1, Balancing of Rotating Masses Dynamics of Machinery (2161901) 1.4 Introduction = Often an unbalance of forces is produced In rotary or reciprocating machinery due to the inertia forces associated with the moving masses. Balancing is the process of designing or modifying machinery so that the unbalance is reduced to an acceptable level and if possible is eliminated entirely. rare? Fig. 1.1 — Aparticle or mass moving in a circular path experiences a centripetal acceleration and a force is required to produce it. An equal and opposite force acting radially outwards acts on the axis of rotation and is known as centrifugal force (Fig. 1.1(a)]. ~ This isa disturbing force on the axis of rotation, the magnitude of which is constant, but the direction changes with the rotation of the mass. = Ina revolving rotor, the centrifugal force remains balanced as long as the centre of the mass of the rotor lies on the axis of the shaft. When the centre of mass does not fie on the axis or there is an eccentricity, an unbalanced force is produced {Fig. 1.1(b)]. This type of unbatance is very common. For example, in steam turbine rotors, engine crankshafts, rotary compressors and centrifugal pumps. Most of the serious problems encountered in high-speed machinery are the direct | result of unbalanced forces. These forces exerted on the frame by the moving machine members are time varying, impart vibratory motion to the frame and| (Vo produce noise. Also, there are human discomfort and detrimental effects on the machine performance and the structural integrity of the machine foundation. The most common approach to balancing is by redistributing the mass which may be accomplished by addition or removal of mass from various machine members. — There are two basic types of unbalance-rotating unbalance and reciprocating unbalance ~ whit may occur separately or in combination. 1.2 Static Balancing: — Assystem of rotating masses is said to be in static balance if the combined mass centre of the system lies on the axis of rotation. Prepared By: Vimal Limbasiya Department of Mechanical Engineering Page 1.2 Darshan Institute of Engineering & Technology, RajkotDynamics of Machinery (2161901) 1. Balancing of Rotating Masses There are main two types of balancing conditions (i) Balancing of rotating masses (ii) Balancing of reciprocating masses (i) Balancing of Rotating Masses Whenever a certain mass fs attached to a rotating shaff, it exerts some centrifugal force, whose effect is to bend the shaft and to produce vibrations in it. In order to prevent the effect of centrifugal force, another mass is attached to the opposite side of the shaft, at such 2 position so as to balance the effect of the centrifugal force of the first mass. This is done in such a way that the centrifugal forces of both the masses are made to be equal and opposite. The process of providing the second mass in order to counteract the effect of the centrifugal force of the first mass is called balancing of rotating masses. The following cases are important from the subject point of view: 1. Balancing of a single rotating mass by a single mass rotating in the same plane. 2. Balancing of different masses rotating in the same plane. 3, Balancing of different masses rotating in different planes. 1.4 Balancing of Several Masses Rotating in the Same Plane = Consider any number of masses (say four) of magnitude m3, m2, m3 and ma at distances off,, r2, r and 4 from the axis of the rotating shaft. Let @,, @2, 63 and 6, be the angles of these masses with the horizontal line OX, as shown in Fig, 1.2 (a). Let these masses rotate about an axis through O and perpendicular to the plane of Paper, with a constant angular velocity of o rad/s. \ Resultant FO, (a) Space diagram. (0) Vector diagram. Fig. 1.2 Balancing of several masses rotating in the same plane. = The magnitude and position of the balancing mass may be found out analytically or graphically as discussed below: Department of Mechanical Engineering Prepared By: Vimal Limbasiya Darshan Institute of Engineering & Technology, Rajkot Page 1.3,1, Balancing of Rotating Masses L Dynamics of Machinery (2161901) Analytical