Mathematics and Computers in Simulation 58 (2002) 351–365

Simulation of two-plane automatic balancing of a rigid rotor

L. Sperling∗ , B. Ryzhik, Ch. Linz, H. Duckstein
Institut für Mechanik, Otto-von-Guericke-Universität Magdeburg, Universitätsplatz 2, 39106 Magdeburg, Germany

Abstract
The paper presents analytical and numerical investigations of a two-plane automatic balancing device for equi-
libration of rigid-rotor unbalance. It includes the derivation of the full system of equations of motion, the stability
analysis on the basis of an analytical approximation and results of numerical simulations. The influence of system
parameters, such as rotational speed, damping in supports and resistance to the motion of the compensation balls
on the operation of device is analysed. The display of the Sommerfeld effect when balls come to move at a speed
corresponding to rotor eigenfrequency is demonstrated. The paper contains examples of simulation results and
considerations about the optimal values of the regarded parameters. © 2002 IMACS. Published by Elsevier Science
B.V. All rights reserved.
Keywords: Automatic balancing; Rigid rotor; Synchronisation; Simulation

1. Introduction

A rigid-rotor balancing device, comprising two balls in a circular track for compensation of unbalanced
inertia forces, was first introduced by Thearle and Schenectady in 1932 [1]. At rotational speeds above
the highest resonant frequency, the balls under certain conditions seek positions so as to equilibrate
the rotor unbalance. Later, Ernst [2] took up this concept and experimentally demonstrated the viability
of the three-ball system. In 1977, Hedaya and Sharp [3] generalised this device by proposing a dynamic
balancer with two circular tracks and four balls for compensation of both unbalanced force and unbalanced
moment. Their paper contains a stability analysis of the balancing state together with the results of
parametric studies. They also referred to experimental and simulation investigations, however without
reporting any results.
The two-plane rigid-rotor autobalancing device was further studied in papers by Sperling and co-workers
[4,5]. These publications contain investigations of the considered system and an analysis of the existence
and stability of the compensating phases following the direct motion separation method introduced by
Kapiza [6], developed for many applications in vibrational mechanics by Blekhman [7,8], and applied
∗
Corresponding author.
E-mail address: lutz.sperling@mb.uni-magdeburg.de (L. Sperling).

0378-4754/02/$ – see front matter © 2002 IMACS. Published by Elsevier Science B.V. All rights reserved.
PII: S 0 3 7 8 - 4 7 5 4 ( 0 1 ) 0 0 3 7 7 - 9
352 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365

to some rotation vibration phenomena by Sperling et al. [9]. Sperling et al. [4] also report some results
of numerical simulations for a simplified system with balls idealised as point masses. The simulation
revealed the possibility of stable unbalance compensation.
Present paper represents a development of our previous work [4,5]. It is devoted to the report of
numerical simulation results, but also contains a derivation of the full system of equations of motion
for the considered system as well as analyses of the stability conditions on the basis of an analytical
approximation.
Simulation is carried out for the important special case of rotation with constant speed. The influence
of some parameters, such as rotational speed, damping in supports, and resistance to ball motion, on the
possibility and speed of unbalance compensation is analysed. Display of the Sommerfeld effect is shown.
The stability of compensation and “Sommerfeld-type” motions are tested. The paper contains examples
of simulation results and conclusions about the optimal value of the parameters under investigation.

2. Model

Fig. 1 shows a model of a rigid rotor with a two-plane autobalancing device. The rotor is mounted
on two elastic damping supports. The balancing device comprises two circular tracks, each with two
compensating elements (balls or rollers), moving freely in a viscous medium. The rotor is assumed to be
rigid. Neglecting rotor movements along axis z, we can describe its motion by means of five parameters, x,
y, ψx , ψy , ϕR (Fig. 2). The rotor is characterised by its mass mR and moments of inertia. In the coordinate
system connected with rotor, these moments are
 
JuR 0 0
 
J∗R =  0 JvR 0  . (1)
0 0 JzR

Fig. 1. Rotor model.

