Docslide - Us TGGG Balancing of Rotors

DYNAMIC BALANCING OF ROTORS
By
Dr. Rajiv Tiwari
Department of Mechanical Engineering
Indian Institute of Technology Guwahati 781039
Under AICTE Sponsored QIP Short Term Course
on
Theory & Practice of Rotor Dynamics

(15-19 Dec 2008)
IIT Guwahati
Dr. R. Tiwari (rtiwari@iitg.ernet.in)
Introduction
The unbalance in rotors will not only cause rotor vibrations, but also
transmit rotating forces to bearings and to the foundation structure.
The force thus transmitted may cause damage to machine parts and its
foundation. If the transmitted force is large enough, it might affect even the
neighboring machines and structures.
Thus, it is necessary to remove the unbalance of a rotor, to as large an
extend as possible, for its smooth running. The residual unbalance
estimation in rotor-bearing system is an age-old problem.
From the state of the art of the unbalance estimation, the unbalance can be
obtained with fairly good accuracy [1-5].
Now the trend in the unbalance estimation is to reduce the number of test
runs required, especially for the application of large turbo generators where
2
the downtime is very expDer.nRs.iTviewa[r6i (,r7tiw].ar
i@iitg.ernet.in)
Static balancing:
Single plane balancing
Dynamic balancing :
(i) Two plane balancing: For rigid rotors only.
<
cr
((ii)
Flexible rotor balancing : If the shaft deflects,

and the
deflection changes with speed, as it does in the vicinity of
( > cr )
critical speeds .
Balancing of a flexible rotor

Basic Principles of Static Rigid Rotor Balancing
Basic Principles of Couple Rigid Rotor Balancing
Basic Principles of Dynamic Rigid Rotor Balancing
10
Balancing of Rigid Rotor

Cradle balancing machine :
The rotor is placed in the bearings of a cradle as shown in Fig.
1.
Figure 1 Craddle balancing machine

11
The cradle is placed on two springs and can be fulcrum about F1 or F2 to
form a simple vibrating system.

Two fulcrum can be located at two chosen balance planes (i.e. I and II),
where the correction mass to be added.
The rotor can be driven by a motor through a belt pulley arrangement.
If the spring system is such that the natural frequency of the system is in the
range of motor speed, the phase angle or the location of the unbalance
mass in either plane can be determined as follows.
Fulcrum the cradle in plane I, by fixing F and releasing F . Run the rotor to
1
2
resonance, observing the maximum amplitude to the right of fulcrum F .
2
This vibration is due to all the unbalance in plane II, since the unbalance in
plane I has no moment about F1.
12
Use a trial mass at a chosen location and determine the amplitude of

vibration.
Figure 2 Plot of vibration amplitudes versus trial mass locations
Make a plot of this amplitude for different location of the same trial mass
(see Fig. 2). The trial mass for correction is added at the location where the
amplitude of vibration is minimum.
Increase or decrease the trial mass at the same locations, until the desired
level of balance is achieved. Similar procedure can be repeated by Fixing F
2
and releasing F1. This procedure is tedious and sometimes may be time
13
consuming.
A procedure to determine the correction mass and location can be laid

down as follows, based on four observations of amplitude :
(i) without any addition to the rotor
(ii) with a trial mass at 8 = O0
(iii) with a trial mass at 18O0
and
(iv) with same trial mass at
conveniently chosen location.
8 = 9O0, where
8
is measured from a
This procedure has to be repeated for two cases (e.g. when fulcruming at F
1
and then for F2 ).
(1) Let OA is the amplitude measured with trial run
(2) OB is the amplitude measured in trial run by addition of a trial mass Wt
at O0(arbitrary chosen location

on(rtiwari@iitg.ernet.in)
rotor).
Dr. R. Tiwari
14
Hence the vector AB will represent the effect of trial mass Wt.
(At this stage we do not know the location of vector OA on the

rotor).
(3) OC is the vibration measured in the trial run with the trial mass at
18O0.
So we will have AB = AC with 18O0 phase difference between them.
(Hence AC vector is also the effect of trial mass Wt so the magnitudes AB =
AC and phase will be 18O0).

