CHAPTER 12 TWO-DEGREE- OF-FREEDOM-SYSTEMS Introduction to two degree of freedom systems: The vibrating systems, which require two coordinates

tes to describe its motion, are called two-degrees-of freedom systems. These coordinates are called generalized coordinates when they are independent of each other and equal in number to the degrees of freedom of the system. Unlike single degree of freedom system, where only one co-ordinate and hence one equation of motion is required to express the vibration of the system, in twodof systems minimum two co-ordinates and hence two equations of motion are required to represent the motion of the system. For a conservative natural system, these equations can be written by using mass and stiffness matrices. One may find a number of generalized co-ordinate systems to represent the motion of the same system. While using these co-ordinates the mass and stiffness matrices may be coupled or uncoupled. When the mass matrix is coupled, the system is said to be dynamically coupled and when the stiffness matrix is coupled, the system is known to be statically coupled. The set of co-ordinates for which both the mass and stiffness matrix are uncoupled, are known as principal co-ordinates. In this case both the system equations are independent and individually they can be solved as that of a singledof system. A two-dof system differs from the single dof system in that it has two natural frequencies, and for each of the natural frequencies there corresponds a natural state of vibration with a displacement configuration known as the normal mode. Mathematical terms associated with these quantities are eigenvalues and eigenvectors. Normal mode vibrations are free vibrations that depend only on the mass and stiffness of the system and how they are distributed. A normal mode oscillation is defined as one in which each mass of the system undergoes harmonic motion of same frequency and passes the equilibrium position simultaneously. The study of two-dof- systems is important because one may extend the same concepts used in these cases to more than 2-dof- systems. Also in these cases one can easily obtain an analytical or closed-form solutions. But for more degrees of

209

freedom systems numerical analysis using computer is required to find natural frequencies (eigenvalues) and mode shapes (eigenvectors). The above points will be elaborated with the help of examples in this lecture. Few examples of two-degree-of-freedom systems Figure 1 shows two masses m1 and m2 with three springs having spring stiffness k1 , k2 and k3 free to move on the horizontal surface. Let x1 and x2 be the displacement of mass m1 and m2 respectively. x1 k1 m1 k2 m2 x2 k3

Figure 1 As described in the previous lectures one may easily derive the equation of motion by using dAlembert principle or the energy principle (Lagrange principle or Hamiltons principle) 1 m1  x Using dAlembert principle for mass m1 , from the free body diagram shown in figure 1(b) m1  x1 + (k1 + k2 ) x1 k2 x2 = 0 (1) and similarly for mass m2 m2  x2 k1 x1 + (k2 + k3 ) x2 = 0 Important points to remember Inertia force acts opposite to the direction of acceleration, so in both the free body diagrams inertia forces are shown towards left. For spring k2 , assuming x2 > x1 , (2) k2 ( x2 x1 ) 2 m2  x k3 x2 m2 k1 x1 k2 ( x1 x2 ) m1

Figure 1 (b), Free body diagram

210

The spring will pull mass m1 towards right by k2 ( x2 x1 ) and it is stretched by x2 x1 (towards right) it will exert a force of k2 ( x2 x1 ) towards left on mass m2 . Similarly assuming x1 > x2 , the spring get compressed by an amount x2 x1 and exert tensile force of k2 ( x1 x2 ) . One may note that in both cases, free body diagram remain unchanged. Now if one uses Lagrange principle, 1 1 2 12 + m2 x 2 The Kinetic energy = T = m1 x and 2 2 1 1 1 2 Potential energy = U = k1 x12 + k2 ( x1 x2 ) 2 + k3 x2 2 2 2 So, the Lagrangian

(3) (4)

1 1 1 1 2 1 2 2 2 12 + m2 x 2 (5) L = T U = m1 x k1 x1 + k2 ( x1 x2 ) + k3 x2 2 2 2 2 2 The equation of motion for this free vibration case can be found from the Lagrange principle

d L k dt q

L =0, qk

(6)

and noting that the generalized co-ordinate q1 = x1 and q2 = x2 which yields m1  x1 + (k1 + k2 ) x1 k2 x2 = 0 m2  x2 k1 x1 + (k2 + k3 ) x2 = 0 Same as obtained before using dAlembert principle. Now writing the equation of motion in matrix form

(7) (8)

x1 k1 + k2 m1 0  + 0 m  2 x2 k2

k2 x1 0 x = 0 . k 2 + k3 2

(9)

Here it may be noted that for the present two degree-of-freedom system, the system is dynamically uncoupled but statically coupled.

