American Journal of Mechanical Engineering, 2014, Vol. 2, No.

7, 282-285
Available online at http://pubs.sciepub.com/ajme/2/7/23
Science and Education Publishing
DOI:10.12691/ajme-2-7-23

Lateral Rotor Vibration Analysis Model

Robert Surovec1, Jozef Bocko2, Juraj arloi1,*
1
ZTS VV a s. Jun trieda 95, 041 24 Koice, Slovakia
2
Faculty of Mechanical Engineering Technical University of Kosice Letn 9, 042 00 Koice, Slovakia
*Corresponding author: [email protected]

Received October 7, 2014; Revised October 20, 2014; Accepted November 11, 2014
Abstract In this article we examine the lateral vibrations in rotating machinery can lead to rotor unstable
behaviour. In some types of rotating machinery, the angular speed is subjected to wide ranges of change. The
problem is to find the range of angular speeds for which a machine exhibits stable behaviour in the presence of the
coupling of dynamical modes. For determine of mathematical model for vibration we will use Fppl-Jeffcott rotor
model. We will examine a undamped and damped vibration on the Fppl-Jeffcott rotor model.
Keywords: lateral vibration, rotor dynamics, damped free vibration, undamped free vibration, fppl-jeffcott rotor
Cite This Article: Robert Surovec, Jozef Bocko, and Juraj arloi, Lateral Rotor Vibration Analysis
Model. American Journal of Mechanical Engineering, vol. 2, no. 7 (2014): 282-285. doi: 10.12691/ajme-2-7-23.

rigid bearings) is also possible but rotor dynamically less

desirable, because it lacks some vibratory motion at the
1. Introduction bearings which often provides that essential ingredients,
damping, to keep vibration amplitudes at resonance
In this paper transient and steady-state coupled lateral conditions within tolerable levels. A rotors flexibility and
torsional vibrations of the rotating machine were mass distributions and it is bearings flexibilities combined
investigated by means of the discrete-continuous with its maximum spin speed essentially determine
mechanical model. For this purpose we use Fppl/Jeffcott whether or not residual rotor unbalance can produce
single mass rotor. Relatively simple geometrical shape of forced LRV resonance. That is these factors determine
this real rotor shaft with rigid attached rotor enable us to whether the rotor-bearing system has one or more lateral
create a mathematical model for undamped free vibration natural frequency modes below the operating speed. If so,
and damped free vibration. We also determine natural then the rotor must pass through the speed (critical speed)
frequency for both case where the residual mass unbalances act as once-per-
revolution harmonic forces to excite the one or more
natural frequencies the rotor speed traverses when
2. Introduction to Rotor Dynamics accelerating to operating speed and when coasting down.
Resonate mode shapes at critical speeds are also
Rotor dynamics is the branch of engineering that determined by the same rotor and bearing properties.
studies the lateral and torsional vibrations of rotating shaft, Many types of modern rotating machinery are designed to
with the objective of predictive the rotor vibrations and operate above one or more critical speed because of
containing the vibration level under an acceptable limit. demand for compact high-performance machines. When
Lateral rotor vibration (LRV) is radial-plane orbital one or more speed are to be traversed, LRV analyses are
motion of the rotor spin axis. Transverse rotor vibration is required at the design stage of a rotating machine. These
used synonymously for LRV. Actual LRV orbits are analyses generally include computations to ensure that the
typical only a few hundredths of a millimeter. LRV is an machine is not inadvertently designed to run continuously
important design consideration in many types of rotating at or near a critical speed. These analyses should also
machinery, particularly turboelectrical machines such as include computed unbalance rotor vibration levels over
steam and combustion gas turbine/generator sets, the entire range to ensure that the rotor-bearing system is
compressors, pump, gas turbine jet engines, turbochargers adequately damped to pass safely through the critical
and electric motors. Thus LRV affect several major speeds within the operating speed range.
industries. Usually, but not always, the potential for rotor
dynamic beam-bending-type deflection significantly
2.1. Fppl/Jeffcott Single Mass Rotor
contributes to the LRV characteristics. The significance of
LRV rotor bending increases with bearing-to-rotor The vibration theory for rotor-dynamics system was
stiffness ratio and with rotor spin speed. Consequently, in first developed by August Fppl in 1895 and Henry
some rotating machines with a low operating speed and Homan Jeffcot in 1919. Employing a simplified
/or low bearing-to-rotor stiffness ratio, the LRV is rotor/bearing systems they developed the basic theory on
essentially of a rigid rotor vibrating in flexible bearing or prediction and attenuation of rotor vibration. This
support. The opposite case (a flexible rotor in essentially simplified rotor/bearing system that is commonly known
283 American Journal of Mechanical Engineering

