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mu
e
e Ωt
mu
Ω m
m x
x
k/2 c k/2
After a time t, the out-of-balance mass will have moved through an angular
displacement Ωt. If x is the displacement of the mass (m – mu) from the
equilibrium position after a time t, the displacement of the out-of-balance
mass, mu, will be (x + esinΩt). The forces acting on the combined mass are
-kx and - cx (i.e. they act in the opposite direction to the positive x-direction).
The equation of motion is, therefore:
d 2x d2
− kx − cx = (m − mu ) + m u ( x + e sin Ωt )
dt 2 dt 2
− kx − cx = mx − mu x + mu x + mu ( −Ω 2 e sin Ωt )
2ζωΩ 2ζr
and tan φ = = (3.2)
ω −Ω
2 2
1− r 2
k c Ω
and, as before, ω is the natural frequency, ,ζ = and r =
m 2 km ω
If we write equation (3.1) in a non-dimensional form it is easier to see how in
general the response depends on the frequency ratio, r, and on the damping
ratio ζ. Re-writing equation (3.1), therefore:
X0 m r2
=
e mu (1 − r ) + (2ζr )
2 2 2
3
2.5
2
Figure 3.2. The response of 1.5
an unbalanced rotor as a 1
function of the frequency 0.5
0
0 2 4 6 8
frequency ratio, r
This shows that at low speeds, where r is small, the amplitude of the motion of
the mass (m - mu) is nearly 0, while at very large values of r, the amplitude
becomes constant, at a value equal to emu/m, and it doesn’t matter what the
damping in the system is at all, nor does the actual speed then matter. This
explains why, if you are bold enough to speed up when your car with
unbalanced wheels begins to shake, the shaking stops, as the value of r
becomes much greater than 1.
mu e
At resonance, when r = 1, the amplitude of the mass (m - mu) is X 0 = so
2ζm
its magnitude is reduced if there is damping in the system.
At resonance, the phase angle φ = 90° and the response lags the excitation
by 90°. This means that when the mass (m – mu) is moving upwards through
its position of equilibrium the unbalance mass mu is directly above the centre
of rotation.
A rotor can be balanced by placing a balancing mass, mb, on the rotor
diametrically opposite mu, and at a distance, h, such that mbh = mue.
This mass mb then produces an excitation force that is exactly equal and
opposite to that produced by the out-of-balance, so that there is no resultant
excitation force.
Example
A 40 kg motor is similar to the system shown in Figure 3.1. It is supported by
four springs each of stiffness 250 Nm-1. The rotor is unbalanced such that the
unbalance effect is equivalent to a mass of 5 kg located 50 mm from the axis
of rotation. Find the amplitude of vibration and the force transmitted to the
foundation when the speed of the motor is (a) 1000 rev min-1, (b) 60 rev min-1
The damping ratio, ζ = 0.15.
Solution:
Write down what you know: m = 40 kg k = 4*250 = 1000Nm-1
mu = 5 kg e = 50 mm = 0.05 m ζ = 0.15
1000 * 2π
Speed of motor = 1000 rev min-1, ∴ Ω = = 104.7 rad s-1
60
First find the natural frequency and r:
k 1000 Ω 104.7
ω= = = 5 rad s-1 ∴ r= = = 20.94
m 40 ω 5
From equation (3.1),
mu r 2 e / m 5 * 20.94 2 * 0.05 / 40
X0 = =
(1 − r ) + (2ζr )
2 2 2
(1 − 20.94 2 ) 2 + (2 * 0.15 * 20.94) 2
2.74 2.74
= = = 6.3 * 10 −3 m
191391 .9 + 39.5 437.5
So the amplitude of the vibration of the motor at 1000 rev min-1 is 6.3 mm.
1/ 2 1/ 2
é 1 + (2ζr ) 2 ù é 1 + (2ζr ) 2 ù
From section 2, P0 = F0 ê ú = m u eΩ 2 ê ú
2
(
êë 1 − r 2 + (2ζr ) 2 úû) ( 2
)
êë 1 − r 2 + (2ζr ) 2 úû
1/ 2
é 1 + (2 * 0.15 * 20.94) 2 ù 40.46
∴P0 = 5 * 0.05 * 104.7 ê 2
2 ú
= 2740.5 = 39.84
ë (1 − 20.94 ) + (2 * 0.15 * 20.94) û
2 2
191431 .4
The amplitude of the force transmitted is 40 N.
60 * 2π 6.28
(b) Ω = = 6.28 rad s-1 and ∴ r = = 1.26
60 5
mu r 2 e / m 5 * 1.26 2 * 0.05 / 40
X0 = =
(1 − r ) + (2ζr )
2 2 2
(1 − 1.26 2 ) 2 + (2 * 0.15 * 1.26) 2
0.00992 0.00992
= = = 0.014m
0.345 + 0.143 0.698
1/ 2
é 1 + (2 * 0.15 * 1.26) 2 ù 1.143
∴ P0 = 5 * 0.05 * 6.28 ê 2
2 ú
= 9.86 = 15.1
ë (1 − 1.26 ) + (2 * 0.15 * 1.26) û
2 2
0.488