Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov.

2008)

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ROTORDYNAMIC ANALYSIS USING XLROTOR

Mohsen Nakhaeinejad, Suri Ganeriwala SpectraQuest Inc., 8227 Hermitage Road, Richmond, VA 23228 Ph: (804)261-3300 Fax: (804)261-3303 Nov 2008

Abstract
The rotordynamic analysis of the SpectraQuest Machinery Fault Simulator (MFS) Magnum is performed in XLRotor to study critical speeds and imbalance response of the machine. MFS Magnum machine including motor, shaft, disks, coupling and rolling element bearings is modeled and the rotordynamic analysis was performed using the rotordynamic software XLRotor. The stiffness and damping associated with rolling element bearings of the motor and shaft are calculated in the software. Different shaft and disk configurations are introduced to the model, the whole rotating system is solved for damped critical speeds and mode shapes are obtained. Also, imbalance response is studied, bearing displacements and dynamic loads on the bearings are obtained and presented. This study clearly shows the power of the XLRotor for rotordynamic analysis.

Keywords: Rotordynamic Analysis, Critical Speed, Rotating Machinery, Imbalance Response, XLRotor, MFS Magnum

1. INTRODUCTION Rotating machinery produces vibration signatures depending on the structure and mechanism involved. Faults in machine also can increase and excite the vibrations. Vibration behavior of the machine due to natural frequency and imbalance is one of the important topics in rotating machinery which should be studied and considered in design. All objects exhibit at least one natural frequency which depends on the structure of the object. The critical speed of a rotating system occurs when the rotational speed matches a natural frequency. The lowest speed at which a natural frequency is encountered is called the first critical. As the speed increases, additional critical speeds may be observed. Minimizing rotational unbalance and unnecessary external forces are very important to reducing the overall forces, which initiate resonance. Due to the enormous destructive energy and vibration at resonance, the main concerns when designing a rotating machine are how to avoid operation at or closed to criticals and how to pass safely through the criticals in acceleration and deceleration. Safely refers not only to catastrophic breakage and human injury but also to excessive wear on the equipment. Since the real dynamics of machines in operation is difficult to model theoretically, calculations are based on the simplified model which resembles the various structural components. Obtained equations from models can be solved either analytically or numerically. Also, Finite Element Methods (FEM) is another approach for modeling and analysis of the machine for natural frequencies. Resonance tests to confirm the precise

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

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frequencies are often performed on the prototype machine and then the design revised as necessary to assure that resonance does not become an issue. XLRotor as a rotordynamic software provides powerful, fast and accurate tools to perform rotordynamic modeling and analysis. Comprehensive capabilities of the software include analysis of undamped and damped critical speeds, imbalance, stability, mode shapes, nonlinear transient response, torsion, synchronous and asynchronous force response, indeterminate static deflection, rolling element bearings and fluid film bearings. All model inputs are entered on worksheets and several templates and modules are available to create the model of each part. Completing computations and analysis by the software, the results are available through tables and charts in Excel worksheets. The objective of this technical note is to study the rotordynamic behavior of the SpectraQuest Machinery Fault Simulator (MFS) Magnum including critical speeds and imbalance responses. To achieve this goal, the MFS Magnum machine shown in Fig. 1 including motor, shaft, disks, coupling and rolling element bearings is modeled and the rotordynamic analysis was performed using the rotordynamic software XLRotor. The stiffness and damping associated with rolling element bearings of the motor and shaft are calculated in the software. Different shaft and configurations are introduced to the model, the whole rotating system is solved for damped critical speeds and mode shapes are obtained. Also, imbalance response analysis for the rotor in acceleration is studied and dynamic load on the bearings are obtained and presented. 2. MODELING AND ANALYSIS PROCEDURES In this study, the SpectraQuests Machinery Fault Simulator (MFS) Magnum is modeled in the rotordynamic analysis software XLRotor. Undamped and damped critical speeds and imbalance response are obtained for different rotor/disk configurations.

Fig. 1 SpectraQuests Machinery Fault Simulator (MFS) Magnum used for the critical speed test

The Machinery Fault Simulator (MFS) Magnum illustrated in Fig. 1 can be used to introduce, simulate and study rotating machinery faults. Rotating parts consist of

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

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rotor/bearings of the motor, beam coupling, and the rotating shaft supported by two rolling element bearings. The span between two bearings is 28.5 inches. Disks can be mounted on the shaft at different locations and the unbalance can be introduced on disks. The simulator can run experiments with different size and configuration of bearings, shaft and disks. In this study, several configurations of rotating parts of the MFS Magnum with two disks and two shafts 1/2" and 5/8" are modeled. Dimensions and material properties used in the model were chosen to be closed to the real machine as much as possible. Since the beam coupling shown in Fig. 2(b) is a structure rather than a simple beam, the material properties were obtained by running a force/displacement experiment.

