T.

INAGAKI Response Analysis of a General Asymmetric

Research Engineer

Rotor-Bearing System
H. KAfMKI
This paper presents an analytical method for the evaluation of the synchronous re-
Research Engineer
sponse of a general asymmetric rotor-bearing system. In the analysis, slightly asym-
metric shaft stiffness in bending and shearing, which distribute along the rotor, and
K. SHIRAKI asymmetric transverse mass moment of inertia are considered. The dynamic prop-
erties of bearings and pedestals are assumed to be anisotropic and coupled in each
Manager direction. The equations of motion with periodic time dependent coefficients are
Vibration Research Laboratory, solved by the Harmonic Balance Method and formulated to the transfer matrix. These
Takasago Technical Institute, solutions include the ''Modified Holzer-Myklestad-Prohl Method by Lund & Orcutt"
Mitsubishi Heavy Industries, Ltd.,
Takasago, Japan as a special case. The results of the analysis are confirmed by a simple model test
and field measurements of large turbosets.

Introduction
The vibration of a rotating asymmetric shaft is one of the
important problems in rotor dynamics. As described by many
authors [1, 2, 3], a rotating asymmetric shaft has two significant
vibration characteristics. One of them is the response char-
acteristic due to rotor unbalance, i.e., the vibration amplitude
and its phase lag from the unbalance direction are different
for unbalance orientation. This characteristic is very important
for accurate balancing of flexible rotors.
The other important characteristic is the second order vibra-
tion. Static forces developed by gravity and bearing misalign-
ment, for example, bend the asymmetric shaft twice per revo-
lution, so that the resonances appear a t about half of the main
critical speeds.
These two characteristics are related to the ratio of asym-
metry to modal damping (/x/f). When the asymmetry is larger
than t h e modal damping ( / u / f > l ) , the unstable speed region
appears.
The works on the vibration of asymmetric shafts have been
developed according to the development of large two pole
alternators. Recently, the generator's capacity has been in-
creasing more and more and t h e length of generator rotors
have increased according to this trend. As a result, the critical
speeds are lowered and the modal damping is decreased. At
f
.he critical speed with low damping, the rotor has a high sen-
sitivity to unbalance, and the higher balancing quality will be
required.
If the shaft also has a slight asymmetry, the balancing process
will be greatly influenced by the characteristics mentioned
above.
In these circumstances, the qualitative information of t h e
vibration characteristics of the actual rotor-bearing system is
required.
Many works on this subject have been presented only for
simple models (for example, 1 disk and uniform shaft model);
Contributed by the Vibrations Committee and presented at the Design
Engineering Technical Conference, St. Louis, Mo., Sept. 10-12, 1979 of the
AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript received at ASME
Headquarters June 17, 1979. Paper No. 79-DET-84.
therefore the more direct calculation method is necessary in
order to answer the needs of design and field engineers.
The vibration of a rotating asymmetric shaft supported on
anisotropic bearings (represented by 8 dynamic coefficients) is
described by the equations of motion with periodically t i m e
dependent coefficients. I n this study the equations of motion
were solved by the Harmonic Balance Method [5] (a method to
solve nonlinear differential equations) in order to get the approxi-
mate synchronous solution for the whirling vibration caused b y
such factors as unbalance, coupling geometrical inaccuracy or
initially bent shaft.
In the analysis, general distribution of asymmetric shaft
stiffness in bending and shearing deformation and asymmetric
transverse mass moment of inertia are considered. T h e bear-
ings and pedestals are modeled by asymmetric coupled dynamic
properties with 8 dynamic coefficients.
The analysis was formulated with the use of the transfer
matrix method and programmed for digital computer calcu-
lation. T h e numerical calculations are performed to compare
with t h e simple model test results and the data acquired by field
measurement for a large turboset. T h e analytical results are
confirmed by the reasonable agreement between them.
Analysis
In this chapter, the modeling of the rotor, vibration analysis
for an element of the modeled rotor, and the numerical cal-
culation method are described.
1. Modeling. The analyzed rotor model for t h e numerical
calculation composed of a sequence of elements, with each
element formed by a station and a section, as indicated in Fig. 1.
They are defined as follows. T h e coordinate system is shown in
Fig. 2.
Station. I t is a point on the z axis where a t least one of the
continuities in bending moment, shearing force and shaft prop-
erties is not satisfied, or the point where the information of
the rotor motion is required. A concentric transverse mass
moment of inertia can be asymmetric in two principal axis of
(u, v). T h e exciting force is assumed to act a t the station.

