ME 302 DYNAMICS OF

MACHINERY

Dynamics of Reciprocating Engines

Dr. Sadettin KAPUCU

2007 Sadettin Kapucu

Dynamics of Reciprocating Engine

This chapter studies the dynamics of a slider crank mechanisms in an analytical
way. This is an example for the analytical approach of solution instead of the
graphical accelerations and force analyses.
The gas equations and models for combustion is not a concern of this chapter.

Pressure
Crank angle
intake

compression

power

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exhaust

Dynamics of Reciprocating Engine

y

G2

3
G3

I2,m2
I3,m3

A
1

m4

4
P

Loop closure equation can be:

x r cos l cos

r sin l sin
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Dynamics of Reciprocating Engine

y

x r cos l cos

G2

sin 2 cos 2 1

I3,m3

A
1

r sin l sin

G3

I2,m2

m4

4
P

cos 1 sin 2
r
sin sin
l

cos 1 sin
l

x r cos l 1 sin
l

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Dynamics of Reciprocating Engine

x r cos l 1

sin
l

Dynamic analysis of reciprocating engines was done in late 1800s and by that
time extensive calculations had to be avoided. So there are many
approximations in the analysis to simplify the arithmetic. In above equation
square root term can be replaced by simplest expression. Taylor series
expansion of square root term, first two term included is as follows:

1 sin
l

r2
1 2 sin 2
2l

Squaring is also an arithmetically difficult process:

1 cos 2
sin
2
2

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Dynamics of Reciprocating Engine

x r cos l 1

sin
l

Dynamic analysis of reciprocating engines was done in late 1800s and by that
time extensive calculations had to be avoided. So there are many
approximations in the analysis to simplify the arithmetic. In above equation
square root term can be replaced by simplest expression. Taylor series
expansion of square root term, first two term included is as follows:

1 sin
l

r2
1 2 sin 2
2l

Squaring is also an arithmetically difficult process:

1 cos 2
sin
2
2

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Dynamics of Reciprocating Engine

r 2 1 cos 2
x r cos l 1 2

2l
2

r2
r

xl
r cos t cos 2t
4l
4l

This equation defines the displacement of the slider. Velocity and acceleration
expressions are by successive differentiation of this equation with respect to
time. If we assume that the angular velocity of the crank is constant then
velocity and acceleration of the slider become:

x r sin t
sin 2t
2l

x r sin t sin 2t
2l

r
r

2
x r cos t
cos 2t x r cos t cos 2t
l
l

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Dynamics of Reciprocating Engine

In dynamic force analysis, we put inertia and external forces on top of existing
mechanism and then solve statically. Under the action of external and inertia
forces, too many forces exist on the mechanism hence we use superposition
Gas force: Assume only gas force exists on the mechanism and calculate the
torque on the crank by the gas force. Forces related with gas force will be
denoted by a single prime.

B
r

A
1

x
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m4

4
P

Gas Force
F23

y
+

F32

F12

T'

F34
F14

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F34

C
F14

4
P

F43

Gas Force
B
l

2
'

F34
F14

F12

r2
r
x

xl
r cos t cos 2t
4l
4l

' xF '14

tan

r
sin
l

F '14 P

F '14
sin
F '14 P tan F '14 P
P
cos
1

1 sin
l

1
2

1 sin
l

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r2
1 2 sin 2
2l

F14
r
sin sin
l
r

cos 1 sin
l

r2
r
F '14 P sin 1 2 sin 2
2l
l

10

Gas Force
B
l
r

2
'

F34
F14

F12

r2
r
x

xl
r cos t cos 2t
4l
4l

r2
r

'
'14 r cos t cos 2t
' lxF
4l
4l

F14

r2
r
2
P sin t 1 2 sin t
2l
l

' Pr sin t 1 cos t

l

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r2
r
F '14 P sin 1 2 sin 2
2l
l

11

Gas Force

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' Pr sin t 1 cos t

l

12

Inertia Forces
To obtain acceleration of third link in algebraic expression is a laborious task.
After finding acceleration of the third link and putting the inertia force on center
of mass of third link, doing force analysis is also laborious. To further simplify
the problem, an equivalent mass approach can be used. In equivalent mass
system problem, we generate a model which has two point masses rather than
one.

G2

3
G3

I2,m2

A
1

I3,m3

x
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m4

4
P

13

Inertia Forces
Equivalent masses

In equivalent mass system problem, we generate a model which has two point
masses rather than one. One of the masses will be at point C. The other is at P.

lB
P
B

lB

lC

G3
m3 I3

lP

lC

m3P G3

m3C

The mass of the model and mass of the actual link should be equal.

m3 m3 P m3C
Mass center of the model and mass center of the actual link should be at the same place.

m 3 P l P m 3C l C
Mass moment of inertia of the model and the actual link should be same.

