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Tom Unit 4,5notes

ME3491

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0% found this document useful (0 votes)
32 views51 pages

Tom Unit 4,5notes

ME3491

Uploaded by

santhosh raj
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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UNIT – IV - Force Analysis

D’Alembert’s principle states that the inertia forces and torques, and the external forces and
torques acting on a body together result in statical equilibrium. In other words, the vector sum of all
external forces acting upon a system of rigid bodies is zero. The vector sum of all external moments
and inertia torques acting upon a system of rigid bodies is also separately zero.
The principle of super position states that for linear systems the individual responses to
several disturbances or driving functions can be superposed on each other to obtain the total
response of the system.
The inertia force is an imaginary force, which when acts upon a rigid body, brings it in an
equilibrium position. It is numerically equal to the accelerating force in magnitude, but opposite in
direction.
The inertia torque is an imaginary torque, which when applied upon the rigid body, brings
it in equilibrium position. It is equal to the accelerating couple in magnitude but opposite in
direction.

1. The lengths of crank and connecting rod of a horizontal engine are 200mm and 1m respectively. The
crank is rotating at 400rpm. When the crank has turned through 300 from the inner dead centre, the
difference of pressure between cover and piston rod is 0.4N/m2. If the mass of the reciprocating
parts is 100kg and cylinder bore is 0.4m, the calculate: (i) inertia force, (ii) force on piston,
(iii)piston effort, (iv) thrust on the sides of the cylinder walls, (v) thrust in the connecting rods and
(vi) crank effort.
Given: r=200mm =0.2m, l=1m, N=400rpm, θ=300, p1-p2=0.4N/m2=0.4x106 N/m2,
mR=100kg,D=0.4m.
Solution: ω=2πN/60 = 2π x 400/60=41.89 rad/s
(i) Inertia force (FI) :
FI= mR ω r (cosθ+Cos2θ/n) = 100 (41.89)20.2 (cos300+cos2x300/5)
FI= 33.903kNans
(ii) Net load on the piston(FL):
FL= (p1-p2)A = (0.4x106)x π/4(0.4)4
FL=50.265kN ans
(iii) Piston effort(Fp):
Fp=FL-FI = 50.265 x103 – 33.903x103
Fp = 16.36kNans
(iv) Thrust on the sides of the cylinder walls (FN)
FN= Fptanϕ
sin ϕ = sinθ/n = sin300/5 = 0.1
ϕ = 5.740
FN= Fptanϕ 16.36 tan5.74 = 1.644kNans
(v) Thrust in the connecting rod (FQ)
FQ=Fp/cosϕ = 16.36 x103/cos5.74 = 16.444kN ans
(vi) Crank effort (T):
T =FTxr
FT=FQ sin (θ+ϕ) = 16.44 x103 sin (300+5.740) = 9.605kN
T =FT x r = 9.605 x103 x 0.2 =1921.13kN ans

2. A single cylinder vertical engine has bore of 300mm and a stroke of 400mm. the connecting rod is
1000mm long. The mass of the reciprocating parts is 140kg. on the expansion stroke with the crank
at 30° from the top dead centre, the gas pressure is 0.7Mpa. if the engine runs at 250 rpm determine:
i) net force acting on the piston ii) resultant load on the gudgeon pin, iii) thrust on the cylinder walls,
and iv) the speed above which other things remaining same, the gudgeon pin loads would be
reversed in direction.

Given: D=300mm=0.3m, L=400mm=0.4m, r=04/2=0.2m, l=1000m, mR= 140kg, p=0.7x106 N/m2,


N=250rpm.
Solution: ω=2πN/60 = 2π x 250/60=26.18 rad/s
n/r-=1/0.2=5
(i) Net force acting on the piston (Fp):
Fp=FL-FI
FL=px π/4(D)2 = 0.7 x106 (π/4 x0.32) = 49480.1 N
Inertia force on the piston is given by
FI= mR ω r (cosθ+Cos2θ/n) = 140 (26.18)20.2 (cos300+cos2x300/5) = 18538.98 N
Fp= FL- FI = 49480.1 – 18538.98 = 32314.52 Nans
(ii) Resultant load on the gudgeon pin (FQ):
FQ= Fp/cosϕ
sin ϕ = sinθ/n = sin300/5 = 0.1
ϕ = 5.740
FQ = 32314.52/cos 5.74= 32477.3 Nans
(iii) Thrust on the cylinder walls (FN):
FN= Fptanϕ
FN= 32314.52 tan 5.74 =3247N ans
(iv) The speed above which the gudgeon pin load would be reversed in direction:
FI ≥ force due to gas pressure + mR.g
mR ω1 r (cosθ+Cos2θ/n) = 50.853.5
140 (ω1)20.2 (cos300+cos2x300/5) 50.853.5
(ω1)2 = 1880
ω1= 43.36 rad/s
ω1= 2πN1/60
N1=( 60 x 43.36) / 2π
N1 = 414 rpm ans

3. The turning moment curve for an engine is represented by the equation, T = (20000+9500 sin2⍬-
5700cos2⍬) N-m, where ⍬ is the rotation of the crank. If the resisting torque is constant, find (i)
Power developed, (ii)Moment of inertia of the flywheel and (iii) angular acceleration of the
flywheel at 450 of crank rotation from IDC. The speed of engine is 180 rpm and total fluctuation
of speed is1%.

Given data:
T= (20000+9500 sin 2θ – 5700 cos2θ) N-m
N = 180rpm
ω=
18.85rad/sec
θ = 450
CS = 1% or 0.01
Solution :
Power developed by the engine work done per revolution=
=
= 40,000 Π N-m
Tmean = workdone per revolution / 2Π = 20,0000 N-
m P = T mean× ω = 377 KW.