as the Fppl/Jeffcot rotor, or simply Jeffcot rotor, is often Additionally, we assume that there is a relatively small
employed to evaluate more complex rotor-dynamic effective damping action on the lateral motion of the disk
systems in the real world. The rotor disk mass m is at the rotor midspan, and the corresponding damping
located at the axial center of the shaft. The mass of the constant is given by cs. The dynamic equations for the
shaft in the Jeffcot rotor is assumed to be negligible Fppl/Jeffcott rotor are derived by applying Newtons law
compared to that of the disk, and thus is considered to be to the rotor disk. With the assumption that the shaft is
massless during the analysis. The geometric center of the massless, the force acting on the disk are the inertial force
disk C is located at the point (uxC, uyC) along coordinate and the stiffness/damping force generated by the lateral
axis defined about the bearing center line, and the disk deformation of the shaft. The lateral equations of the
center mass G is located at (uxG, uyG). The unbalance motion in the x and y axes as show in figure 1 are
eccentricity eu is the vector connecting the point C and G, found to be
and it represents the unbalance in the rotor disc. The
muxG =
k s u xC cs u xC (3)
rotating speed of the disc/shaft is given by , and without
loss of generality we assume that eu is parallel with the x- muyG =
k s u yC cs u yC (4)
axis at the initial time t = 0 [3].
Where (uxC, uyC) and (uxG, uyG) are the coordinates of the
geometric center and mass center, respectively. The
coordinates of the disk center of mass can be rewritten in
terms of its geometric center C and the rotor angle of
rotation t at time t

yG u yC + eu sin( t )
u= (5)

xG u xC + eu cos( t )
u= (6)
Substituting the second time derivative of previous
equations we obtain the equations of motion for the
Fppl/Jeffcott rotor in terms of the disk geometric center
as

meu 2 cos(t )
muxG + k s u xC + cs u xC = (7)

Figure 1. Fppl/Jeffcott single mass rotor[4] meu 2 sin(t )

muyG + k s u yC + cs u yC = (8)

We note here that, as the bearings are considered to be

infinitely stiff and the rotor disk does not tilt, this model
does not include the gyroscopic effects acting on the rotor.

2.2. Damped Free Vibration

We consider the free vibration of the Fppl/Jeffcott
rotor with a non-zero effective shaft damping action on
the system. Newtons equations of motion in eqs.(7),(8)
becomes.
muxG + k s u xC + cs u xC =
0 (9)

muyG + k s u yC + cs u yC =
0 (10)

The solutions to the above systems of homogeneous

second order differential equations take the form
Figure 2. Shaft cross section [4]
u xC = Ax e st (11)
Under the assumption that the rotor disk does not affect
the stiffness of the massless shaft, the lateral bending u yC = Ay e st (12)
stiffness at the axial center of a simply supported uniform
beam is given by Substituting these solutions into (11), (12) we obtain

ks =
48 EI
L 3
(1) ( ms2 + ks + cs ) Ax est =
0 (13)

Where E is the elastic modulus of the beam, L is the

length between the bearings, I is the shaft area moment of
( ms2 + ks + cs ) Ay est =
0 (14)

inertia, and D is diameter of the cylindrical shaft. These equations hold for any initial condition if the
damped characteristic equation holds:
D4
I= (2)
64 ms 2 + k s + cs =
0 (15)
 284 American Journal of Mechanical Engineering

