the given dimensionless bearing load choose a value
of A and read off the corresponding value of the dimen-
sionless critical rotor mass from the design chart. Call this
value ATo. Define a dimensionless effective bearing stiffness
as
Aa -
KB = - M o
Then the dimensionless critical rotor mass for the flexible
rotor with the flexible pedestal can be calculated from:
-- k MO
[ P ~ C ~ C i:2Ei): ~;:t'2ial
] - k KB +
By repeating the procedure for several A-values a new
design curve is obtained. Entering this curve with the
' .
u
.'
t originally calculated value for the dimensionless rotor mass
I
determines the value of the compressibility number and,
hence, the rotor speed at the threshold of instability.
If the desired operating speed is above the calculated
threshold speed, it is necessary either to revise the design,
or if this is insufficient, to go to another bearing type such
Vol I82 Pt 3A
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 ROTOR STABILITY 93

Fig. 7.13a. The plain cylindrical bearing, gas lubricated, LID = 1, critical rotor mass at onset of instability
Fig. 7.136. Whirlfrequency ratio for gas-lubricated, plain cylindrical bearing, LID = 1

as the tilting-pad bearing or the herringbone-groove
bearing.
D. Compressible lubricant, hybrid bearing
In addition to pneumatic hammer, hydrostatic journal
bearings are also susceptible to another form of instability
when the journal is rotating at high speed. This instability,
called whirl instability or hybrid instability, is completely
analogous to fractional frequency whirl in the self-acting
plain journal bearing. Unfortunately, very little design
data are currently available on whirl instability and it is,
therefore, only possible to give very general guide rules.
When the journal rotates, two additional design para-
meters are needed for the hydrostatic bearing, namely the
compressibility number A and the eccentricity ratio E .
Both symbols are as defined in the ‘Notation’. Figs 7.14
and 7.15 give theoretical data for a single admission plane
Proe Instn Mech Engrs 1967-68
journal bearing with LID = 1 and nV,/nDLC = 0. Three
pressure ratios are considered: pJpa = 2, 5 and 10, and
for psipa = 2, there are data for E = 0.1 and 0.5. For the
other pressure ratios, data are only given for E = 0.1.
The design graphs are used as follows: for a given bear-
ing geometry, supply pressure, gas properties and rotor
mass, the ordinate MCwZ/(ps-pa)LD is proportional to
the square of the speed, whereas the abscissa, A, is directly
proportional to the speed. Thus, an operational line can
be plotted on the graphs. Since the graphs are logarithmic,
the line becomes straight. Its intersection with the proper
A,-curve determines a threshold speed at that particular
€-value for which the chart is valid. Combining the results
from several charts establishes a curve of E versus in-
stability speed. Similarly, for a specified bearing load a
curve of E versus rotor speed can be determined. The two
curves intersect at the threshold of whirl instability.
Val 182 Pt 3A

