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Static and Dynamic Balancing of Rigid Rotors

1) A rotor is considered rigid when its speed is less than 50% of its critical speed, above which it is considered flexible. 2) Static and dynamic balancing of rotors involves measuring reaction forces on supports to calculate the position and mass of balancing weights needed to counteract any unbalances. 3) Dynamic balancing of multi-plane rotors requires measuring forces and moments along two axes to solve for the parameters of multiple balancing masses using methods like the pseudoinverse.

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احمد شوقي عمار
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151 views29 pages

Static and Dynamic Balancing of Rigid Rotors

1) A rotor is considered rigid when its speed is less than 50% of its critical speed, above which it is considered flexible. 2) Static and dynamic balancing of rotors involves measuring reaction forces on supports to calculate the position and mass of balancing weights needed to counteract any unbalances. 3) Dynamic balancing of multi-plane rotors requires measuring forces and moments along two axes to solve for the parameters of multiple balancing masses using methods like the pseudoinverse.

Uploaded by

احمد شوقي عمار
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Static and dynamic

balancing of rigid rotors


When a rotor can be assumed rigid?

The answerer depends on the rotor speed.


Jeffcott rotor: critical speed problem
- single mass Jeffcott rotor
with rigid bearings
- The disk has an eccentricity
of its centre of gravity.
- The shaft deflects
elastically.
The simplest model of the rotor system
L
can be a 1 DOF mechanism.

Two types of rotor model are shown here


In top Figure the bearing (support) is
assumed to be rigid (simply supported)
and the shaft as flexible.

The mass of the rotor is considered rigid


In the Figure in the middle, the bearing is
assumed to be flexible and the rotor and the shaft as
rigid.

• Both the cases can be idealized as a single DOF as


shown in down Figure.
• The rotor imbalance gives a sinusoidal force at the rotor rotational
frequency. Thus, the imbalance force is modeled as sinusoidal force

• Newton’s law on the free body of the rotor mass as shown in Figure,
i.e. equating sum of external forces to the mass of the rotor
multiplied by the acceleration of the center of gravity of the rotor
mass, we have
For the free vibration, when the external imbalance force is absent, the
rotor mass will be having oscillation and that will be given by

where omega_n is the frequency of oscillation during the free vibration


and that is called the natural frequency of the system.
Replacing, one obtains

For the non-trivial solution of equation


Steady-state response

When the spin speed tends to be equal to the natural frequency of the
system, the undamped steady state forced response amplitude tends to
infinity.
This is a resonance condition and the spin speed corresponding to the
resonance is defined as critical speed.
A rotor is assumed rigid when its speed is
half of its critical speed

RIGID
Static and dynamic unbalancing (rigid rotor)
Rotors are classified as
being either rigid or
flexible.

A rigid rotor is one whose


service speed is less than
50% of its first critical
speed.
Above this speed, therotor
is said to be flexible.
Static unbalance (definitions)
• Centrifugal force

• Unbalance

• Specific unbalance
Couple unbalance
The center of gravity belongs to the
rotational axis

Example
Static unbalance + coupled unbalance = dynamic unbalance
Static balancing
Geometric errors and variation
in density of material causes a
series of unknown centrifugal
forces

A single unknown unbalancing


force account for all the
contributions

In complex notation
The vertical component of the
reaction force is measured by
means of a load cell
Force generated by the
bearing to support the
rotor

The signal (in N) is a plot similar


to that on the right.
This may it is possible to know
Fymax, Fyo and αG
Example of balancing machines
Instruments needed
- An instrument to measure the angular speed
- One (for the static balancing) or two (for the dynamic balancing) load
cells to measure the vertical components of the reaction forces
generated by the supports
- A sensor (or a procedure) to calculate the instant when the a mark (or
a reference) on the rotor pass through a mark (or a reference) fixed to
the inertial frame

(see the video Dynamic Balancing.mp4)


From the previous eq.s it yields

Therefore the unbalance is (angular speed is known)

The position of the unbalance mass is


If we decide to fix the value of the balancing mass (m), its distance from
the center has to be

And its position with respect to the reference, has to be

Alternatively, tf we decide to fix the distance of the mass from the


center (r), the value of the mass has to be
Dynamic balancing
The problem consists in calculating the
positions and the values of the two
balancing masses m1 and m2

Masses are located on two planes

Reaction forces on the supports


Reaction forces
The reaction forces are measured when the rotor passes for its
initial position, therefore when . They are

In complex notation, according to the figure, they are


Im

Re
Moments of the reaction forces with respect
to the pole on the origin “O”
Right-hand rule for the
cross product

Note that the moment doesn’t have a component along the


Z axis
Dynamic equilibrium of the forces acting on
the rotor

r1 and r2 are fixed

m1, m2, α1 and α2 are variables


to be calculated
Introducing the variables
The system in matrix notation becomes

The solution of the system is


… in conclusion
Since

Moreover, since

It yields
Balance quality grade
Balance Quality Type of Rotor
Grade
Crankshaft drives of rigidly mounted large four-cycle engines;
G 630 crankshaft drives of elastically mounted marine diesel engines.
Crankshaft drives of rigidly mounted fast four-cylinder diesel
G 250 engines.
Crankshaft drives of fast diesel engines with six or more cylinders;
G 100 complete engines (gasoline or diesel) for cars and trucks.
Car wheels, wheel rims, wheel sets, driveshafts; crankshaft drives
of elastically mounted fast four-cycle engine (gasoline or diesel)
G 40 with six or more cylinders; crankshaft drives for engines of cars
and trucks.
Parts of agricultural machinery; individual components of engines
G 16 (gasoline or diesel) for cars and trucks.
Parts or process plant machines; marine main-turbine gears;
centrifuge drums; fans; assembled aircraft gas-turbine rotors; fly
G 6.3 wheels; pump impellers; machine-tool and general machinery
parts; electrical armatures; paper machine rolls.
Gas and steam turbines; rigid turbo-generator rotors;
G 2.5 rotors; turbo-compressors; machine-tool drives; small
electrical armatures; turbine-driven pumps.
Tape recorder and phonograph drives; grinding-machine
G1 drives
Spindles; disks; armatures of precision grinders;
G 0.4 gyroscopes.
Multi-plane balancing considerations
- Equilibrium of forces along x and y axes
- Equilibrium of momentum along x and y axes
- 4 equations
- For each balancing mass there are two parameters to calculate.
- Number of balancing masses > 2
- Use of the pseudoinverse to solve the problem
- This is not the only possibility (optimization of the non linear
problem)
Measurement chain in case of balancing with
accelerometers
Before and after the balancing

Frequency spectrums
The vibration can be measured
in terms of acceleration,
velocity, or
displacement.
Experience has shown that
velocity usually has the flattest
curve, so it is the parameter
most often selected.
Use of acceleration levels tends
to emphasize higher frequency
components

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