Moment of inertia of flywheel (I) kg-m2


T = Tmean
(20000+9500 sin 2θ – 5700 cos2θ) = 20000
9500 sin 2θ – 5700 cos2θ = 20000 – 20000
9500 sin 2θ = 5700
cos2θ sin 2θ / cos2θ =
5700 / 9500 tan 2θ =0.6
2θ = tan-
1
0.6 2θ
= 30.96
θ = 30.96 / 2
θB=15.480. ( θB = 15.5 , θC = 90+ 15.5 = 105.50 )
0 0
θB = 15.5 and θC =105.5
∆E =

=
∆E = 11078 N-m
∆E = I ω2 Cs
11078 = I * 18.852
*0.01 I = 3121
Kg.m2
Angular acceleration of flywheel (α) ( θ =450)
T excess = T – Tmean
T excess = 9500 sin 2θ – 5700
cos2θ T excess = I x α
9500 sin 2(45) – 5700 cos2(45) = 3121 * α
α = 3.044 rad/s2

4. The turning moment diagram for a petrol engine is drawn to the following scales: Turning
moment, 1mm=5 N-m: crank angle, 1 mm=1°.The turning moment diagram repeats itself
at every half revolution of the engine and areas above and below the mean turning moment
line taken in order are 295, 685, 40, 340, 960, 270 mm2.The rotating parts are equivalent to
a mass of 36 kg at a radius of gyration of 150mm.Determine the coefficient of fluctuation
of speed when the engine runs at1800r.p.m.

Given
m=36kg, k =150mm = 0.15 m, N = 1800 rpm, ω = 188.52 rad/sec
Solution:
Scale :
1) Turningmoment1mm =5N-m
2) Crankangle 1mm =10
=

Turning moment =5 xπ/180= 0.08722N-m

Crank angle θ
A=E
B= E+295
C = E +295 – 685
D = E +295 – 685 + 40
E = E +295 – 685 + 40 – 340
F = E +295 – 685 + 40 – 340 +960
G = E +295 – 685 + 40 – 340 +960 – 270
Maximum energy at B = E+295
Minimum energy at E = E – 690
∆E = ( maximum energy ) – (minimum energy)
= (E+295) – (E–690)[1mm2 = 0.0872N-m)
= 985 mm2
∆E = 985 × 0.0872 = 85.892 N-m
∆E = m k 2 ω 2cs
85.892 = 36×0.522 × ((2π×1800)/60) × cs
Cs= 0.003(or) 0.3%

5.A shaft fitted with a flywheel rotates at 250 r. p .m. and drives a machine.The torque of machine varies in a
cyclic manner over a period of 3 revolutions. The torque risesfrom 750 N-m to 3000 N-m uniformly during
1/2 revolution and remains constant for the followingrevolution. It then falls uniformly to 750 N-m during
the next 1/2 revolution and remains constantfor one revolution,the cycle being repeated thereafter.Determine
the power required to drive the machine and percentage fluctuation in speed, ifthe driving torque applied to
the shaft is constant and the mass of the flywheel is 500 kg with radiusof gyration of 600 mm.

Given : N = 250 r.p.m. or ω = 2π × 250/60 = 26.2 rad/s ; m = 500 kg ; k = 600 mm = 0.6 m


The turning moment diagram for the complete cycle is shown in Fig
We know that the torque required for one complete cycle
= Area of figure OABCDEF
= Area OAEF + Area ABG + Area BCHG + Area CDH
6. The turning moment diagram for a four stroke gas engine may be assumed for simplicity to be represented
by four triangles, the areas of which from the line of zero pressure are as follows : Suction stroke = 0.45 ×
10 –3m2 ; Compression stroke = 1.7 × 10 –3m2 ; Expansion stroke = 6.8 × 10 –3m2 ; Exhaust stroke = 0.65
× 10 –3m2. Each m 2 of area represents 3 MN-m of energy. Assuming the resisting torque to be uniform,
find the mass of the rim of a flywheel required to keep the speed between 202 and 198 r.p.m. The mean
radius of the rim is 1.2 m.
UNIT – V BALANCING

Balancing of rotating masses: The process of providing the second mass in order to counteract the
effect of the centrifugal force of the first mass is called balancing of rotating masses.
Static balancing: The net dynamic force acting on the shaft is equal to zero. This requires that the
line of action of three centrifugal forces must be the same. In other words, the centre of the masses of the
system must lie on the axis of the rotation. This is the condition for static balancing.
Dynamic balancing: The net couple due to dynamic forces acting on the shaft is equal to zero.
The algebraic sum of the moments about any point in the plane must be zero.

1. A rotating shaft carries four masses A,B,Cand D which are radially attached to it. The masses
centres are 30mm, 38mm, 40mm and 35mm respectively from the axis of rotation. The masses A,C
and D are 7.5kg, 5kg, 4kg respectively. The axial distances between the planes of rotation of A and
B is 400mm and between B and C is 500mm. The masses A and C are at right angles to each other.
Find for a complex (i) the angle between the masses B and D from mass A, (ii) the axial distance
between the planes of rotation of C and D, and (iii) the magnitude of massB.

