Paper No. TSDET-I16 Carus rete The Solely shall not be responsible for solurets or opinions advanced Ie In dicusion at mosingt ef he Soeey of ts Divsion or fublcaions” Dicoion printed oly he pope publibed Releared for gonaral pobbesion pon ‘det fo ASME, the Tecincal Dion god the suthor Ui. 9 be ‘8.00 PER COPY 51.00 TO ASME MEMBERS Stability and Transient Motion of a Plain Journal Mounted in Flexible Damped Supports ‘This paper treats the effect of support damping and flexibility on the response charac: Lerisies of @ symmetric rotor mounted in journal bearings. The succesful operation of furbomachinery utilising fluid-film bearings is shown to be very dependent upon the bearing support structure for high-speed applications. A stability analysis is diseussed based upon the application of both the Routh criteria and the calculation of damped e: tenvalues. Results are plotted fo typical rotor support properties. The analysis also dis ‘sures the influence of rotor imbalance on the stability of rotor systems, and time tran- sient orkte of shaft and support motions clearly indieate their dynamic behavior for both the stable and unstable operating speeds, Simplified design criteria are given for ‘the selection of the sypport stiffness and damping based upan rotor weight and journal clearance to promote optimum stability, The stability analysis shows that the stability threshold with « damper support may increase the stability level aver four times the balue ofa journal bearing ona rigid support. A nonlinear transient analysis ix presented {to show the size the journal limit eyeles and forees transmitted with and without @ damper support R.G. Kirk lana aang. opener ne NE E. J. Gunter ep acre Eagete, 1 Introduction associated with plain cylindrical bearings the designers have used rulti-lobe, tilting pad, pressure dam, and other designs such a8 herringbone groove to increase the stable speed range of their ‘equipment ‘The dynamics of rotor bearing systems has become of extreme importance due to the increased speed and power level require ments of advanced design rotating equipment, The aircraft jet en fine industry has a8 their ultimate goal a lighter, more powerful ‘more efficient, and more dependable power plant, Compressor and, industrial ges turbine manufacturers are concerned with reduced development costs, high reliability, and low maintenance costs lover extended useful service life, These factors are responsible for the interest in and growth of the study of stability and fore re sponte of rotor bearing systems. Power plants for ground installa tion and outer space are relying on Huid-film bearing to provide long, maintenance free service. To avoid the classical instability Contributed by the Design Engineering Division for presentation at the Jet engine manufacturers are designing advanced engines with antisrction bearings in series with fluid-film dampers to reduce ‘engine sensitivity to imbalance, In qualitative terms, the same sys tem parameters which promote optimum forced response chats teristies are also conductive to an increased stable operating speed range. While this is true in general, iis extremely important for the dynamis to fully understand the cause and nature of instal ties associated with fuid-film bearings, internal frition damping, and aerodynamic cross-coupling. The present paper will be con ‘cerned with only thos instabilities associated with Mid film bear. ings. ‘The instability associated with the plain eylindieal journal bearing has received considerable attention in the literature (1-5. Pinks [6] reported that flexible mountings gave greater stability to rotor bearing systems while Poritsky [7] and Hagg and Warne? "Numbers in brackets designate References ted paper[81 found that support Hexiilty lowered the stability threshold ‘speed, Gunter [9] explained the discrepancy when it was shown that a symmetrical undamped support lowered the threshold speed whereas damped and/or asymmetric supports can greatly n= ‘crease the stability of @ rotor system. Hori [10} presented an analysis of «long beating with negative ‘uid film pressures neglected (to model cavitation) which indicat fed that the journal was not inherently unstable at all speeds ax Robertgon {3} hed shown. Ho's analysis was in agreement with practical experience and all futu ‘the cavitation effects unless supply pressures are in excess of the peak film pressures in which case the film does not eavitate, Hor ‘concluded thatthe vertical balanced journal would be uascubie at speeds. This fact has been demonstrated by the authors, and it thor boon determined that rotor imbalance is required to promote stability of vertical rotors operating in plain journal bearings (22) ‘An investigation by Badgley [11] reported on atime transient ‘analysis method of obtaining the stability threshold speed of short, Tong and finite bearings. The orbits of a balanced horizontal rotor ‘on rigid supports were examined for various methods of pertuba- tion to determine the influence on the stability boundary. Me ini cated thatthe threshold speed at high eccentricities is reduced by ts obtained forthe short bearings ig. 5 ofthis paper). Lund (12] examined the stability fof a Mexible rotor with damped supports and concluded that damped flexible supports can considerably increase the threshold speed. Stability curves for specific rotor systems were presented {or rotors supported in cylindrical gus bearings. Gunter [13] pre sented a linear analysis of the influence of damped supports on the response characteristics of a rigid rotor including gyroscopic of