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Theory of Machines and Mechanisms 1 Balancing of Machinery Theory of Machines and Mechanisms 2 Balancing of Machinery

§1.Introduction
1.Purposes of Balancing
- The center of mass of some machine elements may not
coincide with their rotating centers because of
• the asymmetry of the structure
• uneven distribution of materials
05. Balancing of • errors in machining and also in casting and forging
- The centrifugal force exerted on the frame is time varying, and
Machinery it will therefore impart vibration to the frame. This vibration can
adversely affect the structural integrity of the machine
foundation
- Purposes of balancing: to eliminate the unwanted centrifugal
forces in machines, especially in high-speed machinery and
precision machinery

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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Theory of Machines and Mechanisms 3 Balancing of Machinery Theory of Machines and Mechanisms 4 Balancing of Machinery

§1.Introduction §1.Introduction
2.Methods of Balancing
- Balancing of rotors • Flexible rotors
Rotors: parts constrained to rotate about a fixed axis If the working rotating frequency of the rotor ≥ (0.6 ÷ 0.7)𝑛𝑐𝑟 ,
• Rigid rotors then the rotor will have large elastic deformation due to
imbalance during rotation. The elastic deformation makes
If the rotating frequency of the rotor ≤ (0.6 ÷ 0.7)𝑛𝑐𝑟 (𝑛𝑐𝑟 : the
the eccentricity larger than the original one so that a new
first resonant frequency of the rotor), then the rotor is
imbalance factor is added and the balancing problem
supposed to have no deformation during rotation and is
called a rigid rotor becomes more complicated
The balancing of flexible rotors is beyond the scope of this
According to the ratio between the axial dimension (𝐵) and
course
diameter (𝐷), rigid rotors can be divided into
𝐵 1 𝐷
+ disk-shaped rotor 𝐵/𝐷 < 0.2
Ex.: gear, pulley, cam, flywheel, fan,
grinding wheel, impeller, …
2
+ non-disk rigid rotor 𝐵/𝐷 ≥ 0.2
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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Theory of Machines and Mechanisms 5 Balancing of Machinery Theory of Machines and Mechanisms 6 Balancing of Machinery

§1.Introduction §2.Balancing of Rotors

- Balancing of mechanisms I.Unbalancing Modes
• The acceleration of mass center of linkage and its angular - Static unbalance
acceleration vary throughout the motion cycle. The coupler - Pure dynamic unbalance
will therefore create a varying inertia force and inertia - Dynamic unbalance
moment of force for any mass distribution 1.Static Unbalance
⟹ the balance of linkages must be considered as a whole Consider a disk-and-shaft combination 1 with the mass 𝑀 resting on
• The varying inertia force and inertia moment of force cause rigid horizontal rails 2 so that the shaft can roll without friction
the frame to vibrate Roll the disk 1 by hand and permit it to coast until it comes to
Shaking force: the resultant inertia force of all moving parts rest. Mark the lowest point of the
1
is equal to the net unbalanced force acting on the frame of a periphery of the disk
machine After repeat several times, if the marks are
Shaking moment: a resultant unbalanced moment acting on • scattered at different places around the
the frame, caused by the inertia forces and inertia moments 2
periphery, the disk is in static balance
of all moving parts
• clustered, the disk is statically unbalanced
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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Theory of Machines and Mechanisms 7 Balancing of Machinery Theory of Machines and Mechanisms 8 Balancing of Machinery

