G L O B U S

G R O U PO FIN S T IT U T IO N S

L A BM A N U A L
Version No. Subject Subject Code Scheme Class/Branch Author

DOM/1
DYNAMICS OF MACHINES ME-505 New V Semester/ ME ROHIT KUMAR CHOUDHARY

Institution

Bhopal Institute of Technology & Science

DEPARTMENT OF MECHANICAL ENGINEERING

LIST OF EXPERIMENTS

S.No.

Name of Experiments

1. 2. 3. 4. 5. 6.

To plot the characteristic curve for porter governor. To plot the characteristic curve for Hartnell governor. To perform static and dynamic balancing on balancing machine. To verify the effect of gyroscopic couple. To study the jump phenomenon on cam. To study whirling phenomenon in shaft and observe various modes of vibrations. To study the longitudinal vibrations of a helical spring and mass system & to determine the frequency and the period of vibrations. To determine the frequency of free torsional oscillations and the node point on single rotor system. To study the undamped free vibration of a equivalent mass system.

7.

8.

9.

DEPARTMENT OF MECHANICAL ENGINEERING

PORTER GOVERNOR
EXPERIMENT NO-1
OBJECT:-To plot the characteristic curve for porter governor. SPECIFICATION :-Drive D/C Motor H.P. Speed @1500 rpm. (speed variation arrangement provided.) DIMENSIONS (a) Length of each link l = 125 mm (b) Initial height of Governor ho = 90 mm (c) Initial radius of rotation ro = 130 mm (d) Weight of each ball W = 161 gms THEROY :The function of a governor is to regulate the mean speed of an engine, When there are variations in the load i.e., when the load on an engine increases, its speed decreases, there fore 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 keep the mean speed within certain limits In a centrifugal governor when load increases , the configuration of the governor changes and a valve is moved to increases the supply of the working fluid; conversely, when the load decreases, the engine speed increases and the governor decreases the supply of working fluid. TYPES OF GOVERNORS :Centrifugal Governor Pendulum type Watt Governor Dead weight Porter Governor Hartenell Hartung Proell Governor Pickring Spring Controlled Loaded type Governor

Willson Hartenell

DEPARTMENT OF MECHANICAL ENGINEERING

PROCEDURE :Go on increasing the speed gradually &take the reading of speed of rotation N corresponding sleeves displacement r at any position X radius of rotation at any position could be found as follows: (i) Find height h = ho-(x/2) (ii) (iii) Find by using cos =h/l = ho-(x/2) l Then r= l sin

OBSERVATION TABLE:Sr. No 1 2 3 5 6 7 RESULT :- Following graphs may be plotted to study governor characteristics. (i) Force, Vs Radius of rotation. (ii) Speed Vs displacement. PRECAUTIONS :(i) Do not keep the mains ON after trail is complete. (ii) Increase the speed gradually. (iii) Take the sleeve displacement reading when the pointer remains steady. (iv) See that at higher speed the load on sleeve does not hit upper sleeve of the governor. (v) While closing the test bring dimmer to zero position slowly and then switch OFF the motor. Speed = N Sleeve Displacement = X mm Height h = Cos Radius of Rotation = r = Lsin Force F = W/g(r)

HARTNELL GOVERNOR

DEPARTMENT OF MECHANICAL ENGINEERING

EXPERIMENT NO.-2 OBJECT:To plot the characteristic curve for Hartnell governor. SPECIFICATIONS:Drive D/C Motor H.P. Speed @1500 rpm. (speed variation arrangement provided.) DIMENSIONS (a) Length a (b) Length (c) Initial radius of rotation ro (d) Weight of each ball W (e) Spring Stiffness (f) Free height of spring (g) Weight of Sleeve (h) Spring I.D. (I ) Spring O.D. (j) No. of turns N = of sprung THEROY :The function of a governor is to regulate the mean speed of an engine, When there are variations in the load i.e., when the load on an engine increases, its speed decreases, there fore 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 keep the mean speed within certain limits In a centrifugal governor when load increases , the configuration of the governor changes and a valve is moved to increases the supply of the working fluid; conversely, when the load decreases, the engine speed increases and the governor decreases the supply of working fluid. = 90 mm = 120 mm = 160 mm = 161 gms = = = = = = 12

