11-Aug-19

Theory of Machines and Mechanisms 1 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 2 Motion of Mechanical Systems and Its Regulation

§1.Introduction
1.Introduction
- In the kinematic analysis of a mechanism, the motion of the
input link should be given. In most cases, the input link is
supposed to run at a constant speed. This is only an
06. Motion of approximation to reality. The actual motion of the input link
depends on the mass distribution of the mechanism and the

Mechanical Systems external forces acting on the mechanism

- This chapter studies the actual motion of the mechanism
according to the mass distribution of the mechanism and the
and Its Regulation external forces acting on it

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

Theory of Machines and Mechanisms 3 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 4 Motion of Mechanical Systems and Its Regulation

§1.Introduction §1.Introduction
2.Three Operating Phases of A Machine 3.Driving and Resistance Forces Act on Machines
- Starting phase - Driving Force
𝜔 → 𝜔𝑚 • A different driving motor will provide a different driving force
𝑊𝑑 = 𝑊𝑟 + 𝐸 which is a function of different kinematic parameters
- Steady working phase • Function relations between the driving force and the
a.Cyclical fluctuation kinematic parameters are called mechanical characteristic of
𝜔 𝑡 = 𝜔(𝑡 + 𝑇𝑝 ), 𝜔𝑚 = 𝑐𝑜𝑛𝑠𝑡 driving motors
𝑊𝑑 = 𝑊𝑟 - Resistance Force
b.Angular velocity remains constant • On studying the movement of a machine under external
forces with analytical method, the driving force provided by
𝜔𝑚 = 𝑐𝑜𝑛𝑠𝑡
the driving motor must be given as the analytical formula
𝑊𝑑 = 𝑊𝑟
- Stopping phase
𝐸 = −𝑊𝑟
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 5 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 6 Motion of Mechanical Systems and Its Regulation

§2.Motion Equation of a Mechanical System §2.Motion Equation of a Mechanical System

I.General Expression of the Equation of Motion 1.Work of Driving Force
- Kinetic energy equation of motion - The power of driving force
𝐴 = ∆𝐸 𝑑𝐴𝑑
𝑁= = 𝑀𝑑 𝜔1 = 𝑀𝑑 𝜔1
𝐴 : work have been done by all forces act on system during 𝑡0 → 𝑡 𝑑𝑡
∆𝐸 : kinetic energy during 𝑡0 → 𝑡 𝑀𝑑 : driving force on diver link, 𝑁
- Work done by forces 𝜔1 : angular velocity of driver link, 𝑟𝑎𝑑/𝑠
• Driving forces do the driving work 𝐴𝑑 > 0 - The work done by driving force during 𝑡0 → 𝑡
𝑡 𝑡 𝜑
• Resistance forces do the resistance work 𝐴𝑟 < 0 𝐴𝑑 = න 𝑁𝑑𝑡 = න 𝑀𝑑 𝜔1 𝑑𝑡 = න 𝑀𝑑 𝑑𝜑
• Work done by forces: 𝐴 = 𝐴𝑑 + 𝐴𝑟 𝑡0 𝑡0 𝜑0

- Rewritten the kinetic energy equation of motion 𝜑 : angular position of driving link, 𝑟𝑎𝑑
𝜑
𝐴𝑑 + 𝐴𝑟 = ∆𝐸
𝐴𝑑 = න 𝑀𝑑 𝑑𝜑
- 𝐴𝑑 ,𝐴𝑟 ,∆𝐸 are functions of dynamics parameter of the system, 𝜑0
acting forces, and velocities of moving links
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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 11-Aug-19

Theory of Machines and Mechanisms 7 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 8 Motion of Mechanical Systems and Its Regulation

§2.Motion Equation of a Mechanical System §2.Motion Equation of a Mechanical System