Journal of Mechanical Design JANUARY 1980, Vol. 102/147

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 Unbalance
V
Cross
Section <K^^3 v
-u Considered

< ^ - ^ % -u not considered

SEC
It 2|3 4 | E-l|
E-1 E
STATION1 2 3 4 g In the case of harmonic motions, bearing reaction forces can
Fig. 1 Rotor modeling
y n : Rotating speed
v Fy = - KyyY + KyxX - CyyY + CyxX.
Coordinate system
Section. It is the continuous elastic shaft part connected
to the station in which it is assumed that the properties are
uniform along its length. This form of calculation model was
introduced by Prohl, and modified by Lund & Orcutt [4], Stiff-
nesses for bending and shearing will be asymmetric like the
cross section in Fig. 3. But the neutral axis of stresses in the
cross section must coincide with (M, v) directions as well as the
principal axis of asymmetric transverse mass moment of inertia
at the station to which the section is connected. See Fig. 2
and Fig. 3. The section part has no unbalance.
Bearing and Pedestal. The rotor support system is assumed
to be composed of bearing-pedestal pairs which are one-mass
systems on the rigid foundation. The bearing is considered to
be a fluid film, as in a cylindrical plain bearing, and its dynamic
properties are represented as anisotropic coupled linear stiffness
and damping. The equivalent mass of a pedestal may be differ-
ent in each direction of (x, y) as (Mpx, Mpy), and its support
is modeled the same to the bearing.
Bearing reaction forces (Fx, Fy) to the rotor from the bearing
depend on the relative motion between the rotor and the ped-
estal mass and pedestal reaction forces {Fpx, Fpy) to the ped-
estal mass from the foundation depend on the motion of the
pedestal mass.
Fig. 3 Restriction for asymmetry
be determined solely from the rotor motion when the bearing
is modeled with the following equivalent bearing coefficients.
Fx KxxX + KxyY - CxxX + CxyY,
(1)
Kij and Cij in equation (1) are independent of reaction forces
or displacements of the rotor, so that in the station analysis
it is satisfactory to consider equation (1) as the rotor support
condition.
2. Station analysis. It is supposed that a bearing is asso-
ciated with each station and if otherwise, its spring and damping
coefficients are treated to be zero. The condition variables such
as displacement, slope, bending moment and shearing force can
be discontinuous at the station. Discontinuities of displacement
and slope where the coupling error the initial bend has occurred
are of a special case, and they are left out of consideration in
the following analysis and explained in Appendix 1.
The equations of motion at the station are
MX + Vx' - Vx + KxxX - KxyY + CxxX - Cxyt
- 02 Ux = 0,
(2)
MY + Vj/' - Vy + KyyY - KyxX + CyyY - CyxX
-SPUy = 0.
plxdx + pJQdy + Mx - Mx' + WTx = 0, \
(3)
ply'dy - pJQBx + My - My' + Q*Ty = 0. /
The transformation of displacement from the rotational coordi-
nate (0-u-v-z) to the space fixed coordinate (0-x-y-z) is per-
formed by
( x \ _ / cosfli sinOA / u \
y / \ sinO/ X cosOi / \ v )
Other transformations, that is, rotation (Bu, 8v) > (Ox, 6y),
bending moment (Mu, Mv) > (Mx, My), shearing force (Vu,
Vv) -> (Vx, Vy) and unbalances (Uu, Uv) -* (Ux, Uy), (tu,

-Nomenclature-
for Rotor
space fixed rectangular-coordinate system,
o-x-y-z = Fig. 2
rotating coordinate system synchronous to
o-u-v-z = kg.cm.s2
rotor rotation, Fig. 2
rotational speed of rotor, rad/s
0 = rotor displacement in 0-x-y, cm
(x, y) = rotor displacement in 0-u-y, cm
(u, v) = rotations of rotor element (around y axis,
(6x, By) = around x axis), rad
(ipx, <py) = (5x/8z, Sy/Sz), rotor slopes in 0-x-y-z, rad
(Mx, My) = bending moment (around y axis, around x
axis), kg.cm
(Vx, Vy) = shearing force (x direction, y direction), kg
(EIu, EIv) = bending stiffness of shaft section (around v
axis, around u axis), kg.cm2
(GAu, GAv) = shearing stiffness of shaft section (u direction,
v direction), kg
Ap = mass per unit length of shaft section, kg.s2/cm2
I = length of shaft section, cm
2
m = mass at rotor station, kg/s /cm
PJ = polar mass moment of inertia at rotor station,
(plu, plv) = transverse mass moment of inertia at rotor
station (around v axis, around u axis),
kg.cm.s2
(Uu, Uv) = mass unbalance at rotor station (u direction,
v direction), kg.s2
(Tu, Tv) = mass moment unbalance at rotor station
(around v axis, around u axis), kg.cm.s2
for Bearings and Pedestals
kxx, kxy,
kyx, kyy = bearing spring coefficients, kg/cm
Cxx, Cxy,
Cxjx, Cyy = bearing damping coefficients, kg.s/cm
Kpxx, Kpxy,
Kpyx, Kpyy = pedestal spring coefficients, kg/cm