fects. The analysis ofa typical rotar system indicated significant rediictons of fares transmitted for damped bearing supports Recent investigations of rotor stability (14, 15} have extended the rotor models to general multismass exible rotors with damped bearings, Thete analyses are generally intended to study complex rotor systems and will add enormous capability 10 e rotor dy- pamist in future studies of stability ‘The purpose of the following discussion isto present the results| of an extenive study of the influence of damped flexible supports fon the stability threshold speed of a rotor in nonlinear fluid fil bearings (16, 17]. Stability maps are presented in dimensionless {orm for a range of support stiffness, damping, and maas ration, Numerous time transient response orbits wil indicate the nature of stable and unstable response orbits for both balanced and un- balanced rotor systems. Examination af the compiex eigenvalues fora specific rotor syatem will give further insight to explain why rotors may pass through an unstable speed range and restabilize, ‘only to go unstable at some higher speed in the elasical “half-fe ‘quency hie, ‘When shaft exibility is included in the analysis another poss ble mode of instability is introduced which corresponds tothe con: dition of “resonant whip” as reported by Newkirk (18. ‘This phe rhomena can be shown analytically by examination of damped ei renvalues. The examination of the rea! part ofthe eigenvalue gives ‘ot only a indication af whether the system is stable or unstable, ‘but also an accurate indication ofthe rate of growth of small pert. ‘betions. This additional informetion has proven to be extremely, ‘ueful in giving added insight to the cause and nature of rotor bearing instability. 2. Description of Rotor Bearing System 241 Rotor and Support System. ‘The system that isto be con. Ssidored in tis anal sche symmetrical rotor as shown in Fig ‘The rotor is considered to be supported by nonlinear Tuid fm ‘bearings in which the length to diameter ratio i leas than one (i, LID < 10). The bearings are modeled by the short bearing ap proximation [19, 22). A derivation of the fuid-film forces ex. pressed in fixed cartesian coordinates is resented in the following Nomenclature 4a = growth aeor (T™!) m = journal bearing radial clearance (L) m2 T'L~) Cau Cy, = Dearing. dicect” damping j= Journal bearing mass (FT ‘ere ‘mas ratio, = my/m (DIM, “oy Cyz = bearing eros coupled damping N= rotor spin, ax (REVIT) (ere) = journal radius (1) Cron: Ciyy = support direct damping Sommerfeld number (REV) ri) = Oevirk numbe Choy Ciye = support cross coupled damp: w= parameter = uia/2® (FL~*) Sng (PE) W = bearing loading (F) support damping (DIM) w Toad journal bearing diameter (L) imbalance of otor/a (L) E, = imbalance ratio, = e,/e (DIM) Bn W/aLD(2e/L)*V me JW (REN) -x1,y1 = suppor displacement (L) “Eu ye = rotor absolute displacement (L) ‘one-half equivalent rotor mass, mj + = whin rate ratio, = da, (DIM) CL = journal clearance (L) CBX, CBY = support damping (FTE~) EMU = journal eoventriity ratio, = By (Dine :S = journal equilibrium eccentricity ratio, = «9 (DIM) og calculated for LOAD = FU (DIM) FO = rotating loud (F) BMAX = maxizoum fui.film force () EMAXB = maximum force to bearing (7) ‘SiL/0) (REV) ES number By = journal Mui fiz free (F) 2,9) = journal relative mation (L) EMAXS = maximum force to support (F) gravitational constant (LT-) 1X, ¥ = displacement ratio, = ¥/6, yf FU = imbalance load (F) film thickness () (pis) FURATIO = imbalance ratio, FU/W “film thickness ratio, = hfe (OIM,) Xo, Yo = journal equilibrium position (DIM) Ke = support stiffness (DIM.) mM) MU@q5 = viseosty of Iubricant (105) Ky = shaft stifiness (FL.~!) = journal eccentricity ratio (DIM.) rl) ‘equilibrium eoenteicity Kea, Kyy = beating dent stiffness (FL) = journal Ocvirk number (REV) Kas, Kye = bearing crore coupled stiffness (DIM) TROMAX = maximum dynamic load/me tL} = complex eigenvalue (7 uw)? (DIM) Kisg Kiy © support direct stiffness = viscosity of lubricant (FTL®) TRSMAX = maximum film loxd/W L-) 6 attitude angle (rad) (IM) Kin Kine = support ctoss coupled stil ve = bearing pin rate (7!) 1 = bearing a fom oor) reas (BL—2 £.= journal bearing length (L) img = rotor mass PTL”) ‘my = support mass (FT#L~!) rotor spin rate (P sum of w+ wn (T mM) 2 “1 ability parameter, = V7 ) paring weight (F) Wy 9) + Ce = mae inl) — mye +5(0 (108) Journal: mf, +8) — Ray 43), $e ~ x) 0 (te) mS #3) ~ Fylay ys 504 — Ae (4a ~ 9, ~ 9) = meget) Support: mi, + PCE Ny + Kid + Kis + Cui + Cig =F, 2a) iy HISD HK + Kia + Chl + Cigeki =e + Fy, 120) where (= absolute damping on rotor midspan “Tiel = any time dependent or steady loading acting on the rotor (including effects of aerodynamic loading of internal friction) Fy = preload force on the bearing support system Fls,»,&91/= fuid-film forces expressed by equation (3). If the rotor shaft stiffness may be considered to the rigid (mag/K, <<) then the equation may be reduced still further to the fol lowing system of equations. mi, +3) — Fylsiys Fa), = meet, cost) + 1/260) ~1/2C i + F) (130) m5, +3) — FG 5), = mega, sintes) + A/2K(0 ~ me 1/2005, + 5) (190) my + FA 96 F49), + Kage + Kia + Caois + Ci) = Fy, (4a) my + BK + Kids # Rigi + Cis + Chi = Fy — me (140) "These are the equations requited for time transient response calculations. For stability consideration, the homogeneous equa tion written about the steady state equilibrium position may be ex pressed in dimensionless form considering the bearing characters: ties as given by equation (6). The cross-coupling terms for the port