Journal of Sound and Vibration (1986) 110(3), 443-462

WHIRL AND WHIP--ROTOR/BEARING

STABILITY PROBLEMS

A. MUSZYNSKA
Bently Rotor Dynamics Research Corporation, Minden, Nevada 89423-2529, U.S.A.

(Received 6 July 1985, and in revised form 26 November 1985)

A mathematical model of an unloaded symmetric rotor supported by one rigid and one
fluid lubricated bearing is proposed. The rotor model is represented by generalized (modal)
parameters of its first bending mode. The rotational character of the bearing fluid force
is taken into account. The model yields synchronous vibrations due to rotor unbalance
as a particular solution of the equations of motion, rotor]bearing system natural frequencies
and corresponding self-excited vi.brations known as "oil whirl" and "oil whip". The
stability analysi s yields rotative speed threshold of stability. The model also gives the
e'valuation of stability of the rotor synchronous vibrations. In the first balance resonance
speed region two more thresholds of stability are encountered. The width of this stability
region is directly related to the amoun.t of rotor unbalance. The results of the analysis
based on this model stand with very good agreement with field observations of rotor
dynamic behavior and the experimental data.

1. INTRODUCTION
Dynamic phenomena induced by interaction between the rotor and bearing or seal fluid
motion and creating severe rotor vibrations have been recognized for over 50 years. High
amplitude shaft vibrations which can sustain themselves over a wide range of rotational
speeds not only perturb the normal operation of a rotating machine, but may also cause
serious damage to the machine and the entire plant.
Literature related to rotor/bearing and rotor/seal phenomena is very rich [1-7]. Avail-
ability of computers and fast development of numerical methods are bringing more and
more results based on analytical models of the solid/fluid interaction phenomena. There
is still, however, a big gap between theory and practice.
In the field, practical rotating machinery instability problems are being corrected ad
hoc by applying trial and error approaches with a number o f measures such as increasing
rotor radial load, modifying lubricant temperature a n d / o r pressure, shortening a n d
stiffening the shaft, or replacing bearings (or seals) with "more stable" ones. However,
the only measure which corrects the causative agent, namely, the fluid flow regular pattern,
recenty being introduced in compressors and pumps, is that of the anti-swirling devices
[8-11].
Researchers and engineers do not always agree upon the physical description of the
shaft/bearing or shaft/seal solid/fluid interaction dynamic phenomena. The complexity
of these phenomena and the long list of factors affecting them make the picture tremen-
dously obscure.
Most often bearing a n d / o r seal fluid forces generated during rotating machine operation
are considered separately from the shaft motion, it being assumed that the shaft rotates
with constant angular velocity and has a perfect geometry. Practically observed phenomena
indicate that this approach can be justified only for specific conditons, in particular, for
443
0022-460x/86/210443+20 S03.00/0 (~) 1986 Academic Press Inc. (London) Limited
444 A. MUSZYNSKA
low values of shaft rotation speed. In most other cases, rotor and bearings (or rotor/bear-
ings/seals) should be considered as a system. The dynamic behavior of this system will
then reflect the rotor/bearing coupled system features.
In this paper, an attempt to build a simple rotor/bearing system model is made. The
simplicity allows for obtaining analytical solutions and yields clear conclusions on how
various parameters o f the rotor/bearing system affect its dynamic behavior. The model
is based on modal behavior of the symmetric rotor. The model of bearing fluid dynamic
forces is developed through a classical approach applied to non-conservative mechanical
systems [12]. Ti,e introduction of the fluid circumferential average velocity ratio constitutes
the important improvement of this model.
The analytical results obtained are in perfect agreement with the observed dynamic
phenomena of the rotor/bearing system.

2. OBSERVED VIBRATIONAL PHENOMENA

Lightly loaded and slightly unbalanced symmetrical rotors rotating in fluid 360 ~ lubri-
cated cylindrical bearings, exhibit the following dynamic phenomena.
(i) When the shaft starts rotating with a slowly increasing rotative speed, SYN-
C H R O N O U S (1 x = one per one rotation) lateral vibrations with minor amplitudes are
observed all along the rotor axis (see Figure 1). These vibrations are caused by the inertia
forces of unbalance o f the rotor. At low rotation speeds, these vibrations are stable, an
impulse perturbation o f the rotor causes a short time transient vibration process, and the
same vibration pattern is reestablished.

o
0

0.
I

,4

0 2.4 4.8 7.2 9"6 12

Frequency ( e v e n t s / r n i n x moo0)

Figure 1. Cascade spectrum of rotor vibrationalresponse measured at the oil bearing. The spectrum indicates
regions of synchronous (1 x) vibrations due to unbalance, oil whirl (~l/2x), and oil whip with constant
frequency close to the first balance resonance (slightly lower). (a) Orbit display of synchronous vibrations; (b)
oil whirl orbit; (c) oil whip orbit. (K~),Kephasorpulse indicating relationshipwith the rotation speed frequency.)

(ii) At higher rotation speeds (usually below the first balance resonance), the forced
synchronous vibration is not the only regime of motion. Along with 1 x vibrations, OIL
W H I R L appears (see Figure 1). Oil whirl is the rotor lateral forward precessional
subharmonic vibration around the bearing center, at a frequency close to half the rotation
speed (usually smaller than the half). In this range of the rotation speed, the rotor behaves
 R O T O R / B E A R I N G STABILITY P R O B L E M S 445