(c)

(b) (a)

Fig. 2 The rotating parts of the MFS Magnum. (a): the rotor of the motor supported on two bearings (b): beam coupling which connects the motor to the rotating shaft (c): bearings and housings which supports the rotating shaft of the machine

XLRotor is a powerful and fast software to perform any kind of rotordynamic analysis on rotor bearing system models. Comprehensive capabilities of the software include analysis of undamped and damped critical speeds, imbalance, stability, mode shapes, nonlinear transient response, torsion, synchronous and asynchronous force response, indeterminate static deflection, rolling element bearings and fluid film bearings. All model inputs are entered on worksheets and several templates and modules are available to create the model of each part. Completing computations and analysis by the software, the results are available through tables and charts in Excel worksheets.
Table 1 Different disk/rotor configurations used for modeling of the MFS Magnum machine in XLRotor UCS1 1/2 shaft UCS UCS 5/8 shaft UCS
1 2

DE/MS2 DE/MS DE/MS DE/MS

IR3 IR IR IR

UCS: Undamped Critical Speed Analysis DE/MS: Damped Eigenvalue and Mode Shape Analysis 3 IR: Imbalance Response Analysis

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Modeling has been done for different shaft/disks configuration. The whole sets of modeling configurations and analysis are summarized in Table 1. Two different shaft sizes of and 5/8 were modeled and for each model two different disks configurations were considered as shown in Table 1. For each case undamped critical speed, damped eigenvalue, mode shape and imbalance response analysis has been done. Table 2 shows the parameters and specifications of the MFS rotor which was modeled in XLRotor.
Table 2 Specifications of the MFS Magnum machine modeled in XLRotor motor: Marathon Four In One beam coupling stiffness obtained by experiment shaft diameter shaft length shaft overhung from outboard bearing rotor bearings span disks diameter (aluminum): disks thickness rolling element bearings used for the 5/8 shaft rolling element bearings used for the 1/2 shaft CAT No - D 391 1800 (psi) 0.625 (inch) 36.25 (inch) 3.5 (inch) 28.5 (inch) 6 (inch) 0.625 (inch) ER-10K ER-8K

3. ROLLING ELEMENT BEARING ANALYSIS Rotors are supported by bearings and lateral vibration of the machine depends on the stiffness and damping behavior of bearing. Therefore structural analysis of the bearings is necessary for rotordynamic analysis. XLRotor performs bearing analysis and compute structural charactresitics of the bearing to be linked to the rotor model. 3.1. Rolling Element Bearings of the Motor Rotor of the motor is supported by two rolling element bearings. The bearings specifications shown in Table 3 are used in XLRotor for modeling.
Table 3 Motor Ball Bearings Specification Model: NSK 620 3, Bore 5/8 OR Curvature: 0.53 IR Curvature: Contact Angle: Poisson's Ratio: 0.516 0 0.3 Number of Balls: Ball Diameter: Pitch Diameter: Material Density: Elastic Modulus: 8 0.2656 (in) 1.122 (in) 0.283 (lb/in3) 2.9E+7 (psi)

Stiffness and damping parameters of the bearings as well as rotordynamic coefficients for different speeds are calculated and illustrated. Curve fitting is also done by the software to estimate stiffness and damping parameters of the bearings.

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Table 4 Calculated stiffness and damping parameters of the motor bearings Speed rpm 0 10000 20000 30000 40000 50000
100000. 90000.

Kxx lb/in 80249 83049 86774 82396 83417 85353

Kxy lb/in 0 0 0 0 0 0

Kyx lb/in 0 0 0 0 0 0

Kyy lb/in 80249 83049 86774 82396 83417 85353

Cxx lb-s/in 3 3 3 3 3 3
4

Cxy lb-s/in 0 0 0 0 0 0

Cyx lb-s/in 0 0 0 0 0 0

Cyy lb-s/in 3 3 3 3 3 3

stiffness (lb/in)

80000. 70000. 60000. 50000. 40000. 30000. 20000. 10000. 0. 0 10000 20000 30000 40000

damping (lb.s/in)

3 3 2 2 1 1 0 Cxx Cxy Cyx Cyy

Kxx Kxy Kyx Kyy

50000

60000

10000

20000

30000

40000

50000

60000

speed (rpm)

speed (rpm)

