ME3112E MECHANICS OF MACHINES

DYNAMIC BALANCING & GYROSCOPIC EFFECTS LABORATORY REPORT

Name : Phyo Wai Aung Matriculation No : A0088893E

INTRODUCTION Both unbalanced dynamic forces and gyroscopic effects have profound influence on the working and of rotating machinery like turbines, compressors, pumps, motors etc. Since they have different effects on the behavior and performance of the rotating system, they are being considered separately and described under Part A and Part B. Part A refers to the experiment connected with unbalanced dynamic forces. These forces act directly on the bearings supporting the rotor and thus increase the loads and accelerate the fatigue failure. These unbalanced forces induce further mechanical vibrations in the machinery and connected parts thereby creating environmental noise problem through radiation of sound. Hence it is desirable to balance all such uncompensated masses and thus reduce the effect of unbalanced forces in a dynamics balancing machine. Parts B refers to the experiments connected with gyroscopic effects. This effect is felt in all rotating machinery whenever the axis of rotation (spin) undergoes a change of direction (for example as in an aircraft, ship, automobile etc.). Such a system experiences an additional moment or torque resulting in higher stresses on the bearings. However gyroscopic effects have certain beneficial effects as compared to the unbalances dynamic forces in application like inertial guidance, gyrostabilizers, navigation etc. It is therefore necessary to account for gyroscopic effects while designing rotating machinery and system.

OBJECTIVES
Part A - Study the effect of unbalanced forces in a rotating system and reduce the undesirable effects of unbalanced dynamic forces in a rotating system. Part B - Study the gyroscopic effects on rotating system.

PART A UNBALANCED DYNAMIC FORCES

Tabular Working Sheet Weight of initial unbalanced mass introduced Mi = 2.193g Ma = 2.567g Mb = 2.567g Angular Position = 90C Motor Speed = 600 rpm

Table A1 Unbalanced Dynamic Forces --- Two-Plane Balancing Trial Mass Added M (g) Mi Ma Mb Deflection of the Spring b (mm) 0.35 0.4 0.65 0.3356 51.86 2.55 c (mm) d (mm) Resultants a (mm) () Counter Balance Mass Required Mb (g)

Sample Calculations 2a2 2a2 a = d2 - 2c2 + b2 = (0.65)2 2*(0.40)2 + (0.35)2 = 0.3354 mm

c2 = a2 + b2 - 2ab cos 2 (0.3) = (0.3354)2 + (0.35)2 2*(0.3354)*(0.35) cos = 51.86 M M Mb = (Mi + Ma + Mb) / 3 = (2.193 + 2.567 + 2.567) / 3 = 2.442 = (b / a) * M = (0.35 / 0.3354) * 2.442 = 2.55 g

DISCUSSION
Explain why it is necessary to have 2 trail masses added to determine the counter-balance mass and the location.

It is necessary to have 2 trail masses added to determine the counter-balance mass and the location because there are 2 unknowns. Therefore, we need to have at least 2 equations to solve for a and . See above Fig. A6: Moment Diagram of Unbalanced Forces.

CONCLUSION
Unbalanced distribution of mass acting on the rotor will cause unbalanced dynamic forces which will lead to unwanted vibration that will accelerate fatigue failure. From this experiment, we learnt that given a known mass acting on the system, we can calculate the direction and weight to counter balance the dynamic forces in a system.

PART B GYROSCOPIC EFFECTS

Table B1: Gyroscopic Effects (Setup G6) Spin Rate Precession Rate 1 2 S/No. Ni (rpm) i (rad/sec) = ti sec = sec/ rad t rad / sec i i 1 2400 251.36 3.98 x 10-3 3.03 2.07 2 3750 392.70 2.55 x 10-3 5.58 1.13 -3 3 4995 523.08 1.91 x 10 8.03 0.782 4 6345 664.45 1.51 x 10-3 9.60 0.654 -3 5 7500 785.40 1.27 x 10 11.73 0.536 Results Texpt (Nm) (T/I)expt (=a) (T/I)theo Difference (T/L)expt (T/I)theo 0.0461 518.7186 303.29 215.4286 Sample Calculations At Spin Rate Ni i = 2400 rev/min = 2 * * Ni / 60 = 2 * * 2400 / 60 = 251.36 rad/sec = (1 / i) = (1 / 251.36) = 3.98 x 10-3 sec/rad

At Precession Rate ti = 3.03 sec = 2 * / ti = 2.07 sec

Table B2: Regression Analysis for Results of Gyroscopic Effects Experiment i ' i S/No. i ' i i' 2 1 2 3 4 5 n=5 3.98 x 10-3 2.55 x 10-3 1.91 x 10-3 1.51 x 10-3 1.27 x 10-3 2.07 1.13 0.782 0.654 0.536 1.58 x 10-5 6.50 x 10-6 3.65 x 10-6 2.28 x 10-6 1.61 x 10-6 8.24 x 10-3 2.88 x 10-3 1.49 x 10-3 9.88 x 10-4 6.81 x 10-4