as a rigid body. The amplitudes of oil whirl are usually much higher than those of
synchronous vibrations; they are, however, limited by the bearing clearance and the fluid
non-linear forces. With increasing rotation speed, the pattern of vibration remains stable.
The oil whirl "half" frequency follows the increasing rotation speed, maintaining the
~ 1 / 2 ratio with it. The vibration amplitudes remain nearly constant and usually high. In
the considered range of rotation speed, the bearing fluid dynamic effects clearly dominate.
The forced synchronous vibration represents a small fraction of vibration response, as
the spectrum cascade indicates (see Figure 1).
(iii) When the increasing rotation speed approaches the first balance resonance, i.e.,
the first natural frequency of the rotor, the oil whirl suddenly becomes unstable and
disappears, being suppressed and replaced by increasing SYNCHRONOUS vibrations.
The forced vibrations dominate, reaching the highest amplitudes at resonant frequency
corresponding to the mass/stiffness properties of the rotor. The bearing fluid dynamic
effects now yield priority to the elastic rotor mechanical effects.
(iv) Above the first balance resonance speed, the synchronous forced vibrations decay.
Again, the bearing-fluid forces come back into action. Wtih increasing rotation speed,
shortly after the first balance resonance, the OIL WHIRL occurs again. The previously
described pattern repeats. The width of the rotation speed region in which the synchronous
vibrations dominate depends directly on the amount of rotor unbalance: the higher the
unbalance, the wider is this region.
(v) When the rotation speed approaches double the value of the rotor first balance
resonance, the half-speed oil whirl frequency is reaching the value of the first balance
resonance--the first natural frequency of the rotor. The oil whirl pattern becomes replaced
by OIL WHIP---a lateral forward precessional subharmonic vibration ot' the rotor. Oil
whip has a constant frequency: independently of the rotation speed increase, the oil whip
frequency remains close to the first natural frequency of the rotor. In this range of high
rotation speed, the shaft cannot be considered rigid. Its flexibility, i.e., additional degrees
of freedom, causes the rotor/bearing system to be closely coupled. The rotor parameters
(its mass and stiffness, in particular) become the dominant dynamic factors. The amplitude
of oil whip journal vibration is limited by the bearing clearance, but the shaft vibration
may become very high, as the shaft vibrates at its natural frequency, i.e., in the resonant
conditions.
In various machines furnished with fluid lubricated bearings and/or seals, when rotors
are lightly radially loaded, the above-described phenomena may take various forms, as
other external factors may affect the system dynamic behavior. Generally, however, similar
amplitude/frequency patterns can be expected [13]. High radial rotor loads cause,
however, significant changes in these patterns: oil whirl and oil whip do not occur when
the journal rotates around an eccentric position within the bearing.
Among the above-described dynamic phenomena, there is a clear distinction related
to their nature: (a) rotor synchronous lateral vibration (1 x) due to unbalance and (b)
rotor fluid-related vibration. The first type is typical forced vibration. The rotating periodic
inertia force considered "external" to rotor lateral motion causes a rotor response with
the same frequency. The resulting motion has the form of the classical synchronous (1 x )
EXCITED vibration.
As there is no other external force to excite the vibrations, it is quite reasonable to
refer to the second type of vibrations as SELF-EXCITED vibrations, occurring due to
an internal feedback mechanism transferring the rotational energy into vibrations. Self-
excited vibrations cannot occur in a conservative or "passive" structure, with no energy
supply (in non-rotating systems in particular). In passive structures, the free vibrations
following an external perturbing impulse usually have a decaying character, due to the
446 A. MUSZYNSKA
stabilizing effect of damping, naturally existing in the system. Another situation takes
place if the system is subject to a constant supply of envery (an "active", non-conservative
structure). Well recognized are wind induced vibrations known as flutter. The rotating
machine belongs also to this category. The internal energy transfer mechanism, in this
case a bearing fluid involvement in motion, uses a part of the rotational energy to create
forces having the direction opposite to the damping force. The result consists of reduction,
and eventually, with increasing value of these forces, a nullification of effective damping,
the stabilizing factor. ;n such conditions, free vibrations following an external perturbation
do not have a decaying character any more but increase in time (the effect of negative
damping). While vibration amplitude grows, non-linear factors become significant and
eventually amplitudes are limited. Vibrations become periodic with a constant amplitude.
The stable limit cycle is reached. This represents the practically observed case of oil whirl
and oil whip. As oil whirl and oil whip occur in a system having a constant energy supply,
the resulting vibration is referred to as self-excited. The last term is also closely related
to the non-linear character of the phenomena. In particular, the size of the oil whirl/whip
orbits (limit cycle vibration amplitudes) are determined exclusively by the non-linear
factors in the oil bearing.
Simple linear modeling of the rotor/bearing system can be applied as a first approxima-
tion in a mathematical description of the observed phenomena. The linear model provides
the spectrum of natural frequencies of the system, as these frequencies are insensitive to
non-linear factors. The linear model also gives the evaluation of the stability threshold,
closely related to the delicate balance between the system's natural damping and the
bearing fluid forces acting in antiphase and opposing damping.
Very often oil whirl and oil whip are described as "unstable" rotor motion in a sense
which is rather close to the terms "undesirable" or "unacceptable" rotor vibrations.
Obviously, oil whirl/whip vibrations are highly undesirable; they disturb the machine's
normal operation. The "normal operation" is related to the pure rotational motion of the
rotor, around the proper axis and following a suitable angular speed. This is the only
regime of motion which is required. The occurrence of the oil whirl/whip vibrations
signifies that this purely rotational regime becomes UNSTABLEt, and the oil whirl/whip
vibrations represent a STABLE regime. The term "stability" is used here in the most
popular sense (following Lyapunov's definition). The purely rotational motion (meaning
zero lateral vibration) is unstable, while oil whirl/whip lateral vibrations are stable. When
they exist an impulse perturbation cannot significantly modify their pattern. After a
short-time transient process, the oil whirl/whip pattern is reestablished.
A practical stability definition for a rotating machine has been discussed in reference
[14].

3. FLUID FORCES
Derivation of fluid forces in a bearing (or a seal) is based on the consideration that
the fluid rotation (dragged into motion by shaft rotation) plays an appreciable role in
the resulting dynamic phenomena and may, therefore, have a significant'effect on rotor
vibrations [12, 15, 16].
In the following presentation, an assessment of this etiect is attempted in simplified
terms. It'is assurried that when the journal is rotating centered, fully developed fluid flow
is established in the circumferential direction: that is, on average, the fluid is rotating at
the rate AtoRwhere tOR is the shaft rotative speed and A is the fluid average circumferential

t Actually,with existingresidualimbalance,the purelyrotationalmotionof a rotor does not exist.The only

regime is forced synchronouslateral vibration along with the rotation."'Stability"refersthen to the stability
of this regime.
 ROTOR/BEARING STABILITY PROBLEMS 447

velocity~kwR~

Axia, f,ow / "~..,_ ., /,Ij //

Average forceF ~ t journal

Figure 2. Bearing model: fluid force is rotating with angular velocity AcaR.

velocity ratio which value is close to a half (see Figure 2) (a list of symbols is given in
the Appendix). It is supposed that shaft lateral vibrations are small enough to make
modifications of this pattern negligible. The flow axial component is supposed to affect
values of the fluid forces in the x,y plane in a parametric way only: i.e., the fluid
circumferential force may increase with increasing axial flow and the axial flow may
modify the average velocity ratio A. However, it is assumed that there is no feedback:
i.e., the fluid axial motion is uncoupled from the circumferential motion (and is not
investigated in this paper).
The vital assumption is that the fluid force which results from averaging the circumferen-
tial flow is ROTATING with angular velocity AWR.In rotating reference co-ordinates x,,
y, (see Figure 2), the average fluid flow is purely rectilinear and the fluid force can be
written as
F = [ g 0 + g,l(IZ, I)]z, + [ D + g'41z,I)]~, + MI~,, (1)
where zr=x,+jy,, j = ~ - i - , Iz,l= xJ~,+y~,, and . = d / d t . In equation (1) Ko, D, and My
are fluid stiffness, damping and inertia coefficients respectively. ~t and g,: are non-linear
functions of the radial displacement [Zrl. It is assumed that these functions have an
analytical character (or at least are continuous, with continuous first and second derivatives
and ~1(0) = ~2(0) = 0). Later on, as an example, the following non-linear functions will
be analyzed (the first symmetric term of the Taylor series for any non-linear analytical
function):
4'1.== B,.=lz, I2, (2)
where B~ and B2 are positive constants.
The average fluid force (1) has, therefore, a non-linear character. Stiffness and damping
components of the fluid force increase with increasing journal eccentricity.
In fixed reference co-ordinates x, y (see Figure 2), the fluid force will have the form
F=[Ko+~,(Izl)]z+[D+r Mj(~-2j,~R~-;t2~z), (3)
where z = x+jy, and Izl = x~J-~--~y~. The equation
z = z, ejx'oRt represents a transformation
of co-ordinates.
The fluid force (3) can be presented in a classical "bearing coefficient" format:

o lr l+r ,,,,,,z,, 1
L o r L-A,,,~,(I~I) ~,(1~1) JLyJ"
448 A. MUSZYNSKA
The last two matrices contain non-linear components of the fluid force. As can be easily
noticed, the fluid force is supposed to have a symmetric character: the diagonal terms
are identical, the off-diagonal terms are skew symmetric. More important, however, is
the fact that the off-diagonal terms are generated as the result of the rotational character
of the fluid force: the tangential (or "cross") damping is the result of the Coriolis inertia
force, the tangential (or "cross") stiffness is generated by the relative velocity and radial
damping. In addition, the radial stiffness Ko appearing on the main diagonal of the
stiffness matrix is now modified by the centripetal fluid inertia force, which carries a
negative sign.
During experimental testing, by applying the perturbation method [17], the character
of the fluid force expressed by equation (3) was fully confirmed. For relatively large
bearing clearance-to-radius ratio, the fluid inertia force becomes significant, and modifies
"damping" and "stiffness" matrices considerably. The resulting radial stiffness can very
easily reach negative values.
Another important conclusion relates to the "cross stiffness' coetficient, the most
important component affecting rotor stability. This term is directly generated by the radial
damping coefficient D, as the result of the rotational character of the damping force. This
term is proportional to the rotation speed ~oR: i.e., its significance increases with rotation
speed. An immediate conclusion is that an increase of the bearing damping D will not
help to prevent rotor instability, as the "cross stiffness" increases proportionally to /9.
Help in decreasing the "cross stiffness" term can come only from a modification of the
average velocity ratio A. This feature is now being widely used in "anti-swirling" devices
[8-11].

4. MATHEMATICAL MODEL OF A SYMMETRIC FLEXIBLE SHAFT ROTATING IN

ONE RIGID ANTIFRICTION BEARING AND ONE OIL 360~ LUBRICATED
CYLINDRICAL BEARING
Oil whirl and oil whip phenomena are characterized by relatively low frequency, and
that is why it seems reasonable to limit the rotor model to its lowest bending mode. It is
obvious that the considerations presented below can be applied to more complex rotor
models (including more modes, gyroscopic effect, internal damping, etc.) as well.
The mathematical model representing balance of forces in the symmetric rotor shown
in Figure 3 is

Mlzl + Ds~l + (Ki + K2)zl - K:z2 = mrto2n ei~ (4)

zz : x z + / u 2 ~M_~

K, w,~

Figure 3. Model of symmetric rotor supported in one antifriction rigid bearing and one oil lubricated bearing.
 ROTOR/BEARING STABILITY PROBLEMS 449
M2~?2+ Mf(i~2- 2jAtOR~2-- h 2to2z2) + [D + r z21)](~= - jA,oRz9
+ [ g o + ~,,(Iz21)]z~ + K3z~+ K2(z2- zt) = O,
zt = xl +JYt, z2 = x2 +JY2, (5)
where z~(t) and z2(t) represent the rotor and journal radial displacements correspondingly,
Mt and M2 are rotor generalized (modal) masses, Ds is the generalized external viscous
damping coefficient, K~, K2 and K3 are shaft generalized (modal) stiffness coefficients
(K3 may also include an external spring stiffness), and m and r are the mass and radius
of the modal unbalance respectively. The bearing fluid dynamic force is introduced in
equation (5) in the form (3). Since the rotor is symmetric, the complex number formalism
can be applied and the number of equations reduced to two.
Equation (4) presents the classical balance of forces in an unbalanced symmetric rotor
at its first bending mode. Any classical method of modal reduction can be applied to
obtain the rotor generalized (modal) coefficients. Equation (5) describes balance of forces,
including non-linear fluid force, acting at the journal. Radial forces (such as gravity) are
supposed balanced by external spring forces and are not included in the model given by
equations (4) and (5).

5. SYNCHRONOUS SOLUTION: 1 x ROTOR FORCED VIBRATIONS DUE TO

UNBALANCE
In this section, the particular solution of equations (4) and (5) will be discussed. This
solution describes rotor synchronous vibrations due to unbalance force, and has the form

Zt = A t e j(''Rt+%), z2 = Az e i('~ (6)

where the amplitudes At, A2 and phase angles a t , a2 can be found from the following
algebraic equations resulting from equations (4), (5) and (6):

(Kt + K2+ DsjtoR -- MttO2R)At ei~' - K2A2 e i~2 = mrco2R,

{Ko+ K2 + Ka + ~bt(A2) + j [ D + ~b2(A2)]toR(1 - A) - M2to2R
-- M;to~(1 - A)2}A2 e i% - K2At ei'~ = 0. (7)

Note that the fluid inertia and radial damping carry the coefficient ( l - A ) which has a
value usually slightly higher than 1/2. This signifies that the effective damping and the
fluid inertia effects on synchronous vibrations are correspondingly twice and four times
smaller than their actual values.
Equations (7) can be solved for any given non-linear functions ~Pt and ~2, as their
arguments now become equal to A2, the journal amplitude of synchronous vibrations.
When the non-linear forces are neglected (qs~=tP2=0) equations (7) yield simple
expressions for the amplitudes and phase angles:

tort~ ~/ +(K2A2~2+ 2 K2A2 cos a2 ]~2 mr(d 2R

AI- -- 1 (8)
x/h2+ D~tO2R \mrto2R] mrto2 '
[ D~toR~ . . tan tr2
at = arctan ~,----~---4] -t-arctan 1 + mrto2/(K2A2 cos a2)' a2=arctan -h-22' (9)
450 A. MUSZYNSKA

or, further,

A~-
taro9 2
----
.1..
- qU12+ K2)
22 + h3,
2 al=arctan(-D~wR)+arctan
[' K h,
2 ~
]
J'
2 2 2
~/h 4 "F Dsw R h4 / L(h2+ha+ K2h2)
(lO)
where
h2--h4hs-DD~tO2R(1-A)-K 2, hs=[hsDb+ Dh4(1-A)]tOR, (11)
h4=K~+K2-MI~O2R, hs=Ko+K2+K3-~O2R[Mz+M/(1-;t)2]. (12)
When the non-linear forces are given in the form (2), then the amplitude A2 can be found
as a solution of the polynomial equation
A~( h2 + h 27) + 2A ~(h2h6+ h3h7) + A 22(h 2+ h ~) - ( K2mrw 2R)2 = 0, (13)
where
I'6= BII~4-to2RB2(1-A), hT=tog[B2(1-A)h4+ BtD,]. (14)
The phase a2 in this case is slightly modified by the non-linear force:

I
a2 = arctan LA~[oJ~(1 - a ) D , B 2 - h4B,] - h2J"
(15)
The amplitude A~ and phase at can be calculated from equations (8) and (9).