(a) Fig. 3 Stiffness (a) and damping (b) behavior of the motor bearings

(b)

3.2. Rolling Element Bearings of the Shaft The rotating shaft is supported by two rolling element bearing. The bearings are modeled and rotordynamic coefficients associated with the bearings are calculated to be used in the main model.
Table 5 Rotor Ball Bearings Specification: ER-10K Model: ER-10K, Bore 5/8 OR Curvature: IR Curvature: Contact Angle: Poisson's Ratio: 0.53 0.516 0 0.3 Number of Balls: Ball Diameter: Pitch Diameter: Material Density: Elastic Modulus: 8 0.3125 (in) 1.319 (in) 0.283 (lb/in3) 2.9E+7 (psi)

Table 6 Calculated stiffness and damping parameters of the bearings supporting the shaft Speed rpm 0 10000 20000 30000 40000 50000 Kxx lb/in 84718 89385 85898 86560 89373 93506 Kxy lb/in 0 0 0 0 0 0 Kyx lb/in 0 0 0 0 0 0 Kyy lb/in 84718 89385 85898 86560 89373 93506 Cxx lb-s/in 3 3 3 3 3 3 Cxy lb-s/in 0 0 0 0 0 0 Cyx lb-s/in 0 0 0 0 0 0 Cyy lb-s/in 3 3 3 3 3 3

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

100000. 90000. 70000. 60000. 50000. 40000. 30000. 20000. 10000. 0. 0 10000 20000 30000 40000 50000 60000 Kxx Kxy Kyx Kyy 80000.

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damping (lb.s/in)

3 3 2 2 1 1 0 0 10000 20000 30000 40000 50000 60000 Cxx Cxy Cyx Cyy

stiffness (lb/in)

speed (rpm)

speed (rpm)

(a) Fig. 4 Stiffness (a) and damping (b) of the 5/8 rotor bearings (ER-10K)

(b)

In bearing analysis, damping force is very small compare to other structural forces. Therefore for calculations small values are chosen for the damping parameters. Also, in bearing analysis, it is assumed that cross stiffness values are zero. 4. CRITICAL SPEEDS AND MODE SHAPES As shown in Table 1 several configuration of the shaft (1/2 and 5/8) and disks (located closed to the bearings and at the shaft center) are modeled. In this section for each case undamped and damped critical speeds, and mode shapes are calculated. First critical speeds of the rotor as a function of bearing stiffness obtained and results are illustrated in graphs as Undamped Critical Speed Map. It is clear that bearing stiffness can increase or decrease the critical speeds. Damped eigenvalues for lateral rotor model is obtained by the software and presented as Damped Natural Frequency Map. This plot shows how the natural frequencies of the model vary with running speed. Gyroscopics and speed dependent bearing coefficients are what cause the natural frequencies to depend on speed. The Synchronous Line on this plot identifies the synchronous critical speeds of the damped rotor system. The mode shapes for each critical speed are calculated by the software and illustrated in graphs as Damped Mode Shapes. For each mode shape the geometry of the rotating parts is also overlaid to the graph to clearly show the nodes and displacements of the rotor. Two different shaft size and 5/8 are considered and for each shaft two disks configurations are modeled. Therefore four models are created and for each model, first the model configuration is shown, then undamped critical speed plots are shown. The natural frequencies are plotted as function of rotor speed. Finally, the mode shapes are illustrated.

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

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4.1. Model with Shaft

1/2 Shaft

Fig. 5 Model configuration including rotor of the motor, motor bearings, coupling, 1/2 shaft, two ER8K bearings of the shaft and two gold disks closed to the housings.

Undamped and Damped Critical Speed Analysis

Undamped Critical Speed Map
SpectraQuest Machinery Fault Simulator (M FS) Magnum 1/2" shaf t w ith gold disks closed to the housings SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the housings

Rotordynamic Damped Natural Frequency Map

100000 cpm1 18000 16000

Critical Speed, cpm

cpm3

Natural Frequency, cpm

cpm2

14000 12000 10000 8000 6000 4000 2000 cpm1 cpm2 cpm3 Sy nchronous

10000

1000 1000.

10000.

100000.

1000000.

