ASME Turbo Expo 2009: Power for Land, Sea, and Air Thermohydrodynamic Analysis of Bump Type Gas Foil Bearings: A Model Anchored to Test Data Luis San Andrés Mast-Childs Professor Tae Ho Kim Research Associate Texas A&M University ASME GT2009-59919 Accepted for J. Eng. Gas Turbines Power (In-Press) This material is based upon work supported by NASA Research Announcement NNH06ZEA001N-SSRW2, Fundamental Aeronautics: Subsonic Rotary Wing Project 2 # 32525/39600/ME and the Turbomachinery Research Consortium Gas Foil Bearings – Bump type Series of corrugated foil structures (bumps) assembled within a bearing sleeve. Integrate a hydrodynamic gas film in series with one or more structural layers. PROVEN TECHNOLOGY!! Applications: Aircraft ACMs, micro gas turbines, turbo expanders, turbo compressors, Damping from dry-friction and operation with limit cycles Tolerant to misalignment and debris, also high temperature Need coatings to reduce friction at start-up & shutdown Often need cooling flow for thermal management of rotor-GFB system Gas Foil Bearings (+/-) Increased reliability: large load capacity (< 100 psi) No lubricant supply system, i.e. reduce weight High & low temperature capability (up to 1,200º F) No scheduled maintenance with increased life Less load capacity than rolling or oil bearings Thermal management (cooling) issues Little test data for rotordynamic force coefficients Predictive models lack validation. Difficulties in accessing full test data – geometry and operating conditions Overview – GFB computational models Heshmat (1983), Carpino and Talmage (2003, 2006), Kim and San Andrés (2005, 2007), Lee, et al. (2006), Le Lez, et al. (2008): Predict static/dynamic performance of bump-type GFBs with isothermal flow model and simple to complex foil models Thermohydrodynamic (THD) model predictions: Salehi et al. (2001): Couette flow approximation to estimate bearing temperatures. Peng and Khonsari (2006): Thermal management of GFB from cooling gas stream underneath top foil. Le Lez et al. (2007): Nonlinear elastic bump model. THD model predicts larger load capacity than isothermal flow model. Feng and Kaneko (2008), San Andrés and Kim (2009): FE top foil & support structure model. Predicted bearing temperatures in agreement with test data (Radil and Zeszotek, 2006), obtained at room temperature (~21°C) without cooling flow. Overview – Rotordynamic measurements Ruscitto et al (1978): Load capacity tests on simple GFB. Full test data & bearing geometry Heshmat (1994): Demonstrates maximum speed of 132 krpm, i.e. 4.61 ×106 DN. Ultimate specific load (~100 psig). Most designs operate at 10 psig or below. DellaCorte and Valco (2000): Review open literature and estate Rule of Thumb to estimate load capacity of GFBs. San Andrés et al. (2006, 2008): Large imbalances cause subsync. whirl motions due to FB structure hardening. Radil and Zeszotek (2006): Measure temperatures in foil bearing operating with changes in load and rotor speed. Salehi et al. (2001) : Measure temperatures in foil bearing operating with axial cooling stream flow. Foil Bearing Research at TAMU 2003-2009: Funded by NSF, Capstone Turbines, NASA GRC, Turbomachinery Research Consortium Test Gas Foil Bearing (Bump-Type) Generation II. Diameter: 38.1 mm 25 corrugated bumps (0.38 mm of height) Reference: DellaCorte (2000) Rule of Thumb T∞ THD model GFB with cooling flows Outer flow stream x z Bearing housing “Bump” layer Bearing housing Top foil PCo, TCo Pa Thin film flow (inner and outer) ΩRSo PCi, TCi Inner flow stream Y Z z=0 z=L X Hollow shaft Gas film Reynolds equation with inlet swirl effect 3 Pf h3f Pf Pf h f Pf