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International Compressor Engineering Conference School of Mechanical Engineering

1984

Dynamics of the Swash Plate Mechanism

J. F. Below

D. A. Miloslavich

Follow this and additional works at: http://docs.lib.purdue.edu/icec

Below, J. F. and Miloslavich, D. A., "Dynamics of the Swash Plate Mechanism" (1984). International Compressor Engineering Conference.
Paper 437.
http://docs.lib.purdue.edu/icec/437

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 DYNAMICS OF THE SWASH PLATE MECHANISM

John F. Below, Chief Engineer, Rix Industries

David A. Miloslavich, Project Engineer

ABSTRACT speed operation. In a multistage compres-

Several mechanisms have been used to con-
vert the motion of a rotating shaft to the
reciprocatin g motion needed to drive the
pistons of a conventional compressor.
sor, piston size and location should be
determined for an even distribution of
load. This reduces wear, lowers horse-
power input, and reduces weight and cost
by eliminating the need for a flywheel.

The most common mechanism is the crank- 3rd Stage

shaft in which pistons are driven up anq
down in a direction normal to the drive 1st Stage
shaft centerline. The dynamics of the 2nd
crankshaft are well developed and readily
available in design handbooks. The swash
plate, another mechanism, produces recipro-
cating motion in a direction parallel to
the centerline of the rotating driveshaft.
Compressors of this type are called axial
piston compressors.

This paper investigates the dynamics of the Bearing

swash plate and develops the mathematical
relationship s necessary for evaluating
stresses, bearing loads, and for sizing Motor
and locating counterweigh ts for a proper
running balance.

INTRODUCTION (See Figure l)

The swash plate can be made up in many

different configuratio ns. This paper deals
with perhaps the most common construction .
That being a bearing where the inner race
is fixed to the shaft at an angle and ro-
tates with it. The outer race is re- First Stage
strained from rotating by the thrust rider. Piston
As the shaft rotates, the outer race pre-
cesses with a wobble producing a back and Second Stage Third Stage
forth motion in an axial direction at ev'ery Piston Piston
point on the bearing periphery. A compres-
sor can be formed by linking the compres- Swash Plate
sion pistons to the outer bearing ring.

Controlling the distribution of masses of

pistons, thrust riders, and counterweigh ts,
provides a means for obtaining a dynamic
balance. The primary and secondary unbal- Figure l
anced forces and moments can be reduced to
zero by geometry. The effect is a smooth A Three stage swash Plate Compressor
running machine with a capability of hiqh

76
 THE COMPRESSION PROCESS
y axis
Modelli ng the compres sion process allows
for a determi nation of local loads and
stresse s. These can be combine d based on
the orienta tion of the pistons on the
swash plate to obtain the resulta nt or
overall loads and stresse s. This is
necessa ry to properl y size the bearing s,
cranksh aft, and other load transm itting
parts of the compres sor.

The first step is to determi ne piston

positio n, x, as a functio n of crank
angle, 8. Refer to Figure 2 for this
analysi s. The analysi s is perform ed for
one stage, in this case the first stage.
The constan ts are fixed by design. The
variabl es change with crank angle.

a ~ arctan S X
~ = arctan b
(r 2 - s 2) Figure 2 Swash Plate Geometr y

therefo re:
substit uting -sin 2 e = cos 2 8-l and taking
the square root;
X s s
b X b r2 - SLn z
. e)-l:z
(r2 - s2)~ (r2 - s2)li X = r COS 8 ( S2

c (r2 - x2) >, since x varies between the limits defined

by s a more approp riate form for this
b c cos 9 == (r2 - x2) ~ cos 9 equatio n would be
s 2 SLn
by substit ution X = S COS 8 ( 1 - r2 • 2
8) ->,
x == s (r 2 - x 2 )~ cos 9 (r 2 - s 2 )~ note from this express ion that piston
rearran ging terms and squarin g motion is not purely sinusoi dal, yet
sinusoi dal motion would be a good first
approxi mation.

For a multist age or multipi ston compres sor

each cylinde r can be analyze d by substi-
tuting (9 - en) for e in this express ion
where en equals this piston positio n
- 1
on the swash plate (this also assumes r
is equal for all pistons .)

