Mechanical vibrations

MECHANICAL VIBRATIONS Any oscillatory motion of a mechanical system about its Equilibrium position is called vibration Degree of freedom: The number of independent coordinates one has to use to determine the position of a mechanical system is called number of degrees of freedom

According to this definition each real system has an infinite number of degrees of freedom. For example in the above figure if one assume that the rod 2 is mass less and the body is rigid! only one coordinate is sufficient to determine uniquely the "hole system.

Mechanical vibrations

FREE VIBRATIONS #ibrations under free or natural conditions. $o disturbing forces. Example: % &imple 'endulum

FORCED VIBRATIONS #ibration due to impressed disturbing force Examples .Electric bell%clipper oscillation under electromagnetic force. 2.(.) Engines%vibrations due to unbalanced inertia forces SIMPLE HARMONIC MOTION (S H M) The oscillations of the mass sho"n belo" are described as simple harmonic motion. &imple harmonic motion is represented graphically belo".
2

Mechanical vibrations

*%+isplacement A%amplitude T%'eriodic Time f% Frequency f , -T .,Frequency in radians per second t, time &imple harmonic motion is characteri/ed by periodic oscillation about the equilibrium 'osition Each oscillation is one cycle. For &.0.M the time ta1en to execute one cycle! the period! is constant. The frequency of motion is the number of cycles executed in a fixed period of time! usually second. The amplitude! the maximum displacement from equilibrium position! is also constant in &.0.M. *,#elocity , A .2cos .t
3

Mechanical vibrations

,A .2sin 4 .t 52-2 6 *,Acceleration , % .7 A sin .t , .7 A sin 4.t 5 26 , %.7 x BEATS The phenomenon of beats occurs "hen t"o harmonic motions of slightly different frequencies and same amplitude are added. 8hen the t"o harmonic motions are in the same phase! the resultant amplitude "ill be maximum. 9n the other hand! "hen the t"o motions are out of phase! they "ill provide minimum amplitude vibration. :et * , A &in . t; *2 , A &in .2t * , * 5 *2 ,A &in . t 5 A &in .2t , 2 A &in 4. 5 .26t )os 4. % .26t * , &in <4. 5 .26t =-2 8hen >, 2 A )os <4. % .26t=-2 The Frequency of beats is 4. % .26-2 0/

M9+E::($? 9F 9$E%+E?@EE%9F%F@EE+9M &A&TEM

@igid bloc1 of mass m 4 linear motion6

Mechanical vibrations

Mass less spring of stiffness C

Mass less damper of damping coefficient c

MAT0EMAT()A: M9+E: 9F

+E?@EE &A&TEM

To analy/e motion of a system it is necessary to develop a mathematical description that approximates its dynamic behavior. This mathematical description is referred to as the mathematical model. :et as assume that the system is in equilibrium. To develop the mathematical model "e ta1e advantage of $e"tonDs generali/ed equations. This require (ntroduction of the absolute system of coordinates! 0ere "e are assuming that the origin of the absolute system of coordinates coincides "ith the centre of gravity of the body "hile the body stays at its equilibrium position The resultant force of all static forces 4in the example considered gravity force mg and interaction force due to the static elongation of spring 1xs6 is equal to /ero. (f the system is out of the equilibrium position by a distance x! there is an (ncrement in the interaction force bet"een the spring and the bloc1. This increment is called restoring force . magnitude of the restoring force is EF@E , 1 ExE
F

Mechanical vibrations

(f x G H! the restoring force is opposite to the positive direction of axis x. 0ence F@ , I1 ExE , I1x (f x J H! the restoring force has the same direction as axis x. 0ence F@ , 51 ExE , I1x Therefore the restoring force al"ays can be represented in the equation of motion by term F@ , I1x MATHEMATICAL MODEL OF 1 DEGREE SYSTEM (Dam !"g for#e a$%o #o"%!dered)

)reating the equation of motion one has to ta1e into consideration the interaction force bet"een the damper and the bloc1 considered 4see Fig. K6. This interaction force is called damping force and its absolute value is EF+E , c ExL E . A very similar to the above consideration leads to conclusion that the damping force can be represented in the equation of motion by the follo"ing term F+ , IcxL

Mechanical vibrations

The assumption that the system is linear allo"s to apply the superposition rules and add these forces together "ith the external force Fex4t6 0ence! the equation of motion of the bloc1 of mass m is mxN , I1x I cxL 5 Fex4t6 Transformation of the above equation into the standard form gives xN 5 2O.nxL 5 .2nx , f 4t6 "here

.n % is called natural frequency of the un damped system O % is called damping factor or damping ratio f 4t6 % is called unit external excitation

(t is said that a system performs free vibration if there are no external forces 4forces that are explicitly dependent on time6 acting on this system. (n this section! according to the above definition! it is assumed that the resultant of all external forces f 4t6 is equal to /ero. 0ence! the mathematical model that is analy/ed in this section ta1es form xN 5 2O.nxL 5 .2nx , H The equation is classified as linear homogeneous ordinary differential equation ofsecond order. (f one assume that the damping ratio O is equal to /ero! the equation governs the free motion of the undamped system. Nx 5 .2nx , H Free &!'ra(!o" of a" )" dam ed %*%(em