method Each mass produces a centrifugal force acting radially outwards from the axis of rotation. Let F be the vector sum of these forces. Fs mitre? + mafzq? + marae? + meraae The rotor is said to be statically balanced if the vector sum Fis zero. If F is not zero, i.e., the rotor is unbalanced, then produce a counterweight (balance weight) of mass m,, at radius rc to balance the rotor so that o mites + marae? + Marsa + marae? + Meteo Inglyt Matz + Mala + Marat Mefe=O The magnitude of either m, or rc may be selected and of other can be calculated. In general, if mr is the vector sum of ms.rs, mz-f2, M3.Fs, Met, ete., then Dmr+mee= To solve these equation by mathematically, divide each force into its x and z components, Emrcoso+ mer.+21sin4s®+-24sin115°4+-16sin235°-+18.4sin347°22"? igh, = 29.477 +(19.42 6x = 33°22! 6clles in the third quadrant (numerator is negative and denominator is negative). 6x = 180 +33°22" Oy = 213°22" Graphical Method: ‘The balancing masses and their angular positions may be determined graphically as discussed below : Department of Mechanical Engineering Prepared By: Vimal Limbasiya Darshan Institute of Engineering & Technology, Rajkot Page 1.111. Balancing of Rotating Masses Dynamics of Machinery (2161901) _ Table 1.1 Plane | Angle | Mass(m) | Radius | Cent.force =u" | Distance from | Couple = i ke | (im (mr) kg-m Ref, Plane (!) m_|_ (mri) kg-m? A o 200 |__0.08 160 -01 16 X(R.P.) By mx oO. O.myx oO o B 45° 300 0.07, 21 0.2 42 c 115° 400 0.06 24 0.3 72 y By my On 0.1 my 0.4 0.04 my D 235° 200 0.08 16 0.6 96 First of all, draw the couple polygon from the data given in Table 1.1 (column 7) as shown in Fig. 1.7 (a) to some suitable scale. The vector d'o' represents the balanced couple. Since the balanced couple is proportional to 0.04 my, therefore by measurement, 0.04my= vector do! = 73 kg-m? or my = 182.5 kg The angular position of the mass my is obtained by drawing Omy in Fig. 1.6 (6), parallel to vector d’o’. By measurement, the angular position of miy is @= 12° in the clockwise direction from mass ma (Le. 200 kg), so 8y= 360° 12° = 348°, ¢ (a) Couple Polygon (b) Force Polygon Fig. 1.7 Now draw the force polygon from the data given in Table 1.1 (column 5) as shown in Fig. 1.7 (b). The vector eo represents the balanced force. Since the balanced force is proportional to 0.1 my, therefore by measurement, O.Amy = vector eo = 35.5 kg-m or my = 355 kg. The angular position of the mass my is obtained by drawing Om, in Fig. 1.6 (b), parallel to vector eo. By measurement, the angular position of my is 6,= 145° in the clockwise direction from mass ma {i-e. 200 kg), so 6, = 360° 145° = 215°. Department of Mechanical Engineering Darshan Institute of Engineering & Technology, RajkotDynamics of Machinery (2161901) 1. Balancing of Rotating Masses Example 1.4: Four masses A, B, C and D carried by a rotating shaft are at radii 100, 140, 210 and 160 mm respectively. The planes in which the masses revolve are spaced 600 mm apart and the masses of 8, C and D are 16 kg, 10 kg and 8 kg respectively. Find the required mass A and the relative angular positions of the four masses so that shaft is in complete balance. RR sve ma=? ta= 100mm ® a € D mp = 16 ke 600 mm me = 10 ke l= 1200 mm Mp =8 ke, 800 mm ara e505 '+600-+/+-600->|+-600-> Table 1.2 plane | Angle | Mass (m) |” Radius Cent.force+w | Distance from 2 kg (rym (mr) kg-m Ref. Plane (I) m_|_ (marl) kg-m’ A(R.P.) On ms O1 O.ims oO o B o 16 0.14 2.24 06 1.34 c 8c 10 0.21 21 12 2.52 D Bo 8 0.16 1.28 18 23 - First of all, draw the couple polygon from the data given in Table 1.2 (column 7) as shown in Fig. 1.8 (a) to some suitable scale. By measurement, the angular position of mc is @ = 115° in the anticlockwise direction from mass ms and the angular position of mp is @» = 263" in the anticlockwise direction from mass ms. b 1.34 a (a) Couple Polygon (b) Force Polygon Fig. 18 — Now draw the force polygon from the data given in Table 1.2 (column 5) as shown in Fig. 1.8 (b). The vector co represents the balanced force. Since the balanced force is proportional to 0.1 ma, therefore by measurement, O.Imy = vectorco = 1.36 kg-m Or ma=13.6 kg. = By