are neglected to reduce the number of variables in ysis. The resulting equations are expressed as follows: (1+ ox + EX + RX, +X = 0 (150) (a+ omy + = 0 (150) XY AAG Katy + CuX/ + KY, + Cy¥/ = 0 (se) Ye" + VSO + Ry¥, + Oy Yy + RaXy + Gey = 0 asa) 5‘The support characteristics are assumed to be symmetric to fur her reduce the numberof dimensionless parameters in the study hus the extent af the stable region wil be the lowest obtainable since bearing support asymmetry will in general increase the stable ‘operating speed range. The following dimensionless support char- facteratic varighles ae defined, Kip = Kg/mag Kp = Kia = Kew as) Ep = Cp/myg Cy = Cine = Cre where =e “The stability ofthe rotor system may naw be calculated in terms of the dimensionless parameters given in the preceding discussion fom the above dimensionless parameters, it may be shown that the stability threshold speed may be expreseed as overnoit = YE, am, eRe esi me ‘These parameters analysis presented inthe following 2) 7) be used to plot the results of the stability iscusston, 3. Stability and Transient Motion on Rigid Supports 3.1 Journal Beating Stability. The stability analysis of the nonlinear rotor-bearing system obtained by employing the lin. ‘arized equations of motion ofthe balanced rotor about the steady tate equiibeium postion. "The case of the journal bearing on rigid supports reduces the ‘equations of motion toa system of two degrees of freedom. In Fig 5 the stability threshold of the isolated two degrees of freedom journal bearing is presented in terms ofthe stability parameter lee | 4 Fig.5Stabty map forthe shot Journal bearing with gl uppers ium secenricity ratio «The results of this ‘elementary system is compared with the results generated by Bad fley-Booker [20] who also assumed the short bearing approxima tion. The stability profile generated by the evaluation ofthe be ing characteristics in fixed cartesian coordinates is in excellent ‘agreement with the results shown by Badgley and Booker, Also shoven for comparison is the stability boundary generated by Reddi-Trumpler [21] for the 180-deg Hearing with end leakage. "This analysis indieates decreasing threshold speed for decreasing "The stability of the finite width bearing for various aspect ratios ‘of L/D was treated by Lund [25]. Comparison of these profiles in- dicates that the short bearing theory predicts accurate stability boundaries for aspect ratios f (L/D = 0.5). Lund also shows that for large aspect ratios (L/D = 2.0) the characteristic stability corve i similar tothe approximate stability ‘houndary fist presented by Reddi-Trumpler which shows thatthe stability decreases with decreasing eccentricity. However the ‘asymplotie valye that Lund obtained for L/D = 2.0 approaches 2.17 rather than the lower value of 18 as shown Red "The stability houndary af the present analysis is found to de crease slightly with increasing eocenticity, ‘The minimum thresh old of stability is obtained at an eccentricity af « = 0.5 and the value of ay is approximately 2.5. As the steady-state eccentricity increases beyond 0.5, she stability rapidly increases, until the ays: tem is completely stable beyond = 0.7, which alo ageees with the results stated by Hor 10), Example 1 Determination of the journal stability ~ 500 rpm Given W = 501b (22.68 kg), R= 100%n. (2.5410) L=1.00%n. 2.54 em) = LOX 10° Reyns © = 0.005:n From the above data the bearing Sommerfeld number may be calculated and hence the steady slate eocentriity termined . HN, pp et =o ww ® D ae S= 13 = 2) sar — ey + 16eT! By the Newton-Raphson iteration the equilibrium eecentriity| is found to be vo = 0211. From the stability pot (at Point 1) the Stability Unreal is spproximately a, = 25. The rotor operating speed parameter 1 is given by , [aie (0.005 “Ne 386 Since the operating speed is below the stability threshold, the sys tem should be stable about the steady-state equilibrium position of = 0211 Fig. 6/2) represents the transient path of the journal core sponding to the conditions in Example | 3.2 Journal Bearing Transient Motion. Although the stabil ty analysis ofthe linearized system is needed in order to establish the stable operating boundaries ofthe sytem, i does not answer the important question as to the magnitude of the unstable orbit For example, to rotors may have a similar threshold of stilt yet one may have considerably better operating characteristics in that it hag smaller limit eyele orbits abuwve the stability threshold ‘The question ofthe actual nonlinear rotor motion above the stabi: ity threshold and also the influence of rotor imbalance on the mo- tion ofthe system can only be antwered by 8 time-transient meth 1d of analysis in which the nonlinear equations of motion are inte 680.68, = 245 Transactions of the ASMEHORIZONTAL BALANCED ROTOR N= 6500 RPM WT = 1,00 Re 1.00 1%, We Sus. Le Loo iN Mums = 1.000 REYNS G = 5.00 MILs FAX = 6H. LB. PHO TASHRK' = 1.29 OCCURS AT 0.53 CTCLE gs 1.733 WS = 2.45 Ss = 0.433 f= 0.211 (a) Fig. 6(4) Journal ot ofa balanced netzontal roto on rl supports (M pitibrons W's Seats C= 200s mi (O21 enh LO . rated forward in time It should be noted that the use ofa time transient program without a corresponding linearized stability plot has proven to be cotly and time consuming as it ix not apparent from the observation ofthe transient orbits alone as to what sup- port or bearing parameters will promote optimum stability. The analysis of the time transient motion of journal bearings is given in detail in references [11 and 2), "The typical characteristics ofa rotor operating below the