Pf h f U m ( z ) x 12 f gT f x z 12 f gT f z x gT f THD model governing equations Side view of GFB with hollow shaft X=RΘ Top foil Bump strip layer Hollow shaft Y Thin film flow - Gas viscosity, v T - Gas Specific heat (cp) and thermal conductivity (κg) at an effective temperature Bearing housing External fluid medium X P T g Inner flow stream Outer flow stream Ω - Ideal gas with density, Bulk-flow film temperature transport: f hf U f Tf f hf Wf Tf h fF T f TF hSf TS T f cpf i o x z Pf Pf 12 f 2 1 2 U f h f Wf hf W U U U f m f m x z h 3 f Convection of heat by fluid flow + diffusion to bounding surfaces = compression work + dissipated energy Numerical solution procedure Configuration of control volume for integration of flow equations (Ψ = Pf or Tf) x Bulk-flow equations of continuity, momentum and energy transport x M e M w M n M s S ΨN Axial direction Mn ΨW Ψw Mw Ψn ΨP Ψs Ms Control volume Ψe Me z (n, s, e, w denote the north, south, east and west faces ) ΨE 1 Conservation of mass equation U x Transport of circ. momentum velocity z ΨS Circumferential direction Subscripts E,W,N,S for east, west, north, and south nodes; and subscripts e,w,n,s for east, west, north, and south faces of control volume U z Transport of axial momentum velocity T Transport of energy S : Source term Numerical solution of Reynolds and thermal energy transport equations implement exact advection control volume model (Faria and San Andrés, 2000) Ω Heat flux paths in rotor - GFB system Heat flow model Heat conduction through shaft RSi QCi RSo Hollow shaft TCi TSi QSC Heat carried by inner flow QSi stream RFi RFo Top foil Bump layer RBo Bearing housing External fluid dӨ Ω TS TSo Tf QCo QSo QS f TFi TFo Qf F TO QF TBi Q Heat F O carried by thin film flow RBi QB Drag dissipation power (gas film) TBo QF Bi QB QOBi QB Heat carried by outer flow stream Simple representation in terms of thermal resistances within a GFB supporting a hot hollow shaft T∞ Heat conducted into the bearing Cooling gas stream carries away heat Q =Rq : Heat (+) : Heat (-) Equivalent heat transfer coefficients Without outer cooling flow stream : Heat transfer from film flow to outer bearing cartridge 1 heqB 1 1 F h fF RBi hFo hBo tF RFi 1 B RFi F RBeq Gas film -> top foil -> 1 R RFi ln Bo RBi bump strip layer B RFi hB RBo -> bearing cartridge With outer cooling flow stream (simplified model) : Heat transfer from film flow to outer cooling flow 1 heqO RFi tF 1 h fF F RFo hFO Gas film -> top foil -> outer cooling flow With inner cooling flow stream : Heat transfer from film flow to inner cooling flow RSi RSo ln RSo 1 1 S heqc hSf RSo hSc RSi Gas film -> hollow shaft -> inner cooling flow Thermal energy mixing process At gap in between trailing and leading edge of top foil. R Inlet (mixing) air flow Fresh air flow Recirculation air flow Ω mup Tup top foil Upstream end (trailing edge) mInlet TInlet msupply Tsupply Thin foil Journal Y Structural bump Housing top foil X Downstream pad (leading edge) mass conservation and energy balances at feed gap: mInlet = mup mSupply mInletTInlet = mupTup + mSupplyTSupply λ : empirical thermal mixing coefficient enforced. Top foil detachment doest not allow for gas Pf Pa film pressure to fall below ambient pressure. No ingress of fresh gas Balance of thermal energy transport Width of arrow denotes intensity of energy transport 11 % Advection of heat by gas film flow Conduction into bearing cartridge 2% Dissipated energy + compression work Forced heat convection into outer cooling stream 100% Heat conduction into shaft 5 % Example only 82 % Model Validation: geometry & operating conditions GFB model: Generation I