(o) (b)
......... A Z=( A 4z bcF 2 A z2 b z + b ) l i

l[~j/] (K'm''=')=
I I I
//'1 i ,~ufion (8)
0 r 1 ,;./"
/
Solutions Of eq,.~ti0n (131

Figure 4. Graphical solution of equation (13). Notation- b, = h2+ h~ b2 = h2h6+ h3hT, bs = h 2+ hj. (a) Case
2 6 2 < - 3b~/~b-~b3,three amplitudes A 2 exist; (b) case 2b2>~- 3v~lb~: one'amplitude A z exists.

L_- ~ I ~ \ "/ Mz+M,:Oto _J

.o| h

-2rr
0 I 2 3 4 0 I Z 3
Rotation speed wR (rpm x I000)
(o) (b)
Figure 5. Phase (a) and amplitude (b) of the rotor and journal synchronous vibrations (6) vs. rotation speed.
Note a significant insensitivity to the fluid inertia and journal generalized_mass Mz. Parameter values: M~ =
0.00391b2/in; D = l . 2 1 b / i n ; Ds=0.021b/in; K~=1371b/in; K2=881b/in; Ko+K3=121b/in; M2=
10-5 lb2/in; ~. = 0.42. , Disk; , journal.
 ROTOR/BEARING STABILITY PROBLEMS 451
Equation (13) can be solved graphically (see Figure 4). The simple graphical method
reveals important qualitative features of the non-linear system. It is possible that three
solutions for A2 are yielded (see Figure 4(a)). This corresponds to the well known
non-linear case [18]. More probable, however, is that only one solution" exists. The
non-linear force causes a reduction of the vibration amplitude At. Figure 5 gives some
numerical examples of Bode plots for the rotor synchronous response. An insensitivity
of the response to fluid inertia and journal generalized (modal) mass is noted.

6. STABILITY OF THE PURELY ROTATIONAL MOTION OF THE SHAFT

To investigate the ability of the purely rotational motion of the shaft, the unbalance
force is assumed to be equal to zero. For the stability analysis, the non-linear terms in
the equation (5) are neglected, as they are small, being of second order. Stability of the
purely rotational motion of the shaft means stability of the zero solutoti of the equations
(4) and (5) for mr = 0. For the linearized equations (4) and (5) the eigenvalue problem
with the solution of the form
zl = E t e s', z2 = E2 e s' (16)
leads to the corresponding characteristic equation
[M2s2 + M/(s --j3.tOn)2 + D(S -jAwn) + Ko+ K3](K, + K2+ D,s + M,s 2)
+ K2(K,+ D,s + M,s 2) = 0, (17)
where s is the system eignevalue, and E~ and E2 are constants of integration. The equation
(17) can easily be solved numerically. An example is presented in Figure 6. The eigenvalues
are given as functions of the rotation speed tog.

30C ~ - 7 5 ~"~

200 -50
o~ 187 v

_~
,oo
"" 0 I00 200 300 4001"~,~00 6~o 7oo~,~-I ~ "~
o R0f0fi0n speed {rod/s) I "~-~..._. I
i i I i i I i i
-,oo ,ooo zooo sooo ,;000 :sooo 6000 z5
Rotation speed (rprn) i I
-200 Stable ~=a,=~.Unstable "150
/
T T T T T ~" '1'
t
Figure 6. Eigenvalues of the rotor/beating system (the eigenvalue 3 has a high value negative real part, not
shown in the graph). Complex conjugate eigen,,;alues are not shown. Parameter values: M I = 0-0039 lb2/in =
-0-68 k~; M : + M 1=0-0001 ]b2/in=0.018 kg; D = 1.23 lb/in = 215 kg/in; D, =0-015 lb/in=2.63 kg/s; K e +
Ks=0; KI = 1371b/in=2399! N/m; K2=881b/in= 15411 N/m; ~.=0-42 . . . . , Real; , imaginary; eigen-
value # 1 ; - I - I - , eigenvalue, #2;-@-@-, eigenvalue # 3 ; - T - T - , eigenvalue #4.

After computing several numerical examples, it has been noticed that the modal mass
M2 and the fluid inertia My, when not exceeding certain "critical" values, have very little
effect on three eigenvalues. It has also been noticed that one of the eigenvalues always
has its imaginary part proportional to the rotation speed toR, when the latter has a low
452 A. MUSZYNSKA
value, and that it tends to the constant value corresponding to the rotor natural frequency
x/(K! + Ke)/M~ when ~o, increases. The corresponding imaginary part of this eigenvalue
crosses zero at a specific rotation speed: that is, after this specific speed, the purely
rotational motion of the rotor becomes unstable.
These observations led to an important conclusion about the character of the system
eigenvalues, and to approximate formulas for the system eignevalues, as follows. The
approximate values of three eigenvalues, i.e., three solutions of equation (17) are as
follows:
sI~[(Ko+K3)/D]-[K2(KI-MIA2co2)/D(Kt+K2-MIA2~2R)]+jAcon, (18)
s2.3~ - D J ( 2 M , ) • R,/~-jR2 = - D J ( 2 M , )
+ [ - W I - R , +.ff-R~+ R22+jx/R, + ~ ] / ' f 2 , forA~on <~/( K, + K2)/ M,,

s2,3"~ -D2/(2M,) + b/-R, + RI24~-R~ +jx/R, + x/-R-2+ R2]lx[2, forZwR > ~/(K, + K2)/M,,
(19)
where
R, = [(K, + K2)/M,]
- K22[Ko+ K2+ 1(3 - M2(K, + K2)/M, - My( • + K2)/M, - AWR)2]/R3,
R2 = - K ~ D ( +.J( Kl + K2)/ Mi - AoJR)/R3,
R3 = {[Ko+ K2+/(3 - M2(K, + K2)/M, - My( +~/(K, + K2)/M, - htOR)2]~
+ D2( +~(K, + K2)/M, - Ac-oR)2}M1 . (19a)
(The signs "plus" and "minus" in equations (19a) correspond to the signs + in sz.3.)The
formulas (18) and (19) give approximate eigenvalues of the rotor/bearing model of
equations (4) and (5). The imaginary parts of the eigenvalues (18) and (19) represent
natural frequencies. The first natural frequency, Im (s~), is close to Acon. The second
natural frequency, Im (s2, 3), is close to the shaft natural frequency, +~/(K~+K2)/M~.
Stronger coupling (high K~) causes more significant divergence from these "uncoupled"
natural frequencies of the system.
The real part of the eigenvalue (18) predicts the threshold of stability ~o(Rsr); for
1 ~/K~ K2(K~ - = a ~ r) (20)
~ <<'-A ~I M~ M~(K2+(Ko+K3-M2K~/M~)]
the rotor purely rotational motion is stable. For ~oR> w(nst) the purely rotational motion
becomes unstable. The first term under the radial in expression (20), K~/MI, is definitely
dominant. The second term contains two stitInesses in sequence, K2 and ( K o + K 3 -
M2KI/MI). Usually the stiffnesses K0 and Ks are small, and the mass M2 is also small.
Connection in sequence with /(2 (independently of the value of/(2) makes the total
smaller than (Ko+ K3 - M2K~/M~). It is reasonable, therefore, to reduce further expression
(20) by defining the rotor/bearing system stability threshold as
(21)
For unstable conditions the rotor vibration amplitude increases exponentially in time
and eventually bearing non-linear forces become significant, causing final limitation and
stabilization of the vibration in a limit cycle.
The experimental data entirely confirm the result concerning the stability threshold.
An increase of the stiffness K~ (disk mounted on the shaft moved toward the rigid
 ROTOR/BEARING STABILITY PROBLEMS 453
C:L
;~ I I 0"44x 0-44x
o ~ lOt Run. 120
._~
~ , "13

