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Faculty of Mechanical Engineering Dynamics of rotating Machinery, Dr. I. Bucher Spring 2003 Dynamics Laboratory
Grade composition
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Course topics Intoduction Review of vibration theory 1-DOF, N-DOF free vibration, forced vibration, mode shapes, modal decomposition / superposition, orthogonality, Lagrange equations Jeffcot rotor 1 DOF rotating shaft + disk, complex notation, stationary and rotating coordinates free response - eigenvalues, forward/backward whirl, unbalance - forced response, asymmetric supports, Campbell diagram, internal damping vs. external damping - stability, acceleration through critical speeds, Continuous systems Torsional vibration Continuous Models, limitations Discrete Models - simple FE model coupled systems, connected shafts interference diagram - engine orders Shaft bending vibration Euler/Timoshenko beam Kinetic and potential energy of a rotating shaft shaft with rigid disks and flexible supports gyroscopic effects Continuous systems flexible disks forward/backward whirl Campbell diagram, measurements interpretation static loads, synchronous loads Experimental verification Critical speeds Natural frequencies and modeshapes Unbalance response & balancing Measurements and signal processing Experimental identification, bearings, shaft, damping
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Importance of rotordynamics for performance and design- examples Example no. 1: Stored kinetic energy in a typical rotating disc (dimensions/speed are typical of pump/compressor) Consider a ring made of steel rotating at 10,000 Rev/min. The ring
D=0.6 m, d=0.4 m , w=0.04, m=p*(0.3^2-0.2^2)*0.04*8000= 50.3 Kg Jp= *m*(0.3^2-0.2^2)=1.26 Kg x m^2 =10000 Rev/min 1/60 min/sec 2 Rad/Rev = ~1000 Rad/s T= *Jp*^2= 6.89*105 Joule What would happen if, for some reason the angular momentum (Kinetic energy) would be converted into linear momentum? How high/far would the ring fly?
h
V= mgh = T h(max) = 6.89*10^5/(9.81*50) h =~ 700 m (for upwards fly) at 30 (neglect aerodynamic drag) a=-g mh''=-mg h'=-g*t+c1, h=-1/2*g*t^2+c1*t th=hmax=sqrt(2*hmax/g)=~12 Sec; c1=g*sqrt(2*hmax/g) = sqrt(2*hmax*g); vx=~200 m/s, -> xmax=2400 m =2.4 Km !!
The amount of energy storage in a state-of-the-art flywheel is about equal to the amount of energy stored in a good battery. The large energy is a safety hazard and is much larger than the deformation that any internal mode can absorb (failure)
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Example no.2 Stress in a rotating ring Stress in a rotating hoop = V 2 = 2 R 2 For our example, R=0.3 m , =1000 Rad/s Steel hoop = 720 MPa (Would yield most materials) A full disk would have the maximal (bi-axial) stress at its middle, (3 + ) 2 R 2 and = 8
** Kinetic energy per unit volume 1 T = V 2 , 2 energy stored due to elastic deformation (per unit volume) U =
2 2E
KE T E = = , PE U
Speed of sound in material c =
E ,
Since = V 2 ,
T c2 = 2 U V
If the rotor is sped up to a point near yield, the ration of kinetic to elastic energy, would be
T E , As for most materials this ratio would be of order 100- 1000, thus if a = U y
mechanism arises that transfers rotational energy into vibrational energy, only a tiny fraction of the available energy would be required to initiate failure in the vibratory mode.
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