211

Example 2. Consider a lathe machine, which can be modeled as a rigid bar with its center of mass not coinciding with its geometric center and supported by two springs, k1 , k2 .

xc

 J c c

 ) m (  xc + e c

C
k1 ( xc l1 c ) k1 k k2 l1
e

c
G
k2 ( xc + l2 c )

l2

Figure 3: Free body diagram of the system Figure 2

In this example, it will be shown, how the use of different coordinate systems lead to static and or dynamic coupled or uncoupled equations of motion. Clearly this is a twodegree-of freedom system and one may express the co-ordinate system in many different ways. Figure 3 shows the free body diagram of the system where point G is the center of mass. Point C represents a point on the bar at which we want to define the co-ordinates of this system. This point is at a distance l1 from the left end and l2 from right end. Distance between points C and G is e . Assuming xc is the linear displacement of point C and c the rotation about point C, the equation of motion of this system can be obtained by using dAlembers principle. Now summation of all the forces, viz. the spring forces and the inertia forces must be equal to zero leads to the following equation.  + k ( x l ) + k ( x + l ) = 0  + me (10) mx
c c 1 c 1 c 2 c 2 c

Again taking moment of all the forces about point C  + ( mx  )e k ( x l )l + k ( x + l )l = 0  + me J

G c c c 1 c 1 c 1 2 c 2 c 2

(11)

Noting J c = J G + me 2 , the above two equations in matrix form can be written as

xc k1 + k2 k2l2 k1l1 xc 0 m me  me J  + k l k l k l 2 + k l 2 = 0 c c 2 2 c 2 2 11 11

(12)

212

Now depending on the position of point C, few cases can are studied below. Case 1 : Considering e = 0 , i.e., point C and G coincides, the equation of motion can be written as
x

k1 ( x l1 ) k2 ( x + l2 )

k2l2 k1l1 x 0 x k1 + k2 m 0  + = 0 J 2 2  G k2l2 k1l1 k1l1 + k2l2 0

(13)

So in this case the system is statically coupled and if k1l1 = k2l2 , this coupling disappears, and we obtained uncoupled x and vibrations. Case 2 : If, k2l2 = k1l1 , the equation of motion becomes

xc k1 + k2 m me  me J  + 0 c c

xc 0 = 0 . kl +k l c 0
2 11 2 2 2

(14)

Hence in this case the system is dynamically coupled but statically uncoupled. Case 3: If we choose l1 = 0 , i.e. point C coincide with the left end, the equation of motion will become

xc k1 + k2 m me  me J  + k l c c 22

k2l2 xc 0 = . 2 k2l2 c 0

(15)

Here the system is both statically and dynamically coupled.

Normal Mode Vibration

Again considering the problem of the spring-mass system in figure 1 with m1 = m ,

m2 = 2m , k1 = k2 = k3 = k , the equation of motion (9) can be written as 1 + k ( x1 x2 ) + kx1 = 0 mx 2 k ( x1 x2 ) + kx2 = 0 2mx

(16)

213

We define a normal mode oscillation as one in which each mass undergoes harmonic motion of the same frequency, passing simultaneously through the equilibrium position. For such motion, we let
x1 = A1eit , x2 = A2 eit

(17)

Hence,

(2k m 2 ) A1 kA2 = 0 kA1 + (2k 2m 2 ) A2 = 0

or, in matrix form

(18)

2k m 2 k 2k m 2 k

A1 0 k = 2 2k 2m A2 0 k = 0. 2k 2m 2

(19)

