DYNAMICS OF MACHINES By Dr.K.SRINIVASAN, Professor, AU-FRG Inst.

for CAD/CAM, Anna University Topic : Balancing of Rotating masses

What is balancing of rotating members?

Balancing means a process of restoring a rotor which has unbalance to a balanced state by adjusting the mass distribution of the rotor about its axis of rotation

Balancing
"is the process of attempting to improve the mass distribution

of a body so that it rotates in its

bearings without unbalanced

centrifugal forces

Mass balancing is routine for rotating machines,some reciprocating machines, and vehicles Mass balancing is necessary for quiet operation, high speeds , long bearing life, operator comfort,

controls free of malfunctioning, or a "quality" feel

Rotating components for balancing

Pulley & gear shaft assemblies High speed machine tool spindles Centrifuge rotors Compressor rotors Starter armatures Airspace components Impellers Fan and blowers

flywheels Electric motor rotors

Turbochargers

Precision shafts

crank shafts

Grinding wheels

Steam & GasTurbine rotors

Shaft with rotors

Bearing 1

Bearing 2

Unbalanced force on the bearing rotor system

Cut away section of centrifugal compressor

Unbalance is caused by the displacement of the mass centerline from the axis of rotation. Centrifugal force of "heavy" point of a rotor exceeds the centrifugal force exerted by the light side of the rotor and pulls the entire rotor in the direction of the heavy point. Balancing is the correction of this phenomena by the removal or addition of mass

Benefits of balancing
Increase quality of operation. Minimize vibration. Minimize audible and signal noises. Minimize structural fatigue stresses. Minimize operator annoyance and fatigue. Increase bearing life.

Minimize power loss.

NEED FOR BALANCING

Rotating a rotor which has unbalance causes the following problems.

The whole machine vibrates. Noise occurs due to vibration of the whole machine.

Abrasion of bearings may shorten the life of the machine.

Rotating Unbalance occurs due to the following reasons.

The shape of the rotor is unsymmetrical. Un symmetrical exists due to a machining error. The material is not uniform, especially in Castings. A deformation exists due to a distortion.

 An eccentricity exists due to a gap of fitting.

An eccentricity exists in the inner ring of rolling bearing. Non-uniformity exists in either keys or key seats. Non-uniformity exists in the mass of flange

 Unbalance due to unequal distribution of masses Unbalance due to unequal distance of masses

Types of Unbalance
Static Unbalance Dynamic Unbalance

STATIC BALANCING (SINGLE PLANE BALANCING)

Single plane balancing

Adequate for rotors which are short in length, such as pulleys and fans

F=mr

Magnitude of unbalance
O2
Elasticity of the bearing

Vibration occurs

Balancing of several masses revolving in the same plane using a Single balancing mass

m3r3 2
m3

m2r2
2
m2

3
bearing
m4

m1 x

m1r1 2 mb

m4r4 2

Graphical method of determination magnitude and Angular position of the balancing mass

m4r4 2
m3r3 2

b
m b r b 2
O

m1r1 2

m2r2 2

Force vector polygon

Determination of magnitude and Angular position of the balancing mass

m1r1 2 cos 1+ m2r2 2 cos 2

+ m3r3 2cos 3+ m4r4 2 cos 4 = mb cos b m1r1 2 sin 1+ m2r2 2 sin 2 + m3r3 2sin 3+ m4r4 2 sin 4

= mb sin b
magnitude m b and position b can be determined by solving the above two equations.

Dynamic or "Dual-Plane" balancing

Dynamic balancing is required for components such as shafts and multi-rotor assemblies.

Dynamic or "Dual-Plane" balancing

mr

Statically balanced but dynamically unbalanced

r
Brg A l
2

Brg B

mr Load on each support Brg 2 due to unbalance = (m r l)/ L

On an arbitrary plane C

Several masses revolving in different planes Apply dynamic couple on the rotating shaft

Dynamic unbalance

Balancing of several masses rotating in different planes

B
Fc

End view

Fb

Fa Fd

Plane

Mass M ( kg)

Radius r (cm)

Force / 2, M r =F , (kg. cm)

Dist. From ref plane l , (cm)

Couple / 2 Mrl =C (kg cm 2)

Ma

ra

Mara

-la

-Mara la

L
(Ref.plane)

