International Journal of Rotating Machinery, 9(1): 4147, 2003 Copyright c 2003 Taylor & Francis 1023-621X/03 $12.00 + .

00 DOI: 10.1080/10236210390147371

Thermomechanical Behavior of Rotor with Rubbing

Zdzislaw Gosiewski
Aviation Institute, Warsaw, Poland

This article presents an analytical study of the dynamics and stability of rotors subjected to rubbing due to contact with seals, taking account of associated thermal effects. The seal interaction force acting on the shaft gives rise to a friction force, which is a source of heating and can induce so-called spiral vibrations. A mathematical model that has been developed couples the heat-conduction equation with the equations for motion of the rotor. Numerical simulations have been conducted that show the thermomechanical behavior of the rotor at various operating conditions. A procedure for analyzing the stability of multibearing rotors based on the system eigenvalue analysis and the state-space approach has been proposed. Finally, the experimental data related to full annular rub have been presented.
Keywords contact force, rotor rubbing, spiral vibration, stability, thermal bow

Steam turbine rotors are generally large, precision-machined steel forgings with multiple turbine wheels machined directly out of a single forging for the attachment of buckets (blades). Such rotors can exceed 20 feet in length and can have body diameters exceeding 30 inches. As such, most steam turbine rotors are relatively exible as compared to gas turbine rotors that employ a bolted construction. Because of this, most steam turbine rotors operate at speeds exceeding the rst critical speed and sometimes operate near their second critical speed. One consequence of the integral rotor design and the relative exibility of the rotors is that steam turbine rotors can be sensitive to rub-induced vibrations. This is unfortunate, since steam turbines employ multiple turbine stages to extract energy from

Received 20 March 2001; accepted 18 October 2001. Address correspondence to Jerzy T. Sawicki, Department of Mechanical Engineering, Cleveland State University, Cleveland, OH 44115-2425, USA. E-mail: j.sawicki@csuohio.edu

the steam and therefore require many seals between the static and rotating elements to minimize parasitic leakage and maximize thermal performance. Obviously, minimizing the rotor/seal clearances enhances thermal performance; the drawback to this approach is the increased risk of rotor/seal rubs and the resulting rotor vibration. This vibration may be self-correcting (stable), or self-propagating (unstable). In the worst case, the vibration can prohibit operation of the machine. The rubbing phenomenon in rotating machinery has been widely written about during the past 3 decades. It has been well recognized that under certain conditions rotating machinery exhibits vibrations that have chaotic content, that is, they present unpredictable behavior. Such behavior is driven by the existence of nonlinearities in the system, which could have many roots; one of them is the interaction of the rotating and stationary components (Bently, 1974; Ehrich, 1992; Goldman and Muszynska, 1993, 1994; Kraker et al., 1988; Muszynska, 1989; Padovan and Choy, 1987). Numerous papers have employed bifurcation diagrams or Poincar maps to report on the chaotic nature of e rub interactions; for example, see Bently (1974), Goldman and Muszynska (1993), and Sawicki (1999). Some authors have explained the occurrence of such phenomena in terms of induced nonlinearities, for example, Sawicki (1999). A relatively small number of papers have addressed the thermal effect associated with the rubbing of a rotor against its stationary components, which tends to heat the rotor at the angular location of the rub and is responsible for the rotor thermal balance change, known as the Newkirk effect. Based on Taylors results (1924), Newkirk (1926) pointed out that when a rubbing rotor is running below its rst balance resonance speed, the rubinduced lateral vibrations increase in time. Since then, many researchers have studied this effect. The most signicant analyses have been provided by Dimarogonas (1973, 1983) and by Kellenberger (1980). Childs (1997) extended the Kellenberger model to include the effects of a radial clearance at the rub location. All these authors conrmed that these vibrations grow in amplitude and phase, resulting in spiral vibrations. One example is contacts between the rotor and seals, such as oil-lubricated 41

