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J. MICHALCZYK∗
The influence of an insufficient stiffness of inertial vibrators mounting to a vibratory machine body on phase angles of
unbalanced masses and on a machine motion was analysed in the paper.
The mathematical model of the effect was developed and the analytical dependencies determining the influence of the
mounting elasticity on the synchronisation and machine movement – useful in engineering practice – were obtained.
Keywords: vibratory machines, self-synchronisation errors
W pracy poddano analizie wpływ nie w pełni sztywnego zamocowania wibratorów inercyjnych do korpusu maszyn
wibracyjnych na kąty fazowe mas niewyważonych i ruch maszyny.
Zbudowano model matematyczny zjawiska i uzyskano zależności analityczne określające wpływ podatności zamocowania
na przebieg synchronizacji i ruch maszyny, przydatne w praktyce inżynierskiej.
1. Introduction
Jzr – moment of inertia of the vibrator together with Since the machine mass M is significantly larger than
engine, calculated versus the axis of rotation [kgm2 ], the total mass of vibrators n · mw , the vibrator frequency
k x , ky , kξ , kη – coefficients of elasticity of the body sup- ωψ on its support is significantly larger than the working
porting system along axes: x , y and ξ, η [N/m]– corre- frequency ω.
spondingly, This means the under-resonance operation and al-
Ωz1 , Ωz2 – moments exerted to the rotating masses orig- lows assuming a quasi-static character of deformations
inated from the drive and resistance to motion [Nm], of vibrators mounting elements.
The problem formulated above cannot be solved di- 20 It was assumed that the component originated
rectly by classic methods (e.g. by the Blechman’s in- from the Coriolis acceleration can be omitted at the de-
tegral criterion [1]), since an elastic connection of vi- termination of the vibrators axles acceleration.
brators with the machine body significantly widens the • Acceleration of the axle of the ith vibrator (Fig.1) is
problem and in consequence does not allow to obtain written in a form:
the analytical solution in a form useful in an engineering
practice. āi = āiu + āiw + āicor (5)
In order to solve this problem the averaging method
where individual terms mean:
[6], in which the advantage was taken of the fact that
āi − absolute acceleration of the ith vibrator axle,
quantitative connections occurring for real systems en-
āiu − acceleration of transportation, resulting from
able taking two essential simplifying assumptions, was
the translatory and angular motion of the machine,
applied in the paper.
āiw − relative acceleration, resulting from the vibra-
10 It was assumed, that deformations in places of vi-
tor axle movement in the direction ψ determined by the
brators mounting are of a quasi-static character, it means
elasticity direction of the vibrator mounting system,
that the deformation value is proportional and cophasal
āicor = 2ω̄u × v̄w − Coriolis acceleration.
to the force transmitted by the vibrator. The correctness
The order of the tangential component (normal com-
of this assumption can be shown on the basis of the
ponent = 0) of the relative acceleration in vibrating mo-
following estimation:
tion with the amplitude Aψ and frequency ω
• for typical machines, softly elastically placed and vi-
brating with an amplitude A and frequency ω, the
|āiw |max = Aψ ω2
combined excitation force of n vibrators, each of a
force P, imparts to the machine of a mobile mass M, is now compared with the order of the Coriolis acceler-
the amplitude of acceleration: ation:
nP |āicor |max = 2ωu · Aψ ω · sin(ω̄u , v̄iw )
≈ Aω2 (1)
M Since the transportation angular frequency ωu is sev-
• frequency ωψ of natural vibrations of the vibrator on eral times smaller (if it exists at all) than the working
its elastic mounting - equals: frequency ω, which results from the dimensional ratios
s and linear vibrations amplitudes of vibratory machines,
kψ the following occurs: aicor <<aiw . This allows to omit the
ωψ = (2) Coriolis acceleration in a further analysis.
mw
where mw denotes the mass of the vibrator together with
its casing, while kψ is the coefficient of elasticity of its 2. Mathematical analysis of the self-synchronisation
mounting. effect in the system of an insufficient mounting
If it is assumed that the vibrator mounting deforma- stiffness of individual vibrators
tion – under an influence of its excitation force – should
not exceed the machine vibration amplitude A, i.e. As the first analysed case the system, in which each
P of vibrators is placed independently will be considered.
6A (3) The stiffness of the ith (i=1,2) vibrator mounting to the
kψ
body is insufficient, but characterised by the possibility
and the excitation force P is approximated in accor- of shifting the axle along the direction defined by angle
dance with the expression (1), then according to (2) ,for ψ (Fig.1), resulting from the limited elasticity kψ in this
kψ > P/A (3), the following dependence is obtained: direction.
s r In accordance with the idea of the averaging method,
Mω2 1 M the equations of motion of the machine body were writ-
ωψ > · =ω (4)
n mw n · mw ten with distinguishing slow- and fast-changing effects.