Mechanical vibrations

The general solution of the homogeneous equation 4above6 is a linear combination of its t"o particular linearly independent solutions. These solutions can be obtained by means of the follo"ing procedure. The particular solution can be predicted in the

(ntroduction of the solution .3H into the equation .2Q yields the characteristic equation R2 5 .2n , H This characteristic equation has t"o roots R , 5i.n R2 , Ii.n 0ence! in this case! the independent particular solution are x , sin.nt and x2, cos .nt Their linear combination is the "anted general solution and approximates the free vibration of the undamped system. x , )s sin .nt 5 )c cos .nt The t"o constants )s and )c should be chosen to fulfill the initial conditions "hich reflect the "ay the free vibrations "ere initiated. To get an unique solution it is necessary to specify the initial position and the initial velocity of the system considered. 0ence! let us assume that at the instant t , H the system "as at the position xH and "as forced to move "ith the initial velocity vH. (ntroduction of these initial conditions into the equation results in t"o algebraic equation that are linear "ith respect to the un1no"n constants )s and )c. )c , xH )s.n , vH the particular solution that represents the free vibration of the system is x ,vH-.nsin .nt 5 xH cos .nt *, ) sin4 .n t 5 S6

Mechanical vibrations

For .n , < -s=! xH , <m= vH , <m-s= and O , H the free motion is sho"n in Fig. 22 The free motion! in the case considered is periodic.

Free &!'ra(!o" of a dam ed %*%(em (f the damping ratio is not equal to /ero! the equation of the free motion is xN 5 2O.nxL 5 .2nx , H (ntroduction of the equation .3H into .BH yields the characteristic equation R2 5 2O.nR 5 .2n , H The characteristic equation has t"o roots

Mechanical vibrations

Ca%e o"e + )"der dam ed &!'ra(!o" (f O J ! the characteristic equation has t"o complex conTugated roots and this case is often referred to as the underdamped vibration.

"here

The particular solutions are

and their linear combination is

For the follo"ing initial conditions

the t"o constants )s and )c are

(ntroduction of the expressions .BK into .BM produces the free motion in the follo"ing Form

Mechanical vibrations

For .n , < -s=! xH , <m= vH , <m-s= and O , . the free motion is sho"n in Fig. 23(n this case the motion is not periodic but the time Td

second /ero%point is constant and it is called period of the dumped vibration. (t is easyto see from the expression that Td ,2U.d $atural logarithm of ratio of t"o displacements x4t6 and x4t 5 Td6 that are one period apart is called logarithmic decrement of damping and "ill be denoted by V. (t "ill be sho"n that the logaritmic decrement is constant. (ndeed

Mechanical vibrations

Ca%e (,o + #r!(!#a$$* dam ed &!'ra(!o"

(f O , ! the characteristic equation has t"o real and equal one to each other roots and this case is often referred to as the critically damped vibration R !2 , IO.n The particular solutions are

and their linear combination is

For the follo"ing initial conditions

the t"o constants )s and )c are as follo"

(ntroduction of the expressions .FQ into .FP produces expression for the free motionin the follo"ing form
2

Mechanical vibrations

For .n , < -s=! xH , <m= vH , <m-s= and O , . the free motion is sho"n in Fig. 2B. The critical damping o.ers for the system the possibly faster return to its equilibrium position.

Ca%e (-ree + o&er dam ed &!'ra(!o"

(f O G ! the characteristic equation has t"o real roots and this case is often referred to as the over damped vibration.

The particular solutions are

Mechanical vibrations

and their linear combination is

For the follo"ing initial conditions

the t"o constants )s and )c are as follo"

For .n , < -s=! xH , <m= vH , <m-s= and O , F. the free motion is sho"n

Mechanical vibrations

For#ed &!'ra(!o" (n a general case motion of a vibrating system is due to both! the initial conditions and the exciting force. The mathematical model! according to the previous consideration! is the linear non%homogeneous differential equation of second order.

"here

The general solution of this mathematical model is a superposition of the general solution of the homogeneous equation xg and the particular solution of the non homogeneous equation xp

Mechanical vibrations

The general solution of the homogeneous equation has been produced in the previous section and for the under damped vibration it is

To produce the particular solution of the non%homogeneous equation! let as assume that the excitation can be approximated by a harmonic function. &uch a case is referred to as the harmonic excitation.

(n the above equation q represents the amplitude of the unit excitation and . is the excitation frequency. (ntroduction of the expression .PH into equation .MM yields

(n this case it is easy to predict mode of the particular solution

"here As and Ac are constant. The function .P2 is the particular solution if and only if it fulfils the equation .P for any instant of time. Therefore! implementing it in equation .P one can get

This relationship is fulfilled for any instant of time if

Mechanical vibrations

&olution of the above equations yields the expression for the constant As and Ac

(ntroduction of this expression in the equation yields

8here

Mechanical vibrations

Mechanical vibrations

Mechanical vibrations

tends to infinity! the phase tends to KHo. 0ence the response of the system tends tobe in the anti%phase "ith the excitation. The force transmitted to the foundation @! according to the physical model

The amplitude of the reaction is

2H

Mechanical vibrations

Mechanical vibrations

+ynamic absorbers of vibrations

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