Hence for nonzero values of A1 and A2 (i.e., for non-trivial response) (20)

Now substituting 2 = , equation 6.1. yields 3 k k 2 (3 ) + ( ) 2 = 0 m 2 m 3 1 3 1 k k k k Hence, 1 = ( 3) = 0.634 and 2 = ( + 3) = 2.366 2 2 m m 2 2 m m So, the natural frequencies of the system are 1 = 1 = 0.634

(21)

k k and 2 = 2.366 m m

Now from equation (1)., it may be observed that for these frequencies, as both the equations are not independent, one can not get unique value of A1 and A2 . So one should find a normalized value. One may normalize the response by finding the ratio of A1 to A2 . From the first equation (19) the normalized value can be given by A1 k k = = 2 A2 2k m 2k m and from the second equation of (19), the normalized value can be given by
A1 2k 2m 2 2k 2m = = A2 k k

(22)

(23)

k in equation (22) and (23) yields the same values, m as both these equations are linearly dependent. Here,

Now, substituting 12 = 1 = 0.634

214

 A1 0.732 = 1 A2 =1

(24)
k m

and similarly for 2 2 = 2 = 2.366

A1 2.73 = 1 A2 =2

(25)

It may be noted Equation (19) gives only the ratio of the amplitudes and not their absolute values, which are arbitrary. If one of the amplitudes is chosen to be 1 or any number, we say that amplitudes ratio is normalized to that number. The normalized amplitude ratios are called the normal modes and designated by n ( x) . From equation (24) and (25), the two normal modes of this problem are:

1 ( x) =

0.731 1.00

2 ( x ) =

2.73 1.00

In the 1st normal mode, the two masses move in the same direction and are said to be in phase and in the 2nd mode the two masses move in the opposite direction and are said to be out of phase. Also in the first mode when the second mass moves unit distance, the first mass moves 0.731 units in the same direction and in the second mode, when the second mass moves unit distance; the first mass moves 2.73 units in opposite direction.

Free vibration using normal modes

When the system is disturbed from its initial position, the resulting free-vibration of the system will be a combination of the different normal modes. The participation of different modes will depend on the initial conditions of displacements and velocities. So for a system the free vibration can be given by
x = 1 A sin(1t + 1 ) + 2 B sin(2t + 2 )

(27)

215

Here A and B are part of participation of first and second modes respectively in the resulting free vibration and 1 and 2 are the phase difference. They depend on the initial conditions. This is explained with the help of the following example.
Example: Let us consider the same spring-mass problem (figure 4) for which the natural frequencies and normal modes are determined. We have to determine the resulting free

vibration when the system is given an initial displacement x1 (0) = 5, x2 (0) = 1 and initial
1 (0) = x 2 (0) = 0 . velocity x x1
k

x2
k

2m

Figure 4 Solution: Any free vibration can be considered to be the superposition of its normal modes. For each of these modes the time solution can be expressed as:
x1 0.731 = sin 1t x2 1 1 x1 2.731 = sin 2t x2 2 1.00

The general solution for the free vibration can then be written as:

x1 0.731 2.73 = A sin(1t + 1 ) + B sin(2t + 2 ) 1.00 1 x2

where A and B allow different amounts of each mode and 1 and 2 allows the two modes different phases or starting values. Substituting:

216

 x1 (0) 5 0.731 2.731 = = A sin 1 + B sin 2 1 1 x2 (0) 1 x1 (0) 0 0.731 2.731 = = 1 A cos 1 + 2 B cos 2 1 1 x2 (0) 0
cos 1 = cos 2 = 0 => 1 = 2 = 900

Substituting in 1st set: 5 0.731 2.731 = A + B 1 1 1

0.731A-2.731B= 5 A+B =1

A= 2.233 B=-1.233

Hence the resulting free vibration is

x1 0.731 2.731 = 2.233 cos 1t 1.233 cos 2t 1.00 1.000 x2

Normal modes from eigenvalues

The equation of motion for a two-degree-of freedom system can be written in matrix form as (28) M  x + K x=0 where M and K are the mass and stiffness matrix respectively; x is the vector of generalized co-ordinates. Now pre-multiplying M 1 in both side of equation 6.2. one may get
I  x + M 1 K x = 0