o .I _ ' - , i ~ ~ I ~
O-
I- ,~<' I x - O--
>W : .

if)
!

z/ - -- 13A"z- I r
in tl'i
u I~: - - - - - #'ll : -I

0 I 2 3 4 - 5 ~ o i 2 3 4 5
Frequency (events/rain x I 0 0 0 )
(o) (b)

Figure 7. Cascade spectrum of the rotor run-up vertical vibration response measured at the disk (a) and
journal (b) respectively, as the arrows indicate. Disk located next to the oil beating.

.u~ kll~
0.44, ~ ,
7 Ru.:,,6 ~ 0"44 x

.o_
- 8- ~~ - - - ~ -;',] ! : ; i , ~~ -
<>,J', .I ="~- 0 . . . . - - .>_

- - --hl I
" ~ ~ . < " ~ " 1 ~ ,f--, / '<, .<--.,,+ 0-

~3~: ~ ~ 1
" 2F: ~ - . - ~ ::1 = !
t
B
C-o I
--

:~ o f : ~ ~E ol
0 I 2 3 4 .... 5 ~[ 0 I 2 3
(o) Frequency (events/min x I 0 0 0 )
(b)

Figure 8. Cascade spectrum of the rotor run-up vertical vibration response measured at the disk (a) and
journal (b) respectively, as the arrows indicate. Disk location at shaft midspan. Note high oil whip vibrations
of the disk.

0-44• 0.44x
Run: 121 " --~ I0[ Run: 12l r_~ ._~
I0~.

I
_o
x 7 ~Td~
J~

~3. L
1
:I ~ y

, , , I E
0 i' "2 3 4 f) 0 I 2 3 4 5 cZ
Frequency (events/rain x I 0 0 0 )
la) (b)

Figure 9. Cascade spectrum of the rotor run-up vertical vibration response measured at the disk (a) and
journal (b) positions respectively. Disk located next to the rigid beating. The arrows indicate the locations of
vibration transducers. The orbit shows the oil whirl inception. Note that an increase of rotor partial stiffness
Kl causes an increase of the stability threshold value--compare Figures 7, 8 and 9.
454 A. MUSZYNSKA
antifriction bearing) causes a significant increase of the system threshold of stability (see
Figures 7, 8 and 9) [19].

7. STABILITY OF THE SYNCHRONOUS SOLUTION

The stability of the synchronous vibrations (6) will be analyzed by applying the classical
perturbation method [18]. Upon introducing the variational real variables w~(t) and WE(t)
(amplitude perturbations) according to the relations
zl = [Al + wl(t)] ej(~'"t+~'), z2 = [ A 2 + w2(t)] e j"~"'+'~p, (22)
the linearized variational equations are obtained:
M1 (fVl + 2r01tOgj -- t~ "Vl)+ (KI + K2)Wl - K2w2 e j(a2-a0 ~- 0,
M : ( ~ 2 + 2 ~2,oRj - , o ~ w : ) + M:[r 2j,oR~:( 1 - ;~) - ,o~ w:(1 - ;~)~]

+ [ D + ~b2(A2)][ ~'2 +J t~ -- h)] + (d ~b2(A2)/dA2) w2A2jtoR (1 -- h )

+[Ko+~l(A2)]w2+(dtpl(A2)/dA2)w2A2+(K2+K3)w2-KEWl eJ(~,-~P = 0. (23)
The solution of the variational equations (23) has the form
wl = E1 e (s'-j~'~'-j~'), w2 = E2 e ~ (24)
where s is the eignevalue, and El and E2 are constants of integration. By introducing
expressions (24) into equations (23), the characteristic equation is obtained,
[ M : 2 + M:(s --jAtoR)2 + ( D + ~b2)(s --jAtoR) + ~'~A2j~oR(1 -- A)
+Ko+d/I+d/~A2+Ka](KI+K2+D:+Mls:)+K2(KI+D:+MIs2)=O, (25)
in which ip~ and ~2 are functions of A2, and tp~,2=(d~bl.2(A2)/dA2). Stability of the
synchronous solution (6) is assured if all eigenvalues of the equations (23) have non-
positive real parts.
The characteristic equation (25) differs from the characteristic equation (17) as it
contains the non-linear terms which cause an apparent increase of the bearing radial
damping, "cross stiffness" effect, and radial stiffness. The threshold of stability, calculated
the same way as previously, now has the form (M2 is neglected)

tST)= 1 Kl + K2( Ko + Ks + ~; + ~b~A2)

, , (26)
OR -- Ax/-'~[1 +x(A2)] K2+Ko+Ka+tp,+t~,A2
where x(A2) = -~b(,A2(1/A - 1)/(D + ~'2). (27)
With increasing amplitude A2, an apparent decrease of the average velocity ratio h is
noticed, as x ( A 2 ) has a negative sign.
More interesting is, however, the modification ofthe instability threshold due to increase
of the stiffness from (Ko+ Ks) in equation (20) to (Ko+ K s + ~Pl+ @~A2) in equation (26).
The last expression includes the amplitude of synchronous vibration A2 which is a function
of rotation speed t0R. Following equations (20) and (26), the criterion of stability of the
synchronous solution can be written in the form

A.,/M~[ 1 +)t'(A2)]co R < ~/K~ q K2(Ko+ Ks + ~1 + ~ A 2 (28)

K2 + Ko + Ks + ~bl+ ~'~A2'
and solved graphically (Figure 10). The graphical solution is very effective in showing
qualitative features of the rotor dynamic behavior. From the amplitude/rotation speed
 ROTOR/BEARING STABILITY PROBLEMS 455

/ KZ~/ ~,~ x~, [l+xt,~z)]

#
I IX,\ c n ~~o
#

I /-.zo3j
"~/K~+ KZ+Ko+ K3
I k k
Roi0~tiortspeed,wR
~z Journal amplitude o
N x \
\ x \ "V~-T
\ .oo \ I Rotition speed,wR

\oo\
;u
i-Y
,,J
~z
Figure 10. Stability chart for rotor synchronous vibrations due to unbalance. Graphical solution of inequality
(48). Notation: r = Ko+ K 3 + ~t(A2) + A2~(A2).

relationship from equation (8) or (13) (lower graph of Figure 10), and the plot of the
radical (28) versus amplitude A2, which includes the non-linear function tp~ of A2
(left-hand side graph), the graph of the radical from the right-hand side of the inequality
(28) versus rotation speed tog can be built up as the small arrows indicate (right side
plot). The left-hand side of the inequality (28) versus tog is a straight line, ,~oR~/M~,
slightly modified by the factor x(A2). The regions of stability are found at intersections
of the corresponding plots on the upper right-hand side graph. It clearly shows that the
synchronous solution is stable for rotation speeds below the first threshold of stability,
which differs very little from the stability threshold (21). The synchronous vibration
soldtion is also stable in the resonant speed region.

