DYNAMICS OF MACHINES

By

Dr.K.SRINIVASAN,
Professor,
AU-FRG Inst. for CAD/CAM,
Anna University

Topic : Balancing of Rotating masses

 What is balancing of
rotating members?

Balancing means a process of restoring a

rotor which has unbalance to a balanced
state by adjusting the mass distribution of
the rotor about its axis of rotation
Balancing
"is the process of attempting to
improve the mass distribution
of a body so that it rotates in its
bearings without unbalanced
centrifugal forces
Mass balancing is routine for rotating

machines,some reciprocating machines,

and vehicles

Mass balancing is necessary for quiet operation,

high speeds , long bearing life, operator comfort,

controls free of malfunctioning, or a "quality" feel

 Rotating components for balancing

Pulley & gear Starter armatures Airspace

shaft assemblies components

High speed
machine flywheels Impellers
tool spindles

Centrifuge rotors Electric motor Fan and blowers

rotors

Compressor Turbochargers Precision shafts

rotors

crank shafts Grinding wheels Steam &

GasTurbine
rotors
 Shaft with
rotors

Bearing 1 Bearing 2

Unbalanced force on the bearing rotor system

Cut away section of centrifugal compressor
Unbalance is caused by the displacement of the
mass centerline from the axis of rotation.
Centrifugal force of "heavy" point of a rotor
exceeds the centrifugal force exerted by the light
side of the rotor and pulls the entire rotor in the
direction of the heavy point.
Balancing is the correction of this phenomena
by the removal or addition of mass
 Benefits of balancing
Increase quality of operation.

Minimize vibration.

Minimize audible and signal noises.

Minimize structural fatigue stresses.

Minimize operator annoyance and fatigue.

Increase bearing life.

Minimize power loss.

NEED FOR BALANCING
Rotating a rotor which has unbalance
causes the following problems.

The whole machine vibrates.

Noise occurs due to vibration of

the whole machine.

Abrasion of bearings may shorten

the life of the machine.
 Rotating Unbalance occurs due to the following
reasons.

The shape of the rotor is unsymmetrical.

Un symmetrical exists due to a

machining error.
The material is not uniform, especially in
Castings.
A deformation exists due to a distortion.
 An eccentricity exists due to a gap of fitting.
An eccentricity exists in the inner ring of
rolling bearing.
Non-uniformity exists in either keys or key
seats.
Non-uniformity exists in the mass of flange
 Unbalance due to
unequal distribution
of masses

Unbalance due to
unequal distance of masses
. Types of Unbalance

Static Unbalance

Dynamic Unbalance
 STATIC BALANCING
(SINGLE PLANE BALANCING)
 Single plane balancing

Adequate for rotors which are short in length,

such as pulleys and fans
F=mr
2

m
Magnitude of
r unbalance
O2
Vibration
Elasticity of the bearing
occurs
 Balancing of several masses
revolving in the same plane using a
Single balancing mass

m3r3 2 y
m3 2
m2r2
m2
2
1
3 m1 x
bearing m1r1 2

m4 mb
m4r4 2
Graphical method of determination
magnitude and
Angular position of the balancing mass

m4r4 2

m3r3 2
b

m b r b 2
O m2r2 2
m1r1 2

Force vector polygon

 Determination of magnitude and
Angular position of the balancing mass
m1r1 2 cos 1+ m2r2 2 cos 2
+ m3r3 2cos 3+ m4r4 2 cos 4
= mb cos b
m1r1 2 sin 1+ m2r2 2 sin 2
+ m3r3 2sin 3+ m4r4 2 sin 4
= mb sin b
magnitude m b and position b can be determined
by solving the above two equations.
 Dynamic or "Dual-Plane" balancing

Dynamic balancing is required for components

such as shafts and multi-rotor assemblies.
Dynamic or "Dual-Plane" balancing

Statically balanced
mr
2
but dynamically unbalanced

r
r
Brg A Brg B
l
mr
2

Load on each support Brg

due to unbalance = (m r l)/ L
2
On an arbitrary plane C
Several masses revolving in different planes
Apply dynamic couple on the rotating shaft

Dynamic unbalance
Balancing of several masses rotating in different planes

A B C D

Fc
End view Fb

Fd
Fa

L M
Plane Mass Radius Force / 2, Dist. From Couple / 2
M r M r =F , ref plane Mrl =C
( kg) (cm) (kg. cm) l , (cm) (kg cm 2)
A Ma ra Mara -la -Mara la

