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OUTLINE
Basic Concepts
Torsional Analysis Procedure and Purpose
Simple Torsional Systems
Single Inertia
Two Inertias
Three Inertias
Holzer Method Method for the analysis of multiinertia lumped-parameter systems. Applicable for
free and forced vibrations, systems with or without
damping.
Geared Systems
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OUTLINE (Continued)
Torsional Modeling
Commonly Used Formulae For Torsional
Modeling
Shaft Inertia Distribution
Shaft Penetration Effect
Effect of Fillet Radius
Torsional Stress Calculations
Sample Output Torsional Critical Speed Analysis
Typical Mode Shape Plots Using Excel
Comparison of Calculated Torsional Natural
Frequencies with Test Data
References
Pran RDA Consulting Inc.
BASIC CONCEPTS
Torsional vibration is a periodic motion of elastic shafts with circular
rotors (compressor impellers, turbine discs etc.) rigidly attached to the
shafts.
Torsional vibrations are controlled by the polar moments of inertias of
attached rotors to the shafts and the torsional stiffness between the
attached rotors.
Number of oscillations per unit of time is defined as the torsional
natural frequencies.
Torsional vibrations are caused by various types of torsional
excitations, e.g., gear imperfections, motor air gap torque during start
up and short circuit, fluctuating torques in rotating machinery e.g.,
compressors and turbines.
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J1
J2
EQUATIONS OF MOTION:
J1 1 + K (1 - 2) = 0
J2 2 + K (2 - 1) = 0
LET 1 = 01 ejt AND 2 = 02 ejt
CHARACTERISTICS (K-2 J1) 01 K 02 = 0
EQUATIONS
- K 01 + (K-2 J2) 02 = 0
RESONANCE OCCURS WHEN THE SYSTEM DET = 0
-K
=0
DET = K - 2 J1
2
-K
K - J2
SOULTION = K(J1 + J2)/(J1 +J2) RAD./SEC.
EXAMPLE PROBLEM (TURBINE COMPRESSOR)
J1 = 138.4824 LB.IN.SEC2 J2 =26.50472 LB.IN.SEC2 K = 3.8*10E6 LB.IN./RAD
CALCULATED TORSIONAL CRITICAL SPEED = 3944 CPM
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K1
J1
J3
J2
J1 1 + K1 (1 - 2) = 0
J2 2 + K1 (2 - 1) + K2 (2 - 3) = 0
J3 3 + K2 (3 - 2) = 0
NOW WE HAVE A 3 x 3 SYSTEM DETERMINANT. THE SOLUTION IS OF THE FORM: a4 + b 2 +
c=0
SOLUTION : 2 = [ -b +/- (b2 4 ac)] / 2a
WHERE a = 1, b = - K1/J1 - K2 /J2 - (K1 + K2)/J2
c =(K1K2)/(J1 J2 J3)*(J1+J2+J3 )
NOTICE THAT TWO VALUES OF EXIST. THE FIRST CRITICAL SPEED AND THE SECOND.
EXAMPLE PROBLEM (TURBINE COUPLING - COMPRESSOR)
J1 = 138.2064 LB.IN.SEC2 J2 =2.551244 LB.IN.SEC2 J3=25.22953 LB.IN.SEC2
K1 = 7.35*10E6 LB.IN./RAD K2 = 7.67*10E6 LB.IN./RAD
CALCULATED FIRST TORSIONAL CRITICAL SPEED = 3975 CPM
CALCULATED SECOND TORSIONAL CRITICAL SPEED = 23530 CPM.
One can thus estimate torsional natural frequencies using these equations quickly. However to
get accurate answers, different methods will be required.
