TheFocus 55 PDF
TheFocus 55 PDF
TheFocus 55 PDF
The Focus
Issue 55
Issue 55
For
decades,
ANSYS software has been
the dominant
tool for people
who make machines that spin. Turbo-machinery, motors,
shafting, all of these industries have relied
upon ANSYS for simulating various aspects of their devices. But through all of
this, one aspect of simulating rotating systems was missing needed capability - Rotor
Dynamics. The last two releases of ANSYS
(10.0 and 11.0) have largely filled in this
important area.
Before we get into the detail of the ANSYS
implementation, you may notice that this
article does not really go into detail on the
history, theory or details of the math. This
is intentional because others do a much
better job at explaining it. We recommend
that you first read a nice paper by Swanson,
Powell and Weissman called A Practical
Review of Rotating Machinery Critical
Speeds and Modes
www.sandv.com/downloads/0505swan.pdf
Next, read section 15.4 in the ANSYS The-
ory manual and Chapter 8 of the ANSYS A very simple test case is shown in the
Advanced Guide. If you want some history, Macro ROTDYN1.MAC. Use it to explore
I recommend A Brief History of Early
Rotor
Dynamics
by
Nelson
findarticles.com/p/articles/mi_qa4075/is_2
00306/ai_n9296359
some of the topics discussed below. Figure
1 shows the model.
Reading these should give you a good foundation. In the following sections we will Supported Elements
talk very briefly about some of the key After doing the homework above you will
things that PADT has learned about these see how you can add RD simulation by
tools that anyone looking to use them calculating the Coriolis Terms [G] and addshould know. But remember that this is a ing them to your damping matrix [C] as is
huge topic and before you do a RD analysis shown by the equation of motion that ANyou need to do more research and some test SYS uses:
cases.
Adding those terms for a simple pipe and
mass element is not so hard and this was
done years ago. The last two releases have
added far more general elements that allow
for much more accurate modeling, which
has been a lot of work for the programmers
in Pittsburgh. A summary is shown in
Table 1.
The CORIOLIS Command and Changing the
Solver
As many people
have found, working with arrays and
tables is nothing
like riding a bike.
One day you are
writing a complicated macro that scales tables according to
a quadratic function dependent on the table
indices, then one week later you're relearning how to use the *dim (well, maybe not
that bad).
Contents
Rotor Dynamics...............................1
Table Operations ............................1
Tension/Comp Mat Props...............5
Awesome APDL..............................6
Advertising ......................................7
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ELEMENT
BEAM4
PIPE16
MASS21
SOLID45
SOLID95
SHELL181
PLANE182
PLANE183
SOLID185
SOLID186
SOLID187
BEAM188
BEAM189
SOLSH190
SHELL281
Station- Rotating
ary Ref- Refererence
ence
Frame
Frame
The Focus
TYPE of STATIC, MODAL, HARMONIC
and TRANS, and HARMONIC and
TRANS include full and modal superposition solutions. The most common type of
RD simulation is a natural frequency simulation (modal) analysis. When the geometry is not spinning a standard modal analysis
works just fine, but when there is spinning
the Coriolis term adds those non-symmetric
terms that introduce forces to the system,
which cause the natural frequencies to split
and shift up and down (see Bearings and
Damping along with Whirling below and
the Practical Review article.) So in order
to design a rotating machine, you need to
know where your natural frequencies are at
a given speed, usually so you can avoid a
nasty excitation at some common speed. As
is shown in example one, you get a feel for
how speed effects frequency by running at
0 RPM and then several speeds up to the
maximum rotational velocity that the system will see.
culates the Coriolis terms for the appropriThe next most common simulation is a harate elements. You then use the RefFrame
monic analysis. Here you sweep through a
argument to specify if you are doing a starange of excitations where the excitation
tionary reference frame (see below).
frequency is also applied as the rotating
The only down side of applying the Coriolis frequency. Again, the Coriolis terms shift
terms in the damping matrix is that damping the frequencies, and damping plays a bigger
matrices are non-symetric, and therefore role, making such a simulation very valurequire a non-symmetric eigenvalue solver able. If your excitation is different from your
for eigenvalue problems. Fortunately, the rotating frequency, you can use the SYNQRDAMP solver has had a lot of work done CHRO command to scale it up or down.
on it and it is very fast and robust at 11.0.