Stoble IUas10b~ ( I Uns10ble

/ J I I Rata.on speed, ~ .
Jl. .J I StQb,efor lower unbalance
pl Stable for high unbalance
Unsioble for lowest unbalance
Figure 11. Modification of the synchronous vibration stability regions by unbalance (~ is the same as in
Figure 10).
456 A. M U S Z Y N S K A

_ 14

v I0

i /'!-7~, 2

0
0 2 4 6 8 I0

Figure 12. Cascade spectrum o f a rotor with a residual unbalance. Vertical response measured at the journal.
Synchronous vibrations are unstable for rotation speed higher than 4 2 1 0 0 rpm.

o 14
M

E 12
o.
I0

g8
Z 6
8
4
i K/g-,
7J~, 2
0
0 2 4 6 8 I0

Figure 13. Cascade spectrum of the rotor with 1 g x 3 0 m m of unbalance. Vertical response o f the journal.
Synchronous vibrations are stable for the rotation speed lower than ~2100 rpm and in the resonance region:
from - 4 2 0 0 to 4 4 9 0 0 rpm.

14
0
o
,~ 12

.&~ I0

.~ 6

~ 4
,/K__, z
Tj~
0
0 2 4 6 8 JO

Figure 14. Cascade spectrum o f the rotor with 1.2 g x 30 mm of unbalance. Vertical response o f the journal.
Synchronous vibrations are stable for the rotation speed lower than ~2100 rpm and in the wider resonance
region: from 4411)0 to ~ 5 2 0 0 rpm.
 ROTOR/BEARING STABILITY PROBLEMS 457
It is easily noticed that higher unbalance will increase stability region for the syn-
chronous vibrations around the resonant speed x/(K1 + K2)/MI (see Figure 11).
The series of experiments with a balanced and unbalanced rotor confirm this analytical
prediction; higher unbalance produces a wider interval of rotation speeds where syn-
chronous vibrations are stable (see Figures 12-14).

8. ROTOR SELF-EXCITED VIBRATIONS: OIL WHIRL AND OIL WHIP

For the case of the absence of unbalance, equations (4) and (5) have a particular
solution describing self-excited vibrations (oil whirl and oil whip),
zl = GI ei('~ z2 = G2 e i'~ (29)
where O~ and G2 are corresponding constant amplitudes,/3 is the relative phase angle,
and to is the self-excited vibration frequency. By introducing equations (29) into equations
(4) and (5), and performing some transformations, the algebraic equations for calculating
G~, G2,/3, and to are obtained:
{-M2to 2 - Mr(to - AtoR)2+j[D + ~b2(G2)](to - AtoR)+ Ko+ ~l(G2) q- K3]
(K~+K2-M~to2+Dsjto)+K2(K~+D:,jto -M~to 2) =0, (30)
G I = K 2 G 2 / x / ( K I + K 2 _ M t t o 2 ) + Dsto
2 2, /3 = arctan [D, to/(Mlta 2 - Ki - K2)]. (31)
The real and imaginary parts of equation (30) provide relationships for obtaining G2 and
to, for each case of the non-linear functions ~/'l(G2) and ~P2(G2):
( K, + K2 - M, to2)( K, - M, to2) + D2to 2
r = MW~+ MAto - atomy-/Co- K 3 - K~
(Kl + K 2 - Mito2)2 + D2to 2
= 4h (to), (32)
r =- ~2(to). (33)
The frequency co is yielded from the equation
tP2{~-t[~b,(to)]} = ~b2(to), (34)
where ~-1 is the inverse function of expression'i.e., (32): (32 = t/q-l[c;b~(to)].
For example, in case of the "parabolic" non-linear functions (2) and small damping
D, the frequency equation (34) has the following form:
(Kt + K2 Mt to2)(to AtoR){(KI +/(2
- - - - - - Mito 2)
x [(B2/B,)(Ko+ 1(3 U2to 2 My(to- - - AtoR)2) D]
-

+ (B21 B,)K2(K, - M, to2)} ~ D, toK 2 ~ O. (35)

It yields immediately three important real solutions for the frequency,

to1 ~ AtoR, (36)

w2.3~ • x/ ( K, + K2) / M~ + D,B~/ [ M~ B2(1 - AtoR/ ,/ ( K, + K2) / M,) ] .-~+x/ ( K, + K2) / M,,
(37)
which are close to the linear rotor/bearing system "whirl" and "whip" natural frequencies
at the threshold of stability (21). The remaining solutions (if any) can also be easily
obtained from equation (35). For small shaft damping Ds similar consideration can be
extended to cases of any non-linear functions ~q, ~b2: in equation (35) the ratio B2/B~
458 A. MUSZYNSKA
should be replaced by the ratio ~b2(G2)/~q(G2). Three frequency solutions (36) and (37)
exist, therefore, independently of non-linearities and independently of journal mass and
fluid inertia.
The corresponding amplitude (32 of the self-excited vibrations can be calculated from
equation (32). For example, the case of"parabolic" non-linearity (2) yields, for the journal,

1 .[ Kl -- MiX 2to~
whirl amplitude: G2I,~=x,~ - Bi ~M2A2w~ - K o - K3 - K2 K~ + K2 - MiA2to 2' (38)

whip amplitude: G2[,o=Vtk,+r~)/M

l dM2(KI+K2) F M j ( ' t ~ AtoR)2-Ko-K2-K3. (39)

The expression under the radical in equation (38) should be positive; therefore, self-excited
vibrations with the whirl amplitude (38) exist only for the limited range of rotation speed
(M2 being neglected) given by

vM, " (40)

The left-hand side of the inequality (40) represents the threshold of stability (20); the
right-hand side term separates the whirl from the whip.
For a similar reason the self-excited vibrations with the whip amplitude (39) exist for
the following rotation speed range:

1 .K~K2+I/[Ko+K2+K3-(KI+K2)M2/MI] (41)
t~ >~A V M, A Mf
From equations (31) and (32) the corresponding whirl and whip amplitudes and phases
of the rotor can be obtained. For example, for the whip frequency (37), in the case of
"parabolic" non-linearities (2), they are as follows:

K2 (42)
G , = O~lo,=,t~K,+,,,,/,,, D,,,/(K, + K2)I M, ff B]I[ B2(4( K, + K2)I M, - AWR)]2+ 1'

fl = arctan [B2(d( K, + K2)/ M, - AtoR)/B,]. (43)

9 "r i $,/~ "~

"o ' .
i p , . . J ; . i

. ...... " i'-~'1 ,'" ....... " "~

9 .,~ . ~ 9 ..., .