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 Tv) (Tx, Ty), are also performed with the transformation The conditions to the right of the station can be determined
matrix of equation (4). On the other hand, for the transverse from those to the left of the station by the above transfer equa-
mass moment of inertia it becomes, in consideration of principal tions, and they are regarded as boundary conditions of the
axes (u, v), section connected to the station.
I cos20< sin20
( P l X
) \ sin 2 0t
plu + plv
cos20 ) C)
plu plv
3. Section analysis. T h e transverse vibration of an elastic
continuous rotating shaft of finite length is analyzed for its
bending and shearing deformations.
T h e uniformly distributed rotary inertia effect and gyroscopic
cos2ilt
+ effect of the section are neglected. The equations of motion
(5) represented by condition variables only of (x, y) result in
plu + plv plu plv
cos2SJ( 1 I EIu+EIv EIu-EIv d*X
X + 2 + cos2t2< I
If plu ^ plv, the transverse mass moments of inertia in the
Ap
V dZ*

space fixed coordinate (pix, ply), which are coefficients of the EIu-EIv d*Y 1 j / Elu Elv \
sin2Q
equations for rotational motion, change with an angular speed + 2Ap dZ* 2 | ^ GAu +
GAv )
2 0.
However these parametric excitations make the rotor whirl Elu Elv d*X
cos2fii
orbit more complicated; the slight asymmetry in (phi, plv) + GAu GAv ) dZ*dt
allows an approximate solution only of angular speed 0 .
Considering the asymmetric characteristics of bearings, ap- Elu Elv \ d*Y
proximate solutions for the forced vibration are assumed to
be the elliptical synchronous whirl defined by the following
K GAu GAv ) ""** az& = 0,

(9)
equations. 1 / EIu+EIv EIu-EIv
Y + 2
X = V cos Qt - V1 sin Qt = 1/2 (Xe + J?*e-'<)
Ap V
Y = VlIcosQt + U"sinQt = l/2(fe'< + ? * - ' ) (6) EIu-EIv / Elu Elv \
sm2Qt
X = U + iV, i?r
= U" + iV , n
+ 2Ap \ GAu +
GAv)

Complex representations for other condition variables are de- / EIu_ EIv^ \
cos2i}<
fined in Appendix 2. [*] denotes the conjugate complex. Sub- \ GAu ~ GAv )
stituting the assumed solutions into equations (2), (3), and
neglecting terms of a frequency 3 fi whose amplitudes are pro- 1 / EIu_ _ EIv_ \ d^X
sin2f2(
portional to (plu plv), jumps of bending moments and shear- 2 ^ GAu ~~ GAv ) dzm* = o.
ing forces at the station are obtained as follows.
Because it has been assumed that the section itself has no
Vx'
ty
Vx

Vy
mfl 2 X -
mPY -
plu+plv
ZxxX
Zyy?
+ Zxy Y + QHl,
+ Zyx X -

plu plv
iWll-I (7)
excitation for the rotor vibration, its motion should depend on
those of the stations at the both ends of it. If these stations
are whirling in a circular orbit synchronized to the rotor rotation,
the section would also do so with a certain equilibrium de-
Mx Mx = W6x SPOx* flection in the rotational coordinate even if the shaft stiffness
is asymmetric. I n this case, the parametric terms as in equation
+ ipJQWy + fl2f, (9) would not appear when it is transformed into the (Q-u-v-z)
(8) coordinate system. B u t the bearing anisotropic dynamic char-
plu+plv 2 pluplv 2 acteristics require the elliptical synchronous whirl solution, and
My' My = 0 - fi By*
+ therefore the parametric terms cannot be eliminated by the
coordinate transformation. T h e solutions for equation (9) are
- ipJQWx - iWTJ

-Nomenclature (cont.)-

Cpxx, Cpxy, Zxy Kxy + iQCxy

Cpyx, Cpyy pedestal damping coefficients, kg.s/cm Zyy Kyy + iSLCyy,
(Mpx, Mpy) pedestal mass (x direction, y direction), Zyx Kyx + iUCyx
kg.s 2 /cm i V ' - l etc.
Kxx, Kxy, = t time,
Kyx, Kyy = equivalent bearing spring coefficients, kg/cm r the damping ratio for the mode
the asymmetry for the mode
Cxx, Cxy, p-
Cyx, Cyy = equivalent bearing damping coefficients, for example simple support uniform shaft
kg.s/cm with asymmetric bending rigidity
(Xp, Yp) = displacement of pedestal mass in Q-x-y, cm 1 Elu - Elv
(Fx, Fy) = bearing reaction force to rotor from bearing, M
~ 2 Elu + Elv
(x direction, y direction), kg
Superscripts
(Fpx, Fpy) = pedestal reaction force (to pedestal from foun-
refers to variables just to the right of a rotor
dation), (x direction, y direction), kg
station
for complex representation refers at the head of variables to denote com-
U = Uu + iUv plex quantities
T = Tu + iTv used to denote conjugate complex
Zxx = K xx + iQCxx, gr > time differential