§2.Balancing of Rotors §2.Balancing of Rotors 𝑃Ԧ2

2.Pure Dynamic Unbalance 𝑚2
𝑟Ԧ2
The center of mass of the disk Consider a static 𝑅Ԧ1 𝐺
𝑟𝐺 = 0 balanced non- 𝜔 𝑚1𝑟Ԧ1 = −𝑚2 𝑟Ԧ2
𝑅Ԧ2
Put on the disk a mass 𝑚 at radius of 𝑟,
Ԧ the center of mass of disk rigid rotor 𝑟Ԧ1
𝑚1 𝑎
the disk 𝑚 with mass 𝑀
𝑟𝐺 = 𝑟≠0 𝑃Ԧ1
𝑀+𝑚 Placed 𝑚1 , 𝑚2 onto the disks at 𝑟Ԧ1, 𝑟Ԧ2. The mass center
If the disk rotates at an angular speed of 𝜔 then a centrifugal 𝑚1 𝑟Ԧ1 + 𝑚2 𝑟Ԧ2
𝑟Ԧ𝐺 = = 0 → rotor is still static balance
force exits |𝑃| = 𝑚𝑟𝜔2 = 𝑀 + 𝑚 𝑟𝐺 𝜔2 ≠ 0 𝑚1 + 𝑚2 + 𝑀
1 𝑃Ԧ ⟹ The disk is statically unbalanced If the disk rotates at an angular speed of 𝜔 then a centrifugal
𝑚 force exits
𝜔 𝑟Ԧ
|𝑃1 | = 𝑚1 𝑟1 𝜔2 = 𝑚2 𝑟2 𝜔2 = |𝑃2 |
2 𝑃1 and 𝑃2 are in two different disks, there exits a moment
𝑀 = 𝑃1 𝑎 = 𝑃2 𝑎 ≠ 0 ⟹ pure dynamic unbalanced
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Theory of Machines and Mechanisms 9 Balancing of Machinery Theory of Machines and Mechanisms 10 Balancing of Machinery

§2.Balancing of Rotors §2.Balancing of Rotors

3.Dynamic Unbalance II.Balancing of Disk-shaped Rotor
- Static unbalance = force unbalance 1.Balancing Principle 𝐵 1 𝐷

𝑃 ≠ 0, 𝑀 = 0
A static unbalance occurs when the inertial axis of a rotating
mass is displaced from and parallel to the axis of rotation.
Static unbalances can occur more frequently in disk-shaped rotors
- Pure dynamic unbalance = couple unbalance
𝑃 = 0, 𝑀 ≠ 0
A couple unbalance occurs when a rotating mass has two equal
unbalance forces that are situated 1800 opposite each other.
Couple unbalance occurs frequently in elongated cylindrical rotors
- Dynamic unbalance = force unbalance and couple unbalance
𝑃 ≠ 0, 𝑀 ≠ 0
𝑃 : Σ centrifugal forces, 𝑀 : Σ couples due to centrifugal forces
HCM City Univ. of Technology, Faculty of Mechanical Engineering
- Disk-shaped Rotor
Rotors whose axial dimensions 𝐵 are small
compared to their diameters 𝐷, the masses 2
of such rotors are assumed practically to
Disk-shaped rotor
lie in a common transverse plane (usually 𝐵/𝐷 < 0.2)
All centrifugal forces in this disk-shaped rotor are planar and
concurrent. If the vector sum of these forces is zero, then the
mass center of the system coincides with the shaft center
and the rotor is balanced. Otherwise, it is called imbalance
- Balancing principle: redistribute the mass of rotor in one
arbitrarily chosen transverse plane so that its mass center
coincides with the shaft center to reduce the centrifugal force
induced when it rotates
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Theory of Machines and Mechanisms 11 Balancing of Machinery Theory of Machines and Mechanisms 12 Balancing of Machinery