 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365 353

Fig. 2. Main system variables.

Transfer to the non-rotating coordinate frame yields

   
JxR JxyR 0 cos ϕR − sin ϕR 0
∗    
JR = Φ · JR · Φ =  JxyR JyR
T
0 , Φ =  sin ϕR cos ϕR 0, (2)
0 0 JzR 0 0 1
with
JxR (ϕR ) = JuR cos2 ϕR + JvR sin2 ϕR ,

JyR (ϕR ) = JuR sin2 ϕR + JvR cos2 ϕR ,

JxyR (ϕR ) = (JuR − JvR ) sin ϕR cos ϕR . (3)

We take into account also non-rotating (but vibrating) masses, as components of mR , with the inertial
matrix
 
JxV 0 0
 
JV =  0 JyV 0  . (4)
0 0 0
The support dynamic properties are characterised by elastic and damping coefficients. With respect to
the vibration coordinates qV = [xyψx ψy ]T , they are
   
k11 0 0 k14 c11 0 0 c14
 0 k22 −k23 0   0 c22 −c23 0 
   
K= , C= . (5)
 0 −k23 k33 0   0 −c23 c33 0 
k14 0 0 k44 c14 0 0 c44
The rotational moment engendered by a driving engine is considered as a function of rotational speed
LR = LR (ϕ̇R ).
It is assumed that the rotor has primary unbalance represented by the two fixed-pointed masses m1 , m2
in planes z1 , z2 with eccentricities ε1 , ε2 and angular positions γ1 , γ2 = const. relatively to the rotor. The
angle coordinates within the non-rotating frame ϕ1 , ϕ2 (Fig. 2) for these masses are
ϕi = ϕR + γi , i = 1, 2. (6)
354 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365

The motion of four autobalancing device compensation elements (Fig. 2) is described by the angle
coordinates ϕi (i = 3, . . . , 6) and ϑi (i = 3, . . . , 6). The parameters of the compensation elements
include mass, radius, eccentricity of mass centre, axis position of plane (mi , εi , ri , zi , i = 3, . . . , 6) and
inertial matrix
 
Jqi 0 0
 
Ji =  0 Jqi 0  , i = 3, . . . , 6. (7)
0 0 Jpi
If the compensation elements roll around the tracks without slipping, we have
1
ϑ̇i = (Ri ϕ̇R − εi ϕ̇i ), Ri = ri + εi , i = 3, . . . , 6. (8)
ri
It is assumed that the resistance to the rotation of the compensation elements caused by the viscous
medium creates moments
li = di (ϑ̇i − ϕ̇R ), (9)
where di is determined by the viscosity of the medium. Applying Eq. (8) gives
εi
li = di (ϕ̇R − ϕ̇i ). (10)
ri
The corresponding generalised forces for the rotor (QRi ) and compensation elements (Qi ) are
QRi = −βi (ϕ̇R − ϕ̇i ), Qi = βi (ϕ̇R − ϕ̇i ), (11)
where
 2
εi
βi = di . (12)
ri
The overall damping moment acting upon the rotor is


6
Md = − β̄R ϕ̇R + βi (ϕ̇R − ϕ̇i ) = −βR ϕ̇R + βi ϕ̇i , βR = β̄R + βi . (13)
i=3 i=3 i=3

3. Equations of motion

The kinetic energy of the system includes several components

6
T = TRtr + TVrot + TRrot + TUi +
tr
TUi
rot
, (14)
i=1 i=3

where TRtr is translational energy, unbalance free rotor; TVrot rotational energy, non-rotating co-vibrating
masses; TRrot rotational energy, rotating masses of the unbalance free rotor; TUi tr
translational energy, the
ith unbalance; TUi rotational energy, the ith compensation element.
rot
 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365 355