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Thus, assuming the equality of angular velocities of both motion will be written with taking into account those
vibrators φ̇1 = φ̇2 and their ‘slow-changes’ (ω ≈ const), couplings, it means in the non-inertial system related
it is possible to write the equation of motion of the body to the machine body executing the vibrating motion de-
in the absolute system ξ, η, in a first approximation form: scribed above.
When the moments from forces of the transportation
M ξ¨ + kξ ξ = meω2 [sin φ1 + sin φ2 ] (6a) are applied to vibrators, their angular motion equations
are in a form:
M η̈ + kη η = meω2 [cos φ2 − cos φ1 ] (6b)
Jzr φ̈1 = Ωz1 − meξ¨1 cos φ1 − meη̈1 sin φ1 (9a)
J α̈+ky l2 α = meω2r[sin φ2 −sin φ1 ]+meω2 R[cos φ1 −cos φ2 ]
(6c) Jzr φ̈2 = Ωz2 − meξ¨2 cos φ2 + meη̈2 sin φ2 (9b)
where: ξ, η – absolute coordinates determining the po- where :
sition of the body mass centre, Ωz 1, 2 – external moments (difference between the
α− angle of rotation of the body, driving and anti-torque moments),
Jzr – moment of inertia of the vibrator together with
kξ = k x cos2 β + ky sin2 β
engine, calculated versus the axis of rotation.
2 2
kη = ky cos β + k x sin β, Vibratory moments Ωwi , i-1,2 , are expressed as:
• the remaining notations are the same as in Fig. 1. Ωw1 = −me(ξ¨1 cos φ1 + η̈1 sin φ1 ) (10a)
Denoting ϕ1 − ϕ2 = ∆ϕ = const and assuming
Ωw2 = −me(ξ¨2 cos φ2 − η̈2 sin φ2 ) (10b)
ϕ2 = ωt, equations (6a, 6b, 6c), after rearrangements,
can be presented in a form: On the bases of the previously derived solutions of the
p body motion (not taking into account influences of vi-
M ξ¨ + kξ ξ = meω2 2(1 + cos ∆φ) sin(ωt + δ) (7a) bratory moments on vibrators running) the acceleration
components of both vibrators axes will be determined.
sin ∆φ
where: sin δ = √ , cos δ = √1+cos ∆φ The acceleration of axes of individual vibrators, after
2(1+cos ∆φ) 2(1+cos ∆φ)
taking into account the transportation and the relative
p motion resulting from the local elasticity as well as after
M η̈ + kη η = meω2 2(1 − cos ∆φ) sin(ωt + κ) (7b) omitting expressions of a lower order versus the remain-
ing ones, has in the absolute system ξη the following
where: sin κ = √1−cos ∆φ , cos κ = √ sin ∆φ
2(1−cos ∆φ) 2(1−cos ∆φ) components:
p meω4
J α̈ + ky l2 α = meω2 D 2(1 − cos ∆φ) sin(ωt + λ) (7c) ξ¨1 ≈ ξ¨ − α̈ · r − cos ψ · sin(ωt + ∆φ − ψ) (11a)
kψ
R(cos ∆φ−1)−r sin ∆φ
where: sin λ = √ , cos λ = meω4
D 2(1−cos ∆φ)
r(1−cos ∆φ)−R sin ∆φ
η̈1 ≈ η̈ − α̈ · R − sin ψ · sin(ωt + ∆φ − ψ) (11b)
√ kψ
D 2(1−cos ∆φ)
Particular integrals of these equations, describing meω4
ξ¨2 ≈ ξ¨ + α̈ · r − cos ψ · sin(ωt − ψ) (11c)
the steady state, are of a form: kψ
p meω4
meω2 2(1 + cos ∆φ) η̈2 ≈ η̈ − α̈R + sin ψ · sin(ωt − ψ) (11d)
ξ(t) = sin (ωt + δ) (8a) kψ
kξ − Mω2
After substituting in Eq. (11) the second derivatives of
p
meω2 2(1 − cos ∆φ) Eq. (8) and introducing the obtained values into Eq. (10),
η(t) = sin(ωt + κ) (8b) it is possible to calculate the vibratory moment:
kη − Mω2
p
p √ 2 2 4 1 + cos ∆φ
meω2 D 2(1 − cos ∆φ) Ωw1 = − 2m e ω [ sin(ωt + δ)· cos(ωt + ∆φ)−
α(t) = sin(ωt + λ) (8c) Mω2 − kξ
ky l2 − Jω2 p
rD 1 − cos ∆φ
The analysed, up to the present, dynamic equations were sin(ωt + λ) · cos(ωt + ∆φ)+
pJω2 − ky l 2
describing the body vibrations at the assumption that
1 − cos ∆φ
the vibrators angular motion for the steady state can be sin(ωt + κ) · sin(ωt + ∆φ)−
Mω 2
considered the uniform motion. Such assumption is tan- p − kη
tamount to omitting the body vibration influence on the RD 1 − cos ∆φ
sin(ωt + λ) · sin(ωt + ∆φ)]+
vibrators running. Presently the vibrators equations of Jω2 − ky l 2
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