For the purpose s of this analysi s we will

1 assume ideal isentro pic compres sion
:X2 (ignorin g losses ~ue to valves, dead
volume, or heat transfe r within the
cylinde r.)

for an isentro pic process n

k
extract ing r 2
~~ = ( ~~)
x
2
= r
2
cos 2 9/(~~- 1) + cos 2 s/- 1

cylinde r volume == V = A(s - x) where A is

or
piston area and s - x is the distanc e from
piston to the head. For a given cylinde r
1i2
2
r
2
cos 8
2
+ (cos 2 e - 1) 1- l undergo ing compres sion from positio n 1 to
positio n 2

77
 1/k
Ar (s - xr)
( f~) y
Az(s- Xz)

then
1/k

consider position 1 to be the start of the

compression process where P 1 ~ inlet pres-
sure and x1 ~ -s, then for any position 2 X
(prior to when the discharge valve opens)
the following relation holds:

2s p 1/k
s - x 2
(p~)

or B
2s }k
(s-=-x 2
P1

Figure 3
it is useful to know at what point the
discharge valve opens (i.e. Pz equals the Mass & Load Distribution
discharge pressure)
solving for

x ~ s - 2s ( ~~) l/k
· P1 represents the compression
in th1s case Pz
ratio of that stage.
With the relation for pressure, P, as a
function of piston position, x, and piston
position as a function of crank angle, e,
the thrust load on the bearings can be
determined by summing the forces P x A,
where A is the piston area, for all stages
through one revolution of the crankshaft.
ARRANGEMENT OF PISTON MASSES FOR DYNAMIC
BALANCE
A good dynamic balance can be achieved by
proper mass and load distribution coupled
with adequate counterweighting.
Consider a three stage compressor with a
single thrust rider. Positions on the
swash plate are as shown in Figure 3.
A 1st Stage Piston
B Thrust Rider
c = 2nd Stage Piston
D 3rd Stage Piston
cp 15°
r radius
incident with one of the pistons g1ves a
less than ideal load distribution.
To minimize weight and product of inertia
effects, the locations of four masses
favors a 90° symmetrical distribution
(¢ = 0°). Since both configurations are
used, four masses and three loading points,
a compromise must be reached.
The kinetics and kinematics of the system
lead to relative size requirements of the
pistons and the thrust rider. Starting
with an adequately designed thrust rider,
the piston masses and counterweights can
be sized.
It is important to note how the compromise
was made to arrive at cp = 15°. Particu-
larly, the size of the thrust rider bear-
ing in comparison to the optimal first
stage size (as determined by load
capacity), coupled with the most even
spacing between A, c, and D, resulted in
¢ = 15 as the best trade-off (i.e. the
lighter the thrust rider the better the
load distribution.
Having established the relative position-
ing, a moment balance and moment of inertia
balance is considered. See Figure 4.

For balance: EM 0
X
(Statically)
An equal load distribution occurs when
EM 0
cp = 30° leaving 1200 between A, C, and D. y
However, such a configuration would require
the thrust rider B to have zero mass for a and I ~
I
XX yy
good mass balance. Thus the existence of a
thrust rider at a position other .than co-

78
 I
y YY
I
yy (4)

Settin g I
:ex = I yy
m r 2 2 2
+ m r + 2m r sin 2 ¢ "' 2m r 2
cos 2 ¢
A B e c
rnA + mB + 2me sin 2 ¢ = 2me COS
2
¢

From the momen t balanc e

Figure 4 (2)

Inerti a & Momen t Balanc e Subst itutin g for rnA from eq. (2)

mB + 2me sin ¢ + mB + 2mc sin 2 ¢

Assum e A, B, e, and D are at an equal
radius r from the axis of the machi ne.
= 2
2mc cos ¢
Let rnA, m , me, and m equal the masses at
8 0 rearra nging
each positi on, respe ctivel y.

g = gravi tation al accel eratio n.

2mB = 2me (cos 2 ¢ - sin 2 ¢ - sin ¢)

Thus: mB
2
me (cos ¢ - sin 2 ¢ - sin ¢)

EM 0 megr cos ¢ - m gr cos ¢ 0 or

y 0
mB
mc = mn (1) me 2 (5)
(cos ¢ - sin 2 ¢ - sin ¢)
l:M
:c = 0 mAgr - mBgr - megr sin ¢
Exper ience has shown that mB, the mass of
- nugr sin ¢ = 0 the anti-r otatio n device (thrus t rider) , is
the most conve nient starti ng point when
initia ting a new design . There fore, the
piston masse s are exp:t·e ssed in terms of mB.
0
(6)
Solvin g for rnA
mD = (7)
rnA = m - 2me s~n ¢ (2)
8
Since rnA (2)
For a momen t of inerti a balanc e:

I I (8)
x:c YY
This produc es a situat ion where the masses or settin g mB = l (9)
are evenly distribu~ed about the cente r of
rotati on. This is necess ary for obtain ing rnA L852 (10)
balanc e by counte rweig hting alone.
1. 647 (11)
Thus:
2 2
I m r + mBr + mc(r sin ¢) 2 mD = 1.647 (12)
XX A

+ m0 (r sin ¢) 2 for dynam ic balan ce.