measurement, the angular position of ma is @, = 208° in the anticlockwise “ direction from mass ms (i.e. 16 ke). Department of Mechanical Engineering Prepared By: Vimal Limbasiya Darshan Institute of Engineering & Technology, Rajkot Page 1.131. Balancing of Rotating Masses Dynamics of Machinery (2161901) Example 1.5 :Four masses 150 kg, 200 kg, 100 kg and 250 kg are attached to a shaft revolving at radii 150 mm, 200 mm, 100 mm and 250 mm; in planes A, 8, C and D respectively. The planes B, C and D are at distances 350 mm, 500 mm and 800 mm from plane A. The masses in planes B, C and D are at an angle 105°, 200° and 300° measured anticlockwise from mass in plane A. It is required to balance the system by placing the balancing masses in the planes P and Q which are midway between the planes A and B, and between C and 0 respectively. If the balancing masses revolve at radius 180 mm, find the magnitude and angular positions of the balance masses. ma= 150 kg r= 150mm Oq=0° mg = 200 kg 100mm 0, = 105" Me = 100 kg f= 100mm @-= 200" mp = 250 kg t= 250mm Qo = 300° t= ty = 180 mm RP. ave © © © © 60 350 -! 300 00 Fig. 1.9 Table 1.3 Mass (m} Radius | Cent.force +w’ Distance from Couple + w’ Plene | Anale | ee An fr) cg. | Ref. Plane tem | mr kar? A(R.P.) o 150 0.15, 22.5 0.175 3.94 P Op mp 0.18 0.18 mp oO oO B 105° 200 0.2 40 0.175 7 He 200° 100 0.1 10 0.325, 3.25 Q Ba Ma 0.18 0.18 ma 0.475, 0.0855 mq D 300° 250 0.25, 62.5 0.625 39.06 Analytical Methot Table 1.4 mricos@ mri sin8 mrcos@ mr sin8 (Hd (vd (te) Wve) =3.94 0 22.5 o oO 0 0.18 mpcosBp 0.18 mp sin@> -181 6.76 -10.35 38.64 3.05 =111 9.4 3.42 0.0855 macosBq | 0.0855 mq sing 0.18 mecosOq_ 0.18 ma sinBg 19.53 -33.83 3125 54.13 Prepared By: Vimal Limbasiya Department of Mechanical Engineering Page 114 Darshan Institute of Engineering & Technology, RajkotDynamics of Machinery (2161901) 1 Balancing of Rotating Masses < 2He=0 3.94 +0 ~ 1.81 ~ 3.05 + 0.0855 macosta + 19.53 =0 0.0855 macos@q =~ 10.73 mqcos0q =~ 125.497 weve) 2vcr0 0+046.76~1.11 + 0.0855 ma sina ~ 33.83 = 0 0855 mg sin = 28.18 mMeSiNOy _ m,0050, ~125: tang =~ 2.626 >= 180 + 74,23 @p = 254.23" Department of Mechanical Engineering Prepared By: Vimal Limbasiya Darshan Institute of Engineering & Technology, Rajkot Page 1.151. Balancing of Rotating Masses Dynamics of Machinery (2161901) Graphical Method : 3.25.5 (a) Couple Polygon (b) Force Polygon Fig. 1.10 — First of all, draw the couple polygon from the data given in Table 1.4 (column 7) as shown in Fig. 1.10 (a) to some suitable scale, The vector do represents the balanced couple. Since the balanced couple is proportional to 0.0855 mo, therefore by measurement, 0.0855 mg= vector do = 30.15 kg-m” or Mag = 352.63 kg. = By measurement, the angular position of ma is @q = 112° in the anticlockwise direction from mass ma (i.e. 150 kg). — Now draw the force polygon from the data given in Table 1.4 (column 5) as shown in Fig. 1.10 (b). The vector eo represents the balanced force. Since the balanced force is proportional to 0.18 mp, therefore by measurement, 0.18 mp= vector €0 = 41.5 ke-m or ‘mp = 230.5 kg. = By measurement, the angular position of mp is ®» = 256° in the anticlockwise direction from mass ma (i.e. 150kg). Prepared By: Vimal Limbasiya Department of Mechanical Engineering Page 1.16 Darshan Institute of Engineering & Technology, Rajkot,Dynamics of Machinery (2161901) 1. Balancing of Rotating Masses Example 1.6 : A shaft carries four masses in parallel planes A, B, C and D in this order along its length. The masses at B and C are 18 kg and 12.5 kg respectively, and each has an eccentricity of 60 mm, The masses at A and D have an eccentricity of 80 mm. The angle between the masses at 8 and Cis 100° and that between the masses at B and A is 190", both being measured in the same direction, The axial distance between the planes A and B is 100 mm and that between 8 and C is 200 mm. If the shaft is in complete dynamic balance, determine: 1. The magnitude of the masses at Aand D; 2. The distance between planes A and D; and 3. The angular position of the mass at D. ma=? r= 80 mm O,= 190° Ms = 18 kg y= 60 mm me= 12.5 kg re= 60mm c= 100° mo=? ro=80mm