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Abstract

In the present work, a procedure for the estimation of internal damping in a cracked rotor system is described. The internal (or rotating) damping is one of the important rotor system parameters and it contributes to the instability of the system above its critical speed. A rotor with a crack during fatigue loading has rubbing action between the two crack faces, which contributes to the internal damping. Hence, internal damping estimation also can be an indicator of the presence of a crack. A cracked rotor system with an offset disc, which incorporates the rotary and translatory of inertia and gyroscopic effect of the disc is considered. The transverse crack is modeled based on the switching crack assumption, which gives multiple harmonics excitation to the rotor system. Moreover, due to the crack asymmetry, the multiple harmonic excitations leads to the forward and backward whirls in the rotor orbit. Based on equations of motions derived in the frequency domain (full spectrum), an estimation procedure is evolved to identify the internal and external damping, the additive crack stiffness and unbalance in the rotor system. Numerically, the identification procedure is tested using noisy responses and bias errors in system parameters.

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Bibliography

[1] R. Tiwari. Rotor Systems: Analysis and Identification. CRC Press, Boca Raton, FL, USA, 2017.
[2] F. Ehrich. Shaft whirl induced by rotor internal damping. Journal of Applied Mechanics, 31(2):279–282, 1964. doi: 10.1115/1.3629598.
[3] J. Shaw and S. Shaw. Instabilities and bifurcations in a rotating shaft. Journal of Sound and Vibration, 132(2):227–244, 1989. doi: 10.1016/0022-460X(89)90594-4.
[4] W. Kurnik. Stability and bifurcation analysis of a nonlinear transversally loaded rotating shaft. Nonlinear Dynamics, 5(1):39–52, 1994.
[5] L.-W. Chen and D.-M. Ku. Analysis of whirl speeds of rotor-bearing systems with internal damping by C 0 finite elements. Finite Elements in Analysis and Design, 9(2):169–176, 1991. doi: 10.1016/0168-874X(91)90059-8.
[6] D.-M. Ku. Finite element analysis of whirl speeds for rotor-bearing systems with internal damping. Mechanical Systems and Signal Processing, 12(5):599–610, 1998. doi: 10.1006/mssp.1998.0159.
[7] J. Melanson and J. Zu. Free vibration and stability analysis of internally damped rotating shafts with general boundary conditions. Journal of Vibration and Acoustics, 120(3):776–783, 1998. doi: 10.1115/1.2893897.
[8] G. Genta. On a persistent misunderstanding of the role of hysteretic damping in rotordynamics. Journal of Vibration and Acoustics, 126(3):459–461, 2004. doi: 10.1115/1.1759694.
[9] M. Dimentberg. Vibration of a rotating shaft with randomly varying internal damping. Journal of Sound and Vibration, 285(3):759–765, 2005. doi: 10.1016/j.jsv.2004.11.025.
[10] F. Vatta and A. Vigliani. Internal damping in rotating shafts. Mechanism and Machine Theory, 43(11):1376–1384, 2008. doi: 10.1016/j.mechmachtheory.2007.12.009.
[11] J. Fischer and J. Strackeljan. Stability analysis of high speed lab centrifuges considering internal damping in rotor-shaft joints. Technische Mechanik, 26(2):131–147, 2006.
[12] O. Montagnier and C. Hochard. Dynamic instability of supercritical driveshafts mounted on dissipative supports – effects of viscous and hysteretic internal damping. Journal of Sound and Vibration, 305(3):378–400, 2007. doi: 10.1016/j.jsv.2007.03.061.
[13] M. Chouksey, J.K. Dutt, and S.V. Modak. Modal analysis of rotor-shaft system under the influence of rotor-shaft material damping and fluid film forces. Mechanism and Machine Theory, 48:81–93, 2012. doi: 10.1016/j.mechmachtheory.2011.09.001.
[14] P. Goldman and A. Muszynska. Application of full spectrum to rotating machinery diagnostics. Orbit, 20(1):17–21, 1991.
[15] R. Tiwari. Conditioning of regression matrices for simultaneous estimation of the residual unbalance and bearing dynamic parameters. Mechanical Systems and Signal Processing, 19(5):1082–1095, 2005. doi: 10.1016/j.ymssp.2004.09.005.
[16] I. Mayes and W. Davies. Analysis of the response of a multi-rotor-bearing system containing a transverse crack in a rotor. Journal of Vibration, Acoustics, Stress, and Reliability in Design, 106(1):139–145, 1984. doi: 10.1115/1.3269142.
[17] R. Gasch. Dynamic behaviour of the Laval rotor with a transverse crack. Mechanical Systems and Signal Processing, 22(4):790–804, 2008. doi: 10.1016/j.ymssp.2007.11.023.
[18] M. Karthikeyan,R. Tiwari, S. and Talukdar. Development of a technique to locate and quantify a crack in a beam based on modal parameters. Journal of Vibration and Acoustics, 129(3):390–395, 2007. doi: 10.1115/1.2424981.
[19] S.K. Singh and R. Tiwari. Identification of a multi-crack in a shaft system using transverse frequency response functions. Mechanism and Machine Theory, 45(12):1813–1827, 2010. doi: 10.1016/j.mechmachtheory.2010.08.007.
[20] C. Shravankumar and R. Tiwari. Identification of stiffness and periodic excitation forces of a transverse switching crack in a Laval rotor. Fatigue & Fracture of Engineering Materials & Structures, 36(3):254–269, 2013. doi: 10.1111/j.1460-2695.2012.01718.x.
[21] S. Singh and R. Tiwari. Model-based fatigue crack identification in rotors integrated with active magnetic bearings. Journal of Vibration and Control, 23(6):980–1000, 2017. doi: 10.1177/1077546315587146.
[22] S. Singh and R. Tiwari. Model-based switching-crack identification in a Jeffcott rotor with an offset disk integrated with an active magnetic bearing. Journal of Dynamic Systems, Measurement, and Control, 138(3):031006, 2016. doi: 10.1115/1.4032292.
[23] S. Singh and R. Tiwari. Model based identification of crack and bearing dynamic parameters in flexible rotor systems supported with an auxiliary active magnetic bearing. Mechanism and Machine Theory, 122: 292–307, 2018. doi: 10.1016/j.mechmachtheory.2018.01.006.
[24] C. Shravankumar. Crack Identific in Rotors with Full-Spectrum. Ph.D. Thesis, IIT Guwahati, India, 2014.
[25] A.D. Dimarogonas. Vibration of cracked structures: a state of the art review. Engineering Fracture Mechanics, 55(5): 831–857, 1996. doi: 10.1016/0013-7944(94)00175-8.
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Authors and Affiliations

