DYNAMICS OF RECIPROCATING ENGINES

This chapter studies the dynamics of a slider crank mechanisms in an analytical way. This is
an example for the analytical approach of solution instead of the graphical accelerations and
force analyses. The gas equations and models for combustion is not a concern of this chapter.

Fig: Indicator diagram showing the pressure versus crank rotation.
A
1
4
B
2
3
P

l
r
x
x
y
G3
G2
I2,m2
I3,m3
m4


Fig:Slider crank mechanism

Loop closure equation can be:
sin sin l r = (1)
cos cos l r x + = (2)
from trigonometric identities
= + 1 cos sin
2 2

2
cos 1 sin = (3)
from first equation
intake compression power exhaust
Crank angle
P
r
e
s
s
u
r
e

sin sin
l
r
= (4)
Substitute this equation into 3 and then resulting equation into (2)
2
sin 1 cos |

\
|
+ =
l
r
l r x (5)
Dynamic analysis of reciprocating engines was done in late 1800s and by that time extensive
calculations had to be avoided. So there are many approximations in the analysis to simplify
the arithmetic. In equation (5) square root term can be replaced by simplest expression. Taylor
series expansion of square root term, first two term included is as follows:

2
2
2
2
sin
2
1 sin 1
l
r
l
r
= |

\
|
(6)
Squaring is also an arithmetically difficult process:
2
2 cos 1
sin
2

= (7)
Substituting equation 6 and 7 into 5

(

\
|
+ =
2
2 cos 1
2
1 cos
2
2

l
r
l r x
|

\
|
+ + = t
l
r
t r
l
r
l x 2 cos
4
cos
4
2
(8)
Equation (8) defines the displacement of the slider. Velocity and acceleration expressions are
by successive differentiation of this equation with respect to time. If we assume that the
angular velocity of the crank is constant then velocity and acceleration of the slider become:
|

\
|
= |

\
|
= t
l
r
t r t
l
r
t r x

2 sin
2
sin 2 sin
2
sin & (9)
|

\
|
= |

\
|
= t
l
r
t r t
l
r
t r x

2 cos cos 2 cos cos

2
& & (10)
In dynamic force analysis, we put inertia and external forces on top of existing mechanism
and then solve statically. Under the action of external and inertia forces, too many forces exist
on the mechanism hence we use superposition

Gas force: Assume only gas force exists on the mechanism and calculate the torque on the
crank by the gas force. Forces related with gas force will be denoted by a single prime.
Link 3 is two forces member.
Link 4 is three forces member.
A
4
B
C
2
3
P
B
C
F'14
F'34
T'
x
y
+

F'43
F'23
F'32
F'12

P
F'34
F'14

A
4
B
2
3
P

l
r
x
F'12
F'14

Taking the moment about A, only force of F
14
creates moment
14
' ' xF = (11)
We already know x, let us drive expression for F
14
using force polygon:
tan '
'
tan
14
14
P F
P
F
= =

cos
sin
'
14
P F = (12)
Introducing sin sin
l
r
= and
2
sin 1 cos |

\
|
=
l
r
into equation 12,
2
14
sin 1
1
sin '
|

\
|

\
|
=

l
r
l
r
P F (13)
Taylor series expansion of square root term becomes;

2
2
2
2
sin
2
1
sin 1
1
l
r
l
r
+ =
|

\
|

Substituting this expression into 13
|
|

\
|
+ |

\
|
=
2
2
2
14
sin
2
1 sin '
l
r
l
r
P F (14)
Substituting equation 8 and 14 into 11
(

|
|

\
|
+ |

\
|
(

\
|
+ + =
2
2
2 2
sin
2
1 sin 2 cos
4
cos
4
'
l
r
l
r
P t
l
r
t r
l
r
l
Neglecting the higher order of
l
r
ratio after necessary manipulation
|

\
|
+ = cos 1 sin Pr '
l
r
(15)

Equivalent masses:
To obtain acceleration of third link in algebraic expression is a laborious task. After finding
acceleration of the third link and putting the inertia force on center of mass of third link, doing
force analysis is also laborious. To further simplify the problem, an equivalent mass approach
is brought. In equivalent mass system problem, we generate a model which has two point
masses rather than one (Fig). One of the masses will be at point C. The other is at P.
G3
B
C
P
lB lC
lB lC
lP
m3P G3 m3C
m3 I3

The mass of the model and mass of the actual link should be equal.
C P
m m m
3 3 3
+ = (16)
Mass center of the model and mass center of the actual link should be at the same
place.
C C P P
l m l m
3 3
= (17)
Mass moment of inertia of the model and the actual link should be same.
2
3
2
3 3 C C P P
l m l m I + = (18)