Qp=? X= Distance between planes A and D. AP we ® ® © ® ( (nalcaaleemas eam (a) Position of planes. (b) Angular position of masses. Fig. 1.11 = The position of the planes and angular position of the masses is shown in Fig. 1.11 (a) and (b) respectively. The position of mass B is assumed in the horizontal direction, ie. along OB. Taking the plane of mass.A as the reference plane, the data may be tabulated as below: Table 1.5 Plane | Angle | M255(m) | Radius | Cent-force + ‘w* | Distance from | Couple + a” | kg ()m (mr) kg-m Ref. Plane (I) m_ | (mrl) kg-m? AARP.) 190° ma 0,08 0.08m, 0 0 B o 18 0.06 1.08 O1 0.108 c 100° 12.5 0.06 0.75 03 0.225 D 9 mo | 0.08 0.08 mo. x 0.08 moX Department of Mechanical Engineering Prepared By: Vimal Limbasiya Darshan Institute of Engineering & Technology, Rajkot Page 1.171. Balancing of Rotating Masses of Machinery (2161901) — First of all, draw the couple polygon from the data given in Table 1.5 (column 7) ‘as shown in Fig. 1.12 (a) to some suitable scale. The closing side of the polygon (vector c’o’) is proportional to 0.08 mp.X, therefore by measurement, suse) — By measurement, the angular position of mo is 8 = 251° in the anticlockwise direction from mass ma (i.e. 18 kg). 0.08 mpX = vector ¢o = 0.235 kg-m? \ \ © ; i al 0.08 mx ¥ Orca \ 7 0.226 075 0.08 ms) . : 9 1,08 t deeeasem4 SEREBiol oF08 (a) Couple Polygon (b) Force Polygon Fig. 1.12 ~ Now draw the force polygon, to some suitable scale, as shown in Fig. 1.11 (b), from the data given in Table 1.5 (column 5), as discussed below : i. Draw vector ob parallel to OB and equal to 1.08 kg-m. ii, From point b, draw vector be parallel to OC and equal to 0.75 kg-m. For the shaft to be in complete dynamic balance, the force polygon must be 2 closed. Therefore from point c, draw vector ed parallel to OA and from point 0 draw vector od parallel to OD. The vectors cd and od intersect at d. vector cd is proportional to 0.08 ma, therefore by measurement 0.08 ma = vector cd = 0.77 kg-m or ma =9.625 kg. ince the = and vector do is proportional to 0.08 rg, therefore by measurement, 0.08 mp = vector do = 0.65 kg-m or mp = 8.125 ke. — Distance between planes A and D From equation (i), 0.08 mo.X = 0.235 kg-m? 0.08 x 8.125 x X= 0.235 kg-m? X=0.3615 m =361.5 mm Prepared By: Vimal Limbasiya Department of Mechanical Engineering Page 1.18 Darshan Institute of Engineering & Technology, RajkotDynamics of Machinery (2161901) 1. Balancing of Rotating Masses Example 1.7 : A rotating shaft carries four masses A, B, Cand D which are radially attached to it. The mass centers are 30 mm, 40 mm, 35 ¢m and 38 mm respectively from the axis of rotation. The masses A, C and D are 7.5 WDA kg and 4 kg respectively. The axial distances ‘between the planes of rotation of A ang4f/s 400 mm and between B and C is 500 mm. The masses A and Care at right angles other. Find for a complete balance, (i) the angles between the masses B and D from mass A, (li) the axial distance between the planes of rotation of C and D, and (iil) the magnitude of mass 8. a =— 400 —~=—— 500 —-| Fig. 1.13 Position of planes Table 1.6 pee eRe | Mass (m) | Radius ] Cent.force+w* | Distance from | Coupl 7 kg (rm (mr) kg-m | Ref. Plane (l) m_|_(mrl) kg-m? A O° 75 0.03 0.225 I = 04 [| -0.09) BRP.) | 65 me. 0.04 0.04m5 0 [_o c 90° 5 0.035 0.175 Os 0.0875 D 85 4 0,038 0.152 x 0.152X_ b 0.225 = (a) Couple Polygon (b) Force Polygon Fig. 1.14 — First of all, draw the couple polygon from the data given in Table 1.6 (column 7) as shown in Fig. 1.14 (a) to some suitable scale. The vector bo represents the balanced couple. Since the balanced couple is proportional to 0.152X, therefore by measurement, Department of Mechanical Engineering Prepared By: Vimal Limbasiya Darshan Institute of Engineering & Technology, Rajkot Page 1.190.152x-= vector bo = 0.13 kg-m? or ‘The axial distance between the planes of rotation of C and D = 855 - 500 = 355 mm - By measurement, the angular position of mp is @ = 360° ~ 44° = 316° in the anticlockwise direction from mass ma (i.e. 7.5 ke). = Now draw the force polygon from the data given in Table 1.6 (column 5) as shown Fig. 1.14 (b). The vector co represents the balanced