VB TU Ostrava
Faculty of Mechanical Engineering
FULL SPECTRA AS A TOOL FOR
ANALYSIS OF A SHAFT ROTATING IN
JOURNAL BEARINGS
Ji Tma & Jan Bilo
17. listopadu 15, Ostrava Poruba
Czech Republic
[Link]@[Link] & bilos@[Link]
Outline
Bently Nevada Rotorkit
Instrumentation arrangement
Orbit plot, one-side versus two-side spectrum
RPM profile & displacement time history
RMS full multispectrum
Fluid induced instability
Bently and Muszynska model
Equation of motion
Shaft/fluid wedge bearing/system as a servomechanism
Vibration modes
Bently Nevada Rotorkit
Bently Nevada Rotorkit - detail
Instrumentation arrangement
Proximity probes
Y
X
Displacement
y(t)
Journal bearing
Shaft
Fluid
lubrication
Displacement x(t)
Journal
x(t) real part
Complex coordinate
of the shaft centre position: y(t) imaginary part
Orbit plot
Both the vectors A and B are rotating in opposite direction at
the same frequency .
(Im) Y
+
-
(Im) Y
Ellipse
A
X
(Re)
B = A*
Real harmonic
function of time
+
-
Complex harmonic
function of time
X
(Re)
One-side versus two-side spectrum
Two-side spectrum
symmetry
0,6
0,4
0,2
0,5
1,5
0,0
-1,5
FT
0,0
-1,5
1,5
0,0
0,5
Time [s]
1,0
Frequency [Hz]
Fourier
Transform
Time history
X, Y (Re, Im)
Y (Im)
0,2
Frequency [Hz]
1,5
X (Re)
0,4
-5 -4 -3 -2 -1 0 1 2 3 4 5
1,0
Orbit plot
0,0
0,6
0,0
0,0
Time [s]
-1,5
0,8
RMS X
FT
Autospectrum
Autospectrum
0,8
Two-side spectrum
RMS X + j Y
1,5
1,0
0,5
0,0
-0,5
-1,0
-1,5
0,0
RMS X
X (Re)
Time history
One-side spectrum
1,2
1,0
0,8
0,6
0,4
0,2
0,0
Autospectrum
non-symmetry
-5 -4 -3 -2 -1 0 1 2 3 4 5
Frequency [Hz]
RPM profile & displacement time history
Tachometer
RPM
2500
2000
1500
1000
0
10
15
Time [s]
Steady-state vibration
Time History
500
400
micron
300
200
100
X
Y
;;
0
-100
-200
0
10
Time [s]
15
RMS full multispectrum of signal
x(t) + j y(t)
Autospectrum : X + jY
0.475 ord 1.0 ord 2.0 ord
Frequency [Hz]
100
90
80
70
50
40
30
20
10
-10
-30
-40
-50
-60
-70
-80
-100
1693
-90
1935
-20
1727
1975
2212
2406
RPM
2378
2183
60
70
60
50
40
30
20
10
0
RMS
m
60-70
50-60
40-50
30-40
20-30
10-20
0-10
Tim e : X (Resam pled) ; Y (Resam pled)
X (Resam pled)
Y (Resam pled)
80
Self- excited
whirl vibration
4 5 6 7
Revolution [-]
Y [m ]
150
100
50
0
-50
-100
-150
R M S [m ]
Fluid induced instability
10
Orbit plot
150
100
50
0
-50
-100
-150
-150
0
X [m]
Autospectrum : X (Resampled) + jY (Resampled)
60
Low
rotational
speed
vibration
0,475 ord
40
20
0
-3,0 -2,5 -2,0 -1,5 -1,0 -0,5
0,0
Order [-]
0,5
1,0
1,5
2,0
2,5
3,0
150
Full order-multispectrum of signal
x(t) + j y(t)
Autospectrum : X (Resampled) + Y (Resampled)
0.475 ord
1.0 ord
RPM
-0.475 ord
1350
1555
1734
1896
Proportionality of
the whirl vibration
frequency
to the shaft
rotational speed
30-35
2181
2299
25-30
2392
15-20
2401
2384
10-15
2194
2057
1,8
2,0
1,4
1,6
1,2
0,8
1,0
0,6
0,2