To include all the linear terms for the vibration coordinates x, y, ψx , ψy in the equations of motion, we
need to consider all components up to the second order of the kinetic energy.
Thus, the rotation matrix of the vibrational motion is
RV = E + ψ̃ + 21 ψ̃ψ̃, (15)
where E is the unit matrix,
 
0 0 ψy
 
ψ = [ψx ψy 0]T , ψ̃ =  0 0 −ψx  . (16)
−ψy ψx 0
For the corresponding angular velocity, we get
ωV = (E + 21 ψ̃)ψ̇. (17)
Taking into account the total angular velocity of rotor and compensation elements
ωtR = ωV + RV ωR , ωti = ωV + RV ωi , (18)
with
ωR = [0 0 ϕ̇R ]T , ωi = [0 0 ϑ̇i ]T , i = 3, . . . , 6, (19)
we obtain the rotational energy, according to
TRrot = 21 ωTtR RV JR RTV ωtR , TUi
rot
= 21 ωTti RV Ji RTV ωti , i = 3, . . . , 6. (20)
Thus, the total kinetic energy of the considered system up to the terms of the second order could be
eventually represented as

1
6
1
T = M(ẋ 2 + ẏ 2 ) + mi zi (ẋ ψ̇y − ẏ ψ̇x ) + [Jx (ϕR )ψ̇x2 + 2Jxy (ϕR )ψ̇x ψ̇y + Jy (ϕR )ψ̇y2 ]
2 i=1
2

6 
1
− mi εi [(ẋ + zi ψ̇y ) sin ϕi − (ẏ − zi ψ̇x ) cos ϕi ]ϕ̇i − εi (ψ̇x sin ϕi − ψ̇y cos ϕi ) 2

i=1
2

1 1
6
6
R i εi 1
6
+ Jz ϕ̇R2 + Ji ϕ̇i2 − Jpi ϕ̇R ϕ̇i + J˜z ϕ̇R + J˜i ϕ̇i (ψy ψ̇x − ψx ψ̇y ), (21)
2 2 i=1 i=3
r 2
i 2 i=1

where

6 6 



6
Ri 2 Ri
M = mR + mi , Jz = JzR + Jpi , J˜z = JzR + Jpi ,
i=1 i=3
ri i=3
ri
 2
εi εi
Ji = J˜i = mi εi2 , i = 1, 2, Ji = mi εi2 + Jpi , J˜i = mi εi2 − Jpi , i = 3, . . . , 6,
ri ri

6
Jx (ϕR ) = JxR (ϕR ) + JxV + mi zi2 + Jqi , Jy (ϕR ) = JyR (ϕR ) + JyV + mi zi2 + Jqi ,
i=1 i=3 i=1 i=3
Jxy (ϕR ) = JxyR (ϕR ). (22)
356 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365

Lagrange’s equations of motion for the considered system yield

6
M ẍ + mk zk ψ̈y + c11 ẋ + c14 ψ̇y + k11 x + k14 ψy = mk εk (ϕ̈k sin ϕk + ϕ̇k2 cos ϕk ), (23)
k=1 k=1

6
M ÿ − mk zk ψ̈x + c22 ẏ − c23 ψ̇x + k22 y − k23 ψx = − mk εk (ϕ̈k cos ϕk − ϕ̇k2 sin ϕk ), (24)
k=1 k=1

6
1

6
− mk zk ÿ + Jx (ϕR )ψ̈x + Jxy (ϕR )ψ̈y + mk εk2 [ψ̈x (1 − cos 2ϕk ) − ψ̈y sin 2ϕk ]
k=1
2 k=1


6
− c23 ẏ + c33 ψ̇x − 2Jxy (ϕR )ϕ̇R ψ̇x + (J˜z + Jx (ϕR ) − Jy (ϕR ))ϕ̇R + J˜k ϕ̇k ψ̇y
k=1


