THE UNIVERSITY OF HONG KONG

DEPARTMENT OF MECHANICAL ENGINEERING

MECH3418 DYNAMICS AND CONTROL LABORATORY

Title: Engine Balancing
Object: To observe the effect of inertial forces on engines.
Theory
1. Rotation mass balance for coplanar mass system
To obtain static balance, the gravity center of the system must coincide with the rotation axis of the
system. Therefore, with 𝑔 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 for all the masses of the system, we have
3 3

∑ mi gri cos θi = 0, ∑ mi gri sin θi = 0

i=1 i=1

We can cancel out the constant 𝑔 and omit all the subscripts, obtaining

∑ 𝑚𝑟 𝑐𝑜𝑠 𝜃 = 0, ∑ 𝑚𝑟 𝑠𝑖𝑛 𝜃 = 0

To obtain dynamic balance, the resulting centrifugal forces acting on the rotation axis must balance.
Therefore, with 𝜔 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 for all the masses of the system:
3 3

∑ mi ω ri cos θi = 0, ∑ mi ω2 ri sin θi = 0
2

i=1 i=1

Similarly, we can cancel out the constant ω and omit all the subscripts, leading to

∑ 𝑚𝑟 𝑐𝑜𝑠 θ = 0, ∑ 𝑚𝑟 𝑠𝑖𝑛 θ = 0

Thus, a coplanar system that is in static balance will be in dynamic balance as well. In this way, an mr
value vector diagram, having the vectors drawn in parallel to the respective radius, will be approached.

Figure 2 A coplanar masses system. Figure 1 mr value vector diagram.

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2. Rotation mass balance for non-coplanar mass system
To obtain static balance, the gravity center of the system must coincide with the axis of the system.
Therefore, as in coplanar system case, we have
3 3

∑ mi gri cos θi = 0, ∑ mi gri sin θi = 0

i=1 i=1

We also cancel out the constant 𝑔 and omit all the subscripts, obtaining

∑ 𝑚𝑟 𝑐𝑜𝑠 θ = 0, ∑ 𝑚𝑟 𝑠𝑖𝑛 θ = 0

To obtain dynamic balance, the resulting centrifugal forces acting on the rotation axis must balance.
Besides, in the moment in which the respective forces are not located in the plane, the resulting rotation
moment over any reference plane must balance.

Figure 3 A non-coplanar masses system.

In this way, both requirements have to be fulfilled, which are

3 3

∑ mi ω ri cos θi = 0, ∑ mi ω2 ri sin θi = 0
2

i=1 i=1

and
3 3

∑ mi ω ri 𝑙𝑖 cos θi = 0, ∑ mi ω2 ri 𝑙𝑖 sin θi = 0
2

i=1 i=1

As what we did before, we can cancel out the all the constants g and ω and omit all the subscripts, resulting
in

∑ 𝑚𝑟 𝑐𝑜𝑠 θ = 0, ∑ 𝑚𝑟 𝑠𝑖𝑛 θ = 0, ∑ 𝑚𝑟𝑙 𝑐𝑜𝑠 θ = 0, ∑ 𝑚𝑟𝑙 𝑠𝑖𝑛 θ = 0

Therefore, for dynamic balance, the mr value vector diagram drawn in parallel with the respective radius
must be closed; the mrl value vector diagram drawn in parallel with the respective radii must be closed as
well.
Although the vectors sum is usually represented perpendicular to the plane where they orientate, it is
advisable to represent the mrl values as described in the example, parallel to the respective radius.

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 Figure 4 mr and mrl value vector diagrams.

3. Simple reciprocating mass

We have the connecting rod-crank mechanism showed in the Figure 5, defines m being mass of reciprocal
part, l being length of counter bar AB, r being radius of OA crank (In our experimental device, r is much
shorter than l). We let OA crank rotate at a constant angular velocity  . Then we can demonstrate that the
acceleration force can be approximated as
r
F ≈ mω2 𝑟 (cos θ + cos 2 θ)
l
The component 𝑚𝑟ω2 𝑐𝑜𝑠 𝜃 refers to the primary force. This is equivalent to the vertical component of
the centrifugal force when a mass m is attached to the crank endpoint B, rotating at a constant
angular velocity of  . The component mω2 𝑟 2 cos2θ/l refers to the secondary force which is negligible.

Figure 5 Rod-crank mechanism. Figure 6 Rod-crank mechanism with a counter mass.

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 Take a mass m which is the same as the reciprocating mass and is placed diametrically opposed to the
trunnion, as you can see in the Figure 6. As the diagram shows, the primary force will balance because of
the vertical component of the centrifugal force of the rotation mass. But a balanced force is introduced
mω2 r sin θ, which is perpendicular to the stroke line. You can observe that a rotation mass cannot
completely balance a reciprocating mass.

4. Frame resonance
When running the crankshaft from low speed to high speed, the effect of unbalanced primary force or
moment can be observed. Vertical oscillation (bouncing) or angular oscillation (rocking) of the frame
occurs when the effective speed of unbalanced force or moment coincides with the natural frequency
(resonance frequency) of the supporting system. For the given system, rocking and vertical oscillation may
have different natural frequencies.

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Apparatus:
This apparatus consists of 1 crank and 4 disks named A, B, C, and D, all driven by the same crankshaft. An
electric motor is incorporated to drive the crankshaft at variable speed. Additional masses can be installed
to the 4 disks and all mass angles are measured anticlockwise when viewed from the left the crankshaft.