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generator shaft seals (Kellenberger, 1980) or brush seals (Sawicki, 2000), which can generate an asymmetrical peripheral temperature distribution and consequent rotor bow. If that is coupled with rotor vibration, a spiraling phenomenon may be observed. Another example is asymmetrical heating of the journal in uid-lm bearings; for example, see Kirk and Balbahadur (2000). The thermally induced vibrations can lead to problems, such as difculties in performing proper balancing or, in serious cases, a situation in which it is impossible to operate the machine. This article presents an analytical study of the dynamics of rotors subjected to rubbing due to contact with seals and also considers thermal effects. The induced thermal bow is modeled on Kellenbergers approach (1980). A mathematical model that has been developed couples the heat conduction equation with the equations of motion for the rotor. Numerical simulations that have been conducted show the thermomechanical behavior of the rotor at various operating conditions. The procedure for stability analysis of the multibearing rotor systems based on the eigenvalue analysis and state-space approach is proposed. Finally, the experimental data related to the full annular rub have been presented. ROTOR/STATOR CONTACT MODEL The model of a rotor/stator system is shown in Figure 1, where the rotor is a Jeffcott (Laval) rotorthat is, uniform, massless, and having an elastic shaft carrying a rotor (disk) at its midspan. The bearings in this model are considered to be rigid and frictionless. The rotor has mass, m R , stiffness, k R , and damping, c R . The stator has mass, m S , and is mounted on a foundation via spring, k S , and damper, c S . The concentric radial clearance between the rotor and stator is C. The kinematics of the rotor/stator contact model are illustrated in Figure 2. It is postulated that contact between the rotor

FIGURE 2 The rotor/stator interaction model.

and the stator takes place if the following condition is satised: r = C = | R r S | C > 0 [1]

where is the relative radial displacement of the rotor and stator, and is the penetration depth. In addition, it is assumed that as a result of contact, the rotor/stator (contact) stiffness increases, and induced contact force, FR , is the result of nonlinear contact radial load and nonlinear tangential friction load, which are related by the Coulomb friction coefcient . A portion of heat generated by friction load Q 1 diffuses into the rotor, and the portion Q 2 diffuses out of the rotor. Also, it is assumed that if the contact condition in Equation (1) is satised, the induced contact force modeled by a simple model takes the form F R = kC n ei [2]

where the contact stiffness kC is a function of the material properties and geometry of the contacting components, and the coefcient of restitution is n = 1.5 for the Hertzian type of contact. Following the notation in Figure 2, the nonlinear equations of motion for the rotor/stator system in complex vector notation r = x + i y are 2 m d ( + eit ) + c r + k ( r ei ) = (1 + i) F R rR R RR R rR T dt 2 m S r S + c S r S + k S r S = (1 + i) F R [3]

FIGURE 1 Schematic of rotor/stator model.

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THERMAL BOW OF THE ROTOR The radial contact force, F R , acting on the shaft (see Figure 2) gives rise to a friction force, which is a source of heating. Kellenberger (1980) used a heat-balance equation to arrive at the following denition for excess temperature T: k1 k2 T (t) = R FR (t) T (t) k3 k3 where R is the rotor radius at which contact occurs; FR is the seal interactive force; RFR (t) is the power dissipated due to rubbing contact; k1 is the proportionality factor dening the proportion of generated power that enters the shaft; k2 is the proportionality factor that denes the amount of heat lost from the shaft; and k3 is the factor that is proportional to the specic heat, density, and geometry of the shaft in the vicinity of the rubbing location. Following Kellenbergers (1980) development, we assumed that the shafts thermal deection (bow) was proportional to the excess temperature, T, that is, T = k4 T [5] [4]