0,4
0,0
-0,4
-0,2
-0,6
-1,0
-0,8
-1,2
-1,6
-1,4
1907
-2,0
-1,8
35-40
2045
2325
Order [-]
RMS
dB / ref 1 m
1746
20-25
5-10
0-5
Bently and Muszynska model
Average fluid angular velocity
Shaft
vavg
Spring and damper system
rotating at the angular
frequency
Bearing
Fluid wedge
Fluid circumferential
velocity ratio
v avg
=
Fluid forces acting
on the rotor
Frot = K rrot + D r&rot
Fluid forces in stationary coordinate
Transform to stationary
coordinates
i ng
t
a
ot
t
Stationary
rrot = r exp( jt )
r&rot = ( r&rot j r ) exp( jt )
Fluid forces
F = K r + D r& jD r
Direct
Quadrature
An example of force balance
Direct
force
Tangentional
force
Gravity
force
Equation of motion
Perturbation balance force
FPerturbati on = mru 2 exp( j (t + ))
Angular velocity is
completely independent of
the rotor angular velocity
Equation of motion
M &r& + D r& + (K jD ) r = mru 2 exp( j (t + ))
Solution takes a form r = A exp( j (t + ))
Amplitude A and phase of the rotor shaft centre-line rotating at
the angular velocity
mru 2 exp( j )
A exp( j ) =
(K M2 )+ jD( )
Shaft/fluid wedge bearing/system as
a servomechanism
Rotor
load
Equation of motion
+
Fluid
wedge
support
Rotor shaft
eccentricity
position
Direct stiffness
K Direct ( j) =
K Direct ( j )
= K + jD M2
Positive feedback
Quadrature stiffness
K Quadrature ( j )
KQuadrature ( j) = jD
Open-loop frequency transfer function
D
G0 ( j) =
D + j K M2
Closed-loop stability margin
According to the Nyquist stability criterion, a margin of stability is
resulting from
Nyquist plot of G0 ( j)
G0 ( jCrit ) = 1
in complex plane
=> Mechanical resonance
Imag
2
Crit = K M
(-1,0) < Crit
=> Fluid resonance
Crit
Crit = Crit
stable
> Crit
=0
=> Bently and Muszynska
threshold
K M
Crit =
=0
=0
Real
margin
= Crit
unstable
Vibration modes
micron
Unbalance effect
= Crit
< Crit
120
80
40
0
-40
-80
-120
> Crit
= Crit Unbalance effect
< Crit
> Crit
Fluid Induced vibration
;;
0
Wall
G0 ( j) = 1 => K (eccentricity ) = M2
Centre
Stiffness K
Eccentricity
10
15
Harmonic envelopes
Time [s]
Magnitude self-control
70
100
x
10
2 x
1x
2x
3x
Magnitude
Magnitude
60
50
40
coast
down
20
run
up
10
0,1
30
10
Time [s]
15
20
1000 1300 1600 1900 2200 2500
RPM
Whirl & Whip
Fluid Induced Instabilities
An example
Whip vibration
Whirl vibration
Bently &
Muszynska
threshold
Subharmonic
Harmonics
of rotational
frequency
Measurement
range
for this paper
Conclusion
This presentation describes using full spectra for
rotor system diagnostics
The full spectrum is a good tool for studying rotor
instability in journal bearings
The presentation demonstrates whirl vibration and
the independence of the ratio relating the
precession speed to the shaft rotational speed with
respect to the shaft absolute rotational speed
Bently and Muszynska model gives explanation of
the rotor instability