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 assumed to be of a form similar to that used in the station Under these conditions, linear equations for Ai, Bi, Ci, Di are
analysis. developed by using equation (12) and the following solutions
are given.
X{z, t) = l/2(X{z) e* + X*(z) 6-<n') ,
\
X(z) = U'{z) + iV'(z), Ai = T " , , Mu" + Mu'"
(10) 2EIu{Xuli 2
+ XM2 )
Y(z, t) = l / 2 ( f ( z ) e*w + ?*{z) e-<a') ,
iF(z) = U"(z) + iV"(z), - I /MXM22 + 4 p f i 2 | ^ \ (V + U") 1
and substituted into equation (9). There will appear terms of
frequency 3 0 which are negligible when the shaft stiffness
asymmetry is slight, and they are zero when the asymmetry is Vu'' + Vu'"
2EIu(Xuii + Xui^Xm
not found. A pair of ordinary differential equations for the
approximate mode functions is obtained by equalizing coeffi- EIu ) "1
cients of eiS!<. EluXui' + ApQ?^- ) {tpu' + >pu")
GAu '
In these equations, mode functions are always coupled in the
form of x + iy, and it shows that a pair (u1, u") is independent 1
A, =
of t h e another pair (v1, v") (see equation (10)), t h a t is, vibra-
tion modes in two directions (u, v) do not affect each other.
2EIu(Xu? + XM22
l[ Mu" + Mu'"

Then their solutions are supposed to be ,EIu \ 1

X(z) = Au' ex* + iAv' eMl!
(11)
iY(z) = Au1' eK* + iAv" eM 1
4, = Vu" + Vu'"
where Au1, Au'1, Av1, Av" are real constants. 2EIu(Xuii + XutfXui
Equation (11) is substituted into the pair of ordinary differ-
ential equations formerly explained, and eight roots for each of EIu
+ I EIuXu{' - ApW~ ) (<pu! + <pu")
X and X' are determined from the nontrivial condition (Ap- GAu
pendix 3).
i
Hence the general solutions for the mode functions can be
written as follows.
fii =
(EIu + EIv)
. -r
(X,' + X22) |_
Mu" - MM"'

U(z)' = Ai cos XuiZ + Ai sin XuiZ + As cosh XuiZ

S/M + EIv ~
+ Ai sinh \uiZ ^ "

+ Bi cos \XZ + B% sin XiZ + B3 cosh XiZ ApQ2/ >(14)

;/ + $/ (t/f - i/")
+ BtsinhXiZ, + y (?A
+
GA y
U(z)" = Ai cos XuiZ + Ai sin Xu\Z + A3 cosh XuiZ -1
Bi = - Vu'"
:[
FM"
+ At sinh XuiZ ( B / M + EIv) ( X i J + XaJ)X:

Bi cos X\Z Bi sin X\Z Bs cosh \%Z EIu + EIv _

T" Xj'
Bi sinh \iZ,
(12)
Aplff / 1 EIu + EIv
V{z)' Ci cos Xv\Z + Ci sin Xv\Z + Cs cosh Xv2Z
+ Ci sinh XviZ
+ yGAu

1
+
GAv )
(<pur <pu
">1
+ Di cos X\Z + Di sin XyZ + Da cosh XiZ Ba = Mu" - MM'"
2
( ^ / M + EIv) (X, + X22)
+ D4sinhX2^,
. EIu + EIv
V(z)" = d cos XviZ + d sin XviZ + Cz cosh Xv2Z X,2
+"
+ C4 sinh Xs.Z
Di cos Xi2T D2 sin XiZ D 3 cosh X2Z
2 ^GAM GAv J 2
I' K(t/7 - U")' 1
D 4 sin XiZ
z
X(z) = t/ (z) + iV'(z) , i?(z) = U"(z) + iV"{z) 4 = Vu" - Vu'"
( B / M + EIv) (Xi2 + X22)X2
The real constants Ai, Bi, Ci, Di will be determined by the
boundary conditions at the left end of the section (z = 0 at EIu + EIv
Xi>
each section). +
The condition variables at z = 0 of each section are equal to those
of the right of the station ahead of it as shown below ApO2 / 1 EIu +
1 \ EIu + EIv
EIv],
1 , "1
X(0) = X, &c(0) =
dX
dZ = <px, &c(0) = 6x' , ^
^~VGI; +
(?TJ~j 2^
2 Y u<pu
* ' - *")\
Ci = At transformed as u +* v,
Mx(0) = Mx' Vx(0) = Vx'
(13) Di = Bi transformed as u <- v,
d?
7(0) = Y, <py(0) - - = ^ , 02/(0) = fy' , Now, conditions at any point of the section can be known if
those of the right of the station (z = 0) are clear. Conditions
j%(0) = My' , Vy(Q) = Vy' J at z = l are equivalent to t h e left of t h e next station and will