0 0 2000 4000 6000 8000 10000 12000 14000 16000 18000

Bearing Stiffness, lb/in

Rotor Speed, rpm

Fig. 6 Undamped critical speed map (left) as a function of bearing stiffness and damped natural frequency map (right) as a function of rotor speed

Damped Mode Shapes

Damped 1st Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaft with gold disks closed to the housings
15
f =3008.9 cpm

Damped 1st Mode Shape

Spec traQues t Mac hiner y Fault Simulator (MFS) Magnum 1/2" shaft w ith gold disks closed to the housings

10

d=.0001 z eta

Shaft Radius, in

5 0 -5 -10 -15 0 10 20 30 40 50 2 4 6 8 10 12 14 16 18 20 22 24

f=3008.9 cpm d=.0001 zeta

Axial Location, in

(a)
Damped 2nd Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaft with gold disks closed to the housings
15 10 15

(b)
Damped 3rd Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaft with gold disks closed to the housings

f =8174.5 cpm d=.0003 z eta

f =15344.5 cpm d=.0003 z eta

10

Shaft Radius, in

5 0 -5 -10 -15 0 10 20 30 40 50 2 4 6 8 10 12 14 16 18 20 22 24

Shaft Radius, in

5 0 -5 -10 -15 0 10 20 30 40 50 2 4 6 8 10 12 14 16 18 20 22 24

Axial Location, in

Axial Location, in

(c) (d) Fig. 7 Damped mode shape of MFS Magnum machine with 1/2 shaft and two gold disks closed to the st st nd housings. (a) damped 1 mode, (b) 3D damped 1 mode (c) damped 2 mode, (d) damped 3rd mode shape

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

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1/2 Shaft

Fig. 8 Model configuration including rotor of the motor, motor bearings, coupling, 1/2 shaft, two gold disks closed to the center and two ER8K rotor bearings.

Undamped and Damped Critical Speed Analysis

Undamped Critical Speed Map
SpectraQuest Machinery Fault Simulator (M FS) Magnum

Rotordynamic Damped Natural Frequency Map

1/2" shaft w ith gold disks closed to the center

100000 cpm1 18000 16000

Critical Speed, cpm

cpm3

Natural Frequency, cpm

cpm2

14000 12000 10000 8000 6000 4000 2000 cpm1 cpm2 cpm3 Sy nchronous

10000

1000 1000.

10000.

100000.

1000000.

0 0 2000 4000 6000 8000 10000 12000 14000 16000 18000

Bearing Stiffness, lb/in

Rotor Speed, rpm

Fig. 9 Undamped critical speed map as a function of bearing stiffness (left) and damped natural frequency map as a function of rotor speed (right).

Damped Mode Shapes

Damped 1st Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaft with gold disks closed to the center
15 10

Damped 1st Mode Shape

Spec traQuest Mac hinery Fault Simulator (MFS) Magnum 1/2" s haf t w ith gold dis ks c losed to the c enter

f =1785.0 cpm d=.0 zeta

Shaft Radius, in

5 16 0 -5 -10 -15 0 10 20 30 40 50 f=1785.0 cpm d=.0 zeta 2 4 6 8 10 12 14 16 18 20 22 24

(a)

Axial Location, in

(b)
Damped 3rd Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaft with gold disks closed to the center
15

Damped 2nd Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaft with gold disks closed to the center
15
f =10839.7 cpm d=.0001 zeta

10

10

f =16316.2 cpm d=.0008 zeta

Shaft Radius, in

Shaft Radius, in

5 16 0 -5 -10 -15 0 10 20 30 40 50 2 4 6 8 10 12 14 16 18 20 22 24

5 16 0 -5 -10 -15 0 10 20 30 40 50 2 4 6 8 10 12 14 16 18 20 22 24

Axial Location, in

Axial Location, in

(c)

(d)

Fig. 10 Damped mode shapes of MFS Magnum machine with 1/2 shaft and two gold disks closed to the shaft center. (a) damped 1st mode, (b) 3D damped 1st mode, (c) damped 2nd mode, (d) damped 3rd mode

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

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4.2. Model with 5/8 Shaft

5/8 Shaft

Fig. 11 Model configuration including rotor of the motor, motor bearings, coupling, 5/8 shaft, two ER10K bearings of the shaft and two gold disks closed to the housings.

Undamped and Damped Critical Speed Analysis

Undamped Critical Speed Map
Spectr aQues t Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold dis ks closed to the bearings

Rotordynamic Damped Natural Frequency Map

Spectr aQues t Mac hiner y Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks c los ed to the bearings

cpm1

cpm2 cpm3

Natural Frequency, cpm

100000

25000

Critical Speed, cpm

20000 cpm1 cpm2 cpm3 Synchronous

15000

10000

10000

5000

1000 1000.