Figure 15. Verticaltransducer signalsof the journal and rotor vibrations during oil whip9Oscilloscopedisplay
in XY mode indicates nearly in-phase vibrations.
 R O T O R / B E A R I N G STABILITY PROBLEMS 459
When the whip regime is present, the shaft vibrates at its resonant conditions, and the
rotor whip amplitude is controlled mainly by the shaft external damping Ds and the
non-linear fluid forces, as expression (42) indicates.
The phase between the rotor and journal for whip vibrations is controlled by non-linear
forces in the bearing. It was experimentally verified that during both oil whirl and oil
whip the rotor and journal vibrate nearly in phase (see Figure 15). This may serve as an
indication for further identification of the non-linear functions r and 4'2.

9. DISCUSSION OF RESULTS
In this paper, a simple mathematical model of a unloaded symmetric shaft rotating in
one rigid and one 360 ~ lubricated bearing has been proposed. The model yields results
which stand in very good agreement with the experimentally observed rotor dynamic
phenomena concerning stability thresholds, and the self-excited vibrations known as oil
whirl and oil whip.
The symmetric rotor in the model is represented by the generalized (modal) parameters
of its first bending mode. These parameters can be analytically obtained by applying any
classical method of modal reduction. The fluid force acting at the journal is represented
in the model by a non-linear expression based on the rotational character of this force.
The latter approach yields the bearing coefficients in an "interrelated" form: the tangential
("cross") stiffness is a product of the relative velocity and radial damping, the tangential
damping results from Coriolis acceleration, and the radial stiffness is reduced due to
centripetal acceleration and fluid inertia.
The fluid non-linear force is introduced in a very general form, where the non-linearity
is related to the journal radial displacement (journal eccentricity inside the bearing). The
non-linear character of the fluid stiffness force, and especially of the fluid damping force
is well known. This non-linearity has a " h a r d " character: the forces increase with
eccentricity. Actually they grow to infinity when the journal touches the bearing wall,
provided that the bearing itself is absolutely rigid. An example of the fluid non-linear
forces was discussed in this paper: the first terms of the Fourier expansion o f a n y non-linear
function representing the fluid force.t
The results obtained from the analysis of the rotor model and concerning the rotor,
synchronous vibrations due to unbalance and self-excited vibrations known as "oil whirl"
and "oil whip" very well reflect the observed rotor dynamical behavior.
The classical eigenvalue problem for the linearized model yields three important
eigenvalues of the rotor/bearing system. The first eigenvalue has its imaginary part (natural
frequency) close to AtoR and it corresponds to oil whirl frequency. It is an unconventional,
fluid~solid interaction-related natural f r e q u e n c y of the rotor/bearing system. This is an
important conclusion of the analysis presented in this paper. The real part of this particular
eigenvalue predicts the threshold of stability (the rotation speed at which the purely
rotational motion or 1 x synchronous vibrations of an unbalanced rotor become unstable).
This threshold of stability is determined by the rotor generalized (modal) mass and the
partial stiffness, as well as the oil average velocity iatio ( t o ( R S r ) - ~ / K 1 / M l / A , from
expression (21)). The latter result was noticed in the fifties by Poritsky [20] and discussed
by B0eker and Sternlicht [21]. Since that time, however, this result seems to have been
forgotten for 30 years.
t Fluid force is often modeled in a form proportional to the expression (1 -e2) -n, where e is the eccentricity
ratio (journal radial displacement Iz21to radial clearance, c), n is a number (such as 1/2, 1, 3/2, 2, 5/2, or 3).
In the first approximation(1 - e2)-" ~- 1+2ne 2, which yields the expressionproportional to the example forces
(2) considered in this paper; BI = 2nKo/c 2, B 2 = 2nD/c 2.
460 n. MUSZYNS~
The second and third eigenvalues of the rotor[bearing system have imaginary parts
close to the rotor natural frequency (+~/(K~+K2)/MI) of the first bending mode. The
latter is referred to as the "whip frequency". It is the rotor classical natural frequency.
The non-linear model yields the self-excited vibrations (known as oil whirl and oil
whip) as particular solutions. Both oil whirl and oil whip are the limit cycles of rotor
unstable purely rotational motion. The rotor and journal amplitudes of these limit cycles
are determined by bearing non-linear fluid dynamic forces and external damping. The
frequencies of oil whirl and oil whip are very close to the natural frequencies of the linear
system. As usual, the non-linearities have a very minor influence on the self-excited
vibration frequency. The model permits evaluation of the amplitudes and relative jour-
nal/disk phase angles of these self-excited vibrations.
The rotor self-excited vibrations known as oil whirl and oil whip represent, therefore,
two forms of the same phenomenon. Oil whirl occurs in the range of rotation speeds
lower than double the value of the rotor first balance resonance (first natural frequency
of the rotor bending mode) and has frequency proportional to the actual rotation speed
con with the average fluid velocity ratio A as a coefficient. Oil whip occurs in the range
of rotation speeds higher than double the value of the rotor first balance resonance and
has a constant frequency equal to the rotor first natural frequency of the bending mode,
xf(Kt + K2)/MI. In the case of oil whirl, the rotor behaves as a rigid body and the mode
of vibrations is conical. In the case of oil whip, the rotor vibrates at its bending resonant
conditions. The smooth passage from oil whirl to oil whip is related to the changes in
the values of the natural frequencies with increasing rotation speed: the self-excited
vibrations occur with the lowest natural frequency of the system at the actual rotation
speed. It happens to be either htOR (lower range of speeds) or x/(Kl+ K2)/M~ (higher
speed range).
Another important and new (to the author's knowledge) result presented in this paper
concerns the analytical evaluation of the stability of the synchronous vibrations of the
rotor, and the relationship between the width of the stability region in the rotative speed
domain and the amount of the rotor imbalance. This result has been obtained from a
classical investigation of stability in which the equations in the variations were considered.
The bearing non-linear force, increasing with rotor radial deflection causes an increase
of the journal supporting radial stiffness force which is directly related to the actual
synchronous vibration amplitude. The increased radial stiffness affects the threshold of
stability. The synchronous vibration amplitude varies with the rotation speed, and in the
first balance resonance region of speeds the effect of stable synchronous vibrations is
observed. Two additional thresholds of stability are noted. The width of this region
depends directly on the amount of unbalance in the rotating system. A simple graphical
method (Figures 10 and 11) explains qualitatively this feature. Expressions (26) and (28)
give the analytical relationships for these additional thresholds of stability.
In practical observations it has been found that any high rotor vibrations due to external
or internal factors or a displacement of the journal to the higher eccentricity region inside
the bearing can entirely suppress the self-excited vibrations, oil whirl, and oil whip. The
reason is always the same: the journal is rotating in the bearing high eccentricity region,
in which its stiffness and damping increases due to non-linear factors. Higher stiffness
and damping cause modifications in the stability thresholds. This fact has been explained
in the present paper.
In the rotor/bearing system analysis, as well as in experimental testing, a rather small
effect of the bearing fluid inertia has been noted. The fluid inertia has a negligible
influence on the synchronous vibrations, thresholds of stability, natural frequencies, and
frequencies of the self-excited vibrations. The journal generalized (modal) mass is also
 ROTOR/BEARING STABILITY PROBLEMS 461
usually relatively small. These aspects led to the conclusion regarding further sim-
plifications of the rotor/bearing model to the one and a half degree of freedom system.
The fluid radial d a m p i n g force which is proportional to the relative journal velocity is
definitely the dominant fluid force in the bearing, and it determines the order o f equation
(5), as the forces of inertia with MI and M2 are negligible.
There is still no clear picture of what affects the fluid average velocity ratio A. It has
been assumed in this p a p e r that A is constant. However, during experimental testing a
decrease o f value of A with journal eccentricity has been noticed [22].
In order to justify the regularly rotating character of the fluid force, a rotor model with
the journal centered in the bearing and with absence of any radial load (such as gravity
force) was considered in this paper. It is well known that the external radial force applied
to the rotor which causes journal static displacement toward ~i higher eccentricity region
within the bearing introduces a significant stabilizing effect to the rotor performance: oil
whirl and oil Whip do not occur when the journal rotates in an eccentric position. The
fluid forces in such situations exhibit a different pattern: the circumferential flow becomes
irregular. It seems possible to extend the considerations presented in this paper, to cover
the case of radially loaded rotors, by introducing a modified fluid force model which
includes such irregularity [22].