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 520
47Q
25- 20 _2HL 20
25 e- 55 -10Q "0 25
o
o
I
;R I
** vj '
D1 i D2
Asymmetric i
.shaft, part,
I I
STATION 1 2 A 5 6 7 8 9 10 11 12 13
NO 1 2 3 4 5 6 7 8 9 10 11 12 13
SECTION L e n q t h 1 cm 2-5 5-5 5.5 2 55 5 5 5.5 2 5.5 55 25 0
w e i q h t Dia. Dw cm 1-2 1-2 1-2 10 1-2 1-060 1060 1 2 10 12 12 12 0
s t i f f r e s s Dia. Dst cm 1-2 1-2 1-2 1-2 1-2 1083 1083 1 2 1-2 12 1-2 1-2 0
polar moment of In.Ip kgcm 1 0 0 0 15-5 0 0 0 0 15-5 0 0 0 0
transverse I d kg cm 2 0 0 0 7-73 0 0 0 0 773 0 0 0 0
A s y m m e t r i c i t y JJ=\ (EIu - E I v ) / ( Elu*EIv] 0-177

density Y= 7-87x10" kg/cm3 bearing coefficients

young's modulus E- 2.1x10* kg/cm2 K =125 kg/cm
shear modulus G = 0-81x10* kg/cm2 Cw= 38 kg/cm
shear deformation factor d= 0-89

Fig. 4 Model rotor system

be regarded as the boundary conditions for following trans- "p "Ti1 T2' P' ~w
formations.
Consequently, when the conditions at a rotor end are known,
= + (17)
p* fra+1 |_T2'* n pi* n _
they can be transfered toward the other rotor end, and the V* J Lw*
rotor motion all over its length can be determined by the inter- at the section
tive equation system obtained in the above analysis.
Repeated process of them results in the forms of

4. Computation procedure. It will be convenient to introduce p " Qi Q2 1 "P ~z 1

the condition vector at the left of the n-th station as
p* 1
+
-P* n ,Q 2 * Q.*J n L z* Jn,
Pw = X a.' "1
~P' " Qi' [~P 1 rz' "
- (18)
ipx
pi* n
=
Q2" Q i ' * _ ri p* . 1
+ L.Z' *
Mx
W, W , Z, Z' are forcing matrices, and component matrices
?x Tj, T2', Ch, Q21 become zero when the rotor has no asymmetric
(15) stiffness in the shaft section and no asymmetric transverse mass
moment of inertia in the station. Each end condition of the
Y rotor decides a half of the condition variables of Pi or PE' re-
spectively (E is the last station), such as, in the free-free type,
<f>y Mx = My^Vx=Vy = 0 at the 1st station and Mx' = My' = Vx'
My = Vy' = 0 at the last station. Hence equation (18) with n = E
gives linear equations for the remainders of Pi, which when solved
?V n allows Pi to be completely known. Then the motions at any
station can be determined by equation (18).
The iterative equation system analyzed is linear about Pn, so
that the following iteration matrix equations can be formulated. Experiments and Numerical Calculations
Two typical examples are shown to verify the analytical
"Ti Ta " "P " w results and computer program. The results are compared using
+ (16)
polar plots, which is the convenient method for showing the
_V Ti*_ n _P* _ n w* steady response characteristics of a rotor (usually called "Ny-
at the station quist plots").

Journal of Mechanical Design JANUARY 1980, Vol. 102/151

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 ASYMMETRIC TEST ROTOR
0.028

0,024

0.020 '