Planes Mass Radius Centrifugal force Distance Couple ÷ω2


(m) r ÷ω2 form R.P
Kg m Kg m m Kg m2
A 7.5 0.03 0.225 -0.4 -0.09
B(RP) mB 0.038 0.038mB 0 0
C 5 0.04 0.2 0.5 0.1
D 4 0.35 0.14 y 0.14y
vector b'o' 0.14y 0.142kg m2 y 1.014m
the axial distance between C and D y0.50.514m vectordo 0.038mB mB 9.24kg
B 1980
2. A shaft has three eccentrics, each 75mm diameter and 25mm thick, machined in one piece with
the shaft. The central planes of the eccentric are 60mm apart. The distance of the centres from
the axis of rotation are 12mm, 18mm and 12mm and their angular positions are 1200 apart. The
density of metal is 7000kg/m3. Find the amount of out-of-balance force and couple at 600rpm.
If the shaft is balanced by adding two masses at a radius 75mm and at distance of 100mm from
the central plane of the middle eccentric, find the amount of the masses and their
angularpositions.
Out-of-balance force = vector oc= 4.75 × 10–3 kg-m
=4.75 × 10–3 × 2 = 4.75 × 10–3 (62.84)2 = 18.76 N
Out-of-balance couple
Out-of-balance couple = vector o′c′ = 1.1 × 10–3 kg-m2
= 1.1. 10−3 × 2 = 1.1.10−3(62.84)2 = 4.34 N-m
Amount of balancing masses and their angular positions
15 × 10–3mM= vector c′o′ = 1.1 × 10–3
kg-m2OrmM= 0.073kg
75 × 10–3 mL = vector do = 5.2 ×10–3
kg-m or mL = 0.0693kg

3.A,B,C and D are four masses carried by a rotating shaft at radii 100mm, 150mm, 150mm and 200mm
respectively. The planes in which the masses rotates are spaced at 500mm apart and the magnitude ofthe
masses B,C and D are 9kg, 5kg and 4kg respectively. Find the required mass A and the relative angular
settings of the four masses so that the shaft must be in complete balance.

Planes Mass Radius Centrifugal force Distance Couple ÷ω2


(m) r ÷ω2 form R.P

Kg m Kg m m Kg m2
A mA 0.1 0.1 mA 0 0
B(RP) 9 0.15 1.35 0.5 0.675
C 5 0.15 0.75 1 075
D 4 0.2 0.8 1.5 1.2
C

 2950  1450  1650


Vector do =
D A

Vectordo1.0125 0.1mA mA 10.12kg

4.A shaft carries four masses A,B,C and D of magnitude 200kg, 300kg, 400kg and 200kg respectively
and revolving at radii 80mm, 70mm 60mm and 80mm in planes measured from A at 300mm,400mm
and 700mm. The angles between the cranks measured anticlockwise are A to B 450, B to C 700 and
C to D 1200. The balancing masses are to be placed in planes X and Y. The distance between the
planes A and X is 100mm, between X and Y is 400mm, and between Y and D is 200mm. If the
balancing masses revolve at a radius of 100mm, Find their magnitudes and angularpositions.
mY 182.5 kg mX  355 kg

5.The following data refer to an outside cylinder uncoupledlocomotives.

Mass of the reciprocating parts= 300kg.


Mass of the rotating parts per cylinder = 350kg
Angle between cranks = 900
Crank radius = 0.3 Cylinder centers = 1.8m
Radius of balance masses = .08m
Wheel centers =1.5m
If whole of the rotating and 2/3 of the reciprocating parts are to be balanced in planes of the driving
wheels,
Find (i) Magnitude and Angular position of balancemasses.
Speed in km/hr at which the wheel lift off the rails when the load on each driving wheels is 30KN
and the diameter of tread driving wheels is 1.8m and Swaying couple at speed found in second
plane
Speed at which the wheel will lift off the rails:
Swaying couple at the speed

6.A five cylinder in-line engine running at 750 r.p.m. has successive cranks 144° apart, the distance between
the cylinder centre lines being 375 mm. The piston stroke is 225mm and the ratio of the connecting rod to the
crank is 4. Examine the engine for balance of primary and secondary forces and couples. Find the maximum
values of these and the position of the central crank at which these maximum values occur. The reciprocating
mass for each cylinder is 15 kg.

Solution.Given : N= 750 r.p.m. or 2 ω= π× 750/60 = 78.55 rad/s ; L= 225 mm = 0.225 mor r = 0.1125 m ; n=
l/r= 4 ; m = 15 kg
Assuming the engine to be a vertical engine, the positions of the cylinders and the cranksare shown in Fig.
(a), (b) and (c). The plane 3 may be taken as the reference plane and thecrank 3 as the reference crank. The
data may be tabulated as given in the following table.

Now, draw the force and couple polygons for primary and secondary cranks as shown inFig. (d), (e),
(f ), and (g). Since the primary and secondary force polygons are close, therefore the engine is balanced for
primary and secondary forces. Ans
Maximum unbalanced primary coupleWe know that the closing side of the primary couple polygon [shown
dotted in Fig.(e)] gives the maximum unbalanced primary couple. By measurement, we find that maximum
unbalanced primary couple is proportional to 1.62 kg-m2
.∴Maximum unbalanced primary couple,

We see from (e) [shown by dotted line] that the maximum unbalanced primarycouple occurs when crank 3 is
at 90° from the line of stroke.Maximum unbalanced secondary couple
We know that the closing side of the secondary couple polygon [shown dotted in Fig.(g)] gives the maximum
unbalanced secondary couple. By measurement, we find that maximumunbalanced secondary couple is
proportional to 2.7 kg-m2
.
∴Maximum unbalanced secondary couple.
UNIT –V FREE VIBRATIONS

Types of vibration:
a) The actuating force on the body
b) The stresses in the supporting
medium
1. According to the Actuating force:
(a) Free or Natural vibrations
(b) Forced vibrations
(c) Damped vibrations
(d) Undamped vibrations
2. According to motion of system with respect to axis
(a) Longitudinal vibrations
(b) Transverse vibrations
(c) Torsional vibrations
Terms used vibratory motion: (a)Time period (or)period of vibration: It is the time taken by
a vibrating body to repeat the motion itself.time period is usually expressed in seconds.
(b) Cycle: It is the motion completed in one timeperiod.
(c) Periodic motion: A motion which repeats itself after equal interval oftime.
(d)Amplitude (X) The maximum displacement of a vibrating body from the mean position.it is usually
expressed inmillimeter.
(e) Frequency (f) The number of cycles completed in one second is called frequency
Degrees of freedom: The minimum number of independent coordinates required to specify the
motion of a system at any instant is known as D.O.F of the system.