The zeros of the characteristic equation, also know as of the rotor disk. Substituting the solution in Eqs. (25),(26)
the damped eigenvalues of the system, are found to be into Eqs. (23),(24) we obtain

s1,2 =
c k c
s j s s (16) ( )
ms 2 Ax e st + k s Ax e st =ms 2 + k s Ax e st =
0 (27)
2m m 2m
Generally, the rotor/bearing system is underdamped, ( ms2 + ks ) Ax est =0
ms 2 Ax e st + k s Ax e st = (28)
which means that
The above equations hold true for any value of Ax and
cs k s Ay if the undamped characteristic equation holds,
(17)
2m m
ms 2 + k s =
0 (29)
And s will have an imaginary component. Define the
damping ratio as Solving the above equality for the complex constant s,
we obtain the following solution:
cs
= (18) s1,2 = jn (30)
2mn
Where n is the undamped natural frequency of the shaft
This value corresponds to the ratio of the effective
defined as
damping cs to the critical value in the damping constant
when the system become over damped, or the imaginary ks 48 EI
part of the solution in Eq.(16) vanishes. Eqs. (13)and(14) n
= = (31)
can be rewritten as m L3 m
The undamped critical speed of the system is defined as
n jn 1 2
s1,2 = (19)
cr = n (32)
The imaginary component of s is know as the damped
natural frequency, corresponding to the positive + D and the negative
backward - D components. The forward component
d n 1 2
= (20) indicate the lateral vibration that follows the direction of
the shaft rotation, and the backward component represent
The damping coefficient 0.1 is normally consider as the vibration that moves in the opposite direction. The
needed for the safe operation of the machine. The final final solutions to the undamped free vibration are given by
solutions to the undamped free vibration are found to be the linear combination of the two solutions found in Eqs.
the linear combination of the (11,12) and (16), that is, (33), (32) [1],
= (
u xC ent Ax1e jnt + Ax 2 e jnt ) (21)
u xC Ax1e jnt + Ax 2 e jnt
=
(33)
= Bx1 cos (n t ) + Bx 2 sin (n t )
= e nt
( Bx1 cos (nt ) + Bx 2 sin (nt ) )
( )
And
=u yC ent Ay1e jnt + Ay 2 e jnt
(22) u yC Ay1e jnt + Ay 2 e jnt
=
(34)
= e nt
( By1 cos (nt ) + By 2 sin (nt ) ) = B y1 cos (n t ) + B y 2 sin (n t )
For some values of Axi and Ayi, or Bxi and Byi,
For some values of Axi and Ayi, or Bxi and Byi, which
dependent on the initial condition of the rotor [2].
can be found from the initial conditions of the rotor.
2.3. Undamped Free Vibration
The undamped tree vibration analysis deals with rotor
vibration in the case of negligible unbalance eccentricity
(eu = 0) and damping (cs = 0). The equations of motion in
(7),(8) are simplified to
muxG + k s u xC =
0 (23)

muyG + k s u yC =
0 (24)

The solution to this second order homogenous system

takes the form:

u x c = Ax e st (25)

u y c = Ay e st (26)

For some complex constant s. The values of the

Figure 3. Typical response of an underdamped system [5]
constant Ax and Ay are obtained from the initial condition
285 American Journal of Mechanical Engineering

We observe that the response is oscillatory, where the Technology of production systems in industry and
frequency is given by the damped natural frequency d. services (ITMS project code 26220220155).
Because of the damping, the magnitude of the oscillator is
reduced over time, and the rate of decays is a function of
the damping ratio and the undamped natural frequency References
n.
[1] W.J. Palm, Mechanical Vibrations, J. Waley 2007.
[2] A.A.Shabana, Theory of Vibrations, Sprinder Science and Busines
Media, 8.12.1995.
Acknowledgement [3] W.Thpmpson, Theory of Vibrations with Application,CRC
Press,1.2.1996.
The authors gratefully acknowledge support from [4] Kelly, Mechanical Vibrations, MC Graw Hill Education India
Slovak Grant Agency VEGA grant VEGA 1/1205/12 Pvt Limited 1962.
Numerical modeling of mechatronic systems. [5] F.Robert,Steider Jr., An Introduction to Mechanical Vibrations,
The research presented in this paper was also supported paper back January 17.1989.
[6] B.Srikant, Mechanical Vibrations, Person Education India 2010.
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