2.Work of Resistance Forces 3.Kinetic Energy Variations
- The power of resistance forces on link 𝑘 - The kinetic energy of link 𝑘
𝑁𝑘 = 𝑀𝑘 𝜔𝑘 + 𝑃𝑘 𝑣Ԧ𝑘 1 1
𝐸𝑘 = 𝑚𝑘 𝑣𝑆2𝑘 + 𝐽𝑘 𝜔𝑘2
𝑃𝑘 : resistance force on link 𝑘, 𝑁 2 2
𝑚𝑘 : the mass of link 𝑘, 𝑘𝑔
𝑀𝑘 : resistance moment on link 𝑘, 𝑁𝑚
𝐽𝑘 : the inertia moment of link 𝑘 w.r.t. its mass center, 𝑘𝑔𝑚2
𝜔𝑘 : the angular velocity of link 𝑘, 𝑟𝑎𝑑/𝑠
𝑣𝑆𝑘 : the linear velocity of the mass center of link 𝑘, 𝑚/𝑠
𝑣Ԧ𝑘 : the linear velocity of point of action of force 𝑃𝑘 , 𝑚/𝑠
𝜔𝑘 : the angular velocity of link 𝑘, 𝑟𝑎𝑑/𝑠
- The work done by resistance forces during 𝑡0 → 𝑡
𝑡 𝑡
- The kinetic energy variation during 𝑡0 → 𝑡
𝐴𝑟 = න 𝑁𝑘 𝑑𝑡 = න (𝑀𝑘 𝜔𝑘 + 𝑃𝑘 𝑣Ԧ𝑘 )𝑑𝑡 1 𝑡 1 𝜑
∆𝐸 =  𝑚𝑘 𝑣𝑆2𝑘 + 𝐽𝑘 𝜔𝑘2 ቚ =  𝑚𝑘 𝑣𝑆2𝑘 + 𝐽𝑘 𝜔𝑘2 ቚ
𝑡0 𝑡0 2 𝑡0 2 𝜑0
𝑡
1 𝜑
𝐴𝑟 = න (𝑀𝑘 𝜔𝑘 + 𝑃𝑘 𝑣Ԧ𝑘 )𝑑𝑡 ∆𝐸 =  𝑚𝑘 𝑣𝑆2𝑘 + 𝐽𝑘 𝜔𝑘2 ቚ
𝑡0 2 𝜑0

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

Theory of Machines and Mechanisms 9 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 10 Motion of Mechanical Systems and Its Regulation

§2.Motion Equation of a Mechanical System §2.Motion Equation of a Mechanical System

Kinetic Energy Equation of Motion II.Equivalent Parameters – Equivalent Link
𝐴𝑑 + 𝐴𝑟 = ∆𝐸 1.Equivalent Resistance Moment 𝑀𝑒
𝜑 𝑡 1 𝜑 𝑡
න 𝑀𝑑 𝑑𝜑 + න (𝑀𝑘 𝜔𝑘 + 𝑃𝑘 𝑣Ԧ𝑘 )𝑑𝑡 =  𝑚𝑘 𝑣𝑆2𝑘 + 𝐽𝑘 𝜔𝑘2 ቚ 𝐴𝑟 = න (𝑀𝑘 𝜔𝑘 + 𝑃𝑘 𝑣Ԧ𝑘 )𝑑𝑡
𝜑0 𝑡0 2 𝜑0
𝑡0
𝑡 𝜔𝑘 𝑣Ԧ𝑘
= න  𝑀𝑘 + 𝑃𝑘 𝜔 𝑑𝑡
𝑡0 𝜔1 𝜔1 1
𝜑 𝜔𝑘 𝑣Ԧ𝑘
= න  𝑀𝑘 + 𝑃𝑘 𝑑𝜑
𝜑0 𝜔1 𝜔1
≡ 𝑀𝑒

𝜔𝑘 𝑣Ԧ𝑘
𝑀𝑒 =  𝑀𝑘 + 𝑃𝑘
𝜔1 𝜔1
𝜑
- Rewritten the resistance work 𝐴𝑟 = න 𝑀𝑒 𝑑𝜑
𝜑0
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 11 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 12 Motion of Mechanical Systems and Its Regulation

§2.Motion Equation of a Mechanical System §2.Motion Equation of a Mechanical System

2.Equivalent Moment of Inertia 𝐽𝑒 3.Equivalent Link
1 - Rewritten the kinetic equation of motion in form of equivalent
𝐸 =  𝑚𝑘 𝑣𝑆2𝑘 + 𝐽𝑘 𝜔𝑘2
2 parameters
2 2 𝜑 𝜑
1 𝑣𝑆𝑘 𝜔𝑘 1 𝜑
=  𝑚𝑘 + 𝐽𝑘 𝜔12 න 𝑀𝑑 𝑑𝜑 + න 𝑀𝑒 𝑑𝜑 = 𝐽𝑒 𝜔12 ቚ
2 𝜔1 𝜔1 𝜑0 𝜑0 2 𝜑0