Dipendra Kumar Roy
1
Rajiv Tiwari
2

  1. Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati, Assam, 781039, India.
  2. Faculty of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati, Assam, 781039, India.
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Abstract

In the rotor system, depending upon the ratio of rotating (internal) damping and stationary (external) damping, above the critical speed may develop instability regions. The crack adds to the rotating damping due to the rubbing action between two faces of a breathing crack. Therefore, there is a need to estimate the rotating damping and other system parameters based on experimental investigation. This paper deals with a physical model based an experimental identification of the rotating and stationary damping, unbalance, and crack additive stiffness in a cracked rotor system. The model of the breathing crack is considered as of a switching force function, which gives an excitation in multiple harmonics and leads to rotor whirls in the forward and backward directions. According to the rotor system model considered, equations of motion have been derived, and it is converted into the frequency domain for developing the estimation equation. To validate the methodology in an experimental setup, the measured time domain responses are converted into frequency domain and are utilized in the developed identification algorithm to estimate the rotor parameters. The identified parameters through the experimental data are used in the analytical rotor model to generate responses and to compare them with experimental responses.

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Bibliography

[1] R. Tiwari. Rotor Systems: Analysis and Identification. CRC Press, USA, 2017. doi: 10.1201/9781315230962.
[2] F. Ehrich. Shaft whirl induced by rotor internal damping. Journal of Applied Mechanics, 31(2):279–282, 1964. doi: 10.1115/1.3629598.
[3] L.-W. Chen and D.-M. Ku. Analysis of whirl speeds of rotor-bearing systems with internal damping by C 0 finite elements. Finite Elements in Analysis and Design, 9(2):169–176, 1991. doi: 10.1016/0168-874X(91)90059-8.
[4] D.-M. Ku. Finite element analysis of whirl speeds for rotor-bearing systems with internal damping. Mechanical Systems and Signal Processing, 12(5):599–610, 1998. doi: 10.1006/mssp.1998.0159.
[5] J. Melanson and J. Zu. Free vibration and stability analysis of internally damped rotating shafts with general boundary conditions. Journal of Vibration and Acoustics, 120(3):776–783, 1998. doi: 10.1115/1.2893897.
[6] G. Genta. On a persistent misunderstanding of the role of hysteretic damping in rotordynamics. Journal of Vibration and Acoustics, 126(3):459–461, 2004. doi: 10.1115/1.1759694.
[7] M. Dimentberg. Vibration of a rotating shaft with randomly varying internal damping. Journal of Sound and Vibration, 285(3):759–765, 2005. doi: 10.1016/j.jsv.2004.11.025.
[8] F. Vatta and A. Vigliani. Internal damping in rotating shafts. Mechanism and Machine Theory, 43(11):1376–1384, 2008. doi: 10.1016/j.mechmachtheory.2007.12.009.
[9] J. Fischer and J. Strackeljan. Stability analysis of high speed lab centrifuges considering internal damping in rotor-shaft joints. Technische Mechanik, 26(2):131–147, 2006.
[10] O. Montagnier and C. Hochard. Dynamic instability of supercritical driveshafts mounted on dissipative supports – effects of viscous and hysteretic internal damping. Journal of Sound and Vibration, 305(3):378–400, 2007. doi: 10.1016/j.jsv.2007.03.061.