6
1 ˜
6
+ mk εk2 ϕ̇k (ψ̇x sin 2ϕk − ψ̇y cos 2ϕk ) − k23 y + k33 ψx + Jz ϕ̈R + J˜k ϕ̈k ψy
k=1
2 i=1

6
= mk εk zk (ϕ̈k cos ϕk − ϕ̇k2 sin ϕk ), (25)
k=1

6
1

6
mk zk ẍ + Jxy (ϕR )ψ̈x + Jy (ϕR )ψ̈y + mk εk2 [−ψ̈x sin 2ϕk + ψ̈y (1 + cos 2ϕk )]
k=1
2 k=1


6
+ c14 ẋ + c44 ψ̇y − (J˜z − Jx (ϕR ) + Jy (ϕR ))ϕ̇R + J˜k ϕ̇k ψ̇x + 2Jxy (ϕR )ϕ̇R ψ̇y
k=1


6
1
6
− mk εk2 ϕ̇k (ψ̇x cos 2ϕk + ψ̇y sin 2ϕk ) + k14 x + k44 ψy − J˜z ϕ̈R + J˜k ϕ̈k ψx
k=1
2 i=1

6
= mk εk zk (ϕ̈k sin ϕk + ϕ̇k2 cos ϕk ), (26)
k=1

 

2
6
Rk εk
Jz + Jk ϕ̈R − Jpk ϕ̈k + βR ϕ̇R
k=1 k=3
rk2

2
− βk ϕ̇k − mk εk [(ẍ + zk ψ̈y ) sin ϕk + (−ÿ + zk ψ̈x ) cos ϕk ] = LR (ϕ̇R ), (27)
k=3 k=1

Ri εi
− Jpi ϕ̈R + Ji ϕ̈i − βi ϕ̇R + βi ϕ̇i − mi εi [(ẍ + zi ψ̈y ) sin ϕi
ri2
+ (−ÿ + zi ψ̈x ) cos ϕi ] = 0, i = 3, . . . , 6. (28)
 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365 357

4. Analytical analysis

Our analytical investigation is devoted to establishing the conditions for the existence and stability of
the unbalance compensation. Some simplifications of the considered system not principally influencing
the analysed phenomena are performed. It is assumed that the rotor is axially symmetrical and has constant
rotational speed and that the compensation element tracks are equal,

JuR = JvR = JaR , Jx = JaR + JxV , Jy = JaR + JyV ,

ϕ̇R = Ω = const., R3 = R4 = R5 = R6 = R. (29)

We also neglect inertial parameters of the compensation elements in comparison with the rotor mass and
inertial moments and waive the influence of the support forces. From Eq. (28) follows
Ji ϕ̈i + βi ϕ̇i + Bi = βi Ω, (30)
with
Bi = −mi εi [(ẍ + zi ψ̈y ) sin ϕi + (−ÿ + zi ψ̈x ) cos ϕi ] = 0, i = 3, . . . , 6. (31)
Using the method of direct separation of motion [4], we represent function ϕi (t) as

1 2π
ϕi (t) = Ωt + αi (t) + ξi (t, Ωt), α̇i (t)
Ω, ξi (t, Ωt) d(Ωt) = 0, (32)
2π 0
with the “fast time” Ωt.
Averaging with the “frozen slow time” t yields

1 2π
Ji α̈i + βi α̇i + Vi = 0, Vi = Bi d(Ωt). (33)
2π 0
The vibration moments can be determined only approximately

1 2π 0
Vi ≈ Vi0 = Bi d(Ωt), ϕi0 (t) = Ωt + αi , αi = const.,
2π 0
Bi0 = −mi εi [(ẍ 0 + zi ψ̈y0 ) sin(Ωt + αi ) + (−ÿ 0 + zi ψ̈x0 ) cos(Ωt + αi )]. (34)
Eq. (23) to Eq. (26) can be rewritten in the form