J1
K1
J3
K2
J4
K3
J5
J6
K5
JN
KN
If the system considered, has N disks and Is a natural frequency then the
sum of inertia torques given below must go to zero
N
Ji i 2 =0
i=1
If the system considered has N disks and N-1 shafts then the angular
displacements are given by
j-1
j = i-1 - 2 / K(j-1) Ji i 2
j= 2,3,.. N
i=1
GEARED SYSTEM
System Description
Shaft Material Properties
Shaft Diameters and Section Lengths
Lumped Wr2 Values
Associated Damping
Gear Ratio(s) If used in the System
Coupling Data
Driver/Motor Data
Driven Machine Data
Gear Data
J1
J3
J2
J4
KSHAFT
J1+J2
KSHAFT
NO SHAFT INERTIA
J3+ J4
1/3 L
2/3 L
L
0.14
D1
D2
r/R1=0.0
0.12
r/R1=0.1
0.1
r/R1=0.2
0.08
r/R1=0.3
0.06
0.04
r/R1=0.4
0.02
r/R1=0.5
0
1
1.2
1.4
1.6
1.8
2.2
2.4
D2/D1
D1 = 10.0
R1 = 5.0
D2 = 15.0
r= 0.5
r/R1 = 0.1
D2/D1 = 1.5
L / D1 = 0.067
L = 0.67
Pran RDA Consulting Inc.
2.6
2.8
INS.
DIA.
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STATION
NO.
1
2
3
4
5
6
7
8
9
10
11
12
WR**2
LB. IN2
STIFFNESS
LB. IN./RAD.
0.104226538E+05
0.136056027E+07
0.312949252E+05
0.943461467E+05
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1200.00
3600.00
6348.00
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SEPARATION MARGINS
0.9499993E+03
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86.81
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1990.67
596.89
295.21
248.44
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3286.16
1028.72
540.11
464.36
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3429.50
1076.50
567.20
488.25
STATION NO.
1
2
3
4
5
6
7
8
9
10
11
12
0.9499993E+03 RPM
NORMALIZED DEFLECTION
0.10000E+01
0.99278E+00
0.62578E+00
-0.29709E+00
-0.47224E+00
-0.55812E+00
-0.61284E+00
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-0.61677E+00
-0.61738E+00
STATION NO.
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
8
9
10
11
0.2712998E+04 RPM
NORMALIZED DEFLECTION
0.11047E+00
0.10396E+00
-0.20959E+00
-0.95111E+00
-0.10000E+01
-0.18997E+00
0.33614E+00
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0.36020E+00
0.37320E+00
0.38560E+00
0.40026E+00
STATION NO.
0.9251993E+04 RPM
NORMALIZED DEFLECTION
0.58545E-01
0.18427E-01
-0.63831E+00
-0.10000E+01
0.88617E-01
0.53805E-01
0.23830E-01
0.23830E-01
0.19724E-01
0.16591E-01
0.12439E-01
12
0.59077E-02
STATION NO.
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
8
9
0.1121899E+05 RPM
NORMALIZED DEFLECTION
0.10000E+01
-0.75996E-02
-0.10720E-01
0.12817E-01
-0.44600E-02
0.46881E-01
0.70523E-01
0.70523E-01
0.60608E-01
0.51529E-01
0.38170E-01
0.16045E-01
STATION NO.
0.1267799E+05 RPM
NORMALIZED DEFLECTION
0.55728E-01
-0.15978E-01
0.10000E+01
-0.20666E+00
0.92054E-02
0.51321E-02
0.11615E-02
0.11615E-02
0.72227E-03
10
11
12
0.41482E-03
0.47910E-04
-0.45977E-03
STATION NO.
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
0.2136698E+05 RPM
NORMALIZED DEFLECTION
0.11494E-05
-0.30515E-05
0.56158E-03
-0.39810E-02
0.19741E-01
-0.10000E+01
-0.91977E+00
-0.91977E+00
-0.38884E+00
-0.13090E-02
0.41452E+00
0.83061E+00
STATION NO.
0.2508798E+05 RPM
NORMALIZED DEFLECTION
0.16995E-06
-0.68638E-06
0.17458E-03
-0.19377E-02
0.14162E-01
-0.10000E+01
-0.63610E+00
8
9
10
11
12
-0.63610E+00
-0.11505E+00
0.22179E+00
0.50489E+00
0.63618E+00
STATION NO.