≡ 𝐽𝑒 - A mechanical system with one degree of freedom can be

𝑣𝑆𝑘
2
𝜔𝑘
2 assumed as an imaginary link which rotates with a angular
𝐽𝑒 =  𝑚𝑘 + 𝐽𝑘 velocity 𝜔1 , has a driving moment 𝑀𝑑 , a resistance
𝜔1 𝜔1
equivalent moment 𝑀𝑒 , and equivalent moment of inertia 𝐽𝑒
1 - Such an imaginary link is called the equivalent link, or the
- Rewritten the kinetic energy 𝐸= 𝐽 𝜔2 dynamically equivalent model, of a mechanical system
2 𝑒 1
- Equivalent link can be any moving link in the system,
however, usually the driver link is chosen as equivalent link

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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 11-Aug-19

Theory of Machines and Mechanisms 13 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 14 Motion of Mechanical Systems and Its Regulation

§2.Motion Equation of a Mechanical System §2.Motion Equation of a Mechanical System

Ex. Given the slider-crank system as shown in the figure with Solution
1 2 3 • moment of inertia: 𝐽2 1 2 3 The equivalent resistance moment
𝐵 𝐵 𝜔Ԧ2
• mass of links: 𝑚2 , 𝑚3 𝜔𝑘 𝑣Ԧ𝑘
𝑀Ԧ2 𝑀Ԧ2 𝑀𝑒 =  𝑀𝑘 + 𝑃𝑘
𝑆2
• applied forces: 𝑀2 , 𝑃3
𝑆2 𝜔1 𝜔1
𝜔Ԧ1 𝑃Ԧ3 𝜔Ԧ1 Ԧ 𝑃Ԧ3
Find the equivalent parameters 𝐽𝑒 , 𝑀𝑒 put 𝐺2 𝜔2 𝑣Ԧ𝑆 𝑣Ԧ𝐶 𝑣Ԧ𝐶
𝑆1 ≡ 𝐴 𝑆3 ≡ 𝐶 𝑆1 ≡ 𝐴 𝑆3 ≡ 𝐶 Ԧ = 𝑀2 + 𝐺Ԧ2 2 + 𝐺Ԧ3 + 𝑃3
on the driver link 𝐺3
𝑣Ԧ𝐶
𝜔1 𝜔1 𝜔1 𝜔1
𝑣Ԧ𝐶 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝐶𝐵 𝜔2 𝑣𝑆 𝑣𝐶
= −𝑀2 + 𝐺2 2 cos(𝐺Ԧ2 , 𝑣Ԧ𝑆2 ) − 𝑃3
∥ 𝐴𝐶 ⊥ 𝐴𝐵 ⊥ 𝐵𝐶 𝜔1 𝜔1 𝜔1
? 𝑙𝐴𝐵 𝜔1 ?
⊥ 𝐵𝐶 The equivalent moment of inertia
𝑝 𝑣Ԧ𝐶 𝑐 2 2
𝑣𝑆𝑘 𝜔𝑘
𝑣Ԧ𝐵
𝑠2 𝐽𝑒 =  𝑚𝑘 + 𝑚𝑘
𝑏 𝛼 ⊥ 𝐴𝐵 𝜔1 𝜔1
𝐺Ԧ2 2 2 2
𝑣𝑆2 𝜔2 𝑣𝐶
= 𝑚2 + 𝐽2 + 𝑚3
𝜔1 𝜔1 𝜔1
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 15 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 16 Motion of Mechanical Systems and Its Regulation

§2.Motion Equation of a Mechanical System §2.Motion Equation of a Mechanical System