(29) (30)

or, I  x + Ax=0 Here A = M 1 K is known as the dynamic matrix. Now to find the normal modes,
x1 = X 1eit , x2 = X 2 eit , the above equation will reduce to

[ A I ] X = 0
217

(31)

where X = { x1

x2 } and = 2 .
T

From equation (31) it is apparent that the free vibration problem in this case is reduced to that of finding the eigenvalues and eigenvectors of the matrix A.
Example: Determine the normal modes of a double pendulum. Solution

Kinetic energy of the system = 1  2 + 1 m (l 2 2 2 2 T = m1l12 1 2 1 1 + l2 2 + 2l1l21 2 cos( 2 1 )) 2 2 Potential energy of the system =
U = m1 g (1 cos 1 ) + m2 g {l1 (1 cos 1 ) + l2 (1 cos 2 )} = g {( m1 + m2 )l1 (1 cos 1 ) + m2l2 (1 cos 2 )}

1 2

l11

l2 2

2 1 l11

So Lagrangian of the system = Figure 5 L = T U 1  2 + 1 m (l   = m1l12 1 2 1 1 + l2 2 + 2l1l2 cos( 2 1 )) g {( m1 + m2 )(1 cos 1 ) + m2 (1 cos 2 )} 2 2 So using Lagrange principle, and assuming small angle of rotation, the equation of motion can be written in matrix form as  (m1 + m2 )l1 g 0 1 0 (m1 + m2 )l12 m2l1l2 1 + = 2  0 m2l2 g m2l2 2 2 0 m2l1l2 Now considering a special case when m1 = m2 = m and l1 = l2 = l , the above equation becomes

 2mlg 0 1 0 ml 2 1 + = 0  0 mlg ml 2 2 2  2 1 2 0 1 0 1 or, ml 2 + mlg =  1 1 2 0 1 2 0

2ml 2 2 ml
2 0 g 2 1 1 1 1 mlg = 2 ml 1 2 0 1 l 2 2 To find eigenvalues of A, Now A =

218

g l A I = 0 g 2 l 2
2

g l

g 2 l
2

=0

g g g Or, 4 4 + 2 2 = 0 l l l g g Or, 4 + 2 = 0 l l
2 2

g g g 4 8 l g l l = (2 2) Or, = 2 l g g Hence natural frequencies are 1 = 0.7653 , 2 = 1.8478 l l The normal modes can be determined from the eigenvalues. The corresponding principal modes are obtained as 4

g 1 1 l = = 2 2 =1 (2 2 + 2) g l g 1 1 l = = 2 2 =2 (2 2 2) g l It may be noted that while in the first mode Both the pendulum moves in the same direction, In the second mode they move in opposite direction

Figure 6

One may solve the same problem by taking x1 and x2 as the generalized coordinates. Here x1 is the horizontal distance moves by mass m1 and x2 is the distance move by mass m2 . Figure 7 show the free body diagram of both the masses. T1 y y T2

1
1 m1  x
x

2 m2  x m2 g

2
m1 g T2

Figure 7

219

From the free body diagram of mass m2 ,

T2 cos 2 = m2 g T2 sin 2 = m2  x2

Also from the free body diagram of mass m1 ,

T1 cos 1 T2 cos 2 = m1 g T1 sin 1 T2 sin 2 + m1  x2 = 0

Assuming 1 and 2 to be small, sin 1 = tan 1 = 1 = x1 / l and sin 2 = tan 2 = 2 = ( x2 x1 ) / l Hence

T2 = m2 g , and T1 = (m1 + m2 ) g
( m + m2 ) g m2 g m2 g m1  x1 + 1 x1 + x2 = 0 + l1 l2 l2

x x m2  x2 + m2 g 2 1 = 0 l2 Hence in matrix form

m1 0 (m1 + m2 ) g m2 g + x1 0  l l2 1  + m2 x m2 g 2 l2 m2 g l2 x1 0 = x 0 m2 g 2 l2