However we know only OA, OB & OC from test run (1), (2) & (3)
respectively & conditions AB = AC with 18O0phase.
From these information we have to construct or locate points O, A, B & C on
a plane.
15
Construction Procedure :
D
E
C
~9O
Figure 3 Construction procedure

16
Erect a line OAD equal to 2OA. With O as the center and OB & OC as radii
and D as center and OC & OB as radii draw arcs to intersect at B & C (point
B and C we will be obtained by above construction). .
Draw a circle with BC as diameter and A as center. Construct the
parallelogram OBDC.
Now AB represent O0 position (i.e. reference line) and AC 18O0 position on
the rotor (AO is actual unbalance). The angular measurement may be
clockwise or CCW and is determined from the fourth observation.
The observation could be either OE or OE (+9O0 or 9O0 ). If the value
observed is in the vicinity of OE, then the angle to be measured CCW.
However it will be CW if OE is the reading observed in test (the fourth run
also checks the validity of the linearity used in the balancing procedure).
The magnitude of trial mDars. sR.tWTiwaisri (prtirwoapri@ AB.
oriittgio.enrnaelt.itno)
17
The unbalance OA can be obtained accordingly in the mass term. The

and the direction from figure (i.e. CW or
location of unbalance is
OAB
CCW).
The test is repeated by making the cradle fulcrum bed at F and
II
plane
I.
measurements are made in
This procedure is very time consuming and also restricts the mass and size
of the rotor.
Modern balancing machines use amplitude and phase measurement in two
planes for balancing a rotor.
Machines are either soft support or hard support machines.
18
9O
+ve
180O
9O
9OO
E
180O
E
O
9O
27OO
27OO
Unbalance position
at shaft location,
(ccw direction +ve)
Location of fourth
measurement for
trial mass at 900
(ccw dir. +ve)
9O
180O
Unbalan
ce
position
at shaft
location
(ccw dir.9O
O
+ve)
Location of
fourth
measurement for
trial mass at 900
(cw dir. +ve)
+ve
E
27OO
180O
B
O
Location of fourth
measurement for
trial mass at 2700
(ccw dir. +ve)
27OO
Unbalance position
at shaft location,
(ccw direction +ve)
O
O
B
O
27O
O
Location of
fourth
measurement for
trial mass at 2700
(cw dir. +ve)
Dr. R. TiwariF(ritgiwuarrei@4iitg.ernet.
in)
+ve
+ve
27OO
Unbalan
ce
position
at shaft
location
(ccw dir.
+ve)
19
Example 3.1 In the balancing process we make the following observations:

(i) ao = amplitude of vibration of the unbalanced rotor as is
(ii) a1 = amplitude with an additional one-unit correction at the location O deg and
(iii) a2 = same as a1 but now at 18O deg.
The ideal rotor, unbalanced only with a unit unbalance (and thus not containing the
residual unbalance), will have certain amplitude, which we cannot measure.
Call that amplitude x. Let the unknown location of the original unbalance be .
an ambiguity sign.
Solve x and in terms of and show that in this answer there is
Thus four runs are necessary to solve the problem completely.
Answer: Measurements are

(i) amplitude of vibration with residual unbalance
U R
(ii) amplitude with unit trial mass at an angle of 0 0

(iii) amplitude with unit trial mass at an angle of 1800
(iv) x = amplitude with 1 at an angle of 0 0 and without residual imbalance
(i.e. U =
OA = a AB = a and AC = a2
R
0 ),
1
Dr.
R. Tiwari (rtiwari@iitg.ernet.in)
2O
Figure 3.5 shows variation parameters involved in the present problem. From
OAB
, we have
a02 + OB 2 a 21
cos =
(A)
2a0 OB
and
2
cos (
Since
a0 + OC
a2
(B)
2a0 OC
cos
OB =OC
, we have
a 2 +OB 2 a 2
2
= 0
2a OB
(C)
0
21
x
Reference
line
a2
a0
a1
Figure .5 Geometrical constructions for

determination of unbalance
On equating equations (A) and (C), we get

2
2a0OB cos = (a0 + OB a2 ) = (a0 + OB a1 )
(D)
which gives
2
2a02 + 2OB 2 (a
+2
1
a 2)
22
OB = x, since OB
of unit magnitude.
(or OC ) are effect of trial mass
Hence equation (D) gives