0 10000. 100000. 1000000. 0 5000 10000 15000 20000 25000

Bearing Stiffness, lb/in

Rotor Speed, rpm

Fig. 12 Undamped critical speed map (left) as a function of bearing stiffness and damped natural frequency map (right) as a function of rotor speed

Damped Mode Shapes

Damped 1st Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaft with gold disks closed to the bearings
15 10
f =3654.1 cpm d=.0001 zeta

Damped 1st Mode Shape 3D Plot

Spec traQues t Mac hiner y Fault Simulator (MFS) Magnum 5/8" s haf t w ith gold dis ks closed to the bearings

Shaft Radius, in

5 0 -5 -10 -15 0 10 20 30 40 50
f=3654.1 cpm d=.0001 zeta

4 6

10

12

14

16

18

20

22

24

Axial Location, in

(a)
Damped 2nd Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaft with gold disks closed to the bearings
15
f =11003.8 cpm d=.0006 z et a

(b)
Damped 3rd Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaft with gold disks closed to the bearings
f =20266.6 c pm

15 10

d=.0018 z eta

10

Shaft Radius, in

Shaft Radius, in

5 0 -5 -10 -15 0 10 20 30 40 2 4 6 8 10 12 14 16 18 20 22 24

5 0 -5 -10 -15 2 4 6 8 10 12 14 16 18 20 22 24

Axial Location, in

50

10

20

30

40

50

Axial Location, in

(c) (d) Fig. 13 Damped mode shape of MFS Magnum machine with 5/8 shaft and two gold disks closed to the st st nd bearings. (a) damped 1 mode, (b) 3D damped 1 mode (c) damped 2 mode, (d) damped 3rd mode shape

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

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5/8 Shaft

Fig. 14 Model configuration including rotor of the motor, motor bearings, coupling, 5/8 shaft, two gold disks closed to the center and two ER10K rotor bearings.

Undamped and Damped Critical Speed Analysis

U ndamped Critical Speed Map
SpectraQues t Machinery Fault Simulator (MFS) Magnum

Rotordynamic Damped Natural Frequency Map

SpectraQues t Mac hiner y Fault Simulator (MFS) Magnum

cpm1

cpm2 cpm3

Natural Frequency, cpm

100000

25000

Critical Speed, cpm

20000

15000

cpm2 cpm3 Synchronous

10000

10000

5000

1000 1000.

0 10000. 100000. 1000000. 0 5000 10000 15000 20000 25000

Bearing Stiffness, lb/in

Rotor Speed, rpm

Fig. 15 Undamped critical speed map as a function of bearing stiffness (left) and damped natural frequency map as a function of rotor speed (right).

Undamped Mode Shapes

Damped 1st Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaft with gold disks closed to the shaft center
15 10
f =2444.4 c pm d=.0 zeta

Damped 1st Mode Shape 3D Plot

SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the shaf t c enter

Shaft Radius, in

5 0 -5 -10 -15 0 10 20 30 40 50 f=2444.4 cpm d=.0 zeta 2 4 6 16 8 10 12 14 16 18 20 22 24

(a)

Axial Location, in

(b)
Damped 3rd Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaft with gold disks closed to the shaft center
15
f =20714.0 cpm d=.003 zeta

Damped 2nd Mode Shape SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaft with gold disks closed to the shaft center
15 10
f =13485.4 c pm d=.0001 zeta

10

Shaft Radius, in

Shaft Radius, in

5 16 0 -5 -10 -15 0 10 20 30 40 50 2 4 6 8 10 12 14 16 18 20 22 24

5 2 4 6 16 8 10 12 14 16 18 20 22 24

0 -5

-10 -15 0 10 20 30 40 50

Axial Location, in

Axial Location, in

(c)

(d)

Fig. 16 Damped mode shapes of MFS Magnum machine with 5/8 shaft and two gold disks closed to the shaft center. (a) damped 1st mode, (b) 3D damped 1st mode, (c) damped 2nd mode, (d) damped 3rd mode

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

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Critical speeds for each model are extracted from the Damped Natural Frequency Maps and presented in Table 7 For these configurations, the MFS Magnum can reach the first mode and the higher modes are too far from the operating range of the machine. Changing the configuration with different shaft and disks might allow higher modes to be seen on the MFS Magnum.
Table 7 Critical speeds of the SpectraQuest MFS Magnum machine calculated by XLRotor 1st CS1 (cpm) 2nd CS (cpm) 3rd CS (cpm) 3008 1/2 shaft 1785 3654 5/8 shaft 2444
1