Considering the case in which m1 = m2 = m and l1 = l2 = l , the above equation becomes

x1 g 3 1 x1 0 1 0  + 0 1  = x2 l 1 1 x2 0

220

A=

g l

3 1 1 1 3
g l

g l and A I = 0 g Hence l
2

g l

=0

Or, 2 4

g g + 2 = 0 l l g g or , 1 = 2 2 and 2 = 2 + 2 l l

Same as those obtained by taking 1 and 2 as the generalized coordinates.

g X1 1 1 l = = = = 0.4142 g X 2.4142 + 3 2 2 2 = 3 1 1 l Now g X1 1 1 l = = = = 2.4142 g 0.4142 X 2 = 3 2 3 2 2 2 l

-0.4142 2.4142 Figure 8 The different modes are as shown in the above figure. Example Determine the equation of motion if the double pendulum is started with initial 1 (0) = x 2 (0) = 0. conditions x1 (0) = x2 (0) = 0.5, x Solution: The resulting free vibration can be considered to be the superposition of the normal modes. For each of these modes, the time solution can be written as

221

 x1 X 1 x1 X 1 = sin 1t = sin 2t x2 1 X 2 1 x2 2 X 2 2
The general solution for the free vibration can be written as

x1 = x2

0.4142 2.4142 A sin(1t + 1 ) + B sin(2t + 2 ) 1 1

where A and B are the amounts of first and second modes participation and 1 and 2 are the starting values or phases of the two modes. Substituting the initial conditions in the above equation 0.5 = 0.5 and 0 0.4142 2.4142 = A1 cos 1 + B2 cos 2 1 0 1 For the second set of equations to be satisfied, cos 1 = cos 2 = 0 , so that 1 = 2 = 900 . Hence A = 0.6035 and B = 0.1036 . So the equation for free vibration can be given by 0.4142 2.4142 A sin 1 + B sin 2 1 1

x1 0.4142 2.4142 = 0.6035 cos 1t 0.1036 cos 2t 1 1 x2

Damped-free vibration of two-dof systems Consider a two degrees of freedom system with damping as shown in figure

k1

x1 m1

k2 c2 m2

x2

k3 c3

c1

Figure 9 Now the equation of motion of this system can be given by

x1 k1 + k2 m1 0  + 0 m  2 x2 k2

k2 x1 c1 + c2 + k 2 + k3 x2 c2

1 0 c2 x  = c2 + c3 x2 0

(32)

222

As in the previous case, here also the solution of the above equations can be written as
x1 = A1e st and x2 = A2 e st

(33)

where A1 , A2 and s are constant . Substituting (33) in (32) , one may write

m1s 2 + (c1 + c2 ) s + k1 + k2 c2 s k2

A1 0 = m2 s + (c2 + c3 ) s + k2 + k3 A2 0 c2 s k2
2

(34)

Now for a nontrivial response i.e., for non-zero values of A1 and A2 , the determinant of their coefficient matrix must vanish. Hence

m1s 2 + (c1 + c2 ) s + k1 + k2

c2 s k2
m2 s 2 + (c2 + c3 ) s + k2 + k3

c2 s k2

=0

(35) (36)

or, ( m1s 2 + (c1 + c2 ) s + k1 + k 2 )( m2 s 2 + (c2 + c3 ) s + k2 + k3 ) + (c2 s + k 2 ) 2 = 0

which is a fourth order equation in s and is known as the characteristic equation of the system. This equation is to be solved to get four roots. The general solution of the system can be given by
x1 = A11e s1t + A12 e s2t + A13e s3t + A14 e s4t x2 = A21e s1t + A22 e s2t + A23e s3t + A24 e s4t

(37)

Here A1i , i = 1, 2,3, 4 are four arbitrary constants to be determined from the initial conditions and the coefficients A2i , i = 1, 2,3, 4 are related to A2i and can be determined from equation (34) as
A1i c2 si + k2 = 2 A2i m1si + (c1 + c2 ) si + k1 + k2

(38)

For a physical system with damping, the motion will die out with time. For a stable system, all the four roots must be either real negative numbers or complex number with negative real parts. It may be recalled that, if the roots contain complex conjugate numbers, the motion will be oscillatory.
Example: Find the response of the system as shown in figure 9 considering m1 = m2 = m,

k1 = k2 = k3 = k and c1 = c3 = 0 and c2 = c .