TYPES OF GOVERNORS :Centrifugal Governor

DEPARTMENT OF MECHANICAL ENGINEERING

Pendulum type Watt Governor

Loaded type Governor

Dead weight Porter Governor Hartenell PROCEDURE :Hartung

Spring Controlled

Proell Governor Pickring

Willson Hartenell

(1) Measure initial compression of the spring. (2) Go on increasing the speed gradually & take the readings of speed of rotation N and corresponding sleeve displacement X radius of rotation r at any position could be found as follows; r= ro + X .a/b OBSERVATION TABLE:Sr. No 1 2 3 5 6 7 Speed = N Sleeve Displacement = X mm Radius of Rotation = r Force F = W/g(2r)

Spring Stiffness:P = Gd 8C3N where G = d = N = C = Where D = Where D0 =

.kg/cm.
840 x 103 kg/cm2

Modulus of rigidity = wire diameter in cm. No. of turns in spring. D/d Diameter of coil in cm. -D0 + Di 2 Outer diameter

DEPARTMENT OF MECHANICAL ENGINEERING

Di

Inner Diameter

Angular Velocity: = (2N)/60 Where N rpm.

RESULTS:-

rad/sec.

Following graphs may be plotted to study governor characteristics. (iii) Force, Vs Radius of rotation. (iv) Speed Vs displacement. PRECAUTIONS :(vi) (vii) (viii) (ix) (x) Do not keep the mains ON after trail is complete. Increase the speed gradually. Take the sleeve displacement reading when the pointer remains steady. See that at higher speed the load on sleeve does not hit upper sleeve of the governor. While closing the test bring dimmer to zero position slowly and then switch OFF the motor.

DEPARTMENT OF MECHANICAL ENGINEERING

STATIC AND DYNAMIC BALANCING

EXPERIMENT No. 3 AIM :-To perform static and dynamic balancing of rotating masses on balancing machine. DESCRIPTION OF APPRATUS :-Apparatus consist of a steel shaft mounted in ball bearings in a stiff rectangular frame. A set of four blocks of different masses are provided & may be clamped at any position on the shaft. They can also be easily detached from the shaft. A disc carrying a circular protector scale is fitted to one side of rectangular frame. Shaft carries a grooved disc and the rim of this disc is grooved to hold a light cord provided with to metal containers . A scale is fitted to the lower member of the rectangular frame& when used in conjunction with the circular protractor scale , helps to align exact longitudinal & angular position of each block. The shaft is belt driven by an electric motor mounted under the main frame .

Theory :-BALANCING It is defined as the process of designing (as modifying) a machine in which unbalance force is minimum. The rotating , reciprocating parts of a high speed engine (or of other machine) . if are not properly balanced , the dynamic forces will be set up. These dynamic forces will (a) (b) (c) Increase the loads an the bearings. Increase the stress in the member of machine . Produce the unpleasant , even dangerous vibrations. Hence all the rotating and reciprocating parts of high speed engine (or of other machines ) should be as completely balanced as possible.

removed STATIC BALANCING A system of rotating mass is said to be in static balance if the combined mass center of the system lies on the axis of rotation. Rotor is said to be statically balanced if the vector sum of the centrifugal forces produced by different masses present an the rotor shaft is zero. DYNAMIC BALANCING When several masses rotate in different planes , the centrifugal force in addition to being act of balance also form couples.