Solving these three equation for;
P
l ,
P
m
3
, and
C
m
3

P C
P
C
l l
m l
m
+
=
3


P C
C
P
l l
m l
m
+
=
3

and

C
CG
P
ml
I
l =
at that point second mass should be located. It is also known as centre of percussion. Centre of
percussion is at point where there is no inertia moment. Only an inertia force exists. In a
connecting rod, where mass centre is nearer to point B and distance between mass centre and
point B is very little. P, the centre of percussion is somewhere in between centre of mass and
B. So, P is nearly coinciding with point B. So, we do not need point P and so
B P
l l = and
P
m
3

should then be placed at point B (
B P
m m
3 3
= ).
B
m
3
and
B
m
3
are required, so we have 3
equation but only two unknowns. One of the equations will be redundant which one to assume
redundant depends onto decision of the designer.

Inertia Forces:

Using equivalent mass concept slider crank mechanism can be converted into two mass
system which are located at B and C.
l
m l
m
B
C
=
3


l
m l
m
C
B
=
3

These equations satisfy the equality of mass and mass centre of the coupler link.
A
1
4
B
2
3

l
r
I2,m2
I3,m3
m4
rG
lB
lC
G2
G3

Second link mass amount assumed to concentrated can be found by:
r
m r
m
G
B
=
2
This equation satisfies the equality of mass and mass centre for the crank.
Then total masses at B and C are;

B B B
m m m
3 2
+ = and
C C
m m m
3 4
+ = .

A
1
4
B
2
3
=t

l r
y
x
C
-mBaB
-mCaC

Position vector defining point B;
j t r i t r R
B
v v v
sin cos + =
j t r i t r V
B
v v v
cos sin + =
[ ] [ ] j t r t r i t r t r a
B
v v
v
sin cos cos sin
2 2
+ =
j t r i t r a
B
v v
v
sin cos
2 2
= for a constant crank speed.
Inertia force on B
j t r m i t r m a m
B B B B
v v
v
sin cos
2 2
+ =
B B
a m
v
is immaterial from crank shaft torque point of view. Because this inertia force is
directed radially and so does not produce any torque on the crank.
i t
l
r
t r x a
C
v
& &
v
|

\
|
= = 2 cos cos
2
for a constant crank speed. Inertia force at C is
C C
a m
v
.
i t
l
r
t r m a m
C C C
v
v
|

\
|
+ = 2 cos cos
2


X and Y component of total inertia forces for moving parts can be summed up;

t
l
r
r m t r m m F
C C B x
2 cos cos ) (
2 2
+ + =
t r m F
C y
sin
2
=

A
4
B
2
3

l
r
x
F''12
F''14

-mBaB
-mCaC


Forces related with gas force will be denoted by a single prime.
Link 3 is two forces member.
Link 4 is three forces member.
Taking the moment about A, only force of F
14
creates moment
14
' ' ' ' xF = (**)
We already know x, let us drive expression for F
14
using force polygon:
tan ) ( ' '
) (
' '
) (
' '
tan
14
14 14
x m F
x m
F
a m
F
C
C C C
& &
& &
=

F''34
F''14
-mCaC
Substituting tan , , and x x & & into (**)
(

|
|

\
|
+ |

\
|
(

\
|
+
(

\
|
+ + = t
l
r
t
l
r
t
l
r
t r m t
l
r
t r
l
r
l
C

2
2
2
2
2
sin
2
1 sin 2 cos cos 2 cos
4
cos
4
' '

Neglecting the higher order of
l
r
ratio and then using identities
t t t t sin 3 sin 2 cos sin 2 =
t t t 2 sin cos sin 2 =
|

\
|
= t
l
r
t t
l
r
r
m
C
3 sin
2
3
2 sin sin
2 2
' '
2 2
(15)


Example A 1.0 meter long link PQ has a mass of 10 kg and centroidal mass moment of
inertia 0.5 kg.m
2
. Its mass center is at its mid point. Put this body into an equivalent two point
mass system, one of which is located at Q. Find the location of the center of percussion,
where will the other point mass be located? Find the radius of gyration of the link.
P
Q
CG
1 m
P
Q CG
lQ=0.5 m
A
lA
mQ mA
1 m
Model body
Original body

Q A
m m m + =
Q Q A A
m l m l =
Q Q A A CG
m l m l I
2 2
+ =
Solving these three equation for;
A
l ,
A
m , and
Q
m
Q A
A
Q
l l
m l
m
+
= ,
Q A
Q
A
l l
m l
m
+
= , and
Q
CG
A
ml
I
l =
m .
* .
.
ml
I
l
Q
CG
A
1 0
10 5 0
5 0
= = = at that point second mass should be located. It is also known as
center of percussion.
Radius of gyration is m .
.
m
I
k
CG
2236 0
10
5 0
= = =

P
Q
Example In the figure, an elliptic trammel mechanism is shown with appropriate
dimensions, working in the horizontal plane. Put the coupler link into an equivalent form as
two point masses concentrated at points A and B, on the basis of equivalency of massand
location of mass center. Then calculate the actuation force required on the slider at B, paralel
to the slideway if point B is moving rightward with constant velocity of 1 m/sec. AB=10
cm, AG
3
=BG
3
=5 cm, =60
o
m
2
=m
4
=0.5 kg, m
3
=0.8 kg, I
3
=0.01 kg.m
2
.