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
0.4063397E+05 RPM
NORMALIZED DEFLECTION
0.59665E-09
-0.72897E-08
0.48820E-05
-0.16982E-03
0.35918E-02
-0.67653E+00
0.69344E+00
0.69344E+00
-0.67215E+00
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-0.42844E+00
0.92188E+00
STATION NO.
0.4235397E+05 RPM
NORMALIZED DEFLECTION
0.26282E-09
-0.35115E-08
0.25554E-05
-0.97344E-04
0.22470E-02
6
7
8
9
10
11
12
-0.46018E+00
0.57823E+00
0.57823E+00
-0.66939E+00
-0.88912E+00
-0.23304E+00
0.10000E+01
Normalized Deflections
8.00E-01
6.00E-01
4.00E-01
2.00E-01
0.00E+00
0
-2.00E-01
-4.00E-01
-6.00E-01
-8.00E-01
Inertia Station Numbers
10
12
14
Normalized Deflections
2.00E-01
0.00E+00
0
-2.00E-01
-4.00E-01
-6.00E-01
-8.00E-01
-1.00E+00
-1.20E+00
Inertia Numbers
10
12
14
Multimass 4 inertia
Calculated
(54
model
Inertia)
crit. Spd.
model
no.
(CPM)
(CPM)
Percent
difference
Multimass
Vs.
4 inertia
model
Test
Data
HZ
Per Cent
Dev. of Test
from
CPM Calculated
Multimass
Per Cent
Dev. of Test
from
Calculated
4 inertia
model
513
522
797
808
1.380175659 13.75
2073
0.623202301
2086
825
3.393939394 2.060606061
Multimass
Calculated
(33
Inertia)
crit. Spd.
model
no.
(CPM)
689
1418
3 inertia
model
(CPM)
Percent
difference
Multimass
Vs.
3 inertia
model
Test
Data
HZ
Per Cent
Per Cent
695
0.870827286 11.5
690
1414
0.282087447
25
References
Thomson, W. T., Vibration Theory and Applications, Prentice
Hall Inc., Englewood Cliffs, N.J., 1965.
Den Hartog, J.P., Mechanical Vibrations, Dover Publications
Inc., New York 1985 edition. (First published 1934)
Tse, Francis S., Morse, Ivan E., Hinkle, Rolland T., Mechanical
Vibrations, Allyn and Bacon, Inc., Boston, 1964.
API Standard 617, Seventh Edition, July 2002.
A HANDBOOK ON TORSIONAL VIBRATION The British
Internal Combustion Research Association (B.I.C.E.R.A)
Kirschbaum, H.S., Transient Electrical Torques of Turbine
Generators During Short Circuits and Synchronizing,
Transactions Electrical Engineering, February 1945, Volume 64.
Wahl, A.M., Kilgore, L.A., Transient Starting Torques in
Induction Motors, November, 1940, Transactions Electrical
Engineering.
Godwin, G.I., The Nature of A.C. Machine Torques, IEEE ,
1976.
Pran RDA Consulting Inc.
References (Continued)
Pollard, E.I., Torsional Response of Systems, Transactions of
the ASME, July 1967.
Pollard, E.I., Transient Torsional Vibration Due to Suddenly
Applied Torque, Journal of Engineering for Industry, May 1972.
De Choudhury, P., Torsional System Design Relative to
Synchronous Motor Start-Up with a Variable Frequency Power
Supply System, Proceedings of the International Conference
on Rotordynamics, September, 1986.
De Choudhury, P., Aspects of Torsional System Design for
Large Single Shaft Gas Turbine Drives with Variable Frequency
Start Up Motor, Proceedings of the Sixth International
Conference on Rotordynamics, September, 2002.
Milton, A. Miner, Cumulative Fatigue Damage Analysis,
Journal of Applied Mechanics, September 1945.