1. A vibrating system consists of a massof 8kg spring of stiffness 5.6N/mm and a dashpot of damping
coefficient of 40N/m/s. Find
(a) the critical damping coefficient
(b) the damping factor
(c) the natural frequency of damped vibration,
(d) the logarithmic decrement,
(e) the ratio of two consecutive amplitudes, and
(f) the number of cycles after which the original amplitude is reduced to 20 percent
2. Derive the expression for the natural frequency of free transverse or longitudinal vibrations by using
anytwomethods.

Equilibrium Method
Consider a constraint (i.e. spring) of negligible mass in an unstrained position, as
shown in Figure
Let s = Stiffness of the constraint. It is the force required to produce unit d
isplacement in the direction of vibration. It is usually expressed in N/m.
m = Mass of the body suspended from the constraint in kg
W = Weight of the body in newtons = m.g,
δ= Static deflection of the spring in metres due to weight W newtons, and
x = Displacement given to the body by the external force, in metres.

Restoring force =W - s (δ + x) =W - s.δ - s.x


= s.δ - s.δ - s. x=-s.x (since W = s.δ). . (i)

(Taking upward force asnegative)

And Accelerating force = Mass × Acceleration = m x ....(ii)


(Taking downward force as +ve)

Equating Restoring force and accelerating force

m x =-s.x
m x + s.x =0

+ .x=0 ................. (iii)

We know that the fundamental equation of simple harmonic motion


is

+ .x=0 .......... (iv)

Time period,tp= =2π

Natural frequency, fn= = =

Taking the value of g as 9.81 m/s2 and δ in metres,

fn= = Hz

ii) Energy Method:


In the case of vibrations, the datum position is the mean or equilibrium position at which the
potential energy of the body or the system is zero. In the free vibrations, no energy is transferred to
the system or from the system. Therefore the summation of kinetic energy and potential energy
must be a constant quantity which is same at all thetimes.

The time period and the natural frequency may be obtained as


discussed in the previous method.
3. A steel shaft 1.5 m long is 95 mm in diameter for the first 0.6 m of its length, 60 mm in diameter for the
next 0.5 m of the length and 50 mm in diameter for the remaining 0.4 m of its length. The shaft carries
two flywheels at two ends, the first having a mass of 900 kg and 0.85 m radius of gyration located at the
95 mm diameter end and the second having a mass of 700 kg and 0.55 m radius of gyration located at
the other end. Determine the location of the node and the natural frequency of free torsional vibration of
the system. The modulus of rigidity of shaft material may be taken as 80 GN/m2.

Given:
L = 1.5 m,d1=95mm, l1=0.6 m, d2 =60mm, l2 = 0.5m, d3 = 50 mm, l3 = 0.4m,

mA= 900kg, KA = 0.85m, mB = 700kg, KB = 0.85m, C = 80 X 109N/m2

Solution:
Equivalent shaft Diagram:

l = l1 +l2 (d1)4 +l3(d1)4


d2 d3
l = 0.6+0.5(0.095/0.060)+0.4(0.095/0.050) = 8.95 m

b. Location of the node

= = 650kg/m2

= =212 kg/m2
=

= = =0.326

Also,

Hence the node lies at 2.2m from flywheel A on the equivalent shaft.

c. Position of the node on the original shaft:

Position of the node on the shaft 0.855

Natural frequency of free torsional vibrations J=0.0954 = 8 x10-6m4

Natural frequency = 3.37Hz


4. A machine of mass 75kgis mounted on springs and is fitted with a dashpot to damp out vibrations.
There are three springs each of stiffness 10N/mm and it is found that the amplitude of vibrations
diminishes from 38.4mm to 6.4mm in two complete oscillations. Assuming that the damping force
varies as the velocity,determine
i. The resistance of the dashpot at unitvelocity.
ii. The ratio of frequency of the damped vibrations to the frequency of
undamped vibrations and iii.The periodic time of the dampedvibrations.

Given:
m = 75 kg;
s = 10 N/mm = 10 ×103 N/m ; x1 = 38.4 mm = 0.0384 m ;
x3 = 6.4 mm =0.0064 m
Solution:
Since the stiffness of each spring is 10 × 103 N/m and there are 3 springs,
therefore total stiffness,

s = 3×10×103 = 30×103 N/m

Natural circular frequency of motion,

a. Resistance of the dashpot at unit velocity

Let

x2 = Amplitude after one complete oscillation in metres, and

x3 = Amplitude after two complete oscillations in metres.

Solution:
Since the stiffness of each spring is 10 × 103 N/m and there are 3 springs,
therefore total stiffness,

s = 3×10×103 = 30×103 N/m

Natural circular frequency of motion

,
c = Resistance of the dashpot in newtons at unit velocity i.e. in N/m/s

Squaring on bothsides:

0.8=

7.84a=2.8
2. Ratio of the frequency of he damped vibration to the frequency of undamped vibration

3.Periodic time of damped vibration:

5.A shaft 30mm diameter and 1.5 long has a mass of 16kg/m length. It is simply supported at the ends and
carries isolated loads 1kN, 1.5kN and 2kN at 0.4m, 0.6m and 0.8m respectively from the left support. Find
the frequency of the transverse vibrations: 1. Neglecting the mass of the shaft, and 2. Considering the mass
of the shaft. Take E= 200GPa.
Given : d =30mm = 0.03m, l = 1.5m, m = 16kg/m, E = 200GPa = 200 x 109N/m2
Solution:
6.A shaft 1.5m long, supported in flexible bearing at the ends, carries two wheels each of 60kg mass. One
wheel is situated at the centre of the shaft and the other at a distance of 375mm form the centre. The shaft is
hollow of external diameter 75mm and inner diameter 40mm. The density of the shaft material is 7700kg/m3.
Find the frequency of transverse vibration. Take E = 200GPa.