2
or
x = (a1 + a2 ) / 2
a0
x=
(a + a )
(E)
a
2
Equations (A) and (C) gives (noting that OC

= OB = x ),
2
x = 2a x cos a +
0
0
and a
1
2
x
=
(F)
2
2a0 x cos a0 + a2
(G)
On equating equations (F) and (G), we get

2
cos = (a1 + a2 ) / 2a0 x
(H)
Equation (E) gives the magnitude of the unbalance and equation (H) gives the
magnitude of the phase angle, the direction or sense of the phase cannot be
23
obtained from only above measurements.
Example 3.2. A short rotor or flywheel has to be balanced. Observations of

the vibration at one of the bearings are made in four runs as follows:
Run 1; rotor as is
Run 2; with 5gm. at O deg.
Run 3; with 5 gm. at 18O
Run 4; with deg.
5gm. at 9O deg.
amplitude 6.O m
amplitude
5.O m
amplitude
1O.O
amplitude
m
1O.5
m
Find the weight and location of the correction. Take the trial and balancing
masses at the same radius.
24
Answer:
C
A
line
e
c
ren
Refe
B
O
OA = AD = 6 cm
DB =1O cm
OB = 5 cm
OE = 1O.5 cm
AB = 6.3 cm
Imbalance position
= angle BAO
= 71 deg. CCW
Figure 3.6 Geometrical constructions

Figure 3.6 shows the geometrical construction of the present problem with lengths
of various arcs. From this the net effect of the imbalance is given as
AB = 6.3 cm 5 gm
Hence, the residual imbalance is given as

OA = AD = 6 cm 4.762
gmDr. R. Tiwari (rtiwari@iitg.ernet.in)
25
AB is the reference line. The fourth observation is intersecting at E, hence angle to be

). Hence, the unbalance position is given as
measured in the CW direction (i.e.
BAE
BA0
= 71O CCW direction.
from equations (E) and
The unbalance magnitude and phase can be also obtained

(H), we have
1
x=
(a + a ) a = 4.09
gm
and 2
cos = (a1 + a2 ) / 2a0 x = 0.6065
= 52.8 deg
26
The Influence Coefficient Method
Definition of Influence coefficients

(i) Only force F1
F1
1
y11
y21
(7)
(ii) Only force F2

F2
y12
y22
y11 = displacement at station 1 due to

force F1 at station1 = 11 F1
y21 = displacement at station 2 due to
force F1 at station1 = 21 F1
y12 = F
12 2
y22 =
12 F2
27
(iii) When both F1 and F2 are present

F1
F2
y1
y2
y1 = y11 + y12 =a 11 F1 + a 12 F2
y2
=
or
y 21 +y 22 =
a
r yl
1
21
F1 + a
Ia 11
=
l y 2 J La
21
22
F2
a 12 1 r F1 l
a
22
J l F2 J
Figure 7
Influence coefficients can be obtained by experimentation or by strength of

formulae i.e.
a
11
y 11 ,
=
F1
y 21
et
F 1 (rtiwari@iitg.ernet.in)
c.
Dr. R. Tiwari
21
28
The Influence Coefficient Method

l
l1
y1
No trial mass
1
aaR
l1
R1
R1
l2
y2
2
abR
R2
abl
l1
R3
y3
B3
R1
Trial mass Tl
aal
l3
Figure 5 Bearing measurements and influence coefficients for a rigid

rotor
29
In soft support machines, the resonant frequency of the rotor support

system is low and the rotor runs at a speed above the resonance of the
support system. Vibratory amplitudes are measured, which are then
converted to forces.
In hard support system, the support natural frequency is very high and they
measure the rotor unbalance forces directly, independent of rotor mass and
configuration.
The balancing procedure is based on influence coefficient measurement.
We choose two convenient planes L and R for trial mass and two
measurement planes a and b (can be chosen as bearing locations).
Let L1 and R1 be the initial readings of vibration levels (displacement,
velocity or acceleration) measured with phase angle y1
and 51 respectively.
3O
Signal from station a shaft
t2
Spike due to
notch in the
shaft surface
reference signal
Phase = 0 with respect to notch
t1
Phase lead = 2t1 radians