GFB with single top foil and bump strip layer Parameters Value / comment Parameters Value Gas properties at 21 °C Bearing cartridge Bearing inner radius 25 mm Ref. [7] Gas Constant Bearing length 41 mm Ref. [7] Viscosity Bearing cartridge thickness 5 mm Assumed Nominal radial clearance 20 μm Assumed Top foil and bump strip layer Conductivity 287 J/(kg-°K) 10-5 Pa-s 0.0257 W/m°K Density 1.164 kg/m3 Top foil thickness 127 μm Ref. [21] Specific heat 1,020 J/kg°K Bump foil thickness 127 μm Ref. [21] Ambient pressure 1.014 x 105 Pa Bump half length 1.778 mm Assumed Bump pitch 4.064 mm Assumed Bump height 0.580 mm Assumed Number of bumps x strips Bump foil Young’s modulus Bump foil Poisson’s ratio Bump foil stiffness Gas viscosity, density & conductivity, foil material props., and clearance change with temperature 39 x 1 Assumed 200 GPa 0.31 10.4 GN/m3 Ref. [7, 21]: Radil and Zeszotek, 2004 Dykas and Howard, 2004 Predicted peak film temperature Ω Load 240 Peak temperature [° C] 50,000 rpm 200 40,000 rpm Tshaft=Tbearing =Tambient = 21 °C 160 30,000 rpm 120 20,000 rpm 80 40 Test data (Mid-plane) 0 0 50 100 Static load [N] 200 Series4 Comparison to test data (Radil 50,000 rpm and Zeszotek, 2004) Test data - 30 krpm 40,000 rpm Test data - 40 krpm Predictions (Mid-plane) 150 Static load (vertical:180°) Test data - 50 krpm rpm °C 30,000 TSupply =21 250 300 Series10 20,000 rpm Predictions - 30 krpm20um_0.6_20 W/LD= 16 psi= 1.1 data Testbar Predictions Predictions - 40 krpm20um_0.6_20 (Mid-plane) (Mid-plane) Peak film temperature grows as static load increases and as rotor Predictions - 50 krpm20um_0.6_20 speed increases. Peak film temperatures higher than ambient temperature, even for small load of 9 N. Mid-plane & edge film temperatures Ω Load Peak temperature [° C] 240 200 Predictions (Mid-plane) Predictions (Edge) 160 40,000 rpm Tshaft=Tbearing =Tambient = 21 °C Static load (vertical:180°) . 120 20,000 rpm 80 Predictions Comparison to test data (Radil Series4 Predictions (Mid-plane) 40,000 rpmand Zeszotek, 2004) (Edge)Series7 40 Test data (Mid-plane) Test data (Edge) 0 Test data - 40 krpm Series5 TSupply20,000 =21 rpm °C Series10 0 50 100 150 200 250 300 Series3 Static load [N] Test Test data data (Mid-plane) Predictions - 40 (Edge) krpm- 20um_0.6_20 (axial Difference in film temperatures at mid-plane and edge Series1 thermal gradient) increases as rotor speed increases. Higher film temperatures at bearing mid-plane evidence absence of axial cooling flow path Film axial temperature Ω Load Temperature [°C] 200 Test data Test data Predictions Tshaft=Tbearing =Tambient = 21 °C 40,000 rpm 150 Static load 133 N (vertical: Predictions 180°) for rotor speeds: 20 - 40 30,000 rpm 100 40,000 rpmSerie 20,000 rpm krpm. s8 W/LD= 9.5 psi= 0.64 bar Serie s4 30,000 rpmSerie s5 50 Comparison to test data (Radil Serie s7 20,000 rpm and Zeszotek, 2004) Serie s3 TSupply=21 °CSerie s1 0 1 Side edge (rear) 6 AxialMid-plane node 11 number 16 Side edge 21 (front) - Edges Film temperature is maximum at bearing mid-plane, and drops slightly at side edges (circumferential angle ~190°). Predictions in good agreement with test values More predictions of GFB performance Gas film (a) pressure and (b) temperature fields Dimensionless pressure, p/pa (a) Pressure Ω Load Axial node number Circumferential angle [deg] Temperature [° C] P (b) (b) Temperature Temperature Axial node number Circumferential angle [deg] Static load: 89N 20 krpm W/LD= 6.32 psi= 0.43 bar Tshaft=Tbearing =Tambient = 21 °C 0 < θ < 200 °: Temperature rises due to shear induced mechanical energy θ > 200 °: Temperature drops due to gas expansion (cooling