8174 10839 11003 13485

15344 16316 20266 20714

CS: Critical Speed

5. IMBALANCE RESPONSE ANALYSIS Rotor imbalance causes lateral vibration and creates dynamic force on the supporting bearings. Also, the imbalance in rotating machinery can excite the natural frequency of the machine and cause resonance. XLRotor allows studying the imbalance response of the model. First imbalance weights are defined and the observation station on the rotor for monitoring the displacement and dynamic loads are specified. Running the model for imbalance response, displacements on desired stations as well as dynamic forces on bearings are calculated and plotted as function of rotor speed. In this report, for each model defined in Table 1 imbalance weight is introduced on the disk closed to the inboard bearing and displacements of the motor bearings and shaft bearings are calculated and presented in form of bode plots. Also dynamic forces on the bearings due to imbalance weight are obtained and presented. The imbalance responses are function of rotor speed. At critical speeds when machine passes the natural frequencies, the increase in magnitude and changing the phased is observed from the bode plots. Also, based on the structural parameters of the bearings such as stiffness and damping which calculated before, dynamic forces on bearings are created. The force picks are when machine passes the critical speeds.

Rotordynamic Analysis Using XLRotor Technote, SpectraQuest Inc. (Nov. 2008)

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5.1. Model with Shaft

1/2 Shaft

(a)
Rot or dynam ic Re sponse Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the housings Sta. No. 12: Inboar d bearing housing abs. disp. 160 140 Response, mils p-p 120 100 80 60 40 20 0 0 2000 4000 6000 Rotor Spee d, r pm 8000
360 270 1 80 90 0 -90 -1 80 -270 -360 -450 -540 -630 -720

Rot or dynam ic Re sponse Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the housings Sta. No. 23: Outboard bearing housing abs. disp. 160 140 Response, mils p-p Major A mp Horz Amp Vert Amp Horz Phs 120 100 80 60 40 20 0 0 2000 4000 6000 Rotor Spee d, r pm 8000
360 270 1 80 90 0 -90 -1 80 -270 -360 -450 -540 -630 -720

Major A mp Horz Amp Vert Amp Horz Phs

Vert Phs

Vert Phs

10000

10000

(b)
Rotordynam ic Be ar ing Load Plot Spectr aQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the housings Brg at Stn 12: Inboard Brg 1/2" 7000 6000 Bearing Load, lb pk 5000 4000 3000 2000 1000 0 0 2000 4000 6000 8000 10000 Rotor Spee d, r pm Max Load Horz Load Vert Load Bearing Load, lb pk 6000 5000 4000 3000 2000 1000 0 0 2000 4000

(c)
Rotordynam ic Be ar ing Load Plot Spectr aQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the housings Brg at Stn 23: Outboard Brg 1/2"

Max

Load

Horz Load Vert Load

6000

8000

10000

Rotor Spee d, r pm

(d)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the housings Brg at Stn 3: Motor Bearings 6203 800 700 Bearing Load, lb pk 600 500 400 300 200 100 0 0 2000 4000 6000 8000 10000 Rotor Spee d, r pm 0 0 2000 4000 Max Load Bearing Load, lb pk 2000 1500 1000 500 2500

(e)
Rotordynam ic Be ar ing Load Plot Spectr aQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the housings Brg at Stn 8: Motor Bearings 6203

Max

Load

Horz Load Vert Load

Horz Load Vert Load

6000

8000

10000

Rotor Spee d, r pm

(f)

(g)

Fig. 17 Imbalance response plots for 16 (gm-in) imbalance weight on the left disk which is closed to the inboard bearing. (a): model configuration, (b): phase and amp. disp. of inboard housing, (c): phase and amp. disp. of outboard housing, (d), (e), (f) and (g): dynamic loads on shaft inboard bearing, shaft outboard bearing, motor outboard bearing and motor inboard bearing respectively.

Tech Note, SpectraQuest Inc. Rotordynamic Analysis using XLRotor

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1/2 Shaft

(a)
Rot or dynam ic Re sponse Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the center Sta. No. 12: Inboard bearing housing abs. disp. 6 5 Response, mils p-p 4 3 2 1 0 0 2000 4000 6000 Rotor Spee d, r pm 8000
360 270 1 80

Rot or dynam ic Re sponse Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the center Sta. No. 23: Outboard bearing housing abs. disp. 2.5 2 1.5 1 0.5 0 0 2000 4000 6000 Rotor Spe ed, r pm 8000
360 270 1 80 90 0 -90 -1 80 -270 -360 -450 -540 -630 -720