DEPARTMENT OF MECHANICAL ENGINEERING

If system of rotating masses is in dynamic balance where there does not exist any resultant centrifugal forces as well as resultant couple. PROCEDURE:-(a) For verifying static balancing--Rectangular frame is rigidly attached to the main frame by nut and bolts and in this position the belt is removed. (1) (2) (3) Removed the belt & attach the rectangular frame to main frame rigidly & at right angles as shown in fig. No. 1. Screw the cord hook to the grooved disc. (a)Fix the grooved disc so that the pointer should be o is the angular scale . To do this use lock nut so that grooved disc is fixed (along with shaft ) in o position. (b)Clamp the mass no. 1 in exactly vertical position with its weight on the bottom side, use rectangular plate for this. (c)Now remove lock arrangement . Attach the cord- ends of pan to the above cord hook. Attach block no. 1 to the shaft at any convenient position in vertical position. Add steel balls in one of the pans to make the block weight horizontal Repeat procedure three times and take the mean. Mean no. of balls given the value of WR for block no.1. Similarly find the value of WR for remaining( block 2 ,3, & 4) and note corresponding n2. n3.n4. Prepare table for WR as follows : Block No 1 2 3 4 WR n1. n2 n3 n4

(4) (5) (6) (7)

(8)

(9) SR No 1 2 3 4

for verifying dynamic balancing :- Rectangular frame is suspended from the main frame by two short chains such that the rectangular frame and main frame are in the same plane . (1)Fix the mass No.1 on the shaft at o on the scale with weight in vertically downward positions, while pointer fix to o position on angular scale . (2)Assume the distance between other masses asd12 = distance between w1 & w2 d23 = distance between w2 & w3 d34 = distance between w3 & w4 (3)Calculate couples as follows : Let w1 as reference weight at d1 o c1 = n1 x d1 = 0
DEPARTMENT OF MECHANICAL ENGINEERING

c2 = n2 x (d2+ d1) c3 = n 3 x (d23 + d12 ) c4 = n4 x ( d34 + d23 + d12 ) (4)Draw couple polygon triangle which will be a closed figure taking c2 as reference horizontal from 0 . (5)Draw force polygon from couple polygon ( i.e polygon with value n1, n2, n3 ) (1) Draw w2 (= n2 ) etc. parallel to c2 c3 & c4 respectively joining first & last point will give w1. (2) Draw force diagram by measuring angles, with reference 0 to the vector w1 in fig.< MDN =Q2 , < MOA = Q3 , < MOQ = Q4 (3) Clamp the frame in chains. (4) Clamp the masses as per their distance and angular displacement obtained above. (5) Put the belt on the motor driven pulley . (6) Run the motor end confirm the dynamic balancing of the system. (7) If these is appreciable amount of vibrations then check the angles of the masses use have fixed on the shaft with the force diagram as reference. If it these are vibrations repeat the procedure of obtaining the angle from start . RESULT :-any The static balancing of the rotating shaft is achieved successfully without vibrations.

PRECAUTION :-(1) (2) (3) (4) There should be no slip of weights on the shaft. The main frame should be rigid and properly leveled. The static balancing should be achieved before dynamic loading. Angles should be accurately measured and across should be avoided.

GYROSCOPIC EFFECT
EXPRIMENT NO . 4 OBJECT :-- To verify the formula for gyroscopic couple .