gas film) Dimensionless pressure, p/pa Film pressure and temperature at mid-plane 3 222 N (a) Pressure 222 N 2.5 178 N 133 N 89 N 44 N 9N 2 1.5 1 178 N Static load increases 133 load N Static increases 89 N Tshaft=Tbearing =Tambient = 21 °C 44 N 9N Predictions - 40 krpm20um_0.6_20 Series1 Ω Load 0.5 Series2 0 Series3 0 90 180 270 360 120 Temperature [° C] At 20 krpm Circumferential angle [deg] (b) Temperature Static load 222 N 100 increases 178 N 133 N 89 N 44 N 9N 80 60 Series4 Series5 Both peak pressure and Static load increases temperature increase as static load increases. Predictions - 40 krpm20um_0.6_20 Series1 222 N 40 Note peak film temperature at trailing 133 N 89 N edge of top foil with 44 N smallest load of 9 N. 178 N Series2 TSupply=21 °C 20 0 90 180 270 Circumferential angle [deg] 360 Series3 Series4 Series5 Radial peak temperature profile Ω Load Tf TSi TSo 80 TFo TBi TBo 70°C 67°C 70 68°C Tshaft=Tbearing =Tambient = 21 °C 60 50 Static load 89 N rotor speed= 20 krpm 40 30 Ω Temperature [°C] TFi 20 10 TCi T∞ TCo Radial direction 0 So 1 1. 2 2.RSi 3 3. 4 R4. 5RFi 5.RFo 6 R6.Bi 7 7. RBo8 8. 9 5 5 5 5 5 5 5 5 Hollow shaft Top foil Bump layer Radial location Bearing housing External fluid dӨ Natural convection on exposed surfaces of bearing OD and shaft ID Without forced cooling streams, GFB shows nearly uniform radial temperature distribution. Predicted static load performance Ω Load Isothermal 20 THD c' = 17 μm 15 25 20 15 10 THD 5 10 5 Isothermal 0 0 0 50 100 150 200 250 Minimum film thickness [μm] Journal eccentricity [μm] 25 Isothermal THD 40 krpm Tshaft=Tbearing =Tambient = 21 °C c' = 17 μm THD Series7 Series5 Isothermal 300 Series2 Static load [N] W/LD= 16 psi= 1.1 bar Series1 As static load increases, journal eccentricity increases and minimum film thickness decreases. Larger minimum film thickness (smaller journal eccentricity) for THD model . Predicted static load performance Ω Load 0.03 80 70 THD 60 0.02 Isothermal 50 40 30 0.01 20 Drag torque [N-m] Journal attitude angle [deg] 90 40 krpm Tshaft=Tbearing =Tambient = 21 °C Series5 Isothermal 10 Series7 THD 0 0 50 100 150 200 Static load [N] 250 0.00 300 Series1 W/LD= 16 psi= 1.1 bar Series2 As static load increases, journal attitude angle decreases and drag torque slightly increases. Larger drag torque and smaller journal attitude angle for THD model . Conclusions ASME GT2009-59919 GFB model with thermal energy transport, axial cooling flow, and thermoelastic deformation of top foil and bump strip layers Predicted film peak temperature increases as static load increases and as rotor speed increases Difference in predicted film temperatures at mid-plane and edge (axial thermal gradient) increases as rotor speed increases. THD model predicts smaller journal eccentricity (larger minimum film thickness) and larger drag torque than isothermal flow model Model predictions benchmarked against published test data !! 09 AHS paper shows predictions with cooling flow and rotordynamic measurements in a HOT rotor-GFB test rig Acknowledgments NASA GRC NASA Research Announcement NNH06ZEA001N-SSRW2, Fundamental Aeronautics: Subsonic Rotary Wing Project 2 # 32525/39600/ME Thanks to Dr. Samuel Howard for his interest and support Turbomachinery Research Consortium Learn more: Visit http://phn.tamu.edu/TRIBGroup More predictions Forced cooling flows - Film temperature Temperature [°C] Temperature field Tshaft=Tbearing =Tambient = 21 °C Ω Static load 89 N (vertical) rotor speed= 20 krpm. Load (a) Without cooling flow Temperature field Axial node number Circumferential angle [deg] Temperature [°C] T (b) Outer cooling flow (350 lit/min) Outer