!
0.016
i
i
i

: 0.012

0.008

0.004 SPEED --- 4600,ORPM

0.0
Y
' A ^ Z
0.040 K^_
X
'
0.020 '*
J^Y/
C1 i
ROTQR BENDING RIGIDITY DISTRIBUTION

^ 1 i i i i ' i i ..i. i i
( \h !1 I2 T3

Fig. 5(a) Calculated response modes of model rotor

1. Simple Model Rotor System. The first example is a simple
model rotor-bearing system. The details of the system are shown
in Fig. 4. The rotor has two disks and it is supported by two
ball bearings which are mounted on rubber pieces.
The model rotor system is operated between 0 ~ 6000 rpm,
and the vibrations are measured on No. 1 disk by proximity
probes and analyzed by modal response circles measuring sys-
tem [7].
On the other hand, numerical calculations are performed
using the data shown in Fig. 4. The unbalance is assumed on
No. 1 disk according to the experimental conditions.
T h e experimental results and calculated results are shown
in Fig. 5 7. The undamped critical speeds and modal shaft
asymmetry which is derived from two critical speeds corre-
sponding to U, V direction respectively are shown in Table 1.
The calculated response modes on the 1st and the 2nd. critical
speeds are shown in Fig. 5(a).
The calculated responses are shown in Fig. 5(b) for the 1st
critical speed region for various unbalances which are located
at different circumferential locations. Fig. 5(c) is the polar
plot which corresponds to Fig. 5(6). The experimental responses
in the 1st critical speed region are shown in Fig. 6.
To recognize the difference between asymmetric rotor and sym-
metric rotor, the response calculation for symmetric rotor is
also shown in Fig. 5(c).
The calculated responses in the 2nd critical speed region are
shown in Fig. 7(a) for typical unbalance directions. In Fig. 7(6),
the test results corresponding to Fig. 7(a) are shown.
In the 1st critical speed region, the effect of asymmetry
appeared significantly. The jx/l factors which represent the
effect of asymmetry for the 1st critical speed are 0.8 from ex-
perimental results and 0.89 from calculated results.
I n the 2nd critical speed region, the effect of asymmetry
did not appear clearly because of the small modal asymmetry
(fi = 0.0045 from undamped calculation) and the large damping
ratio.
T h e difference between calculated results and test results
is due to the assumption of damping in the bearing parts and
small experimental error in cancelling the residual unbalance
effect, because of the high sensitivity for the damping error.
2. Large Turboset. The other example is a 375 MW, 3600
rpm turboset as shown in Fig. 8(a). The journal vibrations for
all bearings are measured during deceleration at the site by
modal response circle measuring system [7].
T h e exact simulation of actual unbalance conditions is very
difficult; thus a simple example of the response calculation in
which t h e unit angular inaccuracy is assumed on the coupling
between the turbine and generator is presented. (The one
degree) angular inaccuracy is about several hundreds times the
actual tolerance.)
T h e rotor section and station data are calculated with actual
rotor dimensions and the asymmetry is assumed from the re-
sults of modal simulation for t h e Free-Free vibration exciting
test results on the similar rotor [8], T h e dynamic properties
of bearing oil film are calculated from the model test results.
T h e pedestal dynamic properties are determined from mechan-
ical impedance given by a vibration exciting test for the similar
turboset.
T h e calculated response modes are shown in Fig. 8(a). T h e
calculated responses at No. 7 bearing journal for two orthogonal

152 / Vol. 102, JANUARY 1980 Transactions of the ASME

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 ASYMMETBIO TEST BOTOB 1-8T OBI. ASYMMETRIC ROTOR
- SYMMETRIC ROTOR
STATION NQ, 4 STATION No. 4
850-
5 ^| \ ""-- TO
UNBALANCE
zro- O.OOI Kg Cm
^ii O^ B K ^
*8|3Si
I5i
180

^r^""*
lflTt

" UNBALAJNUK UATA U. UU1KU CM

7 -- 0.0
6" 4 5.0 0 0
9 0.0 0 0
A 1 B 0 0 0
SYMMETBIO
8' UNBALANCE DATA 0.001KG CM
0.0
2-

^* \
1(T2

8
\ \
1
Fig. 5(c) Calculated vector diagrams in the 1st critical speed region
7- V
6
\
\ Unbalance 0001 kg cm
*/ 90"
45*
/ 0
*/ % 315
ram
^-

IfrS
"
s

J
<8i
*
. '
V &^

\ :*<
<3>
8
$F i--**
1801
6
5"

lor4 270*
1600 1700 law 1900 2000 2100 Fig. 6 Test results in the 1st critical speed region

BOTATINQ 8PEED (BPM) However, the calculated results seem to reflect a reasonable
Fig. 5(b) Calculated response curves in the 1st critical speed region simulation under the high sensitivity of error in damping.
The calculated critical speeds and modes show a good agree-
ment to the measured values.
directions are shown in Fig. 8(6) and Fig. 8(c) in vector dia-
grams.
The measured response at No. 7 bearing journal are shown
Conclusions
in Fig. 9. In this study, synchronous vibration of a general asymmetric
In this rotor system, the effect of asymmetry is apparent rotor-bearing system is analyzed approximately by the Harmonic
only in the 1st critical speed of generator rotor. T h e fi/ factors Balance Method and transfer matrices are formulated for nu-
derived from calculated response and measured response are merical calculations. T h e results of the analysis are programmed
0.204 and 0.188 respectively. for digital computer calculations, and two typical examples are
These values show a sufficiently small asymmetry from the presented. T h e calculated results are compared to the results
point of view on instability; however, in the case of fine bal- of a simple model test and field measurements of a large turbo-
ancing it must be considered. set. They show reasonable agreement.
The sources of the difference between calculated values and According to this study, it becomes possible to calculate the
measured values are considered to be in the estimation of shaft synchronous vibration response (due to mass unbalance, cou-
asymmetry. pling geometrical inaccuracy and bent shaft etc.) of a general