Given : l =1.5m,
Do =75mm = 0.075mm,
Di =40mm = 0.040mm ,
ρ = 7700 kg/m3
E = 200GPa = 200x109N/m2
UNIT-IV FORCED VIBRATION

Forced Vibration:

When the body vibrates under the influence of external force, then the body is said to be under forced
vibration.
Examples of forced vibration:

1. Ringing of electricbell.
2. Vibration of various machines like air compressor, IC engines, Machine tools and mobilecranes.

Types of external Excitation:

1. Periodicforces,
2. Impulse type of forces,
3. RandomForces.

Periodic forces are further classified into harmonic and non-harmonic forces. Vibration because of
impulsive forces is called as transient. Earthquake and acoustic excitation are typical examples of random
forces. In this chapter we would be analyzing only about periodic forcing functions.

1.A single cylinder vertical petrol engine of total mass 300 kg is mounted upon a steel chassis frame and
causes a vertical static deflection of 2 mm. The reciprocating parts of the engine has a mass of 20 kg and
move through a vertical stroke of 150 mm with simple harmonic motion. A dashpot is provided whose
damping resistance is directly proportional to the velocity and amounts to 1.5 kN per metre per second.
Considering that the steady state of vibration is reached; determine: 1. the amplitude of forced
vibrations, when the driving shaft of the engine rotates at 480 r.p.m., and 2. the speed of the driving
shaft at which resonance will occur.

Solution :Given. m = 300 kg; δ = 2 mm = 2 × 10–3 m ;m1 = 20 kg ; l = 150 mm


= 0.15 m ;c = 1.5 kN/m/s = 1500 N/m/s ; N = 480 r.p.m. or ω = 2π×480 / 60 = 50.3 rad/s
Amplitute of forced vibration:
2.Speed of driving shaft at which resonance occur.

2.Amachine part of mass 2 kg vibrates in a viscous medium. Determine the damping coefficient when a
harmonic exciting force of 25 n results in resonant amplitude of 12.5 mm with a period of 0.2 second. ifthe
system is excited by a harmonic force of frequency 4 hzwhat will be the percentage increase in the
amplitude of vibration when damper is removed as compared with that withdamping.

Given :
m = 2 kg ;F = 25 N ; Resonant xmax= 12.5 mm = 0.012 5 m tp = 0.2 sec, f = 4Hz

Solution:

Damping coefficient :
Percentage increase in amplitude:

3.A machine has a mass of 100 kg and unbalanced reciprocating parts of mass 2 kg which move through a
vertical stroke of 80 mm with simple harmonic motion. The machine is mounted on four springs,
symmetrically arranged with respect to centre of mass, in such a way that the machine has one degree of
freedom and can undergo vertical displacements only. Neglecting damping, calculate the combined
stiffness of the spring in order that the force transmitted to the foundation is 1 / 25 thof the applied force,
when the speed of rotation of machine crank shaft is 1000 r.p.m. When the machine isactually supported
on the springs, it is found that the damping reduces the amplitude of successive free vibrations by 25%.
Find: 1. the force transmitted to foundation at 1000 r.p.m., 2. the force transmitted to the foundation at
resonance, and 3. the amplitude of the forced vibration of the machine at resonance.

Given :m1 = 100 kg ; m2 = 2 kg ; l = 80 mm = 0.08 m ; ε = 1 / 25 ;


N = 1000 r.p.m. or ω = 2π×1000 / 60 = 104.7 rad/s
Solution:
Combined stiffness of the spring:
Force transmitted to the foundation at 1000rpm :
Force transmitted to the foundation at resonance:

Amplitude of the forced vibration of the machine at resonance:

4. Single-cylinder engine of total mass 200 kg is to be mounted on an elastic support which permits
vibratory movement in vertical direction only. The mass of the piston is 3.5 kg and has a vertical
reciprocating motion which may be assumed simple harmonic with a stroke of 150 mm. It is desired that
the maximum vibratory force transmitted through the elastic support to the foundation shall be 600 N when
the engine speed is 800 r.p.m. and less than this at all higherspeeds.
1. Find the necessary stiffness of the elastic support, and the amplitude of vibration at 800r.p.m.,
2. If the engine speed is reduced below 800 r.p.m. at what speed will the transmitted force again
becomes600N?
Given :m1 = 200 kg ; m2 = 3.5 kg ; l = 150 mm = 0.15 mm or r = l/2 = 0.075 m ;
Ft = 600 n ;N= 800 r.p.m. Or ω = 2π×800 / 60 = 83.8 rad/s
1. Stiffness of the elastic support and amplitutue vibrations:
We know that the disturbing force at 800 r.p.m., F = centrifugal force on thepiston.