T
Phase lag =
2
T
t2
radians
Figure 6
Dr. R.
Tiwari (rti
wari@iitg.
ernet.in)
31
The phase angles are measured with the same reference during the test
and their relative locations with respect to rotor is initially known.
In the second run, place a trial mass TR at a convenient location in plane R
and let the observations be L2 and R2 with phase y2 and 52 respectively in

the a & b planes.
The difference between R2 and R1 will be the effect of trial mass in right
plane R on the measurement made in plane b. We can denote this as an

influence coefficient
a bR
(1)
bR
= (R
R1) / T
where represent vector since displacement has magnitude and phase

information. Similarly
(2)
aR
= (L
L1 ) / T
We remove the trial mass from plane R and place TL in plane L
the test to obtain the meaDsr. uRr. eTdiwavria(rltuiweas

ri@iitg.ernet.in)
and repeat
32
and a = (L L ) /
3
1
aL
(3,4)
With the help of equations (1) to (4), we can obtain influence coefficient
TL
TL
experimentally.
a bL = (R3 R1 ) /
Let the correct balance masses be W R and W . Since the original

L
unbalance response is R1 and L1 as measured in right and left planes,
we can write
- -
- -
R1 =WRabR
and
- -
- -
=WRaaR +WLaaL
(5)
Correction
+WLabL masses will produce vibration equal and opposite to the
vibration due to unbalance masses.
L1 Hence,
r R-1 l
l L1 J
IIa-
bR
aR
a
L
l
a- bL 1 rW R
a
aL
(6)
I W
Jl LJ
These can be calculated either by a graphical method or analytical

33
method of vectors (compDlre. Rx. aTilwgaerib(rrtiaw)arii.@
ei.itg.ernet.in)
Ia
L
I
b 1
d
1 I
1
= I
d
L
I
J
c
1a I
J
where
= (ad cb)
which gives
WR=
L .aa- bL1R .ab La
-R .a
1 aL Ra L
-
an
d
WL= -
L
.
1abR
-aR
-
R1 .a
a bL R .a
.a
aR
L
.a
34
Experimental set-up for influence coefficient method of balancing

Phase mark
on shaft
Accelerometer
Accelerometer (or
proximity probes
on the shaft near
to the bearing)
Photo electric
Probe
Measurement
Plane a
Measurement
Plane b
Charge
Amplifier
Vibration
meter
Phase
meter
Oscilloscope
Maximum
displacement
location
Photo sensitive mark
Hardware or virtual instrumentation
Photo electric probe
Figure 8 Experimental set-up for influence coefficient method of balancing

35
Example 3.3 A rigid rotor machine is exhibiting vibration problems caused by imbalance.
The machine is symmetric about its center-line. A trial balance mass of O.3 kg is sited at
end 1 at an angle of 3OO relative to some reference position; this causes changes in
vibration vectors of 5O m at 61O at end 1 and 42 m at 13OO at end 2.
Determine the influence coefficients for use in balancing the machine, and calculate the
balance mass required at each end of the machine if the measured imbalance vibrations
are 3O m at 23OO at end 1 and 7O m at 33OO at end 2.
Solution: Given data are

which can be written as
Trial mass in plane 1: T R = 0.3 kg at 30 0 phase ,

1
TR 1 = 0.3(cos 30 + j sin 30) = ( 0.2598 + j 0.15 ) Kg

0
Displacement in plane 1: R2 = 50 m at 61 phase , which can be written as

R2 = ( 24.2404 + j 43.73)
isplacement in plane 2:
L2 = 42 m at
1300
m
p,hwasheich can be written
as
L2 = ( 26.997 + j 32.173)
36
Measured responses due to residual imbalances are
O
In plane 1: R1 = -3Om at 23O
phase
L1 = -7Om at 33O phase 22.98 )