Journal of Mechanical Design JANUARY 1980, Vol. 102/153

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 STATION NO.A ASYMMETRIC ROTOR Table 1 Asymmetry of Model Rotor Derived by Undamped Critical
Speed Calculation
- SYMMETRIC ROTOR
^*"\^Direc ti on U Direction V Direction 1 Iu~Iv (Nu!-Nv2)
M
Nu Nv 2 Iu+Iv 2{Nu 2 +Nv 2 )
Mode. ^""---^^

1st Critical Spaed 1846.40Brpm 1673.775rpm 0.0489231

2nd Critical Speed 44*3.428rpm 4403.363rpm 0.00452866

Ltd.), the valuable advice of Mr. Matsukura (chief engineer,

Central Research Laboratory of Mitsubishi Electric Corp.) and
the permission to publish this work by the management of
Mitsubishi Heavy Industries Ltd.

Appendix 1
In the analysis, mass and mass moment unbalances of the
concentrated type have been considered as exciters. However,
a bit of replacement enables the obtained transfer equations
system to give responses by constant forces or moments on the
rotor, and responses by coupling geometrical inaccuracies or
initial bends.
1. Response by constant force or moment on the rotor. Jumping
equations at the station equations (7), (8) must be replaced as

270
Q?U - F = Fu + iFv \
(19)
Fig. 7(a) Calculated vector diagrams in the 2nd critical speed region Wt -> ME = MEu + iMEp\
90* 2. Response by coupling error or initial band. Jumps in the dis-
Rotation
placement A3 = Aw + iAv and the slope A\p = Axf/u + iAipv
Unbalance 0005kg cm
45* must be considered at the station. The boundary conditions at
315" 2 = 0 of the section connected to the station are
X' = X + Ad = (U1 + AU) + i{VT + AV),
ipx' = ipx + A<p = (<pur + A<pu) + i(ipv' + A<pv)
(20)
i? = i? + Ad = (U" + AU) + i(V" + AV),
iipy{ = <py + A<p = (tpu" + A(pu) + i(<pv11 + Aipv)]
These should be substituted into equation (14) instead of X, y.

Appendix 2
Complex representations we defined as follows.
Unbalances
Vx = U/2 e" + U*/2 e"" , U = Uu + iUv
iUy = U/2 ' - U*/2 e-" ,
270"
(21)
Tx = t/2 e*n + f */2 e-< , T = Tu + iTv
Fig. 7(b) Test results in the 2nd critical speed region
iTy = 272 e '"' - f */2 -" .
asymmetric rotor-bearing system, as easily as a usual symmetric Condition variables
rotor-bearing system, without any sacrifice of accuracy and X = X/2 ei + X*/2 e-
calculation cost. The only restriction of the calculation model X = U1 + iV1
is that the principal axes of the rotor section are not twisted Y = Y/2 e' + ?*/2 e-< , iy = U" + iV"
along the shaft, however, this restriction will not be important
on industrial rotors. dx = Qx/2 e< + 0x*/2 e~" , dx = 6V + idv1
As a matter of course, these analytical results can be accepted dy = Sy/2 e*< + 6y*/2 e-' , idy = 8u" + idv"
for the usual symmetric rotors as a special case.
The results of calculation will be useful for design and bal- Mx = Mx/2 e" + Mx*/2 e~' , Mx = Mv! + iMvr
>(22)
ancing of a rotor-bearing system, and for diagnosis of vibration
My = My/2 e'< + My*/2 e_ iMy = Mu" + iMv"/
problems.
Vx = Vx/2 e'O' + Vx*/2 e~u , Vx = Vul + iVvJ
Acknowledgments Vy == Vy/2 ei< + Vy*/2 e- , iVy = Vu" + iVv"
The authors would like to acknowledge the encouraging sup- <px = ipx/2 e1'"' + px*/2 e-'m
t <px <pu' upv'
port of Mr. Hizume (staff superintendent, Utility Power Sys-
tems Engineering Department of Mitsubishi Heavy Industries, <PV = <py/% e' ' + <PV*/2 e~^' , ipy = <pu" + i<pvn
n

154/Vol. 102, JANUARY 1980 Transactions of the AS ME

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 N PIS 3T RllTOR Rt:sPIlNSE MISe- 1 OEG.(T-G.142)

O ~~l'"
)( 6o'O:WMO WlUI-

SPEEO
4.000

10.

