Synchronization effects in rotors partially filled with fluid-influence on propulsion

In fluid-filled Rotors occur self-excited vibrations induced by surface waves of the fluid. A characteristic property is the instability over an interval of angular velocity above the natural frequency of the system. One explanation is the occurrence of synchronization effects between fluid waves and the critical rotor speed. The behaviour of rotors partly filled with fluid was mostly studied under the aspect of stability in steady-state conditions. For non-steady-state investigations, discrete models with reduced number of degrees of freedom and reasonable ability to model the system behaviour are desirable for observer-based real-time control. This paper analyses a model based on a laval rotor and shows synchronization effects between fluid waves and rotor model and its influence on the rotor propulsion. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Modeling and analysis of nonlinear rotordynamics due to higher order deformations in bending

A mathematical model incorporating the higher order deformations in bending is developed and analyzed to investigate the nonlinear dynamics of rotors. The rotor system considered for the present work consists of a flexible shaft and a rigid disk. The shaft is modeled as a beam with a circular cross section and the Euler Bernoulli beam theory is applied with added effects such as rotary inertia, gyroscopic effect, higher order large deformations, rotor mass unbalance and dynamic axial force. The kinetic and strain (deformation) energies of the rotor system are derived and the Rayleigh–Ritz method is used to discretize these energy expressions. Hamilton’s principle is then applied to obtain the mathematical model consisting of second order coupled nonlinear differential equations of motion. In order to solve these equations and hence obtain the nonlinear dynamic response of the rotor system, the method of multiple scales is applied. Furthermore, this response is examined for different possible resonant conditions and resonant curves are plotted and discussed. It is concluded that nonlinearity due to higher order deformations significantly affects the dynamic behavior of the rotor system leading to resonant hard spring type curves. It is also observed that variations in the values of different parameters like mass unbalance and shaft diameter greatly influence dynamic response. These influences are also presented graphically and discussed.     

A general mathematical model for continuous generating machining of screw rotors with worm-shaped tools

Screw rotors play a crucial role in the performance of compressors. For the large-batch production of small- or medium-sized rotors, continuously rotor hobbing or grinding may be more efficient than form machining. In this study, a general mathematical model was developed for the generating machining of screw rotors with a worm-shaped tool. A two-parameter enveloping theory was applied to simulate the cutting process as the tool conducts polynomial feed motion considering its cutting edge. The normal errors of the generated cutting lines were computed and presented on the rotor tooth surface topologies to show the correctness and practicability of the proposed model.     

Stability and Bifurcations of Rotors in Fluid Film Bearings

To study the nonlinear phenomena of rotors in the sense of bifurcation theory, the mechanical model of a symmetric flexible rotor is investigated which is supported by two identical journal bearings. Two types of journal bearings are considered. While the oil whirl and oil whip oscillations of rotors in plain journal bearings are widely examined, the floating ring bearings cause a quite different vibration behavior with several mode interactions and an area of so-called critical limit cycles leading to a rotor damage. For both types a Hopf bifurcation marks the beginning of the self-excited oscillations in the case of a perfectly balanced rotor. By applying the methods of numerical continuation the occurring limit cycles as well as their stability are determined. The different nonlinear effects with the corresponding bifurcations are explained by describing the global solution behavior of the rotor-bearing systems. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Active vibration control of unbalanced flexible rotor–shaft systems parametrically excited due to base motion

Rotor vibrations caused by large time-varying base motion are of considerable importance as there are a good number of rotors, e.g., the ship and aircraft turbine rotors, which are often subject to excitations, as the rotor base, i.e. the vehicle, undergoes large time varying linear and angular displacements as a result of different maneuvers. Due to such motions of the base, the equations of vibratory motion of a flexible rotor–shaft relative to the base (which forms a non-inertial reference frame) contains terms due to Coriolis effect as well as inertial excitations (generally asynchronous to rotor spin) generated by different system parameters. Such equations of motion are linear but time-varying in nature, invoking the possibility of parametric instability under certain frequency–amplitude combinations of the base motion. An investigation of active vibration control of an unbalanced rotor–shaft system on moving bases is attempted in this work with electromagnetic control force provided by an actuator consisting of four electromagnetic exciters, placed on the stator in a suitable plane around the rotor–shaft. The actuator does not levitate the rotor or facilitate any bearing action, which is provided by the conventional suspension system. The equations of motion of the rotor–shaft continuum are first written with respect to the non-inertial reference frame (the moving base in this case) including the effect of rotor internal damping. A conventional model for the electromagnetic exciter is used. Numerical simulations performed on the flexible rotor–shaft modelled using beam finite elements shows that the control action is successful in avoiding the parametric instability, postponing the instability due to internal material damping and reducing the rotor response relative to the rigid base significantly, with sufficiently low demand of control current in comparison with the bias current in the actuator coils.     