Response, mils p-p

90 0 -90 -1 80 -270 -360 -450 -540 -630 -720

Major A mp Horz Amp Vert Amp Horz Phs Vert Phs

Major A mp Horz Amp Vert Amp Horz Phs Vert Phs

10000

10000

(b)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the center Brg at Stn 12: Inboard Brg 1/2" 250 Bearing Load, lb pk Bearing Load, lb pk 200 150 100 50 0 0 2000 4000 6000 8000 10000 Rotor Spee d, r pm Max Load 90 80 70 60 50 40 30 20 10 0 0 2000 4000

(c)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the center Brg at Stn 23: Outboard Brg 1/2"

Max

Load

Horz Load Vert Load

Horz Load Vert Load

6000

8000

10000

Rot or Spe ed, r pm

(d)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the center Brg at Stn 3: Motor Bearings 6203 45 40 Bearing Load, lb pk Bearing Load, lb pk 35 30 25 20 15 10 5 0 0 2000 4000 6000 8000 10000 Rot or Spe ed, r pm Max Load 140 120 100 80 60 40 20 0 0 2000 4000

(e)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 1/2" shaf t w ith gold disks closed to the center Brg at Stn 8: Motor Bearings 6203

Max

Load

Horz Load Vert Load

Horz Load Vert Load

6000

8000

10000

Rotor Spee d, r pm

(f)

(g)

Fig. 18 Imbalance response plots for 16 (gm-in) imbalance weight on the left disk which is closed to the inboard bearing. (a): model configuration, (b): phase and amp. disp. of inboard housing, (c): phase and amp. disp. of outboard housing, (d), (e), (f) and (g): dynamic loads on shaft inboard bearing, shaft outboard bearing, motor outboard bearing and motor inboard bearing respectively.

Tech Note, SpectraQuest Inc. Rotordynamic Analysis using XLRotor

SQI03-02800-0811

5.2. Model with 5/8 Shaft

5/8 Shaft

(a)
Rot or dynam ic Re sponse Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the bearings Sta. No. 12: Inboard bearing housing abs. disp. 6 5 Response, mils p-p 4 3 2 1 0 0 1000 2000 3000 4000 Rotor Spee d, r pm 5000 6000
360 270 180

Rot or dynam ic Re sponse Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the bearings Sta. No. 23: Outboard bearing housing abs. disp. 4 3.5 Major A mp Horz Amp Vert Amp Horz Phs Vert Phs Response, mils p-p 3 2.5 2 1.5 1 0.5 0 0 1000 2000 3000 4000 5000 Rotor Spee d, r pm 6000
360 270 180 90 0 -90 -1 80 -270 -360 -450 -540 -630 -720

90 0 -90 -1 80 -270 -360 -450 -540 -630 -720

Major A mp Horz Amp Vert Amp Horz Phs Vert Phs

7000

7000

(b)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the bearings Brg at Stn 12: Inboard Brg 5/8 250 200 150 100 50 0 0 1000 2000 3000 4000 5000 6000 7000 Rotor Spe ed, r pm Max Load 140 120 Bearing Load, lb pk 100 80 60 40 20 0 0 1000 2000 3000

(c)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the bearings Brg at Stn 23: Outboar d Brg 5/8

Bearing Load, lb pk

Max

Load

Horz Load Vert Load

Horz Load Vert Load

4000

5000

6000

7000

Rotor Spe ed, r pm

(d)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the bearings Brg at Stn 3: Motor Bearings 6203 30 25 Bearing Load, lb pk Bearing Load, lb pk 20 15 10 5 0 0 1000 2000 3000 4000 5000 6000 7000 Rotor Spee d, r pm Max Load 90 80 70 60 50 40 30 20 10 0 0 1000 2000 3000

(e)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the bearings Brg at Stn 8: Motor Bearings 6203

Max

Load

Horz Load Vert Load

Horz Load Vert Load

4000

5000

6000

7000

Rotor Spee d, r pm

(f)

(g)

Fig. 19 Imbalance response plots for 16 (gm-in) imbalance weight on the left gold disk which is closed to the inboard bearing. (a): model configuration, (b): phase and amp. disp. of inboard housing, (c): phase and amp. disp. of outboard housing, (d), (e), (f) and (g): dynamic loads on shaft inboard bearing, shaft outboard bearing, motor outboard bearing and motor inboard bearing respectively.

