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Preface page ix
Nomenclature xi
1 Introduction 1
1.1 Subject 1
1.2 Cavitation 1
1.3 Unsteady Flows 2
1.4 Trends in Hydraulic Turbomachinery 3
1.5 Book Structure 4
2 Basic Principles 5
2.1 Geometric Notation 5
2.2 Cascades 8
2.3 Flow Notation 11
2.4 Specific Speed 12
2.5 Pump Geometries 13
2.6 Energy Balance 14
2.7 Noncavitating Pump Performance 18
2.8 Several Specific Impellers and Pumps 19
3 Two-Dimensional Performance Analysis 22
3.1 Introduction 22
3.2 Linear Cascade Analyses 22
3.3 Deviation Angle 27
3.4 Viscous Effects in Linear Cascades 28
3.5 Radial Cascade Analyses 30
3.6 Viscous Effects in Radial Flows 34
v
vi Contents
4 Other Flow Features 37
4.1 Introduction 37
4.2 Three-Dimensional Flow Effects 37
4.3 Radial Equilibrium Solution: An Example 40
4.4 Discharge Flow Management 44
4.5 Prerotation 47
4.6 Other Secondary Flows 51
5 Cavitation Parameters and Inception 55
5.1 Introduction 55
5.2 Cavitation Parameters 55
5.3 Cavitation Inception 58
5.4 Scaling of Cavitation Inception 62
5.5 Pump Performance 63
5.6 Types of Impeller Cavitation 65
5.7 Cavitation Inception Data 70
6 Bubble Dynamics, Damage and Noise 78
6.1 Introduction 78
6.2 Cavitation Bubble Dynamics 78
6.3 Cavitation Damage 83
6.4 Mechanism of Cavitation Damage 85
6.5 Cavitation Noise 88
7 Cavitation and Pump Performance 96
7.1 Introduction 96
7.2 Typical Pump Performance Data 96
7.3 Inducer Designs 102
7.4 Inducer Performance 104
7.5 Effects of Inducer Geometry 108
7.6 Analyses of Cavitation in Pumps 111
7.7 Thermal Effect on Pump Performance 114
7.8 Free Streamline Methods 122
7.9 Supercavitating Cascades 125
7.10 Partially Cavitating Cascades 127
7.11 Cavitation Performance Correlations 134
8 Pump Vibration 137
8.1 Introduction 137
8.2 Frequencies of Oscillation 140
8.3 Unsteady Flows 143
Contents vii
8.4 Rotating Stall 146
8.5 Rotating Cavitation 149
8.6 Surge 151
8.7 Auto-Oscillation 153
8.8 Rotor-Stator Interaction: Flow Patterns 158
8.9 Rotor-Stator Interaction: Forces 159
8.10 Developed Cavity Oscillation 164
8.11 Acoustic Resonances 166
8.12 Blade Flutter 167
8.13 Pogo Instabilities 169
9 Unsteady Flow in Hydraulic Systems 172
9.1 Introduction 172
9.2 Time Domain Methods 173
9.3 Wave Propagation in Ducts 174
9.4 Method of Characteristics 177
9.5 Frequency Domain Methods 179
9.6 Order of the System 180
9.7 Transfer Matrices 181
9.8 Distributed Systems 183
9.9 Combinations of Transfer Matrices 184
9.10 Properties of Transfer Matrices 184
9.11 Some Simple Transfer Matrices 188
9.12 Fluctuation Energy Flux 191
9.13 Non-Cavitating Pumps 195
9.14 Cavitating Inducers 198
9.15 System with Rigid Body Vibration 207
10 Radial and Rotordynamic Forces 209
10.1 Introduction 209
10.2 Notation 210
10.3 Hydrodynamic Bearings and Seals 214
10.4 Bearings at Low Reynolds Numbers 215
10.5 Annulus at High Reynolds Numbers 220
10.6 Squeeze Film Dampers 221
10.7 Turbulent Annular Seals 222
10.8 Labyrinth Seals 229
10.9 Blade Tip Rotordynamic Effects 230
10.10 Steady Radial Forces 232
10.11 Effect of Cavitation 241
10.12 Centrifugal Pumps 241
viii Contents
10.13 Moments and Lines of Action 246
10.14 Axial Flow Inducers 249
Bibliography 253
Index 267
Preface
This book is intended as a combination of a reference for pump experts and a monograph
for advanced students interested in some of the basic problems associated with
pumps. It is dedicated to my friend and colleague Allan Acosta, with whom it has
been my pleasure and privilege to work for many years.
But this book has other roots as well. It began as a series of notes prepared for
a short course presented by Concepts NREC and presided over by another valued
colleague, David Japikse. Another friend, Yoshi Tsujimoto, read early versions of the
manuscript and made many valuable suggestions.
It was a privilege to have worked on turbomachinery problems with a group of talented
students at the California Institute of Technology, including Sheung-Lip Ng,
David Braisted, Javier Del Valle, Greg Hoffman, Curtis Meissner, Edmund Lo,
Belgacem Jery, Dimitri Chamieh, Douglas Adkins, Norbert Arndt, Ronald Franz,
Mike Karyeaclis, Rusty Miskovish, Abhijit Bhattacharyya, Adiel Guinzburg, and
Joseph Sivo. I recognize the many contributions they made to this book.
In the first edition, I wrote that this work would not have been possible without the
encouragement, love, and companionship of my beloved wife Doreen. Since then fate
has taken her from me and I dedicate this edition to our daughters, Dana and Kathy,
whose support has been invaluable to me.
Christopher E. Brennen
California Institute of Technology
January 2010
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