L Ml rl Ml rl 0 0
(Ref.plane)

B Mb rb Mbrb lb Mbrb lb
C Mc rc Mcrc lc Mcrc lc
M Mm rm Mmrm d Mmrmd

D Md rd Mdrd ld Mdrdld
 A B C D
Fm la
Fc
lb
lc
Fb
ld
Fa

Fl d
Fd
L, M
End view
Ref plane side view of the planes
 Fc
Fm =?
Cc
Fd
Fb
Fc
Fa Cb Fm
Cd Ca
Fl=Ml rl Fb

F l =? Cm=Mmrmd Fa

Fd Couple polygon force polygon

From couple polygon, by measurement, Cm = Mm X r m X d

From force polygon, by measurement, Fl = Ml X rl
Example :
A shaft carries four masses in parallel planes A,B,C,&D in this
order. The masses at B & C are 18 kg & 12.5 kg respectively and
each has an eccentricity of 6 cm. The masses at A & D have an
eccentricity of 8 cm. The angle between the masses at B & C is
100 o and that between B & A is 190o both angles measured in
the same sense. The axial dist. between planes A & B is 10cm
and that between B & C is 20 cm. If the shaft is complete
dynamic balance,
Determine,
1 masses at A & D
2. Distance between plane C &D
3. The angular position of the mass at D
 18 kg
A B C D
10 cm =100o =190 o

20 cm
12.5 kg

ld End view
Ma

Plane Mass Radius Force / 2, Dist. Couple / 2

M r Mr, From ref Mrl
kg cm kg. cm plane kg cm 2
l , cm
A Ma=? 8 8 Ma 0 0
B 18 6 108 10 1080
C 12.5 6 75 30 2250
D Md=? 8 8 Md ld=? 8 Md l d
 A B C D 18 kg

10 cm =100o =190 o

20 cm
12.5 kg
Md
ld
Ma

Couple polygon force polygon

75
2,250
108 8 Md =63.5 kg. cm
1080
d= 203o
8 Ma = 78 kg .cm
8 Md ld= 2312 kg cm 2
O
O
From the couple polygon,

By measurement, 8 Md ld= 2,312 kg cm 2

M = 2312 / 8 = 289 kg cm
d ld
d= 203o
From force polygon,

By measurement, 8 Md = 63.5 kg cm

8 Ma = 78.0 kg cm

Md = 7.94 kg

Ma = 9.75 kg

ld = 289 /7.94 = 36.4 cm

 Shaft with
rotors

Bearing 1 Bearing 2

Unbalanced force on the bearing rotor system

Cut away section of centrifugal compressor
 Balancing machines:
static balancing machines
dynamic balancing machines

Measurement static unbalance:

Hard knife edge rails

Thin disc

Chalk mark
Static balancing machines:

Universal level used in static balancing machine

A helicopter- rotor assembly balancer
Field balancing of thin rotors :

Thin disc

Signal from
Sine wave generator
 Oscilloscope signal

Required balancing mass , mb = mt [oa/ab]

angular position of the mass =

During field balancing of thin disc using sine wave generator, the measured amplitude of vibration
without trial mass is 0.6 mm and its phase angle is 30o from the reference signal. With trail
mass attached, the amplitude is 1.0mm and its phase angle is 83o from the reference signal.
Determine the magnitude and position of the required balancing mass
Field balancing with 3-mass locations (without sine wave generator)

2A1

A2

Required balancing mass , mb = mt [ad/dc]

Dynamic balancing machines
Vibration amplitude versus rotating unbalance

Mu r
X=
M [ {1- (/n)2}2 +{2(/n)}2]

180o

X
(Mur)

90o

1
/n
2 3 0 1 /n 2 3

Amplitude versus rotating speed Phase angle versus rotating speed

Pivoted carriage balancing machine

Plane 1 coincides with pivot plane.

Vibration levels as functions of angular position plotted.
Minimum vibration level angle noted.
Magnitude of trial mass varied by trial and error to reduce vibration.
Repeated with plane 2 coinciding with the pivot plane.
CRADLE TYPE BALANCING MACHINE
 rotor

Pivoted-cradle balancing machine with specimen mounted

Gisholt type balancing machine
stroboscope
Stroboscope
flashes light

Angle marked end plate

attached to the rotor

voltmeter

Rotor mounted in spring supported half bearings.

Vibration of bearing in particular direction used as direct
measure of amount of unbalance in the rotor.
Effect of unbalances in two planes separated by two
electrical circuits one for each reference plane
View of Precision Balance Machine