REFERENCES
1. 1975 Proceedings of l U T A M Symposium of Dynamics of Rotors, Lyngby, Denmark, 1974. Berlin,
Springer.
2. 1976 Proceedings of Conference on Vibrations in Rotating Machinery, University of Cambridge.
3. 1980 NASA CP-2133. Texas A&M University Workshop on rotordynamic instability problems
in high performance turbomachinery.
4. 1980 Proceedings of Conference on Vibrations in Rotating Machinery. University of Cambridge.
5. 1982 NASA CP-2250. Texas A&M University Workshop, on rotordynamic instability problems
in high performance turbomachinery.
6. 1984 Texas A&M University Workshop, on rotordynamic instability problems in high perform-
ance turbomachinery.
7. 1984 Proceedings of the Third International Conference, on Vibrations in Rotating Machinery, York.
8. R. G. KIRK and M. SIMPSON 1985 Proceedings of the Symposium on Instability in Rotating
Machinery, Carson City, Nevada, June 1985. Full load shop testing of an 18,000 HP gas turbine
driven centrifugal compressor for offshire platform service: evaluation of rotor dynamics
performance.
9. R. G. KIRK 1985 ASME 10lh Biennial Conference on Mechanical Vibration and Noise, ASME
Paper No. 85-DET- 147, Cincinnati, Ohio, September 1985. Evaluation of aerodynamic instability
mechanisms for centrifugal compressors.
10. F. AMBROSCH and R. SCHWAEBEL 1981 United States Patent, #4,273,510. Method of and
device for avoiding rotor instability to enhance dynamic power limit of turbines and compressors.
11. E. H. MILLER 1983 United States Patent 4,420,161. Rotor Stabilizing Labyrinth Seal for Steam
Turbines.
12. V. V. BOLOTIN 1964 The Dynamic Stability of Elastic Systems (translated from Russian), San
Francisco: Holden-Day.
13. R. R. HUMPHRIS and E. J. GUNTER 1983 Rotor Dynamics Laboratory, University of Virginia,
Charlottesville. The influence of rotor characteristics in oil whirl.
14. A. MUSZYNSKA 1984 Senior Mechanical Engineering Seminar, Bently Nevada Corporation,
Carson City, Nevada, June 1984.
15. H. F. BLACK 1969 Journal of Mechanical Engineering Science II, No. 2. Effects of hydraulic
forces in annular pressures seals on the vibrations of centrifugal pump rotors.
16. H. F. BLACK and D. N. JENSEN 1970 Proceedings Journal of Mechanical Engineering 184,
92-100. Dynamic hybrid bearing characteristics of annular controlled leakage seals.
462 A. MUSZYNSKA
17. D. E. BENTLY and A. MUSZYNSKA 1983 Symposium on Rotor Dynamical Instability, Summer
Annual Conference of the ASME Applied Mechanics Division, Houston, Texas. Perturbation tests
of bearing/seal for evaluation of dynamic coefficients.
18. N. MINORSKY 1947 Introduction to Nonlinear Mechanics. Ann Arbor: J. W. Edwards.
19. D. E. BENTLY and A. MUSZYNSKA 1985 Tenth Biennial ASME Conference on Mechanical
Vibration and Noise, Cincinnati, Obio, September 1985. Perturbation study of a rotor/bearing
system: identification of the oil whirl and oil whip resonances.
20. H. PORITSKY 1953 Transactions of the American Society of Mechanical Engineers 75.
Contribution to the theory of oil whip.
21. G. F. BOEKER and B. STERNLICHT 1956 Transactions of the American Society of Mechanical
Engineers. Investigation of translatory fluid whirl in vertical machines.
22. A. MUSZYNSKA 1986 Bently Rotor Dynamics Research Corporation Report. Fluid-related
rotor/bearing seal instability problems.

APPENDIX: LIST OF SYMBOLS

At, A2 amplitudes of synchronous vibrations of the rotor and journal respectively
B I , B2 coefficients of bearing non-linear "parabolic" force (2)
D, Ko, Mf bearing fluid radial damping, stiffness, and inertia coefficients
D~ shaft external damping coefficient
El, E2 constants of integration
F bearing fluid force
GI, G2 am I ~ u d e s of the rotor and journal self-excited vibrations
J =4-1
Kt, K2,/(3 rotor generalized (modal) stiffness coefficients
m,r mass and radius of unbalance respectively
M,, M~ rotor and journal generalized (modal) masses respectively
S, St, $2, S3 eigenvalues
t time
w,(t), w~(t) variational variables for the synchronous vibration/stability investigation
z=x+jy, z2 = x2-I-jy2 journal radial displacement: x, x2 horizontal, y, Y2 vertical (fixed co-
ordinates)
zt = xl +JYl rotor radial displacement (xt horizontal, yt vertical)
z,. = x,. +jYr journal radial displacement (rotating co-ordinates)
Of19 a 2 rotor and journal phase of the synchronous vibrations
/3 phase of rotor/journal self-excited vibrations
A fluid average circumferential velocity ratio
bearing fluid non-linear functions of journal radial displacement
~,~, ~ derivatives of ~t, ~2 in respect to radial displacement correspondingly
s radian frequency of the rotor self-excited vibrations
tOR rotation speed
threshold of stability (rotation speed).