L1 = ( -6O.621 j 35 )
We have, influence coefficients as

a
bR
=a =
In plane 2:
11
R = (19.2836 + j
R2 - R1
TR
= (48.8919 + j 51.63766)
x1O -6
m/kg
and
a
12
=a
aR
L2 - L1 = (92.3559 - j 69.1995) x1O6
TR
m/kg
It is given that machine is symmetric about centreline.

a 21 = a12 and a 22 = a11
37
Measurements, influence coefficients and correction mass are related as

r- R1 l
= IIa11
a12 1 r wR l
I
l - L1 J La 21 a 22 J l wL J
which can be simplified as

1
1
and
w
L
w R = {L1a 12 - R 1a 22 }
= {R1a 21 - L 1a 11}
with = a11 a12
12 22
11
12
- a a = a 2 - a 2 = ( -468.O66 + j 169O7.73 x1O-6 )
(m/kg)2
which gives the balancing mass and its angular position as

wR = -3.3519 x1O
-3
+ j 7.123 x1O
and
-3
wL = 3.9O356 x1O
at
-35
-3
-3
7.893 x1O kg at 295
-3
- j 2.7136 x1O
-3
4.7541x1O kg
38
Balancing of Flexible Rotors :

As long as the rotor experiences no deformations i.e. it remains as a
rigid rotor, the balancing procedure discussed earlier is effective.
Once the rotor bends while approaching a critical speed, the bend center
line whirls around and additional centrifugal forces are set-up and the rigid
rotor balancing becomes ineffective. (sometimes rigid rotor balancing
worsens bending mode whirl amplitude).
Two different techniques are generally employed
(i) Modal balancing technique. Bishop, Gladwell & Parkinson
and
(ii) Influence coefficient method. Tessarrik, Badgley and Rieger.
Modal balancing method
A practical procedure to balance the rotor by model correction, masses
equal in number to the flexible mode shapes, N, known as N-plane
method.
39
Run the rotor in a suitable hard bearing balancing machine, to a safe speed
approaching the first critical speed and record the bearing vibrations or
forces.
Choose an appropriate location for the trial mass.
For first critical speed, this should be roughly in the middle for a
symmetrical rotor in its axial distribution of mass. Record the readings a
t
the same speed as before.
Using the above two readings, the correct mass and location can be
determined. (single plane balancing). With this correction mass, it should be
possible to run the rotor through the first critical speed without appreciable
vibration.
Next, run the rotor to a safe speed approaching the second critical speed, if
the operating speed is near the second critical or above the second critical
4O
speed.
Rigid body modes
Figure 9
Note the readings. Add a pair of trial masses 18O0 apart in two
planes
without a affecting the first mode. (in fact if we try to balance one particular
mode it will not affect balancing of other modes).
Note the readings at the same speed near the second critical speed.
Two readings can be used to determined the correction mass required.
41
Similarly higher modes can be balanced i.e. up to Nth mode can be

balanced by N balancing planes. Instead of N plane correction,
Kellenberger suggested that the rotor should be corrected in N+2 planes,
so as not to disturb the rigid body balancing.
Modal Balancing (formulations)
z
x
bearing axis
y
Figure 10
Assume that all unbalance is only in the x-y plane.

distributed
Let the rotor speed be w and the deflection of the rotor be y(x).
42
The deflection y(x) can be written

y(x) =
iYi ( x )
in terms of summation of mode shapes

as
(8)
where Yi ( x) is the mode shape in the ith mode and is unknown constant.
i
The deflection y(x) can be measured experimentally.
For example for simply supported end conditions the mode shapes are
I Mode
II Mode
y 1(x) = sin
y 2( x) = sin
2 x
i th Mode
i x
y ( x) = sin l
Dr. R. Tiwai ri (rtiwari@iitg.ernet.in)
43
For other end conditions mode shapes can be obtained by free vibration
analysis. Modal series for eccentricity can also be written as
a( x) =
La
i Yi (
x)
(9)
It can be written in terms of mode summation since the y(x) is the result of
a(x). The main objective is to find out for the eccentricity distribution to be
known.
Multiplying (8) by the mass per unit length m(x) and the mode shape
Y j ( x) and integrate from O to
1.
l
JO m(x) y(x)Y (x) = OJ m(x)LIL Y (x)IJY (x)dx