Finally, many people want to know the
So
dont
forget
the
MODOPT,
loads that are exerted on structures, joints
QRDAMP,,,ON to activate the solver and
and bearings when a rotating structure rotell it to do a complex solution.
tates (think jet engine spinning on a wing
Typical RD Simulations
then the plane turns). This can be done as a
You can include the Coriolis terms in AN- static (apply IC commands to specify velocities) or transient dynamic simulation where
the Coriolis effects are
included.
Issue 55
whirling. Sometimes, the deviation can be
significant and you may end up right at an
excitation frequency.
Figure 2 shows the Campbell Diagram produced by ANSYS with the PLCAMP command. There is also a PRCAMP command.
For simple systems these commands work
great and are very quick to generate. If you
have a more complex system, you may want
to take the time to do a set, all to a file,
massage in Excel, and make your own diagram.
Stationary vs. Rotating Frames
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The Focus
for most rotor assemblies, this is still not
only the most efficient, but the most accurate method. But sometimes a system does
not lend itself to this type of approximation
and ANSYS has provided a unique solution
in the industry to address it.
A good example is the geometry shown in
Figure 4. This is an approximation of a
turbo-molecular pump that PADT worked
on a while ago. The design was never
viable because we could never get through
a critical speed do to size/bearing constraints. But one thing we found was that
spin stiffening and spin softening played an
important role along with bearing damping
and stiffness. There is no way to model that
type of geometry for rotor dynamics without
using
a
full
3D
model.
ROTDYN2.MAC is a simplified sample
problem with stress stiffening turned on.
Figure 5 shows typical results for this geometry.
Most of the examples where you would use
this geometry include rotating structures
where stress stiffening is important or
where the axisymmetric static modes in the
part may interact with whirl modes.
Random RD Thoughts
tribution dependent on other calculated values like time, speed or temperature. See the
doc on the element for more information.
One of the improvements to the software for
RD was the inclusion of the PLORB and
PRORB commands in POST1 for plotting
the whirling (or orbiting) of beam/mass RD
models. Figure 3 shows an example for
ROTDYN1.mac. In addition, you can use
the ANHARM macro to create an animation
of the whirl for beam/mass and solid RD
models. This has been a very useful tool
because some modes whirl forward and
other backward The ANHARM macro is
a great way to visualize this.