FIGURE 3 Rotor response, in rotating coordinates, to rub, without thermal effects. = 0.95, p = 0, q = 1 103 , R = 0.05, M S = 1 105 , C S = 0.7, K S = 200, = 0.2, K C = 1 102 , C = 2. KC = kC mS cS kS C , MS = , CS = , KS = , and C = kR mW cR kR

where T is the rotating shaft with thermal deection, and k4 is the proportionality factor containing the thermal expansion coefcient, the material constants of the shaft, and the rotors geometry, such as diameter, length, and bearings positions. Now, taking into account the relationship in Equation (5), the temperature, Equation (4), can be rewritten in terms of thermal deection in stationary coordinates as r r T (t) iT (t) + p R F R (t) + q r T (t) = 0 [6]

where parameters p and q characterize heat input and heat output, respectively, for the shaft and are dened as p= k1 k4 , k3 q= k2 k3 [7]

Note that the rotor/stators motion, Equation (3), and thermal bow, Equation (6), are coupled by the normal and tangential components of the contact force and by the thermal bow vector, r T . Equations (3) and (6) are written in inertial coordinates. NUMERICAL RESULTS The equations of motion, Equations (3) and (6), can be written in a nondimensional format by introducing the dimensionless time z = R t, and the following denitions (Kellenberger, 1980; Liebich, 1998): R = q cR kR , p = p Rk R , q = , R = , = mR R 2m R R R [8]

It should be noted that using the transformation r (t) = (t)eit Equations (3) and (6) can also be presented in a rotating coordinates frame. Figure 3 shows, in rotating coordinates, the rotors response to full annular rub without considering the thermal effect, that is, for p = 0, and for the rotors running speed just below the critical speed, that is, for = 0.95 R . Also, the contact force is nonlinear with the exponent n = 1.5 (see Equation (2)). The computed response clearly indicates transient behavior. Figure 4 presents the rotor response for the same operating conditions as Figure 3, except that now the parameter representing the heat input to the rotor does have nonzero value, that is, p = 1.51. It can be seen that after initial transient behavior, the rotor starts to exhibit unstable spiral vibrations with a growing amplitude and phase angle (which can be seen only in a rotating coordinates frame). The spiral is traced out against the shafts rotation. STATE-SPACE REPRESENTATION OF THE MULTIMASS ROTOR/SEAL DYNAMICS For the multimass rotor-bearing model limited to lateral vibrations, the matrix equation of motion (in stationary coordinates) can be written as follows: M + D + Kx = f(t) x x [9]

where x is (n 1) the vibration vector; M, D, and K, are (n n) mass, damping, and stiffness matrices, respectively; and f(t)

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and the translatory coordinates at the rubbing site (the hot spot); and xThs is (2 1) the vector of thermally induced translatory displacements at the location of the hot spot (rubbing). In stationary coordinates, the thermal equation can be written in the following form (Kellenberger, 1980): I Ths + Pxhs + QxThs = 0 x [11]

where I and 0 are (2 2) unity and zero matrices, respectively, and xhs is the (2 1) vector of translatory displacements of the shaft at the location of the rubbing. The matrices P and Q are (2 2) and represent added heat and dissipated heat, respectively. Equations (10) and (11) are coupled and can be combined as follows: M 0 FIGURE 4 Rotor response, in rotating coordinates, to rub, with thermal effects. = 0.95, p = 1.51, q = 1 103 , R = 0.05, M S = 1 105 , C S = 0.7, K S = 200, = 0.2, K C = 1 102 , C = 1.5. is the excitation force vector. The properties of bearings are included in matrices D and K. The equation of motion for the multimass rotor-bearing system with thermal bow takes the following form (Schmied, 1987): M + D + Kx K R TxThs = f(t) x x
R

x xThs

+ +

D 0 K P

0 I

x xThs
R

K T Q

x xThs

f(t) 0

[12]

where P is (2 n) a matrix having coefcients of matrix P at the columns corresponding to the translatory coordinates xhs of the hot spot. Introducing state variables, dened as x1 = x, x2 = x, x3 = xThs , and writing the equations x1 = x2 M 2 = Kx1 Dx2 + K R Tx3 + f x x3 = Px1 Qx3

[10]

where K is (n n) the stiffness matrix of the rotor without pedestals and bearings; T is the (n 2) matrix describing the linear relation between the thermal deections of all coordinates

[13]

FIGURE 5 Diagram of rotor/seal test rig with two disks.

