SRI KRISHNA COLLEGE OF ENGINEERING AND TECHNOLOGY

DEPARTMENT OF MECHATRONICS ENGINEERING

Module 3
Session: Static and Dynamic Balancing

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SESSION OBJECTIVES

❑ On the completion of this session, the students

might be able to understand,
▪ Balancing of rotating and reciprocating masses

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Topics

❑ Balancing

❑ Static balancing

❑ Dynamic Balancing

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 Unbalance of forces
mrω2
❑ Unbalance created due to
m
inertia forces
❑ Centrifugal and centripetal r ω
forces act on a rotating
particle or mass
❑ The mass is balanced as meω2
long as the center of the
mass lies on the axis of G
ω
the shaft m

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 Unbalance of forces
mrω2
❑ Unbalance causes dynamic
m
forces to increase
❑ Increase loads on the r ω
bearings
❑ Increases stresses
❑ Unpleasant and meω2
dangerous vibrations
❑ Human discomfort and G
ω
detrimental effects m

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 Unbalance of forces

❑ Ex: Steam turbine rotors, crankshafts, rotary

compressors and centrifugal pumps
❑ Common approach – add or remove mass

Types of unbalance

Rotating unbalance Reciprocating

unbalance

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Static balancing or Single plane balancing
z
❑ A rotating mass system is said to
m2
be balanced if the combined r1 m1
r2
mass of the system lies on the
z
axis of rotation
r3
rc
❑ Ex: single gear, flywheel, car
m3
wheels mc

❑ If system is balanced, the vector m 2r 2

m 3r 3
sum of forces is zero
m 1r 1
𝐹 = 𝑚1 𝑟1 𝜔2 + 𝑚2 𝑟2 𝜔2 + 𝑚3 𝑟3 𝜔2
mc rc
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 Static balancing or Single plane balancing
z
❑ If not balanced, a
m2
r1 m1
counterweight is introduced
r2

𝑚1 𝑟1 𝜔2 + 𝑚2 𝑟2 𝜔2 + 𝑚3 𝑟3 𝜔2 + 𝑚𝑐 𝑟𝑐 𝜔2 = 0 z

r3
rc
❑ In general,
m3
mc
෍ 𝑚𝑟 + 𝑚𝑐 𝑟𝑐 = 0
m 2r 2

m 3r 3

m 1r 1

mc rc
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Static balancing or Single plane balancing
z
❑ Solving analytically, divide
m2
each force into x and z r1 m1
r2
components
z
෍ 𝑚𝑟 𝑐𝑜𝑠𝜃 + 𝑚𝑐 𝑟𝑐 𝑐𝑜𝑠𝜃𝑐 = 0 r3
rc

m3
෍ 𝑚𝑟 𝑠𝑖𝑛𝜃 + 𝑚𝑐 𝑟𝑐 𝑠𝑖𝑛𝜃𝑐 = 0
mc
m 2r 2
𝑚𝑐 𝑟𝑐 𝑐𝑜𝑠𝜃𝑐 = − ෍ 𝑚𝑟 𝑐𝑜𝑠𝜃
m 3r 3

m 1r 1
𝑚𝑐 𝑟𝑐 𝑠𝑖𝑛𝜃𝑐 = − ෍ 𝑚𝑟 𝑠𝑖𝑛𝜃
mc rc
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Static balancing or Single plane balancing
❑ On dividing,
− σ 𝑚𝑟 𝑠𝑖𝑛𝜃
𝑡𝑎𝑛𝜃𝑐 =
− σ 𝑚𝑟 𝑐𝑜𝑠𝜃

❑ Signs indicate the quadrant of the angle

❑ Squaring and adding,

𝑚𝑐 𝑟𝑐 = (෍ 𝑚𝑟 𝑐𝑜𝑠𝜃)2 +(෍ 𝑚𝑟 𝑠𝑖𝑛𝜃)2

❑ If a closed loop is formed, the system is balanced,

else the closing vector will give 𝑚𝑐 𝑟𝑐
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 Dynamic balancing
❑ When several masses rotate in z

different planes, a couple is m2

formed x

❑ A force couple system is given

by “mr” and “mrl”
❑ Couple acts in the plane that m1r1lω2 = m2r2lω2
r2
consists the axis of rotation
ω l r1
and the 2 masses
❑ Couple is constant magnitude ∑F= 0
but variable direction ∑m=0
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 Dynamic balancing
❑ To correct dynamic imbalance z

– adding or removing right m2

amount of mass at proper x

angular locations in two

correction planes separated
by some distance along the m1r1lω2 = m2r2lω2
r2
shaft
ω
❑ Ex: Automobile tire and l r1

wheel

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 Dynamic balancing requirements
❑ When several masses rotate in
different planes, transfer them to a Reference
Plane
reference plane (RP)
m
❑ RP – plane passing through the F1
A
r
a point on the axis of rotation O
l
and perpendicular to it F2