6
M ẍ 0 = fk cos(Ωt + αk ), M ÿ 0 = fk sin(Ωt + αk ),
k=1 k=1

6
Jx ψ̈x0 + JzR Ω ψ̇y0 =− zk fk sin(Ωt + αk ), Jy ψ̈y0 − JzR Ω ψ̇x0 = zk fk cos(Ωt + αk ), (35)
k=1 k=1

where
fi = mi εi Ω 2 , i = 3, . . . , 6. (36)
358 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365

From the steady-state solution of the obtained equations, we get

 

6
1 J x + J zR
ẍ 0 + zi ψ̈y0 = fk + zi zk cos(Ωt + αk ),
k=1
M J J
x y − J 2
zR
 

6
1 J y + J zR
ÿ 0 − zi ψ̈x0 = fk + zi zk sin(Ωt + αk ). (37)
k=1
M Jx Jy − JzR2

Taking into account Eqs. (33) and (34), we can represent the vibration moments in the form
fi

6
Vi0 (α1 , . . . , α6 ) = − fk λik sin(αi − αk ), i = 3, . . . , 6, (38)
MΩ 2 k=1
where
1 Jx + Jy + 2JzR
λik = 1 + zi zk M . (39)
2 Jx Jy − JzR
2

The equations for the phases α30 = α3∗ , . . . , α60 = α6∗ (with αi∗ = αi = γi , i = 1, 2) of the steady-state
motion with compensation of unbalance are
Vi0 (α1∗ , . . . , α6∗ ) = 0, i = 3, . . . , 6. (40)
Obviously, the conditions of equilibrium of all centrifugal forces and their moments,

6
fk cos αk∗ = 0, fk sin αk∗ = 0, fk zk cos αk∗ = 0, fk zk sin αk∗ = 0, (41)
k=1 k=1 k=1 k=1

are in accordance with Eq. (40).

The stability of compensation is analysed by introduction of small variations ᾱi ,
αi = αi∗ + ᾱi , i = 3, . . . , 6. (42)
Hence, the linear equations for disturbed motion become
1

6
Ji ᾱ¨ i + βi ᾱ˙ + fi fk λik cos(αi∗ − αk∗ )ᾱk = 0, i = 3, . . . , 6. (43)
MΩ 2 k=3
The necessary and sufficient conditions of asymptotic stability under the assumption that βi = 0, i =
3, . . . , 6 are
Λ = {λik cos(αi∗ − αk∗ )} > 0, i, k = 3, . . . , 6. (44)
Using Sylvester criteria, we obtain four stability conditions
1 Jx + Jy + 2JzR 1 Jx + Jy + 2JzR
λii = 1 + zi2 M > 0, λ2ij sin2 (αi∗ − αj∗ ) + (zi − zj )2 M > 0,
2 Jx Jy − JzR2 2 Jx Jy − JzR2

1 Jx + Jy + 2JzR
λii (λii λkk − λ2ik ) sin2 (αi∗ − αj∗ ) = λii (zi − zk )2 M sin2 (αi∗ − αj∗ ) > 0,
2 Jx Jy − JzR
2

(λii λkk − λ2ik )2 sin2 (αi∗ − αj∗ ) sin2 (αk∗ − αl∗ ) > 0, (45)
 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365 359

where i, j, k, l = 3, . . . , 6. These inequalities can be summed up to one condition

JzR
2
< Jx Jy , (46)
which, in agreement with Blekhman’s generalised self-balancing principle [10], means
JzR
Ω>ω=  Ω, (47)
Jx Jy
where ω is the only natural frequency not equal to zero of the non-supported rotor. In the special case of
a system with JxV = 0, JyV = 0, we obtain
JzR
JzR < JaR , Ω>ω= Ω. (48)
JaR