I 3 m3 P l P2 m3C lC2

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Inertia Forces
Equivalent masses

lB
P

lB

lC

lP

m3P G3

m 3 m3 P m3C

lC

m3C

m3 P l P m 3C l C

G3
m3 I3

m3 P

m3C lC m3C l P
m3C lC
l l
m3C lC
ml

m3 m3C C P m3C 3 P
m3
m3C m3

lP
lP
lP
lP
l P lC
lP

m3 P

m3lC

l P lC

m3C

m3l P
l P lC

I 3 m3 P l P2 m3C l C2

lC
m3lC 2 m3l P 2
l
I3
lP
lC I 3 m3lC l P
P
l P lC
l P lC
l P lC l P lC
m3 P

m3lC

l P lC

I 3 m3lC l P

I3
lP
m3lC

at that point second mass should be located. It is also known as centre of percussion.
Centre of percussion is at point where there is no inertia moment. Only an inertia force
exists. In a connecting rod, where mass centre is nearer to point B and distance between
mass centre and point B is very little. P, the centre of percussion is somewhere in between
centre of mass and B. So,
P is nearlyUniversity
coinciding with point B.
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Inertia Forces
Using equivalent mass concept slider crank mechanism can be converted into
two mass system which are located at B and C.

m3 B

lC m
l

m3C

lB m
l

m3 B

G2

3
G3

I2,m
2

A
1

I3,m
3

x
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m4

4
P

m3C

16

Inertia Forces
Second link mass amount assumed to concentrated can be found by:

m2 B

rG m This equation satisfies the equality of mass and mass centre for the
r crank. Then total masses at B and C are;
Then total masses at B and C are;

m B m 2 B m3 B
mC m3C m4

m3 B m2 B

G2

3
G3

I2,m
2

A
1

I3,m
3

x
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m4

4
P

m3C

17

Inertia Forces
Position vector defining point B;

RB r cos t i r sin t j

VB r sin t i r cos t j

2
2
a B r sin t r cos t i r cos t r sin t j

2
2
r

a B ry cos t i r sin t j
2
aC x r cos t cos 2t i
B
l

G2

3
G3

I2,m
2

A
1

I3,m
3

x
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m4

4
P

18

Inertia Forces
r

2
aC x r cos t cos 2t i
l

2
2
m B a B m B r cos t i m B r sin t j
r

2
mC aC mC r cos t cos 2t i
l

2
2
a B r cos t i r sin t j

mB a B

y
r

immaterial from crank shaft torque point of

view. Because this inertia force is directed
radially and so does not produce any torque
on the crank.

l
2

4
x

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mC aC

19

Inertia Forces
F23

y
+

F32

F12

T'

F34
F14

-mcac

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F34

C
F14

4
C

20

F43

Inertia Forces
B
l
r

2
F12

F34
F14

mC aC

''

r2
r
x

xl
r cos t cos 2t
4l
4l

' ' xF ' '14

tan

m
a
C C
C

F14

F '14
sin
F '14 ( mC aC ) tan F ' '14 (mC aC )
mC aC
cos

r
sin sin
l

cos 1 sin
l

r2
r
r

' ' l r cos t cos 2t mC r 2 cos t cos 2t

4l
4Gaziantep
l
l

University

r
r2
2

sin

t
1

sin

l
2

2l 21

Inertia Forces
B
l
r

2
F12

F34
F14

mC aC

''

r2
r
r

' ' l r cos t cos 2t mC r 2 cos t cos 2t

4l
4l
l

F14

r
r2
2
l sin t 1 2l 2 sin t

mC 2 2 r
3r

''
r
sin t sin 2t sin 3t
2
2l
2l

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m
a
C C
C

22

Example 1

In the figure, an elliptic trammel mechanism is shown with appropriate dimensions, working in
the horizontal plane. Put the coupler link into an equivalent form as two point masses
concentrated at points A and B, on the basis of equivalency of mass and location of mass
center. Then calculate the actuation force required on the slider at B, parallel to the slide way if
point B is moving rightward with constant velocity of 1 m/sec.
A

AB=10 cm, AG3=BG3=5 cm, =60o

m2=m4=0.5 kg, m3=0.8 kg, I3=0.01 kg.m2

V A VB V A
3
G3

VA ?

VB 1 m / s

VA ?
B

VB

x
B

to AB

VA 0.5774 m / s

VA 1.1547 m / s
B

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VA

VA

23

Example 1

In the figure, an elliptic trammel mechanism is shown with appropriate dimensions, working in
the horizontal plane. Put the coupler link into an equivalent form as two point masses
concentrated at points A and B, on the basis of equivalency of mass and location of mass
center. Then calculate the actuation force required on the slider at B, parallel to the slide way if
point B is moving rightward with constant velocity of 1 m/sec.