Solution. In this case the characteristics equation becomes (ms 2 + cs + 2k )(ms 2 + cs + 2k ) (cs + k ) 2 = 0

223

(ms 2 + cs + 2k ) 2 (cs + k ) 2 = 0
or , m 2 s 4 + 2mcs 3 + (4mk + c 2 c 2 ) s 2 + (4kc 2kc) s + 4k 2 k 2 = 0 or , m 2 s 4 + 2mcs 3 + 4mks 2 + 2kcs + 3k 2 = 0 or , ms 2 (ms 2 + 2cs + 3k ) + k (ms 2 + 2cs + 3k ) = 0 or , (ms 2 + k )(ms 2 + 2cs + 3k ) = 0 or , (ms 2 + k )(ms 2 + 2cs + 3k ) = 0 Hence the roots are s1,2 = i k c k c and s3,4 = 3 m m m m
2

So the system has a pair of complex conjugate

SEMI-DEFINITE SYSTEMS

The systems with have one of their natural frequencies equal to zero are known as semidefinite or degenerate systems. One can show that the following two systems are degenerate systems.
x1 m1 x2 m2 I1

2
I2

Figure 10 Figure 11 From figure 10 the equation of motion of the system is

x1 k m1 0  + 0 m  k 2 x2

k x1 0 = k x2 0

(39)

Assuming the solution x1 = A1eit and x2 = A2 eit

(40)

k m1 2 k

A1 0 = k m2 A2 0 k
2

(41)

So for non-zero values of A1 , A2 ,

224

k m1 2

k
k m2 2

=0
2 2 2

(42)
=0

or, k m1 2

)( k m ) k

(43) (44) (45) (46)

or, k 2 k ( m1 + m2 ) 2 + m1m2 4 k 2 = 0 or, 2 ( m1m2 2 k ( m1 + m2 )) = 0

1 = 0, and, 2 =

k (m1 + m2 ) m1m2

Hence, the system is a semi-definite or degenerate system. Corresponding to the first mode frequency, i.e., 1 = 0, A1 = A2 . So the system will have a rigid-body motion. For the second mode frequency A1 k km1m2 km1m2 m = = = = 2 2 A2 k m1 km1m2 m1k ( m1 + m2 ) m1km1 m1 amplitude ratio is inversely proportional to the mass ratio the system. Similarly one may show for the two-rotor system, 1 I = 2 2 I1

(47)

(48)

the ratio of angle of rotation inversely proportional to the moment of inertia of the rotors.
Forced harmonic vibration, Vibration Absorber

Consider a system excited by a harmonic force F1 sin t expressed by the matrix equation

x1 k11 k12 x1 F m11 m12   + m = sin t 21 m22 x2 k21 k22 x2 0

Since the system is undamped, the solution can be assumed as

(49)

x1 X 1 = sin t x2 X 2
Substituting equation (50) in equation (49), one obtains k11 m11 2 k12 m12 2 X 1 F1 = sin t sin t 2 2 0 k21 m21 k22 m22 X 2 k11 m11 2 k12 m12 2 X 1 F or , = 2 2 k21 m21 k22 m22 X 2 0

(50)

(51)

225

 X 1 k11 m11 2 = 2 X 2 k21 m21

k12 m12 2 F k22 m22 2 0

k22 m22 2 k12 + m12 2 F k21 + m21 2 k11 m11 2 0 = k11 m11 2 k12 m12 2 k21 m21 2 k22 m22 2

(52)

Hence

X1

(k =

22

m22 2 F Z ( )