§2.Balancing of Rotors §2.Balancing of Rotors

- Proof Unbalanced masses are depicted as point
masses 𝑚𝑖 ( 𝑖 = 1,2, … ) at radial distances 𝑟Ԧ𝑖 . When the above equation is satisfied, the system
𝑃Ԧ2 When the rotor rotates with constant angular 𝑃Ԧ2
𝑃Ԧ𝑖 𝑃Ԧ𝑖 mass center of the masses 𝑚𝑖 and added mass 𝑚
𝐵 velocity 𝜔 , each of the unbalanced masses 𝐵
𝑃Ԧ1
𝑚2
𝑟Ԧ2 𝑃Ԧ1
𝑚2
𝑟Ԧ2 𝑚𝑟Ԧ + 𝑚𝑖 𝑟Ԧ𝑖
𝑟Ԧ𝑖 𝑚𝑖 produces a centrifugal force 𝑃𝑖 = 𝑚𝑖 𝜔2 𝑟Ԧ𝑖 𝑟Ԧ𝑖 𝑚 𝑖
𝑟Ԧ𝐺′ = =0
𝑚1 𝑟Ԧ1
𝑟Ԧ𝑛
𝑚𝑛
𝑃𝑛Ԧ
𝑚1 𝑟Ԧ1
𝑟Ԧ𝑛
𝑚𝑛
Ԧ
𝑃𝑛
𝑚 + 𝑚𝑖
𝑟Ԧ 𝑟Ԧ
𝐴 𝑚 The mass center 𝐴 𝑚 𝑚𝑖 𝑟Ԧ𝑖 : unbalanced quantity
𝑚𝑖 𝑟Ԧ𝑖
𝑃Ԧ 𝑟Ԧ𝐺 = ≠0 𝑃Ԧ 𝑚 : correction mass
𝑚𝑖
Instead of adding the correction mass 𝑚 at 𝐴, we can remove
In this case, a mass 𝑚 with rotating radius of 𝑟Ԧ is added to mass 𝑚 in the direction of imbalance at 𝐵
the system so that the vector sum of the centrifugal forces is
Instead of using only one correction mass, we can used
zero and balance is achieved
several correction masses, which produce by the same
𝑚𝜔2 𝑟Ԧ + 𝑃𝑖 = 𝑚𝜔2 𝑟Ԧ + 𝑚𝑖 𝜔2 𝑟Ԧ𝑖 unbalanced quantity 𝑚𝑖′ 𝑟Ԧ𝑖′ = 𝑚𝑟Ԧ
=0 To balance disk-shaped rotor, we need at least one
⟹ 𝑚𝑟Ԧ + 𝑚𝑖 𝑟Ԧ𝐺 = 0 correction mass and apply for only one single plane
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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Theory of Machines and Mechanisms 13 Balancing of Machinery Theory of Machines and Mechanisms 14 Balancing of Machinery

§2.Balancing of Rotors 1
§2.Balancing of Rotors
𝑚
𝑟Ԧ - Advanced Method
𝑚𝑔Ԧ 1 3
2.Balancing Experiment 4 2 𝑚
2 𝑟Ԧ
- Direct method 𝑚1
5 1
𝑟Ԧ𝐺
Consider a disk-and-shaft combination 1 with the mass 𝑀 𝜑
2 𝑀
resting on rigid horizontal rails 2 6
7
8 1 2 3 4 5 6 7 8 1

Add an estimated correction mass 𝑚 onto disk 1 at radius 𝑟Ԧ • Divide disk 1 into 𝑛 equal parts, label each part
Adjust the value of mass 𝑚, roll the disk 1 by hand and • Let disk 1 rest on rigid horizontal rails 2 and rotate disk 1 so
permit it to coast until the disk can rest at any position → The that each marked position can be in the horizontal line
disk is in static balance • At position 𝑖, add an estimated correction mass 𝑚 at radius 𝑟Ԧ
The desired value of 𝑚𝑟Ԧ is used as correction parameter
• Adjust the value of mass𝑚𝑖 until the disk start to move,
• Advantage : simple, low cost, easy to perform record this value 𝑚𝑖
• Disadvantage : time cost, inaccuracy • Draw the graph 𝑚(𝜑)

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Theory of Machines and Mechanisms 15 Balancing of Machinery Theory of Machines and Mechanisms 16 Balancing of Machinery

§2.Balancing of Rotors §2.Balancing of Rotors

- Advanced Method III.Balancing of Non-disk Rigid Rotor
1 3
4 2 𝑚 𝑚𝑚𝑎𝑥 1.Balancing Principle
𝑟Ԧ
𝑚1 - Non-disk Rigid Rotor
5 1 𝑚𝑚𝑖𝑛 𝑂′
𝑟Ԧ𝐺 𝐵
2 𝜑
6 𝑀 8 1 2 3 4 5 6 7 8 1
7
1 4
5
• From the graph → 𝑚𝑚𝑎𝑥 , 𝑚𝑚𝑖𝑛 𝑂
3
𝑟Ԧ
6 𝑀
𝑟Ԧ𝐺
𝑚𝑚𝑎𝑥 • When 𝑚𝑖 = 𝑚𝑚𝑎𝑥 𝐷