V A VB V A

a A aaAnA a At
BB

aA ?

G3

1.1547 2

13.33m / s 2 from A to B
AB
0.1
B

a tA ?

VA2

aA

a A aB a A

to AB

x
B

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Example 1 cont

a A aaAnA a At
BB

aA ?
A

aA

VA2

1.1547 2

13.33m / s 2 from A to B
AB
0.1
B

a tA ?

to AB

a A 15.396 m / s 2

G3

a nA

a tA 7,698 m / s 2

aA
4

a tA

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Example 1 cont
a A 15.396 m / s
A

Equivalency of masses

a nA

m3 m3 A m3 B

aA

Equivalency of mass center

AG3 m3 A BG3 m3 B

3
G3

x
B

a tA

m3 B

AG3 m
BG3 m
m3 A
AB
AB

m3 B

0.05 * 0.8
0.05 * 0.8
0.4 kg m3 A
0.4 kg
0.1
0.1

m B m3 B m4 0.5 0.4 0.9 kg

m A m3 A m2 0.5 0.4 0.9 kg

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Example 1 cont

ma A

aA

a nA

a A 15.396 m / s 2
A

m A m3 A m2 0.5 0.4 0.9 kg

a tA

DAlembert forces and moments

ma A 0.9 *15.396 13.8564 N 90

G3

x
B

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Example 1 cont
13.8564 N

13.8564 N

F12

3
3
G3

G3

FB

x
B

FB

4
B

F14
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Example 1 cont
13.8564 N

F
F

F12

0 ; FB F12 0 FB F12

0 ;13.8564 F14 0

F14 13.8564 N

0 ; 13.8564 * 0.1* cos 60 F12 * 0.1* sin 60 0

0.69282
8 N
0.0867
FB 8 N

F12
G3

FB

4
B

F14
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Example 1 cont
13.8564 N y

Fx 0; FB F12 0 FB F12

+
F12

F 0 ;13.8564 F
y

14

x F14 13.8564 N

7.698 N

F12

FB

0 ; 13.8564 * 0.1* cos 60 F12 * 0.1* sin 60 0

0.69282
8 N
0.0867
FB 8 N

6.1584 N

12

12

14

F14 13.86 N

0 ; 6.1584 * (0.05 0.125) * cos 60

7.698 * 0.1* cos 60 F12 * 0.1* sin 60 0

G3

F12

FB

F12
G3

F 0; F F 0 F F
F 0 ; 7.698 6.1584 F 0

1.3087
15.11 N
0.0867

FB 15.11 N

F14

F14

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Example 1

In the figure, an elliptic trammel mechanism is shown with appropriate dimensions, working in
the horizontal plane. Put the coupler link into an equivalent form as two point masses
concentrated at points A and B, on the basis of equivalency of mass and location of mass
center. Then calculate the actuation force using algebraic approach required on the slider at B,
parallel to the slide way if point B is moving rightward with constant velocity of 1 m/sec.

AB=10 cm, AG3=BG3=5 cm, =60o

m2=m4=0.5 kg, m3=0.8 kg, I3=0.01 kg.m2

OA OB AB

0 x AB * cos(180 ) x AB * cos
y 0 AB * sin(180 ) y AB * sin

AB

OA

x AB * sin
x AB * sin AB * 2 cos

OB

x
AB * sin

y AB *

y AB * cos
y AB * cos AB * 2 sin

x
x cos
cos y
AB * sin
sin

2 cos
2

0 AB * sin AB * cos
sin
4
B
2
2 cos
sin
AB
*

cos AB * 2 sin *
y AB *
y
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sin

sin

sin31

Example 1

In the figure, an elliptic trammel mechanism is shown with appropriate dimensions, working in
the horizontal plane. Put the coupler link into an equivalent form as two point masses
concentrated at points A and B, on the basis of equivalency of mass and location of mass
center. Then calculate the actuation force using algebraic approach required on the slider at B,
parallel to the slide way if point B is moving rightward with constant velocity of 1 m/sec.

AB * 2
y
sin

ma A
2

F12

DAlemberts force
AB * 2
ma A m *
90 0
sin

0 ; FB F12 0 FB F12

AB * 2
AB * 2
Fy 0 ; m sin F14 0 F14 m sin
FB
O

2
AB
*

M B 0; m
* AB * cos F12 * AB * sin 0
x
sin
B 4
AB * 2
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University
cos
12 m
32
2
sin