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FIGURE 6 Responses (1) of the two-disk rotor during start-up and shutdown, testing both with and without rubbing.

allows the state equation to be written as follows: 0 I x = Ax + Bu = M1 K M1 D P 0 0 + M1 f 0 0 M1 K R T x Q [14]

where the state vector is dened as x = (x1 , x2 , x3 )T . The stability of the system (Equation (12)) can be conveniently determined by analysis of the real part of the eigenvalues of state matrix A.

EXPERIMENTAL STUDY RESULTS Full annular rub in a rotor/seal system was investigated experimentally. A shaft with a diameter of 0.394 inches and a length of 22 inches was supported by two brass bearings and driven by a 0.1-hp motor. Two disks were attached as is shown in Figure 5. A seal was located at the midspan. The bronze seal used in the experiment was tted with an O-ring in the seal support and had 6 mils of diametral clearance. The rotor was originally centered in the seal and well balanced. A known mass unbalance (4.4 104 lbm) was then added to each disk. Without contact with the seal, the rotors initial, balanced resonance speed was approximately 1850 rpm. The data acquisition and processing system consisted of four XY displacement proximity probes (Figure 5),

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one speed probe, one Keyphasor probe to measure speed and phase, and ADRE software. The 1 Bode plots of the X-direction responses of the twodisk rotor during the startup and shutdown testing, with and without rubbing, are presented in Figure 6. In the test with the rubbing, the peak amplitude of vibration was limited by the clearance between the rotor and the seal. In addition, the inherent nonlinearity of the system gave rise not only to subharmonic vibrations (Sawicki et al., 1999), but also to amplitude jump discontinuities, which occur when multitude solutions exist. This is clearly demonstrated in Figure 6. It is mainly during the startup that the amplitude drops down; then it jumps up during the shutdown operation. The range of resonance speeds is much wider during startup than it is during shutdown. An excellent description of the phenomena observed was provided by Bently and colleagues (2000a, 2000b), who presented insightful data concerning the experiment and studied the precessional rub in great detail. They also analyzed the effect of unbalance, friction, rotative speed, rub frequency, and other parameters. SUMMARY AND CONCLUSIONS Rubbing occurring in a rotor/stator/seal system was investigated analytically, numerically, and experimentally. The analytical model accounts for the thermal effect associated with rubbing. The characteristic spiral vibrations of the generic rotor/stator system was calculated. The issue of the stability of multimass rotor-bearing systems subjected to thermal bow due to the occurrence of rub was addressed by developing a procedure based on the state-space representation and eigenvalue analysis. Finally, the characteristic for full annular rub amplitude jump has been demonstrated experimentally. NOMENCLATURE S Geometric center of the stator R Geometric center of the rotor (also radius of the rotor) G Rotor center of gravity Mass eccentricity Rotor mass mR Rotor stiffness kR cR Rotor damping Stator mass mS Stator stiffness kS Stator damping cS Thermal bow in inertial coordinates frame rT Angular speed of rotor Rotor critical speed R FR Contact force vector Coulomb friction coefcient Contact stiffness between rotor and stator kC C Concentric radial clearance Position of the hot spot Rotor damping ratio R

rR R T Q1 Q2

Rotor vibration vector in inertial coordinates frame Rotor vibration vector in rotating coordinates frame Excess temperature Heat entering the rotor per unit time Heat loss per unit time