𝑀Ԧ𝑓
2 𝑀𝑓 + 𝑀𝑔𝑟𝐺 − 𝑚𝑚𝑎𝑥 𝑔𝑟 = 0
2 7
8
1 • When 𝑚𝑖 = 𝑚𝑚𝑖𝑛 Rotors whose axial dimensions 𝐵 are large compared to their
1
1
8
𝑀𝑓 − 𝑀𝑔𝑟𝐺 − 𝑚𝑚𝑖𝑛 𝑔𝑟 = 0 diameters 𝐷 so that the masses of such rotors can not be
𝑟Ԧ 7 assumed to lie in a common transverse plane
2 𝑚
𝑟Ԧ𝐺 𝑚𝑖𝑛 • The unbalanced mass
𝑀Ԧ𝑓 𝑟 - Balancing principle: non-disk rigid rotor can be balanced by
𝑀 6
2 3 𝑀𝑟𝐺 = (𝑚𝑚𝑎𝑥 − 𝑚𝑚𝑖𝑛 ) redistributing the mass of the rotor in two arbitrarily chosen
2
4
5
transverse planes
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Theory of Machines and Mechanisms 17 Balancing of Machinery Theory of Machines and Mechanisms 18 Balancing of Machinery

§2.Balancing of Rotors §2.Balancing of Rotors

- Proof 2.Balancing Machine
(𝐼) (𝐼𝐼)
Assume that rotor is composed by plane (𝑖), 𝑖 = 1,2, …, which 3 4
has mass of 𝑚𝑖 at radius 𝑟Ԧ𝑖 𝑎𝑖(𝐼𝐼) 2
(𝐼) 𝑂′
𝑎𝑖 5
(𝐼𝐼)
𝑃Ԧ𝑖
𝑃Ԧ𝑖
(𝐼) 𝑟Ԧ𝑖 𝑂
𝑃Ԧ𝑖 𝑚𝑖 8 7
𝜔 1 6
𝑂
(𝐼𝐼)
(𝑖)
(𝐼)

When rotating, 𝑚𝑖 produces a centrifugal force 𝑃𝑖 = 𝑚𝑖 𝜔2 𝑟Ԧ𝑖

Choose two correction planes (𝐼) and (𝐼𝐼)
(𝐼)
𝑃Ԧ𝑖 can be replaced dynamically by a pair of forces 𝑃Ԧ𝑖 and
(𝐼𝐼) (𝐼) (𝐼𝐼) 𝐼 𝐼 (𝐼𝐼) (𝐼𝐼)
𝑃Ԧ , where 𝑃𝑖 = 𝑃Ԧ + 𝑃Ԧ
𝑖 and 𝑃Ԧ 𝑎 = |𝑃Ԧ |𝑎 𝑖 𝑖 𝑖 𝑖 𝑖 𝑖
⟹ Solve unbalanced mass in two planes (𝐼) and (𝐼𝐼)
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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§2.Balancing of Rotors §2.Balancing of Rotors