DEPARTMENT OF MECHANICAL ENGINEERING

THE APPARATUS :The apparatus consists of a rotor disc, mounted in bearings. The disc is driven by a variable speed FHP motor, so that disc can be rotated at required speed. The disc bracket rests over knife edges. The knife edge rest blocks are clamped to a yoke, which can rotate in the bearings, fitted in the base, about vertical axis. Thus , motion about three axis is possible. On the opposite side of the motors weight of motor is balanced by an initial balanced weight. A stud is provided over the balance weight, onto which the required weight, can be placed to apply the required torque. An angular scale with pointer is provided which enables rotation to be measured. TECHNICAL DATA :-1. Weight of Rotor 2. Rotor Diameter 3. Rotor thickness 4. Moment of inerlia of the disc , coupling and motor rotor about central axis. 5. Distance of bolt. If weight pan from disc center. 6. Motor : Fractional H. P single phase 6000rpm AC/ DC Dimmer provided of speed regulation THEORY :-GYROSCOPIC EFFECT: To a body revolving (or spinning ) about an axis say OX, (refer. Fig no. 1 ) if a couple represented by a vector OY perpendicular to OX is applied, then the body tries to process about an axis OZ which is perpendicular both to OX and OY. Thus the plane of spin, plane of precision and plane of gyroscopic couple are mutually perpendicular. The above combined effect is known as precessional or gyroscopic effect. GYROSCOPIC COUPLE OF A PLANE DISC :-Let a disc of weight W having a moment of inertia I be spinning at an angular velocity about axis OX in anticlockwise direction viewing from front . therefore the angular momentum of disc is . applying right hand rule, the sense of vector representing the angular momentum of disc which is also a vector quantity will be in the direction OX. A couple, whose axis is perpendicular to OX and is in the plane z, is now applied to process the axis OX. Let axis OX turn through a small angular displacement from OX to OX in time t. the couple applied produces a change in the direction of angular velocity, the magnitude remain constant . this change is due to the velocity of precession. Therefore OX represents the angular momentum after time t. Therefore change of angular momentum = OX OX = XX

DEPARTMENT OF MECHANICAL ENGINEERING

Or rate of change of angular momentum = angular displacement Time XX = OX * S St St As XX = OX * S0 in the direction of XX Now as rate of change of angular momentum = couple applied = C = T We get T = OX* S0 St But OX = I* Where 1 = Moment of Indication of disc = angular velocity of disc. And in the limit when is very small We have O = D0 t dt And d0 = p = Angular velocity of precession of yoke @ vertical axis. Thus we get T = 1 x x p The direction of the couple applied on the body is clockwise when looking in the direction XX and in the limit this is perpendicular to the axis of and of p The reaction couple exerted by the body on its frame is equal in the magnitude to that of C, but opposite in direction . . RULE No. 1 The spinning body exerts a torque or couple in such a direction, which tends to make the axis of spin coincide with that of the precession To study the rule of gyroscopic behavior following procedure may be adopted. a) Balance the initial horizontal position of the rotor. b) Start the motor by increasing the voltage with the dimmer, and wait until it attains constant speed. c) Process the yoke frame no. 2 about vertical axis by applying necessary force by hand to the same (in the clockwise sense seen from above ).
DEPARTMENT OF MECHANICAL ENGINEERING

d) It will be observed that the rotor frame swings about the horizontal axis YY. Motor side is seen coming upward and the weight pan side going downward. e) Rotate the vertical yoke axis in the anticlockwise direction seen from above and observe that the rotor frame swing in opposite sense (as compared TO THAT IN PREVIOUS. CASE FOLLOWING THE ABOVE rule) RULE No. 2 The spinning body precesses in such a way as to make the axis of spin. Coincide with that of the couple applied through 900 turn axis. a) Balance the rotor position on the horizontal frame, b) Start the motor by increasing the voltage with the auto transformer and weight till the disk attains constant speed , c) Put weight (0. 215 kg ; 0.525 kg , 1.085 kg 2.038 kg ) in the weight pan & start the stop watch to mote the time in seconds required for precession throughout 900 or 180 0 etc., d) The vertical yoke precesses about OZ axis as per the rule No : 2 , e) Speed may be measured by the tachometer provided on control panel. f) Enter the observations in the table. EXPERIMENTAL PROCEDURE 1) Check the rotor for vertical position. Adjust the balance weight slightly, if required. 2) Keep the dimmer at zero position & put ON the supply. 3) Start the motor by applying the voltage of around 170 volts & then reduce. 4) Adjust the rotor speed as required. 5) Note down the rotor speed with the help of techometer. (Not supplied with unit ) speed is to be noted when it becomes steady, it takes around 5 minutes to stabilise. 6) Put the required weight in the weight stud & at the same instant, start the stop clock. Note down the time required for 450 precession. 7) Repeat the procedure for different weights and rotor speeds. OBSERVATION :__________________________________________________________________ Sr . No. Rotor Speed Weight Time for 450 Precession Rpm kg Sec __________________________________________________________________

DEPARTMENT OF MECHANICAL ENGINEERING

CALCULATIONS :1) Rotor speed = N rpm

= 2) Velocity of precession be

N x2 60

rad / sec

Let time for 450 Precession be t sec. 450 = rad 4

..

p =

x 1
t

rad / sec

3) Moment of inertia mass of the disc is 3. 84 kg.