REFERENCES
Bently, D. E. 1974. Forced subrotative dynamic action of rotating machinery. ASME Publication, 74-Pet-16, Petroleum Mechanical Engineering Conference, Dallas, TX. Bently, D. E., Goldman, P., and Yu, J. J. 2000. Full annular rub in mechanical seals Part II: Analytical study. Proceedings of the 8th International Symposium on Transport Phenomena and Dynamics of Rotating Machinery, ISROMAC-8, Honolulu, HI, pp. 10031010. Bently, D. E., Goldman, P., and Yu, J. J. 2000. Full annular rub in mechanical seals Part I: Experimental results, Proceedings of the 8th International Symposium on Transport Phenomena and Dynamics of Rotating Machinery, ISROMAC-8, Honolulu, HI, pp. 9951002. Childs, D. W. 1997. Clearance effects on spiral vibrations due to rubbing. Proceedings of the 1997 ASME Design Engineering Conferences, DETC-97, 16th Biennial Conference on Mechanical Vibration and Noise, Sacramento, CA, pp. 19. Dimarogonas, A. D. 1973. Newkirk effect, thermally induced dynamic instability of high-speed rotors. International Gas Turbine Conference, Washington, DC. ASME Paper No. 73-GT-26. Dimarogonas, A. D. 1983. Analytical Methods in Rotor Dynamics. London: Applied Science Publishers. Ehrich, F. 1992. Observations of subcritical superharmonic and chaotic response in rotordynamics. ASME Journal of Vibration and Acoustics 114:93100. Goldman, P., and Muszynska, A. 1993. Chaotic behavior of rotor/stator systems with rubs. ASME Turbo Expo Conference, Cincinnati. Goldman, P., and Muszynska, A. 1994. Dynamic effects in mechanical structures with gaps and impacting: Order and chaos. ASME Journal of Vibration and Acoustics 116:541547. Kellenberger, W. 1980. Spiral vibrations due to seal rings in turbogenerators: Thermally induced interaction between rotor and stator. ASME Journal of Mechanical Design 102:177184. Kirk, R. G., and Balbahadur, A. C. 2000. Thermal distortion synchronous rotor instability. Proceedings of the 7th International Conference on Vibrations in Rotating Machinery, ImechE, Paper C576/041, pp. 427436, Nottingham, UK. Kraker, D., Crooijmans, M. T. M., and Campen, D. H. 1988. The dynamics of a rotor with rubbing. Proceedings of the 4th International Conference on Vibrations in Rotating Machinery, ImechE, Paper C284/88, pp. 297303, Edinburgh, UK. Liebich, R. 1998. Rub induced non-linear vibrations considering the thermo-elastic effect. Proceedings of the Fifth International Conference on Rotor Dynamics, IFToMM, 802-815, Darmstadt, Germany. Muszynska, A. 1989. Rotor-to-stator element rub-related vibration phenomena in rotating machineryliterature survey. Shock and Vibration Digest 21(3):311. Newkirk, B. L. 1926. Shaft rubbing: Relative freedom of rotor shafts from sensitiveness to rubbing contact when running above their critical speeds. Mechanical Engineering 48(8):830832. Padovan, J., and Choy, F. K. 1987. Nonlinear dynamics of rotor/blade/casing rub interactions. ASME Journal of Turbomachinery 108:527534.

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Sawicki, J. T., Padovan, J., and Al-Khatib, R. 1999. The dynamics of rotor with rubbing. International Journal of Rotating Machinery 5(4):295304. Sawicki, J. T. 2000. Steam turbine rotors rub sensitivity study. Phase I: The development study. Technical report submitted to GE Corporate Research & Development Center, Schenectady, NY.

Schmied, J. 1987. Spiral vibrations of rotors. Proceedings of the 11th Biennial ASME Vibration and Noise Conference. Boston, pp. 449 456. Taylor, H. D. 1924. Rubbing Shafts Above and Below the Resonance Speed (Critical Speed), General Electric Company, R-16709, Schenectady, NY.