IV.Self-Balancing - Proof
O O
- Principle Let 𝑚 : the mass of rotor, 𝑘𝑔 𝑦 : rotor deflection, 𝑚
When rotor rotates with an enough large 𝑦Ԧ 𝑒Ԧ
𝑆 𝑃Ԧ
𝑘 : shaft stiffness, 𝑁/𝑚 𝑒 : eccentricity, 𝑚 𝑦Ԧ 𝑒Ԧ
𝑆 𝑃Ԧ
angular velocity (𝜔 → ∞), its mass center 𝑚 𝜔𝑟 : natural frequency of the shaft, 𝜔𝑟2 = 𝑘/𝑚 𝑚
coincides with the shaft center 𝜔 𝜔
When rotating, there exists a centrifugal force
𝑂 𝑂
𝑃 = 𝑚𝜔2 (𝑒Ԧ + 𝑦) Ԧ
Resistance force 𝑅 = −𝑘𝑦Ԧ
Newton’s second law 𝑃 + 𝑅 = 0 or 𝑚𝜔2 𝑒Ԧ + 𝑦Ԧ − 𝑘𝑦Ԧ = 0
𝑚𝜔2 𝑒Ԧ 𝑒Ԧ 𝑒Ԧ
𝑦Ԧ = = = 2
𝑘 − 𝑚𝜔2 𝑘 𝜔𝑟
− 1 −1
𝑚𝜔2 𝜔2
𝜔𝑟
𝜔→∞⟹ → 0 ⟹ 𝑦Ԧ = −𝑒Ԧ
𝜔
or 𝑦Ԧ + 𝑒Ԧ = 0: rotor mass center coincides with the shaft center
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Theory of Machines and Mechanisms 21 Balancing of Machinery Theory of Machines and Mechanisms 22 Balancing of Machinery

§2.Balancing of Rotors §3.Balancing of Mechanisms

𝜔𝑟2 I.Mass Center Method
- Practically, when 𝜔 ≥ 2𝜔𝑟 we can assume that →0 1.Balancing Principle
𝜔2
- Consider only planar mechanism
𝑅Ԧ𝐴
𝑃Ԧ𝐴 - Mechanism is a group of rigid bodies with its mass center
moving during its working. All centrifugal forces and couples
𝑇Ԧ𝐴
𝑁Ԧ𝐴
of centrifugal forces can be replaced by an equivalent force
𝑅Ԧ 𝑁Ԧ 𝑂 𝑚𝑟Ԧ
𝑃 and a couple 𝑀
𝑆
𝑁Ԧ𝐵 𝜔
- Mechanism is completely balanced when 𝑃 = 0 and 𝑀 = 0
𝑇Ԧ𝐵
𝑃Ԧ𝐵 - Problem of balancing 𝑀 is very complicated and not in scope
𝑅Ԧ𝐵 of this course
𝑃 = −𝑚𝑎Ԧ𝑆 : 𝑃 = 0 ⟺ 𝑎Ԧ𝑆 = 0
Principle: redistribute the mass centers of links in order to
keep the total centre of mass of moving links stationary
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Theory of Machines and Mechanisms 23 Balancing of Machinery Theory of Machines and Mechanisms 24 Balancing of Machinery

§3.Balancing of Mechanisms §3.Balancing of Mechanisms

2.Example
a.Balancing of slide-crank mechanism 𝐵 𝐵
𝑙Ԧ2 𝑙Ԧ2
- The masses of links 𝑚1 , 𝑚2 , 𝑚3 𝑙Ԧ1 𝑠Ԧ1
𝑠Ԧ2
𝑙Ԧ1 𝑠Ԧ1
𝑠Ԧ2
𝑆1 𝑟Ԧ2 𝑆1 𝑟Ԧ2
- Mass centers of links 𝑆1 , 𝑆2 , 𝑆3 at 𝑆
𝑟Ԧ𝑆 𝑆 2 𝐶 𝑆3 - To fix the mass center, 𝑟Ԧ𝑆 = const 𝑆
𝑟Ԧ𝑆 𝑆 2 𝐶 𝑆3
𝐴 𝐶 𝐴 𝐶
𝑟Ԧ1 = 𝑠Ԧ1, 𝑟Ԧ2 = 𝑙Ԧ1 + 𝑠Ԧ2 𝑟Ԧ3 𝑠Ԧ3 𝑚 𝑠Ԧ + 𝑚2 + 𝑚3 𝑙Ԧ1 = 0 𝑟Ԧ3 𝑠Ԧ3
൝ 1 1
𝑟Ԧ3 = 𝑙Ԧ1 + 𝑙Ԧ2 + 𝑠Ԧ3 𝑚2 𝑠Ԧ2 + 𝑚3 𝑙Ԧ2 = 0 𝑠Ԧ2
𝐵
- Mass center of mechanism 𝑚2 + 𝑚3 𝑙Ԧ2
𝑚1 𝑟Ԧ1 + 𝑚2 𝑟Ԧ2 + 𝑚3 𝑟Ԧ3 𝑠Ԧ1 = − 𝑙Ԧ 𝑙Ԧ1
𝑟Ԧ𝑆 = 𝑚2 1 𝐶 𝑆3
𝑚1 + 𝑚2 + 𝑚3 ⟹ 𝑚3 𝐴
𝑠Ԧ2 = − 𝑙Ԧ2
𝑚1 𝑠Ԧ1 + (𝑚2 + 𝑚3 )𝑙Ԧ1 𝑚2 𝑠Ԧ2 + 𝑚3 𝑙Ԧ2 𝑚3 𝑠Ԧ3 𝑚2 𝑠Ԧ1
𝑚𝐶
= + + 𝑚𝑛
𝑚1 + 𝑚2 + 𝑚3 𝑚1 + 𝑚2 + 𝑚3 𝑚1 + 𝑚2 + 𝑚3
𝑚1 𝑠Ԧ1 + (𝑚2 + 𝑚3 )𝑙Ԧ1 = 0
- 𝑆 can be fixed if 𝑟Ԧ𝑆 = const → ൝
𝑚2 𝑠Ԧ2 + 𝑚3 𝑙Ԧ2 = 0
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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§3.Balancing of Mechanisms §3.Balancing of Mechanisms