stabil. ty threshold speed is shown in Fig. 6). The transient path of the journal is plotted in the referenes clearance circle. The rotor is op trating at 6500 pm and at time ¢ = 0, the rotor is dropped from the center (X = Y = 0). The resulting path of the journal is ind cated to be stable and spiraling into the equilibrium eccentricity (= ES = 0.211), The small circles on the orbit indicate one spin revolution of the rotor. ‘The asterisk on the orbit is the point af ‘maximum load transmitted and for this case it i indicated to be 64.4, (286.45 N) If the system properties are used to calculate the position on the stability map of Fig. 5, the point labeled 1 is obtained as shown in Example 1. The system is thus sen to be operating just below the threshold speed, An increate of rotor speed to 10,500 rpm ives the Position on the map labeled 2 which is seen to be unstable. This is. thoven clearly in Fig. 6(6) and Bf) where the journal is spiraling ‘outward ata whirl rate very close to one-half operating speed, "The responte of a fuid-tilm bearing is typically plotted asthe rmotion of the geometric center of the journel in the clearance cir cle, This is equivalent tothe orbit trace that would be observed on Journal of Engineering for Industry HORIZONTAL BALANCED ROTOR N= 10500 FPN kr = 1,00 Re 1.00 IN. We gue. L= 100 IN, HUsS = 1.000_ REYNS Ge 5.c0 ILS Feex = 145.6 U8. FO TASMAK’= 2.81 COURS FT 8.95 CTCLE s= 2.000 HS = 3.95, Ss= “0.700 ES = 0.139 an oxillofcope showing the output of displacement probes mount: fd on the bearing support and monitoring the journal motion, The physical interpretation of an instability is demonstrated in Fig 15(b) where the rotor speed is 10,500 rpm (Point 2 on Fig 5). The rotor is spiraling outward at avery high growth rate. In five revo tions of the shaft the response has doubled. Thus the average erowth rate, fr this system i calculated tobe: R= Re™; | = 0.005714 s/rev therefore, ia 1 B= 20= land hence a = 24.26 ‘The continuation of the motion for another five eyeles is shown in Fig. Ge. The growth rate it greatly reduced (a = 853) and limit cycle is formed which i es expected for the nonlinear system. The ‘analysis which uses linearized equations cannot predict the limit eyele condition as was shown inthe transient orbit. "The analysis of imbalance response in « nonlinear system may bbe obtained by transient response techniques. The mass of the rotor ie considered tobe displaced from the geometric center by an amount By = EMU = ex where c is the radial clearance of the bearing. Consider initially «rigid support system and an imbal- ance given as EML = 0.20, For a roto speed of 6500 rpm the orbit is shown in Fig. 72) for the ease ofa suddenly applied imbalance and release ofthe journal from x atthe time = 0 The re 7HORIZONTAL BALANCED ROTOR ves, N= 10800 Rew w= 2,00 Re 1.00 1K we SOB. Ls 100 2x Puss = 1.000 REYNS Se 5.00 HILS Fre = 157.9 U8, BO “TRH «3.56 OcctRs AT 14.98 CTOLE s* 2.600 ks = 3.98. ss 0.709 f= 0.139 4 (c) lg 6(¢) Journal eb of balanced role for eyles 11-18 showing mo- {ion near tt cycle (N= 10,500 rm) sponse has Joth synchronous and non-synchronous components But atthe end of ony five cycles of motion the system is reducing to predominantly a synchronous response. An incresse of rotor speed to 10,500 rpm (above the threshold speed) produces the un- sable orbit shown in Fig. 70) ity and Transient Motion on Flexible 4 STABILITY ANALYSIS. ‘The equations of motion as pre- ‘sented in equation (15) may be analyzed for stability by examina. tion of the system characteristic equation. Assuming solutions of the form X = Xe, the following characteristic determicunt may De written, "The resulting sighth-order polynomial in X may be expressed at he) AM HART HARES FAA tA, 18) where ApH a4 HHO — CO) and Ws onda + Cty + Reese! Oe) with a= a= 0 = 6m 4, = 0, + Eq + b1Cy + Ey) y= Ky + By + Caly ~ Cy Oe + mR, + Ky + Ealy ~ CyEn) + CC, + Gy) t= 4 SWIC i + Cally ~ Okey = CK] + Ga + Ry + Cal = Clad + Ryle a = 1+ bm) RaRy ~ Keo) + CIC Ra + CR ~ CK, HORIZONTAL UNBALANCED ROTOR va ame N= 6500 Ar MT = 1,00 Re 1.00 IN, We SLB. Le 00 IN, Hues = 1.900, RETNS. Ge S100 HLS Fee = 135.2 LB. Ao TASHAK' = 2.79 CUS AT 0.86 CICLE Se 1733 WS 2.45 Ss = 0.433 €S = 0.211 Bau= 0:20 FU = "59.95 U8. Ue 186 FURANIO = 1.20, Trowx = 2.26, eu Oz ~ (a) Fe, 204, Joana i fan matin hon tipo fe SON. (220 gh © = 0.008 mite (00127 ‘Transactions of the ASME+ [Ry + Ry + Goby ~ EEnl = RK + Bil Re + Caky ~ Gy, ~ CK y= BIRR, - RFal Also, y= om by = C,- Tl + 5m) by = “Ky - Of, - (1 + bmi EL, - TR f= Ry be = 04 = 5,6,7.8 ‘The characteristic equation given by equation (19) may be ex ‘amined by the Routh eiteria (16) to etermine the onset of insta- bility. The equations were programmed on a digital computer and ‘an extensive study of the lowest stability threshold speed was de- termined for varius values of dimensionless support parameters. "The esults of this investigation are plotted as a dimensionless sta bility parameter, wy = w\/me/W, versus the dimensionless steady state equilibrium position ofthe journal which is denoted as «. For HORIZONTAL UNBALANCED ROTOR ve. asm N= 10500 AM w= 1,00 Re 1.00 1%. Ke 50L8. L= Loo mn MleS = 1,000_ REYNS Ge 5.00 MILs Fue = 248.7 18. AND TRSHRY= 4,7 OCCURS AT 9.95 CYCLE s= 2,000 KS = 3.95 ss = 0.700 Es = 0.139 B= 0.20 Fus is6.45 Ls. SU= 0895 Furarig’= 3.13 TAOMRK = 1.59 ESU= 0.92 (b) 9g. 10) sors ta laced tr ove he by eh SSapsea aaron es 398) Journal of Engineering for Industry a We | 3 z 1 S ao ‘ SINE TN LN Nes \e he EeRENTREITY, 1M Fig. 8 Staitly map forthe damped, texbe support rotor onerous