Speed at the which the transmitted force again becomes 600N


5. A mass of 10 kg is suspended from one end of a helical spring, the other end being fixed. The stiffness of
the spring is 10 N/mm. The viscous damping causes the amplitude to decrease to one-tenth of the initial
value in four complete oscillations. If a periodic force of 150 cos 50 t N is applied at the mass in the
vertical direction, find the amplitude of the forced vibrations. What is its value of resonance?
Given:
m=10 kg;s=10N/mm=10×103N/m;X5=X1/10
Amplitute of forced vibrations:

6. The mass of an electric motor is 120 kg and it runs at 1500 r.p.m. The armature mass is 35 kg and its C.G.
lies 0.5 mm from the axis of rotation. The motor is mounted on five springs of negligible damping so that
the force transmitted isone-eleventh of the impressed force. Assume that the mass of the motor is equally
distributed among the five springs.Determine:stiffness of each spring; 2. dynamic force transmitted to the
base at the operating speed; and 3. natural frequency of the system

.Givenm1=120kg;m2=35kg;r=0.5mm=5×10–4m;ϵ=1/11;N=1500r.p.m.or

1. Stiffness of each spring


Let s = Combined stiffness of the spring in N-m, and n = Natural circular frequency of vibration of the
machine in rad/s. We know that transmissibility ratio ( ϵ)

1. Dynamics force transmitted to the base at the operating speed:

2. Natural frequency of the system:


UNIT-V MECHNISMS FOR CONTROL

Types of Mechanisms for control are

1) Governors.
2) Gyroscope.

Governors:

The function of a governor is to regulate the mean speed of an engine, when there are
variations in the load when the load on an engine increases, its speed decreases, therefore it becomes
necessary to increase the supply of working fluid. On the other hand, when the load on the engine
decreases, its speed increases and thus less working fluid is required. The governor automatically controls
the supply of working fluid to the engine with the varying load conditions and keeps the mean speed within
certain limits.
Difference between a Flywheel and Governor:

The function of a flywheel in an engine is entirely different from that of a governor. It controls the
speed variation caused by the fluctuations of the engine turning moment during each cycle of operation. It
does not control the speed variations caused by a varying load. The varying demand for power is met by
the governor regulating the supply of working fluid.

Types of Governors

The governors may, broadly, be classified as


1. Centrifugalgovernors
2. Inertia governors.

Centrifugal governors:

The centrifugal governors are based on the balancing of centrifugal force on the rotating ballsbyan
equal and opposite radial force, known as the controlling force.It consists of two balls ofequal mass,
which are attached to the arms as shown in Fig. These balls are known as governorballs or flyballs.
The balls revolve with a spindle, whichis driven by the engine through bevel gears. The upperends
of the arms are pivoted to the spindle, so that theballs may rise up or fall down as they revolve about
thevertical axis. The arms are connected by the links to asleeve, which is keyed to the spindle. This sleeve
revolveswith the spindle; but can slide up and down.The balls and the sleeve risewhen the spindle
speedincreases, and falls when the speed decreases. In orderto limit the travel of the sleeve in upward and
downwarddirections, two stops S, S are provided on thespindle. The sleeve isconnected by a bell crank
leverto a throttle valve. The supply of the working fluid decreaseswhen the sleeve rises and increases when
it falls. When the load on the engine increases, the engine and the governor speed decreases. This results in
the decrease of centrifugal force on the balls. Hence the balls move inwards and the sleeve moves
downwards. The downward movement of the sleeve operates a throttle valve at the other end of the bell
crank lever to increase the supply of working fluid and thus the engine speed is increased. In this case, the
extra power output is provided to balance the increased load. When the load on the engine decreases, the
engine and the governor speed increases, which results in the increase of centrifugal force on the balls.
Thus the balls move outwards and the sleeve rises upwards. This upward movement of the sleeve reduces
the supply of the working fluid and hence the speed is decreased. In this case, the power output isreduced.

Terms Used in Governors


1. Height of a governor. It is the vertical distance from the centre of the ball to a point where the axes of
the arms (or arms produced) intersect on the spindle axis. It is usually denoted by h.
2. Equilibrium speed. It is the speed at which the governor balls, arms etc., are in complete equilibrium and
the sleeve does not tend to move upwards ordownwards.
3. Mean equilibrium speed. It is the speed at the mean position of the balls or the sleeve.
4. Maximum and minimum equilibrium speeds. The speeds at the maximum and minimum radius of
rotation of the balls, without tending to move either way are known as maximum and minimum equilibrium
speedsrespectively.
Note : There can be many equilibrium speeds between the mean and the maximum and the mean andthe
minimum equilibriumspeeds.
5. Sleeve lift. It is the vertical distance which the sleeve travels due to change in equilibriumspeed.

Porter Governor:
The Porter governor is a modification of a Watt’s governor, with central load attached to the sleeve
as shown in Fig.(a). The load moves up and down the central spindle. This additional downward force
increases the speed of revolution required to enable the balls to rise to any predetermined level. Consider
theforcesactingonone-halfofthegovernorasshowninFig.(b).
m = Mass of each ball in kg,
w = Weight of each ball in newtons = m.g,
M = Mass of the central load in kg,
W = Weight of the central load in newtons = M.g,
r = Radius of rotation in metres,
h = Height of governor in metres,
N = Speed of the balls in r.p.m.
= Angular speed of the balls in rad/s = 2πN/60 rad/s,
FC=Centrifugal force actingon the ball innewtons =m. 2.r,
T1 = Force in the arm in newtons,
T2 = Force in the link in newtons,
α = Angle of inclination of the arm (or upper link) to the
vertical, and = Angle of inclination of the link (or lower
link) to thevertical.