[11] M. Chouksey, J.K. Dutt, and S.V. Modak. Modal analysis of rotor-shaft system under the influence of rotor-shaft material damping and fluid film forces. Mechanism and Machine Theory, 48:81–93, 2012. doi: 10.1016/j.mechmachtheory.2011.09.001.
[12] P. Goldman and A. Muszynska. Application of full spectrum to rotating machinery diagnostics. Orbit, 20(1):17–21, 1991.
[13] R. Tiwari. Conditioning of regression matrices for simultaneous estimation of the residual unbalance and bearing dynamic parameters. Mechanical Systems and Signal Processing, 19(5):1082–1095, 2005. doi: 10.1016/j.ymssp.2004.09.005.
[14] I. Mayes and W. Davies. Analysis of the response of a multi-rotor-bearing system containing a transverse crack in a rotor. Journal of Vibration, Acoustics, Stress, and Reliability in Design, 106(1):139–145, 1984. doi: 10.1115/1.3269142.
[15] R. Gasch. Dynamic behaviour of the Laval rotor with a transverse crack. Mechanical Systems and Signal Processing, 22(4):790–804, 2008. doi: 10.1016/j.ymssp.2007.11.023.
[16] M. Karthikeyan, R. Tiwari, S. and Talukdar. Development of a technique to locate and quantify a crack in a beam based on modal parameters. Journal of Vibration and Acoustics, 129(3):390–395, 2007. doi: 10.1115/1.2424981.
[17] S.K. Singh and R. Tiwari. Identification of a multi-crack in a shaft system using transverse frequency response functions. Mechanism and Machine Theory, 45(12):1813–1827, 2010. doi: 10.1016/j.mechmachtheory.2010.08.007.
[18] C. Shravankumar and R. Tiwari. Identification of stiffness and periodic excitation forces of a transverse switching crack in a Laval rotor. Fatigue & Fracture of Engineering Materials & Structures, 36(3):254–269, 2013. doi: 10.1111/j.1460-2695.2012.01718.x.
[19] S. Singh and R. Tiwari. Model-based fatigue crack identification in rotors integrated with active magnetic bearings. Journal of Vibration and Control, 23(6):980–1000, 2017. doi: 10.1177/1077546315587146.
[20] S. Singh and R. Tiwari. Model-based switching-crack identification in a Jeffcott rotor with an offset disk integrated with an active magnetic bearing. Journal of Dynamic Systems, Measurement, and Control, 138(3):031006, 2016. doi: 10.1115/1.4032292.
[21] S. Singh and R. Tiwari. Model based identification of crack and bearing dynamic parameters in flexible rotor systems supported with an auxiliary active magnetic bearing. Mechanism and Machine Theory, 122: 292–307, 2018. doi: 10.1016/j.mechmachtheory.2018.01.006.
[22] D.K. Roy, and R. Tiwari. Development of identification procedure for the internal and external damping in a cracked rotor system undergoing forward and backward whirls. Archive of Mechanical Engineering, 66(2):229–255. doi: 10.24425/ame.2019.128446.
[23] M. G. Maalouf. Slow speed vibration signal analysis: if you can’t do it slow, you can’t do it fast. In Proceedings of the ASME Turbo Expo 2007: Power for Land, Sea, and Air, volume 5, pages 559–567. Montreal, Canada, 14–17 May, 2007. doi: 10.1115/GT2007-28252.
[24] C. Shravankumar, R. Tiwari, and A. Mahibalan. Experimental identification of rotor crack forces. In: Proceedings of the 9th IFToMM International Conference on Rotor Dynamics: pp. 361–371, 2015. doi: 10.1007/978-3-319-06590-8_28.
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Authors and Affiliations