bonrngs = 8 mlm) the horizontal otor system under I-g loading the stability parame ter reduces to ws = «Ve/e. This parameter has been widely used to express the stability of short journal bearings [11, 14, 20,21]. ‘The equilibrium postion of the journal may be expressed in terms ‘of the Ocvrk number, S,. In addition, itis easily shown that ofS - Ws, 2) where 7a 2 Qo} (om Moy (mE es) ‘This parameter is defined as the load number of the bearing and. ray be used on the stability map to determine the operating ec- ‘centricity for a given rotor bearing configuration. ‘The stability map shown as Fig. 8 was plotted for a specified value of suppor stifness, Ke, and mass ratio, m = my/m. Stabil {y boundaries for numerous values of support damping are shown ‘om the figure to illstrata the effect of damping on the threshold speed. For example, Fig. 8 indicates that (for Ky = 0.1, im = 01) the threshold spood may be raised significantly above the rigid support theeshold speed (shown as dash-dot line) for a damping value of Cr ~0.5. In addition, itis easily observed that lightly damped support system (Cp ~ 0.001) reduces the onset of instabi ity for bearings having «o < 0.7. This effect will be examined in ‘reater detail later in the discussion ‘The load lines indicated by dashed lines trace the journel eccen- twicity ofa rotor asthe running speed is increased or decreased. Fer heavily loaded journals (1 > 100) its evident thatthe stabil ty is greatly increased beyond the corresponding onset speed fora Thuy loaded journal (W < 80). The stability map also indicates an eptimum damping value for maximum increase of the stableHORIZONTAL BALANCED ROTOR w= 10520 RPA. 1RO-B = hss 50.0 18. WD-s = fas ‘Slo ta ie6 = 1.0000 RETHS ey'= 9.00 LD = 0.809 Fue ‘0.0 ts, GL s.00 mts FD = 0.09 U8. = 0,00 Fixe O.00.U8, em = 0.00 Far = 0.00.08, ey = 9:09 Koad = LOIN KBfo-3 = 1 LOVIN Cox = 20,0 LS-SEO/IN OBY'= 20.9 LO-SEC/IN Funxa « Pasa = 191.9 U8. ANO QOOURS AT 9,03 CYCLES 6:1 UB, AND OGOUAS AT 0,05 CYCLES \ (a) Fig 9(2) Rotor eatve motion showing stabitzed esponsy (i ‘msn 396), ‘operating speed range. An overdamped support system (Cp > 10.0, redyoes the threshold speed tothe rigid support onset speed. Consider the following rotor system which will be used to ila {rate the effects of support properties on stability and tr sponse. Exomple 2 rotor weight—80 Ib (22.68 kg) journal weight (each)—25 Ib (11.34 kg) Journal radius—t in. (2.54 em) journal clearance—.005 in. (0127 em) ‘support weight (each)—5.0 Ib (2.288 kg) ‘suppor tffness--1000.0 Thin, (1751.28 N/m) support damping—20lb-sfin. (35.03 N's./em) viscosity 1.0 10-* Reyns ‘This rotor system produces the following dimensionless values: bar = 8.0/{(50 + 2(25))/2] = 0.1 _ 1000.0. oa Ke 30 (50086) a8 50(.005) ¢, = —**__— = 0.586 50. /50(886) ‘386 y 50.008) o10,* (501005) _ " aay ‘TV sas) ~ *88 10 HORIZONTAL BALANCED ROTOR 1. um N= 31500 PH, 1A0-8 = We 50.0 (6. 170-5 = w= 5.0 (8. Huss = 1.0000 RETNS HU = 0.00 t= 0.800 Fux ‘0.0 La, GL s.00 ms FO» 0.00 18. €W = 0.00 FH = 0,00 LB. Eu = 0.09 Far = 0:00 (8. er = 0.00 KGXe-3 = LOVIN Sta = 1 LOVIN Cex'= 20.0 LS-SEC/IN CBT = 20.0 LBHSEL/IN FesxG = 649.0 CB. BNO OOURS AT 3.18 CYCLES FHRXS = 8-4 LBL AND OCCURS AT 4.00 CYCLES (>) ‘ig, 9(0)_ Rotor relative motion atthe teed of stabity (W = 31,500, roms 118) If the rotor speed is 10,500 rpm the previous discussion of rigid support bearings indicated that the rotor would be unstable. The stability parameter is ealculeéed to be ,, (50.888) V7 501.005) w, = 10500 = 3.96 ‘50 "The equilibrium eccentricity is calculated to be 0.139 and the point labeled 2 on Fig. 8 indicates the aystem with the damped Support giving Ci = 0.556 should be very stable, The transient re Sponse of the balanced rotor is shown in Fig. 9(¢). "The rotor is in- dicated to be very stable as shown by the rapid decay of the tram sent tothe steady state eccentricity, An increase of rotor speed to 431,300 rpm produces the Point & on Fig. 8 and is very near the ‘Unreshold speed, Tiss clearly indicated by the cnnsient response shown as Fig. 9(5) where the journal contiaues to orbit at approxi mately hal-feequency indicating naar zero damping at this speed. An increase of speed to 45,00 rpun places the journal above the threshold as shown by Point 4of Fig. 8. The response for this con: dition is given in Fig. 9(¢) and the motion is growing exponentially tnd would eventually grow into large limit cycle exponse. The upper’ system has Increased the stability threshold speed by a ‘actor of 475 beyond the rigid support threshold speed. "The effect of decreasing the support stifiness, Ri = 0.01 is shown in Fig. 10(a) and it s indicated that for values of damping Cy < 05 the threshold speed has been increased significantly be ‘Transactions of the ASMEyond that for Kx = 0.1. By increasing the support stiffness to Rx LO with dm = 0.1 the optimum damping values remain at approx: rately Cy ~ 0.5-10 and the lightly damped support threshold speed is lightly better than in Fig. 8, but still below the rigid sup port onset speed (see Fig. 10/4). The stability maps shown as 10(e) and 10(d) clearly indicate that an increase of support mass greatly reduces the maximum onset speed whereas a lighter support system ean be designed to increase the threshold speed to ‘extremely high values for support damping values between Cp (001 and 1.0. The overdamped condition (Cy > 10) remains at about the same threshold speed forall the variations considered in this series of stability maps. "The importance of proper design of support structures is further itlstrated in Fig. 