B
A B A
V V V
v v
+ =
s m V
B
A
/ 1547 . 1 =
b ? =
A
V
AB to V
B
A
= ?

= s m V
B
/ 1
= s m V
A
/ 5774 . 0


B
A B A
a a a
v v v
+ =
B
A A
a a
v v
=
t
B
A
n
B
A A
a a a
v v v
+ =
b ? =
A
a
B to A from s m
AB
V
a
B
A
n
B
A
2
2
2
/ 33 . 13
1 . 0
1547 . 1
= = =
AB to a
t
B
A
= ?
2
/ 396 . 15 s m a
A
=
4
B
2
A
3
G
3
x
VB
VA/B
VA
Scale: 4 cm. stands for 1 m/sec
VB
VA/B
VA
Scale: 4 cm. stands for 1 m/sec
n
B
A
a
t
B
A
a
A
a
Equivalency of masses
B A
m m m
3 3
+ =
Equivalency of mass center
B A
m BG m AG
3 3 3 3
= solving these two equation for
A
m
3
, and
B
m
3

AB
m AG
m
B
3
3
=
AB
m BG
m
A
3
3
=
kg m
B
4 . 0
1 . 0
8 . 0 * 05 . 0
3
= = kg m
A
4 . 0
1 . 0
8 . 0 * 05 . 0
3
= =
kg m m m
B B
9 . 0 4 . 0 5 . 0
4 3
= + = + = kg m m m
A A
9 . 0 4 . 0 5 . 0
2 3
= + = + =

DAlembert force
0
90 8564 . 13 396 . 15 * 9 . 0 = = N ma
A

4
B
2
A
3
G3
x

N ma
A
8564 . 13 =
B
F






4
B
2
A
3
G3
x

N 8564 . 13
B
F
y
+
14
F
12
F

= = =
12 12
0 ; 0 F F F F F
B B x

N F F F
y
8564 . 13 0 8564 . 13 ; 0
14 14
= = + =

N F
F M
B
8
0867 . 0
3087 . 1
0 60 sin * 1 . 0 * 60 cos * 1 . 0 * 8564 . 13 ; 0
12
12
= =
= + =

= N F
B
8








Example In the figure, an elliptic trammel mechanism is
shown with appropriate dimensions, working in the
horizontal plane. Put the coupler link into an equivalent
form as two point masses concentrated at points A and
B, on the basis of equivalency of mass and location of
mass center. Then calculate the actuation force using
algebraic approach required on the slider at B, parallel to
the slideway if point B is moving rightward with
constant velocity of 1 m/sec. AB=10 cm, AG
3
=BG
3
=5
cm, =60
o
m
2
=m
4
=0.5 kg, m
3
=0.8 kg, I
3
=0.01 kg.m
2
.

B A B O A O
v v v
+ = (1)
) 180 cos( * 0 + = AB x cos * AB x = x axis components (2)
) 180 sin( * 0 + = AB y sin * AB y = y axis components (3)
0
sec / 1
=
=
x
m x
& &
&
From definition of the question slider B is moving with constant velocity.
sin *
&
& AB x = (4)
cos *
&
& AB y = (5)
cos * sin *
2
& & &
& & AB AB x = (6)
sin * cos *
2
& & &
& & AB AB y = (7)
From equation 4 for
&
and substituting into 5,

sin * AB
x&
&
=

cos
sin *
*
AB
x
AB y
&
& =

sin
cos x
y
&
& =
solving equation 6 for
& &
and substituting into 7
= cos * sin * 0
2
& & &
AB AB

sin
cos
2
&
& &
=

|
|

\
|
=

sin
sin
* sin * cos
sin
cos
*
2
2
&
&
& & AB AB y

sin
*
2
&
& &
AB
y =

DAlemberts force
0
2
90
sin
*
* =

&
AB
m ma
A


4
B
2
A
3
x

y
O
180
4
B
2
A
3
x

sin
*
*
2
&
AB
m
12
F
B
F
14
F
180
x
y
+

= = =
12 12
0 ; 0 F F F F F
B B x

sin
*
0
sin
*
; 0
2
14 14
2
& &
AB
m F F
AB
m F
y
= = + =

cos
sin
*
0 sin * * cos * *
sin
*
; 0
2
2
12
12
2
&
&
AB
m F
AB F AB
AB
m M
B
=
= + =