Issue 55
Full 3D Models
ftp.padtinc.com/public/downloads/roto_dy
n_focus.zip
Figure 4: 3D Representative TMP Model
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The Focus
ROTDYN1.MAC
sectyp,12,beam,csolid
secdata,dskdia/2,18
! Make elements
et,11,14,,2
et,12,14,,3
r,10,bstf
secnum,11
type,1 $mat,1
real,1
e,1,2 $e,2,3
e,3,4 $e,4,5
e,6,7 $e,7,8
e,8,9 $e,9,10
secnum,12 $e,5,6
type,11 $real,10
e,1,101 $e,4,110
type,12 $real,10
e,1,201 $e,4,210
! Fix axial and rotational DOF at ends
d,1,ux $d,1,rotx
d,4,ux $d,4,rotx
! Fix Brng ground nodes
d,101,all $d,201,all
d,110,all $d,210,all
! Plot the model
/view,1,1,1,1 $/vup,1,z
Issue 55
/eshape,1,1 $/pnum,sect,1
/num,1 $eplot
! Dummy mat props
ex,1,10e6 $nuxy,1,.23 $dens,1,.001
finish $/solu
! Setup modal run
antype,modal
coriolis,on,,,on
modopt,qrdamp,nmd,,,on
! Loop on speeds
*do,i,1,nmspn
spn = (i-1)*(mxspn/(nmspn-1))
omega,spn
mxpand,nmd,,,yes
solve
*enddo
finish
/post1
! Plot/List Campbell Diagrams
plcamp,,1,rpm
prcamp,,1,rpm
! Plot orbit
set,5,6
plorb
! Animate whirl
set,5,6
plnsol,u,sum
anharm
ROTDYN2.MAC
finish $/clear
/file,rotdyn2
/prep7
! Build model
k,1,0, $k,2,shftlen
k,3,shftlen+webthk
finish
/solu
coriolis,on,,,on ! Turn on RD
campbell,on !tell ANSYS to save rst
*do,i,1,nmspn !loop on speeds
finish
/solu
antype,static !Prestress run
pstres,on
spn = (i-1)*(mxspn/(nmspn-1))
omega,spn
solve
finish
/solu
antype,modal !Modal run
pstres,on
modopt,qrdamp,nmd,,,on
mxpand,nmd
solve
*enddo
save
finish
/post1
/view,1,-1,1,1
/vup,1,z
/dist,1,2.937
/focus,1,1.25,.43,0
set,nmspn,3
plnsol,u,sum,1 ! Plot mode shape
anharm
! Animate whirling
k,4,0,shftrad
k,5,shftlen,shftrad
k,6,shftlen+webthk,shftrad
k,7,0+conoff,conir1
k,8,shftlen,conir2
k,9,shflen+webthk,conir2
k,10,0+conoff,conor1
k,12,shftlen+webthk,conor2
k,13,kx(3)+stblen
k,14,kx(3)+stblen,shftrad
a,1,13,14,6,12,10,7,8,5,4
adel,all
lfill,8,9,.25 $lfill,7,8,.25
lfill,3,4,.25 $lfill,4,5,.5
al,all
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nsel,a,,,40000
rbe3,40000,rotx,all
cmsel,s,nfx2
nsel,a,,,40001
rbe3,40001,rotx,all
nall
! Dummy mat props
ex,1,10e6 $nuxy,1,.23
dens,1,.001
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The Focus
(Table, cont.)
The fix is to copy DougTable to another
want you to modify the first 3 rows or your temporary table (created using *dim).
table, set your starting point to be the fourth Then, simply set the stored to location
row (i.e. *voper,tablename(4,i),... where i is parameter of the *voper command to be
the column number).
DougTable, as shown below:
This built-in looping of the *v commands
can cause problems if you want to apply
different operations to different rows of
your table. For example, say you wanted to
modify an existing table that is graphically
shown as DougTable.
*dim,d_temp,table,5,5
*mfun,d_temp(0,0),copy,D
ougTable(0,0)
*get,d_column,parm,'doug
table',dim,
*do,i,1,d_column
Issue 55
*voper,DougTable(1,i),d_
temp(1,i),mult,2
*voper,DougTable(3,i),d_
temp(3,i),sub,10
*enddo
A little practice and creativity can help you
to further expand on this macro. Ultimately, you can move your get to the front of the
macro to pull the x (row) and y (columns)
dimensions of your table and use those to
define your temporary table. To really
show off to your fellow analysts (because if
your spouse isn't an engineer, they definitely won't appreciate it just ask my wife),
you can use Jeff Strain's *Varying your
*Vwrite (July 2004) to make your script
more flexible in handling table names and
different scaling operations.
Back in release 9.0, some significant improvements were made to the Cast-Iron
material model. The most remarkable feature of this material model is the ability to
implement different tensile vs. compressive
plasticity curves. However, this capability
can be expanded (with a little effort) to
model a different compressive vs. tensile
modulus by tweaking the plasticity curve.