C.C

0.0

ASYMMETRY
". - 0.0325
,,2-00125
GENERA TOR EXCI TER

lJJDi!,DIr~[lIl!.lDlllJ.hqllli.()llJ:.!~atJ
NO.18RG. No.2BI(,No.38RG. NMBRG. No.SBRG. No.69RG. No.7 BRG. No.8BRG. NO.9~RG.
S6087m
Fig.8(a) large turboset and calculated response modes

Journal of Mechanical Design JANUARY 1980, Vol. 102/155

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 ASYMMETRIC ROTATION
ROTATION
SYMMETRIC

180"-

270*
Fig. 9 Measured vector diagrams on No. 6 and No. 7 bearing journal

Fig. 8(b) Calculated vector diagrams on No. 7 bearing journal for

225 disturbance
where

ROTATION ASYMMETRIC EIu + EIv EIu - EIv 1 / EIu EIv \

+
SYMMETRIC 2ApW 4vlp02 ' * ~ 2 \ GAu GAv )

1 / Ely EIv \ EIu - EIv

+4 \GAu ~ GTV)' 1
4Apfta

1 / EIu __ Eh\
4 y GAu ~ GAv)'

Hoots for the characteristics equation are

. < t a . . .,r iApw

\ui
^+ ^ y
= +
f
\_2GAu
i ^
ApQ? / / ApQ* \ *
+
ApW
+ EIu
Apfl'
r
[_ 2(?Aw y^2GAW// /w

Ap&
t'Xi = + i +
L 2 (^ GAu GAv ) EIu + EIv

V I I Ely.

4y?Au
EIv\

GAti^
2 /

\EIu
ApW

+ EIv )
\ 2
+ EIu
2ApQt> '
+ EIv
(24)

P I (Ely, EIv_ \ ApW

Fig. 8(c) Calculated vector diagrams on No. 7 bearing journal for + X2
135 disturbance L ~2\GAu
\ GAu + GAv
GAv )) EIu + EIv

Appendix 3 + V I / EIu

4\GAu +
Elv\i

GAv)
/

\EIu
ApSP

+ EIv)
\ '

+
2ApQ*

EIu + Eh]
1 "

When the assumed mode functions of equation (11) are sub- On the other hand, from the matrix equation for (Av , !
An")
stituted into the explained ordinary differential equations about as the imaginary part, it is determined that
z which could be derived from the equations of motion (9) with
equation (10), the next matrix equation is found from the real X' = + i\vi, \v2, + i\i, + X2 (25)
part.

X* + /3Xa -- 1 TX* + 5X2 Aul The ratios of amplitudes for each root are

y\* + SX2 4
aX + /3X - 2
1_ w
_ Au 1
J LoJ Au1 = Au11, Av' = Avu for + i\ui, + Xw2, or + i\v\, Xvi
1
(23) Au' = - Au", Av = - A M " for i\h X 2 (26)

156/Vol. 102, JANUARY 1980 Transactions of the ASME

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 References
1 Taylar, H. D., "Critical Speed Behavior of Unsymmetrical
Shafts," ASME, Journal of Applied Mechanics, June, 1940.
2 Tondl, A., "Some Problems of Rotor Dynamics," Chapman
and Hall, London, 1965.
3 Bishop, R. E. D., and Parkinson, A. G., "Second Order
Vibration of Flexible Shafts," Phil. Trans, of Royal Society of
London, Vol. 259, No. 1095, 1965.
4 Lund, J. W., and Orcutt, F. K., "Calculation and Experi-
ments on the Unbalance Response of a Flexible R.otor," ASME,
Journal of Engineering for Industry, Vol. 89, No. 4, Nov., 1967.
Journal of Mechanical Design
Downloaded From: http://mechanicaldesign.asmedigitalcollection.asme.org/ on 01/29/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use
5 Hayashi, C, Nonlinear Oscillations in Physical System,
McGraw-Hill, 1964.
6 Balda, M., "Dynamic Properties of Turboset Rotors,"
Symposium on Dynamics of Rotors, IUTAM Lyngby, Denmark
1974, (Springer Verlag, 1975).
7 Shiraki, K., and Kanki, H., "New Field Balancing Method
on Tandem connected Multispan Flexible Rotor System,"
Symposium on Dynamics of Rotors, IUTAM Lyngby, Denmark
1974. (Springer Verlag, 1975).
8 Matsukura, Y., and Inoue, T., et. al., "Estimation of
Distributed Asymmetry in stiffness of a Asymmetric Rotor,"
JSME lecture papers No. 760-3, 459 Apr., 1976, (in Japanese).
JANUARY 1980, Vol. 102/157