Dipendra Kumar Roy
1
Rajiv Tiwari
1

  1. Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati – 781039, India.
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Abstract

The development in industrial systems leads to the augmentation in the consumption of the power. Therefore, this development makes use of multiphase machines. The use of multiphase machines caused several problems and defects. Electrical energy is mainly distributed in a three-phase system to provide the electrical power necessary for the electrical engineering equipment and materials. The sinusoidal aspect of the required original voltage primarily preserves its essential qualities for transmitting useful power to terminal equipment. When the voltage waveform is no longer sinusoidal, perturbations are encountered, which generate malfunctions and overheating of the receivers and the equipment connected to the same electrical supply network. The main disturbing phenomena are harmonics, voltage fluctuations, voltage unbalances, electromagnetic fields, and electrostatic discharges. This present work aims to study the effects of harmonic pollution and voltage unbalance on the five-phase permanent magnet synchronous machine using spectrum current analysis and wavelet transform.
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Authors and Affiliations

Ahmed Amine Kebir
1
ORCID: ORCID
Mouloud Ayad
1
ORCID: ORCID
Saoudi Kamel
1
ORCID: ORCID

  1. LPM3E Laboratory, Faculty of Sciences and Applied Sciences, University of Bouira, Algeria
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Abstract

The single-phase voltage loss is a common fault. Once the voltage-loss failure occurs, the amount of electrical energy will not be measured, but it is to be calculated so as to protect the interest of the power supplier. Two automatic calculation methods, the power substitution and the voltage substitution, are introduced in this paper. Considering the lack of quantitative analysis of the calculation error of the voltage substitution method, the grid traversal method and MATLAB tool are applied to solve the problem. The theoretical analysis indicates that the calculation error is closely related to the voltage unbalance factor and the power factor, and the maximum calculation error is about 6% when the power system operates normally. To verify the theoretical analysis, two three-phase electrical energy metering devices have been developed, and verification tests have been carried out in both the lab and field conditions. The lab testing results are consistent with the theoretical ones, and the field testing results show that the calculation errors are generally below 0.2%, that is correct in most cases.