j
(1O
)
i
noting the orthogonality condition
of mode shapes
l
Jm ( x)Y ( x)Y
i
( x)dx = Dr.
O R. Tiwari
for all
i j
(rtiwari@iitg.ernet.in)
(11)
44
Equation (1O)
gives
J m(x) y(x)Y (x)dx =J m(x)
Y j (x)dx =
J m(x)Y
(12)
(x)dx
which can be written as
1
M j
j
=
(13)
m ( x ) y ( x )Y ( x ) dx
j
with the generalized mass in jth mode
(=
is given as
m ( x )Y j ( x )
= J
dx
O
The generalized mass M can be obtained by knowing

m(x) andYj (x); Yj (x) can
j
be obtained by free vibration analysis and theoretically speaking can be
found by experiment.
45
Governing equation for shaft motion is

d
dx
[EI ( x) y ,,( x) ]
= 2 m( x)[ y ( x)
(14)
+ a( x) ]
where w is the rotor speed. On substituting for y(x) and a(x) from equation
(8) and (9), we get
I
d2
dx
I EI ( x)
IL
Li
Ir
11
i Y i,,( x) I = 2 m ( x) I
J IJ
IL l
i i
i i
L
Y
(
x)
a
+
{
L Y
i
J
(15)
l the orthogonality condition and

( x)}I multiply both sides by Y ( x) and
Noting
i
integrate over the length of shaft, the left hand side of equation (15) gives
l
I
o
dx
1r
(x
I EI ) 1l
L
I
"
i Yi
11
(x)
( x )1 I Y j
1J dx
I
On performing integration by parts, we get

46
Y j(x)
d
dx
[Ei
(x)
i Yi ,,
I
o
r
d I
1
I Ei ( x )
dx I
l
L
1 11
L
i
i Yi ,,( x )
1J JI
IY
j,,(
x)
dx
{ (since
( x ) }it]is - zero for all boundary
1
First term vanishes
conditions), on taking
l
again integration by parts of the second term, we get
L
- Y , ( x ) [Ei ( x )
i Yi ,,
I
r1
I Ei ( x )
1l
L
11
L Y ,,( xJ)
i
(x)
I
dx J
j,,
Y
I the
(x)
First term again vanishes
for+ all boundary conditions. On noting
1
orthogonality condition equation (11), we get
}]
l
2
I Ei ( x ) [Y ,,(x ) ] dx
j
(16)
where the generalized stiffness in jth mode is defined as

l
2
j
I
o
Ei ( x ) Y j,, ( x ) Dr.
dxR. Tiwari (rtiwari@iitg.ernet.in)
47
From right hand side of equation (15), noting equation (8) and (9), we have
2
j
+a
(17)
Therefore form (15), noting equations (16) and (17), we have
jK
2
=M
+ aj
jj
)M
which can be rearranged as
K
a
/M
j
2
(18)
Once
be found from
a j is obtained, then distribution of eccentricity a(x) can
equation (9). Equation (18) requires m(x), y(x), Y (x) and p = K / M .
j
j
j
j
The m(x) can be accurately found out, y(x) is difficult to obtained, Y ( x) is
j
th
obtained by eigen analysis and p j is natural frequency in i mode = ( K j M
which can be obtained by eigen value analysis.
48
Influence coefficient method

F1
2
a2
Rigid
s
h
a
ft
<<
a,
11
21
p1
p1
Figure 11
p
a 2,
,1
1,
F1
Flexible shaft
a1,,1
p2
planes
Balanc
ing
x
q
z
Measuring planes
Frii(grtuiwraeri@1ii2tg
Dr. R. Tiwa
.ernet.in)
49
Choose p number of balancing planes (where mass can be added or chip

off) where p > 2, q number is the measuring planes, generally it is two i.e. at
bearing planes.
Let the unbalance in each of the balancing planes be U 1 , U
r v1 1
1 v- 1
1 21
1- 1
l1 v qJ 1
Ia- 11
1
1a
=1
11a
L
q1
21
a- 12
a
22
,U
a- 1 p 1 r U1 1
1 1U
2p 1 1 2 1
1- qp 11 1 p 1
J
a 1J
lU
(19)
1
where
is the vibration measurement
at
Measurements are taken at number of speeds.
the
measuring plane.
On writing equation (19) for each of the speeds