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94 B. STERNLICHT AND N. F. RIEGER
4
-4
N
0 Q h -52
0
Proc Instn Mech Engrs 1967-b8 Vol182 Pt 3A
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 ROTOR STABILITY
h ings and, in general, will lower the threshold of instability.
Fig. 7.15. Threshold of instability for the hybridgas bearing,
single plane admission, orifice restriction, LID = 1,
€ = 0.5 (75)
Except for the particular bearing and operating condi-
tions covered by the charts, there are insufficient data to
apply the outlined procedure to other bearing geometries
or other operating conditions. In those cases, the following
rule-of-thumb can be employed :
(a) Design the journal bearing such that As[ < 0.5.
(b) The hydrostatic bearing stiffness (static condi-
tions) must be sufficiently large so that the lowest critical
speed of the rotor, based on this stiffness, is greater than
60 per cent of the operating speed.
Fig. 7.16 shows instability whirl orbits for a rotor sup-
ported in hybrid gas bearings (75). Finally, it should be
noted that there may occur an interaction between
pneumatic hammer and whirl instability. This is illustrated
by Figs 7.17 and 7.18, which are valid for ps/p, = 10.
Fig. 7.17 is simply a replot of Fig. 7.14~with a changed
ordinate parameter. In Fig. 7.17 the feeder hole volume
ratio nVJ.rrDLC = 0, and there is no pneumatic hammer
(i.e. the bearing is stable for A = 0). However, for
nV&rDLC = 0.1 (Fig. 7.18), there is pneumatic hammer
for 0-077 < ~l~0.435, and for this range of A, it is seen that
the whirl instability threshold is lowered.
Proc Instn Mech Engrs 1967-68
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95
CONCLUSIONS
(1) The paper shows that fluid-film bearings can induce
self-excited oscillation of a rotor. This phenomena is
usually referred to as oil whip, resonant whip, oil whirl,
fractional-frequency whirl or half-frequency whirl.
(2) The eight spring and damping coefficients describe
the fluid-film characteristics of the various bearing types
at each point in the bearing clearance. These coefficients
influence the system resonant frequencies, rotor response
and the threshold of instability.
(3) The effective spring coefficient of the bearing, to-
gether with the flexibility of the rotor, determines the
resonant frequencies of the rotor-bearing system.
(4) The frequency at which the damping becomes zero
is called the threshold of instability.
(5) The value of the frequency ratio, y, for which the
fluid-film damping vanishes, is an inherent property of the
fluid-film forces. The ratio between the instability fre-
quency and the rotor speed equals 0.5 in most cases except
at high eccentricity ratios where the ratio is usually
smaller.
(6) Other forces than bearing, spring and damping may
be present in turbomachinery. These forces, of course, will
also influence the rotor response and stability. They may
come from seals, aerodynamic and hydraulic components,
electrical and magnetic dissymmetry, etc. If, for example,
damping is present in the system, the threshold of in-
stability wiIl be increased. On the other hand, plain
cylindrical liquid seals tend to behave as fluid-film bear-
(7) The threshold of instability is increased as the
bearing attitude angle is decreased. Unrestrained pivoted
shoe bearings are inherently stable since they eliminate all
tangential forces and produce only radial forces.
(8) While the linearized equations of motion seem to
yield good correlation between theory and experiment for
the threshold of instability, the non-linear effects must be
considered when large amplitude motions are studied.
(9) The most laborious aspect of the stability analysis
consists in finding the damping and stiffness character-
istics of the various bearing types operating in different
flow regimes (laminar, turbulent, incompressible, com-
pressible, two-phase, etc.).
(10) Gases and low kinematic viscosity fluids have low
damping characteristics and therefore turbomachinery
operating with these fluids is generally limited to rigid
rotor design and speeds not to exceed the threshold of
instability.
RECOMMENDATIONS
(1) General configurations of the floating-ring and
herringbone-groove bearings deserve detailed investiga-
tion of the eight coefficients for both compressible and
incompressible flow under laminar and turbulent condi-
tions. These bearings offer high threshold of stability.
(2) Accurate experiments are scarce for the verification
of stability theory. It would be desirable, therefore, to use
both stiff and flexible rotors and bearings with different
VoI 182 Pt 3A
96 B. STERNLICHT AND N. F. RIEGER
>
.r(
\
.z)
c
.r(
1
0
N
N
Proc Instn Mech Engrs 1967-68 Vol182 Pt 3A
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 ROTOR STABILITY 97

