第五章 平衡(Balancing)

• 任何連桿或機件在做純旋轉時，皆可完全平衡以消除
搖憾力(Shaking force)和搖憾力矩(Shaking moment)。
• 平衡可分為靜平衡(Static balance)、動平衡(Dynamic
balance)。

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 5-1 靜平衡(Static balance)
• 雖然名為靜平衡，但靜平衡仍應用於會動的物體。
• 靜平衡適用於較短的旋轉軸。
• 靜平衡由於在平衡時，只須在一平面上加配重，故又稱
為單面平衡(Single-plane balance)。
• 靜平衡的平衡條件是：所有作用在物體上的合力(包含
慣性力)必須為零。

∑ F − ma = 0
2
 -m1R1ω2 y

ω2
y ω
m1
R2 m2
m1 R1
ω m2 x
Rb

x mb

-mbRbω2

未平衡連桿
動力模型

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− m1R1ω 2 − m2 R 2ω 2 − mb R bω 2 = 0
mb Rbx = −(m1 R1x + m2 R2 x )
mb Rby = −(m1 R1 y + m2 R2 y )

mb Rby
θ b = tan −1

mb Rbx
mb Rb = (mb Rbx ) + (mb Rby )
2 2

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 [Example] Static Balancing

-m1R1ω2
若m1為2kg, m2為1kg, R1為
y

ω2
10 cm, R2為8cm, θ1=120o, m1
ω

θ2=45o, 試求配重mbRb和θb, R1
R2 m2
x
使得平衡。 Rb

mb

-mbRbω2

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− m1R1ω 2 − m2 R 2ω 2 − mb R bω 2 = 0
mb Rbx = −(m1 R1x + m2 R2 x ) = 2 ⋅10 ⋅ cos(120o ) + 1 ⋅ 8 ⋅ cos(45o ) = −4.343
mb Rby = −(m1 R1 y + m2 R2 y ) = 2 ⋅10 ⋅ sin(120o ) + 1 ⋅ 8 ⋅ sin( 45o ) = 22.977

mb Rby − 22.977
θ b = tan −1
= tan −1 ( ) = −79.3o
mb Rbx + 4.343
mb Rb = (mb Rbx ) 2 + (mb Rby ) 2 = (−22.977) 2 + (4.343) 2 = 23.384 kg − cm

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 5-2 動平衡(Dynamic Balance)
• 動平衡又稱為雙面平衡(Two-plane balance)，因為
需要在二個平面上加配重才可完全平衡。
• 動平衡適用於較長的旋轉軸。
• 動平衡的平衡條件是：所有作用在物體上的合力(包含
慣性力)和合力矩(包含慣性力矩)必須為零。

∑ F − ma = 0
∑ M − Iα = 0
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 -maRa ω2

-m1R1ω2 y
ma
-m3R3ω2 ma

m1 Ra m1
m3 m3
R1 =
ω x
Rb R2

mb m2 l1 m2
l2 mb
l3
-mbRbω 2 -m2R2ω2
lb

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( mb R bω 2 )lb = −(m1R1ω 2 )l1 − (m2 R 2ω 2 )l2 − (m3 R 3ω 2 )l3
mb Rbx = −(m1 R1x l1 + m2 R2 x l2 + m3 R3 x l3 ) / lb
mb Rby = −(m1 R1 y l1 + m2 R2 y l2 + m3 R3 y l3 ) / lb

− m1R1ω 2 − m2 R 2ω 2 − m3 R 3ω 2 − ma R aω 2 − mb R bω 2 = 0
ma Rax = −(m1 R1x + m2 R2 x + m3 R3 x + mb Rbx )
ma Ray = −(m1 R1 y + m2 R2 y + m3 R3 y + mb Rby )

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 [Example] Dynamic Balancing
A system with three weights on a rotating
shaft is shown. m1=9 kg @90o at a 4-cm
radius and m2=15 kg @225o at a 6-cm radius,
and m3=6 kg @315o at a 10-cm radius.
Determine the magnitudes and angles of the
balance weights needed to dynamically
balance the system. The balance weights
in Planes A and B are placed at a 5-cm
radius.

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 A B
m1
m1

10 cm 4 cm 4 cm 10 cm

m2 m2

m3 m3

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(mb R bω 2 )lb = −(m1R1ω 2 )l1 − (m2 R 2ω 2 )l2 − (m3 R 3ω 2 )l3
mb Rbx = −(m1 R1x l1 + m2 R2 x l2 + m3 R3 x l3 ) / lb = −24.24kg − cm
mb Rby = −(m1 R1 y l1 + m2 R2 y l2 + m3 R3 y l3 ) / lb = 70.89kg − cm
70.89
θ b = tan−1
= 108.87 o
− 24.24
mb Rb = (−24.24) 2 + (70.89) 2 = 74.92kg − cm
mb = 74.92 / 4 = 14.98kg

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− m1R1ω 2 − m2 R 2ω 2 − m3 R 3ω 2 − ma R aω 2 − mb R bω 2 = 0
ma Rax = −(m1 R1x + m2 R2 x + m3 R3 x + mb Rbx ) = 45.43kg − cm
ma Ray = −(m1 R1 y + m2 R2 y + m3 R3 y + mb Rby ) = −0.824kg − cm
− 0.824
θ a = tan (
−1
) = −1.039o
45.43
ma = (45.43) 2 + (−0.824) 2 / 5 = 9.09kg

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