❑ To cause a force of magnitude

equal to the centrifugal force of the Imaginary
turned
revolving mass to act in the RP through 900

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Dynamic balancing requirements
❑ Resultant Forces in RP must be
zero Reference
Plane
❑ The resultant couples about the
m
RP must be zero F1
A
r
O
l
F2

Imaginary
turned
through 900

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Dynamic balancing procedure
❑ Consider a 4 mass system with L and M as balancing
masses mL and mM whose values can be found

1 2 3 M 4
L
θ2
r1 rL r2 r3 r4 ϕ
rm
θ1
O α
1
O
l1 l2 θ3

l3
lm
l4

Position of planes of Angular Position of masses

masses
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Dynamic balancing procedure
❑ Step 1: Take one plane as RP. All other planes to the left
of RP is negative and to the right is positive

1 2 3 M 4
L
θ2
r1 rL r2 r3 r4 ϕ
rm
θ1
O α
1
O
l1 l2 θ3

l3
lm
l4

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Dynamic balancing procedure
❑ Step 2: Formulate the table as below in the same order in
which they occur

Plane Mass Radius Centrifugal Distance Couple(÷ω

(m) (r) force(÷ω2) from L 2)

(m*r) (l) (m*r*l)

1 m1 r1 m1r1 -l1 -m1r1l1
L(RP) mL rm mLrL 0 0
2 m2 r2 m2r2 l2 m2r2l2
3 m3 r3 m3r3 l3 m3r3l3
M mM rM mMrM lM mMrMlM
4 m4 r4 m4r4 l4 m4r4l4

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Dynamic balancing procedure
❑ Step 4: If needed for convenience rotate the couple
polygon 90 degree CCW. Couple vectors are drawn
radially outwards for the masses on one side of the
reference plane and radially inward for the masses on
the other side of the reference plane

CM
C1

C2
C3
C3

C4

C1

O
O CM

C2
C4
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Dynamic balancing procedure
❑ Step 5: Draw the couple polygon with magnitudes equal
to the calculated couple values on a suitable scale
c’
CM
C3

C2
C3

b’
C2
C4
C1

C1
O

O’
a’

CM
C4

d’

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Dynamic balancing procedure
❑ Step 6: Draw the force polygon with magnitudes equal to
the calculated centrifugal force values on a suitable
scale CM c

C2
C3

FC3
FC4
e
b
C1

FCM
FCL
d FC2

o FC1 a
C4

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 Sample problems
A shaft carries four masses A, B, C and D of magnitude 200 kg, 300 kg, 400
kg and 200 kg respectively and revolving at radii 80 mm, 70 mm, 60 mm and
80 mm in planes measured from A at 300 mm, 400 mm and 700 mm. The
angles between the cranks measured anticlockwise are A to B 45°, B to C
70° and C to D 120°. The balancing masses are to be placed in planes X
and Y. The distance between the planes A and X is 100 mm, between X and
Y is 400 mm and between Y and D is 200 mm. If the balancing masses
revolve at a radius of 100 mm, find their magnitudes and angular positions.

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Sample problems
A, B, C and D are four masses carried by a rotating shaft at radii 100,125,
200 and 150 mm respectively. The planes in which the masses revolve are
spaced 600 mm apart and the mass of B, C and D are 10 kg, 5 kg, and 4 kg
respectively. Find the required mass A and the relative angular settings of the
four masses so that the shaft shall be in complete balance.

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Sample problems
A shaft carries four masses in parallel planes A, B, C and D in this order
along its length. The masses at B and C are 18 kg and 12.5 kg respectively,
and each has an eccentricity of 60 mm. The masses at A and D have an
eccentricity of 80 mm. The angle between the masses at B and C is 100° and
that between the masses at B and A is 190°, both being measured in the
same direction. The axial distance between the planes A and B is 100 mm
and that between B and C is 200 mm. If the shaft is in complete dynamic
balance, determine :
1. The magnitude of the masses at A and D ;
2. the distance between planes A and D ; and
3. the angular position of the mass at D.

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Sample problems
A shaft is supported in bearings 1.8 m apart and projects 0.45 m beyond
bearings at each end. The shaft carries three pulleys one at each end and
one at the middle of its length. The mass of end pulleys is 48 kg and 20 kg
and their centre of gravity are 15 mm and 12.5 mm respectively from the
shaft axis. The centre pulley has a mass of 56 kg and its centre of gravity is
15 mm from the shaft axis. If the pulleys are arranged so as to give static
balance, determine :
1. relative angular positions of the pulleys, and
2. dynamic forces produced on the bearings when the shaft rotates at 300
r.p.m.

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 END

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