Stability and bifurcation behaviour of a Laval-Rotor considering fluid forces in compliant liquid seals

This contribution discusses the influence of fluid forces, stemming from compliant, contact-free annular rotor seals, on the steady state stability and bifurcation behaviour of a rotor. The model used in this work consists of a Laval-Rotor where the disc runs in a turbulently streamed seal. The compliance of the seal is reduced to a visco-elastically supported outer seal ring. In order to account for the fluid seal forces the Childs-Hirs-model is used. An investigation of the eigenvalues shows that the compliance of the seal support may lead to a significant increase in the stable operating range. A stability-loss via Hopf-, Hopf-Hopf or secondary Hopf-Bifurcations can occur depending on the system parameters. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Nonlinear stability analysis of rotor-bearing systems

High-speed rotors supported by floating ring bearings exhibit beside self-excited vibrations various nonlinear vibration effects, which may cause the damage of the rotor. After deriving the equations of motion of a perfectly balanced turbocharger rotor supported by floating ring bearings, bifurcation analyses are carried out with both rigid and flexible model by applying numerical continuation methods. Thereby, the main focus of the investigation is on the critical bifurcations emanating destructive limit-cycle oscillations of higher amplitudes. Finally, the influence of the shaft elasticity on the critical limit-cycle oscillations is discussed. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The effects of ridge-top and lee-slope fires upon rotor motions in the lee of a steep ridge

Soon after the outbreak of the South Australian Ash Wednesday I bushfire on a ridge in the Adelaide Hills, fires were observed burning up its lee slope in a direction opposite to that of the main fire. To investigate mathematically why this happened, a simple two-dimensional analytical model of a lee rotor (which occurs when airflow over a ridge separates from the lee slope) is developed by applying the first circulation theorem of physical hydrodynamics to a triangular material curve of air parcels in the lee of a ridge. The resultant equation describes how fire-generated buoyancy, frictional driving from above and lee-slope friction affect the average airspeed around a lee rotor.

A comparison between steady-state solutions of the rotor equation with and without a ridge-top fire indicates that the presence of the latter slightly retards any lee rotor which may have existed under neutral pre-fire conditions. The solution of an initial-value problem simulating the growth and decay of a lee-slope fire is next found and its dependence upon the ratio of the frictional relaxation time to the growth time of maximum fire-induced instability across the rotor is investigated and graphed. For growth times greater than 2.5 minutes and reasonable friction coefficients, it turns out that the response of the rotor to the slope fire is almost instantaneous and its maximum speed is more than twice its pre-fire speed. A halving of the friction coefficients even results in the maximum rotor speed being more than the airspeed above it. It is concluded that buoyant enhancement of lee rotors by fires greatly helps the latter to burn up lee slopes and that lee rotors containing intense fires may sometimes even drive the airflow above them.     

Identification and Self Tuning Control for Active Magnetic Bearing Systems: Levitation of Unknown Rotors

The present paper deals with the problem of levitating rotors with unknown characteristics by means of active magnetic bearings whose properties are known. This problem is of interest in a technical setting to shorten the development time of AMB systems, in particular for controller design. Theoretical interest arises from the fact that several issues in the area of identification and self tuning control are addressed for an unstable system. Our aim is to identify the flexible rotor including gyroscopic effects and to automatically design a robustly stabilizing controller for this system that can be used for running the system under regular operating conditions. To this end, a rigid body model of the rotor is identified based on measured step responses from the plant. Then, the bearings are adjusted to have very low stiffness, and a controller with steep roll‐off is designed in order to avoid excitation of the unknown flexible modes of the system. Once the rotor is floating, the identification algorithm from [1] is applied to obtain information on the flexible modes of the system. Based on this extended model, a robust controller allowing for slow rotation of the rotor is designed. With the rotor rotating at a moderate speed, the frequency response functions are measured, and based on these measurements, the gyroscopic matrixof the system is identified, completing the system model and allowing for design of the desired controller for normal operation. The present contribution focusses on identification of the rigid body model of the flexible rotor.     