𝜔2 𝑣𝑆 𝑣𝐶 𝜔2 𝑣𝑆 𝑣𝐶
𝑀𝑒 = −𝑀2 + 𝐺2 2 cos(𝐺Ԧ2 , 𝑣Ԧ𝑆2 ) − 𝑃3 𝑀𝑒 = −𝑀2 + 𝐺2 2 cos(𝐺Ԧ2 , 𝑣Ԧ𝑆2 ) − 𝑃3
1 2 3
𝜔1 𝜔1 𝜔1 1 2 3
𝜔1 𝜔1 𝜔1
𝐵 𝜔Ԧ2 2 2 2 𝐵 𝜔Ԧ2
𝑣𝑆2 𝜔2 𝑣𝐶 𝑏𝑐 𝑙𝐴𝐵 𝑝𝑠2 |𝑝𝑐|
𝑀Ԧ2 𝐽𝑒 = 𝑚2 + 𝐽2 + 𝑚3 𝑀Ԧ2 = −𝑀2 + 𝐺2 𝑙𝐴𝐵cos𝛼 − 𝑃3 𝑙𝐴𝐵
𝑆2 𝜔1 𝜔1 𝜔1 𝑆2
𝑝𝑏 𝑙𝐵𝐶 𝑝𝑏 |𝑝𝑏|
𝜔Ԧ1 Ԧ 𝑃Ԧ3 𝜔Ԧ1 Ԧ 𝑃Ԧ3
𝐺2 𝜔2 𝑣𝑆2 𝑣Ԧ𝐶 𝐺2 2 2 2
𝑆1 ≡ 𝐴 𝑆3 ≡ 𝐶 Ԧ
𝐺3
Need to find , , 𝑆1 ≡ 𝐴 𝑆3 ≡ 𝐶 Ԧ
𝐺3
𝑣𝑆2 𝜔2 𝑣𝐶
𝑣Ԧ𝐶 𝜔1 𝜔1 𝜔1 𝑣Ԧ𝐶 𝐽𝑒 = 𝑚2 + 𝐽2 + 𝑚3
𝜔1 𝜔1 𝜔1
𝑣Ԧ𝐶 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝐶𝐵 𝜔2 𝑣𝐶𝐵 𝑣𝐵 𝜇𝑣 |𝑏𝑐|𝑙𝐴𝐵 |𝑏𝑐|𝑙𝐴𝐵 𝑣Ԧ𝐶 = 𝑣Ԧ𝐵 + 𝑣Ԧ𝐶𝐵
2 2
∥ 𝐴𝐶 ⊥ 𝐴𝐵 ⊥ 𝐵𝐶 = : = = ∥ 𝐴𝐶 ⊥ 𝐴𝐵 ⊥ 𝐵𝐶
|𝑝𝑠2 | |𝑏𝑐|𝑙𝐴𝐵
? 𝑙𝐴𝐵 𝜔1 ? 𝜔1 𝑙𝐶𝐵 𝑙𝐴𝐵 𝜇𝑣 |𝑝𝑏|𝑙𝐵𝐶 |𝑝𝑏|𝑙𝐵𝐶 ? 𝑙𝐴𝐵 𝜔1 ? = 𝑚2 𝑙𝐴𝐵 + 𝐽2
⊥ 𝐵𝐶 ⊥ 𝐵𝐶 |𝑝𝑏| |𝑝𝑏|𝑙𝐵𝐶
𝑝 𝑣Ԧ𝐶 𝑐 𝑣𝑆2 𝜇𝑣 |𝑝𝑠2 | |𝑝𝑠2 | 𝑝 𝑣Ԧ𝐶 𝑐
= = 𝑙𝐴𝐵 2
𝑣Ԧ𝐵
𝑠2 𝜔1 𝜇𝑣 |𝑝𝑏|/𝑙𝐴𝐵 |𝑝𝑏| 𝑣Ԧ𝐵
𝑠2 |𝑝𝑐|
𝑏 𝛼 ⊥ 𝐴𝐵 𝑏 𝛼 ⊥ 𝐴𝐵 +𝑚3 𝑙𝐴𝐵
𝐺Ԧ2
𝑣𝐶 𝜇𝑣 |𝑝𝑐| |𝑝𝑐| 𝐺Ԧ2 |𝑝𝑏|
= = 𝑙
𝜔1 𝜇𝑣 |𝑝𝑏|/𝑙𝐴𝐵 |𝑝𝑏| 𝐴𝐵
𝜔2 |𝑏𝑐|𝑙𝐴𝐵 𝑣𝑆2 |𝑝𝑠2 | 𝑣 |𝑝𝑐|
= , = 𝑙 , 𝐶 = 𝑙
𝜔1 |𝑝𝑏|𝑙𝐵𝐶 𝜔1 |𝑝𝑏| 𝐴𝐵 𝜔1 |𝑝𝑏| 𝐴𝐵
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 17 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 18 Motion of Mechanical Systems and Its Regulation