, k12 m12 2 k22 m22 2

(53)

k11 m11 2 where [ Z ( ) ] = 2 k21 m21

X2

(k =

21

m21 2 F Z ( )

(54)

Example Consider the system shown in figure 12 where the mass m1 is subjected to a

force F sin t . Find the response of the system when m1 = m2 and k1 = k2 = k3 . x1 F sin t k2 x2

k1

m1

m2

k3

Figure 12 Solution: The equation of motion of this system can be written as

m1 0 x1 k1 + k2 0   + m2 x2 k2 k2 x1 F sin t = k 2 + k3 x2 0

x1 2k m 0  + 0 m  x2 k

k x1 F sin t = 2k x2 0

So assuming the solution

226

 x1 X 1 = sin t and proceeding as explained before x2 X 2 2k m 2 Z ( ) = [ ] k

2 2

2k m 2 k
2 2 4 2 2 2 4

k 2 k2 Z ( ) = ( 2k m ) k = m 4mk + 3k = m ( 4 + 3 2 ) m m k k 2 or, Z ( ) = m 2 ( 2 )( 2 3 ) = m 2 ( 2 12 )( 2 2 ) m m k k 2 where, 12 = and 2 = 3 are normal mode frequencies of this system. m m Hence,
X1 = X2 =

( 2k m ) F
2 2 ) m 2 ( 2 12 )( 2 2

kF 2 m ( 12 )( 2 2 )
2 2

So it may be observed that the system will have maximum vibration when = 1 or , = 2 . Also it may be observed that X 1 = 0, when 2 = 2k / m .
Tuned Vibration Absorber Consider a vibrating system of mass m1 , stiffness k1 , subjected to a force F sin t . As

studied in case of forced vibration of single-degree of freedom system, the system will have a steady state response given by F sin t x= , where n = k1 / m1 2 2) m(n (55) which will be maximum when = n. Now to absorb this vibration, one may add a secondary spring and mass system as shown in figure 13. k1

F sin t
m1 k2 m2 Figure 13 x1

x2

227

The equation of motion for this system can be given by

x1 k1 + k2 m1 0  + 0 m  2 x2 k2

k2 x1 F sin t x = 0 k2 2

(56)

Comparing equation (49) and (56), m11 = m1 , m12 = 0, m21 = 0, m22 = m2, k11 = k1 + k2 , k12 = k2 , k21 = k2 , and k 22 = k . Hence,

Z ( ) =

k1 + k2 m1 2 k2

k2 k2 m2
2

= k1k2 m1k2 2 k1m2 2 k2 m2 2 + m1m2 4

(57)

= m1m2 (1 2 )(2 2 )

where 1 and 2 are the roots of the characteristic equation Z ( ) = 0 of the freevibration of this system., which can be given by
2 k1 k2 k2 kk k1 k2 k2 1,2 = 0.5 + + + + 4 1 2 m1 m2 m1 m1m2 m1 m2 m1 Now from equation (53) and (54)

(58)

X1

(k =

22

m22 2 F Z ( )

(k =

m2 2 F Z ( )

(59) (60)
k2 . Hence, by suitably choosing m2

X2 =

k2 F Z ( )

From equation (59), it is clear that, X 1 = 0, when 2 =

the stiffness and mass of the secondary spring and mass system, vibration can be k completely eliminated from the primary system. For 2 = 2 , m2
Z ( ) = k1k2 m1k2 k2 k k k k k1m2 2 k2 m2 2 + m1m2 2 2 m2 m2 m2 m2 m2

k2 k2 2 2 = k1k2 m1 2 k1k2 k2 + m1 2 = k2 m2 m2 and X 2 =

k2 F F = 2 k2 k2

(61)

(62)