Tech Note, SpectraQuest Inc. Rotordynamic Analysis using XLRotor

SQI03-02800-0811

5/8 Shaft

(a)
Rot or dynam ic Re sponse Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the shaf t center Sta. No. 12: Inboard bearing housing abs. disp. 4 3.5 Response, mils p-p 3 2.5 2 1.5 1 0.5 0 0 1000 2000 3000 4000 5000 Rotor Spe ed, r pm 6000
360 270 1 80

Rot or dynam ic Re sponse Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the shaf t center Sta. No. 23: Outboard bearing housing abs. disp. 2.5 2 1.5 1 0.5 0 0 1000 2000 3000 4000 5000 Rotor Spe ed, r pm 6000
360 270 1 80 90 0 -90 -1 80 -270 -360 -450 -540 -630 -720

Major A mp Horz Amp Vert Amp Horz Phs

Response, mils p-p

90 0 -90 -1 80 -270 -360 -450 -540 -630 -720

Major A mp Horz Amp Vert Amp Horz Phs

Vert Phs

Vert Phs

7000

7000

(b)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the shaf t center Brg at Stn 12: Inboard Brg 5/8 140 120 Bearing Load, lb pk Bearing Load, lb pk 100 80 60 40 20 0 0 1000 2000 3000 4000 5000 6000 7000 Rotor Spe ed, r pm Max Load Horz Load Vert Load 80 70 60 50 40 30 20 10 0 0 1000 2000 3000 4000

(c)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the shaf t center Brg at Stn 23: Outboar d Brg 5/8

Max

Load

Horz Load Vert Load

5000

6000

7000

Rotor Spee d, r pm

(d)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the shaf t center Brg at Stn 3: Motor Bearings 6203 25 Bearing Load, lb pk Bearing Load, lb pk 20 15 10 5 0 0 1000 2000 3000 4000 5000 6000 7000 Rotor Spee d, r pm Max Load Horz Load Vert Load 70 60 50 40 30 20 10 0 0 1000 2000 3000 4000

(e)
Rotordynam ic Be ar ing Load Plot SpectraQuest Machinery Fault Simulator (MFS) Magnum 5/8" shaf t w ith gold disks closed to the shaf t center Brg at Stn 8: Motor Bearings 6203

Max

Load

Horz Load Vert Load

5000

6000

7000

Rotor Spee d, r pm

(f)

(g)

Fig. 20 Imbalance response plots for 16 (gm-in) imbalance weight on the left disk which is closed to the inboard bearing. (a): model configuration, (b): phase and amplitude disp. of inboard housing, (c): phase and amp. disp. of outboard housing, (d), (e), (f) and (g): dynamic loads on shaft inboard bearing, shaft outboard bearing, motor outboard bearing and motor inboard bearing respectively.

Tech Note, SpectraQuest Inc. Rotordynamic Analysis using XLRotor

SQI03-02800-0811

6. SUMMARY AND CONCLUSION In this technical note, the rotordynamic analysis of rotating machinery including undamped critical speed, damped eigenvalues, mode shapes and imbalance responses were studied. XLRotor, which is a powerful software for rotordynamic analysis was used for modeling and analysis. The SpectraQuest Machinery Fault Simulator (MFS) Magnum was considered as the rotating machine and the model of the machine including all rotating parts and rolling element bearings was created in the software. Two different shaft size of and 5/8 were modeled and for each case two different disks configurations were considered. First rolling element bearing of the motor and the shaft were modeled. Stiffness and damping effects of the bearings were obtained as the function of rotational speed and reconstructed by curve fitting to be used for critical speed analysis. Then each case of the shaft and disks configuration including rolling element bearings was modeled and solved for undamped critical speeds, damped eigenvalues and mode shapes. Also, the imbalance response of the model given an imbalance weight on one of the disks was studied using the XLRotor. In imbalance response analysis, displacement amplitude and phase for the outboard and inboard bearings were obtained and illustrated as a function of rotor speed. Dynamic forces on four bearings also were illustrated as function of speed. From the results it can be observed that the effect of rotor geometry and configurations on critical speed and vibration of the machine is significant. At critical speeds vibration and displacements increase. Therefore the dynamic forces on the bearing supports increase. Simulation results on rolling element bearing show the changes of the bearing stiffness when the rotor speed changes. This effect happens because of centrifugal effect in rolling elements. This nonlinear behavior can change the natural frequency of the rotating machine supported on bearings when the rotor speed change. The mode shape plots illustrate the maximum and minimum displacement and deformation of the rotor. Nodes and the shapes of deformation can be observed clearly using the simulation results created by XLRotor. Overall, this technical report clearly shows the power of the XLRotor for rotordynamic analysis. In this study few capabilities of the XLRotor were used to accomplish the job. The software has many more tools available for comprehensive rotordynamic analysis such as tensional analysis, linear and nonlinear analysis, synchronous and asynchronous force response, indeterminate static deflection, nonlinear transient response, fluid film bearing analysis.