Ml
Mb Mc Mm Md

rl
rb rc rm rd

Ml rl
Mbrb Mcrc Mmrm Mdrd

0
lb lc d ld

0
Mbrb lb Mcrc lc Mmrmd Mdrdld

B C M D

Fc

Fm

A
la lb

B
lc

Fb Fa

ld

Fl Fd
End view

L,
Ref plane

M
side view of the planes

Fc

Fm =?
Cc

Fb Fa
Cd Cb Ca

Fd

Fc
Fm Fl=Ml rl Fb

F l =?
Fd

Cm=Mmrmd

Fa force polygon

Couple polygon

From couple polygon, by measurement, Cm = Mm X r m X d From force polygon, by measurement, Fl = Ml X rl

Example :
A shaft carries four masses in parallel planes A,B,C,&D in this order. The masses at B & C are 18 kg & 12.5 kg respectively and each has an eccentricity of 6 cm. The masses at A & D have an eccentricity of 8 cm. The angle between the masses at B & C is 100 o and that between B & A is 190o both angles measured in the same sense. The axial dist. between planes A & B is 10cm and that between B & C is 20 cm. If the shaft is complete dynamic balance, Determine, 1 masses at A & D 2. Distance between plane C &D 3. The angular position of the mass at D

18 kg

10 cm

B
20 cm ld

=100o

=190 o

12.5 kg Ma Radius Force / 2, r Mr, cm kg. cm 8 6 6 8 8 Ma 108 75 8 Md Dist. From ref plane l , cm 0 10 30 ld=? End view Couple / 2 Mrl kg cm 2 0 1080 2250 8 Md ld

Plane

Mass M kg Ma=? 18 12.5 Md=?

A B C D

A
10 cm

D
=100o

18 kg

=190 o

20 cm

Md
ld

12.5 kg
Ma

Couple polygon 2,250 1080 O 8 Md ld= 2312 kg cm

2

force polygon

75
108 d= 203o O 8 Md =63.5 kg. cm

8 Ma = 78 kg .cm

From the couple polygon, By measurement, 8 Md ld= 2,312 kg cm 2

M d ld

= 2312 / 8 = 289 kg cm d= 203o

From force polygon, By measurement, 8 Md = 63.5 kg cm

8 Ma = 78.0 kg cm
Md = 7.94 kg Ma = 9.75 kg

ld = 289 /7.94 = 36.4 cm

Shaft with rotors

Bearing 1

Bearing 2

Unbalanced force on the bearing rotor system

Cut away section of centrifugal compressor

Balancing machines:
static balancing machines dynamic balancing machines

Measurement static unbalance: Hard knife edge rails Thin disc

Chalk mark

Static balancing machines:

Universal level used in static balancing machine

A helicopter- rotor assembly balancer

Field balancing of thin rotors :

Thin disc
Signal from Sine wave generator

Oscilloscope signal

Required balancing mass , mb = mt [oa/ab]

angular position of the mass =

During field balancing of thin disc using sine wave generator, the measured amplitude of vibration without trial mass is 0.6 mm and its phase angle is 30o from the reference signal. With trail mass attached, the amplitude is 1.0mm and its phase angle is 83o from the reference signal. Determine the magnitude and position of the required balancing mass

Field balancing with 3-mass locations (without sine wave generator)

2A1

A2

Required balancing mass , mb

= mt [ad/dc]

Dynamic balancing machines Vibration amplitude versus rotating unbalance

X=

Mu r M [ {1- (/n)2}2 +{2(/n)}2]

180o X (Mur)

90o

/n

1 /n 2
Phase angle versus rotating speed

Amplitude versus rotating speed

Pivoted carriage balancing machine

Plane 1 coincides with pivot plane. Vibration levels as functions of angular position plotted. Minimum vibration level angle noted. Magnitude of trial mass varied by trial and error to reduce vibration. Repeated with plane 2 coinciding with the pivot plane.

CRADLE TYPE BALANCING MACHINE

rotor

Pivoted-cradle balancing machine with specimen mounted

Gisholt type balancing machine

stroboscope
Stroboscope flashes light

Angle marked end plate attached to the rotor

voltmeter

Rotor mounted in spring supported half bearings. Vibration of bearing in particular direction used as direct measure of amount of unbalance in the rotor. Effect of unbalances in two planes separated by two electrical circuits one for each reference plane

View of Precision Balance Machine