force. Since the balanced force is proportional to 0.04 ms, therefore by measurement, 0.04 mg = vector co 34 kg-m 5 kg. or = By measurement, the angular position of mig is 8 = 180° + 12" = 192° in the anticlockwise direction from mass ma (ie. 7.5 kg). Example 1.8: The four masses A, B, C and D revolve at equal radii are equally spaces along the shaft. The mass B is 7 kg and radii of C and D makes an angle of 90° and 240° respectively (counterclockwise) with radius of 8, which Is horizontal. Find the magnitude of A, Cand D and angular position of A so that the system may be completely balance. Solve problem by analytically. Table 1.7 eee Mass (m) ] Radius | Cent.force+w* | Distance from | Couple + @ kg (om (mor) kg-mn Ref. Plane (I) m | (mrl) kg-m’ A(RP.) | On ™, x ™a 0 0 B o 7 x 7 Y 7v Cc ‘90° Me x me 2 amc D 240° mp x mo 3Y 3mpY ‘mrlcos8 mil sin mrcos8 mr sind (Hod (Va (He) (We) o oO macosO, masinO, 7y¥ o it oO o 2mcY o me ~1.5m¥ =2.59M¥ -0.5Mp -0.866Mp ZHe=0 0+7¥+0-15mp¥=0 mp2 7/15 mp = 4.67 kg Prepared By: Vimal Limbasiya Department of Mechanica! Engineering, Page 1.20 Darshan Institute of Engineering & Technology, Rajkot.BVe=0 040+ 2mc¥~2.59mp¥ =0 me = 6.047 kg EHe=0 macosO, + 7+0-0.5mp =0 MacosB, =~ 4,665 2520 asin, +0 + me~0.866mp = 0 masind, = - 2.00278 .076 kg m,sin§, _ -2.00278 m,0050, —4.665 3.23" 80° + 23.23° 6, = 203.23" tang, = =0.43 1.7 Balancing Machines «© Abalancing machine is able to indicate whether a part is in batance or not and if it is not, then it measures the unbalance by indicating its magnitude and location. 1.7.1, Static Balancing Machines ‘+ Static balancing machines are helpful for parts of small axial dimensions such as fans, gears and impellers, etc,, in which the mass lies practically in a single plane. ‘+ There are two machine which are used as static balancing machine: Pendulum type balancing ma jine and Cradle type balancing machine. ()) Pendulum type balancing machine ‘+ Pendulum type balancing machine as shown in Figure 1.15 is a simple kind of static balancing machine. The machine is of the form of a weighing machine. ‘© One arm of the machine has a mandrel to support the part to be balanced and the other arm supports a suspended deadweight to make the beam approximately horizontal. ‘* The mandrel is then rotated slowly either by hand or by a motor. As the mandrel is rotated, the beam will oscillate depending upon the unbalance of the part. © If the unbalance is represented by a mass m at radius r, the apparent weight is greatest when m is at the position | and least when it is at B as the lengths of the arms in the two cases will be maximum and minimum. Department of Mechanical Engineering Prepared By: Vimal Limbasiya Darshan Institute of Engineering & Technology, Rajkot Page 1.21 __ Dynamics of Machinery (2161901) 1. Balancing of Rotating Masses __1. Balancing of Rotating Masses Dynamics of Machinery (2161901) + Acalibrated scale along with the pointer can also be used to measure the amount of unbalance. Obviously, the pointer remains stationary in case the body is statically balanced. Scale Pointer Mandrel Fig. 1.15 (li) Cradle type balancing machine Cradle type balancing machine as shown in fig. 1.16 is more sensitive machine than the pendulum type balancing machine. + It consists of a cradle supported on two pivots P-P parallel to the axis of rotation of the part and held in position by two springs S-S. ‘* The part to be tested is mounted on the cradle and is flexibly coupled to an electric motor. The motor is started and the speed of rotation is adjusted so that it coincides with the natural frequency of the system. ‘© Thus, the condition of resonance is obtained under which even a small amount of unbalance generates large amplitude of the cradle. © The moment due to unbalance = (mrw” cos 8).l where w is the angular velocity of rotation. Its maximum value Is mrw*l. If the part is in static balance but dynamic unbalance, no oscillation of the cradle will be there as the pivots are parallel to the Motor Rotating part 4 Fig. 1.16 Prepared By: Vimal Limbasiya Department of Mechanical Engineering Page 1.22 Darshan Institute of Engineering & Technology, Rajkot