1. When the length of arms are equal to the length of links and the points P and D lie on the same
vertical line, then
tanα= tanor q = tanα / tan= 1

2. When the loaded sleeve moves up and down the spindle, the frictional force acts on it in a direction
opposite to that of the motion ofsleeve.
If F = Frictional force acting on the sleeve in newtons, then the equations (v) and (vi) may be written as

The + sign is used when the sleeve moves upwards or the governor speed increases and negative sign is
used when the sleeve moves downwards or the governor speed decreases.
1. A Porter governor has equal arms each 250 mm long and pivoted on the axis of rotation. Each ball has a
mass of 5 kg and the mass of the central load on the sleeve is 25 kg. Theradius of rotation of the ball is
150 mm when the governor begins to lift and 200 mm when the governor is at maximum speed. Find
the minimum and maximum speeds and range of speed of the governor.
Gn :BP= BD = 250 mm = 0.25 m ; m = 5 kg ; M = 15 kg ; r1 = 150 mm = 0.15m; r 2 = 200 mm = 0.2 m
Minimum speed when r1 = BG = 0.15 m
Let N1 = Minimum speed.
From Fig(a), we find that height of the governor,
hPG – 0.2m

N1 = 133.8 r.p.m.
Maximum speed when r2 = BG = 0.2 m
Let N2 = Maximum speed.
From Fig(b), we find that height of the governor,

N2 = 154.5 r.p.m
Range of speed
We know that range of speed= N2 – N1 = 154.4 – 133.8 = 20.7 r.p.m.
Proell governor

The Proell governor has the balls fixed at B and C to the extension of the links DF and EG,
as shown in Fig (a). The arms FP and GQ are pivoted at P and Q respectively. Consider the equilibrium of
the forces on one-half of the governor as shown in Fig (b). The instantaneous centre (I) lies on the
intersection of the line PF produced and the line from D drawn perpendicular to the spindle axis. The
perpendicular BM is drawn onID.

1. A proell governor has equal arms of length 250mm.the upper and lower ends of the arms
are pivoted on the axis of the governor. The extension arms of the lower links are each
90mm long and parallel to the axis. When the radii of rotation of the balls are 130mm and
175mm. The mass of each ball is 8.5 kg and the mass of the central load is 85 kg. Determine
the range of speed of thegovernor
Given data:
AB=BC=250mm,
EB=90mm,
r1=130mm,
r2=175mm,
m=8.5kg,
M=85kg
For minimum speed when r1=130mm h1= AD=
=
=0.2135m
BM=DC=AD=0.2135m
α=β so q = 1
N21 = (895/h1)
= (895/0.2135)
=32438.2
N1 =180.1 rpm
For maximum speed when r2=175mm
h2 = AD=

=0.1785m
BM=DC=AD=0.1785m
EM=EB+BM
=0.09+0.1785
=0.2685m
α=β so q = 1
N22 = (895/h2)

=36666.67
N1 =191.48 rpm
Rangeofspeed = maximum speed – minimumspeed
=191.48-180.1
=11.38rpm
Hartnell Governor

A Hartnell governor is a spring loaded governor as shown in Fig. 18.18. It consists of two
bell crank levers pivoted at the points O,O to the frame. The frame is attached to the governor spindle and
therefore rotates with it. Each lever carries a ball at the end of the vertical arm OB and a roller at the end of
the horizontal arm OR. A helical spring in compression provides equal downward forces on the two rollers
through a collar on the sleeve. The spring force may be adjusted by screwing a nut up or down on the
sleeve.

Hartnell governor
Gyroscopic Couple:
Consider a disc spinning with an angular velocity  rad/s about the axis of spin OX, in
anticlockwise direction when seen from the front, as shown in Fig(a). Since the plane in which the disc is
rotating is parallel to the plane YOZ, therefore it is called plane of spinning. The planeXOZ is a horizontal
plane and the axis of spin rotates in a plane parallel to the horizontal plane aboutan axis OY. In other
words, the axis of spin is said to be rotating or processing about an axis OY. Inother words, the axis of spin
is said to be rotating or processing about an axis OY (which is perpendicular to both the axes OX and OZ)
at an angular velocity P rap/s. This horizontal plane XOZ is called plane of precession and OY is the axis
of precession.

I = Mass moment of inertia of the disc about OX, and= Angular velocity of the disc.

Angular momentum of the disc= I.

Since the angular momentum is a vector quantity, therefore it may be represented by the vector ox, as
shown in Fig.(b). The axis of spin OX is also rotating anticlockwise when seen from the top about the axis
OY. Let the axis OX is turned in the plane XOZ through a small angle δ radians to the positionOX’ , in
time δtseconds. Assuming the angular velocity  to be constant, the angular
momentum will now be represented by vector OX’.

Change in angular momentum =

I..δRate of change of angular

momentum

The rate of change of angular momentum will result by the application of a couple to the disc, therefore
the couple applied to the disc causing precession
1. A uniform disc of diameter 300 mm and of mass 5 kg is mounted on one end of an
arm of length 600 mm. The other end of the arm is free to rotate in a universal bearing. If the disc
rotates about the arm with a speed of 300 r.p.m. clockwise, looking from the front, with what speed
will it precess about the verticalaxis?
Given: d = 300 mm or r = 150 mm = 0.15 m ;m = 5 kg ; l = 600 mm = 0.6 m ; N = 300 r.p.m. or π × 300/60
= 31.42 rad/s.

I=m.r2/2=5(0.15)2/2=0.056 kg-m 2

Effect of the Gyroscopic Couple on an Aeroplane


The top and front views of an aeroplane are shown in Fig (a). Let engine or propeller rotates
in the clockwise direction when seen from the rear or tail end and the aeroplane takes a turn to the
left.