1. Experiment 1: Balance the rod-crank system using counter masses.

As analyzed in the section (c) of theory part, due to the reciprocating mass, the rod-crank system is not in
balance initially. Hence, we need to add some masses to cancel out the force induced by the movement of
reciprocating mass. We have 4 types of masses that can be used for balancing the rod-crank system:
𝑚𝐵1 = 𝑚𝐶1 = 19.6𝑔
𝑚𝐵2 = 𝑚𝐶2 = 91.0𝑔
𝑚𝐵3 = 𝑚𝐶3 = 39.4𝑔
𝑚𝐵4 = 𝑚𝐶4 = 57.5𝑔

The experiment procedures are:

(a) Remove all the balance masses on the disks. Run up the engine speed gradually till its maximum. Note
the movements (vertical/horizontal motion and their magnitude) of the engine frame assembly.
(b) Add masses mb4 and mc4 to disk B and C respectively as shown in Figure 7. Run the engine till its
mid speed and observe the vibration.

Figure 7 Addition of the balance masses.

2. Experiment 2: Vibration and balance of the non-coplanar mass system.

In the last experiment, the rod-crank system is balanced by adding masses 𝑚𝑏4 and 𝑚𝑐4 . We can now add
more masses to verify the dynamic balance conditions of the non-coplanar mass system as analyzed in the
section (b) of theory part.

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The experiment procedures are:
(a) Keep masses 𝑚𝑏4 and 𝑚𝑐4 . Add another 3 masses, considering their weight and in which disk they
are placed, as indicated in Figure 9. 𝑚3 is diametrically opposed to 𝑚1 and 𝑚2 . 𝒍 is the distance
between different masses as shown in Figure 8, which is 74.7 mm. The mass and the radius of
installed position are:
𝑚1 = 30𝑔, 𝑟1 = 60𝑚𝑚, in disk B;
𝑚2 = 30𝑔, 𝑟2 = 60𝑚𝑚, in disk C;
𝑚3 = 60𝑔, 𝑟3 = 60𝑚𝑚, in disk D.
Run the engine till its mid speed. Observe the vibration and record the data.

l l l

Figure 8 Balance masses setup for experiment 2 (a).

(b) Keep masses 𝑚𝑏4 and 𝑚𝑐4 , change the 𝑚3 from 60 g to 30 g, which means
𝑚1 = 30𝑔, 𝑟1 = 60𝑚𝑚, in disk B;
𝑚2 = 30𝑔, 𝑟2 = 60𝑚𝑚, in disk C;
𝑚3 = 30𝑔, 𝑟3 = 60𝑚𝑚, in disk D.
Please determine the weight and position of mass 𝒎𝟒 to add, in order to achieve the dynamic balance
of the system. Run the engine till its mid speed. Observe the vibration and record the data.

3. Experiment 3: Simple demonstration of frame resonance vibration.

The experiment procedures are:
(a) Add two same masses 𝑚𝑏3 and 𝑚𝑐3 to disk B and C. Conduct natural frequency test of frame vibration
and observe the vibration.
(b) Run the engine till its mid speed and observe the vibration.
(c) Remove 𝑚𝑏3 and 𝑚𝑐3 and add 𝑚𝑏4 and 𝑚𝑐4 in disk B and C for counterbalance. Add two more
masses 𝑚1 and 𝑚3 with following configurations:
𝑚1 = 30𝑔, 𝑟1 = 60𝑚𝑚, 𝜃 = 0∘ , in disk B;
𝑚1 = 60𝑔, 𝑟1 = 30𝑚𝑚, 𝜃 = 180∘ , in disk D.
Run the engine till its mid speed and observe the vibration.

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Results:
1. Experiment 1:
(a) Describe your observation.

(b) Record mr values. Describe your observation and explain the reason.

mB 4 (g) rB 4 (mm) mB 4 rB 4 ( 𝑔 ∙ 𝑚𝑚)

mC 4 (g) rC 4 (mm) mC 4 rC 4 ( 𝑔 ∙ 𝑚𝑚)

Observation:

2. Experiment 2:
(a)
Disk no. Mass Radius Distance Mass angle mr (𝑔 ∙ 𝑚𝑚) mrl ( 𝑔 ∙ 𝑚𝑚2)
m (g) r (mm) l (mm)  (deg)

Describe your observation.

Vector Diagrams:

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(b)
Disk no. Mass Radius Distance Mass angle mr (𝑔 ∙ 𝑚𝑚) mrl ( 𝑔 ∙ 𝑚𝑚2)
m (g) r (mm) l (mm)  (deg)

Describe your observation.

Vector Diagrams:

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3. Experiment 3:
(a)
For vertical vibration (bouncing):
Time taken for ___________ cycles of vibration = ____________ seconds

Natural frequency for bouncing, f b = ____________ Hz; or b = ______________ rad/s.

(b)
Vibration resonance occurred in the form of ___________________;
Time taken for ___________ cycles of frame vibration = ____________ seconds;
Natural frequency = ____________ Hz = ______________ rad/s.
Time taken for ___________ revolutions of crank rotation = ____________ seconds;
Engine (crank) speed = ____________ rev/s = ______________ rad/s.
Ratio of (natural frequency/crank speed) = ______________.

(c)
Vibration resonance occurred in the form of ___________________;
Time taken for ___________ cycles of frame vibration = ____________ seconds;
Natural frequency = ____________ Hz = ______________ rad/s.
Time taken for ___________ revolutions of crank rotation = ____________ seconds;
Engine (crank) speed = ____________ rev/s = ______________ rad/s.
Ratio of (natural frequency/crank speed) = ______________.

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Discussion:

Conclusion:

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