11(2) where, forthe specific condition of Rs = 1.0 and dm = 0.1, the optimum support damping is indicated to be Cy ~ 10. This value of damping would be ideal for hoth the lightly loaded and heavily loaded condition. Fig. 11() indicates that by reducing Kp t20.1 with bm » 0.01 the range of acceptable support Gaming is greatly increased, However, forthe heavily loaded sys tem (> 100), the optimum damping must be properly chosen to ingue the greatest stable operating speed range. "These stability maps indicate thatthe plain journal bearing can be designed with a flexible damped support such that the stable ‘operating speed range is greatly extended beyond the rigid support threshold speed. Equally important, the analysis indicates that im: proper support design could possibly lower the threshold speed below that which would be obtained for rigid supports HORIZONTAL BALANCED ROTOR wo. une N= ¥so00 RPM. 180-8 = we 50.0 Ls, 1RO-S = w= 5.0 U8. Wes = 1.0000 REYNS En= 0.00 Lo = 0.800 0.0 LB. GL = 5.00 MIS 0.00 1. eX = 0.00 0.00 U8, ew = 00 0:00 (8. ext = 0.00 3 TV LB/IN MBfe-3 = 1 L8/IN CBX'= 20.0 L8-SEC/IN CBr'= 20.0 LB-SEC/IN Feax® = 1123.3 LB, AND OOCURS AT 3.28 CYCLES Fees = 21.9.8, PND OoCLMS AT 5.00 CrCLES (ce) ig. 9) Rotor elative motion or five cycles showing needy (= £8,000 rpm, ss" 17) Journal of Engineering for Industry oe Me SeoeNTRCHY, ome a, 1010) Say map fe aoa Nexbi sper room set Foor bearage (Ka = 8.0%, my/m = 01) 42 ‘TRANSIENT RESPONSE ANALYSIS. Stability maps such asthe ones presented in the previous section of this paper are of great value due to the amount of useful information contained fon a single plot. The analysis of time-transient response of otar systems cannot be presented in such a compact form. However, the amount of design information obtained from an actual time-tran sent response analysis for a specific rotor system essily justifies the effort required to produce and interpret the results. "The technique for calculation ofthe transient response has been iscussed in detail in several references [21,22]. The initial value problem requires only that the displacements and velocities of the rotor system be given at a specifi intial starting time. From this information the nonlinear fluid-ilm forces may be calculated ( shown in equation (3)) and any other fores specified asa function of time, displacement, and velocity may also be included in the simolation "The equations of motion in dimensionless form are expressed follows: fa f= BCH E p, cost) 1 Bi Hy Gi +H) ae) "of ce THCY, « OMA) Fg. 10(0) _Stabity map torte damped, texble sport rotor on short foumal bearoge (Ke = 19, m/m = 01) y, + Sim + Ki, + Ge Hy) (eo ony = hg BOE Bo ~ Bae ¢ cer : + Sex + Get + Gee X) — om ee add ‘whore the equation for P(.,9) ia given by equation 4 "The addition of « flexible, damped support system has been shown in Example 2 to greatly increase the threshold speed if the support ie properly designed, ‘There are instances where the sup ‘port can be poorly designed and produce no harmful results as long ‘as the rotor speed remains below the stability threshold, However, the bearing and support loading will in most all cases be high than ifthe support system were properly designed. Te was seen in the transient orhita shown in Fig 9 that by proper design of the support system for the rotor af Example 1, the stabil lity threshold could be increased from 6500 rpm to over 31,500 xem. ‘The transient orbit anabsis for the nonlinear system also shows ‘hat even well above the stability threshold at a speed of 45,000, ‘pm, the unstable motion increases with m small growth rate. The design conditions for the support system is given by Example 2 with Ky =, Gy = 0.856 and 6, = Out It is important to note that itis extremely dificult to determine the optimum dimper support system by use of the tme-transient program forthe integration of the nonlinear equations of motion, In the intial phases of the investigation of the influence of the damper support system on journal stability, the time-transient program was developed and run prior to the development of the 12 Fig. 10(6)_Stabtty map forthe damped texbe support rotor On shor Journal bearings (Ke 01, mm = 1.0) linearized stability analysis. Numerous runs were made with the time transient program to incorporate various damper combina: tion to stabilize the rotor obits as shown in Figs. 6 and 7 at 10,500, pm with little success, It was onl’ alter the linearized stability ‘analyis was developed that the successful damper combination as shown in Fig 9 was rived at. Exomple 3~Off Tuned Support System. Consider the system of Fig. in which the support stiffness ‘The stability cha Ky = 10 and By = 01 16500 rpm as shown in Fig, 12) the rotor shows a very stable eli. ‘corresponding to the damper parameters af ven by Fig. 107). At a speed of N= tie obit about the equilibrium position of = 0.213 Ps of inter st to note that fr this ove of unbalance, the synchronous elliptic journal orbit ean be predicted accurately by use ofthe linentled Dearing eoetfcients. Pig 12(0) represents the absolute motion of the support system, The support system has a static vertical dis placement of 0055 in. due to its 50-b weight of the journal and 5b weight of the support housing acing om the 10,000 Thi. sup: port spring rate. The dimensionless vertical equilibrium position fof the support system is ¥ = ~O.0055/C = ~1.2, The abo mo- tion ofthe support housing isa circular synchronous orbit of mensionless radivs 02 eaused by the imbalance dim, eccentricity of EMU = 0.20. From Fig. 107), the value of Ch = 5.56 represents