5O
-1
-1
-1
l
l
.
. a 11
a
a
1
12
1 p
1
I - 1
- 1
- 1 I
.
v- 2 I
a 21
22
I
a
a 2p I
I
:
I :
: I
I -1
-1
-1 I
1
.
v I
I a q1
a q 22
a- q2 p I r - 1 l
-- q2
- 2
I I - I
.
v1 I
I a 11
u
a 12
a 1p
I
I
I
u
I - 2 I
:
:
:
I :
(20)
or
- 2
- 2
- 2 I I u 3 I
- 2 I [
a
]
{
u
}
I
.
vq I
{v }
Ia q1
a q2
a qp I
:
:
I :
:
: I I - I
I
- n
-n
- n
I - n
Il u Ip JI
I
.
v
a
I 1n I
a 1n2
a 1np
I 1n1
I
-v
:
2
22
2
I 1 I
Ia 1
a
a p I
I : I
:
I
I -: n
- n
-: I
I v- n I
ILa q 1
.
n
q
a q2
a q p JI
I
I
I
I
I
I
I
I
I
Once
I the
I influence coefficients [a ] are known for all speeds equation (20)
r
I
I
I
I
I
I
I
I
canl be used
to obtained unbalances :
J
{u } -
([a
]T
[a ]
-1
{v}
(21)
51
Influence coefficient matrix can be obtained by attaching trial masses and

measuring displacements,
from equation (19), we get for a particular speed
1
rv11 l
1 -1 1
1v 21 1
. -1
1a 11
-1
-1
-1
1a 21 a 12
22
1 : 1 11 :
:
1v - 1 1 1 - 1
l
q1 J
2p
a -q 2
1a
L
-1 l r
a 1 u 1 + TR l
- 11 p 11
1
1 u2
a
a - 1J1l
1qp
q1
: 11
J
1
(22)
p
1
On subtracting equation (22)
from
first q equation in equation (19), we get
1
r v 11 - v11 l
1- 1
. -1
1a 11
-1
1
1
1v 21 - v2 1
1a 21
1 11 :
1v - 1 - v- 1 1
qJ
l q1
1 -1
1a
L
q1
-1
- 112
a 22
:
a-
-1 l a 1 rT Rl
- 11 p 11 o 1
1 1
a
2p
1 :
: 11
11 o 1
a - 1J l 1J
1q 2
Equation (23) gives
(23)
1qp
1
11
1
- v12
- 1 v21
- 1
,.
- v1 ,
a21 - Dr. R. TiRwari (rtiwari@iitg.ernTeRt.in)
1
v11
-1
a
q1
1
v q1
- v 1q
TR
(24)
52
Similarly by attaching a trial mass on plane 2 we get second