..

moment of inertia, I I I = = = m . k2 3.84 x 0. 0078 0.03 kg m2

4) Applied torque Let distance of weight stud from center of disc be x mtrs. Applied torque, T = ( weight ) . (x) ( where, x = 0.2 m) Now , as drived earlier T = I . p CONCLUSION :1) When torque is applied to spinning rotor, rotating about horizontal axis,

precession takes place about vertical axis. 2) The applied torque equals to rate of change of angular momentum of rotor. PRECAUTION :-

DEPARTMENT OF MECHANICAL ENGINEERING

1) 2) 3) 4)

Check all the fastenings to be tight before start. Check balance of the rotor before start. Lubricate the bearings periodically. Keep the base over a leveled platform.

DEPARTMENT OF MECHANICAL ENGINEERING

CAM ANALIYSIS
EXPERIMENT NO.5

OBJECT :-To find the speed at which jump phenomenon occurs in the cam follower systems. DESCRIPTION :-Cams are used in machines to move a component in a prescribed path e. g textile machine tools , I C. engines , printing machines etc. Cam is a mechanical member for transmitting desired motion to follower by direct contact. Various types of cams and followers are used in practice like wedge, radial or cylindrical cams and reciprocating or oscillating followers with flat face, mushroom face or roller. The apparatus provides study of three types of cams and followers with dial gauge, follower displacement diagrams can be plotted and by rotating the cam, jump phenomenon can be observed. THE JUMP PHENOMENON :-It occurs in case of cam operating under the action of compression spring loading. This is the condition which comes along with the high speed. Highly flexible cam & follower operates by the unbalanced forces exceeding the spring force during the period of negative acceleration .This is undesirable since the function & cam follower system the constant & the control of follower motion are not maintained Also related over the cam flank angle high nose. This is most likely to occurs to low value of damping with high speed of cam & follower.

SPECIFICATIONS :-(1) (2) (3) (4) (5) (1) (2) (3) (4) (5) (6) Cams Eccentric, tangent & circular arc cam one each. Followers Flat faced , mushroom and roller followers one each. Push rod assembly with spring and dead weights. Variable speed motor to drive the cams. Angular scale and dial gauge 1 each. Fit the required cam over the cam shaft and required follower to the push rod Set angular scale at required position . Adjust the weight seat and dial gauge. Rotate the cam by hand and note down the dial gauge reading at every 300 intervals. Remove the dial gauge switch ON the power supply. Slowly increases the motor speed . At particular speed a peculiar striking sound is heard. This speed is called Jump Speed. Because at this speed , follower does not follow the exact path guided by cam contour. Note down this speed. Use of this cam- follower system beyond this speed is useless, because desired follower motion in not obtained.

EXPERINMENTAL PROCEDURE :--

DEPARTMENT OF MECHANICAL ENGINEERING

(7)

Repeat the procedure for different dead weight and spring tension configurations at different cam follower configurations.

OBSERVATIONS :-Cam ------Sr. No. 1 2 3 4 .. 12 Cam Angle 0 30 60 90 300 follower ------Follower displacement(mm )

Jump Speed = rpm. , Dead weight = . N Spring stiffness = Spring tension = 400 N / m Spring stiffness N Spring compression

PRECAUTIONS :-(1) (2) (3) Fix the key and bolt , for cam tightening properly. While starting the motor , ensure that the dial gauge has been removed. Tighten the weights loaded, by the check nut.

DEPARTMENT OF MECHANICAL ENGINEERING