§2.Motion Equation of a Mechanical System §3.Solution of the Motion Equation of a Mechanical System
III.The Equation of Motion in Moment of Force Form Kinetic energy equation of motion
𝜑 𝜑 1 𝜑
- Kinetic energy equation of motion
𝜑 𝜑 න 𝑀𝑑 𝑑𝜑 + න 𝑀𝑒 𝑑𝜑 = 𝐽𝑒 𝜔12 ቚ
1 𝜑
𝜑0 𝜑0 2 𝜑0
න 𝑀𝑑 𝑑𝜑 + න 𝑀𝑒 𝑑𝜑 = 𝐽𝑒 𝜔12 ቚ
𝜑0 𝜑0 2 𝜑0 Moment of force form of equation of motion
- Differentiate both sides of the above equation 1 𝑑𝐽𝑒 𝑑𝜔1
𝑀𝑑 + 𝑀𝑒 = 𝜔12 + 𝐽𝑒
1 𝑑𝐽𝑒 𝑑𝜔1 2 𝑑𝜑 𝑑𝑡
𝑀𝑑 + 𝑀𝑒 = 𝜔12 + 𝐽𝑒
2 𝑑𝜑 𝑑𝑡 There are some following cases
- Depending on the given problem, one of the above equations • 𝐽𝑒 = 𝐽𝑒 (𝜑) and 𝑀𝑒 = 𝑀𝑒 (𝜑)
can be used for easier solution • 𝐽𝑒 = 𝑐𝑜𝑛𝑠𝑡 and 𝑀𝑒 = 𝑀𝑒 (𝜔)
• 𝐽𝑒 = 𝐽𝑒 (𝜑) and 𝑀𝑒 = 𝑀𝑒 (𝜑, 𝜔)

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 19 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 20 Motion of Mechanical Systems and Its Regulation

§4.Periodic Speed Fluctuation and Its Regulation §4.Periodic Speed Fluctuation and Its Regulation
1.Reasons for Periodic Speed Fluctuation
𝑀(𝜇𝑀 ) −𝑀𝑟 (𝜑) 𝑀(𝜇𝑀 ) −𝑀𝑟 (𝜑)
𝑀𝑑 (𝜑) The driving moment 𝑀𝑑 and 𝑀𝑑 (𝜑) 𝑎𝑏 : 𝑀𝑑 < 𝑀𝑟 , ∆𝐸 < 0, 𝜔 ↓
the resistant moment 𝑀𝑟 deficiency of work “−”
𝑎 𝑏 𝑐 𝑑 𝑒 𝑎 𝑏 𝑐 𝑑 𝑒
𝑀(𝜑)
acting on the machinery 𝑀(𝜑) 𝑏𝑐 : 𝑀𝑑 > 𝑀𝑟 , ∆𝐸 > 0, 𝜔 ↑
𝜑 are a periodic function of 𝜑
rotating angle 𝜑. Thus, the excess of work “+”
𝐸(𝜇𝐸 ) equivalent moment of force 𝐸(𝜇𝐸 ) 𝑐𝑑 : 𝑀𝑑 < 𝑀𝑟 , ∆𝐸 < 0, 𝜔 ↓
is a periodic function of deficiency of work “−”
equivalent rotating angle 𝜑 𝑑𝑒 : 𝑀𝑑 > 𝑀𝑟 , ∆𝐸 > 0, 𝜔 ↑
𝜑 The work done by the
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
𝜑
excess of work “+”
𝜑 equivalent link 𝑐 1 1
∆𝑊 = න [𝑀𝑑 𝜑 − 𝑀𝑟 (𝜑)] 𝑑𝜑 within a period න [𝑀𝑒𝑑 (𝜑) − 𝑀𝑒𝑟 (𝜑)]𝑑𝜑 = 𝐽𝑒𝑎 𝜔𝑐2 − 𝐽𝑒𝑎 𝜔𝑎2 = 0
𝜑0 𝑎 2 2
The kinetic energy increases
Condition for a periodic steady working state: work done by driving
1 1
∆𝐸 = 𝐽𝑒 𝜑 𝜔2 𝜑 − 𝐽𝑒 𝜔𝑎2 forces is equal to the work done by resistant forces within a period
2 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

Theory of Machines and Mechanisms 21 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 22 Motion of Mechanical Systems and Its Regulation