TB,UNIAXIAL,1,1,3 ,COMPRESSION
TBTEMP,10
TBPT,,0.203E-02,0.300E+05
TBPT,,0.500E-02,0.500E+05
TBPT,,
To extend this power further, one can essentially model materials with unequal tensile
and compressive modulus. Of course the
problem is non-linear, so there is a penalty
here, but it is a fairly cheap resolution to the
case where the moduli are unequal.
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The Focus
Issue 55
course this is how the ANSYS gui disSeveral times now Ive posted emails plays it, but I wanted to be able to
looking for some special graphics easily send these mesmerizing videos
script, such as a custom animation, and to the customer.
each time someone has to remind me It was a simple change to make the 2nd
that I can edit the ANSYS scripts them- half of the capture loop backward. The
selves. Not every command is a script, first part of the code to the right shows
but the animation actions are. There is the original APDL chunk that sets the
a collection of them in the installation distortion scale factor (DSC) and does
directory. ANMODE.MAC is a good the replot. In the second half, an *if
example for mode shapes.
statement is added that scales forward
One thing Ive never liked is that it
only shows the 1st half of the modal
cycle in the .avi file. I want it to show
the expansion AND contraction cycle.
That way I can put the created .avi file
loop-play in a media player and stare
ad infintum at the gracefully moving
image. Ahhh, peace at last Of
(tension/compression, cont.)
MPTEMP,,,,,,,,
MPTEMP,1,0
MPDATA,EX,1,,10e6
MPDATA,PRXY,1,,.3
TB,CAST,1,,,ISOTROPIC
TBDATA,1,0.04
TB,UNIAXIAL,1,1,3,TENSION
TBTEMP,10
TBPT,,1e-6,10e6*1e-6
!NOTE the -1 for slightly
! decreasing slope
tbpt,,1e-5,10e6*1e-5-1
Start
Feb '07
26-Feb
Tempe, AZ
Mar '07
8-Mar
9-Mar
Tempe, AZ
12-Mar
19-Mar
Tempe, AZ
28-Mar
Tempe, AZ
Apr '07
May '07
End
Title
LV., NV
4-Apr
Tempe, AZ
5-Apr
6-Apr
Tempe, AZ
9-Apr
11-Apr
Tempe, AZ
12-Apr
13-Apr
Tempe, AZ
16-Apr
18-Apr
Tempe, AZ
18-Apr
19-Apr
Tempe, AZ
25-Apr
27-Apr
Tempe, AZ
2-May
4-May
7-May
8-May
LV, NV
Tempe, AZ
~tcl,'ansys::report::animImage'
*ELSE ! } {
/REPLOT
*ENDIF ! }
_DSC=_DSC-_DDD
*ENDDO
!--!COM
!COM
!COM
~tcl,'ansys::report::animImage'
*ELSE ! } {
/REPLOT
*ENDIF ! }
*if,_i,lt,AR11/2,then
_DSC=_DSC-_DDD*2
*else
_DSC=_DSC+_DDD*2
*endif
*ENDDO
!NOTE the -2 for slightly
! decreasing slope
tbpt,,1e-1,10e6*1e-1-2
TB,UNIAXIAL,1,1,3,COMPRESSION
TBTEMP,10
TBPT,,1e-6,10e6*1e-6
!NOTE the -1 for slightly
! decreasing slope
tbpt,,1e-5,5e6*1e-5-1
!NOTE the -2 for slightly
! decreasing slope
TBPT,,1e-1,5e6*1e-1-2
nsubst,1,1,1
solve
Location
2-Apr
!--!COM
!COM
!COM
Links
News
The Focus is a periodic publication of Phoenix Analysis & Design Technologies (PADT).
Its goal is to educate and entertain the worldwide ANSYS user community. More information on this publication can be found at: http://www.padtinc.com/epubs/focus/about
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Issue 55
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Advertising Page
Visit:
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