' =
i

( ' ) =
2 i

'
i

1.12 x 10-2

5.17

2.98 x 10-5

1.42 x 10-2

( ')
i

1.25 x 10-4 Table B3 Set-up G6 Knob Position Rotor Spin Speed (rpm) 3 2400 4 3750 5 4995 6 6345 7 7500 Density of Steel : 7800 kg/m3 Density of Gear : 1190 kg/m3

Dimension of Gear (mm) A = 10 C = 28 B = 15 P.C.D = 35.5

Setup Dimensions (mm) Dimensions G6 L1 100.0 L2 88.8 L3 43.0 D1 9.5 D2 8.0 D3 70.0 D4 20.0 C1 19.8 C2 11.8 T1 8.0 T2 7.8 X 5.1

Information given for G-6 Setup

Objects L1 L2 D3 D4 A B Objects All Objects except B B Sample Calculation for Object B Mass of Object B

Mass of Objects (x10-2) kg 5.529 3.450 24.01 - 0.4423 = 23.57 1.960 - 0.4423 = 1.518 0.7327 - 0.05982 = 0.6729 Sample Calculation (1.677) Mass Moment of Inertia (kg m2) 1.489 x 10-4 Sample Calculation (2.776 x 10-6)

= Density x Volume = 1190kg/m x [3.14 x (0.0355- 0.008) x ] x 0.015 = 0.01677 kg = 1.677 x 10 - kg

Mass Moment of Inertial B = x m x r = [(/4)(35.5/1000)2 x (15/1000) x 1190] x (17.75/1000) 2 [(/4)(8/1000)2 x (15/1000) x 1190] x (4/1000)2 = 2.776 x 10-6 kg m2

Sample Calculation 1) EXPERIMENTAL Equations for Least Square Method: T 1 T = = ' = a '+b I I ( n + 1) i ' i i ' i a= ( n + 1) ( i ' 2 ) ( i ') 2
2 i i i i 2 2

( ' ) ' ' b= ( n + 1) ( ' ) ( ')

i i

From excel calculations, a = 518.7186 and b = -0.10756

 vs ' 2.4 2.2 2 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 0.001 0.002 ' 0.003

y = 518.7186x - 0.10756

0.004

0.005

2) THEORETICAL Volume of the metal spinning part = [(D2/2)2 x 88.8 + (D4/2)2 x 7.8 + (D3/2)2 x 8 + (D1/2)2 x 84.2] x = [(4)2 x 88.8 + (10)2 x 7.8 + (35)2 x 8 + (4.75)2 x 84.2] x = 43669.9mm3 Mass of the metal spinning part = 7800 x 43669.9 x 10-9 = 0.3406 kg Volume of the gear = [(35.5/2)2 x 15 + (28/2)2 x 10 - (8/2)2 x 25] x = 19747.9 mm3 Mass of the gear = 1190 x 19747.9 x 10-9 = 0.0235 kg Total mass of spinning assembly Mrotor = 0.3406 + 0.0235 = 0.3641 kg

Taking moment at the center of fixed support Mrotor x l = /4 x [(35.52 x 15 x 55.6 + 282 x 10 x 68.11 - 82 x 25 x 60.6) x 1190 x 10-9 + (82 x 88.8 x 41.85 - 202 x 7.8 x 11.8 - 702 x 8 x 19.8 - 9.52 x 84.2 x 55.1) x 7800 x 10-9] 0.3641l = -4.698 l = -12.903 mm Gyroscopic torque Texpl = (Mrotor)g l = 0.3641 x 9.81 x 12.903 x 10-3 = 0.0461 Nm Moment of inertia I = 1/2 (mr2) for cylinder = 1/2 (d2/4 x x t x ) x (d2/4) where d = diameter t = thickness = density 4 = /32 x (d x t x )

Moment of inertia of the rotating assembly I = /32 x [(35.54 x 15 + 284 x 10 84 x 25) x 1190 x 10-15 + (84 x 88.8 + 204 x 7.8 + 704 x 8 + 9.54 x 84.2) x 7800 x 10-15] = 1.52 x 10-4 kg m2 = 0.0461 / (1.52 x 10-4) = 303.29

(T/ I)theo

DISCUSSION

Compare the two values of (T/I) and comment on the errors involved in the experiments as well as the model setup. From the results, (T/I)theo = 303.29 and (T/I)expt = 518.7186

Comparing both results, the errors in the results could be due to the following reasons: 1) 2) Human Errors Human induced error when releasing the rotor frame Time measurement error Parallax error reading off after the rotor base completes 1 round Experimental Setup Errors Wear and tear of equipment setup No ground leveling of the experiment setup Analogue motor speed control knob which is not accurate and may not be adjusted to the desired speed

CONCLUSION In this experiment, we have observed the gyroscopic effects. The faster is the spin rate, the shorter the precession rate. The spinning device tends to resist changes to its orientation due to the angular momentum of the wheel. Therefore, gyroscopic effects must be considered when designing of rotation machinery.