b.Balancing of four-bar linkages mechanism II.Partially Balancing Method
𝑙Ԧ2 𝑙Ԧ2
- The masses of links 𝑚1 , 𝑚2 , 𝑚3 𝑠Ԧ2 𝑠Ԧ2
𝐶 𝐶 Refer the textbook
𝐵 𝐵
- Mass centers 𝑆1 , 𝑆2 , 𝑆3 at 𝑟Ԧ1, 𝑟Ԧ2 , 𝑟Ԧ3 ℎԦ1
𝑆2 𝑆2
𝑙Ԧ1 𝑠𝑙ԦԦ11 𝑠Ԧ𝑟Ԧ1 𝑟Ԧ ℎԦ2 𝑙Ԧ3 𝑙Ԧ3
𝑠Ԧ 𝑠Ԧ
𝑟Ԧ1 = 𝑠Ԧ1, 𝑟Ԧ2 = 𝑙Ԧ1 + 𝑠Ԧ2 , 𝑟Ԧ3 = 𝑙Ԧ1 + 𝑙Ԧ2 + 𝑠Ԧ3 𝑆1 𝑆1
2 2
𝑟Ԧ3 𝑟Ԧ3 𝑆3 𝑆33 3
ℎԦ3
𝑟Ԧ𝑆
- Khối tâm cơ cấu 𝐴 𝐴
𝑙Ԧ0 𝑙Ԧ0
𝐷 𝐷 𝑆

𝑚1 𝑟Ԧ1 + 𝑚2 𝑟Ԧ2 + 𝑚3 𝑟Ԧ3

𝑟Ԧ𝑆 =
𝑚1 + 𝑚2 + 𝑚3
𝑚1 𝑠Ԧ1 + (𝑚2 + 𝑚3 )𝑙Ԧ1 𝑚2 𝑠Ԧ2 + 𝑚3 𝑙Ԧ2 𝑚3 𝑠Ԧ3
= + +
𝑚1 + 𝑚2 + 𝑚3 𝑚1 + 𝑚2 + 𝑚3 𝑚1 + 𝑚2 + 𝑚3
ℎ1 ℎ2 ℎ3
Mass center 𝑆 can be fixed if
𝑟𝑆 ℎ1 ℎ2 ℎ3 𝑚 𝑠Ԧ = −𝑚2 𝑙2 − 𝑠2 𝑙Ԧ1 /𝑙2
= = = =𝑘⟹൝ 1 1
𝑙0 𝑙1 𝑙2 𝑙3 𝑚2 𝑠Ԧ2 = −𝑚3 𝑙3 − 𝑠3 𝑙Ԧ2 /𝑙3
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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