cooling flow Bearing cartridge Hollow shaft Ω Temperature field Axial node number T Temperature [°C] T Axial node number Circumferential angle [deg] (c) Inner (350 lit/min) and outer (350 lit/min) cooling flows Bearing cartridge Outer cooling flow Hollow shaft Inner cooling flow Circumferential angle [deg] Ω With forced cooling streams, inlet gas film temperature at ~ 0 deg (top foil leading edge) and peak film temperature at ~ 200 deg decrease significantly Radial peak temperature profiles Ω Load Tf TSi TSo 80 TFo TBi TBo 70°C 66°C 70 68°C Tshaft=Tbearing =Tambient = 21 °C (a) Without cooling flow 60 Static load 89 N (vertical) rotor speed= 20 krpm 50 40 38°C 30 33°C 20 10 (b) Outer cooling flow (350 lit/min) 40°C 38°C Ω Temperature [°C] TFi TCi 37°C 35°C T∞ TCo (c) Inner (350 lit/min) and outer (350 lit/min) cooling flows Radial direction 0 So 1 1. 2 2.RSi 3 3. 4 R4. 5RFi 5.RFo 6 R6.Bi 7 7. RBo8 8. 9 5 5 5 5 5 5 5 5 Hollow shaft Top foil Bump layer Radial location Bearing housing External fluid dӨ Natural convection on exposed surfaces of bearing OD and shaft ID With forced cooling streams, GFB operates 30 °C cooler. Outer cooling stream is most effective to take away heat from the back of the top Foil. Advection of heat by gas film flow - AXIAL (20.2 W) (a) Without cooling flow 57.5% Heat conduction into bearing cartridge (3.09 W) Mechanical dissipated energy (43.35 W) + compression work (-8.23 W) = 8.8% Natural heat convection into outer gap (4.11 W) 35.12 W Static load 89 N (vertical) rotor speed= 20 krpm 11.7% 100% Heat conduction into shaft (7.72 watt) 22.0% (b) Outer cooling flow (350 lit/min) 11.2% Ω Load 1.5% 81.9 % Forced heat convection into outer cooling stream (23.46 W) work (- 7.64 W) = 28.66 W Heat conduction into shaft (1.57 W) 5.5 % (c) Inner (350 lit/min) and outer (350 lit/min) cooling flows Conduction into bearing cartridge (0.35 W) 1.2% 67.4 % Forced convection to outer cooling stream (19.53 W) 28.46 W 100% 19.5% Without cooling flow stream, ~ 58% of heat carried by gas film flow. ~12% convected naturally at back of top foil. ~ 31% conducted into bearing and shaft With outer cooling flow stream, 11.9% Advection of heat by gas flow (3.39 W) Dissipated energy (36.06 W) + compression work (-7.60 W) = Tshaft=Tbearing =Tambient = 21 °C Advection of heat by gas film flow (3.21 W) Conduction into bearing cartridge ( 0.43 W) Dissipated energy (36.31 W) + compression 100% Thermal energy transport & balance Conduction thru shaft and forced convection into inner cooling stream (5.55 W) ~11% of heat advected by the gas film. ~82% carried by outer cooling stream. ~ 7% conducted into bearing and shaft. Inner cooling flow stream aids to further cool gas film Effect of strength of cooling stream Cooling flow rate increases Peak temperature [° C] Laminar flow 150 Outer cooling flow 100 ReD = 2300 No cooling flow Static load 89 N (vertica) rotor speed= 20 krpm Turbulent flow Tshaft=Tbearing = Tambient = 21 °C 40,000 rpm 50 Inner and outer cooling flows 20,000 rpm TSupply=21 °C 0 0 100 200 300 400 Cooling flow rate [lit/min] Peak film temperature decreases with strength of cooling stream. Sudden drop in temperature at ~ 200 lit/min (flow transitions from laminar to turbulent flow conditions) TAMU Hot GFB Rotordynamic Test Rig Hot GFB rotordynamic test rig Test rig with a cartridge heater and instrumentation for operation at high temperature Infrared thermometer Insulated safety cover Tachometer Eddy current sensors Hot heater inside rotor spinning 30 krpm Drive motor Cartridge heater Test hollow shaft (1.1 kg, 38.1mm OD, 210 mm length) Test GFBs Flexible coupling Drive