2 2
I m r + m r + 2m r 2 sin ¢ (3)
XX A B c

79
COUNTERWEIGHTING

For a disc shaped body fixed at an angle ~

to the axis of a rotating shaft a gyratory
moment results. This moment rotates with
the shaft at angular velocity w. By physically weighing and dimensioning
parts, accurate values of II and I can be
0
determined.

Since the direction of moment MG rotat~s

For a swash plate mechanism where the inner
race rotates and the outer race wobbles with the shaft and its magnitude is
without rotating (restricted by the thrust constant it is possible to reach a smooth
rider) two moments are of primary concern. running balance by counterweighting.

The radial moment of inertia of the inner Consider two equal masses eccentrically
race which rotates with the shaft tends to mounted to the shaft, 180° opposed at
decrease the angle ~ because of the gyrato- separation b and radius a.
ry restoring moment produced (MI) . The
a = constant
moment of inertia of a wobbling outer race b "' constant
tends to increase the angle ~ because of mE = constant
the inertial moment (M ) generated by the
0
change of direction (i.e. axial reciproca-
tion) . The difference between these two See Figure 6.
moments is an unbalanced moment MG which
results in rough running (i.e. MG = M0 -MI).
(See Figure 5).
II
From the dynamics of a rigid body rotating
about an axis we have .. K
E
I w2 sin ~ cos ~ (1)
I

(2)

where II = radial moment of inertia of the

rotating inner race.

and I = radial moment of inertia of the

0
reciprocating (non-rotating) outer race
(includes piston and thrust rider masses).

II
Figure 6

Counterweights

As these masses rotate about the shaft a

centrifugal force KE is generated for each.

(4)
II
A couple ME 2KEb/2 results

Figure 5 (5)

Gyratory Moments

80
 For a runn ing bala nce the mom ents CONCLUSIONS
mus t be
equa ted.
l) It is pos sibl e to anal yze the dyna
(6) beh avio r of the swas h plat e mec mic
hani sm
to opti miz e pist on load ing and
runn ing
Thus : bala nce.

(I - I l w2 sin 2 (7) 2) Swa sh plat e pist on mot ion is not

t/J cos tj! =
sinu soid al, yet it is clos e enou pure ly
0 1 MEw ab
be a good firs t appr oxim atio n. gh to
(8)
3) When the num ber of mas ses on the
sinc e II, I can be calc ulat ed plat e does not matc h the num ber swas h
0 and tj! is load ing poin ts (as occu rs when of
know n mE, a and b can be prop orti a
one d to sepa rate thru st bear ing is used
) a
bes t suit the mac hine desi gn. com prom ise mus t be reac hed when
min ing thei r dist ribu tion . Here dete r-
opti miz atio n tech niqu e may be an
used .
1.
Note that coun terw eigh ting is
inde pen-
den t of runn ing spee d. BIBLIOGRAPHY
2. Note that the grea ter the dist
anc e b,
the sma ller the coun terw eigh ts Dyn amic s, 2nd Edi tion , J. c. Mer
need to iam,
be. John Wile y and Son s, 1971 .
3. Note also that the cen ter
of MG need
not coin cide with the cen ter ME SKF Eng inee ring Data , SKF Ind ustr
to ies,
Inc ., 1972 .
obta in bala nce. Whe re they are
coin cide nt a bend ing mom ent is not
indu ced An Intr odu ctio n to Mec hani cal
Vib ratio
in the sha ft. If the sha ft is
desi gned Rob ert F. Stei del, Jr., John Wilens
with an adeq uate stif fne ss (giv y '
ing and Sons , 1971 .
defl ecti ons of appr oxim atel y .001
or less due to the bend ing mom inch
ent) any Intr odu ctio n to Mec hani cs of Soli
incr ease in vibr atio n shou ld be ds,
Ego r P. Popo v, Prentice~Hall,
neg ligi ble. 1968 .
NOTATIONS (See Figu re 2)

The con stan ts are fixe d by desi

gn.
The vari able s chan ge with cran k
ang le.
8 = cran k angl e e = 0 at T.D. C. (var iabl e)
s = ~
pist on stro ke leng th (con stan t)
X pist on pos itio n, X = S at 8 =
0
and X = 0 at 8 = 90 (var
r dist anc e from cen ter of cran ksh iabl e)
aft
to pist on (con stan t)
a = angl e of the swas h plat e
to the
cran ksh aft (con stan t)
c dist anc e from pist on to cen ter
of
wob ble plat e norm al to x-ax is
(r - x )~
2 2 =
(var iabl e)

81