228

Centrifugal Pendulum Vibration Absorber

The tuned vibration absorber is only effective when the frequency of external excitation equals to the natural frequency of the secondary spring and mass system. But in many cases, for example in case of an automobile engine, the exciting torques are proportional to the rotational speed n which may vary over a wide range. For the absorber to be effective, its natural frequency must also be proportional to the speed. The characteristics of the centrifugal pendulum are ideally suited for this purpose. Placing the coordinates through point O, parallel and normal to r, the line r rotates with  + ) angular velocity (
j
i

r R
O O

The acceleration of mass m 2   2 i  cos + r (  + ) 2 R 2 sin + R am = R cos + R sin r ( + ) + j (63) Since the moment about O is zero, 2    2 r = 0 M O = m (64) R sin + R cos + r ( + ) Assuming to be small, cos = 1, sin = , so
 + 2  = r r
R R+r

(65)

If we assume the motion of the wheel to be a steady rotation n plus a small sinusoidal oscillation of frequency , one may write

= nt + 0 sin t
 = nt + 0 cos t n
 = 2 sin t 0

(66) (67) (68)

Substituting the above equations in equation (65) yields,

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R 2 R+r 2 n = 0 sin t r r Hence the natural frequency of the pendulum is

 +

(69)

n = n

R r

(70)

and its steady-state solution is (R + r) / r = 2 0 sin t 2 + ( Rn 2 / r )

(71)

It may be noted that the same pendulum in a gravity field would have a natural frequency of

g . So it may be noted that for the centrifugal pendulum the gravity r

field is replaced by the centrifugal field Rn 2 . Torque exerted by the pendulum on the wheel With the j component of am equal to zero, the pendulum force is a tension along r ,

component of am . given by m times the i

2   2 i + R sin T = R cos i j m R cos + R sin r ( + )
2 2 2 2  = mR R 0 sin t sin Rn rn r 2r

(72)

Now assuming small angle of rotation

T = m ( R + r ) n 2 R
Now substituting the (73) in (72),

(73)

T=

mR( R + r ) 2 n 2 / r 2 0 sin t ( Rn 2 / r ) 2
(74)

m( R + r ) 2   = J eff = 2 2 1 / r Rn
Hence the effective inertia can be written as
m( R + r ) 2 m( R + r ) 2 = J eff = 2 2 2 1 ( / n ) 1 r / Rn

(75)

which can be at its natural frequency. This possesses some difficulties in the design of the pendulum. For example to suppress a disturbing torque of frequency equal to four times the natural speed n, the pendulum must meet the requirement

2 = (4n) 2 = n 2 R / r . Hence, as the length of the pendulum r = R /16 becomes very

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small it will be difficult to design it. To avoid this one may go for Chilton bifilar design.
Exercise problems
1. In a certain refrigeration plant, a section of pipe carrying the refrigerant vibrated violently at a compressor speed of 232 rpm. To eliminate this difficulty, it was proposed to clamp a cantilever spring mass system to the pipe to act as an absorber. For a trial test, for a 905 gm. Absorber tuned to 232 cpm resulted in two natural frequencies of 198 and 272 cpm. If the absorber system is to be designed so that the natural frequencies lie outside the region 160 to 320 cpm, what must be the weight and spring stiffness?

2. Derive the normal modes of vibration of a double pendulum with same length and mass of the pendulum. 3. Develop a matlab code for determination of free-vibration of a general two-degree of freedom system.
4. Derive the equation of motion for the double pendulum shown in figure p1 in terms of 1 and 2 using Lagrange principle. Determine the natural frequencies and mode shapes of the systems. If the system is started with the following initial conditions: x1(0) =x2(0) = X, v1(0) =v2(0)=0, (v1 and v2 are velocity) determine the equation of motion. If the lower mass is given an impulse F0 (t), determine the response in terms of normal modes.

1 m1 L2 m2 x2

L1

x1 2

Figure P1

5. A centrifugal pump rotating at 500 rpm is driven by an electric motor at 1200 rpm through a single stage reduction gearing. The moments of inertia of the pump impeller and the motor are 1600 kg.m2 and 500 kg.m2 respectively. The lengths of the pump shaft and the motor shaft are 450 and 200 mm, and their diameters are 100 and 50 mm respectively. Neglecting the inertia of the gears, find the frequencies of torsional oscillations of the system. Also determine the position of the nodes.

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