column of the influence coefficient matrix in equation (24), the
above analysis should be done at a constant speed.
Similarly we can find the influence coefficient-matrix for
different speeds.
53
54
55
56
References
[1] W. Kellenburger 1972 Transactions of the American Society of Mechanical
Engineers, Journal of Engineering for Industry 94, 584-560. Should
a
flexible rotor be balanced in N or N+2 planes?
[2] J. Drechsler 1980 Institution of Mechanical Engineers Conference on
Vibrations in Rotating Machinery, Cambridge, UK, 65-70. Processing
surplus information in computer aided balancing of large flexible rotors.
[3] P. Gnilka 1983 Journal of Vibration 90, 157-172. Modal balancing of
flexible rotors without test runs: an experimental investigation.
[4] J.M. Krodkiewski, J. Ding and N. Zhang 1994 Journal of Vibration 169,
685-698. Identification of unbalance change using a non-linear
mathematical model for rotor bearing systems.
[5] M.S. Darlow 1989, Springer Verlag, Balancing of High-Speed Machinery,
57
[6] S. Edwards, A.W. Lees and M.I. Friswell 2000 Journal of Sound and
Vibration, 232(5), 963-992. Experimental Identification of Excitation and
Support Parameters of a Flexible Rotor-Bearings-Foundation System from
a Single Run-Down.
[7] R. Tiwari, 2005, Mechanical System and Signal Processing, Conditioning
of Regression Matrices for Simultaneous Estimation of the Residual
Unbalance and Bearing Dynamic Parameters (in press).
[8] IS 5172 : 1969 Specification for Balancing Bench,
[9] IS 13274 : 1992/ISO 1925 : 1990 Mechanical vibration Balancing
Vocabulary.
[10] IS 13275 : 1992/ISO 2371 : 1974 Description and evaluation of field
balancing equipment.
[11] IS 13277 : 1992/ISO 2953 : 1985 Balancing machine - Description
and evaluation.
58
[12] IS 13278 : 1999 /ISO 3719 : 1994 Mechanical Vibration - Symbols

for Balancing Machines and Associated Instrumentation.
[13] IS 13280 : 1992/ISO 5406 : 1980 Mechanical balancing of flexible
rotors.
[14] IS 14280 : 1995/ISO 8821 : 1989 Mechanical vibration - Balancing
- Shaft and fitment key convention.
[15] IS 14734 : 1999 /ISO 7475 : 1984 Balancing Machines Enclosures and Other Safety Measures.
[16] IS 14918 : 2001 Mechanical Vibration - Methods and Criteria for
the Mechanical Balancing of Flexible Rotors
59
Thank you
60

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DYNAMIC BALANCING OF ROTORS

Under AICTE Sponsored QIP Short Term Course

Theory & Practice of Rotor Dynamics

Flexible rotor balancing : If the shaft deflects,

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Balancing of a flexible rotor

Basic Principles of Static Rigid Rotor Balancing

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Basic Principles of Couple Rigid Rotor Balancing

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Basic Principles of Dynamic Rigid Rotor Balancing

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Balancing of Rigid Rotor

Figure 1 Craddle balancing machine

The cradle is placed on two springs and can be fulcrum about F1 or F2 to

form a simple vibrating system.

Use a trial mass at a chosen location and determine the amplitude of

Figure 2 Plot of vibration amplitudes versus trial mass locations

A procedure to determine the correction mass and location can be laid

at O0(arbitrary chosen location

(At this stage we do not know the location of vector OA on the

AC and phase will be 18O0).

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Figure 3 Construction procedure

The unbalance OA can be obtained accordingly in the mass term. The

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Example 3.1 In the balancing process we make the following observations:

Answer: Measurements are

(ii) amplitude with unit trial mass at an angle of 0 0

Figure .5 Geometrical constructions for

On equating equations (A) and (C), we get

2a0OB cos = (a0 + OB a2 ) = (a0 + OB a1 )

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

(or OC ) are effect of trial mass

Hence equation (D) gives

Equations (A) and (C) gives (noting that OC

On equating equations (F) and (G), we get

cos = (a1 + a2 ) / 2a0 x

Example 3.2. A short rotor or flywheel has to be balanced. Observations of

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Figure 3.6 Geometrical constructions

Hence, the residual imbalance is given as

gmDr. R. Tiwari (rtiwari@iitg.ernet.in)

AB is the reference line. The fourth observation is intersecting at E, hence angle to be

= 71O CCW direction.

from equations (E) and

The unbalance magnitude and phase can be also obtained

cos = (a1 + a2 ) / 2a0 x = 0.6065

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

The Influence Coefficient Method

Definition of Influence coefficients

(ii) Only force F2

y11 = displacement at station 1 due to

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

(iii) When both F1 and F2 are present

Influence coefficients can be obtained by experimentation or by strength of

The Influence Coefficient Method

Figure 5 Bearing measurements and influence coefficients for a rigid

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

In soft support machines, the resonant frequency of the rotor support