5. Simulation

A computer simulation was performed employing the Advanced Continuous Simulation Language
(ASCL). The DASSL code was used as algorithm for integrating the equations of motion. It was assumed
that the rotor has constant rotational speed Ω = const. The model rotor used for simulation has the length
l = 0.5 m and following inertial parameters:
mR = 30 kg, JuR = JvR = 0.65 kg m2 , JzR = 0.0375 kg m2 .
The rotor is supported by two equal isotropic elastic damping springs with the elastic coefficients k11 =
k22 = k, k = 300,000 N/m. The angle elastic coefficients are k33 = k44 = (1/4)kl 2 = 18,750 N/m. The
non-diagonal elements of the elastic matrix are equal to zero. The damping in the supports is characterised
by the parameter c (c11 = c22 = c, c33 = c44 = (1/4)cl2 , c23 = c14 = 0).
The major part of numerical experiments was implemented for primary unbalance characteristics:
m1 ε1 = 0.002 kg m, z1 = −0.2 m, γ1 = 0, m2 = 0.
The autobalancing device has four equal balls with
mi = 0.01 kg, εi = 0.1 m, ri = 0.0067 m, Jqi = Jpi = 0.18 × 10−6 kg m2 , i = 3, . . . , 6.
The coordinates of the two balancing planes are
z3 = z4 = −0.25 m, z5 = z6 = +0.25 m.
Some interesting numerical results were also obtained during tests with non-equal autobalancing balls.
The rotational speed Ω, supports and balls damping coefficients c, βi (i = 3, . . . , 6), as well as the
initial angle position of the balls were different in various calculations.
In most of the simulation runs the autobalancing balls initially had the same speed as the rotor ϕ̇i (0) =
Ω, i = 3, . . . , 6. Several runs were also carried out with their null initial speed ϕ̇i (0) = 0 (i = 3, . . . , 6)
and several other variants.
The considered rotor system has two resonant speeds. For the chosen values of the parameters and with
Ω = 0, they are approximately λ1 = 100 rad/s and λ2 = 170 rad/s.
360 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365

The simulation revealed that an autobalancing effect could be obtained for the rotational speeds Ω ≥
Ωa > λ2 . For the system with fixed inertial and elastic parameters the “border” speed value Ωa depends
on the balls and supports damping. An example of successful unbalance compensationis presented in
Fig. 3. It shows the decrease of support vibrations characterised by parameters Al (t) = xl (t)2 + yl (t)2
(l = 1, 2 number of support) and changes of the angle position of the balls. Fig. 3 illustrates the vibration
behaviour of the left support (l = 1); the vibrations of the second support are similar.
These results correspond to a sufficient support damping and a good choice of the ball damping coeffi-
cients. Numerical experiments show that increasing the support damping accelerates the compensation;
for the ball damping an optimal range of values exists.
The influence of ball damping on autobalancing is illustrated by Fig. 4. Corresponding computations
were carried out for Ω = 300 rad/s and c = 5 N s/m. For small damping, the process of unbalance
compensation is connected with ball angle oscillations around the optimal position. These oscilla-
tions increase the duration of equilibration. For high damping, the oscillations disappear, but the ball
motion towards their compensation positions becomes slow, and this prolongs the process.
Between small and high damping lays the diapason of values providing the minimal time of unbalance
equilibration.

Fig. 3. Support vibrations and ball angle positions during autobalancing.

 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365 361

Fig. 4. Influence of the ball damping coefficients βi (i = 3, . . . , 6) on the support vibrations and ball angle motions.