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Authors and Affiliations

Han-miao Cheng
Zhong-dong Wang
Qi-xin Cai
Xiao-quan Lu
Yu-xiang Gao
Rui-peng Song
Zheng-qi Tian
Xiao-xing Mu
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Abstract

The increasing demand for high-speed rotor-bearing systems results in the application of complex materials, which allow for a better control of the vibrational characteristics. This paper presents a model of a rotor including viscoelastic materials and valid up to high spin speeds. Regarding the destabilization of rotor-bearing systems, two main effects have to be investigated, which are strongly related to the associated internal and external damping of the rotor. For this reason, the internal material damping is modeled using fractional time derivatives, which can represent a large class of viscoelastic materials over a wide frequency range. In this paper, the Numerical Assembly Technique (NAT) is extended for the rotating viscoelastic Timoshenko beam with fractional derivative damping. An efficient and accurate simulation of the proposed rotor-bearing model is achieved. Several numerical examples are presented and the influence of internal damping on the rotor-bearing system is investigated and compared to classical damping models.
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Authors and Affiliations

Gregor Überwimmer
1
ORCID: ORCID
Georg Quinz
1
Michael Klanner
1
ORCID: ORCID
Katrin Ellermann
1

  1. Graz University of Technology, Institute of Mechanics, Kopernikusgasse 24/IV, 8010 Graz, Austria
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Abstract

To achieve acceptable dynamical behavior for large rotating machines operating at subcritical speeds, the balancing quality check at the planned service speed in the installation location is often demanded for machines such as turbo-generators or high-speed machines. While most studies investigate the balancing quality at critical speeds, only a few studies have investigated this aspect using numerical methods at operational speed. This study proposes a novel, model-based method for inversely estimating initial residual unbalance in one and two planes after initial grade balancing for large flexible rotors operating at the service speeds. The method utilizes vibration measurements from two planes in any single direction, combined with a finite element model of the rotor to inversely determine the residual unbalance in one and two planes. This method can be practically used to determine the initial and residual unbalance after the balancing process, and further it can be used for condition-based monitoring of the unbalance state of the rotor.
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Bibliography

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Authors and Affiliations

Satish Bastakoti
1
Tuhin Choudhury
1
ORCID: ORCID
Risto Viitala
2
ORCID: ORCID
Emil Kurvinen
1
ORCID: ORCID
Jussi Sopanen
1
ORCID: ORCID

  1. Department of Mechanical Engineering, School of Energy Systems, Lappeenranta-Lahti University of Technology LUT, 53850 Lappeenranta, Finland
  2. Department of Mechanical Engineering, School of Engineering, Aalto University, 00076 Espoo, Finland
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Abstract

Vibration in rotating machinery leads to a series of undesired effects, e.g. noise, reduced service life or even machine failure. Even though there are many sources of vibrations in a rotating machine, the most common one is mass unbalance. Therefore, a detailed knowledge of the system behavior due to mass unbalance is crucial in the design phase of a rotor-bearing system. The modelling of the rotor and mass unbalance as a lumped system is a widely used approach to calculate the whirling motion of a rotor-bearing system. A more accurate representation of the real system can be found by a continuous model, especially if the mass unbalance is not constant and arbitrarily oriented in space. Therefore, a quasi-analytical method called Numerical Assembly Technique is extended in this paper, which allows for an efficient and accurate simulation of the unbalance response of a rotor-bearing system. The rotor shaft is modelled by the Rayleigh beam theory including rotatory inertia and gyroscopic effects. Rigid discs can be mounted onto the rotor and the bearings are modeled by linear translational/rotational springs/dampers, including cross-coupling effects. The effect of a constant axial force or torque on the system response is also examined in the simulation.
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Authors and Affiliations

Michael Klanner
1
ORCID: ORCID
Marcel S. Prem
1
Katrin Ellermann
1

  1. Graz University of Technology, Institute of Mechanics, Kopernikusgasse 24/IV, 8010 Graz, Austria

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