h
Fig. 7.18. Interaction between whirl instability and pneu-
A
matic hammer for the hybrid gas bearing, single
plain admission, LID = 1, E = 0.1, orifice restriction
Fig. 7.17. Threshold of instability for hybrid gas bearing, nVi/.rrDLC = 0.1 (75)
single plane admission, LID = I , E = 0-1, orifice
restriction nVJvDLC = 0 (75) (6) NEWKIRK,B. L. ‘Journal bearing instability’, I.Mech.E.-
A S M E Znternatt’onal Conference on Lubrication and Weav
(London) 1957 (Oct.), Review Paper, Session 1, No. 2.
spring and damping coefficients and conduct experiments (7) NEWKIRK, B. L. ‘Varieties of shaft disturbances due to fluid
to verify theory. films in journal bearings’, Trans. A m . SOC.mech. Engrs
(3) Some of the observations have not been completely 1956 78,985.
(8) STODOLA, A. ‘Kritische Wellenstorung Infolge der Nachgie-
explained. It is desirable to investigate in more detail the bigkeit des Oelpolsters im Lager’, Schweizerische
experiments reported in references (5) and (33). Bauzeitung 1925 85,265.
(4) Major pay-off can be gained by designing active (9) HUMMEL, C. ‘Kritische Drehzahlen a l s Folge der Nachgie-
and passive bearing mounts which have controlled stiffness bigkeit des Schmiermittels im Lager’, VDZ-ForschHft
1926 287.
and damping. These should be investigated both theor- (10) SOMMERFELD, A. ‘Zur Hydrodynamischen Theorie der
etically and experimentally from the standpoint of Schmiermittelreibung’, Z . Math. Phys. 1904 50, 124.
stability, rotor response, vibration, attenuation, etc. (11)CAMERON, A. ‘Oil whirl in bearings-Theoretical deduction
(5) The trend in turbomachinery is to operate at higher of a further criterion’, Engineering, London 1955 (Feb. 25),
speeds and with flexible rotors ;therefore, bearing dynamic 237.
(12) CAMERON, A. and SOLOMON, P. J. B. ‘Vibrations in journal
coefficients under turbulent and high inertia flow condi- bearings : Preliminary observations’, Proc. Conf. Lubri-
tions deserve considerably more theoretical and experi- cation and Wear, Paper 103, 1957, 191 (Instn Me&.
mental study. Engrs, London).
(13) PARSZEWSKI, Z. and CAMERON, A. ‘Oil whirl of flexible
rotors’, Proc. Instn mech. Engrs 1962 176 (No. 22), 523.
APPENDIX 7.1 (14)HARRISON, W. J. ‘The hydrodynamical theory of the lubri-
cation of a cylindrical bearing under variable load, and of
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oil action in journal bearings’, Gen. elect. Rev. 1925,559. latory fluid whirl in vertical machines’, Trans. Am. SOC.
( 3 ) NEWKIRK,B. L. ‘Whirling balanced shafts’, Third Inter- mech. Elagrs 1956 78, 13.
national Congress of Applied Mechanics (Sweden), 1930. (16)ROBERTSON, D. ‘Whirling of a journal in a sleeve bearing’,
(4) NEWKIRK, B. L. and GROBEL, L. P. ‘Oil-film whirl-A non- Phil. Mag., Series 7 1933 15, 113.
whirling bearing’, Trans. Am. SOC.mech. Engrs 1934 56, (17)PORITSKY, H. ‘Contribution to the theory of oil whip’,
607. Trans. Am. Sac. mech. Engrs 1953 75, 1153.
( 5 ) NEWKIRK, B. L. and LEWIS,J. F. ‘Oil-film whirl-An (IS) STERNLICHT, B. ‘Elastic and damping properties of cylin-
investigation of disturbances due to oil films in journal drical journal bearings’, J . basic E n g g , Trans. Am. SOC.
bearings’, Trans. Am. SOC.mech. Engrs 1956 78,21. mech. Engrs, Series D 1959 81, 101.
Proc Instn Mech Engrs 1967-68 Vol182 Pt 3A

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98 B. STERNLICHT AND N. F. RIEGER
(19) L m , J. W. ‘The stability of an elastic rotor in journal
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(20) STERNLICHT, B., PORITSKY, H. and ARWAS, E. B. ‘Dynamic
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D.C.) 1959 (Oct.) ONR/ACR-49,119.
(21) HAGG, A. C. and WARNER, P. C. ‘Oil whip of flexible rotors’,
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(22) HAGG, A. C. ‘The influence of oil-film journal bearings on
the stability of rotating machines’, 3. appl. Mech., Trans.
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(23) STERNLICHT, B. ‘Gas-lubricated cylindrical journal bearings
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Techn. Rept, ONR Contract No. Nonr 2844(00), Task
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(24) HAGG, A. C. and SANKEY,G. 0. ‘Elastic and damping
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