The dependence of the autobalancing time on the ball damping for the regarded system is shown in
Fig. 5. We consider that equilibration is finished when A1,2 has decreased by 1000 times. The range of
the damping values for which the autobalancing time is near its minimum is between 0.0001 and 0.001
N m s.
The motion of the balls engenders rotor transient vibrations with resonant frequencies. These vibra-
tions slow down the process of compensation. Supports damping decreases vibrations and accelerates
equilibration. It is interesting that the ball motion practically does not change with variation of the support
damping.
The influence of the support damping on the autobalancing process for Ω = 300 rad/s and βi =
0.0007 N m s (i = 3, . . . , 6) is shown in Fig. 6 and the compensation time versus support damping
dependence in Fig. 7. After the initial diapason with rather strong influence of support damping on the
autobalancing time “saturation” comes, when the increase of damping practically does not change the
picture.
For the rotational speeds Ω ≥ Ωa near the border time of compensation is rather high. With the
increasing of Ω compensation time at first rapidly decreases and then stays practically immutable
(Fig. 8).
362 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365

Fig. 5. Influence of the damping coefficients βi (i = 3, . . . , 6) on the autobalancing time.

Fig. 6. Influence of the support damping coefficient c on support vibrations and ball angle motions.
 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365 363

Fig. 7. Influence of the support damping coefficient c on the autobalancing time.

In the diapason of rotational speeds λ2 < Ω < Ωa , we observe the display of so-called “Sommerfeld”
effect, when balls come to move with ϕ̇i = λ2 (i = 3, . . . , 6). It leads to a drastic increase of vibrations.
An illustration of this process is presented in Fig. 9.
The value of the border rotational speed Ωa depends on the support damping and, to a less extent, on
the balls resistance to rotation. Increasing of damping moves the border to lower values, extending the
diapason of possible autobalancing. But for the considered system the change of Ωa was rather small,
from 210 rad/s for zero support damping to 190 rad/s for c = 100 N s/m.
The stability of the obtained motions were checked by test simulation runs with deviations from the
optimal position. For Sommerfeld-type motions, we also tried to put the balls in compensation position
with ϕ̇i (0) = Ω, but due to small deviations they started to move and always came to rotation with
eigenfrequency speed.
Interesting results were obtained during the tests with unequal balls. We obtained a Sommerfeld effect
for considerably higher rotational speeds than autobalancing speed border for the system with equal balls.

Fig. 8. Dependence of the autobalancing time on the rotational speed Ω.

364 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365

Fig. 9. Sommerfeld effect. Change of the support vibrations and ball speed ϕ̇3 in time.

6. Conclusions

Our investigation showed that the considered device can efficiently compensate rigid-rotor unbalanced
forces and unbalanced moments in the range of rotational speeds above the higher resonant speed. To work
successfully, it requires a correct choice of the ball damping coefficient and sufficient support damping.
The numerical simulations were performed on the basis of partially linearised equations of motion.
They confirmed the results of our analytical approximation for the existence and stability conditions.
Although, most of the presented results relate to a system with concrete parameters as stated above, the
general considerations about the influence of damping on the character and duration of the compensation
process look quite substantiated. Of course, for each rotor system, it is necessary to select appropriate
parameters of autobalancing device and perform a full analysis of its operation.
We plan to continue the present work and investigate the influence of other parameters, in particular of
rotor inertial characteristics on the possibility and efficiency of automatic unbalance compensation. It is
also important to consider concrete applications of autobalancing and detail realisation of the device in
each case.
 L. Sperling et al. / Mathematics and Computers in Simulation 58 (2002) 351–365 365

This work is especially significant because of increasing interest from different areas of industry to
development of such devices. SKF designed and produced the balancing unit, called Auto-Balancing, for
automatic compensation of unbalance. There are many potential applications for this unit, for example in
hand-held power tools and in washing machines. Atlas Copco fitted its new hand-held grinder with SKF
device. ETI-Canada has the European Patent EP 0 640 192 B1 “An Unbalance Compensating Method
and Apparatus”. Not long ago, a washing machine with an automatic balancing system was introduced
by Samsung.
Due to such interest from the industry, the further prognosis of present work looks quite promising.

Acknowledgements

The authors would like to express the gratitude to the Deutsche Forschungsgemeinschaft for financial
support (no. Sp 462/7-1).

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