excessive damping and the stability curve willbe close to the Cn = 10 curve. Although the support system damping is excessive, the stability ‘threshold i tll increased hy about 25 percent over the rigid sup- ‘Transactions of the ASMEmee \ ig. 10/4)_Stabity map for the damped, exible support rotor on shart Journal Bearings (Ke =, mm = 0.31) pert condition. "The system stability would only be reduced below the rigid sup- port condition in the ease that the support damping drops below tome 4-4 Fig. 11(2) Stabity map showing the threshold speed versus support damping (Re * 1.0, m/e = Journal of Engineering for Industry Cp = 0.1. In this example, this would be equivalent to reduction inthe damping, from 200 Ib s/n. to less than 4 Th lin. Therefore we see that if the support system losses its damping, the stability threshold is reduced below the rigid support condition. There have been instances reported where rotating mechinery would suffer from violent bearing instability when the rotor easing was not firmly anchored down, Upon securely bolting down the easing, the hil instability would disappear. Thi is similar to the situation of the introduction of support flexibility without eny aecompanying support damping which is required for stabilization, I the rotor speed is increased from 6500 rpm to 10,500 rpm, the system is no longer stable ns shown in Fig. 14. Fig. 14a) shows ‘hat the journal has a substantial fractional frequency whtl orbit. Its apparent from the examination ofthe journal and support or- bits chat the system is operating well above the stability threshold ‘The orbit ofthe support housing has inereased aver 2-5 times the support housing mation at 6500 rpm. In ar attempt to reduce the ‘whintorbit experienced at 10,500 rpm, e case was run with the ‘damping increased to 400 Ib-sfn. ‘The reeulting whirl orbit was much worse than the orbit obtained with 200 Ib-sin. damping in the system. Upon the development of the stability threshold map ‘as shown in Fig. 18, its readily apparent that in order to increase the stability for this system, the damping should have been re ‘duced rather than increased. The optimum damping for Ky = 1.0 Ties Between Cp = 0.5 and 1.0 which represents damping values of ‘Although the damping in Fig. 13 is excessive, and the rotor is ‘unstable at 10,500 rpm, the resulting limit eyee wll till be wmaller than the motion obtained with the rigidly supported journal ax shown in Figa. 6 and 7. "The properly designed support system eannot only greatly im- prove the threshold of stability ofthe hydrodynamie jouraal hear- Jing, but it can result in a substential attenuation of the for ‘transmitted through the support structure due to imbalance. Fig. 14 represents the journal at 10,500 rpm with the optimum support damper as given in Example 2 with Ky = 0.10, Cp = 0.556 and 04. One of the important questions besides the stability threshold ‘characteristics is what will be the size of the rotor orbit and the journal and bearing forces transmitted vrough the system. At 10,500 rpm, the dimensionless imbalance eccentricity of EMU = 13surronr oan» Fo. it , mym= ot) HORIZONTAL UNBALANCED ROTOR w= 6500 Fe. sane k= 50.0 18, les = 1.0000 SETS w= 5.0 18. Lo = 0.500 w= 0.20 OL» 5.00 MILs FO= 0.00 18. = 0.00 FAX 0.00 LB. em = 0.00 Far = 0.00 (8. EM = 0.00, KORe-3 = 1OLB/INRBYe-3 =" 10 LO/IN (CBK'= 200.0 LE-SEG/IN CBY = 200.0 LB-SEC/IN ——_] (a) Fi. 12/4) Journal relative motion on Hextble supports showing stesdy- Stat ep orb (N= 6500 rpm, cy = 248) 14 (0) _Staity map for reduced support stiness and damping Inating& arg regon of stable operation HORIZONTAL UNBALANCED ROTOR feo oo sen We 50.0 Le, we: ‘50 Us. Wu's 0:00 oe soo mis Fo~ 0.0018, i> 0.00 Foes “aot. Bhs 00 fas Om ts f= (ted = IOLG/INkate3 x's 2.0" Leese Eer"s 20.0" LeRSEO/IN g a 8 8 8 - eI 4 5 2 ‘Bay as ag da” ae aoa on. @) Fig. £2(0). Support wansiant motion (N= 6500 rpm) Transactions of the ASME(02 represents a rotating load of 155.6 Tb. The maximum force transmitted through the bearing is 249 Ib which represents a dy- namic trensmissibility through the bearing of TRD-B = 1.59 Normally a dynamic transmissibility in excess of one is considered undesirable as this indicates thatthe rotating imbalance foree has been amplified, ‘That is, more force is being transmitted through the bearing than would be ifthe bearing were perfectly rigid. How: fever, with the damper support, only 23.6 Ib. foree is transmitted from the support system tothe base Therefore the dynamic trans: rissibility that is felt by the surrounding foundation hes been greatly attenuated since TRD-S = 0.214. Hence itis seen that a ‘well designed damper support can eause a great reduction in the forces transmitted through the foundation. In the extensive study conducted on the nonlinear transient analysis of journal bearings [22] ite observed that with imbalance the journal dynamic trans ‘missibility was usually greater than one. Therefore it appears that the damper support can reduce the dynamic transmissibility which should promote smoother turbomachinery operation 5. Conclusions "The following observations and conclusions may be stated con: cerning the reults that have been presented in this paper. 1. The use ofa flexible damped support system may greatly in- crease the stability threshold ofthe plain journal bearing. 