motor (max. 65 krpm). Cartridge heater max. temperature: 360C Air flow meter (Max. 500 L/min), Schematic view of instrumentation Drive end (DE) GFB Free end (FE) GFB Insulated safety cover 45º 45º T1 T2 T6 g g Ω Ω Tamb T7 T9 T4 T3 T12 T11 T5 Hollow shaft T8 T10 Coupling cooling air Th T16 T14 T15 Drive motor Cartridge heater Heater stand Cooling air T13 Foil bearings 15 thermocouples : (4x2) GFB cartridges, (2) Bearing support housing surface, (3) Drive motor, (1) Test rig ambient and (1) Cartridge heater + Two noncontact infrared thermometers for rotor surface temperature Cooling gas flow into GFBs Side feed gas pressurization (Max. 100 psi) AIR SUPPLY Typically foil bearings DO not require pressurization. Cooling flow needed for thermal management to remove heat from drag or to reduce thermal gradients in hot/cold engine sections Effect of cooling flow on heater temperature High temp. (heater up to 360C). Cooling flow up to 150 L/min Fixed rotor speed : 30 krpm heater temperature 400 21C Heater temperature, Th [ºC] 350 100C 360C 300C 200C Th 300 No cooling& 50L/min No cooling Free End 100L/min Drive End T1 T6 200L/min 300L/min T11 250 200 100L/min 150 150L/min Th Due to limited heater power 100 T11 50 0 0 20 40 60 80 100 120 Time [min] Cooling rates > 100 LPM cool the heater! T12 Effect of cooling flow on bearing temperatures High temp. (heater up to 360C). Cooling flow up to 150 L/min Bearings temperature raises Fixed rotor speed : 30 krpm 70 Cooling method is effective for flows above 100 L/min and when heater at highest temperature 21C Temperature rise [ºC] 60 100C 360C 300C 200C T1-Tamb 50 T6-Tamb 40 T1-Tamb Cooling flow increases 30 T6-Tamb 20 T1-Tamb 10 T6-Tamb Th Free End T1 Drive End T6 0 0 20 40 60 Time [min] T11 T12 80 100 120 T T T1: FEflow GFB cartridge outboard Effect of cooling on bearing temperature T6: DE GFB cartridge outboard High temp. (heater up to 360C). Cooling flow up to 150 L/min Fixed rotor speed : 30 krpm 35 Cooling flow increases 30 Series3 Turbulent flow > 100 LPM Series2 Series4 Series1 Temperature rise [ºC] 25 Series6 200C Series7 T6-Tamb 20 T1-Tamb 15 100C 10 No heating 5 Cartridge temperature (Ths) increases 0 0 50 100 150 Th Free End T1 Drive End T6 Cooling flow rate [L/min] Bearing cartridge temperature T11 T12 Rotor OD temperature decreases with cooling flow rate. TAMU predictions vs test data Heat flux 60 DE Shaft and GFB Bearing temperature rise [ºC] (Shaft → bearing, Shaft → outer stream) 45 ° 50 Hot shaft No cooling DE GFB-test data (Isothermal) Θ DE GFB-predictionsOuter cooling 40 stream Predictions 30 Series1 Ω Series2 50L/min Test data Series5 20 125L/min 100L/min g Series6 Y Spot weld Bump strip layer Top foil Bearing cartridge Series7 10 X 150L/min Series8 0 0 20 40 60 Shaft temperature rise [ºC] 80 100 Measurements at cartridge outboard #T6. TCo~21 °C. Static load ~ 6.5 N, 30 krpm Bearing & rotor cartridge temperatures Code Executable & GUI : for licensing by TAMU Graphical User Interface (GUI) Graphical User Interface (GUI) INPUT DATA Graphical User Interface (GUI) OUTPUT DATA ch 2nd GEN GAS FOIL BEARING Radial temperature distribution Radial direction Foster-Miller Tech 2nd GEN GAS FOIL BEARING Peak temperature vs Load Peak Temperature Peak Temp 160.0 240.0 Mean Temp Peak temperature [degC] 140.0 120.0 100.0 80.0 60.0 40.0 Ω Temperature [degC] 180.0 20.0 0.0 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 Radial location Hollow shaft Top foil Bump Bearing layer housing External fluid 200.0 160.0 120.0 80.0 40.0 dӨ 0.0 0.00 10.00 20.00 30.00 40.00 Load-X [N] 50.00 60.00 70.00
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