Notes: 1. when the aeroplane takes a right turn under similar conditions as discussed above, the
effect of the reactive gyroscopic couple will be to dip the nose and raise the tail of the aeroplane.
2. When the engine or propeller rotates in anticlockwise direction when viewed from the rear or
tail end and the aeroplane takes a left turn, then the effect of reactive gyroscopic couple will be to
dip the nose and raise the tail of theaeroplane.
3. When the aeroplane takes a right turn under similar conditions as mentioned in note 2 above,
theeffect of reactive gyroscopic couple will be to raise the nose and dip the tail of theaeroplane.
4. When the engine or propeller rotates in clockwise direction when viewed from the front and
theaeroplane takes a left turn, then the effect of reactive gyroscopic couple will be to raise the
tail and dip the noseof theaeroplane.
5. When the aeroplane takes a right turn under similar conditions as mentioned in note 4-above,
theeffect of reactive gyroscopic couple will be to raise the nose and dip the tail of theaeroplane.

2. An aeroplane makes a complete half circle of 50 metres radius, towards left, when flying at 200 km
per hr. The rotary engine and the propeller of the plane has a mass of 400 kg and a radius of gyration
of 0.3 m. The engine rotates at 2400 r.p.m. clockwise when viewed from the rear. Find the gyroscopic
couple on the aircraft and state its effect on it.
Given :R = 50 m ; v = 200 km/hr = 55.6 m/s ; m = 400 kg ; k = 0.3 m ;
N = 2400 r.p.m. or = 2π × 2400/60 = 251 rad/s
We know that mass moment of inertia of the engine and the propeller,
I=m.k2=400(0.3)2=36 kg-m2
and angular velocity of precession,
P= v/R= 55.6/50 = 1.11 rad/s
We know that gyroscopic couple acting on the aircraft,
C = I. P= 36 × 251.4 × 1.11 = 100 46 N-m = 10.046 kN-m
When the aeroplane turns towards left, the effect of couple is to lift the nose upwards and tail
downwards.
Terms Used in a Naval Ship
The top and front views of a naval ship are shown in Fig. The fore end of the ship iscalled
bow and the rear end is known as stern or aft. The left hand and right hand sides of the ship,when
viewed from the stern are called port and star-board respectively. We shall now discuss theeffect of
gyroscopic couple on the naval ship in the following threecases:
1. Steering, 2. Pitching and 3.Rolling.

Effect of Gyroscopic Couple on a Naval Ship during Steering


Steering is the turning of a complete ship in a curve towards left or right, while it moves
forward. Consider the ship taking a left turn, and rotor rotates in the clockwise direction when
viewed from the stern, as shown in Fig. The effect of gyroscopic couple on a naval ship during
steering taking left or right turn may be obtained in the similar way as for an aeroplane as discussed
earlier.
Effect of Gyroscopic Couple on a Naval Ship during Pitching

Effect of Gyroscopic Couple on a Naval Ship during Rolling


We know that, for the effect of gyroscopic couple to occur, the axis of precession should
always be perpendicular to the axis of spin. If, however, the axis of precession becomes parallel to
the axis of spin, there will be no effect of the gyroscopic couple acting on the body of the ship. In
case of rolling of a ship, the axis of precession (i.e. longitudinal axis) is always parallel to the axis of
spin for all positions. Hence, there is no effect of the gyroscopic couple acting on the body of aship.

1. The turbine rotor of a ship has a mass of 3500 kg. It has a radius of gyration of 0.45 m
and a speed of 3000 r.p.m. clockwise when looking from stern. Determine the gyroscopic couple
and its effect upon the ship:
1. When the ship is steering to the left on a curve of 100 m radius at a speed of 36km/h.
2. When the ship is pitching in a simple harmonic motion, the bow falling with its maximum
velocity. The period of pitching is 40 seconds and the total angular displacement between the two
extreme positions of pitching is 12degrees.

Given: m = 3500 kg; k = 0.45 m; N = 3000 r.p.m. or π × 3000/60 = 314.2 rad/s


1. When the ship is steering to the left on a curve of 100 m radius at a speed of 36km/h.

2. When the ship is pitching


2. The turbine rotor of a ship has a 2.4 tonnes and rotates at 1750 rpm when viewed from the left.
The radius of gyration of the rotor is 300mm.Determine gyroscopic couple and its effectwhen
(i) The ship turns right at a radius of 250m with a speed of22kmph.
(ii) The ship pitches with the bow rising at an angular velocity of 0.85 rad/sec.
(iii) The ship rolls at an angular velocityof0.15rad/sec
Given data:
m = 2.4 t = 2400kg, N=1750rpm , k= 300mm , v= 22kmph = 22*(5/18)=6.11m/s
R = 250m.
Solution:

Mass moment of inertia I = mk2


=2400(0.3)2
= 216kg-m2
Angular velocity(ω)

= 183.26 rad/sec
1. When ship takes right turn
Angular velocity of precession
(ωp) ωp = V / R = 6.11 /
250
= 0.0244 rad
/sec Gyroscopic couple
(C)
C = I ω ωp
C = I ω ωp
=216(183.26)(0.15)
=5937.6N-m
As the axis of spin is always parallel to the axis of precession for all position, there is no
gyroscopic effect on the ship.
3.A ship propelled by a turbine rotor which has a mass of 5 tonnes and a speed of 2100 r.p.m. The rotor has
a radius of gyration of 0.5 m and rotates in a clockwise direction when viewed from the stern. Find the
gyroscopic effects in the following conditions:
a. The ship sails at a speed of 30 km/h and steers to the left in a curve having 60 m radius.
b. The ship pitches 6 degree above and 6 degree below the horizontal position. The bow is descending with
its maximum velocity. The motion due to pitching is simple harmonic and the periodic time is 20 seconds.
c. The ship rolls and at a certain instant it has an angular velocity of 0.03 rad/s clockwise when viewed from
stern. Determine also the maximum angular acceleration during pitching. Explain how the direction of
motion due to gyroscopic effect is determined in each case.

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