2 Lightly loaded rotors with low load parameters (W = 1) are HORIZONTAL UNBALANCED ROTOR N= 10500 FPA. y= 50.0 LB, Mas = 1, w= 5.0 18, UD = 0.500 EM = 0.20 Ls 5.00 HLS. Fo= 0.00 8. N= 0,00 Fix = 0,00 48. ex = 0.00 Fav = 0,00 (8: Ext = 0:00 KOKe-3 =" 10 L8/IN | KBTer3 =" 10 LB/IN BX"= 200.0 LE-SEG/IN CBT = 200.0 LB-SEC/IN (a) Fig 13/2) Journal transient responce for an overdamped suport (W 10300 pm, x= 02), Journal of Engineering for Industry load parameter W is greater than 100. '3- For lightly loaded rotors, the optimum damper support may increase the stability threshold over four times ofthat obtainable with the rigidly supported plain journal bearing. The maximum x, = 100, / 4 The damper support performs most effectively when the support housing weight i kept les than the rotor weight. If by ex ‘ceeds unity, then the damper support system will provide litle in- ‘rease instability above the rigid support values 5. Ifthe bearing support stiffness Ris excessive (>5) then the high stiffness will prevent the damper support from improving the journal stability. ‘The preferential support stiffness design value should be Ky <1, Hence the support stiffness should be designed Sich that (8) w ne) = C Mag! = mb (28) For example, with « 50-Ib journaland a 0,005-in, radial clearance bearing, the support stifness should be 10,000 bin. of les 6 It may be difficult to improve the stability of high speed light weight rotors with a damper support system because of the low support flexibility required HORIZONTAL UNBALANCED ROTOR N= 10500 fem, — we 50.0 U8, ues = 1.0000 AETRS w= 3.0 0 = 0.800 fru = 0.30 os 5.60 mits Fo= 0,00 ts. Bi = 0:00 Fos 6,00 18, em = "8.00 Fry = 0,00 U8. En = 9:00) Hotes =" 10 L8/INKtee3 = 10 LB/IN (x's 200.0" LESSEC/IN’ BT" 200.0" LBMSEC/IN a a ‘in dan ag daw asa Ton (o) F130), Suppo rapons (Re = 1.0, Co = 558) 15HORIZONTAL UNBALANCED ROTOR 0.2 and keep the dynamic Aangmissibilty below unity. 15 With a well designed damper support, the dynamic trans: missiblity from the support to the foundation ean be kept well below unity even for large rotor imbalances. Therefore damper supports should promote smoother and quieter machine operation due to the suppression of oil whirl and the attenuation ofthe rotat- ing unbalance foroes Acknowledgment ‘This research work was supported by NASA Lewis Research Center, Cleveland, Ohio, Grant No, NGR 47-005-050, Industral Grant 543-H, University of Virginia. The authors wish 10 express their appreciation to Me. Robert Cunningham, Project Monitor and Mr. William J. Anderson, Director Bearings Branch, for thet Transactions of the ASMEsupport and constant encouragement ofthis work, References 1 Newkirk, B.L.,"Shaft Whipping.” Gen, fie, Rew, Vol 27, 1824p. 169, "2 Newink, Bt, apd Tayler, HD. “Shaft Whipping Due to Oi A. tion inurl Bering Gem Bl fea, Vol 2,826", 985 88 "y"Rotertwom, D, “Whig of Joumal it « Soave Bearing. Mag, Serie. Vel 13, No. 68 dan 1088 "1 Haga, A. yn nonce of Oi i rma Beasng om the Sta itty of"Hoeating Machine" Journal of Applied Mechanics, TRANS. [ASM Vol 8 16, p-201 5 Orbost F. "thw: of Ol Whip for Verte! Rotors Supported by Pilon dournal Bearings TRANS. ASME, Oc. 1855 pp. 197-1502 “s"Piniua. 0, "Experimental Investigation of Resonant Whip.” “TRANS. ASME, Vo 74 Ta pp 25-980 + Poniaky, Hs "Contin to the Theory of | Whip." TRANS, ASME Aug 8p. S16 Hogg, A Co abd Warner, P. C, “Oil Whip of Pleible Rotor.” "TRANS. ASME, Vol 7, Oc. 1868 pp. 139-1388, spite eo Dynuni Say Retr Bering Sey” NASA Spi ios 10 Hari, “Theory of Oi] Whip." Jouralof Applied Mechanics, Vo, {an ,TRANS. ASME, Seria, Val. 81,1958, p. 188 i Badgley. Re Hy ""Turbortor.Instablty—Dynamic Unbalane, Gyrocopis and VartbleSpeed fests with Finite Length, Cavitted, ‘RGA ering Pa drat, Coal Urey hn, Ne 2 Land, 3. W, ‘The Stability of an Hlatic Rotor in Jouroal Bearings Wath Flexi, Datiped Support Journal of Applied Mechanis, TRANS. [ASME, Serie: B, Vol #7, Nov 4 Dec 1905, pp 01-82, 1 hunter By "TheIfigenes of Pleclty Mounted Rolig Element Bearings om Hr Responsn, Part Sinse Anal, Journal of Labrie tion Teche, TRANS. ASME, Jan 1990, 9p. 50-75, 4 "Rul, RL, “Donames of Distbuied Parameter Rotor Systems ‘Teanter Mari and Fstor PAD daeraton, Corel! University, Mee, Phi Journal of Engineering for Industry 15" Tad, dW. “Stability and Damped Criteal Speds of « Fee Rotor in Fld les Bearings” JOURNAL OF ENGINEERING POR IN DUSTRY, TRANS. ASME, Serie B, Val 6, No.2, May 1974 pp. 8-817, 16 De Choudhy, P, "Dynamic Stabiny of Hele Rotor Bearing Systema” PRD assign, University of Via, Charotevill, Var Tr Kirk, RG. and Gunter, 4, “Nonlinear Transient Anais of MuliMaas'Peibe RotorsTheary an Apptications” NASA CR.200, TS Newirk, BL, Variation of Shaft Disturbances Due to Fluid Fins in dournal Bearings,” TRANS. ASME, Vol. T1856, p 985, 10 Devik, FW. “Short Bearing Approximation fr Ful Jourel Bea. Inga” NACA TN 20, 1982 "a ‘Badgley, . He and Booker, 3. F, “Turbortor Instability fet of Initial Teasint on Plane Motion,” deurnal of Lubrication Teebnaigy, ‘Trane ASME, Oo 196 p62 I” Redd, MM. ond Tvumpler,P. “Stability ofthe HighSpeet Journal Beating Under Steady Load.-1! ‘The Incompresble Pim. JOURNAL OF ENGINEERING FOR INDUSTRY, TRANS. ASME, Series BB, Vol 8,62, pp. 3-8. 22 Kirk RG ad Gunter EJ, “Teansint Jour Bearing Analy NASA C¥49, Washington B, Cy June 1970, 25 Beckett and Hurt, Numerical Caeultion ond Algorithms, Metraw-Hil New York, D6, 970 24 Risk, KG. "Nonlinear Teasint Analysi of Mult Mane Flexible Rotors" PAD dissertation, University of Virginia, Charatesvile, Va, une Po 25. Land, 3. W:, "Self ited, Stationary Whirl Orbits of «Journal na Sleve Bearing." PRD dsteeion, Renarlser Poljechne Tneitute, TP, NF aga 886, Portals, H., “Cootibutions to the Theory of Oi! Whip.” TRANS. ASME, Vo 25,1853, pp 1159-16. ings: Journal of Mechanical Rngincering Science, Vol. 2, No.4, 1980, a 7