§4.Periodic Speed Fluctuation and Its Regulation §4.Periodic Speed Fluctuation and Its Regulation
2.Regulation of Periodic Speed Fluctuation Design methodology for flywheel
𝑀(𝜇𝑀 ) −𝑀𝑟 (𝜑)
Coefficient of speed fluctuation 𝑀𝑑 (𝜑) Point 𝑏
- Average angular speed 𝑎 𝑏 𝑐 𝑑 𝑒 ∆𝐸𝑚𝑖𝑛 ,𝜔 → 𝜔𝑚𝑖𝑛 ,∆𝜔𝑚𝑖𝑛
𝜔𝑚𝑎𝑥 + 𝜔𝑚𝑖𝑛 𝑀(𝜑) Point 𝑐
𝜔𝑚 =
2 𝜑
∆𝐸𝑚𝑎𝑥 ,𝜔 → 𝜔𝑚𝑎𝑥 ,∆𝜔𝑚𝑎𝑥
- The speed fluctuation of a machine may cause an extra
𝐸(𝜇𝐸 ) Maximum increment of work
dynamic load and vibration of the system and therefore
should be controlled within some limits to ensure good ∆𝐸𝑚𝑎𝑥 = 𝐸𝑚𝑎𝑥 − 𝐸𝑚𝑖𝑛
𝐸𝑚𝑎𝑥 𝜑𝑐
working quality. The coefficient of speed fluctuation 𝛿 is then 𝐸𝑚𝑖𝑛 =න 𝑀𝑒𝑑 − 𝑀𝑒𝑟 𝑑𝜑
𝜔𝑚𝑎𝑥 − 𝜔𝑚𝑖𝑛 𝜑 𝜑𝑏
𝛿= 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
𝜔𝑚 - Principle: A flywheel serves as a mechanical reservoir for
- The regulation of periodic speed fluctuation means limitation storing mechanical energy. Its function is to store the extra
of the coefficient of speed fluctuation so that energy when the available energy is in excess of the load
𝛿 ≤ [𝛿] requirements and to give away the same when the available
energy is less than the required load
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 23 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 24 Motion of Mechanical Systems and Its Regulation

§4.Periodic Speed Fluctuation and Its Regulation §4.Periodic Speed Fluctuation and Its Regulation
If 𝐽𝑒 is constant - Determination of flywheel size
1 2 2 2𝛿
∆𝑊𝑚𝑎𝑥 = 𝐸𝑚𝑎𝑥 − 𝐸𝑚𝑖𝑛 = 𝐽𝑒 𝜔𝑚𝑎𝑥 − 𝜔𝑚𝑖𝑛 = 𝐽𝑒 𝜔𝑚
2
A flywheel with enough moment of inertia, 𝐽𝐹 , can be added
to reduce the value of 𝛿
∆𝑊𝑚𝑎𝑥 = 𝐸𝑚𝑎𝑥 − 𝐸𝑚𝑖𝑛 = 𝐽𝑒 + 𝐽𝐹 𝜔𝑚 2𝛿

The coefficient of speed fluctuation

∆𝑊𝑚𝑎𝑥
𝛿= 2
𝐽𝑒 + 𝐽𝐹 𝜔𝑚
- Calculation of moment of inertia of a flywheel
If 𝐽𝑒 ≪ 𝐽𝐹 , 𝐽𝑒 can be neglected. The equivalent moment of
inertia of the flywheel 𝐽𝐹 can be calculated by
∆𝑊𝑚𝑎𝑥
𝐽𝐹 ≥ 2
𝜔𝑚 [𝛿]
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 25 Motion of Mechanical Systems and Its Regulation Theory of Machines and Mechanisms 26 Motion of Mechanical Systems and Its Regulation

§5.Introduction to Aperiodic speed Fluctuation and Its Regulation §5.Introduction to Aperiodic speed Fluctuation and Its Regulation
𝑂 𝑂

𝑘 𝑘 𝑘 𝑘
𝐵 𝐵 𝐵 𝐵
𝜔0 𝜔0

𝐴 𝐴 𝐴 𝐴
𝑃Ԧ𝐴 𝑃Ԧ𝐴 𝑃Ԧ𝐴 𝑃Ԧ𝐴

𝐺Ԧ𝐴 𝐺Ԧ𝐴 𝐺Ԧ𝐴 𝐺Ԧ𝐴

𝑂 𝑂
𝑣Ԧ

The aperiodic speed fluctuation is needed

to regulate with a speed regulator 𝑣Ԧ

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