Bifurcation behaviour and limit cycles of a compliant seal-rotor system

This contribution discusses the non-linear dynamic behaviour of a rotor system equipped with a compliant seal. The investigated model consists of a Laval-Rotor and a stiff seal ring which is visco-elastically supported. The fluid forces stemming from the turbulent incompressible lubricant film are accounted for by the non-linear Muszynska model. The added compliance leads to an improved stability behaviour of the steady state. Within the post-critical regime the additional compliance gives rise to bifurcations of the stationary vibration: Hopf bifurcations lead to limit cycles which can loose their stability via Neimark-Sacker bifurcations. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

On the theory of periodic layers in incompressible fluid

A conceptual error in the formally closed but physically incomplete Kim-Moin-Moser form of equations for viscous incompressible fluid in a horizontal periodic layer is corrected. This form, which has lately become popular, assumes that the vertical projections of the rotor and the second rotor of the field of accelerations vanish. This assumption considerably simplifies the calculations; however, it is insufficient for the equations of motion. In this paper, the fulfillment of these assumptions is ensured by the additional condition that the vector of the horizontal projection averaged over the period of the acceleration vorticity vanishes, which opens new possibilities. The resulting complete form of the equations with the rotors of three orders admits a reduction to two scalar equations (of the fourth and the sixth orders), which, however, are not less complicated than the equivalent Navier-Stokes equations.     

Application of CFRP as a rotor shaft material

Conclusions Theoretical analysis and tests performed on rotors with composite shaft show that there is a sufficiently wide rotation stability region in the rotor parameter space despite comparatively high damping of a polymeric composite with respect to steel. Optimum parameters of the shaft (lay-up, thickness) and bearing (radial stiffness, damping) can be found within this region for each given rotor ensuring a low vibration level at critical frequencies.If rotor system parameters are far enough from the instability threshold, maximum vibration level is observed when rotor passes the first eigenfrequency zone. Further increase of rotation frequency leads to a rotor self-centering, and vibration level does not change passing the second eigenfrequency zone. The rotor response is not sensitive to small changes in rotor system parameters. If rotor system parameters are close to the instability threshold, vibration level at the second eigenfrequency dominates, and a small variation of bearing parameters causes significant changes in the vibration level.Translated from Mekhanika Kompozitnykh Materialov, Vol. 31, No. 2, pp. 227–240, March–April, 1995.     

A DAE formulation for geared rotor dynamics including frictional contact between the teeth

A DAE approach is presented for geared rotor dynamics simulations with rigid helical evolvent gears. It includes the normal contact force between the teeth as well as tangential components. Given the evolvent tooth flank geometry of gear 1 and gear 2 [1], the contact line and the velocity difference in the contact are found. The requirement of no penetration of the teeth yields a non-holonomic constraint and the contact normal force. The friction caused force and moment are obtained by applying Coulomb's friction model. This approach is used to investigate the dynamics of two ideal rotors with translational DoFs, which are connected by gears to one another. The driving rotor has a given angular speed, while the driven rotates unrestrainedly and is connected to a rotational damper. Because of the periodic friction terms, the solution is periodic. A direct time integration or a harmonic approach can be used for the numerical computation. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

转子动力学横向振动基本方程

针对转子动力学系统横向振动基本方程进行研究.将Euler（欧拉）角表示引入转子动力学系统,可以建立描述转子的非线性旋转运动的精细数学模型.并将该精细模型线性化,建立了描述转子动力的基本方程,通过数值算例分析验证了该方程的正确性和有效性.     

Dynamics of a rotor partially filled with a viscous incompressible fluid

A rotor partially filled with a viscous incompressible fluid is modeled as planar system. Its structural part, i. e. the rotor, is assumed to be rigid, circular, elastically supported and running with a prescribed time-dependent angular velocity. Both parts, structure and fluid, interact via the no-slip condition and the pressure. The point of departure for the mathematical formulation of the fluid filling is the Navier-Stokes equation, which is complemented by an additional equation for the evolution of its free inner boundary. Further, rotor and fluid are subjected to volume forces, namely gravitation. Trial functions are chosen for the fluid velocity field, the pressure field and the moving boundary, which fulfill the incompressibility constraint as well as the boundary conditions. Inserting these trial functions into the partial differential equations of the fluid motion, and applying the method of weighted residuals yields equations with time derivatives only. Finally, in combination with the rotor equations, a nonlinear system of 12 differential-algebraic equations results, which sufficiently describes solutions near the circular symmetric state and which may indicate the loss of its stability. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Rotor dynamics behavior of turbo-expander involving droplet impact

ABSTRACT

This paper dedicates on the rotor dynamics behaviour research on the turbo-expander rotor system involving droplet impact. A stochastic model based on Beta distribution and Bernoulli distribution of droplet generation is established and the formulations of droplet impact forces are deduced, which is applied on the rotor dynamics equations of the tilting pad bearing supported turbo-expander considering the temperature gradient for a further analysis. A time domain research is carried out and a conclusion that continuously droplet impact will perturb the steady vibration of the turbo-expander rotor system is obtained. Monte Carlo method is implemented for a statistics dynamics research and the results suggests that in the design of expander impellers, in order to decrease the uncertainty brought by droplet impact, the number of channels should be as few as possible, the droplet impact should be controlled to occur uniformly, and the collision, entrainment of the primary droplets and the stripping of the liquid film on the blade should be strictly restrained.     

On the dynamics of a nonlinear rotor-floating ring bearing system

Today, in high speed applications the rotors are commonly supported by hydrodynamic journal bearings. One typical configuration of journal bearings incorporated in automotive turbochargers is the floating ring bearing. Rotors supported by floating ring bearings have many advantages, regarding costs and power consumption for example. However, they might become unstable with increasing speed of rotation. At the onset of instability both the perfectly balanced and unbalanced rotor undergo self-excited vibrations which could cause the mechanical breakdown of the system. The “oil whip”-phenomenon, very well known from the investigations of the plain journal bearing occurs here in a different form. At the stability limit the rotor begins either oscillating with about the half of the ring speed or the half of the ring speed plus the half of the journal speed depending on the system parameters. For this reason a rotor-floating ring bearing model is presented showing the mentioned characteristics. By applying the nonlinear equations of motion the limit cycles of the system are determined and its loss of stability is investigated. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The rotor dynamics of reeling machinery

Wide-faced rotors for high-speed reeling operations such as those employed in paper manufacture, printing, coating and laminating are considered, and the torsional behaviour of these units is investigated. Modelling, simulation and analysis techniques are involved enabling the prediction of the torsional vibrational signature of high-speed assemblies under acceleration and braking conditions. The results outlined show that simulated response characteristics can be easily obtained, and the effect of varying the rotor geometry can be routinely accommodated. The transient conditions presented for a reeling machine are commented upon with particular reference to the angular velocity and shear stress variation following torque changes. The effect on volume production is discussed.     

Nonlinear dynamic analysis of a hybrid squeeze-film damper-mounted rigid rotor lubricated with couple stress fluid and active control

The hybrid squeeze-film damper bearing with active control is proposed in this paper and the lubricating with couple stress fluid is also taken into consideration. The pressure distribution and the dynamics of a rigid rotor supported by such bearing are studied. A PD (proportional-plus-derivative) controller is used to stabilize the rotor-bearing system. Numerical results show that, due to the nonlinear factors of oil film force, the trajectory of the rotor demonstrates a complex dynamics with rotational speed ratio s. Poincaré maps, bifurcation diagrams, and power spectra are used to analyze the behavior of the rotor trajectory in the horizontal and vertical directions under different operating conditions. The maximum Lyapunov exponent and fractal dimension concepts are used to determine if the system is in a state of chaotic motion. Numerical results show that the maximum Lyapunov exponent of this system is positive and the dimension of the rotor trajectory is fractal at the non-dimensional speed ratio s = 3.0, which indicate that the rotor trajectory is chaotic under such operation condition. In order to avoid the nonsynchronous chaotic vibrations, an increased proportional gain is applied to control this system. It is shown that the rotor trajectory will leave chaotic motion to periodic motion in the steady state under control action. Besides, the rotor dynamic responses of the system will be more stable by using couple stress fluid.     

Nonlinear analysis of the orbital motions of immersed rotors using a spectral/Galerkin approach

We recently developed a symbolic-numerical formulation for the nonlinear planar motion of rotors under fluid confinement, based on a spectral/Galerkin approach, for gap geometries of about δ=H/R≈0.1––where H is the average annular gap and R is the rotor radius. Results showed a quite good agreement between the class of approximate models generated, the corresponding analytical exact planar model and experiments. This methodology can be almost entirely automated on a symbolic computing environment.In the present paper this symbolic-numerical spectral/Galerkin procedure is extended in order to deal with nonlinear orbital motions––X(t) and Y(t) taking place in orthogonal directions.Numerical simulations performed over a centered rotor configuration maintained by nonisotropic supports (K^st_Y/K^st_X=0.4, where K^st_X and K^st_Y stand for the structural stiffnesses), which exhibit interesting dynamics, show a quite good agreement between this type of approximate models and the corresponding analytical exact (but quite involved) model, developed in the past by the authors.With the proposed symbolic-numerical approach one can obtain accurate nonlinear dynamical formulations enabling the study, understanding and prediction of nonlinear orbital rotor dynamics.